version: 66.14
glider: 204
mission: 8
dive: 21
start: 9 1 121 10 35 55
data:
$ID,204
$MISSION,8
$DIVE,21
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,600
$D_ABORT,1000
$D_NO_BLEED,50
$D_BOOST,0
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,200
$T_MISSION,225
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-10
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,150
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55599
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0019952599
$HD_B,0.0099999998
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,57.182999
$TGT_DEFAULT_LON,-151
$TGT_AUTO_DEFAULT,0
$SM_CC,603.25
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100840
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,28
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,25
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,61
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,3050
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012000001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,127.5
$AH0_10V,100
$MINV_24V,16
$MINV_10V,9.5
$MAXI_24V,1.3
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-171.54095
$PRESSURE_SLOPE,0.00014064999
$AD7714Ch0Gain,32
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$XPDR_INT,0
$XPDR_REP,0
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,0.74000001
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,135
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043722652
$SEABIRD_T_H,0.00063104689
$SEABIRD_T_I,2.5179608e-05
$SEABIRD_T_J,2.8304141e-06
$SEABIRD_C_G,-10.191285
$SEABIRD_C_H,1.1531761
$SEABIRD_C_I,-0.0027973817
$SEABIRD_C_J,0.00030337134
$CP_RECORDABOVE,2000.0
$CP_PROFILE,3.0
$CP_XMITPROFILE,3.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,36.0
$CP_NDIVE,1.0
$GPS1,010921,103109,4750.0073,-12510.6396,3,0.8,23,15.7,0.3,159.0,12,1.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-63.2
$GPS2,010921,103503,4749.9897,-12510.6143,4,0.6,6,15.7,0.2,143.2,12,4.6
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,INSHORE
$TGT_LATLONG,4752.165,-12508.635
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,3.6,4720,-18.1,-10.000,-23.17,1779
$D_GRID,275
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,8,-0.79,-116.8,173,2081,744,427,0.0,0.0,0,115,0.00,0.00,-105.18,0.004,16386,0.000,0.000,173,2080,3058,3049,3067,0,0,0,0,0,0,26.22,28.83,26.32
$GC,118,-0.79,-116.8,173,2082,3051,3066,4.2,-8.1,15,142,8.25,1.42,-9.43,0.010,18980,0.210,0.052,2321,1161,3530,3530,3531,0,0,0,0,0,0,25.85,24.91,25.99
$GC,297,-0.79,-116.8,2320,1161,3537,3530,42.8,-16.3,48,306,0.05,1.33,0.00,0.000,3078,0.194,0.031,2328,2026,3533,3537,3530,0,0,0,0,0,0,26.09,26.32,26.20
$GC,434,-0.79,-116.8,2327,2027,3539,3530,64.3,-15.4,73,441,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2027,3534,3539,3530,0,0,0,0,0,0,26.62,26.68,26.67
$GC,566,-0.79,-116.8,2327,2027,3541,3530,83.6,-13.7,98,573,0.00,1.35,0.00,0.000,260,0.000,0.038,2323,2924,3534,3540,3529,0,0,0,0,0,0,26.70,26.46,26.74
$GC,633,-0.79,-116.8,2323,2924,3541,3529,92.6,-13.7,110,641,0.00,1.30,0.00,0.000,1030,0.000,0.024,2328,2025,3535,3541,3529,0,0,0,0,0,0,26.56,26.53,26.61
$GC,769,-0.79,-116.8,2327,2023,3542,3529,111.0,-12.6,128,774,0.00,1.25,0.00,0.000,516,0.000,0.035,2334,1189,3535,3542,3529,0,0,0,0,0,0,26.77,26.54,26.83
$GC,887,-0.79,-116.8,2334,1188,3542,3529,125.8,-11.8,151,895,0.00,1.30,0.00,0.000,1030,0.000,0.031,2329,2049,3536,3543,3529,0,0,0,0,0,0,26.63,26.60,26.65
$GC,1015,-0.79,-116.8,2329,2049,3542,3528,141.5,-12.5,164,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2049,3535,3542,3528,0,0,0,0,0,0,26.85,26.91,26.90
$GC,1135,-0.79,-116.8,2329,2049,3542,3528,156.2,-12.3,176,1139,0.00,1.30,0.00,0.000,516,0.000,0.033,2334,1186,3535,3542,3528,0,0,0,0,0,0,26.88,26.66,26.94
$GC,1178,-0.79,-116.8,2334,1185,3542,3528,161.5,-11.9,184,1182,0.00,1.30,0.00,0.000,1030,0.000,0.030,2330,2052,3535,3542,3528,0,0,0,0,0,0,26.70,26.67,26.72
$GC,1310,-0.79,-116.8,2329,2052,3542,3527,178.3,-12.9,198,1314,0.00,1.30,0.00,0.000,516,0.000,0.035,2335,1182,3534,3542,3527,0,0,0,0,0,0,26.91,26.67,26.97
$GC,1345,-0.79,-116.8,2334,1181,3542,3527,183.1,-12.7,205,1352,0.00,1.30,0.00,0.000,1030,0.000,0.031,2330,2049,3534,3542,3527,0,0,0,0,0,0,26.73,26.70,26.76
$GC,1472,-0.79,-116.8,2329,2049,3542,3526,199.4,-13.2,218,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2049,3534,3542,3527,0,0,0,0,0,0,26.94,27.01,26.99
$GC,1592,-0.79,-116.8,2329,2049,3542,3526,215.2,-12.9,230,1596,0.00,1.27,0.00,0.000,516,0.000,0.034,2334,1195,3534,3542,3526,0,0,0,0,0,0,26.98,26.72,27.01
$GC,1665,-0.79,-116.8,2334,1194,3542,3526,224.6,-12.6,244,1670,0.00,1.27,0.00,0.000,1030,0.000,0.031,2329,2046,3534,3542,3526,0,0,0,0,0,0,26.79,26.76,26.81
$GC,1798,-0.79,-116.8,2329,2046,3542,3525,241.0,-12.4,258,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2046,3533,3542,3525,0,0,0,0,0,0,26.99,27.05,27.05
$GC,1920,-0.79,-116.8,2329,2046,3542,3525,255.5,-12.0,270,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2046,3533,3542,3524,0,0,0,0,0,0,27.01,27.05,27.06
$GC,2048,-0.79,-116.8,2329,2046,3542,3525,270.9,-11.8,283,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2046,3533,3542,3525,0,0,0,0,0,0,27.02,27.09,27.08
$STATE,2086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2086,begin apogee
$GC,2091,-0.18,0.0,2329,1830,3542,3525,275.6,-11.8,287,2279,0.60,0.00,181.80,0.590,10246,0.143,0.000,2518,1829,3049,3108,2990,0,0,0,0,0,0,26.55,25.27,24.82
$STATE,2279,end apogee,CONTROL_FINISHED_OK
$STATE,2280,begin climb
$GC,2281,0.79,116.8,2517,1829,3102,2985,282.6,0.0,306,2472,1.02,1.27,180.90,0.570,10756,0.118,0.038,2839,1017,2565,2663,2468,0,0,0,0,0,0,25.31,25.11,24.65
$GC,2570,0.83,150.8,2838,1017,2647,2451,273.6,8.0,362,2620,0.00,1.30,45.03,0.605,9254,0.000,0.030,2834,1849,2432,2551,2314,0,0,0,0,0,0,25.77,25.75,24.84
$GC,2742,0.84,157.6,2833,1849,2527,2295,257.6,9.6,384,2747,0.08,1.35,0.00,0.000,2340,0.222,0.039,2840,2726,2410,2526,2295,0,0,0,0,0,0,25.77,25.86,25.86
$GC,2850,0.84,157.6,2839,2725,2521,2295,245.3,11.6,405,2858,0.00,1.27,0.00,0.000,1030,0.000,0.030,2844,1879,2408,2521,2295,0,0,0,0,0,0,26.10,26.08,26.13
$GC,2979,0.84,157.6,2844,1879,2522,2295,231.8,10.6,418,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1878,2408,2521,2295,0,0,0,0,0,0,26.43,26.49,26.51
$GC,3107,0.84,157.6,2844,1879,2519,2294,218.0,10.7,431,3109,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1879,2407,2520,2295,0,0,0,0,0,0,26.54,26.60,26.60
$GC,3227,0.84,159.0,2844,1879,2518,2294,205.9,9.9,443,3229,0.00,0.00,0.00,0.000,38,0.000,0.000,2845,1879,2406,2518,2295,0,0,0,0,0,0,26.63,26.68,26.67
$GC,3349,0.84,159.0,2844,1879,2517,2295,193.7,10.0,455,3353,0.00,1.38,0.00,0.000,516,0.000,0.041,2852,982,2406,2517,2295,0,0,0,0,0,0,26.68,26.44,26.74
$GC,3392,0.84,159.0,2851,982,2517,2295,189.1,10.6,463,3396,0.00,1.33,0.00,0.000,1030,0.000,0.030,2846,1855,2406,2517,2295,0,0,0,0,0,0,26.52,26.50,26.55
$GC,3524,0.84,159.9,2846,1855,2517,2294,175.8,9.9,477,3532,0.00,0.00,0.00,0.000,38,0.000,0.000,2847,1855,2406,2517,2295,0,0,0,0,0,0,26.75,26.82,26.82
$GC,3653,0.84,159.9,2846,1854,2516,2295,162.2,10.5,490,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1855,2405,2516,2295,0,0,0,0,0,0,26.80,26.86,26.84
$GC,3774,0.84,159.9,2846,1855,2516,2294,149.9,10.4,502,3777,0.00,1.35,0.00,0.000,516,0.000,0.041,2852,981,2405,2515,2295,0,0,0,0,0,0,26.84,26.58,26.91
$GC,3836,0.84,159.9,2851,981,2516,2295,143.6,10.2,514,3840,0.00,1.30,0.00,0.000,1030,0.000,0.031,2846,1843,2405,2516,2295,0,0,0,0,0,0,26.67,26.64,26.69
$GC,3968,0.84,159.9,2846,1843,2515,2294,130.6,10.1,528,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1843,2405,2515,2295,0,0,0,0,0,0,26.89,26.95,26.94
$GC,4088,0.84,160.5,2846,1843,2515,2294,118.4,10.0,540,4090,0.00,0.00,0.00,0.000,38,0.000,0.000,2847,1843,2404,2514,2294,0,0,0,0,0,0,26.91,26.97,26.96
$GC,4208,0.84,160.5,2846,1843,2515,2295,105.9,10.8,552,4213,0.00,1.30,0.00,0.000,260,0.000,0.039,2840,2716,2404,2514,2294,0,0,0,0,0,0,26.93,26.69,26.98
$GC,4289,0.84,161.2,2840,2716,2513,2294,97.6,10.0,567,4296,0.00,1.27,0.00,0.000,1062,0.000,0.031,2845,1850,2403,2513,2294,0,0,0,0,0,0,26.77,26.73,26.79
$GC,4422,0.88,190.4,2843,1850,2513,2294,85.9,8.3,592,4480,0.08,1.40,53.28,0.563,10788,0.208,0.041,2869,977,2270,2394,2147,0,0,0,0,0,0,26.67,26.06,25.58
$GC,4584,0.88,190.4,2868,977,2367,2133,71.2,10.3,620,4592,0.00,1.33,0.00,0.000,1030,0.000,0.029,2864,1841,2249,2367,2131,0,0,0,0,0,0,26.35,26.29,26.35
$GC,4722,0.92,230.8,2864,1841,2366,2129,59.6,7.7,645,4786,0.00,1.40,58.92,0.531,8484,0.000,0.038,2858,2727,2105,2233,1978,0,0,0,0,0,0,26.61,25.75,25.29
$GC,4829,0.94,245.1,2857,2727,2208,1957,50.6,9.2,662,4838,0.05,1.33,4.03,0.594,11302,0.095,0.030,2885,1855,2050,2182,1918,0,0,0,0,0,0,25.87,25.98,25.25
$GC,4964,0.95,254.5,2884,1855,2191,1922,37.4,9.5,687,4987,0.00,1.42,16.83,0.555,8740,0.000,0.041,2891,971,2009,2144,1875,0,0,0,0,0,0,26.36,25.89,25.41
$GC,5130,0.97,270.5,2890,970,2118,1861,21.4,9.1,717,5151,0.00,1.35,13.88,0.545,9254,0.000,0.029,2886,1845,1943,2076,1810,0,0,0,0,0,0,26.23,26.21,25.47
$GC,5279,1.02,309.0,2886,1845,2057,1792,8.5,7.8,744,5344,0.10,1.42,57.25,0.496,10788,0.148,0.041,2922,980,1784,1924,1644,0,0,0,0,0,0,26.16,25.67,25.20
$STATE,5355,end climb,SURFACE_DEPTH_REACHED
$STATE,5355,begin surface coast
$FINISH,-0.4,1.025864
$STATE,5377,end surface coast,CONTROL_FINISHED_OK
$STATE,5378,begin surface
$SM_CCo,5394,195.27,0.620,1,0,590,603.44
$SM_GC,0.40,7.70,1.70,195.27,0.058,0.031,0.620,189,2054,590,-7.39,-1.19,603.44,0,0,0,0,1,0,25.93,25.89,24.54
$IRIDIUM_FIX,4747.96,-12514.75,010921,083319
$TT8_MAMPS,0.02247,0.144557
$HUMID,53.15
$INTERNAL_PRESSURE,8.7185
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,24.54,7.503
$10V_AH,10.30,4.663
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,17.925,40.425,611.900,195.275,0.000,0.000,0.000,143.375,0.000,0.000,18.912,1656.929,1422.535,802.138,1693.242,273.400,0.000,1709.197,0.000,1681.767,0.000,0.549,0.000
$DEVICE_MAMPS,221.850,52.020,605.115,620.415,0.000,0.000,0.000,95.625,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,452.364,1433.660,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,211712
$DATA_FILE_SIZE,40225,759
$CAP_FILE_SIZE,87956,0
$CFSIZE,260030464,249212928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.041,189.35,1
$GPS,010921,121009,4750.429,-12510.329,7,1.0,22,15.7,0.4,209.4,11,2.2