version: 66.14
glider: 204
mission: 8
dive: 22
start: 9 1 121 12 14 53
data:
$ID,204
$MISSION,8
$DIVE,22
$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,42
$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
$GPS1,010921,121009,4750.4292,-12510.3291,7,1.0,22,15.7,0.4,209.4,11,2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-62.9
$GPS2,010921,121401,4750.4004,-12510.3320,4,0.7,6,15.7,0.4,258.4,12,7.4
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,INSHORE
$TGT_LATLONG,4752.165,-12508.635
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,13.1,3889,-18.1,-10.000,-23.17,1779
$D_GRID,258
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,7,-0.79,-116.8,187,2059,749,428,0.0,0.0,0,114,0.00,0.00,-104.72,0.004,16386,0.000,0.000,187,2059,3032,3022,3043,0,0,0,0,0,0,26.22,28.83,26.28
$GC,117,-0.79,-116.8,187,2059,3024,3043,3.9,-7.6,15,141,8.23,1.40,-10.12,0.010,18980,0.210,0.053,2323,1154,3529,3528,3530,0,0,0,0,0,0,25.83,24.89,25.98
$GC,215,-0.79,-116.8,2322,1154,3533,3529,27.7,-18.6,32,223,0.00,1.38,0.00,0.000,1030,0.000,0.031,2317,2048,3531,3534,3529,0,0,0,0,0,0,26.26,26.23,26.27
$GC,352,-0.79,-116.8,2317,2048,3535,3529,51.5,-17.5,57,359,0.00,1.35,0.00,0.000,516,0.000,0.033,2318,1161,3532,3535,3529,0,0,0,0,0,0,26.56,26.34,26.61
$GC,414,-0.79,-116.8,2317,1161,3536,3529,62.2,-16.6,68,423,0.05,1.38,0.00,0.000,3078,0.192,0.031,2326,2060,3532,3536,3528,0,0,0,0,0,0,26.15,26.39,26.27
$GC,552,-0.79,-116.8,2326,2060,3536,3527,81.1,-12.8,93,559,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2060,3532,3537,3528,0,0,0,0,0,0,26.67,26.74,26.72
$GC,683,-0.79,-116.8,2326,2060,3538,3527,97.7,-12.0,118,690,0.00,1.35,0.00,0.000,516,0.000,0.034,2333,1165,3532,3538,3527,0,0,0,0,0,0,26.74,26.50,26.79
$GC,815,-0.79,-116.8,2332,1165,3539,3527,112.3,-11.3,143,822,0.00,1.35,0.00,0.000,1030,0.000,0.031,2328,2055,3533,3539,3527,0,0,0,0,0,0,26.58,26.56,26.63
$GC,941,-0.79,-116.8,2328,2055,3540,3526,126.4,-11.8,156,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2055,3532,3539,3526,0,0,0,0,0,0,26.82,26.89,26.88
$GC,1063,-0.79,-116.8,2328,2055,3540,3526,141.0,-12.2,168,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2055,3533,3540,3526,0,0,0,0,0,0,26.86,26.91,26.91
$GC,1191,-0.79,-116.8,2328,2055,3540,3526,155.8,-11.3,181,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2055,3533,3540,3526,0,0,0,0,0,0,26.89,26.95,26.93
$GC,1312,-0.79,-116.8,2328,2056,3540,3525,169.4,-11.4,193,1316,0.00,1.33,0.00,0.000,516,0.000,0.033,2333,1169,3532,3539,3526,0,0,0,0,0,0,26.91,26.67,26.97
$GC,1355,-0.79,-116.8,2332,1169,3540,3525,174.2,-11.1,201,1359,0.00,1.33,0.00,0.000,1030,0.000,0.031,2328,2051,3532,3540,3524,0,0,0,0,0,0,26.72,26.70,26.75
$GC,1487,-0.79,-116.8,2328,2051,3540,3525,189.7,-11.7,215,1490,0.00,1.30,0.00,0.000,260,0.000,0.040,2322,2922,3532,3540,3525,0,0,0,0,0,0,26.94,26.69,27.00
$GC,1529,-0.79,-116.8,2321,2922,3540,3525,194.6,-11.5,223,1533,0.00,1.27,0.00,0.000,1030,0.000,0.025,2326,2033,3532,3540,3525,0,0,0,0,0,0,26.77,26.75,26.79
$GC,1661,-0.79,-116.8,2326,2031,3540,3525,209.8,-11.6,237,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2031,3533,3541,3525,0,0,0,0,0,0,26.96,27.06,27.02
$GC,1793,-0.79,-116.8,2326,2031,3540,3525,224.6,-11.2,250,1797,0.00,1.25,0.00,0.000,516,0.000,0.034,2333,1186,3532,3540,3524,0,0,0,0,0,0,26.98,26.74,27.04
$GC,1819,-0.79,-116.8,2332,1185,3541,3524,227.7,-10.4,255,1826,0.00,1.30,0.00,0.000,1030,0.000,0.031,2328,2052,3532,3540,3524,0,0,0,0,0,0,26.80,26.76,26.82
$GC,1946,-0.79,-116.8,2328,2052,3541,3524,240.6,-10.4,268,1950,0.00,1.30,0.00,0.000,260,0.000,0.040,2322,2928,3532,3540,3524,0,0,0,0,0,0,27.01,26.75,27.06
$GC,1999,-0.79,-116.8,2321,2927,3541,3523,246.0,-9.8,278,2003,0.00,1.25,0.00,0.000,1062,0.000,0.025,2326,2053,3532,3540,3524,0,0,0,0,0,0,26.84,26.82,26.86
$STATE,2109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2109,begin apogee
$GC,2114,-0.18,0.0,2328,1831,3540,3524,258.5,-12.0,290,2302,0.62,0.00,179.48,0.590,10246,0.145,0.000,2522,1830,3042,3101,2984,0,0,0,0,0,0,26.53,25.10,24.80
$STATE,2302,end apogee,CONTROL_FINISHED_OK
$STATE,2303,begin climb
$GC,2304,0.79,116.8,2522,1829,3097,2977,265.0,0.0,309,2487,1.00,1.33,170.18,0.563,10756,0.118,0.035,2836,1013,2564,2662,2467,0,0,0,0,0,0,25.33,24.98,24.68
$GC,2545,0.84,158.6,2835,1013,2648,2451,258.1,7.6,356,2608,0.05,1.30,57.95,0.573,11302,0.174,0.029,2844,1841,2404,2524,2284,0,0,0,0,0,0,25.43,25.61,24.77
$GC,2737,0.84,158.6,2844,1841,2495,2259,238.0,10.9,381,2741,0.00,1.38,0.00,0.000,260,0.000,0.039,2839,2729,2377,2495,2259,0,0,0,0,0,0,26.04,25.83,26.10
$GC,2801,0.84,158.6,2839,2729,2491,2259,230.9,11.4,393,2805,0.00,1.30,0.00,0.000,1030,0.000,0.029,2843,1870,2375,2492,2259,0,0,0,0,0,0,26.01,25.98,26.03
$GC,2932,0.84,158.6,2843,1870,2491,2259,217.3,10.0,407,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1870,2375,2491,2259,0,0,0,0,0,0,26.36,26.43,26.41
$GC,3055,0.84,158.6,2843,1870,2489,2259,205.1,10.2,419,3059,0.00,1.33,0.00,0.000,260,0.000,0.038,2839,2730,2374,2489,2259,0,0,0,0,0,0,26.49,26.25,26.55
$GC,3185,0.84,158.6,2839,2730,2486,2259,190.6,10.5,444,3193,0.00,1.33,0.00,0.000,1030,0.000,0.031,2844,1844,2372,2486,2259,0,0,0,0,0,0,26.44,26.38,26.41
$GC,3313,0.84,158.6,2843,1844,2486,2259,177.7,10.2,457,3320,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1844,2372,2486,2259,0,0,0,0,0,0,26.65,26.72,26.72
$GC,3445,0.84,161.3,2844,1844,2486,2259,164.8,9.8,470,3449,0.00,1.35,0.00,0.000,292,0.000,0.039,2839,2723,2372,2486,2259,0,0,0,0,0,0,26.72,26.48,26.77
$GC,3518,0.84,163.6,2839,2723,2484,2259,157.3,9.9,484,3523,0.00,1.30,0.00,0.000,1062,0.000,0.031,2844,1850,2372,2485,2259,0,0,0,0,0,0,26.57,26.53,26.59
$GC,3653,0.84,164.9,2843,1850,2485,2258,144.5,9.9,498,3657,0.00,1.33,0.00,0.000,292,0.000,0.039,2839,2727,2371,2484,2258,0,0,0,0,0,0,26.79,26.55,26.84
$GC,3695,0.84,164.9,2839,2727,2484,2258,139.9,10.6,506,3699,0.00,1.30,0.00,0.000,1030,0.000,0.031,2844,1852,2371,2484,2259,0,0,0,0,0,0,26.62,26.60,26.65
$GC,3829,0.84,164.9,2844,1852,2484,2259,126.3,10.3,520,3833,0.00,1.33,0.00,0.000,516,0.000,0.042,2851,982,2371,2484,2259,0,0,0,0,0,0,26.84,26.59,26.91
$GC,3861,0.84,164.9,2850,981,2484,2259,122.7,10.7,526,3865,0.00,1.33,0.00,0.000,1030,0.000,0.030,2846,1859,2371,2484,2259,0,0,0,0,0,0,26.67,26.64,26.70
$GC,3993,0.86,173.5,2845,1860,2484,2259,110.1,9.5,540,4005,0.00,0.00,3.40,0.681,8230,0.000,0.000,2846,1860,2347,2466,2229,0,0,0,0,0,0,26.88,26.10,25.41
$GC,4124,0.87,182.5,2846,1860,2472,2235,96.9,9.5,556,4146,0.00,1.42,17.38,0.635,8740,0.000,0.041,2851,974,2302,2424,2181,0,0,0,0,0,0,26.86,26.32,25.79
$GC,4215,0.87,184.3,2850,974,2403,2167,87.8,9.9,572,4223,0.00,1.33,0.00,0.000,1062,0.000,0.031,2846,1844,2283,2402,2165,0,0,0,0,0,0,26.48,26.46,26.52
$GC,4348,0.89,198.7,2846,1844,2402,2164,74.5,9.2,597,4370,0.10,1.33,14.12,0.623,10788,0.192,0.039,2878,976,2235,2358,2112,0,0,0,0,0,0,26.40,26.06,25.71
$GC,4557,0.89,199.0,2878,976,2338,2103,52.7,10.0,636,4565,0.00,1.33,0.00,0.000,1062,0.000,0.029,2873,1849,2219,2338,2101,0,0,0,0,0,0,26.51,26.48,26.53
$GC,4695,0.93,232.9,2873,1849,2338,2101,40.9,8.0,661,4751,0.00,1.35,48.67,0.538,8740,0.000,0.038,2878,977,2091,2218,1965,0,0,0,0,0,0,26.75,25.77,25.45
$GC,4983,0.98,279.2,2877,977,2193,1952,17.8,7.3,714,5057,0.05,1.33,69.18,0.504,11302,0.127,0.029,2894,1844,1912,2045,1780,0,0,0,0,0,0,26.17,26.33,25.19
$GC,5182,1.05,336.5,2893,1844,2013,1747,2.9,6.7,748,5199,0.10,0.00,14.55,0.521,10530,0.142,0.000,2923,1844,1836,1973,1700,0,0,0,0,0,0,26.00,28.83,26.08
$STATE,5200,end climb,SURFACE_DEPTH_REACHED
$STATE,5200,begin surface coast
$FINISH,-0.5,1.025864
$STATE,5228,end surface coast,CONTROL_FINISHED_OK
$STATE,5228,begin surface
$SM_CCo,5243,194.57,0.631,1,0,588,603.68
$SM_GC,0.44,7.65,0.30,194.57,0.054,0.048,0.631,184,2070,588,-7.40,-1.16,603.68,0,0,0,0,1,0,26.01,26.00,24.53
$IRIDIUM_FIX,4750.87,-12505.04,010921,103244
$TT8_MAMPS,0.02247,0.146055
$HUMID,53.30
$INTERNAL_PRESSURE,8.7185
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,24.53,7.632
$10V_AH,10.30,4.726
$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,17.850,43.025,574.900,194.575,0.000,0.000,0.000,151.100,0.000,0.000,17.928,1644.590,1314.252,778.754,1699.732,264.924,0.000,1691.285,0.000,1676.167,0.000,0.548,0.000
$DEVICE_MAMPS,209.610,52.785,680.850,631.125,0.000,0.000,0.000,91.800,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,446.123,1412.320,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,211652
$DATA_FILE_SIZE,40157,755
$CAP_FILE_SIZE,87461,0
$CFSIZE,260030464,249163776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.016,279.88,1
$GPS,010921,134631,4750.863,-12509.996,3,0.8,17,15.7,0.4,136.4,10,2.8