version: 66.14
glider: 204
mission: 8
dive: 26
start: 9 1 121 18 19 38
data:
$ID,204
$MISSION,8
$DIVE,26
$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,20
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,40
$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,1.5
$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,1
$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,38.0
$CP_NDIVE,1.0
$GPS1,010921,181529,4750.5024,-12510.8154,2,0.7,4,15.7,0.2,0.0,12,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-61.8
$GPS2,010921,181839,4750.5112,-12510.8154,3,0.7,5,15.7,0.2,117.0,12,6.9
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4747.975,-12513.804
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,202.2,5990,-18.1,-10.000,-23.17,1779
$D_GRID,292
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.79,-116.8,190,2047,747,427,0.0,0.0,0,131,0.00,0.00,-103.60,0.010,16386,0.000,0.000,190,2048,3012,3003,3021,0,0,0,0,0,0,26.31,28.83,26.37
$GC,134,-0.79,-116.8,190,2047,3003,3022,3.5,-6.3,15,158,8.10,1.02,-11.02,0.020,18724,0.214,0.076,2317,2714,3530,3531,3530,0,0,0,0,0,0,26.02,25.01,26.16
$GC,334,-0.79,-116.8,2317,2714,3539,3529,41.9,-13.9,52,343,0.00,1.05,0.00,0.000,1030,0.000,0.031,2317,1981,3533,3539,3528,0,0,0,0,0,0,26.44,26.41,26.47
$GC,471,-0.79,-116.8,2316,1980,3541,3528,63.6,-16.8,77,479,0.00,0.98,0.00,0.000,516,0.000,0.039,2317,1317,3534,3541,3528,0,0,0,0,0,0,26.47,26.43,26.52
$GC,519,-0.79,-116.8,2317,1317,3541,3527,71.5,-17.6,85,527,0.00,1.05,0.00,0.000,1030,0.000,0.037,2314,2015,3534,3541,3527,0,0,0,0,0,0,26.47,26.43,26.50
$GC,655,-0.79,-116.8,2314,2015,3542,3527,90.2,-12.5,110,663,0.10,1.05,0.00,0.000,2564,0.225,0.036,2338,1317,3534,3541,3528,0,0,0,0,0,0,26.27,26.50,26.45
$GC,825,-0.79,-116.8,2338,1317,3543,3527,110.4,-12.6,142,829,0.00,1.02,0.00,0.000,1030,0.000,0.037,2335,2002,3534,3542,3527,0,0,0,0,0,0,26.57,26.54,26.60
$GC,957,-0.79,-116.8,2334,2002,3543,3527,126.5,-11.8,156,961,0.00,1.02,0.00,0.000,260,0.000,0.044,2329,2701,3534,3542,3527,0,0,0,0,0,0,26.64,26.54,26.70
$GC,1012,-0.79,-116.8,2329,2702,3543,3527,133.2,-11.5,167,1020,0.00,1.00,0.00,0.000,1030,0.000,0.031,2333,1995,3534,3543,3526,0,0,0,0,0,0,26.62,26.60,26.64
$GC,1142,-0.79,-116.8,2332,1994,3543,3526,148.0,-11.9,180,1147,0.00,1.00,0.00,0.000,516,0.000,0.040,2338,1314,3534,3542,3526,0,0,0,0,0,0,26.64,26.57,26.70
$GC,1196,-0.79,-116.8,2337,1314,3543,3526,154.8,-12.3,190,1200,0.00,1.02,0.00,0.000,1030,0.000,0.036,2335,1999,3534,3542,3526,0,0,0,0,0,0,26.60,26.59,26.60
$GC,1328,-0.79,-116.8,2334,1999,3543,3525,171.1,-12.7,204,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1998,3534,3544,3525,0,0,0,0,0,0,26.70,26.76,26.76
$GC,1448,-0.79,-116.8,2334,1999,3542,3525,186.4,-12.6,216,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1999,3533,3542,3525,0,0,0,0,0,0,26.70,26.77,26.76
$GC,1568,-0.79,-116.8,2334,1999,3542,3525,202.5,-13.8,228,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1999,3533,3542,3524,0,0,0,0,0,0,26.72,26.79,26.77
$GC,1690,-0.79,-116.8,2334,1999,3543,3524,218.1,-12.6,240,1694,0.00,1.02,0.00,0.000,260,0.000,0.044,2330,2700,3533,3543,3524,0,0,0,0,0,0,26.72,26.63,26.79
$GC,1725,-0.79,-116.8,2329,2700,3542,3524,222.9,-12.1,247,1733,0.00,1.00,0.00,0.000,1030,0.000,0.032,2333,1998,3533,3543,3524,0,0,0,0,0,0,26.68,26.66,26.74
$GC,1853,-0.79,-116.8,2332,1996,3543,3523,238.5,-12.2,260,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1995,3533,3543,3524,0,0,0,0,0,0,26.74,26.80,26.79
$GC,1975,-0.79,-116.8,2332,1994,3543,3523,252.6,-10.9,272,1980,0.00,1.05,0.00,0.000,260,0.000,0.047,2330,2698,3533,3543,3523,0,0,0,0,0,0,26.75,26.58,26.80
$GC,2029,-0.79,-116.8,2329,2698,3543,3523,258.5,-10.6,282,2032,0.00,1.00,0.00,0.000,1030,0.000,0.095,2333,1997,3532,3543,3522,0,0,0,0,0,0,26.70,26.67,26.72
$GC,2160,-0.79,-116.8,2332,1996,3543,3522,272.1,-10.4,296,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1996,3532,3543,3522,0,0,0,0,0,0,26.61,26.70,26.68
$GC,2280,-0.79,-116.8,2332,1994,3543,3521,285.6,-11.5,308,2285,0.00,1.05,0.00,0.000,260,0.000,0.043,2330,2703,3532,3543,3521,0,0,0,0,0,0,26.63,26.65,26.69
$GC,2326,-0.79,-116.8,2329,2703,3543,3521,290.6,-12.2,316,2331,0.00,1.00,0.00,0.000,1030,0.000,0.034,2333,1997,3531,3542,3521,0,0,0,0,0,0,26.72,26.70,26.74
$STATE,2336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2336,begin apogee
$GC,2341,-0.18,0.0,2334,1780,3543,3521,292.3,-11.9,318,2521,0.57,0.00,176.07,0.614,10246,0.151,0.000,2514,1779,3051,3110,2992,0,0,0,0,0,0,26.40,25.21,24.75
$STATE,2526,end apogee,CONTROL_FINISHED_OK
$STATE,2526,begin climb
$GC,2528,0.79,116.8,2513,1779,3096,2979,299.2,0.0,336,2716,1.05,0.00,176.20,0.581,10758,0.118,0.000,2834,1779,2561,2659,2464,0,0,0,0,0,0,25.27,25.07,24.61
$GC,2842,0.83,152.1,2832,1779,2645,2455,287.7,8.0,385,2895,0.05,1.15,47.00,0.614,10532,0.238,0.051,2839,2490,2426,2544,2308,0,0,0,0,0,0,25.64,25.14,24.86
$GC,2950,0.84,163.5,2838,2490,2531,2303,278.0,9.3,405,2972,0.00,1.02,13.80,0.711,9254,0.000,0.057,2842,1819,2376,2498,2254,0,0,0,0,0,0,25.07,25.34,24.96
$GC,3093,0.85,171.6,2842,1819,2490,2253,264.5,9.5,421,3102,0.00,0.00,7.68,0.811,8230,0.000,0.000,2843,1818,2353,2475,2231,0,0,0,0,0,0,25.96,25.69,25.20
$GC,3221,0.87,182.9,2842,1818,2464,2224,252.2,9.3,434,3244,0.08,1.08,15.30,0.711,10532,0.213,0.047,2854,2490,2299,2423,2176,0,0,0,0,0,0,25.85,25.75,25.25
$GC,3459,0.87,182.9,2854,2489,2411,2174,225.2,12.2,478,3463,0.00,1.02,0.00,0.000,1030,0.000,0.038,2858,1806,2292,2411,2174,0,0,0,0,0,0,26.20,26.16,26.22
$GC,3591,0.87,182.9,2857,1806,2411,2174,208.7,12.2,492,3595,0.00,1.08,0.00,0.000,516,0.000,0.049,2863,1108,2292,2411,2174,0,0,0,0,0,0,26.35,26.22,26.41
$GC,3648,0.87,182.9,2863,1108,2411,2174,201.4,12.5,503,3655,0.00,1.05,0.00,0.000,1030,0.000,0.037,2860,1798,2292,2410,2174,0,0,0,0,0,0,26.33,26.30,26.35
$GC,3775,0.87,182.9,2859,1797,2410,2174,186.6,11.4,516,3779,0.00,1.05,0.00,0.000,260,0.000,0.045,2854,2509,2292,2410,2174,0,0,0,0,0,0,26.40,26.34,26.46
$GC,3839,0.87,182.9,2854,2508,2407,2174,179.6,11.1,528,3843,0.00,1.05,0.00,0.000,1030,0.000,0.041,2858,1798,2291,2409,2174,0,0,0,0,0,0,26.42,26.38,26.45
$GC,3972,0.87,182.9,2857,1798,2408,2174,164.8,11.2,542,3975,0.00,1.05,0.00,0.000,516,0.000,0.049,2864,1112,2290,2407,2174,0,0,0,0,0,0,26.48,26.42,26.54
$GC,4028,0.87,182.9,2863,1111,2408,2174,158.1,11.7,553,4037,0.00,1.05,0.00,0.000,1030,0.000,0.037,2860,1803,2291,2408,2174,0,0,0,0,0,0,26.49,26.46,26.51
$GC,4156,0.87,182.9,2860,1803,2408,2174,143.6,11.6,566,4160,0.00,1.02,0.00,0.000,260,0.000,0.046,2854,2502,2290,2407,2174,0,0,0,0,0,0,26.58,26.44,26.60
$GC,4210,0.87,182.9,2854,2501,2406,2174,137.4,10.9,576,4213,0.00,1.02,0.00,0.000,1030,0.000,0.038,2859,1806,2290,2406,2174,0,0,0,0,0,0,26.53,26.49,26.55
$GC,4342,0.87,182.9,2858,1806,2407,2174,123.0,11.5,590,4347,0.00,1.08,0.00,0.000,516,0.000,0.050,2863,1100,2290,2406,2174,0,0,0,0,0,0,26.62,26.44,26.67
$GC,4410,0.87,182.9,2863,1100,2406,2174,115.4,10.9,602,4414,0.00,1.05,0.00,0.000,1030,0.000,0.037,2860,1799,2290,2406,2174,0,0,0,0,0,0,26.57,26.54,26.61
$GC,4542,0.88,194.5,2860,1800,2404,2174,102.4,9.3,616,4555,0.00,1.08,3.80,0.808,8740,0.000,0.048,2864,1110,2258,2379,2137,0,0,0,0,0,0,26.59,26.02,25.31
$GC,4700,0.88,194.5,2863,1110,2381,2136,88.0,10.8,645,4708,0.00,1.02,0.00,0.000,1030,0.000,0.037,2860,1795,2258,2380,2136,0,0,0,0,0,0,26.57,26.54,26.59
$GC,4836,0.88,194.5,2860,1795,2380,2136,74.0,11.1,670,4843,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1795,2258,2380,2136,0,0,0,0,0,0,26.61,26.67,26.69
$GC,4967,0.88,194.5,2860,1795,2379,2136,59.4,10.1,695,4974,0.00,1.02,0.00,0.000,260,0.000,0.052,2855,2492,2257,2378,2136,0,0,0,0,0,0,26.66,26.56,26.71
$GC,5089,0.93,234.9,2854,2492,2377,2136,48.6,7.7,718,5157,0.05,1.02,62.17,0.555,11302,0.110,0.038,2881,1793,2090,2220,1961,0,0,0,0,0,0,26.46,26.60,25.37
$GC,5283,0.95,249.7,2880,1792,2204,1951,31.5,9.1,751,5298,0.00,1.10,9.90,0.594,8740,0.000,0.048,2886,1109,2030,2162,1899,0,0,0,0,0,0,26.22,25.94,25.44
$GC,5425,0.95,254.7,2885,1109,2149,1894,17.6,9.7,777,5433,0.00,1.05,0.00,0.000,1062,0.000,0.036,2883,1797,2021,2149,1894,0,0,0,0,0,0,26.22,26.20,26.25
$GC,5560,1.05,335.2,2882,1798,2148,1892,8.7,5.4,802,5650,0.15,0.00,87.00,0.510,10530,0.135,0.000,2930,1799,1814,1951,1678,0,0,0,0,0,0,26.18,28.83,26.24
$STATE,5651,end climb,SURFACE_DEPTH_REACHED
$STATE,5651,begin surface coast
$FINISH,-0.5,1.015168
$STATE,5673,end surface coast,CONTROL_FINISHED_OK
$STATE,5673,begin surface
$SM_CCo,5693,194.07,0.597,1,0,591,603.44
$SM_GC,0.39,7.95,0.28,194.07,0.068,0.049,0.597,171,2008,591,-7.41,-1.55,603.44,0,0,0,0,1,0,25.78,25.76,24.53
$IRIDIUM_FIX,4751.26,-12509.51,010921,181340
$TT8_MAMPS,0.02247,0.190995
$HUMID,52.87
$INTERNAL_PRESSURE,8.72826
$TCM_TEMP,15.20
$XPDR_PINGS,0
$CP_FREE,126065704960.000000
$CP_POWER,328.180000
$CP_POWER1,0.000000
$24V_AH,24.53,8.165
$10V_AH,10.25,4.969
$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,18.100,37.950,598.925,194.075,0.000,0.000,0.000,0.000,0.000,0.000,17.107,1786.824,1415.484,786.500,1737.136,273.282,0.000,1600.357,0.000,1805.967,0.000,0.548,0.000
$DEVICE_MAMPS,237.915,94.860,810.900,597.465,0.000,0.000,0.000,0.000,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,471.785,1491.505,0.000,0.000,0.000,0.000,5486.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,211752
$DATA_FILE_SIZE,43460,818
$CAP_FILE_SIZE,109271,0
$CFSIZE,260030464,248909824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.037,175.60,1
$GPS,010921,195901,4749.907,-12511.374,10,0.9,26,15.7,0.2,0.0,9,2.6