version: 66.14
glider: 204
mission: 8
dive: 32
start: 9 2 121 8 46 31
data:
$ID,204
$MISSION,8
$DIVE,32
$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,50
$R_STBD_OVSHOOT,43
$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,50.0
$CP_NDIVE,1.0
$GPS1,020921,083901,4750.2515,-12511.2305,5,0.9,17,15.7,0.4,224.6,10,2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-56.3
$GPS2,020921,084533,4750.2461,-12511.2734,3,0.7,5,15.7,0.4,75.1,12,8.4
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,INSHORE
$TGT_LATLONG,4752.165,-12508.635
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,27.7,4835,-18.1,-10.000,-23.17,1779
$D_GRID,303
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.79,-116.8,169,1995,749,426,0.0,0.0,0,139,0.00,0.00,-110.95,0.010,16386,0.000,0.000,169,1993,3182,3173,3192,0,0,0,0,0,0,26.04,28.83,26.10
$GC,142,-0.79,-116.8,168,1994,3175,3192,4.1,-8.3,16,165,8.32,1.02,-6.85,0.018,18980,0.226,0.061,2322,1280,3529,3525,3534,0,0,0,0,0,0,25.82,25.52,25.96
$GC,355,-0.79,-116.8,2322,1279,3535,3532,48.9,-15.8,56,363,0.00,1.10,0.00,0.000,1030,0.000,0.037,2318,1999,3533,3535,3531,0,0,0,0,0,0,26.31,26.27,26.34
$GC,494,-0.79,-116.8,2317,1999,3536,3530,67.7,-13.7,81,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2000,3533,3536,3530,0,0,0,0,0,0,26.45,26.50,26.50
$GC,624,-0.79,-116.8,2317,2000,3538,3530,85.5,-14.5,106,632,0.00,1.05,0.00,0.000,516,0.000,0.046,2321,1302,3534,3538,3530,0,0,0,0,0,0,26.50,26.40,26.55
$GC,702,-0.79,-116.8,2320,1302,3538,3530,97.8,-15.1,120,709,0.00,1.05,0.00,0.000,1030,0.000,0.037,2317,1997,3534,3538,3530,0,0,0,0,0,0,26.46,26.42,26.49
$GC,832,-0.79,-116.8,2316,1997,3539,3530,116.1,-13.9,134,837,0.00,1.02,0.00,0.000,260,0.000,0.044,2312,2694,3534,3539,3530,0,0,0,0,0,0,26.53,26.46,26.59
$GC,859,-0.79,-116.8,2311,2694,3539,3530,119.9,-13.9,139,867,0.03,1.02,0.00,0.000,3078,0.223,0.031,2322,1973,3534,3539,3530,0,0,0,0,0,0,26.32,26.50,26.38
$GC,985,-0.79,-116.8,2322,1970,3540,3530,138.1,-14.6,152,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1971,3535,3540,3530,0,0,0,0,0,0,26.52,26.58,26.56
$GC,1105,-0.79,-116.8,2322,1970,3539,3530,155.0,-13.6,164,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1970,3535,3540,3530,0,0,0,0,0,0,26.61,26.63,26.66
$GC,1227,-0.79,-116.8,2322,1971,3540,3529,171.3,-13.4,176,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1971,3534,3540,3529,0,0,0,0,0,0,26.56,26.65,26.63
$GC,1355,-0.79,-116.8,2322,1970,3540,3529,187.6,-12.3,189,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1971,3535,3541,3529,0,0,0,0,0,0,26.65,26.66,26.67
$GC,1475,-0.79,-116.8,2322,1971,3540,3529,203.2,-13.1,201,1479,0.00,0.95,0.00,0.000,516,0.000,0.043,2327,1324,3534,3541,3528,0,0,0,0,0,0,26.60,26.48,26.65
$GC,1518,-0.79,-116.8,2326,1323,3541,3528,208.8,-13.1,209,1521,0.00,1.02,0.00,0.000,1030,0.000,0.037,2323,2006,3534,3541,3528,0,0,0,0,0,0,26.62,26.58,26.64
$GC,1650,-0.79,-116.8,2323,2007,3540,3527,225.3,-12.5,223,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2007,3533,3540,3527,0,0,0,0,0,0,26.70,26.77,26.74
$GC,1779,-0.79,-116.8,2323,2007,3540,3527,242.0,-12.9,236,1784,0.00,1.00,0.00,0.000,516,0.000,0.038,2326,1330,3534,3540,3528,0,0,0,0,0,0,26.67,26.60,26.74
$GC,1889,-0.79,-116.8,2326,1330,3541,3527,256.4,-13.2,257,1898,0.00,1.00,0.00,0.000,1030,0.000,0.036,2323,1999,3533,3541,3526,0,0,0,0,0,0,26.64,26.61,26.67
$GC,2020,-0.79,-116.8,2322,1999,3541,3525,271.9,-12.0,270,2025,0.00,1.02,0.00,0.000,260,0.000,0.044,2318,2698,3533,3541,3526,0,0,0,0,0,0,26.72,26.61,26.78
$GC,2053,-0.79,-116.8,2317,2698,3541,3525,276.1,-12.1,276,2056,0.00,0.98,0.00,0.000,1030,0.000,0.033,2321,2006,3532,3540,3525,0,0,0,0,0,0,26.67,26.65,26.70
$GC,2184,-0.79,-116.8,2321,2005,3540,3525,291.8,-11.9,290,2189,0.00,1.00,0.00,0.000,516,0.000,0.041,2326,1323,3533,3541,3525,0,0,0,0,0,0,26.58,26.63,26.65
$GC,2230,-0.79,-116.8,2326,1323,3541,3524,297.5,-11.8,299,2237,0.00,1.02,0.00,0.000,1030,0.000,0.037,2323,2005,3533,3541,3525,0,0,0,0,0,0,26.67,26.63,26.67
$STATE,2276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2276,begin apogee
$GC,2281,-0.18,0.0,2323,1788,3541,3525,303.0,-12.1,303,2508,0.68,0.00,223.20,0.591,10246,0.271,0.000,2521,1787,3050,3109,2992,0,0,0,0,0,0,26.36,25.15,24.71
$STATE,2513,end apogee,CONTROL_FINISHED_OK
$STATE,2513,begin climb
$GC,2514,0.79,116.8,2520,1787,3100,2983,312.2,0.0,314,2719,1.02,1.08,190.75,0.569,10756,0.122,0.039,2839,1132,2564,2661,2468,0,0,0,0,0,0,25.20,25.04,24.58
$GC,2962,0.82,144.3,2838,1132,2649,2460,293.3,8.4,403,3004,0.00,1.02,37.15,0.633,9254,0.000,0.036,2835,1798,2460,2575,2346,0,0,0,0,0,0,25.98,25.96,25.03
$GC,3134,0.85,166.2,2835,1798,2561,2335,278.6,8.7,424,3175,0.10,1.08,30.83,0.648,10788,0.218,0.047,2860,1141,2365,2485,2246,0,0,0,0,0,0,25.71,25.54,25.05
$GC,3413,0.85,166.2,2859,1140,2476,2245,249.2,10.4,477,3421,0.00,1.00,0.00,0.000,1030,0.000,0.037,2857,1795,2359,2476,2243,0,0,0,0,0,0,26.14,26.10,26.16
$GC,3544,0.85,166.2,2856,1795,2476,2242,236.4,10.1,490,3547,0.00,1.02,0.00,0.000,516,0.000,0.047,2860,1138,2359,2475,2243,0,0,0,0,0,0,26.30,26.21,26.36
$GC,3692,0.85,166.2,2859,1138,2475,2242,221.1,10.2,518,3697,0.00,1.00,0.00,0.000,1030,0.000,0.037,2856,1797,2358,2475,2242,0,0,0,0,0,0,26.30,26.27,26.34
$GC,3825,0.85,166.2,2856,1797,2474,2242,207.5,10.0,532,3829,0.00,1.05,0.00,0.000,516,0.000,0.109,2860,1133,2358,2474,2242,0,0,0,0,0,0,26.46,26.32,26.49
$GC,3871,0.85,166.2,2860,1133,2474,2242,203.1,10.2,540,3875,0.00,1.00,0.00,0.000,1030,0.000,0.037,2857,1796,2358,2474,2242,0,0,0,0,0,0,26.43,26.40,26.46
$GC,4003,0.85,166.2,2856,1796,2473,2242,188.3,11.4,554,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1796,2357,2473,2242,0,0,0,0,0,0,26.51,26.58,26.57
$GC,4125,0.85,166.2,2856,1796,2472,2242,174.7,11.3,566,4128,0.00,1.02,0.00,0.000,260,0.000,0.114,2851,2487,2357,2472,2242,0,0,0,0,0,0,26.55,26.46,26.61
$GC,4199,0.85,166.2,2851,2488,2470,2242,165.7,11.6,580,4203,0.00,0.98,0.00,0.000,1030,0.000,0.037,2854,1825,2356,2471,2242,0,0,0,0,0,0,26.53,26.50,26.58
$GC,4331,0.85,166.2,2854,1825,2470,2242,150.1,12.3,594,4334,0.00,1.10,0.00,0.000,516,0.000,0.047,2860,1111,2356,2470,2242,0,0,0,0,0,0,26.63,26.49,26.66
$GC,4449,0.85,166.2,2860,1112,2470,2242,134.8,13.8,616,4453,0.00,1.02,0.00,0.000,1030,0.000,0.037,2857,1797,2356,2470,2242,0,0,0,0,0,0,26.53,26.48,26.57
$GC,4581,0.85,166.2,2856,1797,2469,2242,117.3,12.1,630,4585,0.00,1.02,0.00,0.000,260,0.000,0.046,2851,2494,2355,2469,2242,0,0,0,0,0,0,26.65,26.48,26.70
$GC,4626,0.85,166.2,2851,2494,2468,2242,111.7,11.9,639,4634,0.00,1.02,0.00,0.000,1030,0.000,0.038,2855,1799,2355,2468,2242,0,0,0,0,0,0,26.59,26.56,26.62
$GC,4755,0.87,182.6,2854,1799,2468,2242,99.0,9.1,653,4770,0.00,1.08,12.15,0.695,8484,0.000,0.044,2852,2486,2305,2425,2185,0,0,0,0,0,0,26.65,26.29,25.74
$GC,4803,0.89,198.4,2851,2491,2412,2178,94.7,9.1,661,4826,0.00,1.02,14.57,0.659,9254,0.000,0.039,2855,1801,2234,2360,2109,0,0,0,0,0,0,26.46,26.42,25.61
$GC,4954,0.89,206.3,2855,1801,2352,2107,80.9,9.5,688,4963,0.00,1.10,2.50,0.538,8740,0.000,0.056,2860,1110,2209,2337,2082,0,0,0,0,0,0,26.33,26.14,25.22
$GC,5107,0.92,229.5,2860,1110,2338,2082,66.7,8.7,717,5144,0.05,1.05,32.10,0.588,11302,0.136,0.036,2878,1801,2116,2245,1988,0,0,0,0,0,0,26.20,26.36,25.41
$GC,5269,0.92,229.5,2878,1801,2228,1975,48.6,12.0,746,5276,0.00,1.10,0.00,0.000,516,0.000,0.054,2883,1097,2102,2228,1976,0,0,0,0,0,0,26.27,26.10,26.32
$GC,5305,0.92,229.5,2883,1097,2228,1975,44.7,10.5,752,5313,0.00,1.08,0.00,0.000,1030,0.000,0.040,2880,1800,2101,2227,1975,0,0,0,0,0,0,26.22,26.19,26.26
$GC,5437,0.92,229.5,2879,1800,2225,1975,30.3,12.0,777,5444,0.00,1.02,0.00,0.000,260,0.000,0.050,2875,2490,2100,2225,1975,0,0,0,0,0,0,26.39,26.28,26.44
$GC,5478,0.92,229.5,2874,2491,2224,1975,26.0,10.1,784,5485,0.00,1.02,0.00,0.000,1030,0.000,0.038,2878,1804,2099,2224,1975,0,0,0,0,0,0,26.36,26.33,26.38
$GC,5617,0.95,252.8,2878,1804,2223,1975,13.5,8.7,809,5647,0.00,1.10,25.75,0.554,8484,0.000,0.044,2875,2507,2017,2149,1886,0,0,0,0,0,0,26.34,26.01,25.49
$STATE,5787,end climb,SURFACE_DEPTH_REACHED
$STATE,5787,begin surface coast
$FINISH,0.1,1.025866
$STATE,5813,end surface coast,CONTROL_FINISHED_OK
$STATE,5813,begin surface
$SM_CCo,5832,242.18,0.594,1,0,590,603.44
$SM_GC,0.44,7.47,0.77,242.18,0.057,0.036,0.594,183,2000,590,-7.41,1.36,603.44,0,0,0,0,1,0,26.31,26.27,24.51
$IRIDIUM_FIX,4748.50,-12507.66,020921,062907
$TT8_MAMPS,0.02247,0.146055
$HUMID,52.63
$INTERNAL_PRESSURE,8.7185
$TCM_TEMP,15.10
$XPDR_PINGS,0
$CP_FREE,124791291904.000000
$CP_POWER,328.180000
$CP_POWER1,0.000000
$24V_AH,24.51,9.140
$10V_AH,10.28,5.453
$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,17.675,39.300,569.000,242.175,0.000,0.000,0.000,254.175,0.000,0.000,18.298,1799.895,1504.545,862.118,2030.446,310.141,0.000,1915.441,0.000,1820.536,0.000,0.548,0.000
$DEVICE_MAMPS,270.810,113.985,694.620,593.640,0.000,0.000,0.000,111.690,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,461.909,1452.998,0.000,0.000,0.000,0.000,5640.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,211680
$DATA_FILE_SIZE,43482,845
$CAP_FILE_SIZE,102377,0
$CFSIZE,260030464,248299520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.033,173.25,1
$GPS,020921,102909,4750.483,-12510.600,17,0.8,32,15.7,0.6,86.0,12,2.5