version: 66.14
glider: 204
mission: 8
dive: 37
start: 9 2 121 17 1 19
data:
$ID,204
$MISSION,8
$DIVE,37
$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,46
$R_STBD_OVSHOOT,50
$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,60.0
$CP_NDIVE,1.0
$GPS1,020921,165301,4750.5093,-12510.9893,8,0.8,32,15.7,0.7,134.0,10,2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-61.2
$GPS2,020921,170020,4750.4556,-12511.0107,3,0.7,5,15.7,0.4,270.7,12,9.0
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4747.975,-12513.804
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,197.4,5760,-18.1,-10.000,-23.17,1779
$D_GRID,310
$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,-116.8,178,1997,748,425,0.0,0.0,0,138,0.00,0.00,-110.62,0.010,16386,0.000,0.000,178,1996,3213,3203,3224,0,0,0,0,0,0,26.06,28.83,26.13
$GC,141,-0.79,-116.8,178,1996,3205,3224,4.6,-9.3,16,164,8.25,1.08,-6.25,0.017,18724,0.225,0.086,2316,2692,3529,3529,3530,0,0,0,0,0,0,25.84,24.85,25.99
$GC,396,-0.79,-116.8,2316,2693,3536,3529,53.2,-14.1,64,404,0.03,1.02,0.00,0.000,3078,0.210,0.041,2323,1977,3532,3537,3528,0,0,0,0,0,0,26.18,26.36,26.22
$GC,529,-0.79,-116.8,2322,1975,3537,3528,73.3,-14.4,89,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1975,3533,3538,3528,0,0,0,0,0,0,26.46,26.53,26.51
$GC,661,-0.79,-116.8,2322,1976,3539,3527,91.2,-12.4,114,668,0.00,0.98,0.00,0.000,516,0.000,0.041,2328,1316,3533,3539,3527,0,0,0,0,0,0,26.48,26.43,26.55
$GC,761,-0.79,-116.8,2327,1316,3539,3527,104.3,-13.4,132,765,0.00,1.02,0.00,0.000,1030,0.000,0.039,2324,1997,3533,3539,3527,0,0,0,0,0,0,26.46,26.46,26.46
$GC,893,-0.79,-116.8,2324,1996,3540,3527,123.0,-14.0,146,898,0.00,1.02,0.00,0.000,260,0.000,0.045,2319,2692,3533,3540,3526,0,0,0,0,0,0,26.55,26.46,26.58
$GC,961,-0.79,-116.8,2319,2692,3540,3526,132.2,-13.7,158,965,0.00,0.98,0.00,0.000,1030,0.000,0.033,2322,2005,3533,3540,3526,0,0,0,0,0,0,26.56,26.53,26.58
$GC,1093,-0.79,-116.8,2322,2004,3541,3526,149.7,-12.7,172,1097,0.00,1.00,0.00,0.000,516,0.000,0.041,2323,1323,3533,3540,3526,0,0,0,0,0,0,26.61,26.53,26.70
$GC,1147,-0.79,-116.8,2323,1324,3540,3526,156.3,-12.3,182,1150,0.00,1.02,0.00,0.000,1030,0.000,0.038,2320,2007,3532,3540,3525,0,0,0,0,0,0,26.58,26.55,26.60
$GC,1280,-0.79,-116.8,2319,2007,3540,3525,172.6,-12.1,196,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2007,3532,3540,3525,0,0,0,0,0,0,26.64,26.70,26.69
$GC,1408,-0.79,-116.8,2319,2007,3540,3525,188.1,-12.0,209,1413,0.00,1.02,0.00,0.000,516,0.000,0.038,2323,1320,3532,3540,3525,0,0,0,0,0,0,26.60,26.56,26.65
$GC,1453,-0.79,-116.8,2322,1321,3540,3525,193.1,-11.7,217,1458,0.00,1.02,0.00,0.000,1030,0.000,0.037,2320,2003,3532,3540,3525,0,0,0,0,0,0,26.61,26.59,26.64
$GC,1586,-0.79,-116.8,2319,2003,3540,3524,209.0,-11.8,231,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2003,3532,3540,3524,0,0,0,0,0,0,26.70,26.77,26.75
$GC,1708,-0.79,-116.8,2319,2003,3540,3524,223.8,-12.4,243,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2003,3532,3540,3524,0,0,0,0,0,0,26.71,26.77,26.77
$GC,1836,-0.79,-116.8,2319,2003,3540,3524,239.5,-12.1,256,1840,0.00,1.02,0.00,0.000,516,0.000,0.045,2323,1316,3532,3540,3524,0,0,0,0,0,0,26.72,26.62,26.77
$GC,1881,-0.79,-116.8,2322,1316,3540,3524,244.6,-11.4,264,1885,0.00,1.02,0.00,0.000,1030,0.000,0.037,2320,2001,3532,3540,3524,0,0,0,0,0,0,26.66,26.63,26.68
$GC,2013,-0.79,-116.8,2319,2001,3540,3523,260.1,-11.5,278,2017,0.00,1.02,0.00,0.000,260,0.000,0.044,2314,2700,3530,3539,3522,0,0,0,0,0,0,26.69,26.60,26.71
$GC,2046,-0.79,-116.8,2314,2700,3540,3523,263.9,-12.1,284,2050,0.00,1.00,0.00,0.000,1030,0.000,0.033,2318,1997,3531,3540,3523,0,0,0,0,0,0,26.69,26.67,26.71
$GC,2178,-0.79,-116.8,2317,1995,3539,3522,278.9,-11.4,298,2182,0.00,1.00,0.00,0.000,516,0.000,0.041,2323,1317,3531,3540,3522,0,0,0,0,0,0,26.75,26.57,26.79
$GC,2202,-0.79,-116.8,2322,1316,3540,3522,281.5,-11.2,302,2206,0.00,1.02,0.00,0.000,1030,0.000,0.037,2320,1999,3531,3540,3522,0,0,0,0,0,0,26.67,26.64,26.70
$GC,2334,-0.79,-116.8,2319,2000,3540,3522,297.5,-12.5,316,2338,0.00,1.02,0.00,0.000,260,0.000,0.096,2314,2696,3531,3540,3522,0,0,0,0,0,0,26.75,26.57,26.81
$GC,2397,-0.79,-116.8,2314,2696,3540,3521,304.7,-11.1,328,2401,0.00,1.00,0.00,0.000,1030,0.000,0.033,2317,1990,3530,3540,3521,0,0,0,0,0,0,26.69,26.63,26.71
$STATE,2458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2458,begin apogee
$GC,2463,-0.18,0.0,2319,1782,3539,3521,311.7,-11.3,334,2591,0.70,0.00,118.68,1.027,10246,0.158,0.000,2525,1782,3051,3111,2991,0,0,0,0,1,0,26.36,24.87,24.07
$STATE,2595,end apogee,CONTROL_FINISHED_OK
$STATE,2595,begin climb
$GC,2597,0.79,116.8,2525,1782,3113,2996,315.7,0.0,340,2792,1.02,0.00,188.65,0.585,10758,0.125,0.000,2829,1781,2574,2672,2476,0,0,0,0,0,0,25.06,24.99,24.56
$GC,2921,0.83,149.8,2829,1781,2648,2455,302.3,8.1,387,2973,0.08,1.15,45.17,0.616,10532,0.184,0.044,2840,2490,2433,2553,2313,0,0,0,0,0,0,25.60,25.28,24.79
$GC,3018,0.83,155.6,2839,2490,2538,2306,293.7,9.7,405,3022,0.00,1.00,0.00,0.000,1062,0.000,0.037,2843,1835,2422,2538,2306,0,0,0,0,0,0,25.67,25.65,25.69
$GC,3153,0.83,155.6,2842,1835,2535,2305,280.1,10.1,419,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1835,2420,2535,2306,0,0,0,0,0,0,26.01,26.10,26.07
$GC,3281,0.84,161.7,2842,1835,2534,2305,267.7,9.7,432,3302,0.00,1.02,12.55,0.727,8484,0.000,0.044,2840,2493,2382,2501,2263,0,0,0,0,0,0,26.19,25.86,25.32
$GC,3423,0.84,161.7,2839,2492,2493,2262,253.5,10.1,458,3427,0.00,1.05,0.00,0.000,1030,0.000,0.037,2843,1794,2377,2493,2262,0,0,0,0,0,0,26.17,26.13,26.19
$GC,3555,0.87,187.9,2842,1794,2493,2262,241.5,8.5,472,3597,0.10,0.00,39.53,0.627,10278,0.184,0.000,2870,1793,2284,2410,2158,0,0,0,0,0,0,26.09,25.67,25.19
$GC,3717,0.87,187.9,2870,1793,2394,2147,224.9,10.7,488,3721,0.00,1.08,0.00,0.000,260,0.000,0.043,2867,2491,2270,2394,2147,0,0,0,0,0,0,26.12,26.03,26.17
$GC,3762,0.87,187.9,2866,2491,2392,2147,219.4,11.1,497,3771,0.00,1.05,0.00,0.000,1030,0.000,0.037,2871,1795,2269,2392,2147,0,0,0,0,0,0,26.13,26.10,26.15
$GC,3891,0.87,187.9,2870,1795,2392,2147,205.8,10.6,510,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1795,2269,2392,2147,0,0,0,0,0,0,26.31,26.39,26.38
$GC,4021,0.87,187.9,2870,1795,2391,2147,191.4,11.1,523,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1795,2269,2391,2147,0,0,0,0,0,0,26.40,26.47,26.46
$GC,4141,0.87,187.9,2870,1795,2391,2147,177.8,11.6,535,4143,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1795,2269,2391,2147,0,0,0,0,0,0,26.46,26.51,26.54
$GC,4263,0.87,187.9,2870,1795,2390,2147,163.4,11.9,547,4267,0.00,1.05,0.00,0.000,516,0.000,0.048,2876,1110,2268,2389,2147,0,0,0,0,0,0,26.48,26.41,26.55
$GC,4305,0.87,187.9,2875,1110,2389,2147,158.1,12.0,555,4309,0.00,1.05,0.00,0.000,1030,0.000,0.037,2876,1800,2269,2390,2148,0,0,0,0,0,0,26.44,26.41,26.47
$GC,4439,0.87,187.9,2875,1799,2387,2147,142.3,11.6,569,4444,0.00,1.05,0.00,0.000,260,0.000,0.045,2871,2503,2267,2388,2147,0,0,0,0,0,0,26.55,26.41,26.59
$GC,4482,0.87,187.9,2871,2502,2387,2147,137.1,11.4,577,4487,0.00,1.02,0.00,0.000,1030,0.000,0.038,2875,1807,2267,2387,2147,0,0,0,0,0,0,26.51,26.46,26.53
$GC,4617,0.87,187.9,2874,1807,2387,2147,122.3,11.2,591,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1807,2267,2387,2147,0,0,0,0,0,0,26.63,26.65,26.65
$GC,4745,0.87,187.9,2874,1807,2386,2147,108.2,11.0,604,4747,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1807,2266,2386,2147,0,0,0,0,0,0,26.63,26.67,26.68
$GC,4868,0.87,187.9,2874,1808,2386,2147,95.5,10.4,620,4875,0.00,1.08,0.00,0.000,516,0.000,0.050,2881,1107,2266,2386,2147,0,0,0,0,0,0,26.65,26.49,26.71
$GC,4898,0.87,187.9,2880,1108,2386,2147,92.2,11.3,625,4907,0.00,1.05,0.00,0.000,1030,0.000,0.044,2877,1804,2266,2386,2147,0,0,0,0,0,0,26.53,26.51,26.60
$GC,5036,0.87,187.9,2877,1805,2385,2147,76.9,10.4,650,5043,0.00,1.10,0.00,0.000,516,0.000,0.109,2881,1101,2266,2385,2147,0,0,0,0,0,0,26.67,26.55,26.72
$GC,5234,0.88,195.1,2880,1101,2385,2147,59.1,9.6,688,5241,0.00,1.05,0.00,0.000,1062,0.000,0.045,2877,1800,2266,2385,2147,0,0,0,0,0,0,26.64,26.61,26.65
$GC,5371,0.89,204.1,2877,1799,2384,2147,45.2,9.5,713,5387,0.00,1.08,10.30,0.620,8484,0.000,0.044,2873,2506,2216,2340,2093,0,0,0,0,0,0,26.70,26.37,25.80
$GC,5548,0.93,234.8,2872,2506,2328,2090,30.0,8.2,746,5597,0.00,1.05,44.97,0.543,9254,0.000,0.037,2876,1795,2092,2222,1963,0,0,0,0,0,0,26.56,26.53,25.44
$GC,5723,0.93,238.2,2875,1795,2205,1951,16.4,9.8,777,5731,0.00,1.08,0.00,0.000,548,0.000,0.047,2882,1096,2078,2205,1951,0,0,0,0,0,0,26.22,26.19,26.27
$STATE,5895,end climb,SURFACE_DEPTH_REACHED
$STATE,5895,begin surface coast
$FINISH,0.0,1.025668
$STATE,5927,end surface coast,CONTROL_FINISHED_OK
$STATE,5927,begin surface
$SM_CCo,5947,408.38,0.518,1,0,589,603.44
$SM_GC,0.52,7.40,1.40,408.38,0.054,0.030,0.518,175,1992,589,-7.40,-1.41,603.44,0,0,0,0,1,0,26.38,26.35,24.49
$IRIDIUM_FIX,4749.81,-12509.51,020921,151338
$TT8_MAMPS,0.02247,0.146804
$HUMID,51.57
$INTERNAL_PRESSURE,8.72826
$TCM_TEMP,15.30
$XPDR_PINGS,0
$CP_FREE,124102082560.000000
$CP_POWER,328.180000
$CP_POWER1,0.000000
$24V_AH,24.07,9.878
$10V_AH,10.28,5.776
$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,17.575,37.925,459.850,408.375,0.000,0.000,0.000,313.700,0.000,0.000,17.792,1877.919,1649.576,944.567,2028.509,338.585,0.000,2024.549,0.000,1806.406,0.000,0.547,0.000
$DEVICE_MAMPS,224.910,108.630,1027.395,517.905,0.000,0.000,0.000,108.630,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,479.356,1502.203,0.000,0.000,0.000,0.000,5758.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,211652
$DATA_FILE_SIZE,40165,815
$CAP_FILE_SIZE,105077,0
$CFSIZE,260030464,247906304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.019,211.97,1
$GPS,020921,184812,4749.945,-12511.604,4,1.1,7,15.7,0.3,244.9,8,8.8