version: 66.14
glider: 204
mission: 8
dive: 48
start: 9 3 121 16 2 37
data:
$ID,204
$MISSION,8
$DIVE,48
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,220
$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,75
$T_MISSION,120
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,1800
$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,49
$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,1
$LOITER_DBDW,500
$LOITER_D_TOP,205
$LOITER_D_BOTTOM,220
$LOITER_N_DIVE,1
$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,7.0
$CP_XMITPROFILE,7.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,82.0
$CP_NDIVE,1.0
$GPS1,030921,155539,4750.3306,-12510.9004,5,0.7,25,15.7,0.3,239.6,12,1.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-63.2
$GPS2,030921,160142,4750.2944,-12510.9492,4,0.6,5,15.7,0.3,156.0,12,8.1
$SPEED_LIMITS,0.169,0.232
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4747.975,-12513.804
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,205.7,5574,-17.7,-9.778,-22.84,1820
$D_GRID,329
$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,-0.77,-116.8,166,2006,730,444,0.0,0.0,0,133,0.00,0.00,-105.35,0.010,16386,0.000,0.000,166,2005,3096,3085,3107,0,0,0,0,0,0,26.08,28.83,26.15
$GC,136,-0.77,-116.8,166,2005,3086,3107,3.8,-7.2,15,159,8.38,1.10,-9.23,0.021,18980,0.218,0.069,2336,1300,3531,3533,3530,0,0,0,0,0,0,25.77,24.84,25.94
$GC,198,-0.77,-116.8,2335,1300,3536,3530,17.5,-15.9,25,205,0.00,1.08,0.00,0.000,1030,0.000,0.036,2332,2005,3533,3537,3530,0,0,0,0,0,0,26.23,26.21,26.26
$GC,329,-0.77,-116.8,2332,2006,3541,3529,39.1,-15.0,50,336,0.00,1.02,0.00,0.000,260,0.000,0.109,2327,2690,3534,3540,3529,0,0,0,0,0,0,26.39,25.70,26.44
$GC,573,-0.77,-116.8,2327,2690,3542,3529,73.0,-13.0,96,582,0.00,1.02,0.00,0.000,1030,0.000,0.099,2330,1977,3535,3542,3529,0,0,0,0,0,0,26.10,25.77,26.27
$GC,707,-0.77,-116.8,2330,1977,3543,3528,89.4,-11.8,121,715,0.00,1.08,0.00,0.000,260,0.000,0.047,2327,2694,3535,3543,3528,0,0,0,0,0,0,26.55,26.36,26.60
$GC,916,-0.77,-116.8,2327,2694,3543,3528,114.4,-12.3,159,920,0.00,1.00,0.00,0.000,1030,0.000,0.034,2330,1994,3535,3543,3528,0,0,0,0,0,0,26.57,26.53,26.58
$GC,1049,-0.77,-116.8,2329,1994,3543,3527,130.7,-12.3,173,1052,0.00,1.00,0.00,0.000,516,0.000,0.041,2336,1317,3535,3543,3527,0,0,0,0,0,0,26.62,26.53,26.67
$GC,1159,-0.77,-116.8,2335,1317,3543,3527,144.6,-12.3,194,1166,0.00,1.02,0.00,0.000,1030,0.000,0.037,2332,1998,3535,3543,3527,0,0,0,0,0,0,26.57,26.56,26.61
$GC,1286,-0.77,-116.8,2332,1998,3543,3526,160.2,-12.5,207,1290,0.00,1.02,0.00,0.000,260,0.000,0.044,2327,2696,3534,3543,3526,0,0,0,0,0,0,26.67,26.56,26.72
$GC,1340,-0.77,-116.8,2326,2696,3543,3526,166.6,-12.3,217,1343,0.00,1.00,0.00,0.000,1030,0.000,0.032,2330,1991,3534,3543,3526,0,0,0,0,0,0,26.63,26.62,26.64
$GC,1471,-0.77,-116.8,2330,1990,3543,3525,182.7,-12.0,231,1475,0.00,0.98,0.00,0.000,516,0.000,0.040,2335,1326,3534,3543,3525,0,0,0,0,0,0,26.67,26.59,26.72
$GC,1516,-0.77,-116.8,2335,1325,3543,3525,188.3,-11.3,240,1525,0.00,1.00,0.00,0.000,1030,0.000,0.041,2333,1994,3534,3543,3525,0,0,0,0,0,0,26.63,26.60,26.65
$GC,1646,-0.77,-116.8,2331,1994,3543,3524,202.6,-11.2,253,1655,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1994,3533,3543,3524,0,0,0,0,0,0,26.70,26.77,26.76
$GC,1775,-0.77,-116.8,2332,1994,3543,3524,217.2,-11.1,266,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1994,3533,3543,3524,0,0,0,0,0,0,26.71,26.78,26.77
$STATE,1804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1805,begin apogee
$GC,1810,-0.18,0.0,2332,1784,3543,3524,220.5,-11.3,269,1937,0.62,0.00,118.68,0.994,10246,0.148,0.000,2524,1784,3050,3109,2992,0,0,0,0,1,0,26.36,24.92,24.15
$STATE,1942,end apogee,CONTROL_FINISHED_OK
$STATE,1942,begin loiter
$GC,2067,-0.16,14.1,2524,1783,3111,2995,228.3,-2.9,294,2096,0.00,0.00,22.17,0.651,8230,0.000,0.000,2524,1783,2986,3048,2924,0,0,0,0,0,0,25.88,25.36,25.04
$GC,2217,-0.15,27.6,2523,1783,3043,2922,232.6,-2.8,309,2236,0.00,0.00,16.52,0.685,8230,0.000,0.000,2524,1783,2934,2996,2872,0,0,0,0,0,0,26.03,25.65,25.18
$GC,2357,-0.13,37.7,2523,1783,2979,2871,235.6,-2.1,323,2377,0.08,0.00,11.10,0.745,10278,0.198,0.000,2539,1783,2889,2946,2833,0,0,0,0,0,0,25.89,25.75,25.27
$GC,2497,-0.12,44.6,2538,1783,2943,2830,237.8,-1.4,337,2506,0.00,0.00,4.25,0.917,8230,0.000,0.000,2539,1783,2870,2931,2809,0,0,0,0,0,0,26.17,25.69,25.26
$GC,2627,-0.12,51.6,2539,1783,2934,2810,239.5,-1.4,350,2646,0.00,0.00,11.98,0.744,8230,0.000,0.000,2539,1783,2833,2899,2768,0,0,0,0,0,0,26.26,25.88,25.37
$GC,2767,-0.12,52.5,2539,1783,2894,2765,240.1,-0.2,364,2769,0.00,0.00,0.00,0.000,38,0.000,0.000,2539,1783,2830,2894,2766,0,0,0,0,0,0,26.26,26.32,26.34
$GC,2887,-0.11,53.2,2538,1783,2894,2766,240.4,-0.1,376,2889,0.00,0.00,0.00,0.000,38,0.000,0.000,2539,1783,2830,2894,2766,0,0,0,0,0,0,26.36,26.42,26.41
$GC,3009,-0.11,54.5,2538,1783,2892,2766,240.8,-0.3,388,3016,0.00,0.00,0.00,0.000,38,0.000,0.000,2539,1783,2829,2893,2766,0,0,0,0,0,0,26.41,26.51,26.48
$GC,3137,-0.11,56.1,2538,1783,2891,2766,241.3,-0.3,401,3139,0.00,0.00,0.00,0.000,38,0.000,0.000,2539,1784,2829,2892,2766,0,0,0,0,0,0,26.48,26.55,26.53
$GC,3257,-0.11,58.3,2538,1783,2891,2766,241.8,-0.5,413,3266,0.00,0.00,3.65,0.915,8230,0.000,0.000,2539,1783,2817,2881,2754,0,0,0,0,0,0,26.53,25.87,25.13
$GC,3387,-0.11,58.3,2538,1782,2882,2754,241.8,0.3,426,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1783,2818,2882,2754,0,0,0,0,0,0,26.51,26.58,26.56
$GC,3507,-0.11,59.1,2538,1783,2882,2754,241.7,-0.2,438,3509,0.00,0.00,0.00,0.000,38,0.000,0.000,2539,1783,2818,2882,2754,0,0,0,0,0,0,26.57,26.63,26.60
$GC,3627,-0.11,59.1,2539,1783,2882,2753,241.0,0.3,450,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1783,2818,2882,2754,0,0,0,0,0,0,26.58,26.65,26.65
$STATE,3735,end loiter,LOITER_COMPLETE
$STATE,3735,begin climb
$GC,3737,0.77,116.8,2538,1783,2882,2754,240.6,0.0,461,3841,0.90,1.15,97.30,0.609,10500,0.128,0.043,2826,2498,2570,2659,2482,0,0,0,0,0,0,26.37,25.47,24.98
$GC,3942,0.81,146.5,2826,2499,2644,2472,229.7,8.1,499,3993,0.00,1.00,42.75,0.614,9254,0.000,0.038,2830,1833,2447,2559,2336,0,0,0,0,0,0,25.97,25.95,25.00
$GC,4114,0.81,149.3,2829,1834,2551,2330,213.9,9.6,521,4121,0.00,0.00,0.00,0.000,38,0.000,0.000,2830,1834,2440,2551,2330,0,0,0,0,0,0,25.94,26.02,26.02
$GC,4241,0.81,150.4,2829,1834,2548,2330,201.3,9.7,534,4245,0.00,1.00,0.00,0.000,292,0.000,0.044,2826,2493,2438,2547,2330,0,0,0,0,0,0,26.20,26.12,26.27
$GC,4286,0.82,156.6,2826,2493,2546,2330,197.2,9.4,542,4307,0.00,1.05,11.82,0.730,9254,0.000,0.037,2830,1792,2404,2519,2289,0,0,0,0,0,0,26.21,26.19,25.38
$GC,4427,0.82,160.7,2829,1792,2515,2288,183.9,9.5,558,4433,0.08,1.05,0.00,0.000,2596,0.193,0.047,2849,1110,2401,2514,2288,0,0,0,0,0,0,26.04,26.16,26.14
$GC,4492,0.82,160.7,2848,1110,2514,2288,177.2,10.1,570,4496,0.00,1.05,0.00,0.000,1030,0.000,0.044,2845,1797,2401,2514,2288,0,0,0,0,0,0,26.27,26.24,26.29
$GC,4624,0.82,160.7,2844,1798,2513,2288,163.9,9.9,584,4626,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1798,2400,2513,2288,0,0,0,0,0,0,26.28,26.34,26.34
$GC,4746,0.82,160.7,2844,1798,2511,2288,151.7,10.2,596,4750,0.00,1.05,0.00,0.000,260,0.000,0.108,2840,2505,2399,2511,2288,0,0,0,0,0,0,26.47,26.35,26.50
$GC,4842,0.82,160.7,2839,2505,2508,2288,141.6,9.9,615,4850,0.00,1.05,0.00,0.000,1030,0.000,0.037,2843,1796,2398,2508,2288,0,0,0,0,0,0,26.46,26.44,26.47
$GC,4973,0.83,162.0,2843,1796,2508,2288,129.4,9.7,628,4977,0.00,1.05,0.00,0.000,548,0.000,0.047,2849,1108,2398,2509,2288,0,0,0,0,0,0,26.54,26.45,26.58
$GC,5066,0.83,162.0,2848,1108,2508,2288,119.9,10.0,646,5071,0.00,1.05,0.00,0.000,1030,0.000,0.037,2845,1802,2398,2508,2288,0,0,0,0,0,0,26.53,26.50,26.55
$GC,5199,0.83,162.0,2845,1803,2508,2288,106.5,10.0,660,5203,0.00,1.02,0.00,0.000,260,0.000,0.049,2840,2499,2398,2508,2288,0,0,0,0,0,0,26.53,26.44,26.58
$GC,5223,0.83,162.0,2839,2500,2507,2287,103.8,10.4,665,5231,0.00,1.02,0.00,0.000,1030,0.000,0.037,2843,1804,2397,2507,2288,0,0,0,0,0,0,26.57,26.53,26.57
$GC,5354,0.84,174.9,2843,1803,2507,2288,91.6,9.0,686,5376,0.00,1.08,17.10,0.634,8484,0.000,0.044,2841,2496,2332,2451,2213,0,0,0,0,0,0,26.63,26.22,25.69
$GC,5435,0.87,201.7,2839,2496,2442,2209,84.3,8.3,700,5472,0.05,1.05,31.70,0.586,11302,0.164,0.038,2861,1787,2226,2351,2102,0,0,0,0,0,0,26.17,26.34,25.44
$GC,5598,0.87,201.7,2860,1787,2338,2094,68.6,10.5,729,5605,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1787,2216,2338,2094,0,0,0,0,0,0,26.27,26.34,26.33
$GC,5729,0.87,201.7,2860,1787,2336,2094,54.4,10.3,754,5737,0.00,1.08,0.00,0.000,260,0.000,0.044,2857,2502,2215,2336,2094,0,0,0,0,0,0,26.30,26.27,26.36
$GC,5863,0.91,233.3,2857,2501,2333,2094,42.4,8.0,779,5912,0.00,1.05,41.88,0.550,9254,0.000,0.043,2861,1795,2093,2222,1965,0,0,0,0,0,0,26.08,26.29,25.34
$GC,6037,0.92,241.4,2860,1794,2210,1959,28.0,9.3,810,6047,0.08,1.05,2.17,0.372,10788,0.156,0.052,2887,1100,2064,2193,1935,0,0,0,0,0,0,26.06,25.70,25.17
$GC,6060,0.92,244.3,2886,1100,2195,1935,25.8,9.6,813,6068,0.00,1.08,0.00,0.000,1062,0.000,0.036,2883,1799,2065,2195,1935,0,0,0,0,0,0,26.14,26.14,26.15
$GC,6200,0.95,267.5,2883,1799,2194,1935,13.1,8.5,838,6244,0.00,1.15,39.70,0.526,8996,0.000,0.046,2887,1095,1957,2089,1825,0,0,0,0,0,0,26.34,25.79,25.27
$STATE,6337,end climb,SURFACE_DEPTH_REACHED
$STATE,6337,begin surface coast
$FINISH,0.1,1.025381
$STATE,6365,end surface coast,CONTROL_FINISHED_OK
$STATE,6365,begin surface
$SM_CCo,6385,662.03,0.464,0,0,591,603.68
$SM_GC,0.41,7.53,1.42,662.03,0.056,0.029,0.464,179,2007,591,-7.41,-1.16,603.68,0,0,0,0,0,0,26.16,26.13,24.70
$IRIDIUM_FIX,4752.23,-12534.50,030921,140917
$TT8_MAMPS,0.02247,0.147553
$HUMID,51.69
$INTERNAL_PRESSURE,8.74779
$TCM_TEMP,15.00
$XPDR_PINGS,0
$CP_FREE,122094321664.000000
$CP_POWER,328.190000
$CP_POWER1,0.000000
$24V_AH,24.15,11.637
$10V_AH,10.26,6.593
$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,17.700,34.075,472.775,662.025,0.000,0.000,0.000,234.875,0.000,0.000,16.829,1958.790,1863.468,1207.358,2082.819,332.514,0.000,2257.810,0.000,1928.927,0.000,0.548,0.000
$DEVICE_MAMPS,218.025,108.630,993.735,463.590,0.000,0.000,0.000,105.570,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,527.673,1661.020,0.000,0.000,0.000,0.000,6391.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,211664
$DATA_FILE_SIZE,43464,867
$CAP_FILE_SIZE,114159,0
$CFSIZE,260030464,246865920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.043,347.33,1
$GPS,030921,180125,4750.226,-12511.396,34,0.9,35,15.7,0.1,0.0,11,3.8