version: 66.14
glider: 204
mission: 8
dive: 51
start: 9 3 121 22 29 56
data:
$ID,204
$MISSION,8
$DIVE,51
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$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,70
$T_MISSION,115
$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,44
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,2800
$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,800
$LOITER_D_TOP,205
$LOITER_D_BOTTOM,215
$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,88.0
$CP_NDIVE,1.0
$GPS1,030921,222420,4749.7397,-12511.2393,1,0.6,2,15.7,0.4,84.9,12,7.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-59.0
$GPS2,030921,222858,4749.7568,-12511.1631,4,0.6,6,15.7,0.4,49.2,12,5.4
$SPEED_LIMITS,0.165,0.230
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4747.975,-12513.804
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,223.6,4657,-17.2,-9.524,-22.49,1865
$D_GRID,365
$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,64,end surface,CONTROL_FINISHED_OK
$STATE,64,begin dive
$GC,66,-0.75,-116.8,191,1996,669,431,0.0,0.0,0,179,0.00,0.00,-109.95,0.004,16386,0.000,0.000,192,1997,3207,3200,3215,0,0,0,0,0,0,26.54,28.83,26.60
$GC,182,-0.75,-116.8,191,1997,3201,3215,4.0,-7.1,16,199,8.18,1.08,-1.42,0.047,18724,0.212,0.064,2326,2705,3279,3281,3277,0,0,0,0,0,0,26.02,25.04,26.18
$GC,277,-0.75,-116.8,2325,2706,3290,3274,27.9,-14.8,33,286,0.00,1.05,0.00,0.000,1030,0.000,0.027,2329,1974,3282,3290,3274,0,0,0,0,0,0,26.50,26.46,26.51
$GC,410,-0.75,-116.8,2328,1974,3293,3273,43.2,-9.7,58,418,0.00,0.95,0.00,0.000,516,0.000,0.034,2334,1324,3283,3293,3273,0,0,0,0,0,0,26.72,26.50,26.79
$GC,591,-0.75,-116.8,2333,1323,3295,3273,65.6,-13.3,91,598,0.00,1.00,0.00,0.000,1030,0.000,0.031,2331,1997,3284,3295,3273,0,0,0,0,0,0,26.62,26.58,26.63
$GC,727,-0.75,-116.8,2330,1996,3296,3273,84.2,-13.4,116,734,0.00,1.02,0.00,0.000,260,0.000,0.037,2325,2698,3284,3296,3273,0,0,0,0,0,0,26.84,26.61,26.90
$GC,779,-0.75,-116.8,2325,2699,3296,3273,90.7,-12.1,125,787,0.00,1.00,0.00,0.000,1030,0.000,0.027,2329,1994,3284,3296,3273,0,0,0,0,0,0,26.68,26.66,26.70
$GC,914,-0.75,-116.8,2328,1994,3296,3272,105.3,-10.6,145,919,0.00,0.98,0.00,0.000,516,0.000,0.034,2334,1324,3284,3296,3272,0,0,0,0,0,0,26.89,26.65,26.94
$GC,1061,-0.75,-116.8,2333,1324,3296,3272,119.7,-9.5,173,1066,0.00,1.00,0.00,0.000,1062,0.000,0.031,2331,2002,3283,3296,3271,0,0,0,0,0,0,26.74,26.70,26.76
$GC,1196,-0.75,-116.8,2330,2001,3296,3271,131.3,-8.8,187,1200,0.00,1.00,0.00,0.000,292,0.000,0.037,2325,2692,3283,3296,3271,0,0,0,0,0,0,26.95,26.72,27.02
$GC,1260,-0.75,-116.8,2324,2692,3296,3269,137.7,-10.2,199,1263,0.00,0.98,0.00,0.000,1030,0.000,0.027,2328,1997,3283,3296,3270,0,0,0,0,0,0,26.78,26.76,26.80
$GC,1392,-0.75,-116.8,2328,1996,3296,3269,150.2,-9.7,213,1396,0.00,0.98,0.00,0.000,516,0.000,0.034,2333,1324,3282,3295,3269,0,0,0,0,0,0,26.96,26.75,27.03
$GC,1466,-0.75,-116.8,2333,1324,3296,3269,157.6,-10.1,227,1469,0.00,1.00,0.00,0.000,1030,0.000,0.031,2330,2003,3281,3295,3268,0,0,0,0,0,0,26.80,26.77,26.80
$GC,1597,-0.75,-116.8,2330,2003,3296,3268,171.2,-10.7,241,1602,0.00,1.00,0.00,0.000,516,0.000,0.034,2333,1324,3282,3297,3268,0,0,0,0,0,0,27.01,26.77,27.06
$GC,1661,-0.75,-116.8,2333,1324,3296,3268,177.8,-10.2,253,1666,0.00,1.00,0.00,0.000,1030,0.000,0.031,2330,2003,3282,3296,3268,0,0,0,0,0,0,26.82,26.79,26.82
$GC,1794,-0.75,-116.8,2330,2002,3296,3266,190.8,-9.5,267,1798,0.00,1.00,0.00,0.000,260,0.000,0.039,2324,2691,3282,3297,3267,0,0,0,0,0,0,27.03,26.79,27.08
$GC,1867,-0.75,-116.8,2324,2692,3297,3266,197.7,-9.1,281,1872,0.00,0.98,0.00,0.000,1062,0.000,0.027,2328,1996,3281,3296,3266,0,0,0,0,0,0,26.86,26.83,26.89
$STATE,1898,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1898,begin apogee
$GC,1903,-0.18,0.0,2329,1787,3297,3266,200.6,-8.8,285,2020,0.62,0.00,102.82,1.018,10246,0.150,0.000,2523,1787,2805,2867,2744,0,0,0,0,1,0,26.52,25.07,24.30
$STATE,2021,end apogee,CONTROL_FINISHED_OK
$STATE,2021,begin loiter
$GC,2147,-0.18,0.0,2522,1786,2871,2750,204.8,-1.0,309,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1787,2810,2871,2750,0,0,0,0,0,0,25.94,26.01,25.99
$GC,2267,-0.18,0.0,2522,1787,2871,2749,206.0,-0.9,321,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1786,2809,2870,2749,0,0,0,0,0,0,26.15,26.22,26.20
$GC,2388,-0.18,0.0,2522,1787,2869,2749,207.1,-0.8,333,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1786,2809,2869,2749,0,0,0,0,0,0,26.32,26.36,26.34
$GC,2507,-0.18,0.0,2522,1787,2868,2749,208.0,-0.8,345,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1787,2809,2869,2749,0,0,0,0,0,0,26.36,26.44,26.42
$GC,2627,-0.18,0.0,2522,1787,2868,2749,208.9,-0.7,357,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1787,2808,2868,2749,0,0,0,0,0,0,26.44,26.51,26.49
$GC,2748,-0.18,0.0,2522,1787,2868,2749,209.7,-0.6,369,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1787,2808,2868,2749,0,0,0,0,0,0,26.51,26.57,26.56
$GC,2867,-0.18,0.0,2522,1787,2866,2749,210.2,-0.3,381,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1787,2808,2867,2749,0,0,0,0,0,0,26.53,26.60,26.59
$GC,2987,-0.18,0.0,2522,1787,2866,2749,210.3,0.0,393,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1787,2807,2865,2749,0,0,0,0,0,0,26.57,26.64,26.60
$GC,3108,-0.18,0.0,2522,1787,2865,2749,209.9,0.4,405,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1787,2807,2865,2749,0,0,0,0,0,0,26.61,26.68,26.67
$GC,3227,-0.18,0.0,2522,1787,2864,2749,209.2,0.7,417,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1787,2806,2864,2749,0,0,0,0,0,0,26.61,26.69,26.67
$GC,3347,-0.18,0.0,2522,1787,2864,2749,208.2,0.9,429,3349,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1787,2806,2864,2748,0,0,0,0,0,0,26.65,26.72,26.70
$GC,3468,-0.18,0.0,2522,1787,2864,2749,207.1,0.8,441,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1787,2806,2864,2749,0,0,0,0,0,0,26.67,26.74,26.73
$GC,3587,-0.18,0.0,2522,1787,2863,2749,206.2,0.6,453,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1787,2806,2863,2749,0,0,0,0,0,0,26.67,26.74,26.73
$GC,3707,-0.18,0.0,2522,1787,2863,2749,205.6,0.3,465,3709,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1786,2806,2863,2749,0,0,0,0,0,0,26.68,26.75,26.74
$STATE,3826,end loiter,LOITER_COMPLETE
$STATE,3826,begin climb
$GC,3828,0.75,116.8,2522,1787,2862,2749,205.6,0.0,477,4024,0.93,1.15,188.15,0.558,10500,0.122,0.044,2822,2495,2318,2436,2200,0,0,0,0,0,0,26.48,25.30,24.85
$GC,4189,0.75,116.8,2822,2495,2401,2169,177.7,10.3,545,4193,0.00,1.00,0.00,0.000,1030,0.000,0.046,2826,1832,2286,2403,2169,0,0,0,0,0,0,26.01,25.98,26.03
$GC,4321,0.75,117.0,2825,1832,2402,2168,164.5,9.5,559,4325,0.00,1.00,0.00,0.000,292,0.000,0.044,2822,2486,2285,2402,2168,0,0,0,0,0,0,26.12,26.14,26.19
$GC,4354,0.76,124.9,2822,2487,2401,2167,161.4,9.1,565,4358,0.00,1.02,0.00,0.000,1062,0.000,0.036,2826,1796,2284,2401,2168,0,0,0,0,0,0,26.20,26.19,26.27
$GC,4487,0.77,125.6,2825,1796,2401,2168,149.1,9.5,579,4491,0.00,1.05,0.00,0.000,548,0.000,0.047,2831,1110,2284,2401,2168,0,0,0,0,0,0,26.33,26.27,26.39
$GC,4552,0.77,125.6,2831,1110,2401,2168,142.4,10.6,591,4555,0.00,1.05,0.00,0.000,1030,0.000,0.036,2828,1798,2284,2401,2168,0,0,0,0,0,0,26.36,26.34,26.39
$GC,4686,0.77,125.6,2828,1798,2400,2167,127.9,11.3,605,4689,0.00,1.05,0.00,0.000,260,0.000,0.044,2822,2508,2283,2400,2167,0,0,0,0,0,0,26.48,26.37,26.53
$GC,4760,0.77,125.6,2822,2509,2397,2167,119.7,10.4,619,4764,0.00,1.05,0.00,0.000,1030,0.000,0.037,2826,1796,2282,2398,2167,0,0,0,0,0,0,26.46,26.44,26.48
$GC,4895,0.77,127.3,2825,1795,2398,2167,106.8,9.4,633,4899,0.00,1.05,0.00,0.000,292,0.000,0.044,2823,2497,2282,2397,2167,0,0,0,0,0,0,26.55,26.46,26.63
$GC,4971,0.78,136.5,2822,2497,2396,2167,99.7,9.0,647,4980,0.00,1.02,4.28,0.723,9254,0.000,0.036,2826,1802,2245,2367,2124,0,0,0,0,0,0,26.53,26.51,25.66
$GC,5107,0.78,140.2,2825,1802,2380,2130,87.5,9.3,672,5116,0.00,1.10,3.35,0.636,8740,0.000,0.048,2831,1103,2229,2356,2103,0,0,0,0,0,0,26.51,26.27,25.33
$GC,5150,0.79,147.0,2831,1103,2364,2110,83.6,9.1,679,5167,0.00,1.05,11.38,0.643,9254,0.000,0.036,2828,1798,2201,2326,2076,0,0,0,0,0,0,26.48,26.45,25.67
$GC,5295,0.81,167.1,2827,1799,2308,2061,70.9,8.4,705,5325,0.08,1.08,24.25,0.575,10532,0.208,0.042,2836,2498,2112,2240,1985,0,0,0,0,0,0,26.23,26.02,25.51
$GC,5354,0.82,168.3,2836,2499,2219,1964,65.3,9.5,714,5362,0.00,1.05,0.00,0.000,1062,0.000,0.037,2840,1796,2091,2218,1964,0,0,0,0,0,0,26.19,26.16,26.21
$GC,5488,0.85,194.8,2839,1796,2215,1962,54.0,8.1,739,5525,0.00,1.12,31.75,0.545,8740,0.000,0.054,2845,1095,2003,2135,1871,0,0,0,0,0,0,26.34,25.88,25.38
$GC,5615,0.85,194.8,2845,1095,2105,1849,42.7,9.9,761,5622,0.00,1.08,0.00,0.000,1030,0.000,0.035,2842,1799,1976,2105,1848,0,0,0,0,0,0,26.15,26.14,26.19
$GC,5748,0.89,228.0,2841,1799,2103,1847,31.5,7.7,786,5793,0.12,1.12,39.67,0.523,10788,0.174,0.046,2886,1108,1868,2003,1733,0,0,0,0,0,0,26.09,25.79,25.28
$GC,5857,0.89,228.0,2886,1108,1977,1714,21.0,9.8,804,5865,0.00,1.05,0.00,0.000,1030,0.000,0.043,2882,1789,1845,1977,1713,0,0,0,0,0,0,26.07,26.00,26.07
$GC,5994,0.96,286.0,2882,1789,1976,1709,9.3,6.3,829,6093,0.00,1.10,89.55,0.483,8484,0.000,0.049,2877,2505,1625,1766,1484,0,0,0,0,0,0,26.26,25.35,25.06
$STATE,6099,end climb,SURFACE_DEPTH_REACHED
$STATE,6099,begin surface coast
$FINISH,-0.5,1.013267
$STATE,6121,end surface coast,CONTROL_FINISHED_OK
$STATE,6121,begin surface
$SM_CCo,6140,160.77,0.602,1,0,552,551.92
$SM_CCo,6310,0.00,0.000,0,0,550,551.92
$SM_CCo,6313,-0.03,0.773,0,0,550,551.92
$SM_GC,0.46,7.68,0.77,-0.03,0.060,0.031,0.773,166,2004,550,-7.40,1.47,551.92,0,0,0,0,0,0,25.83,25.79,25.06
$IRIDIUM_FIX,4748.50,-12507.66,030921,222502
$TT8_MAMPS,0.02247,0.186501
$HUMID,52.71
$INTERNAL_PRESSURE,8.72826
$TCM_TEMP,15.30
$XPDR_PINGS,0
$CP_FREE,121635078144.000000
$CP_POWER,328.210000
$CP_POWER1,0.000000
$24V_AH,24.30,12.081
$10V_AH,10.23,6.824
$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,17.600,37.200,495.200,160.775,0.000,0.000,0.000,0.000,0.000,0.000,18.236,1885.988,1729.091,688.418,1840.231,292.255,0.000,1484.205,0.000,1886.253,0.000,0.549,0.000
$DEVICE_MAMPS,211.905,64.260,1018.215,602.055,0.000,0.000,0.000,0.000,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,505.623,1592.191,0.000,0.000,0.000,0.000,4176.000,0.000,0.000,0.000
$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,43429,848
$CAP_FILE_SIZE,122626,0
$CFSIZE,260030464,246587392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.072,165.55,1
$GPS,040921,001631,4749.241,-12511.558,3,1.1,22,15.7,0.3,137.3,10,2.1