version: 66.14
glider: 204
mission: 8
dive: 55
start: 9 4 121 8 40 3
data:
$ID,204
$MISSION,8
$DIVE,55
$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,45
$R_STBD_OVSHOOT,45
$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,5
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,170
$ALTIM_PING_DELTA,10
$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,96.0
$CP_NDIVE,1.0
$GPS1,040921,083009,4749.7002,-12511.0811,15,0.9,24,15.7,0.4,340.1,12,4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-62.8
$GPS2,040921,083903,4749.7549,-12511.0186,3,0.9,6,15.7,0.4,80.0,12,6.2
$SPEED_LIMITS,0.165,0.230
$TGT_NAME,INSHORE
$TGT_LATLONG,4752.165,-12508.635
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,6.3,5357,-17.2,-9.524,-22.49,1865
$D_GRID,312
$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,24,-0.75,-116.8,187,2007,680,412,0.0,0.0,0,132,0.00,0.00,-105.18,0.010,16386,0.000,0.000,188,2007,2977,2969,2986,0,0,0,0,0,0,26.06,28.83,26.13
$GC,135,-0.75,-116.8,187,2007,2970,2986,3.6,-6.4,15,159,8.30,1.08,-6.55,0.027,19236,0.218,0.063,2341,1293,3279,3285,3273,0,0,0,0,0,0,25.74,25.53,25.91
$GC,392,-0.75,-116.8,2340,1293,3292,3272,45.4,-12.7,63,399,0.00,1.08,0.00,0.000,1030,0.000,0.037,2338,2002,3282,3292,3272,0,0,0,0,0,0,26.35,26.32,26.38
$GC,528,-0.75,-116.8,2337,2002,3294,3272,64.2,-13.8,88,536,0.00,1.05,0.00,0.000,516,0.000,0.040,2341,1300,3282,3294,3271,0,0,0,0,0,0,26.39,26.37,26.46
$GC,768,-0.75,-116.8,2340,1300,3295,3271,89.6,-10.0,134,775,0.00,1.08,0.00,0.000,1030,0.000,0.037,2338,2014,3282,3295,3270,0,0,0,0,0,0,26.50,26.46,26.53
$GC,911,-0.75,-116.8,2337,2014,3296,3271,102.7,-10.8,158,915,0.00,1.08,0.00,0.000,516,0.000,0.043,2341,1298,3283,3296,3270,0,0,0,0,0,0,26.47,26.47,26.51
$GC,1035,-0.75,-116.8,2341,1299,3296,3270,118.0,-13.1,182,1039,0.00,1.05,0.00,0.000,1030,0.000,0.037,2338,1997,3283,3297,3270,0,0,0,0,0,0,26.53,26.51,26.55
$GC,1169,-0.75,-116.8,2337,1997,3296,3270,134.3,-12.5,196,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1997,3282,3296,3269,0,0,0,0,0,0,26.67,26.72,26.70
$GC,1298,-0.75,-116.8,2337,1997,3295,3269,149.7,-11.4,209,1301,0.00,1.02,0.00,0.000,260,0.000,0.043,2332,2697,3282,3296,3269,0,0,0,0,0,0,26.65,26.55,26.70
$GC,1351,-0.75,-116.8,2332,2697,3296,3269,156.1,-11.9,219,1355,0.00,1.02,0.00,0.000,1030,0.000,0.032,2336,1973,3282,3296,3269,0,0,0,0,0,0,26.63,26.60,26.65
$GC,1483,-0.75,-116.8,2335,1973,3296,3269,171.6,-11.9,233,1488,0.00,0.95,0.00,0.000,516,0.000,0.041,2341,1324,3282,3296,3269,0,0,0,0,0,0,26.61,26.53,26.66
$GC,1541,-0.75,-116.8,2340,1324,3297,3269,178.9,-11.8,244,1551,0.00,1.02,0.00,0.000,1030,0.000,0.036,2338,2009,3282,3297,3268,0,0,0,0,0,0,26.65,26.59,26.65
$GC,1670,-0.75,-116.8,2337,2009,3296,3268,193.5,-11.5,257,1674,0.00,1.02,0.00,0.000,516,0.000,0.040,2341,1322,3282,3296,3268,0,0,0,0,0,0,26.70,26.58,26.76
$GC,1705,-0.75,-116.8,2340,1321,3296,3269,198.0,-11.6,264,1714,0.00,1.02,0.00,0.000,1030,0.000,0.037,2337,2007,3282,3296,3268,0,0,0,0,0,0,26.61,26.58,26.62
$STATE,1732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1732,begin apogee
$GC,1737,-0.18,0.0,2337,1789,3296,3269,200.9,-11.4,267,1964,0.60,0.00,216.93,0.545,10246,0.150,0.000,2521,1789,2791,2850,2733,0,0,0,0,0,0,26.29,25.19,24.77
$STATE,1969,end apogee,CONTROL_FINISHED_OK
$STATE,1969,begin loiter
$GC,2094,-0.17,9.2,2521,1789,2837,2726,212.0,-1.2,302,2103,0.00,0.00,2.62,0.555,8230,0.000,0.000,2521,1789,2768,2826,2710,0,0,0,0,0,0,25.94,25.38,24.70
$GC,2224,-0.17,9.2,2521,1789,2832,2717,212.4,0.0,315,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1789,2774,2832,2717,0,0,0,0,0,0,26.13,26.20,26.18
$GC,2343,-0.17,9.2,2520,1789,2832,2717,211.8,0.6,327,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1788,2774,2832,2716,0,0,0,0,0,0,26.28,26.32,26.31
$GC,2463,-0.17,9.2,2520,1789,2832,2716,210.8,0.9,339,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1789,2774,2832,2716,0,0,0,0,0,0,26.34,26.41,26.39
$GC,2584,-0.17,9.2,2521,1789,2832,2717,209.5,1.0,351,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1789,2774,2832,2716,0,0,0,0,0,0,26.41,26.49,26.48
$GC,2703,-0.17,9.2,2521,1789,2832,2716,208.9,0.4,363,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1789,2773,2831,2716,0,0,0,0,0,0,26.46,26.53,26.52
$GC,2823,-0.17,9.2,2521,1789,2832,2716,208.9,-0.1,375,2825,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1789,2774,2832,2716,0,0,0,0,0,0,26.48,26.58,26.56
$GC,2944,-0.17,9.2,2521,1789,2832,2716,209.3,-0.3,387,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1789,2774,2832,2716,0,0,0,0,0,0,26.55,26.63,26.60
$GC,3063,-0.17,9.2,2521,1789,2832,2716,209.9,-0.6,399,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1789,2774,2832,2716,0,0,0,0,0,0,26.57,26.64,26.63
$GC,3183,-0.17,9.2,2521,1789,2831,2716,210.5,-0.5,411,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1789,2773,2831,2716,0,0,0,0,0,0,26.60,26.67,26.65
$GC,3304,-0.17,9.2,2521,1789,2831,2716,211.2,-0.5,423,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1789,2773,2831,2716,0,0,0,0,0,0,26.63,26.70,26.68
$GC,3423,-0.17,9.2,2521,1789,2831,2716,212.1,-0.8,435,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1789,2773,2831,2716,0,0,0,0,0,0,26.64,26.71,26.69
$GC,3543,-0.17,9.2,2520,1789,2831,2716,213.2,-1.0,447,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1789,2773,2831,2716,0,0,0,0,0,0,26.65,26.72,26.71
$GC,3666,-0.17,9.2,2521,1789,2830,2716,214.4,-1.0,459,3673,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1789,2773,2831,2716,0,0,0,0,0,0,26.53,26.62,26.59
$STATE,3762,end loiter,LOITER_COMPLETE
$STATE,3762,begin climb
$GC,3764,0.75,116.8,2521,1789,2830,2716,215.5,0.0,469,3959,0.93,1.05,183.07,0.567,11012,0.121,0.043,2829,1135,2309,2429,2189,0,0,0,0,0,0,26.42,25.11,24.79
$GC,4195,0.75,116.8,2829,1135,2407,2175,185.0,9.5,552,4203,0.00,1.02,0.00,0.000,1030,0.000,0.035,2826,1799,2290,2407,2173,0,0,0,0,0,0,26.10,26.08,26.12
$GC,4326,0.78,138.9,2826,1799,2406,2172,174.2,8.3,565,4357,0.00,1.02,24.12,0.615,8484,0.000,0.044,2821,2504,2226,2350,2102,0,0,0,0,0,0,26.28,25.62,25.30
$GC,4395,0.80,154.1,2820,2503,2341,2091,168.0,8.7,578,4423,0.00,1.00,18.60,0.629,9254,0.000,0.036,2824,1835,2164,2293,2036,0,0,0,0,0,0,26.05,26.03,25.24
$GC,4542,0.80,154.1,2823,1835,2286,2031,154.3,9.7,595,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1835,2159,2286,2032,0,0,0,0,0,0,26.07,26.07,26.08
$GC,4672,0.80,154.1,2823,1835,2284,2031,141.1,10.2,608,4675,0.00,1.00,0.00,0.000,260,0.000,0.044,2821,2496,2157,2284,2031,0,0,0,0,0,0,26.28,26.18,26.34
$GC,4747,0.80,158.2,2820,2496,2282,2030,133.8,9.3,622,4752,0.00,1.02,0.00,0.000,1062,0.000,0.037,2824,1806,2156,2282,2031,0,0,0,0,0,0,26.25,26.27,26.25
$GC,4880,0.81,162.8,2824,1806,2282,2031,121.2,9.3,636,4892,0.08,1.08,2.35,0.571,10788,0.190,0.044,2844,1110,2137,2268,2007,0,0,0,0,0,0,26.21,26.04,25.03
$GC,4929,0.81,162.8,2843,1110,2269,2007,116.1,10.3,645,4936,0.00,1.05,0.00,0.000,1030,0.000,0.036,2840,1800,2138,2269,2007,0,0,0,0,0,0,26.35,26.34,26.40
$GC,5056,0.81,162.8,2840,1801,2269,2007,102.6,10.7,658,5061,0.00,1.02,0.00,0.000,260,0.000,0.044,2835,2494,2138,2269,2007,0,0,0,0,0,0,26.48,26.37,26.53
$GC,5147,0.81,162.8,2835,2494,2268,2007,92.5,10.4,675,5154,0.00,1.02,0.00,0.000,1030,0.000,0.037,2839,1799,2138,2269,2007,0,0,0,0,0,0,26.43,26.43,26.34
$GC,5279,0.81,162.8,2839,1800,2268,2007,77.5,12.5,700,5286,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1799,2138,2269,2007,0,0,0,0,0,0,26.48,26.56,26.55
$GC,5411,0.81,162.8,2838,1799,2268,2007,63.2,10.0,725,5418,0.00,1.05,0.00,0.000,516,0.000,0.048,2844,1110,2137,2268,2007,0,0,0,0,0,0,26.59,26.47,26.64
$GC,5471,0.83,179.9,2843,1110,2268,2006,57.7,8.6,736,5502,0.00,1.05,22.48,0.568,9254,0.000,0.036,2840,1810,2061,2196,1926,0,0,0,0,0,0,26.52,26.48,25.63
$GC,5626,0.85,193.3,2840,1810,2187,1921,46.5,8.8,764,5641,0.00,1.15,8.98,0.610,8740,0.000,0.048,2844,1097,2010,2145,1875,0,0,0,0,0,0,26.36,26.13,25.60
$GC,5863,0.91,248.4,2843,1098,2134,1870,29.9,6.5,809,5963,0.10,1.08,92.20,0.506,11302,0.135,0.036,2876,1806,1784,1926,1642,0,0,0,0,0,0,26.19,26.37,25.09
$GC,6090,0.98,303.2,2876,1806,1907,1627,9.3,6.5,847,6181,0.08,1.17,83.68,0.480,10788,0.177,0.049,2901,1097,1558,1704,1413,0,0,0,0,0,0,25.89,25.38,24.98
$STATE,6186,end climb,SURFACE_DEPTH_REACHED
$STATE,6187,begin surface coast
$FINISH,-0.5,1.012705
$STATE,6209,end surface coast,CONTROL_FINISHED_OK
$STATE,6209,begin surface
$SM_CCo,6230,486.35,0.450,1,0,549,551.92
$SM_CCo,6725,-0.50,0.096,0,0,550,551.92
$SM_CCo,6729,0.00,0.000,0,0,550,551.92
$SM_GC,0.48,7.70,1.45,0.00,0.059,0.034,0.000,179,1998,550,-7.39,-1.33,551.92,0,0,0,0,0,0,25.77,25.70,25.51
$IRIDIUM_FIX,4751.28,-12418.78,040921,053659
$TT8_MAMPS,0.021721,0.150549
$HUMID,51.06
$INTERNAL_PRESSURE,8.74779
$TCM_TEMP,15.40
$XPDR_PINGS,0
$CP_FREE,120719998976.000000
$CP_POWER,328.200000
$CP_POWER1,0.000000
$24V_AH,24.38,12.682
$10V_AH,10.25,7.169
$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,17.775,29.975,655.025,486.350,0.000,0.000,0.000,372.950,0.750,0.000,17.643,1864.164,1711.033,1146.821,2217.227,356.308,0.000,2371.436,0.000,1923.721,0.000,6.103,0.000
$DEVICE_MAMPS,218.025,63.495,628.830,449.820,0.000,0.000,0.000,110.925,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,522.379,1652.480,0.000,0.000,0.000,0.000,6255.000,0.000,0.000,0.000
$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,43464,865
$CAP_FILE_SIZE,109164,0
$CFSIZE,260030464,246181888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.060,106.69,1
$GPS,040921,103331,4750.018,-12510.548,9,0.8,35,15.7,0.4,73.4,9,4.1