version: 66.14
glider: 204
mission: 8
dive: 57
start: 9 4 121 12 35 13
data:
$ID,204
$MISSION,8
$DIVE,57
$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,49
$R_STBD_OVSHOOT,60
$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,100.0
$CP_NDIVE,1.0
$GPS1,040921,122801,4750.1436,-12510.0645,6,1.2,24,15.7,1.0,106.6,8,1.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-59.2
$GPS2,040921,123415,4750.0894,-12509.9990,2,0.6,4,15.7,0.2,155.0,12,7.7
$SPEED_LIMITS,0.165,0.230
$TGT_NAME,INSHORE
$TGT_LATLONG,4752.165,-12508.635
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,353.5,4201,-17.2,-9.524,-22.49,1865
$D_GRID,258
$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,23,begin dive
$GC,25,-0.75,-116.8,176,2014,684,411,0.0,0.0,0,134,0.00,0.00,-106.22,0.011,16386,0.000,0.000,176,2015,3025,3013,3037,0,0,0,0,0,0,26.09,28.83,26.15
$GC,137,-0.75,-116.8,176,2015,3014,3037,3.5,-5.8,15,160,8.43,1.00,-5.35,0.031,18724,0.221,0.067,2333,2690,3277,3280,3274,0,0,0,0,0,0,25.75,25.53,25.91
$GC,357,-0.75,-116.8,2332,2690,3288,3270,43.3,-12.2,56,364,0.00,1.02,0.00,0.000,1030,0.000,0.033,2336,1981,3279,3288,3270,0,0,0,0,0,0,26.36,26.32,26.39
$GC,495,-0.75,-116.8,2336,1981,3290,3269,60.8,-13.3,81,503,0.00,0.98,0.00,0.000,516,0.000,0.041,2342,1322,3279,3290,3269,0,0,0,0,0,0,26.50,26.39,26.53
$GC,668,-0.75,-116.8,2341,1322,3291,3269,82.1,-11.6,113,676,0.00,1.00,0.00,0.000,1030,0.000,0.037,2338,1990,3280,3291,3269,0,0,0,0,0,0,26.48,26.46,26.51
$GC,805,-0.75,-116.8,2338,1990,3292,3268,97.5,-10.6,138,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1989,3280,3292,3268,0,0,0,0,0,0,26.54,26.61,26.60
$GC,940,-0.75,-116.8,2337,1989,3292,3268,111.6,-9.9,153,945,0.00,1.00,0.00,0.000,516,0.000,0.039,2342,1322,3280,3292,3268,0,0,0,0,0,0,26.62,26.52,26.67
$GC,1148,-0.75,-116.8,2341,1322,3292,3268,131.1,-8.9,193,1152,0.00,1.00,0.00,0.000,1062,0.000,0.037,2338,1995,3279,3292,3267,0,0,0,0,0,0,26.60,26.56,26.62
$GC,1282,-0.75,-116.8,2338,1995,3292,3267,143.6,-9.7,207,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1995,3279,3292,3267,0,0,0,0,0,0,26.61,26.70,26.67
$GC,1410,-0.75,-116.8,2337,1995,3293,3266,156.3,-10.2,220,1414,0.00,1.00,0.00,0.000,516,0.000,0.040,2341,1323,3279,3292,3266,0,0,0,0,0,0,26.63,26.58,26.69
$GC,1466,-0.75,-116.8,2341,1322,3292,3266,162.4,-10.3,231,1474,0.00,1.00,0.00,0.000,1030,0.000,0.036,2338,1998,3279,3292,3266,0,0,0,0,0,0,26.63,26.60,26.66
$GC,1595,-0.75,-116.8,2338,1998,3292,3266,174.5,-9.6,244,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1998,3279,3293,3266,0,0,0,0,0,0,26.67,26.72,26.71
$GC,1725,-0.75,-116.8,2338,1998,3292,3265,186.2,-8.9,257,1733,0.00,0.00,0.00,0.000,38,0.000,0.000,2338,1998,3279,3293,3265,0,0,0,0,0,0,26.71,26.79,26.77
$GC,1855,-0.75,-116.8,2337,1998,3292,3263,197.8,-9.0,270,1859,0.00,1.02,0.00,0.000,548,0.000,0.090,2342,1314,3277,3292,3263,0,0,0,0,0,0,26.74,26.56,26.79
$STATE,1879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1879,begin apogee
$GC,1884,-0.18,0.0,2340,1809,3292,3263,200.4,-9.1,275,2013,0.62,0.00,118.15,0.942,10246,0.272,0.000,2521,1810,2802,2862,2742,0,0,0,0,1,0,26.32,24.96,24.20
$STATE,2017,end apogee,CONTROL_FINISHED_OK
$STATE,2018,begin loiter
$GC,2142,-0.16,14.6,2520,1811,2867,2749,207.0,-1.9,300,2172,0.00,0.00,27.50,0.613,8230,0.000,0.000,2521,1811,2739,2798,2680,0,0,0,0,0,0,25.86,25.48,25.03
$GC,2292,-0.16,14.6,2521,1811,2778,2661,207.8,0.6,315,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1811,2719,2778,2661,0,0,0,0,0,0,26.03,26.09,26.08
$GC,2412,-0.16,14.6,2521,1811,2775,2661,206.4,1.4,327,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1811,2718,2775,2661,0,0,0,0,0,0,26.19,26.25,26.27
$GC,2532,-0.17,3.2,2520,1811,2775,2660,204.6,1.5,339,2534,0.00,0.00,0.00,0.000,38,0.000,0.000,2521,1811,2717,2774,2661,0,0,0,0,0,0,26.31,26.37,26.36
$GC,2652,-0.19,-10.8,2521,1811,2774,2661,202.5,1.8,351,2654,0.00,0.00,0.00,0.000,38,0.000,0.000,2521,1811,2717,2774,2661,0,0,0,0,0,0,26.38,26.46,26.44
$GC,2772,-0.21,-25.4,2520,1811,2774,2661,200.3,1.9,363,2774,0.00,0.00,0.00,0.000,38,0.000,0.000,2521,1811,2717,2774,2660,0,0,0,0,0,0,26.44,26.51,26.51
$GC,2893,-0.23,-39.1,2520,1811,2773,2660,198.3,1.8,375,2895,0.00,0.00,0.00,0.000,38,0.000,0.000,2521,1811,2716,2773,2660,0,0,0,0,0,0,26.45,26.52,26.52
$GC,3015,-0.24,-54.9,2520,1811,2773,2660,196.0,2.0,387,3021,0.00,0.00,0.00,0.000,38,0.000,0.000,2521,1811,2716,2773,2660,0,0,0,0,0,0,26.55,26.62,26.61
$GC,3143,-0.26,-70.5,2520,1811,2772,2660,193.4,2.0,400,3145,0.00,0.00,0.00,0.000,38,0.000,0.000,2521,1811,2716,2772,2660,0,0,0,0,0,0,26.56,26.65,26.65
$GC,3263,-0.28,-86.0,2520,1811,2772,2659,191.0,2.0,412,3265,0.00,0.00,0.00,0.000,38,0.000,0.000,2521,1811,2715,2772,2659,0,0,0,0,0,0,26.60,26.69,26.68
$GC,3383,-0.30,-100.6,2520,1811,2771,2659,188.9,1.9,424,3385,0.00,0.00,0.00,0.000,38,0.000,0.000,2521,1811,2715,2772,2659,0,0,0,0,0,0,26.64,26.70,26.70
$GC,3503,-0.32,-117.4,2520,1811,2771,2659,186.5,2.2,436,3505,0.00,0.00,0.00,0.000,38,0.000,0.000,2521,1811,2715,2771,2659,0,0,0,0,0,0,26.67,26.74,26.72
$GC,3623,-0.34,-133.5,2521,1811,2771,2659,184.0,2.1,448,3625,0.00,0.00,0.00,0.000,38,0.000,0.000,2520,1811,2715,2771,2659,0,0,0,0,0,0,26.68,26.67,26.69
$GC,3743,-0.36,-149.1,2520,1812,2771,2659,181.5,2.0,460,3746,0.10,0.00,0.00,0.000,4134,0.166,0.000,2493,1811,2715,2771,2659,0,0,0,0,0,0,26.47,26.64,26.60
$STATE,3812,end loiter,LOITER_COMPLETE
$STATE,3812,begin climb
$GC,3814,0.75,116.8,2493,1811,2770,2658,180.1,0.0,467,3978,1.00,1.12,156.07,0.559,10756,0.118,0.044,2824,1117,2322,2443,2202,0,0,0,0,0,0,26.46,25.33,24.89
$GC,4172,0.75,116.9,2824,1117,2415,2184,152.1,9.5,535,4176,0.00,1.05,0.00,0.000,1062,0.000,0.043,2821,1799,2299,2415,2184,0,0,0,0,0,0,26.08,26.05,26.10
$GC,4304,0.75,116.9,2821,1798,2414,2181,139.5,9.6,549,4308,0.00,1.05,0.00,0.000,260,0.000,0.048,2816,2495,2297,2414,2181,0,0,0,0,0,0,26.20,26.16,26.20
$GC,4390,0.77,126.1,2816,2495,2413,2179,131.6,9.0,565,4394,0.00,1.00,0.00,0.000,1062,0.000,0.037,2819,1814,2296,2413,2179,0,0,0,0,0,0,26.29,26.27,26.32
$GC,4524,0.79,145.2,2819,1814,2413,2179,120.2,8.5,579,4563,0.08,1.08,31.88,0.575,10532,0.182,0.044,2832,2495,2201,2327,2075,0,0,0,0,0,0,26.20,25.92,25.39
$GC,4587,0.79,146.1,2832,2495,2315,2060,114.4,9.5,590,4591,0.00,1.02,0.00,0.000,1062,0.000,0.037,2836,1811,2187,2314,2060,0,0,0,0,0,0,26.08,26.06,26.13
$GC,4719,0.81,162.7,2835,1811,2311,2058,102.5,8.6,604,4740,0.00,1.10,15.45,0.617,8740,0.000,0.045,2841,1110,2133,2264,2002,0,0,0,0,0,0,26.30,25.94,25.42
$GC,4861,0.81,162.7,2840,1110,2244,1990,89.3,9.9,630,4869,0.00,1.05,0.00,0.000,1030,0.000,0.037,2837,1799,2117,2244,1990,0,0,0,0,0,0,26.20,26.15,26.21
$GC,4999,0.83,177.7,2837,1799,2243,1988,76.6,8.7,655,5014,0.00,1.08,9.35,0.631,8484,0.000,0.044,2832,2494,2073,2206,1941,0,0,0,0,0,0,26.38,26.03,25.52
$GC,5089,0.83,177.7,2832,2494,2196,1931,68.3,9.7,671,5096,0.00,1.02,0.00,0.000,1030,0.000,0.041,2836,1805,2063,2196,1931,0,0,0,0,0,0,26.30,26.27,26.31
$GC,5227,0.83,177.7,2835,1804,2194,1929,55.1,9.6,696,5235,0.00,1.02,0.00,0.000,260,0.000,0.043,2832,2487,2062,2194,1930,0,0,0,0,0,0,26.43,26.33,26.48
$GC,5290,0.86,202.1,2832,2487,2193,1929,49.3,8.2,707,5334,0.05,1.02,35.20,0.535,11302,0.167,0.037,2853,1790,1970,2109,1832,0,0,0,0,0,0,26.16,26.34,25.44
$GC,5460,0.86,202.1,2852,1789,2088,1814,33.3,10.3,737,5468,0.00,1.05,0.00,0.000,516,0.000,0.047,2858,1114,1951,2088,1815,0,0,0,0,0,0,26.20,26.17,26.26
$GC,5593,0.86,202.1,2857,1114,2086,1814,19.1,10.5,761,5601,0.00,1.05,0.00,0.000,1030,0.000,0.096,2855,1803,1950,2086,1814,0,0,0,0,0,0,26.32,26.25,26.32
$GC,5730,0.93,259.9,2854,1803,2085,1813,7.8,6.3,786,5822,0.10,0.00,88.55,0.489,11042,0.180,0.000,2879,1805,1752,1897,1607,0,0,0,0,0,0,26.20,28.83,26.35
$STATE,5823,end climb,SURFACE_DEPTH_REACHED
$STATE,5823,begin surface coast
$FINISH,-0.4,1.025606
$STATE,5850,end surface coast,CONTROL_FINISHED_OK
$STATE,5850,begin surface
$SM_CCo,5870,190.88,0.605,1,0,551,551.92
$SM_CCo,6068,0.03,2.957,0,0,548,552.17
$SM_CCo,6072,-0.05,0.901,0,0,548,551.92
$SM_GC,0.36,7.65,0.28,-0.05,0.060,0.050,0.901,167,1995,548,-7.40,-1.44,551.92,0,0,0,0,0,0,25.89,25.82,25.11
$IRIDIUM_FIX,4748.89,-12512.13,040921,103551
$TT8_MAMPS,0.021721,0.148302
$HUMID,52.79
$INTERNAL_PRESSURE,8.7185
$TCM_TEMP,15.10
$XPDR_PINGS,0
$CP_FREE,120390713344.000000
$CP_POWER,328.190000
$CP_POWER1,0.000000
$24V_AH,23.85,12.946
$10V_AH,10.27,7.311
$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,18.025,24.750,482.150,190.900,0.000,0.000,0.000,241.875,0.750,0.000,17.523,1794.456,1642.469,721.483,2015.628,309.656,0.000,1721.362,0.000,1835.941,0.000,6.103,0.000
$DEVICE_MAMPS,272.340,95.625,942.480,2957.490,0.000,0.000,0.000,107.100,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,491.079,1547.396,0.000,0.000,0.000,0.000,5879.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,211620
$DATA_FILE_SIZE,40197,804
$CAP_FILE_SIZE,99486,0
$CFSIZE,260030464,246018048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.024,209.42,1
$GPS,040921,141739,4750.362,-12509.944,10,1.2,29,15.7,0.8,180.2,10,2.2