version: 66.14
glider: 204
mission: 8
dive: 58
start: 9 4 121 14 24 39
data:
$ID,204
$MISSION,8
$DIVE,58
$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,57
$R_STBD_OVSHOOT,41
$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,102.0
$CP_NDIVE,1.0
$GPS1,040921,141739,4750.3618,-12509.9443,10,1.2,29,15.7,0.8,180.2,10,2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-53.5
$GPS2,040921,142342,4750.3438,-12509.9521,2,0.8,4,15.7,0.3,287.0,12,7.5
$SPEED_LIMITS,0.165,0.230
$TGT_NAME,INSHORE
$TGT_LATLONG,4752.165,-12508.635
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,10.6,3749,-17.2,-9.524,-22.49,1865
$D_GRID,240
$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,-0.75,-116.8,166,1999,683,413,0.0,0.0,0,134,0.00,0.00,-106.53,0.011,16386,0.000,0.000,166,2000,2985,2976,2994,0,0,0,0,0,0,26.09,28.83,26.16
$GC,137,-0.75,-116.8,166,1999,2977,2994,3.8,-8.5,15,160,8.38,1.05,-6.40,0.027,18724,0.218,0.063,2330,2726,3279,3284,3274,0,0,0,0,0,0,25.77,25.54,25.97
$GC,346,-0.75,-116.8,2329,2726,3291,3272,39.8,-11.7,54,353,0.00,1.08,0.00,0.000,1030,0.000,0.032,2334,1982,3281,3290,3273,0,0,0,0,0,0,26.36,26.34,26.39
$GC,484,-0.75,-116.8,2333,1981,3293,3272,57.2,-12.3,79,491,0.00,0.98,0.00,0.000,516,0.000,0.041,2339,1320,3282,3293,3272,0,0,0,0,0,0,26.48,26.37,26.56
$GC,636,-0.75,-116.8,2338,1320,3294,3272,76.0,-12.9,107,644,0.00,1.05,0.00,0.000,1030,0.000,0.044,2336,2016,3282,3294,3271,0,0,0,0,0,0,26.44,26.44,26.44
$GC,768,-0.75,-116.8,2335,2017,3295,3271,91.4,-11.3,132,775,0.00,1.00,0.00,0.000,260,0.000,0.052,2330,2699,3283,3295,3271,0,0,0,0,0,0,26.55,26.47,26.64
$GC,788,-0.75,-116.8,2329,2700,3295,3271,93.7,-11.5,135,796,0.00,1.00,0.00,0.000,1030,0.000,0.032,2334,1996,3283,3295,3271,0,0,0,0,0,0,26.53,26.51,26.58
$GC,924,-0.75,-116.8,2333,1996,3295,3271,109.5,-11.4,153,929,0.00,1.00,0.00,0.000,516,0.000,0.040,2339,1318,3282,3295,3270,0,0,0,0,0,0,26.48,26.51,26.57
$GC,1124,-0.75,-116.8,2338,1318,3295,3270,130.2,-9.6,191,1128,0.00,1.02,0.00,0.000,1030,0.000,0.036,2336,2005,3283,3296,3270,0,0,0,0,0,0,26.59,26.56,26.62
$GC,1256,-0.75,-116.8,2335,2005,3296,3269,142.6,-9.1,205,1265,0.00,0.00,0.00,0.000,38,0.000,0.000,2336,2005,3282,3295,3269,0,0,0,0,0,0,26.67,26.74,26.73
$GC,1386,-0.75,-116.8,2335,2004,3296,3269,155.0,-9.9,218,1391,0.00,1.02,0.00,0.000,516,0.000,0.039,2339,1318,3282,3296,3269,0,0,0,0,0,0,26.69,26.58,26.74
$GC,1422,-0.75,-116.8,2338,1318,3296,3268,159.1,-10.6,225,1432,0.00,1.00,0.00,0.000,1030,0.000,0.037,2336,1991,3282,3296,3269,0,0,0,0,0,0,26.63,26.60,26.65
$GC,1551,-0.75,-116.8,2335,1991,3296,3269,171.2,-9.6,238,1559,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1991,3282,3296,3269,0,0,0,0,0,0,26.66,26.73,26.72
$GC,1681,-0.75,-116.8,2335,1991,3296,3268,183.6,-9.5,251,1683,0.00,0.00,0.00,0.000,38,0.000,0.000,2336,1991,3281,3295,3267,0,0,0,0,0,0,26.68,26.70,26.70
$GC,1803,-0.75,-116.8,2335,1991,3296,3269,196.0,-10.6,263,1807,0.00,1.00,0.00,0.000,516,0.000,0.041,2338,1322,3282,3296,3268,0,0,0,0,0,0,26.66,26.60,26.72
$STATE,1836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1836,begin apogee
$GC,1841,-0.18,0.0,2338,1812,3296,3268,200.2,-10.7,270,2041,0.62,0.00,191.85,0.553,10246,0.150,0.000,2521,1814,2795,2853,2738,0,0,0,0,0,0,26.34,25.13,24.84
$STATE,2046,end apogee,CONTROL_FINISHED_OK
$STATE,2047,begin loiter
$GC,2170,-0.16,12.0,2520,1814,2836,2727,209.4,-1.5,302,2190,0.00,0.00,10.60,0.693,8230,0.000,0.000,2521,1814,2744,2803,2686,0,0,0,0,0,0,25.94,25.67,25.22
$GC,2310,-0.16,12.0,2520,1814,2794,2682,210.1,0.0,316,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1814,2738,2795,2682,0,0,0,0,0,0,26.13,26.19,26.18
$GC,2430,-0.16,12.0,2520,1814,2794,2682,209.4,0.8,328,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1813,2738,2794,2682,0,0,0,0,0,0,26.20,26.26,26.25
$GC,2550,-0.16,12.0,2520,1814,2794,2682,208.2,1.2,340,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1814,2738,2794,2682,0,0,0,0,0,0,26.36,26.41,26.42
$GC,2670,-0.16,12.0,2521,1813,2793,2682,206.9,1.2,352,2672,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1814,2737,2793,2682,0,0,0,0,0,0,26.42,26.48,26.50
$GC,2790,-0.16,12.0,2521,1814,2792,2681,205.7,0.9,364,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1814,2736,2792,2681,0,0,0,0,0,0,26.42,26.49,26.47
$GC,2910,-0.17,5.9,2521,1814,2792,2681,204.7,0.8,376,2912,0.00,0.00,0.00,0.000,38,0.000,0.000,2521,1814,2736,2792,2681,0,0,0,0,0,0,26.50,26.58,26.56
$GC,3030,-0.18,0.3,2521,1814,2791,2681,204.0,0.7,388,3032,0.00,0.00,0.00,0.000,38,0.000,0.000,2521,1814,2736,2792,2681,0,0,0,0,0,0,26.53,26.61,26.60
$GC,3151,-0.18,-2.4,2520,1814,2791,2681,203.5,0.3,400,3153,0.00,0.00,0.00,0.000,38,0.000,0.000,2521,1814,2736,2791,2681,0,0,0,0,0,0,26.60,26.65,26.65
$GC,3270,-0.18,-3.1,2520,1814,2791,2681,203.2,0.1,412,3272,0.00,0.00,0.00,0.000,38,0.000,0.000,2521,1814,2736,2791,2681,0,0,0,0,0,0,26.61,26.68,26.67
$GC,3391,-0.18,-3.3,2520,1814,2790,2680,203.2,0.0,424,3393,0.00,0.00,0.00,0.000,38,0.000,0.000,2521,1814,2735,2791,2680,0,0,0,0,0,0,26.64,26.70,26.70
$GC,3510,-0.18,-3.3,2520,1814,2790,2680,203.2,-0.0,436,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1813,2735,2790,2680,0,0,0,0,0,0,26.65,26.72,26.71
$GC,3631,-0.18,-3.8,2521,1813,2790,2680,203.2,0.1,448,3633,0.00,0.00,0.00,0.000,38,0.000,0.000,2521,1814,2735,2790,2680,0,0,0,0,0,0,26.67,26.74,26.74
$GC,3751,-0.19,-7.3,2520,1814,2790,2680,202.8,0.5,460,3753,0.00,0.00,0.00,0.000,38,0.000,0.000,2521,1814,2735,2790,2680,0,0,0,0,0,0,26.69,26.76,26.75
$STATE,3839,end loiter,LOITER_COMPLETE
$STATE,3839,begin climb
$GC,3841,0.75,116.8,2520,1814,2790,2680,202.1,0.0,469,4023,0.93,1.10,170.55,0.566,10756,0.181,0.042,2827,1132,2313,2435,2191,0,0,0,0,0,0,26.32,25.18,24.86
$GC,4123,0.75,116.8,2826,1132,2414,2178,182.1,10.3,523,4127,0.00,1.02,0.00,0.000,1030,0.000,0.037,2823,1795,2295,2413,2178,0,0,0,0,0,0,25.84,25.80,25.86
$GC,4255,0.75,116.8,2822,1795,2412,2176,168.4,10.5,537,4259,0.00,1.05,0.00,0.000,260,0.000,0.044,2818,2490,2293,2412,2175,0,0,0,0,0,0,26.16,26.06,26.22
$GC,4329,0.75,116.8,2818,2490,2411,2173,160.8,10.2,551,4333,0.00,1.00,0.00,0.000,1030,0.000,0.036,2822,1817,2292,2411,2173,0,0,0,0,0,0,26.17,26.16,26.22
$GC,4461,0.75,116.8,2821,1817,2411,2172,147.0,10.6,565,4465,0.00,1.10,0.00,0.000,516,0.000,0.047,2827,1108,2291,2411,2172,0,0,0,0,0,0,26.27,26.24,26.34
$GC,4536,0.75,116.8,2826,1108,2411,2172,139.3,10.4,579,4539,0.00,1.05,0.00,0.000,1030,0.000,0.044,2823,1798,2291,2410,2172,0,0,0,0,0,0,26.34,26.32,26.37
$GC,4667,0.75,116.8,2823,1798,2410,2172,125.9,9.9,593,4671,0.00,1.05,0.00,0.000,260,0.000,0.053,2818,2502,2290,2410,2171,0,0,0,0,0,0,26.45,26.39,26.51
$GC,4711,0.78,134.9,2818,2503,2410,2171,122.0,8.5,601,4725,0.00,1.05,10.90,0.683,9254,0.000,0.036,2822,1791,2253,2379,2127,0,0,0,0,0,0,26.44,26.39,25.60
$GC,4853,0.79,145.0,2821,1791,2362,2112,109.2,9.0,617,4865,0.00,1.08,3.50,0.705,8484,0.000,0.041,2818,2499,2207,2337,2078,0,0,0,0,0,0,26.41,25.80,25.15
$GC,4880,0.79,147.9,2817,2499,2341,2079,106.5,9.4,622,4889,0.00,1.02,0.00,0.000,1062,0.000,0.036,2822,1806,2211,2343,2079,0,0,0,0,0,0,26.34,26.30,26.36
$GC,5009,0.80,156.6,2821,1806,2345,2079,95.0,9.0,640,5033,0.08,1.12,18.92,0.611,10788,0.187,0.047,2842,1101,2160,2292,2028,0,0,0,0,0,0,26.24,26.05,25.54
$GC,5120,0.80,156.6,2841,1101,2268,2014,83.7,11.6,659,5128,0.00,1.08,0.00,0.000,1030,0.000,0.037,2839,1806,2140,2267,2014,0,0,0,0,0,0,26.22,26.20,26.27
$GC,5252,0.80,156.6,2838,1806,2266,2011,69.5,11.0,684,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1806,2139,2267,2012,0,0,0,0,0,0,26.41,26.48,26.48
$GC,5387,0.80,156.6,2838,1806,2265,2010,54.8,9.6,709,5394,0.00,1.10,0.00,0.000,516,0.000,0.047,2842,1109,2137,2265,2010,0,0,0,0,0,0,26.48,26.37,26.54
$GC,5413,0.82,168.2,2842,1109,2265,2010,52.5,8.9,713,5421,0.00,1.05,2.70,0.480,9254,0.000,0.035,2839,1802,2113,2244,1983,0,0,0,0,0,0,26.44,26.42,25.28
$GC,5551,0.85,199.8,2838,1802,2255,1985,41.8,7.8,738,5616,0.10,1.15,59.53,0.522,10788,0.208,0.049,2866,1099,1982,2120,1845,0,0,0,0,0,0,26.22,25.78,25.32
$GC,5671,0.85,199.9,2865,1099,2095,1828,30.8,9.5,757,5678,0.00,1.08,0.00,0.000,1062,0.000,0.036,2862,1798,1960,2094,1827,0,0,0,0,0,0,26.05,26.02,26.06
$GC,5806,0.87,214.4,2862,1798,2093,1822,19.6,8.7,782,5815,0.00,0.00,3.83,0.549,8486,0.000,0.000,2862,1797,1924,2063,1786,0,0,0,0,0,0,26.16,25.94,25.25
$GC,5941,0.92,257.0,2862,1798,2071,1787,9.5,7.2,807,6026,0.08,1.15,79.18,0.491,10788,0.190,0.047,2884,1101,1748,1893,1604,0,0,0,0,0,0,26.12,25.58,25.12
$STATE,6032,end climb,SURFACE_DEPTH_REACHED
$STATE,6032,begin surface coast
$FINISH,-0.4,1.025710
$STATE,6059,end surface coast,CONTROL_FINISHED_OK
$STATE,6059,begin surface
$SM_CCo,6080,190.50,0.606,1,0,550,551.92
$SM_CCo,6278,-0.45,0.106,0,0,550,551.92
$SM_CCo,6281,0.00,0.000,0,0,550,551.92
$SM_GC,0.24,7.57,1.42,0.00,0.056,0.029,0.000,177,1986,550,-7.39,-1.36,551.92,0,0,0,0,0,0,25.89,25.79,25.41
$IRIDIUM_FIX,4748.50,-12507.66,040921,123021
$TT8_MAMPS,0.021721,0.146804
$HUMID,53.07
$INTERNAL_PRESSURE,8.7185
$TCM_TEMP,15.20
$XPDR_PINGS,0
$CP_FREE,120221696000.000000
$CP_POWER,328.190000
$CP_POWER1,0.000000
$24V_AH,24.34,13.071
$10V_AH,10.27,7.382
$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,17.750,31.600,551.550,190.500,0.000,0.000,0.000,231.475,0.750,0.000,16.744,1837.215,1733.978,778.019,2008.230,323.086,0.000,1808.659,0.000,1849.942,0.000,6.101,0.000
$DEVICE_MAMPS,218.025,63.495,705.330,605.880,0.000,0.000,0.000,107.865,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,506.267,1597.380,0.000,0.000,0.000,0.000,6088.000,0.000,0.000,0.000
$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,43564,825
$CAP_FILE_SIZE,104688,0
$CFSIZE,260030464,245923840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.036,333.28,1
$GPS,040921,161031,4750.831,-12509.741,3,0.8,26,15.7,0.6,358.9,10,1.9