version: 66.14
glider: 204
mission: 8
dive: 59
start: 9 4 121 16 18 7
data:
$ID,204
$MISSION,8
$DIVE,59
$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,50
$R_STBD_OVSHOOT,30
$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,104.0
$CP_NDIVE,1.0
$GPS1,040921,161031,4750.8306,-12509.7412,3,0.8,26,15.7,0.6,358.9,10,1.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-55.9
$GPS2,040921,161710,4750.8638,-12509.7295,2,0.6,4,15.7,0.5,16.0,12,8.0
$SPEED_LIMITS,0.165,0.230
$TGT_NAME,INSHORE
$TGT_LATLONG,4752.165,-12508.635
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,21.3,2767,-17.2,-9.524,-22.49,1865
$D_GRID,222
$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,-116.8,175,1990,688,414,0.0,0.0,0,138,0.00,0.00,-110.55,0.010,16386,0.000,0.000,175,1991,3097,3087,3108,0,0,0,0,0,0,26.09,28.83,26.15
$GC,141,-0.75,-116.8,175,1990,3088,3109,4.1,-8.6,16,158,8.27,1.12,-3.70,0.024,18724,0.223,0.069,2331,2724,3278,3282,3274,0,0,0,0,0,0,25.80,24.82,25.98
$GC,391,-0.75,-116.8,2330,2724,3290,3273,50.3,-13.9,63,399,0.00,1.08,0.00,0.000,1030,0.000,0.034,2335,1983,3281,3291,3272,0,0,0,0,0,0,26.36,26.32,26.39
$GC,529,-0.75,-116.8,2334,1983,3292,3271,67.7,-10.4,88,537,0.00,1.00,0.00,0.000,516,0.000,0.041,2340,1308,3282,3293,3271,0,0,0,0,0,0,26.50,26.37,26.55
$GC,677,-0.75,-116.8,2339,1308,3295,3271,83.3,-10.5,116,684,0.00,1.08,0.00,0.000,1030,0.000,0.036,2337,2023,3283,3295,3271,0,0,0,0,0,0,26.50,26.46,26.49
$GC,808,-0.75,-116.8,2336,2023,3295,3270,97.5,-11.1,141,816,0.00,1.05,0.00,0.000,516,0.000,0.040,2340,1321,3282,3295,3270,0,0,0,0,0,0,26.58,26.48,26.64
$GC,932,-0.75,-116.8,2339,1321,3295,3271,111.5,-10.4,164,940,0.00,1.02,0.00,0.000,1030,0.000,0.036,2337,2004,3282,3295,3270,0,0,0,0,0,0,26.55,26.52,26.58
$GC,1060,-0.75,-116.8,2336,2004,3295,3269,122.8,-8.5,177,1069,0.00,0.00,0.00,0.000,38,0.000,0.000,2336,2003,3283,3296,3270,0,0,0,0,0,0,26.60,26.67,26.67
$GC,1191,-0.75,-116.8,2336,2004,3296,3269,133.9,-8.8,190,1198,0.00,0.00,0.00,0.000,38,0.000,0.000,2337,2004,3282,3296,3269,0,0,0,0,0,0,26.66,26.73,26.72
$GC,1320,-0.75,-116.8,2336,2004,3295,3269,146.3,-9.7,203,1324,0.00,1.02,0.00,0.000,516,0.000,0.109,2340,1321,3282,3296,3269,0,0,0,0,0,0,26.69,26.57,26.74
$GC,1365,-0.75,-116.8,2339,1321,3295,3269,150.4,-9.5,211,1368,0.00,1.02,0.00,0.000,1062,0.000,0.037,2337,2007,3282,3296,3269,0,0,0,0,0,0,26.63,26.59,26.64
$GC,1497,-0.75,-116.8,2336,2007,3296,3268,162.5,-9.1,225,1501,0.00,1.00,0.00,0.000,292,0.000,0.044,2331,2693,3282,3296,3269,0,0,0,0,0,0,26.69,26.63,26.74
$GC,1560,-0.75,-116.8,2330,2693,3295,3268,168.7,-9.6,237,1565,0.00,1.00,0.00,0.000,1030,0.000,0.103,2334,1992,3282,3296,3269,0,0,0,0,0,0,26.64,26.63,26.69
$GC,1693,-0.75,-116.8,2334,1992,3296,3268,182.0,-10.1,251,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1992,3282,3296,3268,0,0,0,0,0,0,26.68,26.75,26.74
$GC,1813,-0.75,-116.8,2334,1992,3296,3268,194.5,-10.3,263,1817,0.00,0.98,0.00,0.000,516,0.000,0.041,2340,1327,3282,3296,3268,0,0,0,0,0,0,26.74,26.61,26.77
$STATE,1863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1864,begin apogee
$GC,1869,-0.18,0.0,2338,1817,3296,3266,200.1,-10.8,273,2049,0.60,0.00,176.23,0.563,10246,0.156,0.000,2519,1818,2801,2859,2743,0,0,0,0,0,0,26.34,25.29,24.85
$STATE,2054,end apogee,CONTROL_FINISHED_OK
$STATE,2054,begin loiter
$GC,2178,-0.18,0.0,2519,1818,2835,2724,206.4,-0.4,303,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1818,2780,2835,2725,0,0,0,0,0,0,25.96,26.03,26.02
$GC,2298,-0.18,0.0,2519,1818,2834,2724,207.0,-0.7,315,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1818,2779,2834,2725,0,0,0,0,0,0,26.17,26.24,26.22
$GC,2418,-0.17,9.4,2520,1818,2833,2724,208.2,-1.2,327,2420,0.00,0.00,0.00,0.000,38,0.000,0.000,2520,1818,2778,2833,2724,0,0,0,0,0,0,26.31,26.33,26.36
$GC,2538,-0.16,18.1,2519,1818,2833,2724,209.5,-1.1,339,2561,0.00,0.00,20.33,0.647,8230,0.000,0.000,2520,1818,2726,2784,2668,0,0,0,0,0,0,26.36,25.91,25.44
$GC,2679,-0.16,18.1,2519,1818,2771,2654,209.3,0.7,353,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1818,2712,2771,2654,0,0,0,0,0,0,26.29,26.35,26.34
$GC,2799,-0.16,18.1,2519,1818,2769,2654,208.2,1.2,365,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1818,2712,2770,2654,0,0,0,0,0,0,26.41,26.45,26.44
$GC,2919,-0.16,18.1,2519,1818,2769,2654,206.3,1.6,377,2921,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1818,2711,2769,2654,0,0,0,0,0,0,26.45,26.51,26.51
$GC,3041,-0.18,2.8,2519,1818,2769,2654,204.1,2.0,389,3048,0.00,0.00,0.00,0.000,38,0.000,0.000,2520,1818,2711,2769,2654,0,0,0,0,0,0,26.46,26.53,26.52
$GC,3169,-0.18,-5.1,2519,1818,2768,2654,202.1,1.0,402,3171,0.00,0.00,0.00,0.000,38,0.000,0.000,2520,1818,2711,2768,2654,0,0,0,0,0,0,26.49,26.58,26.56
$GC,3289,-0.20,-20.3,2519,1818,2767,2654,200.0,2.0,414,3291,0.00,0.00,0.00,0.000,38,0.000,0.000,2520,1818,2711,2768,2654,0,0,0,0,0,0,26.53,26.60,26.60
$GC,3409,-0.22,-35.9,2519,1818,2767,2653,197.5,2.0,426,3411,0.00,0.00,0.00,0.000,38,0.000,0.000,2520,1818,2710,2767,2653,0,0,0,0,0,0,26.59,26.66,26.65
$GC,3530,-0.24,-52.2,2519,1818,2767,2653,195.1,2.1,438,3532,0.00,0.00,0.00,0.000,38,0.000,0.000,2520,1818,2710,2767,2654,0,0,0,0,0,0,26.63,26.70,26.70
$GC,3652,-0.26,-65.8,2519,1818,2766,2653,192.9,1.7,450,3659,0.00,0.00,0.00,0.000,38,0.000,0.000,2520,1818,2709,2766,2653,0,0,0,0,0,0,26.66,26.73,26.72
$GC,3780,-0.27,-79.1,2519,1818,2766,2653,190.6,1.7,463,3782,0.00,0.00,0.00,0.000,38,0.000,0.000,2520,1818,2709,2766,2653,0,0,0,0,0,0,26.65,26.74,26.74
$STATE,3848,end loiter,LOITER_COMPLETE
$STATE,3848,begin climb
$GC,3850,0.75,116.8,2519,1818,2766,2653,189.4,0.0,470,4024,0.93,1.08,166.32,0.562,10500,0.125,0.044,2818,2489,2321,2444,2198,0,0,0,0,0,0,26.42,25.32,24.86
$GC,4261,0.76,121.8,2818,2489,2414,2174,157.4,9.2,549,4269,0.00,1.00,0.00,0.000,1062,0.000,0.036,2821,1815,2294,2414,2174,0,0,0,0,0,0,26.10,26.08,26.13
$GC,4392,0.76,121.8,2821,1815,2412,2174,145.4,10.0,562,4395,0.00,1.02,0.00,0.000,260,0.000,0.044,2818,2491,2293,2412,2174,0,0,0,0,0,0,26.29,26.20,26.34
$GC,4571,0.76,121.8,2818,2491,2410,2173,126.8,10.2,596,4575,0.00,1.02,0.00,0.000,1030,0.000,0.037,2822,1798,2291,2410,2173,0,0,0,0,0,0,26.34,26.30,26.37
$GC,4703,0.76,121.8,2821,1797,2410,2173,113.5,9.9,610,4707,0.00,1.05,0.00,0.000,516,0.000,0.048,2827,1110,2291,2410,2173,0,0,0,0,0,0,26.48,26.37,26.54
$GC,4857,0.77,128.4,2826,1110,2410,2174,98.8,9.2,639,4865,0.00,1.02,0.00,0.000,1062,0.000,0.036,2824,1791,2291,2410,2173,0,0,0,0,0,0,26.48,26.46,26.51
$GC,4992,0.81,165.1,2823,1791,2410,2173,88.5,7.5,664,5068,0.10,0.00,69.72,0.532,10278,0.183,0.000,2844,1791,2121,2256,1987,0,0,0,0,0,0,26.29,25.71,25.28
$GC,5193,0.81,165.1,2843,1791,2234,1965,69.2,9.9,699,5201,0.00,1.08,0.00,0.000,260,0.000,0.044,2840,2501,2099,2234,1965,0,0,0,0,0,0,26.17,26.08,26.22
$GC,5272,0.81,165.8,2839,2501,2233,1965,61.4,9.5,713,5279,0.00,1.05,0.00,0.000,1062,0.000,0.037,2843,1799,2099,2233,1965,0,0,0,0,0,0,26.20,26.18,26.24
$GC,5406,0.86,203.1,2843,1799,2231,1965,50.2,7.5,738,5463,0.00,1.12,51.97,0.526,8740,0.000,0.047,2849,1107,1969,2111,1828,0,0,0,0,0,0,26.30,25.70,25.24
$GC,5599,0.89,232.5,2848,1108,2081,1810,33.5,7.9,772,5644,0.08,1.05,38.40,0.513,11302,0.151,0.045,2872,1792,1850,1993,1707,0,0,0,0,0,0,25.91,26.10,25.21
$GC,5769,0.89,232.5,2871,1792,1966,1681,16.7,11.0,802,5777,0.00,1.05,0.00,0.000,260,0.000,0.045,2869,2484,1822,1965,1680,0,0,0,0,0,0,26.08,26.03,26.13
$STATE,5922,end climb,SURFACE_DEPTH_REACHED
$STATE,5922,begin surface coast
$FINISH,0.1,1.025718
$STATE,5944,end surface coast,CONTROL_FINISHED_OK
$STATE,5944,begin surface
$SM_CCo,5963,203.15,0.617,1,0,550,552.17
$SM_CCo,6174,-0.08,0.623,0,0,548,551.43
$SM_CCo,6177,-0.03,0.744,0,0,549,551.92
$SM_GC,0.22,7.43,0.73,-0.03,0.054,0.033,0.744,177,1997,549,-7.40,1.55,551.92,0,0,0,0,0,0,26.27,26.27,24.24
$IRIDIUM_FIX,4752.18,-12506.88,040921,141956
$TT8_MAMPS,0.02247,0.146804
$HUMID,53.15
$INTERNAL_PRESSURE,8.7185
$TCM_TEMP,15.00
$XPDR_PINGS,0
$CP_FREE,120056020992.000000
$CP_POWER,328.190000
$CP_POWER1,0.000000
$24V_AH,24.24,13.195
$10V_AH,10.27,7.453
$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,17.400,24.375,522.975,203.150,0.000,0.000,0.000,265.725,1.000,0.000,16.771,1823.635,1658.886,753.109,2056.667,321.025,0.000,1796.654,0.000,1863.139,0.000,8.962,0.000
$DEVICE_MAMPS,223.380,108.630,647.190,616.590,0.000,0.000,0.000,100.980,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,500.699,1578.170,0.000,0.000,0.000,0.000,5974.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,211632
$DATA_FILE_SIZE,43519,834
$CAP_FILE_SIZE,98496,0
$CFSIZE,260030464,245841920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.072,18.01,1
$GPS,040921,180231,4751.381,-12509.373,13,0.8,41,15.7,0.2,0.0,11,1.5