version: 66.14
glider: 204
mission: 8
dive: 60
start: 9 4 121 18 9 50
data:
$ID,204
$MISSION,8
$DIVE,60
$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,54
$R_STBD_OVSHOOT,50
$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,106.0
$CP_NDIVE,1.0
$GPS1,040921,180231,4751.3813,-12509.3730,13,0.8,41,15.7,0.2,0.0,11,1.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-51.5
$GPS2,040921,180849,4751.4233,-12509.4121,3,0.7,5,15.7,0.9,279.6,12,4.4
$SPEED_LIMITS,0.165,0.230
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4747.975,-12513.804
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,197.9,8404,-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,-116.8,164,1993,693,405,0.0,0.0,0,139,0.00,0.00,-111.88,0.010,16386,0.000,0.000,164,1989,3139,3129,3150,0,0,0,0,0,0,26.10,28.83,26.17
$GC,142,-0.75,-116.8,164,1989,3129,3150,4.3,-9.4,16,159,8.30,1.08,-2.88,0.030,18980,0.221,0.071,2339,1303,3279,3282,3276,0,0,0,0,0,0,25.81,24.82,26.10
$GC,346,-0.75,-116.8,2339,1303,3291,3274,39.5,-11.5,54,353,0.00,1.05,0.00,0.000,1030,0.000,0.037,2336,1998,3282,3290,3274,0,0,0,0,0,0,26.35,26.34,26.37
$GC,481,-0.75,-116.8,2335,1998,3293,3274,59.1,-15.0,79,489,0.00,1.02,0.00,0.000,260,0.000,0.044,2331,2694,3283,3293,3274,0,0,0,0,0,0,26.45,26.35,26.51
$GC,678,-0.75,-116.8,2330,2694,3295,3274,80.7,-9.7,115,685,0.00,1.02,0.00,0.000,1030,0.000,0.032,2334,1977,3284,3295,3274,0,0,0,0,0,0,26.51,26.49,26.51
$GC,811,-0.75,-116.8,2333,1977,3295,3273,94.1,-9.8,140,819,0.00,0.98,0.00,0.000,516,0.000,0.040,2339,1316,3284,3295,3273,0,0,0,0,0,0,26.59,26.48,26.66
$GC,882,-0.75,-116.8,2338,1316,3295,3273,101.5,-9.8,153,890,0.00,1.02,0.00,0.000,1030,0.000,0.036,2335,2003,3284,3295,3273,0,0,0,0,0,0,26.54,26.51,26.55
$GC,1009,-0.75,-116.8,2335,2003,3296,3272,114.5,-11.0,166,1013,0.00,1.00,0.00,0.000,260,0.000,0.044,2331,2690,3284,3296,3272,0,0,0,0,0,0,26.59,26.53,26.66
$GC,1103,-0.75,-116.8,2330,2690,3296,3272,125.1,-11.0,184,1108,0.00,0.98,0.00,0.000,1030,0.000,0.031,2333,2001,3284,3296,3272,0,0,0,0,0,0,26.60,26.58,26.61
$GC,1236,-0.75,-116.8,2333,2000,3296,3272,139.2,-10.6,198,1240,0.00,1.00,0.00,0.000,516,0.000,0.048,2339,1321,3284,3296,3272,0,0,0,0,0,0,26.67,26.56,26.72
$GC,1309,-0.75,-116.8,2338,1321,3296,3272,147.2,-11.0,212,1314,0.00,1.02,0.00,0.000,1030,0.000,0.037,2336,2007,3284,3296,3272,0,0,0,0,0,0,26.61,26.58,26.64
$GC,1442,-0.75,-116.8,2335,2008,3296,3271,161.4,-10.7,226,1445,0.00,1.02,0.00,0.000,516,0.000,0.040,2339,1321,3283,3296,3271,0,0,0,0,0,0,26.68,26.58,26.72
$GC,1498,-0.75,-116.8,2338,1321,3296,3271,167.8,-10.6,237,1505,0.00,1.02,0.00,0.000,1030,0.000,0.037,2336,2007,3283,3296,3271,0,0,0,0,0,0,26.67,26.60,26.66
$GC,1629,-0.75,-116.8,2335,2007,3296,3270,180.9,-10.4,250,1633,0.00,1.02,0.00,0.000,516,0.000,0.039,2339,1321,3283,3296,3270,0,0,0,0,0,0,26.67,26.60,26.74
$GC,1672,-0.75,-116.8,2338,1321,3296,3270,185.8,-10.1,258,1676,0.00,1.02,0.00,0.000,1030,0.000,0.036,2336,2009,3283,3296,3270,0,0,0,0,0,0,26.65,26.62,26.67
$STATE,1772,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1773,begin apogee
$GC,1778,-0.18,0.0,2335,1782,3297,3269,196.0,-9.5,269,1984,0.60,0.00,200.93,0.545,10246,0.153,0.000,2519,1782,2798,2856,2741,0,0,0,0,0,0,26.29,25.22,24.80
$STATE,1990,end apogee,CONTROL_FINISHED_OK
$STATE,1990,begin loiter
$GC,2115,-0.18,0.0,2518,1782,2835,2726,204.5,-0.8,302,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1782,2780,2835,2726,0,0,0,0,0,0,25.96,26.03,26.01
$GC,2235,-0.18,0.0,2518,1782,2834,2726,205.3,-0.3,314,2237,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1782,2780,2834,2726,0,0,0,0,0,0,26.16,26.22,26.22
$GC,2355,-0.18,0.0,2518,1782,2833,2726,205.3,0.1,326,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1782,2779,2833,2726,0,0,0,0,0,0,26.27,26.36,26.35
$GC,2475,-0.18,0.0,2518,1782,2832,2726,205.4,-0.1,338,2477,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1782,2779,2832,2726,0,0,0,0,0,0,26.37,26.44,26.44
$GC,2595,-0.18,0.0,2518,1782,2832,2726,205.4,-0.0,350,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1782,2779,2832,2726,0,0,0,0,0,0,26.44,26.51,26.50
$GC,2715,-0.18,0.0,2517,1782,2832,2725,205.4,-0.1,362,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1782,2778,2831,2726,0,0,0,0,0,0,26.50,26.57,26.56
$GC,2835,-0.18,0.0,2518,1782,2831,2725,205.3,0.0,374,2837,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1782,2778,2831,2725,0,0,0,0,0,0,26.53,26.59,26.60
$GC,2955,-0.18,0.0,2518,1782,2830,2725,205.4,0.1,386,2957,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1782,2778,2831,2725,0,0,0,0,0,0,26.57,26.64,26.63
$GC,3075,-0.18,0.0,2518,1782,2831,2725,205.3,0.1,398,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1782,2778,2831,2725,0,0,0,0,0,0,26.61,26.67,26.67
$GC,3195,-0.18,0.0,2518,1782,2830,2725,205.4,-0.0,410,3197,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1782,2778,2831,2725,0,0,0,0,0,0,26.63,26.70,26.69
$GC,3315,-0.18,0.0,2518,1782,2830,2725,205.4,-0.1,422,3317,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1782,2777,2830,2725,0,0,0,0,0,0,26.67,26.72,26.70
$GC,3435,-0.18,0.0,2517,1782,2830,2724,205.3,0.0,434,3437,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1782,2777,2830,2724,0,0,0,0,0,0,26.67,26.77,26.73
$GC,3555,-0.18,0.0,2518,1782,2830,2725,205.3,-0.2,446,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1782,2777,2830,2725,0,0,0,0,0,0,26.68,26.74,26.74
$GC,3675,-0.18,0.0,2518,1782,2830,2724,205.3,0.1,458,3677,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1782,2777,2830,2724,0,0,0,0,0,0,26.70,26.74,26.74
$STATE,3783,end loiter,LOITER_COMPLETE
$STATE,3783,begin climb
$GC,3785,0.75,116.8,2518,1782,2829,2724,205.4,0.0,469,3987,0.93,0.00,194.27,0.549,10758,0.121,0.000,2820,1782,2320,2444,2197,0,0,0,0,0,0,26.45,25.25,24.84
$GC,4108,0.78,135.4,2819,1782,2410,2163,187.8,8.5,516,4128,0.00,1.15,15.60,0.639,8484,0.000,0.044,2817,2503,2245,2374,2116,0,0,0,0,0,0,25.89,25.63,25.15
$GC,4259,0.80,151.7,2816,2502,2354,2097,174.1,8.6,545,4287,0.05,1.02,20.05,0.623,11302,0.134,0.036,2836,1813,2174,2308,2041,0,0,0,0,0,0,25.86,26.03,25.22
$GC,4409,0.80,151.7,2835,1813,2294,2028,159.3,10.6,562,4417,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1813,2161,2294,2028,0,0,0,0,0,0,26.15,26.21,26.20
$GC,4536,0.80,151.7,2835,1813,2292,2028,145.5,10.8,575,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1813,2160,2292,2028,0,0,0,0,0,0,26.22,26.30,26.29
$GC,4668,0.80,151.7,2835,1813,2290,2028,132.2,9.8,588,4672,0.00,1.02,0.00,0.000,260,0.000,0.044,2833,2485,2159,2290,2028,0,0,0,0,0,0,26.39,26.27,26.44
$GC,4721,0.80,152.3,2832,2486,2288,2028,127.0,9.5,598,4726,0.00,1.00,0.00,0.000,1062,0.000,0.037,2836,1810,2158,2289,2027,0,0,0,0,0,0,26.36,26.34,26.37
$GC,4854,0.80,152.3,2835,1810,2288,2027,114.1,9.8,612,4856,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1809,2157,2288,2027,0,0,0,0,0,0,26.47,26.54,26.53
$GC,4974,0.80,152.3,2835,1809,2287,2028,102.6,10.0,624,4977,0.00,1.02,0.00,0.000,260,0.000,0.043,2833,2487,2157,2287,2027,0,0,0,0,0,0,26.52,26.41,26.58
$GC,5073,0.80,152.3,2832,2488,2286,2027,92.4,10.1,643,5080,0.00,1.02,0.00,0.000,1030,0.000,0.037,2836,1792,2156,2286,2027,0,0,0,0,0,0,26.50,26.47,26.52
$GC,5212,0.80,152.3,2836,1791,2286,2028,78.1,11.1,668,5220,0.00,1.05,0.00,0.000,516,0.000,0.047,2841,1109,2157,2286,2028,0,0,0,0,0,0,26.56,26.47,26.63
$GC,5453,0.90,241.6,2841,1109,2285,2027,59.0,4.6,713,5609,0.10,1.02,149.80,0.504,11302,0.151,0.035,2873,1795,1816,1961,1672,0,0,0,0,0,0,26.30,26.51,24.98
$GC,5736,0.90,241.6,2872,1795,1931,1641,33.6,9.8,759,5743,0.00,1.08,0.00,0.000,260,0.000,0.046,2870,2496,1786,1931,1641,0,0,0,0,0,0,26.02,25.87,26.08
$GC,5876,0.91,248.2,2869,2496,1926,1640,18.8,9.2,784,5884,0.00,1.02,0.00,0.000,1062,0.000,0.038,2873,1811,1783,1926,1640,0,0,0,0,0,0,26.12,26.08,26.15
$GC,6014,0.97,295.9,2872,1811,1925,1638,7.6,6.9,809,6086,0.10,0.00,69.15,0.484,10786,0.142,0.000,2902,1810,1621,1772,1470,0,0,0,0,0,0,26.15,28.83,26.20
$STATE,6087,end climb,SURFACE_DEPTH_REACHED
$STATE,6087,begin surface coast
$FINISH,-0.5,1.013594
$STATE,6104,end surface coast,CONTROL_FINISHED_OK
$STATE,6104,begin surface
$SM_CCo,6124,160.85,0.630,1,0,549,551.92
$SM_CCo,6294,-0.17,0.269,0,0,548,551.92
$SM_CCo,6297,-0.20,0.233,0,0,550,551.92
$SM_GC,0.31,7.68,0.28,-0.20,0.057,0.049,0.233,165,1998,550,-7.40,-1.39,551.92,0,0,0,0,0,0,25.88,25.83,25.29
$IRIDIUM_FIX,4754.91,-12604.00,040921,161303
$TT8_MAMPS,0.021721,0.146055
$HUMID,53.18
$INTERNAL_PRESSURE,8.7185
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,180.9,19.5
$CP_FREE,119885660160.000000
$CP_POWER,328.190000
$CP_POWER1,0.000000
$24V_AH,24.34,13.328
$10V_AH,10.27,7.525
$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,17.750,25.250,649.800,160.850,0.000,0.000,0.000,245.850,1.000,0.000,18.420,1824.339,1718.052,800.809,2046.533,326.907,0.000,1847.052,0.000,1873.916,0.000,10.088,0.000
$DEVICE_MAMPS,221.085,71.145,638.775,630.360,0.000,0.000,0.000,104.805,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,509.346,1610.380,0.000,0.000,0.000,0.000,6134.000,0.000,0.000,0.000
$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,43439,822
$CAP_FILE_SIZE,99472,0
$CFSIZE,260030464,245755904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.049,21.49,1
$GPS,040921,195601,4751.286,-12509.556,6,0.8,27,15.7,0.8,31.4,9,2.4