version: 66.14
glider: 204
mission: 8
dive: 68
start: 9 5 121 10 19 8
data:
$ID,204
$MISSION,8
$DIVE,68
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$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,60
$T_MISSION,135
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,3600
$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,61
$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,0
$LOITER_D_BOTTOM,0
$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,20
$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,122.0
$CP_NDIVE,1.0
$GPS1,050921,101131,4751.2427,-12510.1328,3,0.9,19,15.7,0.7,49.3,9,2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-60.3
$GPS2,050921,101805,4751.2700,-12510.1240,6,0.7,6,15.7,0.4,225.6,12,5.7
$SPEED_LIMITS,0.144,0.220
$TGT_NAME,MOORING
$TGT_LATLONG,4751.000,-12510.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,152.7,523,-20.6,-8.333,-25.76,1263
$D_GRID,243
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.82,-69.0,165,2020,681,421,0.0,0.0,0,134,0.00,0.00,-105.55,0.010,16386,0.000,0.000,165,2018,3022,3015,3030,0,0,0,0,0,0,26.08,28.83,26.17
$GC,136,-0.85,-90.8,165,2018,3016,3031,3.7,-6.6,15,152,8.25,1.05,-3.30,0.047,18724,0.216,0.074,2292,2697,3173,3179,3168,0,0,0,0,0,0,25.83,24.78,25.98
$GC,314,-0.85,-90.8,2291,2696,3189,3164,40.4,-16.4,48,322,0.05,1.02,0.00,0.000,3078,0.190,0.034,2305,1996,3176,3188,3164,0,0,0,0,0,0,26.07,26.33,26.17
$GC,449,-0.85,-90.8,2305,1995,3189,3163,60.4,-15.2,73,457,0.00,1.02,0.00,0.000,260,0.000,0.080,2302,2678,3176,3190,3163,0,0,0,0,0,0,26.48,25.56,26.46
$GC,528,-0.85,-90.8,2302,2678,3190,3163,70.6,-11.2,87,535,0.00,1.00,0.00,0.000,1030,0.000,0.041,2304,1994,3177,3191,3163,0,0,0,0,0,0,26.44,26.42,26.46
$GC,664,-0.85,-90.8,2304,1993,3191,3162,84.2,-9.5,112,671,0.00,1.02,0.00,0.000,516,0.000,0.041,2306,1306,3176,3191,3162,0,0,0,0,0,0,26.56,26.43,26.59
$GC,759,-0.85,-90.8,2305,1306,3191,3162,94.3,-11.3,129,767,0.00,1.02,0.00,0.000,1030,0.000,0.036,2303,1984,3176,3191,3162,0,0,0,0,0,0,26.52,26.48,26.52
$GC,893,-0.85,-90.8,2302,1985,3191,3162,110.6,-12.4,146,896,0.00,1.05,0.00,0.000,260,0.000,0.044,2297,2701,3177,3192,3162,0,0,0,0,0,0,26.59,26.52,26.65
$GC,959,-0.85,-90.8,2297,2701,3191,3162,119.3,-12.0,159,967,0.00,1.02,0.00,0.000,1030,0.000,0.033,2297,1995,3177,3192,3162,0,0,0,0,0,0,26.57,26.55,26.59
$GC,1089,-0.85,-90.8,2297,1994,3192,3162,135.6,-13.5,172,1097,0.08,0.00,0.00,0.000,2054,0.200,0.000,2310,1994,3177,3192,3162,0,0,0,0,0,0,26.38,26.55,26.51
$STATE,1205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1206,begin apogee
$GC,1211,-0.18,0.0,2311,1780,3192,3162,150.9,-12.5,184,1358,0.70,0.00,142.35,0.543,10246,0.162,0.000,2520,1778,2798,2849,2748,0,0,0,0,0,0,26.19,25.39,24.94
$STATE,1362,end apogee,CONTROL_FINISHED_OK
$STATE,1362,begin loiter
$GC,1513,-0.18,0.0,2519,1778,2834,2737,159.4,-0.8,211,1515,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1778,2785,2834,2736,0,0,0,0,0,0,26.06,26.16,26.12
$GC,1633,-0.18,0.0,2519,1778,2833,2736,160.1,-0.5,223,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1778,2784,2833,2736,0,0,0,0,0,0,26.23,26.30,26.29
$GC,1753,-0.18,0.0,2519,1778,2832,2736,160.8,-0.7,235,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1778,2783,2831,2736,0,0,0,0,0,0,26.34,26.39,26.39
$GC,1873,-0.17,8.1,2518,1778,2832,2735,161.8,-1.0,247,1875,0.00,0.00,0.00,0.000,38,0.000,0.000,2520,1778,2783,2832,2735,0,0,0,0,0,0,26.43,26.48,26.48
$GC,1993,-0.16,16.7,2519,1778,2832,2735,163.2,-1.1,259,2015,0.00,0.00,19.65,0.636,8230,0.000,0.000,2519,1778,2732,2784,2681,0,0,0,0,0,0,26.49,26.01,25.52
$GC,2133,-0.16,16.7,2519,1778,2767,2665,162.1,1.7,273,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1777,2716,2767,2665,0,0,0,0,0,0,26.35,26.41,26.40
$GC,2253,-0.16,16.7,2519,1778,2766,2665,160.1,1.6,285,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1778,2715,2766,2665,0,0,0,0,0,0,26.44,26.48,26.49
$GC,2373,-0.16,16.7,2519,1778,2766,2665,158.4,1.3,297,2375,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1777,2715,2766,2665,0,0,0,0,0,0,26.50,26.56,26.53
$GC,2493,-0.16,16.7,2519,1778,2765,2664,157.1,0.8,309,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1778,2715,2765,2665,0,0,0,0,0,0,26.53,26.60,26.60
$GC,2613,-0.16,16.7,2519,1778,2765,2665,156.6,0.3,321,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1778,2715,2765,2665,0,0,0,0,0,0,26.57,26.64,26.63
$GC,2733,-0.16,16.7,2519,1778,2764,2665,156.3,0.2,333,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1778,2714,2765,2664,0,0,0,0,0,0,26.61,26.67,26.66
$GC,2853,-0.16,16.7,2519,1778,2764,2664,155.8,0.7,345,2855,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1778,2714,2765,2664,0,0,0,0,0,0,26.63,26.70,26.69
$GC,2973,-0.16,16.7,2519,1778,2765,2664,154.8,0.9,357,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1778,2714,2765,2664,0,0,0,0,0,0,26.65,26.72,26.71
$GC,3093,-0.16,16.7,2519,1778,2764,2664,153.9,0.5,369,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1778,2714,2764,2664,0,0,0,0,0,0,26.67,26.74,26.73
$GC,3213,-0.16,16.7,2519,1778,2764,2664,153.2,0.4,381,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1778,2713,2764,2662,0,0,0,0,0,0,26.68,26.75,26.74
$GC,3335,-0.16,16.7,2519,1778,2764,2663,152.3,1.0,393,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1778,2713,2764,2663,0,0,0,0,0,0,26.72,26.77,26.77
$GC,3463,-0.16,16.7,2519,1778,2764,2663,150.4,1.6,406,3465,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1779,2712,2763,2662,0,0,0,0,0,0,26.70,26.78,26.77
$GC,3583,-0.16,16.7,2519,1778,2763,2663,148.4,1.7,418,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1778,2713,2764,2663,0,0,0,0,0,0,26.72,26.79,26.79
$GC,3703,-0.16,16.7,2519,1778,2763,2663,146.5,1.4,430,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1778,2713,2763,2663,0,0,0,0,0,0,26.73,26.79,26.77
$GC,3823,-0.16,16.7,2519,1778,2763,2662,145.3,0.9,442,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1778,2713,2763,2663,0,0,0,0,0,0,26.74,26.81,26.80
$GC,3943,-0.16,16.7,2519,1778,2763,2662,144.3,0.9,454,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1778,2712,2763,2662,0,0,0,0,0,0,26.75,26.82,26.82
$GC,4063,-0.16,16.7,2519,1778,2763,2662,143.5,0.7,466,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1778,2712,2763,2662,0,0,0,0,0,0,26.76,26.82,26.82
$GC,4183,-0.16,16.7,2520,1778,2763,2662,142.6,0.8,478,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1778,2712,2763,2662,0,0,0,0,0,0,26.76,26.83,26.82
$GC,4303,-0.16,16.7,2519,1778,2763,2662,141.9,0.7,490,4305,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1778,2712,2762,2662,0,0,0,0,0,0,26.76,26.84,26.83
$GC,4423,-0.16,16.7,2519,1778,2761,2662,141.0,1.0,502,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1778,2712,2762,2662,0,0,0,0,0,0,26.77,26.84,26.83
$GC,4543,-0.16,16.7,2519,1778,2762,2662,139.8,0.9,514,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1778,2712,2763,2662,0,0,0,0,0,0,26.77,26.84,26.83
$GC,4663,-0.16,16.7,2518,1777,2763,2662,139.0,0.5,526,4665,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1778,2712,2763,2662,0,0,0,0,0,0,26.78,26.85,26.84
$GC,4783,-0.16,16.7,2519,1778,2762,2661,138.7,-0.0,538,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1778,2711,2762,2661,0,0,0,0,0,0,26.78,26.84,26.84
$GC,4903,-0.16,16.7,2519,1778,2762,2661,139.0,-0.4,550,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1778,2711,2762,2661,0,0,0,0,0,0,26.79,26.85,26.84
$STATE,4961,end loiter,LOITER_COMPLETE
$STATE,4961,begin climb
$GC,4963,0.85,90.8,2519,1778,2762,2661,139.4,0.0,556,5088,1.00,1.12,114.00,0.558,10500,0.119,0.051,2843,2527,2421,2522,2320,0,0,0,0,0,0,26.46,25.00,24.72
$GC,5325,0.85,90.8,2842,2527,2499,2305,114.4,9.4,625,5334,0.00,1.05,0.00,0.000,1030,0.000,0.037,2846,1825,2402,2499,2305,0,0,0,0,0,0,26.19,26.16,26.18
$GC,5454,0.85,90.8,2845,1824,2499,2305,101.0,10.5,638,5459,0.00,1.02,0.00,0.000,260,0.000,0.044,2843,2497,2402,2499,2305,0,0,0,0,0,0,26.31,26.21,26.37
$GC,5580,0.85,90.8,2842,2498,2498,2304,88.3,10.8,662,5587,0.00,1.05,0.00,0.000,1030,0.000,0.037,2846,1791,2401,2498,2305,0,0,0,0,0,0,26.37,26.34,26.43
$GC,5719,0.86,99.0,2846,1791,2498,2305,76.8,7.7,687,5727,0.00,1.08,0.00,0.000,292,0.000,0.046,2843,2508,2401,2497,2305,0,0,0,0,0,0,26.42,26.37,26.47
$GC,5852,0.88,117.3,2842,2507,2496,2304,66.8,6.8,711,5889,0.03,1.05,30.05,0.558,11302,0.201,0.038,2855,1793,2318,2430,2206,0,0,0,0,0,0,26.26,26.41,25.52
$GC,6015,0.92,151.5,2854,1793,2411,2185,57.4,5.6,740,6067,0.10,1.12,45.15,0.532,10532,0.165,0.044,2880,2498,2179,2306,2052,0,0,0,0,0,0,26.10,25.75,25.27
$GC,6085,0.94,165.5,2880,2499,2291,2033,52.9,7.2,750,6094,0.00,1.05,4.62,0.597,9254,0.000,0.043,2883,1807,2127,2260,1994,0,0,0,0,0,0,25.84,25.84,25.22
$GC,6221,0.94,165.5,2882,1808,2268,1994,40.7,10.6,775,6229,0.00,1.05,0.00,0.000,260,0.000,0.044,2881,2499,2131,2267,1995,0,0,0,0,0,0,26.16,26.08,26.22
$GC,6273,0.94,165.5,2880,2498,2267,1995,35.2,10.6,784,6280,0.00,1.05,0.00,0.000,1030,0.000,0.037,2883,1799,2130,2266,1995,0,0,0,0,0,0,26.19,26.15,26.20
$GC,6412,0.94,165.8,2883,1799,2265,1995,21.2,8.3,809,6420,0.00,0.00,0.00,0.000,38,0.000,0.000,2884,1799,2130,2265,1996,0,0,0,0,0,0,26.29,26.38,26.36
$GC,6546,0.97,195.3,2883,1799,2265,1995,13.3,5.9,834,6610,0.00,1.10,54.47,0.502,8484,0.000,0.044,2881,2505,1992,2134,1851,0,0,0,0,0,0,26.44,25.78,25.30
$STATE,6779,end climb,SURFACE_DEPTH_REACHED
$STATE,6779,begin surface coast
$FINISH,-0.3,1.025422
$STATE,6826,end surface coast,CONTROL_FINISHED_OK
$STATE,6827,begin surface
$SM_CCo,6847,225.38,0.618,1,0,550,551.92
$SM_CCo,7080,-0.40,0.119,0,0,550,551.92
$SM_CCo,7083,-0.03,0.739,0,0,551,551.92
$SM_GC,0.51,7.55,0.77,-0.03,0.060,0.034,0.739,168,2004,551,-7.40,1.33,551.92,0,0,0,0,0,0,26.26,26.21,25.03
$IRIDIUM_FIX,4750.87,-12505.04,050921,080725
$TT8_MAMPS,0.02247,0.146804
$HUMID,52.55
$INTERNAL_PRESSURE,8.73803
$TCM_TEMP,15.50
$XPDR_PINGS,0
$CP_FREE,118415294464.000000
$CP_POWER,328.190000
$CP_POWER1,0.000000
$24V_AH,24.31,14.335
$10V_AH,10.27,8.139
$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,17.750,21.000,410.300,225.375,0.000,0.000,0.000,254.225,0.000,0.000,17.892,2078.680,2159.668,716.636,2210.568,354.072,0.000,1759.480,0.000,2028.062,0.000,1.019,0.000
$DEVICE_MAMPS,216.495,80.325,635.715,618.120,0.000,0.000,0.000,107.100,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,576.067,1807.046,0.000,0.000,0.000,0.000,6859.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,211696
$DATA_FILE_SIZE,43492,885
$CAP_FILE_SIZE,109240,0
$CFSIZE,260030464,245030912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.055,174.79,1
$GPS,050921,121835,4750.836,-12509.980,11,1.2,37,15.7,0.8,77.5,8,2.4