version: 66.14
glider: 204
mission: 8
dive: 69
start: 9 5 121 12 28 20
data:
$ID,204
$MISSION,8
$DIVE,69
$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,39
$R_STBD_OVSHOOT,45
$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,124.0
$CP_NDIVE,1.0
$GPS1,050921,121835,4750.8364,-12509.9805,11,1.2,37,15.7,0.8,77.5,8,2.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-62.7
$GPS2,050921,122715,4750.8003,-12509.8613,4,1.0,5,15.7,0.7,96.8,12,6.6
$SPEED_LIMITS,0.144,0.220
$TGT_NAME,MOORING
$TGT_LATLONG,4751.000,-12510.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,325.7,408,-21.3,-8.333,-26.39,1193
$D_GRID,264
$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,-0.84,-65.2,168,1997,688,414,0.0,0.0,0,139,0.00,0.00,-106.82,0.011,16390,0.000,0.000,168,1997,3064,3054,3074,0,0,0,0,0,0,26.10,25.56,26.17
$GC,141,-0.84,-65.2,168,1997,3055,3074,4.8,-10.0,16,157,8.15,1.05,0.00,0.000,2564,0.220,0.030,2297,1252,3066,3062,3070,0,0,0,0,0,0,25.85,26.08,26.00
$GC,389,-0.84,-65.2,2296,1252,3075,3061,50.5,-14.1,63,397,0.05,1.15,0.00,0.000,3078,0.184,0.036,2306,2009,3068,3076,3061,0,0,0,0,0,0,26.12,26.36,26.22
$GC,522,-0.84,-65.2,2305,2009,3077,3060,65.2,-9.9,88,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2009,3068,3077,3060,0,0,0,0,0,0,26.52,26.52,26.55
$GC,653,-0.84,-65.2,2305,2009,3078,3060,78.6,-10.8,113,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2009,3069,3078,3060,0,0,0,0,0,0,26.56,26.62,26.60
$GC,785,-0.84,-65.2,2305,2009,3078,3060,94.0,-10.9,138,793,0.00,1.08,0.00,0.000,516,0.000,0.039,2310,1294,3068,3078,3059,0,0,0,0,0,0,26.53,26.46,26.57
$GC,948,-0.84,-65.2,2309,1294,3078,3059,111.4,-10.7,168,952,0.00,1.05,0.00,0.000,1030,0.000,0.045,2307,1990,3068,3078,3059,0,0,0,0,0,0,26.57,26.53,26.59
$GC,1080,-0.84,-65.2,2306,1990,3079,3058,124.4,-9.9,182,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,1990,3068,3079,3058,0,0,0,0,0,0,26.66,26.73,26.71
$GC,1212,-0.84,-65.2,2306,1990,3079,3058,136.5,-9.3,195,1215,0.00,1.05,0.00,0.000,260,0.000,0.052,2301,2707,3068,3079,3058,0,0,0,0,0,0,26.69,26.55,26.72
$GC,1264,-0.84,-65.2,2300,2706,3079,3057,141.8,-9.9,205,1269,0.00,1.05,0.00,0.000,1030,0.000,0.033,2305,1980,3068,3079,3058,0,0,0,0,0,0,26.63,26.59,26.64
$STATE,1346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1346,begin apogee
$GC,1351,-0.18,0.0,2305,1785,3079,3058,150.2,-9.8,214,1468,0.73,0.00,109.25,0.532,10246,0.265,0.000,2518,1783,2792,2836,2749,0,0,0,0,0,0,26.12,25.37,25.05
$STATE,1472,end apogee,CONTROL_FINISHED_OK
$STATE,1472,begin loiter
$GC,1597,-0.18,0.0,2516,1783,2827,2740,154.4,-0.6,238,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1784,2783,2827,2739,0,0,0,0,0,0,26.08,26.15,26.14
$GC,1718,-0.18,0.0,2517,1784,2826,2739,155.1,-0.7,250,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1784,2782,2825,2739,0,0,0,0,0,0,26.24,26.32,26.30
$GC,1838,-0.17,9.6,2517,1784,2825,2738,156.4,-1.2,262,1848,0.00,0.00,2.58,0.501,8230,0.000,0.000,2517,1784,2766,2810,2723,0,0,0,0,0,0,26.36,25.66,24.94
$GC,1968,-0.17,9.6,2517,1784,2819,2731,157.7,-0.9,275,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1784,2775,2819,2731,0,0,0,0,0,0,26.41,26.48,26.46
$GC,2088,-0.17,9.6,2517,1783,2819,2731,158.4,-0.3,287,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1784,2775,2820,2731,0,0,0,0,0,0,26.47,26.54,26.53
$GC,2208,-0.17,9.6,2517,1783,2819,2731,158.4,0.2,299,2210,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1784,2775,2819,2731,0,0,0,0,0,0,26.53,26.60,26.58
$GC,2328,-0.17,9.6,2517,1783,2819,2731,158.0,0.4,311,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1784,2775,2820,2731,0,0,0,0,0,0,26.55,26.63,26.61
$GC,2448,-0.17,9.6,2517,1784,2819,2731,157.3,0.5,323,2449,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1784,2775,2819,2731,0,0,0,0,0,0,26.58,26.65,26.67
$GC,2568,-0.17,9.6,2517,1783,2819,2730,156.9,0.2,335,2570,0.03,0.00,0.00,0.000,2054,0.298,0.000,2524,1783,2775,2819,2731,0,0,0,0,0,0,26.48,26.56,26.53
$GC,2688,-0.17,9.6,2524,1784,2819,2730,157.0,-0.2,347,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1783,2775,2819,2731,0,0,0,0,0,0,26.66,26.72,26.71
$GC,2808,-0.17,9.6,2524,1784,2819,2731,157.5,-0.5,359,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1783,2774,2819,2730,0,0,0,0,0,0,26.67,26.74,26.73
$GC,2928,-0.17,9.6,2524,1784,2819,2730,158.2,-0.8,371,2930,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1784,2774,2819,2730,0,0,0,0,0,0,26.70,26.72,26.74
$GC,3048,-0.17,9.6,2524,1783,2820,2730,159.2,-0.9,383,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1783,2774,2819,2730,0,0,0,0,0,0,26.71,26.77,26.77
$GC,3170,-0.16,18.0,2524,1783,2819,2730,160.4,-1.1,395,3198,0.00,0.00,19.00,0.659,8230,0.000,0.000,2525,1784,2715,2763,2668,0,0,0,0,0,0,26.70,26.22,25.72
$GC,3318,-0.16,18.0,2524,1783,2753,2659,159.8,0.9,410,3320,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1783,2706,2754,2659,0,0,0,0,0,0,26.49,26.53,26.51
$GC,3438,-0.16,18.0,2524,1783,2753,2659,158.8,0.8,422,3440,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1783,2706,2753,2659,0,0,0,0,0,0,26.55,26.64,26.63
$GC,3558,-0.16,18.0,2524,1784,2753,2659,158.2,0.3,434,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1784,2706,2753,2659,0,0,0,0,0,0,26.53,26.60,26.58
$GC,3678,-0.16,18.0,2524,1783,2753,2658,157.8,0.4,446,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1783,2705,2752,2658,0,0,0,0,0,0,26.63,26.70,26.70
$GC,3798,-0.16,18.0,2524,1783,2752,2658,157.0,0.7,458,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1783,2705,2752,2658,0,0,0,0,0,0,26.65,26.72,26.74
$GC,3918,-0.16,18.0,2524,1783,2752,2658,156.0,1.1,470,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1783,2705,2752,2659,0,0,0,0,0,0,26.68,26.74,26.74
$GC,4038,-0.16,18.0,2524,1784,2752,2658,154.5,1.5,482,4040,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1783,2705,2752,2658,0,0,0,0,0,0,26.62,26.67,26.68
$GC,4158,-0.16,18.0,2524,1783,2751,2658,152.1,2.2,494,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1783,2704,2751,2658,0,0,0,0,0,0,26.71,26.78,26.78
$GC,4278,-0.16,18.0,2524,1784,2751,2658,148.8,2.9,506,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1784,2704,2751,2658,0,0,0,0,0,0,26.72,26.79,26.78
$GC,4398,-0.16,18.0,2524,1784,2751,2658,145.3,2.9,518,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1784,2704,2751,2658,0,0,0,0,0,0,26.65,26.74,26.72
$GC,4518,-0.16,18.0,2524,1784,2751,2657,141.9,2.9,530,4520,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1783,2703,2750,2657,0,0,0,0,0,0,26.74,26.82,26.81
$GC,4638,-0.16,18.0,2524,1784,2750,2657,138.7,2.7,542,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1783,2704,2751,2657,0,0,0,0,0,0,26.75,26.82,26.82
$GC,4758,-0.16,18.0,2524,1783,2751,2657,135.3,2.8,554,4760,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1783,2704,2751,2657,0,0,0,0,0,0,26.69,26.74,26.74
$GC,4878,-0.16,18.0,2524,1784,2751,2657,132.0,2.7,566,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1783,2703,2750,2657,0,0,0,0,0,0,26.77,26.83,26.83
$GC,4998,-0.16,18.0,2524,1783,2751,2657,129.1,2.1,578,5000,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1784,2704,2751,2657,0,0,0,0,0,0,26.77,26.86,26.83
$STATE,5066,end loiter,LOITER_COMPLETE
$STATE,5066,begin climb
$GC,5068,0.84,65.2,2524,1784,2750,2656,127.7,0.0,585,5152,1.00,1.10,71.38,0.559,10500,0.122,0.044,2843,2494,2520,2592,2449,0,0,0,0,0,0,26.36,25.84,25.36
$GC,5391,0.86,81.6,2843,2495,2580,2435,107.5,6.9,646,5410,0.00,1.00,11.57,0.653,9254,0.000,0.048,2846,1823,2462,2545,2380,0,0,0,0,0,0,26.29,26.25,25.46
$GC,5531,0.89,108.3,2846,1823,2534,2369,98.9,6.0,662,5575,0.10,1.08,37.67,0.559,10532,0.173,0.045,2873,2497,2351,2453,2250,0,0,0,0,0,0,26.08,25.78,25.28
$GC,5777,0.89,109.9,2872,2497,2429,2231,75.3,8.2,707,5784,0.00,1.05,0.00,0.000,1062,0.000,0.039,2876,1801,2330,2429,2232,0,0,0,0,0,0,26.22,26.20,26.24
$GC,5909,0.91,121.1,2875,1801,2428,2231,63.9,7.4,732,5918,0.00,1.12,2.80,0.516,8740,0.000,0.048,2881,1094,2307,2413,2202,0,0,0,0,0,0,26.38,26.06,25.15
$GC,5937,0.92,132.4,2881,1093,2420,2207,61.8,7.4,736,5966,0.00,1.08,21.80,0.565,9254,0.000,0.036,2878,1799,2253,2370,2137,0,0,0,0,0,0,26.32,26.29,25.44
$GC,6093,0.93,143.0,2878,1799,2350,2115,49.9,7.4,764,6101,0.00,1.05,0.00,0.000,292,0.000,0.044,2873,2503,2232,2349,2115,0,0,0,0,0,0,26.22,26.19,26.27
$GC,6318,0.95,156.9,2872,2503,2346,2115,30.8,7.1,807,6354,0.00,1.05,28.80,0.529,9254,0.000,0.037,2877,1796,2153,2281,2026,0,0,0,0,0,0,26.39,26.36,25.46
$GC,6479,0.95,156.9,2876,1796,2258,2003,18.3,8.7,836,6487,0.00,1.08,0.00,0.000,516,0.000,0.049,2882,1108,2130,2258,2003,0,0,0,0,0,0,26.23,26.20,26.33
$GC,6724,1.05,238.4,2881,1109,2256,2003,7.6,1.3,882,6859,0.10,1.05,130.43,0.483,11302,0.096,0.037,2921,1801,1828,1974,1683,0,0,0,0,0,0,26.25,26.39,25.01
$STATE,6866,end climb,SURFACE_DEPTH_REACHED
$STATE,6866,begin surface coast
$FINISH,-0.5,1.003562
$STATE,6894,end surface coast,CONTROL_FINISHED_OK
$STATE,6894,begin surface
$SM_CCo,6913,203.10,0.604,1,0,550,551.92
$SM_CCo,7124,-0.38,0.126,0,0,550,551.92
$SM_CCo,7128,-0.03,0.738,0,0,550,551.92
$SM_GC,0.53,7.78,0.30,-0.03,0.059,0.047,0.738,173,2020,550,-7.39,-1.10,551.92,0,0,0,0,0,0,25.79,25.75,25.01
$IRIDIUM_FIX,4752.18,-12506.88,050921,122053
$TT8_MAMPS,0.021721,0.182007
$HUMID,52.16
$INTERNAL_PRESSURE,8.73803
$TCM_TEMP,15.50
$XPDR_PINGS,0
$CP_FREE,118222716928.000000
$CP_POWER,328.190000
$CP_POWER1,0.000000
$24V_AH,24.30,14.443
$10V_AH,10.20,8.219
$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,17.925,17.600,435.275,203.100,0.000,0.000,0.000,321.025,0.000,0.000,16.950,2109.632,2260.820,706.211,2264.077,350.141,0.000,1833.412,0.000,2045.410,0.000,1.021,0.000
$DEVICE_MAMPS,297.585,58.905,658.665,604.350,0.000,0.000,0.000,109.395,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,586.765,1841.409,0.000,0.000,0.000,0.000,6925.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,211668
$DATA_FILE_SIZE,46739,907
$CAP_FILE_SIZE,107876,0
$CFSIZE,260030464,244936704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.031,251.65,1
$GPS,050921,142831,4750.885,-12510.224,9,1.0,37,15.7,0.6,132.9,9,1.8