version: 66.14
glider: 204
mission: 8
dive: 70
start: 9 5 121 14 36 43
data:
$ID,204
$MISSION,8
$DIVE,70
$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,50
$R_STBD_OVSHOOT,55
$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,126.0
$CP_NDIVE,1.0
$GPS1,050921,142831,4750.8853,-12510.2236,9,1.0,37,15.7,0.6,132.9,9,1.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-65.1
$GPS2,050921,143545,4750.8481,-12510.1904,3,0.7,5,15.7,0.1,0.0,12,7.5
$SPEED_LIMITS,0.144,0.220
$TGT_NAME,MOORING
$TGT_LATLONG,4751.000,-12510.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,30.8,367,-25.4,-8.333,-30.00,885
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.97,-48.2,172,2025,692,410,0.0,0.0,0,131,0.00,0.00,-103.07,0.011,16390,0.000,0.000,172,2024,2997,2986,3008,0,0,0,0,0,0,26.10,24.83,26.20
$GC,133,-0.97,-48.2,172,2024,2987,3008,4.1,-8.4,15,149,8.07,1.10,0.00,0.000,2564,0.216,0.033,2270,1290,2999,2994,3004,0,0,0,0,0,0,25.80,26.07,25.96
$GC,381,-0.97,-48.2,2270,1291,3006,2997,44.9,-12.4,62,388,0.00,1.08,0.00,0.000,1030,0.000,0.034,2267,1999,3001,3006,2997,0,0,0,0,0,0,26.38,26.35,26.41
$GC,519,-0.97,-48.2,2266,1998,3008,2996,62.4,-13.2,87,527,0.00,1.05,0.00,0.000,516,0.000,0.037,2270,1299,3002,3008,2996,0,0,0,0,0,0,26.50,26.38,26.49
$GC,759,-0.97,-48.2,2270,1299,3009,2996,91.6,-10.9,133,766,0.00,1.05,0.00,0.000,1030,0.000,0.035,2267,1999,3002,3009,2996,0,0,0,0,0,0,26.53,26.50,26.55
$GC,898,-0.97,-48.2,2267,1999,3010,2995,105.1,-9.1,154,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,1999,3002,3010,2995,0,0,0,0,0,0,26.62,26.67,26.67
$GC,1018,-0.97,-48.2,2267,1999,3010,2995,116.9,-9.7,166,1022,0.00,1.05,0.00,0.000,516,0.000,0.038,2270,1296,3002,3009,2995,0,0,0,0,0,0,26.65,26.53,26.70
$GC,1224,-0.97,-48.2,2269,1296,3010,2994,135.7,-8.7,206,1228,0.00,1.05,0.00,0.000,1030,0.000,0.043,2267,1997,3002,3010,2995,0,0,0,0,0,0,26.60,26.58,26.63
$GC,1358,-0.97,-48.2,2267,1997,3010,2994,148.3,-9.7,220,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,1997,3002,3010,2994,0,0,0,0,0,0,26.70,26.76,26.74
$STATE,1374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1374,begin apogee
$GC,1379,-0.18,0.0,2267,1769,3010,2994,150.3,-9.7,222,1457,0.85,0.00,74.47,0.563,10246,0.161,0.000,2521,1769,2802,2843,2762,0,0,0,0,0,0,26.23,25.75,25.27
$STATE,1461,end apogee,CONTROL_FINISHED_OK
$STATE,1461,begin loiter
$GC,1587,-0.18,0.0,2521,1769,2819,2738,153.5,-0.3,242,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1769,2778,2819,2738,0,0,0,0,0,0,26.20,26.25,26.25
$GC,1716,-0.18,0.0,2521,1769,2819,2738,153.7,-0.3,255,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1769,2778,2819,2737,0,0,0,0,0,0,26.31,26.32,26.32
$GC,1836,-0.18,0.0,2521,1769,2818,2738,154.4,-0.8,267,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1769,2778,2818,2738,0,0,0,0,0,0,26.43,26.49,26.48
$GC,1956,-0.18,0.0,2521,1769,2818,2736,155.4,-0.9,279,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1769,2777,2818,2737,0,0,0,0,0,0,26.48,26.55,26.55
$GC,2076,-0.18,0.0,2521,1769,2818,2737,156.1,-0.4,291,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1769,2777,2818,2737,0,0,0,0,0,0,26.53,26.60,26.60
$GC,2196,-0.18,0.0,2521,1769,2818,2737,156.5,-0.3,303,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1769,2777,2818,2737,0,0,0,0,0,0,26.58,26.57,26.61
$GC,2316,-0.18,0.0,2521,1769,2818,2737,156.9,-0.4,315,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1769,2777,2818,2737,0,0,0,0,0,0,26.60,26.67,26.66
$GC,2438,-0.18,0.0,2521,1769,2818,2736,157.5,-0.6,327,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1769,2777,2818,2736,0,0,0,0,0,0,26.64,26.70,26.68
$GC,2566,-0.18,0.0,2521,1769,2818,2736,158.1,-0.5,340,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1769,2777,2818,2736,0,0,0,0,0,0,26.66,26.72,26.72
$GC,2686,-0.17,9.7,2521,1769,2816,2735,159.4,-1.2,352,2696,0.00,0.00,1.38,0.305,8230,0.000,0.000,2521,1769,2767,2809,2725,0,0,0,0,0,0,26.65,26.37,26.04
$GC,2816,-0.17,9.7,2521,1769,2816,2733,160.8,-0.9,365,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1769,2774,2816,2732,0,0,0,0,0,0,26.69,26.76,26.74
$GC,2936,-0.17,9.7,2520,1769,2816,2732,161.7,-0.6,377,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1769,2774,2816,2732,0,0,0,0,0,0,26.73,26.70,26.73
$GC,3056,-0.17,9.7,2521,1769,2816,2732,162.1,-0.2,389,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1769,2774,2816,2732,0,0,0,0,0,0,26.72,26.78,26.77
$GC,3176,-0.17,9.7,2521,1769,2816,2732,162.4,-0.1,401,3185,0.00,0.00,1.48,0.261,8198,0.000,0.000,2521,1769,2765,2807,2724,0,0,0,0,0,0,26.73,26.36,25.96
$GC,3306,-0.17,9.7,2521,1769,2816,2731,162.5,0.3,414,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1769,2773,2816,2731,0,0,0,0,0,0,26.73,26.73,26.77
$GC,3426,-0.17,9.7,2521,1769,2816,2731,162.5,-0.3,426,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1768,2773,2815,2731,0,0,0,0,0,0,26.74,26.81,26.80
$GC,3546,-0.17,9.7,2521,1769,2816,2732,162.8,-0.5,438,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1769,2774,2817,2731,0,0,0,0,0,0,26.75,26.84,26.81
$GC,3666,-0.17,9.7,2520,1769,2815,2731,162.9,-0.1,450,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1769,2773,2816,2731,0,0,0,0,0,0,26.71,26.74,26.74
$GC,3789,-0.17,9.7,2521,1769,2815,2731,163.1,-0.2,462,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1769,2773,2815,2731,0,0,0,0,0,0,26.76,26.83,26.82
$GC,3916,-0.17,9.7,2521,1769,2816,2731,163.8,-0.8,475,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1769,2773,2816,2731,0,0,0,0,0,0,26.74,26.82,26.80
$GC,4036,-0.15,23.7,2521,1769,2815,2731,165.5,-1.8,487,4066,0.00,0.00,28.05,0.633,8230,0.000,0.000,2522,1769,2704,2751,2658,0,0,0,0,0,0,26.70,26.19,25.70
$GC,4186,-0.15,23.7,2521,1769,2730,2636,164.9,1.2,502,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1769,2683,2730,2637,0,0,0,0,0,0,26.41,26.49,26.47
$GC,4306,-0.15,23.7,2521,1769,2730,2636,163.8,1.0,514,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1769,2683,2730,2636,0,0,0,0,0,0,26.53,26.61,26.60
$GC,4426,-0.15,23.7,2521,1769,2729,2636,162.5,1.2,526,4428,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1769,2682,2729,2636,0,0,0,0,0,0,26.50,26.60,26.58
$GC,4546,-0.15,23.7,2520,1769,2729,2635,160.8,1.5,538,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1769,2682,2729,2636,0,0,0,0,0,0,26.59,26.67,26.69
$GC,4666,-0.15,23.7,2521,1769,2729,2636,159.0,1.6,550,4668,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1769,2682,2729,2636,0,0,0,0,0,0,26.65,26.71,26.71
$GC,4786,-0.15,23.7,2521,1769,2729,2636,157.5,1.1,562,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1769,2682,2729,2636,0,0,0,0,0,0,26.58,26.67,26.66
$GC,4906,-0.15,23.7,2521,1769,2729,2636,155.6,1.4,574,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1769,2682,2729,2636,0,0,0,0,0,0,26.67,26.74,26.73
$GC,5026,-0.15,23.7,2521,1769,2728,2636,154.1,1.4,586,5028,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1769,2683,2729,2637,0,0,0,0,0,0,26.69,26.76,26.74
$STATE,5054,end loiter,LOITER_COMPLETE
$STATE,5054,begin climb
$GC,5056,0.97,48.2,2521,1769,2729,2636,153.7,0.0,589,5100,1.12,1.02,33.03,0.614,10756,0.120,0.055,2893,1124,2596,2650,2542,0,0,0,0,0,0,26.38,26.11,25.59
$GC,5338,0.99,65.2,2893,1124,2647,2538,138.4,6.4,642,5359,0.00,1.02,17.00,0.658,9254,0.000,0.037,2891,1795,2534,2599,2469,0,0,0,0,0,0,26.40,26.39,25.48
$GC,5488,0.99,65.2,2890,1795,2587,2455,126.6,8.7,659,5492,0.00,1.05,0.00,0.000,260,0.000,0.047,2886,2499,2520,2586,2455,0,0,0,0,0,0,26.36,26.21,26.42
$GC,5531,0.99,65.2,2885,2500,2586,2454,122.4,9.4,667,5535,0.00,1.00,0.00,0.000,1030,0.000,0.037,2889,1828,2520,2586,2454,0,0,0,0,0,0,26.32,26.27,26.34
$GC,5663,0.99,65.2,2888,1828,2586,2454,110.6,9.0,681,5665,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1828,2520,2586,2454,0,0,0,0,0,0,26.41,26.48,26.50
$GC,5783,0.99,65.2,2888,1828,2585,2454,99.2,9.4,693,5791,0.00,1.10,0.00,0.000,516,0.000,0.046,2894,1110,2520,2586,2454,0,0,0,0,0,0,26.46,26.39,26.51
$GC,6025,1.01,88.4,2893,1110,2586,2454,77.3,5.6,739,6061,0.00,1.05,27.80,0.577,9254,0.000,0.037,2891,1801,2432,2514,2350,0,0,0,0,0,0,26.54,26.51,25.58
$GC,6187,1.03,102.7,2891,1801,2504,2340,66.7,6.7,768,6203,0.10,1.12,10.20,0.622,10788,0.144,0.046,2928,1104,2379,2469,2289,0,0,0,0,0,0,26.21,26.08,25.54
$GC,6390,1.03,102.7,2927,1104,2461,2278,48.5,9.8,806,6398,0.00,1.08,0.00,0.000,1030,0.000,0.038,2925,1804,2369,2461,2278,0,0,0,0,0,0,26.35,26.32,26.35
$GC,6528,1.04,113.2,2924,1804,2460,2277,38.3,7.1,831,6537,0.00,1.08,3.60,0.608,8484,0.000,0.047,2919,2504,2337,2435,2240,0,0,0,0,0,0,26.46,26.16,25.29
$GC,6585,1.06,130.5,2919,2504,2438,2243,34.2,6.3,841,6621,0.00,1.05,26.65,0.543,9254,0.000,0.037,2923,1797,2260,2371,2150,0,0,0,0,0,0,26.40,26.36,25.47
$GC,6749,1.08,140.2,2923,1797,2360,2140,23.5,7.2,870,6758,0.00,1.10,2.75,0.455,8740,0.000,0.050,2928,1105,2227,2342,2113,0,0,0,0,0,0,26.34,26.05,25.23
$GC,6993,1.16,209.8,2928,1105,2347,2114,11.8,0.2,916,7126,0.08,1.05,123.80,0.491,11302,0.133,0.037,2949,1799,1937,2075,1799,0,0,0,0,0,0,26.17,26.40,24.98
$STATE,7199,end climb,SURFACE_DEPTH_REACHED
$STATE,7199,begin surface coast
$FINISH,-0.1,1.025331
$STATE,7221,end surface coast,CONTROL_FINISHED_OK
$STATE,7221,begin surface
$SM_CCo,7241,212.68,0.611,1,0,549,551.92
$SM_CCo,7462,-0.43,0.112,0,0,550,551.92
$SM_CCo,7465,0.05,1.741,0,0,550,551.92
$SM_GC,0.57,7.97,0.28,0.05,0.070,0.048,1.741,175,2002,550,-7.41,-1.58,551.92,0,0,0,0,0,0,25.96,25.96,24.35
$IRIDIUM_FIX,4750.87,-12505.04,050921,122245
$TT8_MAMPS,0.02247,0.1498
$HUMID,52.44
$INTERNAL_PRESSURE,8.73803
$TCM_TEMP,15.30
$XPDR_PINGS,0
$CP_FREE,118021062656.000000
$CP_POWER,328.190000
$CP_POWER1,0.000000
$24V_AH,24.33,14.543
$10V_AH,10.27,8.302
$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,18.200,19.650,350.200,212.725,0.000,0.000,0.000,296.300,0.000,0.000,17.759,2223.481,2339.714,654.392,2320.953,397.205,0.000,1767.844,0.000,2165.095,0.000,1.022,0.000
$DEVICE_MAMPS,216.495,55.080,657.900,1741.140,0.000,0.000,0.000,107.865,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,615.678,1927.191,0.000,0.000,0.000,0.000,7255.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,211648
$DATA_FILE_SIZE,46839,953
$CAP_FILE_SIZE,111282,0
$CFSIZE,260030464,244842496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.065,324.99,1
$GPS,050921,164209,4751.167,-12510.264,3,0.8,15,15.7,0.6,29.3,12,2.8