version: 66.14
glider: 204
mission: 8
dive: 71
start: 9 5 121 16 50 24
data:
$ID,204
$MISSION,8
$DIVE,71
$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,48
$R_STBD_OVSHOOT,52
$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,128.0
$CP_NDIVE,1.0
$GPS1,050921,164209,4751.1665,-12510.2637,3,0.8,15,15.7,0.6,29.3,12,2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-62.9
$GPS2,050921,164917,4751.1445,-12510.2412,3,0.7,6,15.7,0.6,290.0,12,4.9
$SPEED_LIMITS,0.144,0.220
$TGT_NAME,MOORING
$TGT_LATLONG,4751.000,-12510.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,120.9,402,-19.9,-8.333,-25.16,1336
$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,-0.80,-73.0,167,2008,691,410,0.0,0.0,0,139,0.00,0.00,-107.97,0.011,16390,0.000,0.000,167,2007,3097,3086,3108,0,0,0,0,0,0,26.10,25.52,26.17
$GC,142,-0.80,-73.0,166,2007,3086,3108,5.0,-12.0,16,158,8.10,1.02,0.00,0.000,2308,0.214,0.037,2315,2697,3099,3093,3105,0,0,0,0,0,0,25.84,26.08,25.98
$GC,390,-0.80,-73.0,2314,2697,3109,3095,47.6,-12.8,63,397,0.00,1.02,0.00,0.000,1030,0.000,0.033,2315,1987,3102,3109,3095,0,0,0,0,0,0,26.41,26.37,26.41
$GC,528,-0.80,-73.0,2314,1987,3111,3095,61.7,-10.4,88,536,0.00,1.05,0.00,0.000,260,0.000,0.045,2310,2691,3102,3111,3094,0,0,0,0,0,0,26.36,26.39,26.40
$GC,625,-0.80,-73.0,2309,2691,3111,3094,71.7,-10.8,106,633,0.03,1.00,0.00,0.000,3078,0.226,0.033,2319,1984,3102,3111,3094,0,0,0,0,0,0,26.29,26.47,26.34
$GC,762,-0.80,-73.0,2318,1985,3111,3093,85.2,-11.2,131,770,0.00,0.98,0.00,0.000,516,0.000,0.040,2320,1327,3102,3111,3093,0,0,0,0,0,0,26.54,26.47,26.60
$GC,922,-0.80,-73.0,2319,1327,3112,3093,101.8,-8.8,161,927,0.00,1.00,0.00,0.000,1030,0.000,0.037,2317,1998,3102,3112,3093,0,0,0,0,0,0,26.50,26.48,26.52
$GC,1055,-0.80,-73.0,2316,1998,3112,3093,114.0,-9.8,175,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,1998,3102,3112,3093,0,0,0,0,0,0,26.65,26.71,26.70
$GC,1177,-0.80,-73.0,2316,1998,3112,3093,125.1,-8.9,187,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,1998,3102,3112,3093,0,0,0,0,0,0,26.64,26.71,26.70
$GC,1305,-0.80,-73.0,2317,1997,3112,3093,137.0,-9.3,200,1308,0.00,1.00,0.00,0.000,516,0.000,0.038,2320,1328,3103,3113,3093,0,0,0,0,0,0,26.67,26.58,26.73
$GC,1358,-0.80,-73.0,2319,1327,3112,3093,142.1,-9.5,210,1362,0.00,1.00,0.00,0.000,1030,0.000,0.035,2317,1999,3102,3112,3093,0,0,0,0,0,0,26.62,26.59,26.64
$STATE,1438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1438,begin apogee
$GC,1443,-0.18,0.0,2316,1788,3112,3092,150.0,-9.8,219,1560,0.70,0.00,107.47,0.553,10246,0.160,0.000,2524,1787,2790,2835,2746,0,0,0,0,0,0,26.26,25.53,25.08
$STATE,1564,end apogee,CONTROL_FINISHED_OK
$STATE,1565,begin loiter
$GC,1690,-0.17,10.2,2524,1787,2828,2741,155.7,-1.3,243,1701,0.00,0.00,9.45,0.706,8230,0.000,0.000,2525,1787,2759,2803,2715,0,0,0,0,0,0,26.09,25.77,25.32
$GC,1822,-0.17,10.2,2524,1788,2793,2703,156.5,-0.3,256,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1788,2748,2792,2704,0,0,0,0,0,0,26.20,26.26,26.25
$GC,1949,-0.17,10.2,2524,1787,2792,2703,156.9,-0.3,269,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1787,2747,2792,2703,0,0,0,0,0,0,25.35,25.85,25.46
$GC,2069,-0.17,10.2,2524,1787,2791,2703,157.5,-0.6,281,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1788,2747,2792,2703,0,0,0,0,0,0,25.41,25.82,25.45
$GC,2189,-0.17,10.2,2524,1787,2791,2702,158.0,-0.2,293,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1787,2746,2791,2702,0,0,0,0,0,0,26.46,26.52,26.51
$GC,2309,-0.17,10.2,2524,1787,2791,2702,157.9,0.3,305,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1787,2746,2790,2702,0,0,0,0,0,0,26.47,26.55,26.53
$GC,2429,-0.17,10.2,2524,1787,2790,2702,157.2,0.6,317,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1787,2746,2790,2702,0,0,0,0,0,0,26.51,26.60,26.58
$GC,2549,-0.17,10.2,2524,1787,2790,2702,156.3,0.9,329,2551,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1787,2746,2790,2702,0,0,0,0,0,0,26.58,26.65,26.62
$GC,2669,-0.17,10.2,2524,1788,2790,2702,155.6,0.5,341,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1787,2746,2790,2702,0,0,0,0,0,0,26.58,26.65,26.63
$GC,2789,-0.17,10.2,2524,1787,2789,2702,155.6,-0.3,353,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1787,2745,2789,2702,0,0,0,0,0,0,25.56,26.22,25.94
$GC,2909,-0.17,10.2,2524,1788,2789,2702,156.3,-0.6,365,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1787,2745,2789,2702,0,0,0,0,0,0,26.45,26.61,26.55
$GC,3029,-0.17,10.2,2524,1787,2789,2702,157.4,-1.0,377,3031,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1787,2745,2789,2702,0,0,0,0,0,0,26.64,26.72,26.70
$GC,3149,-0.17,10.2,2524,1787,2788,2702,158.7,-0.9,389,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1787,2745,2789,2701,0,0,0,0,0,0,26.65,26.72,26.72
$GC,3270,-0.17,10.2,2524,1787,2788,2701,159.6,-0.7,401,3271,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1788,2744,2788,2701,0,0,0,0,0,0,26.70,26.77,26.74
$GC,3389,-0.17,10.2,2524,1787,2788,2701,160.3,-0.6,413,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1787,2744,2788,2701,0,0,0,0,0,0,26.70,26.77,26.75
$GC,3509,-0.17,10.2,2524,1787,2788,2701,161.4,-1.0,425,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1787,2744,2788,2700,0,0,0,0,0,0,26.70,26.77,26.76
$GC,3630,-0.16,18.1,2524,1787,2788,2700,162.5,-1.0,437,3639,0.00,0.00,3.40,0.828,8230,0.000,0.000,2524,1787,2730,2775,2686,0,0,0,0,0,0,26.72,26.00,25.24
$GC,3760,-0.15,27.4,2524,1788,2779,2689,164.1,-1.2,450,3781,0.00,0.00,18.75,0.670,8230,0.000,0.000,2525,1788,2688,2737,2640,0,0,0,0,0,0,26.70,26.21,25.71
$GC,3899,-0.15,27.4,2524,1787,2724,2627,163.6,0.9,464,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1787,2675,2724,2627,0,0,0,0,0,0,26.32,26.42,26.39
$GC,4020,-0.15,27.4,2524,1788,2724,2626,162.2,1.1,476,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1788,2675,2724,2626,0,0,0,0,0,0,26.48,26.60,26.55
$GC,4139,-0.15,27.4,2524,1787,2724,2626,160.5,1.5,488,4141,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1787,2675,2724,2626,0,0,0,0,0,0,26.08,26.38,26.27
$GC,4259,-0.15,27.4,2524,1787,2723,2626,158.3,2.0,500,4261,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1788,2674,2723,2626,0,0,0,0,0,0,26.20,26.43,26.35
$GC,4380,-0.15,27.4,2524,1787,2723,2626,155.6,2.3,512,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1787,2674,2723,2626,0,0,0,0,0,0,26.53,26.63,26.61
$GC,4502,-0.15,27.4,2524,1788,2722,2626,153.0,2.5,524,4508,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1788,2674,2723,2626,0,0,0,0,0,0,26.65,26.72,26.71
$GC,4629,-0.15,27.4,2524,1787,2722,2626,150.1,2.2,537,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1787,2674,2723,2626,0,0,0,0,0,0,26.67,26.73,26.72
$GC,4750,-0.15,27.4,2524,1787,2723,2625,147.4,2.3,549,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1788,2674,2723,2626,0,0,0,0,0,0,26.70,26.76,26.74
$GC,4869,-0.15,27.4,2524,1788,2723,2625,144.8,2.1,561,4871,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1787,2674,2723,2625,0,0,0,0,0,0,26.70,26.79,26.74
$GC,4989,-0.15,27.4,2524,1787,2722,2625,142.3,2.2,573,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1787,2673,2722,2625,0,0,0,0,0,0,26.70,26.77,26.76
$GC,5110,-0.15,27.4,2524,1787,2722,2625,139.5,2.4,585,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1787,2673,2722,2625,0,0,0,0,0,0,26.72,26.79,26.78
$STATE,5168,end loiter,LOITER_COMPLETE
$STATE,5168,begin climb
$GC,5169,0.80,73.0,2524,1788,2722,2625,138.0,0.0,591,5245,0.95,1.05,70.40,0.576,10500,0.118,0.040,2831,2491,2501,2578,2424,0,0,0,0,0,0,26.42,25.65,25.32
$GC,5487,0.83,100.0,2830,2491,2556,2404,119.0,6.3,651,5528,0.03,0.98,31.65,0.584,11302,0.244,0.039,2842,1831,2386,2482,2290,0,0,0,0,0,0,26.06,26.25,25.29
$GC,5650,0.84,103.2,2841,1830,2472,2279,106.5,8.1,671,5654,0.00,1.00,0.00,0.000,292,0.000,0.044,2838,2490,2375,2471,2279,0,0,0,0,0,0,26.22,26.08,26.27
$GC,5704,0.84,106.4,2838,2490,2469,2279,101.8,8.1,681,5708,0.00,1.02,0.00,0.000,1062,0.000,0.037,2842,1803,2374,2470,2279,0,0,0,0,0,0,26.22,26.19,26.24
$GC,5834,0.84,106.4,2841,1803,2469,2278,91.3,8.4,705,5841,0.00,1.08,0.00,0.000,516,0.000,0.047,2847,1104,2374,2469,2279,0,0,0,0,0,0,26.39,26.25,26.42
$GC,6012,0.86,125.5,2846,1104,2469,2278,77.3,6.9,739,6055,0.00,1.05,32.88,0.561,9254,0.000,0.038,2844,1797,2278,2394,2162,0,0,0,0,0,0,26.41,26.39,25.42
$GC,6181,0.87,135.0,2843,1797,2381,2152,65.2,7.6,769,6190,0.10,1.12,2.25,0.375,10788,0.207,0.047,2873,1099,2250,2371,2130,0,0,0,0,0,0,26.01,25.98,25.13
$GC,6352,0.88,142.7,2872,1099,2377,2134,52.2,7.7,801,6367,0.00,1.08,9.70,0.604,9254,0.000,0.037,2868,1803,2218,2341,2095,0,0,0,0,0,0,26.34,26.32,25.51
$GC,6496,0.88,142.7,2868,1802,2329,2085,40.0,8.9,827,6504,0.00,1.02,0.00,0.000,260,0.000,0.047,2864,2487,2207,2329,2085,0,0,0,0,0,0,26.37,26.28,26.40
$GC,6670,0.92,173.3,2864,2487,2326,2085,27.2,6.0,860,6723,0.00,1.02,46.05,0.520,9254,0.000,0.042,2867,1797,2090,2225,1956,0,0,0,0,0,0,26.34,26.33,25.37
$GC,6848,0.97,212.1,2867,1796,2204,1935,13.6,5.3,891,6914,0.10,1.10,56.83,0.500,10788,0.145,0.046,2901,1102,1926,2067,1786,0,0,0,0,0,0,26.03,25.46,25.17
$STATE,7032,end climb,SURFACE_DEPTH_REACHED
$STATE,7032,begin surface coast
$FINISH,-0.0,1.025520
$STATE,7055,end surface coast,CONTROL_FINISHED_OK
$STATE,7055,begin surface
$SM_CCo,7075,215.12,0.616,1,0,550,551.92
$SM_CCo,7298,-0.40,0.118,0,0,550,551.92
$SM_CCo,7302,0.08,1.226,0,0,550,551.92
$SM_GC,0.56,7.65,1.42,0.08,0.061,0.031,1.226,172,2010,550,-7.41,-1.10,551.92,0,0,0,0,0,0,26.11,26.08,24.75
$IRIDIUM_FIX,4750.34,-12512.13,050921,143052
$TT8_MAMPS,0.021721,0.146804
$HUMID,52.91
$INTERNAL_PRESSURE,8.72826
$TCM_TEMP,15.30
$XPDR_PINGS,0
$CP_FREE,117823799296.000000
$CP_POWER,328.190000
$CP_POWER1,0.000000
$24V_AH,24.34,14.650
$10V_AH,10.26,8.383
$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,17.650,21.275,388.825,215.200,0.000,0.000,0.000,284.150,0.000,0.000,18.788,2182.931,2264.716,685.533,2281.374,359.649,0.000,1781.736,0.000,2104.316,0.000,1.020,0.000
$DEVICE_MAMPS,244.035,51.255,828.495,1226.295,0.000,0.000,0.000,107.100,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,602.513,1886.372,0.000,0.000,0.000,0.000,7090.000,0.000,0.000,0.000
$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,46803,927
$CAP_FILE_SIZE,110593,0
$CFSIZE,260030464,244748288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.091,359.62,1
$GPS,050921,185309,4751.368,-12510.114,8,0.7,18,15.7,0.4,202.9,12,3.1