version: 66.14
glider: 204
mission: 8
dive: 75
start: 9 5 121 23 4 57
data:
$ID,204
$MISSION,8
$DIVE,75
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,260
$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,80
$T_MISSION,95
$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,47
$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,0
$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,136.0
$CP_NDIVE,1.0
$GPS1,050921,225834,4750.7036,-12509.4434,3,0.7,6,15.7,0.4,88.7,12,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-63.2
$GPS2,050921,230401,4750.7129,-12509.4580,3,1.2,17,15.7,0.1,0.0,8,2.2
$SPEED_LIMITS,0.188,0.240
$TGT_NAME,SE_SLOPE
$TGT_LATLONG,4750.360,-12508.720
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,105.4,1126,-19.7,-10.833,-24.33,1645
$D_GRID,206
$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,-116.8,165,2017,689,411,0.0,0.0,0,133,0.00,0.00,-105.28,0.010,16386,0.000,0.000,165,2018,3022,3009,3036,0,0,0,0,0,0,26.10,28.83,26.13
$GC,136,-0.84,-116.8,165,2018,3010,3036,3.8,-7.0,15,159,8.23,1.08,-5.32,0.033,18980,0.215,0.061,2299,1296,3277,3281,3274,0,0,0,0,0,0,25.86,25.54,25.97
$GC,392,-0.84,-116.8,2299,1296,3287,3274,51.2,-13.9,63,400,0.05,1.08,0.00,0.000,3078,0.187,0.036,2310,1994,3280,3287,3274,0,0,0,0,0,0,26.13,26.36,26.23
$GC,532,-0.84,-116.8,2309,1994,3290,3273,72.3,-15.9,88,540,0.00,1.05,0.00,0.000,260,0.000,0.050,2306,2707,3280,3289,3272,0,0,0,0,0,0,26.51,26.24,26.57
$GC,763,-0.84,-116.8,2305,2707,3291,3273,102.7,-12.2,132,767,0.00,1.05,0.00,0.000,1030,0.000,0.032,2309,1976,3281,3290,3273,0,0,0,0,0,0,26.54,26.53,26.56
$GC,896,-0.84,-116.8,2308,1976,3291,3272,116.0,-9.1,146,903,0.00,0.00,0.00,0.000,38,0.000,0.000,2308,1976,3282,3291,3273,0,0,0,0,0,0,26.60,26.67,26.67
$GC,1027,-0.84,-116.8,2308,1975,3291,3272,129.9,-11.3,159,1030,0.00,1.10,0.00,0.000,260,0.000,0.043,2305,2715,3281,3291,3272,0,0,0,0,0,0,26.63,26.53,26.70
$GC,1082,-0.84,-116.8,2305,2715,3291,3272,136.6,-11.6,170,1089,0.00,1.02,0.00,0.000,1030,0.000,0.033,2309,2000,3281,3291,3272,0,0,0,0,0,0,26.61,26.58,26.61
$GC,1209,-0.84,-116.8,2308,2000,3291,3271,151.4,-12.0,183,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2000,3281,3291,3271,0,0,0,0,0,0,26.65,26.71,26.70
$GC,1329,-0.84,-116.8,2308,2000,3291,3271,166.5,-12.6,195,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2000,3281,3292,3271,0,0,0,0,0,0,26.67,26.73,26.72
$GC,1450,-0.84,-116.8,2308,2000,3292,3270,181.5,-12.5,207,1454,0.00,1.02,0.00,0.000,516,0.000,0.041,2314,1308,3280,3292,3269,0,0,0,0,0,0,26.63,26.58,26.68
$GC,1494,-0.84,-116.8,2313,1308,3292,3270,187.0,-12.7,215,1498,0.00,1.05,0.00,0.000,1030,0.000,0.037,2311,2008,3280,3292,3269,0,0,0,0,0,0,26.58,26.59,26.63
$GC,1627,-0.84,-116.8,2310,2007,3292,3269,203.3,-12.2,229,1632,0.00,1.02,0.00,0.000,260,0.000,0.044,2305,2706,3280,3292,3269,0,0,0,0,0,0,26.73,26.60,26.77
$STATE,1648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1648,begin apogee
$GC,1654,-0.18,0.0,2310,1803,3292,3269,206.2,-12.2,233,1873,0.70,0.00,215.38,0.543,10246,0.166,0.000,2518,1802,2801,2855,2747,0,0,0,0,0,0,26.24,25.25,24.80
$STATE,1878,end apogee,CONTROL_FINISHED_OK
$STATE,1878,begin climb
$GC,1880,0.84,116.8,2518,1802,2842,2736,214.8,0.0,255,2075,1.08,1.15,181.98,0.516,10756,0.116,0.041,2854,1095,2309,2433,2186,0,0,0,0,0,0,25.28,25.15,24.70
$GC,2131,0.84,116.8,2854,1095,2409,2168,197.9,11.0,301,2136,0.00,1.10,0.00,0.000,1030,0.000,0.037,2851,1797,2288,2408,2168,0,0,0,0,0,0,25.59,25.56,25.63
$GC,2264,0.84,117.3,2850,1797,2404,2164,183.5,10.8,315,2268,0.00,1.08,0.00,0.000,292,0.000,0.044,2846,2504,2284,2404,2164,0,0,0,0,0,0,26.03,25.89,26.09
$GC,2319,0.85,121.9,2846,2505,2403,2161,177.8,10.5,325,2324,0.00,1.08,0.00,0.000,1062,0.000,0.037,2849,1791,2282,2403,2162,0,0,0,0,0,0,26.07,26.03,26.08
$GC,2452,0.86,128.2,2849,1790,2402,2162,163.5,10.4,339,2460,0.00,0.00,0.00,0.000,38,0.000,0.000,2849,1790,2282,2402,2162,0,0,0,0,0,0,26.28,26.30,26.33
$GC,2584,0.88,145.4,2848,1790,2402,2161,150.8,9.8,352,2625,0.00,1.10,31.73,0.573,8484,0.000,0.044,2846,2494,2196,2326,2067,0,0,0,0,0,0,26.39,25.85,25.32
$GC,2681,0.89,153.0,2845,2494,2307,2046,140.8,10.4,370,2685,0.03,1.05,0.00,0.000,3110,0.189,0.045,2859,1793,2176,2306,2046,0,0,0,0,0,0,25.94,26.07,25.99
$GC,2813,0.89,153.0,2859,1792,2304,2045,126.5,11.0,384,2817,0.00,1.05,0.00,0.000,516,0.000,0.049,2865,1110,2174,2303,2046,0,0,0,0,0,0,26.17,26.20,26.24
$GC,2902,0.89,153.0,2864,1110,2303,2045,116.2,11.4,401,2910,0.00,1.05,0.00,0.000,1030,0.000,0.036,2861,1798,2174,2303,2045,0,0,0,0,0,0,26.33,26.30,26.36
$GC,3029,0.89,153.0,2861,1799,2302,2045,101.2,12.2,414,3033,0.00,1.02,0.00,0.000,260,0.000,0.088,2856,2490,2173,2302,2045,0,0,0,0,0,0,26.34,26.11,26.34
$GC,3224,0.89,153.0,2855,2490,2299,2045,78.3,11.0,452,3231,0.00,1.02,0.00,0.000,1030,0.000,0.038,2860,1797,2172,2299,2045,0,0,0,0,0,0,26.47,26.45,26.49
$GC,3362,0.93,193.9,2859,1796,2299,2045,65.5,8.3,477,3440,0.10,0.00,71.55,0.518,10278,0.141,0.000,2889,1796,2003,2143,1864,0,0,0,0,0,0,26.39,25.71,25.27
$GC,3566,0.96,218.1,2889,1796,2109,1831,45.1,9.3,512,3602,0.00,1.12,26.17,0.527,8484,0.000,0.051,2886,2503,1898,2042,1754,0,0,0,0,0,0,26.17,25.78,25.30
$GC,3787,0.97,227.4,2885,2503,2012,1732,21.3,10.3,553,3795,0.00,1.05,0.00,0.000,1062,0.000,0.038,2889,1803,1872,2012,1732,0,0,0,0,0,0,26.17,26.17,26.17
$GC,3926,0.99,238.7,2887,1803,2010,1732,8.1,10.1,578,3948,0.00,1.12,16.58,0.525,8740,0.000,0.049,2894,1099,1825,1969,1681,0,0,0,0,0,0,26.33,25.98,25.48
$STATE,3990,end climb,SURFACE_DEPTH_REACHED
$STATE,3990,begin surface coast
$FINISH,0.0,1.025229
$STATE,4012,end surface coast,CONTROL_FINISHED_OK
$STATE,4012,begin surface
$SM_CCo,4032,199.32,0.640,1,0,550,551.92
$SM_CCo,4239,-0.38,0.125,0,0,550,551.43
$SM_CCo,4243,0.03,2.967,0,0,550,551.92
$SM_GC,0.58,7.55,1.40,0.03,0.060,0.031,2.967,190,1994,550,-7.39,-1.50,551.92,0,0,0,0,0,0,26.25,26.19,23.89
$IRIDIUM_FIX,4752.18,-12506.88,050921,214032
$TT8_MAMPS,0.021721,0.147553
$HUMID,53.26
$INTERNAL_PRESSURE,8.72826
$TCM_TEMP,15.10
$XPDR_PINGS,0
$CP_FREE,117384019968.000000
$CP_POWER,328.190000
$CP_POWER1,0.000000
$24V_AH,23.89,15.148
$10V_AH,10.26,8.601
$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,17.725,26.200,543.375,199.350,0.000,0.000,0.000,195.875,1.250,0.000,29.508,1301.028,819.891,738.244,1506.434,243.226,0.000,1552.889,0.000,1335.911,0.000,10.721,0.000
$DEVICE_MAMPS,214.965,87.975,572.985,2966.670,0.000,0.000,0.000,100.980,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,356.092,1130.855,0.000,0.000,0.000,0.000,3837.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,211136
$DATA_FILE_SIZE,30263,593
$CAP_FILE_SIZE,76096,0
$CFSIZE,260030464,244502528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.026,223.40,1
$GPS,060921,001645,4750.509,-12509.043,8,1.4,20,15.7,0.2,0.0,8,10.0