version: 66.14
glider: 204
mission: 8
dive: 81
start: 9 6 121 8 22 46
data:
$ID,204
$MISSION,8
$DIVE,81
$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,7200
$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,52
$R_STBD_OVSHOOT,54
$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,0.5
$LOITER_DBDW,800
$LOITER_D_TOP,80
$LOITER_D_BOTTOM,90
$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,148.0
$CP_NDIVE,1.0
$GPS1,060921,081601,4751.6489,-12510.9482,18,0.9,19,15.7,0.6,297.8,10,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-64.3
$GPS2,060921,082149,4751.6611,-12510.9609,3,0.6,4,15.7,0.9,281.7,12,8.1
$SPEED_LIMITS,0.188,0.240
$TGT_NAME,SE_SLOPE
$TGT_LATLONG,4750.360,-12508.720
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,129.4,3684,-19.7,-10.833,-24.33,1645
$D_GRID,278
$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,-116.8,172,2008,693,410,0.0,0.0,0,134,0.00,0.00,-106.15,0.010,16386,0.000,0.000,172,2008,3073,3061,3086,0,0,0,0,0,0,26.13,28.83,26.17
$GC,137,-0.84,-116.8,172,2009,3062,3086,4.3,-8.2,15,153,8.20,1.10,-4.10,0.037,19236,0.215,0.067,2298,1297,3277,3278,3277,0,0,0,0,0,0,25.85,24.77,25.99
$GC,161,-0.84,-116.8,2298,1297,3281,3277,13.4,-29.1,18,169,0.05,1.05,0.00,0.000,3078,0.190,0.037,2308,1987,3279,3282,3276,0,0,0,0,0,0,25.95,26.15,26.06
$GC,295,-0.84,-116.8,2307,1987,3287,3274,39.4,-16.0,43,302,0.00,1.05,0.00,0.000,260,0.000,0.043,2304,2696,3280,3287,3274,0,0,0,0,0,0,26.38,26.28,26.43
$GC,524,-0.84,-116.8,2304,2696,3290,3274,71.8,-12.5,87,531,0.00,1.02,0.00,0.000,1030,0.000,0.032,2307,1986,3282,3290,3274,0,0,0,0,0,0,26.46,26.44,26.48
$GC,655,-0.84,-116.8,2306,1986,3291,3274,88.7,-14.9,112,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,1986,3282,3291,3274,0,0,0,0,0,0,26.56,26.61,26.60
$GC,791,-0.84,-116.8,2306,1986,3292,3274,106.1,-11.1,133,795,0.00,1.00,0.00,0.000,516,0.000,0.041,2312,1310,3282,3291,3274,0,0,0,0,0,0,26.60,26.48,26.65
$GC,896,-0.84,-116.8,2311,1310,3291,3274,117.5,-10.7,153,900,0.00,1.05,0.00,0.000,1062,0.000,0.037,2309,2006,3283,3292,3274,0,0,0,0,0,0,26.55,26.53,26.57
$GC,1028,-0.84,-116.8,2309,2006,3292,3273,132.7,-11.8,167,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2007,3283,3293,3274,0,0,0,0,0,0,26.58,26.63,26.66
$GC,1148,-0.84,-116.8,2309,2007,3292,3274,147.0,-12.1,179,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2007,3282,3292,3273,0,0,0,0,0,0,26.64,26.65,26.65
$GC,1268,-0.84,-116.8,2308,2007,3293,3273,161.8,-12.4,191,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2007,3282,3292,3273,0,0,0,0,0,0,26.69,26.69,26.72
$GC,1388,-0.84,-116.8,2309,2006,3293,3273,177.1,-13.0,203,1392,0.00,1.02,0.00,0.000,260,0.000,0.044,2304,2705,3283,3293,3273,0,0,0,0,0,0,26.65,26.57,26.71
$GC,1421,-0.84,-116.8,2303,2705,3293,3273,181.2,-12.7,209,1426,0.00,1.02,0.00,0.000,1030,0.000,0.032,2307,1988,3283,3293,3273,0,0,0,0,0,0,26.62,26.60,26.63
$GC,1554,-0.84,-116.8,2306,1988,3293,3273,197.6,-12.0,223,1558,0.00,0.98,0.00,0.000,516,0.000,0.040,2312,1322,3282,3293,3272,0,0,0,0,0,0,26.72,26.60,26.77
$GC,1589,-0.84,-116.8,2312,1322,3293,3272,202.1,-12.1,230,1597,0.00,1.02,0.00,0.000,1030,0.000,0.037,2309,1998,3282,3292,3272,0,0,0,0,0,0,26.65,26.61,26.66
$GC,1717,-0.84,-116.8,2309,1998,3293,3272,217.2,-12.3,243,1721,0.00,1.02,0.00,0.000,260,0.000,0.044,2304,2700,3282,3293,3272,0,0,0,0,0,0,26.65,26.60,26.73
$GC,1775,-0.84,-116.8,2303,2700,3293,3271,224.3,-11.8,254,1782,0.00,1.00,0.00,0.000,1030,0.000,0.031,2307,1997,3281,3292,3271,0,0,0,0,0,0,26.68,26.66,26.70
$GC,1901,-0.84,-116.8,2306,1997,3293,3271,239.5,-12.1,267,1905,0.00,1.05,0.00,0.000,260,0.000,0.044,2303,2707,3282,3293,3271,0,0,0,0,0,0,26.74,26.56,26.80
$GC,1970,-0.84,-116.8,2303,2707,3293,3270,248.1,-12.5,280,1977,0.00,1.00,0.00,0.000,1030,0.000,0.033,2307,2005,3282,3293,3271,0,0,0,0,0,0,26.69,26.66,26.70
$STATE,2075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2075,begin apogee
$GC,2081,-0.18,0.0,2308,1783,3292,3270,261.1,-12.3,291,2276,0.73,0.00,186.23,0.584,10246,0.164,0.000,2524,1781,2791,2845,2738,0,0,0,0,0,0,26.26,25.25,24.79
$STATE,2282,end apogee,CONTROL_FINISHED_OK
$STATE,2282,begin climb
$GC,2284,0.84,116.8,2523,1781,2837,2732,268.9,0.0,311,2491,1.08,1.08,197.32,0.536,10756,0.122,0.040,2856,1135,2314,2437,2192,0,0,0,0,0,0,25.34,25.13,24.68
$GC,2538,0.85,123.6,2856,1135,2406,2167,253.4,10.4,354,2542,0.00,1.05,0.00,0.000,1062,0.000,0.035,2853,1803,2287,2406,2168,0,0,0,0,0,0,25.58,25.56,25.60
$GC,2672,0.85,123.6,2853,1803,2401,2163,238.8,11.6,368,2675,0.00,1.05,0.00,0.000,260,0.000,0.043,2848,2499,2282,2401,2163,0,0,0,0,0,0,25.99,25.89,26.05
$GC,2842,0.85,123.6,2847,2500,2401,2161,217.2,11.7,401,2851,0.00,1.00,0.00,0.000,1030,0.000,0.037,2851,1832,2281,2401,2161,0,0,0,0,0,0,26.20,26.17,26.22
$GC,2971,0.85,123.6,2850,1831,2400,2161,202.5,11.7,414,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1832,2280,2400,2160,0,0,0,0,0,0,26.36,26.42,26.42
$GC,3101,0.85,123.6,2850,1832,2399,2160,187.0,12.2,427,3104,0.00,1.02,0.00,0.000,260,0.000,0.043,2848,2508,2279,2399,2160,0,0,0,0,0,0,26.44,26.33,26.49
$GC,3136,0.85,123.6,2847,2507,2397,2160,182.5,12.0,434,3143,0.00,1.05,0.00,0.000,1030,0.000,0.038,2851,1798,2278,2397,2160,0,0,0,0,0,0,26.40,26.37,26.41
$GC,3266,0.85,123.6,2851,1798,2397,2160,167.3,12.1,447,3273,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1798,2278,2397,2160,0,0,0,0,0,0,26.53,26.58,26.57
$GC,3394,0.85,123.6,2851,1798,2397,2160,151.7,11.8,460,3397,0.00,1.08,0.00,0.000,260,0.000,0.044,2848,2506,2278,2396,2160,0,0,0,0,0,0,26.55,26.44,26.61
$GC,3457,0.85,123.6,2847,2506,2396,2160,144.1,11.9,472,3461,0.00,1.05,0.00,0.000,1030,0.000,0.045,2851,1797,2278,2396,2160,0,0,0,0,0,0,26.44,26.39,26.47
$GC,3590,0.85,123.6,2851,1798,2395,2160,128.9,11.0,486,3594,0.00,1.08,0.00,0.000,516,0.000,0.118,2857,1105,2277,2395,2160,0,0,0,0,0,0,26.60,26.48,26.67
$GC,3646,0.85,126.4,2856,1105,2396,2160,122.9,10.7,496,3650,0.00,1.05,0.00,0.000,1062,0.000,0.037,2853,1799,2278,2396,2160,0,0,0,0,0,0,26.55,26.52,26.58
$GC,3779,0.89,154.1,2853,1800,2396,2160,110.3,9.1,510,3831,0.00,1.10,47.00,0.565,8484,0.000,0.044,2848,2509,2170,2299,2042,0,0,0,0,0,0,26.65,25.95,25.46
$GC,3869,0.91,171.6,2847,2508,2270,2007,101.7,9.7,527,3888,0.05,1.08,11.52,0.604,11302,0.148,0.037,2872,1791,2100,2235,1966,0,0,0,0,0,0,25.95,26.12,25.37
$GC,4008,0.93,187.9,2871,1791,2219,1951,88.0,9.8,553,4038,0.00,1.02,23.10,0.574,8740,0.000,0.044,2877,1108,2026,2163,1890,0,0,0,0,0,0,26.25,25.66,25.34
$GC,4081,0.94,194.7,2877,1108,2137,1871,80.5,10.4,565,4090,0.00,1.08,0.00,0.000,1062,0.000,0.044,2874,1803,2003,2137,1870,0,0,0,0,0,0,26.05,26.03,26.09
$GC,4220,0.94,194.7,2874,1802,2134,1865,65.1,11.3,590,4227,0.00,1.05,0.00,0.000,260,0.000,0.106,2869,2502,1999,2134,1865,0,0,0,0,0,0,26.29,26.19,26.35
$GC,4266,0.94,194.9,2868,2502,2134,1864,60.1,10.8,598,4273,0.00,1.05,0.00,0.000,1062,0.000,0.037,2872,1800,1999,2134,1864,0,0,0,0,0,0,26.25,26.25,26.30
$GC,4401,0.95,203.5,2872,1800,2133,1862,46.2,10.3,623,4409,0.00,1.10,3.58,0.565,8740,0.000,0.047,2878,1106,1968,2107,1829,0,0,0,0,0,0,26.43,26.10,25.22
$GC,4448,0.97,227.3,2877,1106,2119,1836,41.3,9.3,631,4505,0.05,1.08,47.50,0.522,11302,0.121,0.037,2896,1809,1863,2005,1721,0,0,0,0,0,0,26.16,26.33,25.30
$GC,4630,0.97,227.3,2896,1809,1977,1694,20.8,12.3,663,4637,0.00,1.05,0.00,0.000,260,0.000,0.045,2893,2502,1835,1977,1694,0,0,0,0,0,0,26.22,26.10,26.27
$GC,4762,1.05,292.5,2892,2501,1975,1694,9.6,6.8,687,4859,0.05,1.05,92.05,0.483,11298,0.115,0.097,2917,1805,1627,1776,1479,0,0,0,0,0,0,25.52,25.37,26.04
$STATE,4860,end climb,SURFACE_DEPTH_REACHED
$STATE,4860,begin surface coast
$FINISH,-0.3,1.025311
$STATE,4878,end surface coast,CONTROL_FINISHED_OK
$STATE,4878,begin surface
$SM_CCo,4897,166.75,0.635,1,0,549,551.92
$SM_CCo,5072,-0.43,0.113,0,0,550,551.92
$SM_CCo,5075,0.03,2.965,0,0,550,551.92
$SM_GC,0.51,7.65,0.30,0.03,0.050,0.049,2.965,167,2013,550,-7.40,-1.19,551.92,0,0,0,0,0,0,25.79,25.75,23.88
$IRIDIUM_FIX,4751.65,-12513.98,060921,065401
$TT8_MAMPS,0.02247,0.146804
$HUMID,53.54
$INTERNAL_PRESSURE,8.72826
$TCM_TEMP,15.20
$XPDR_PINGS,0
$CP_FREE,116610007040.000000
$CP_POWER,328.190000
$CP_POWER1,0.000000
$24V_AH,23.88,15.863
$10V_AH,10.26,9.016
$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,17.850,36.100,608.300,166.775,0.000,0.000,0.000,228.600,2.500,0.000,16.721,1531.365,1130.230,776.320,1744.336,281.522,0.000,1741.948,0.000,1565.489,0.000,19.113,0.000
$DEVICE_MAMPS,214.965,117.810,603.585,2965.140,0.000,0.000,0.000,101.745,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,409.872,1302.839,0.000,0.000,0.000,0.000,4691.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,211188
$DATA_FILE_SIZE,36769,703
$CAP_FILE_SIZE,93788,0
$CFSIZE,260030464,244035584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.067,341.17,1
$GPS,060921,094824,4751.433,-12510.668,15,1.1,18,15.7,0.3,0.0,8,6.1