version: 66.14
glider: 204
mission: 8
dive: 102
start: 9 7 121 15 57 46
data:
$ID,204
$MISSION,8
$DIVE,102
$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,9000
$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,55
$R_STBD_OVSHOOT,56
$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,190.0
$CP_NDIVE,1.0
$GPS1,070921,155114,4750.7549,-12509.6582,10,0.9,11,15.7,0.5,78.3,10,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-60.6
$GPS2,070921,155649,4750.7373,-12509.6338,4,0.9,6,15.7,0.1,0.0,10,8.3
$SPEED_LIMITS,0.188,0.240
$TGT_NAME,NW_SLOPE
$TGT_LATLONG,4751.690,-12511.250
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,306.4,2673,-19.7,-10.833,-24.33,1645
$D_GRID,243
$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,-0.84,-116.8,163,2017,691,411,0.0,0.0,0,131,0.00,0.00,-103.68,0.011,16386,0.000,0.000,163,2018,3039,3027,3052,0,0,0,0,0,0,26.12,28.83,26.18
$GC,134,-0.84,-116.8,162,2017,3029,3052,4.6,-9.8,15,152,8.30,1.05,-4.75,0.022,18724,0.227,0.070,2286,2710,3280,3279,3281,0,0,0,0,0,0,25.84,24.77,26.01
$GC,175,-0.84,-116.8,2285,2711,3284,3281,18.0,-28.0,21,183,0.08,1.05,0.00,0.000,3078,0.170,0.032,2308,1997,3282,3285,3279,0,0,0,0,0,0,25.98,26.23,26.08
$GC,315,-0.84,-116.8,2306,1995,3289,3277,40.5,-14.6,46,322,0.00,1.02,0.00,0.000,516,0.000,0.041,2312,1311,3283,3290,3277,0,0,0,0,0,0,26.39,26.29,26.44
$GC,430,-0.84,-116.8,2311,1311,3291,3276,58.2,-16.1,67,437,0.00,1.02,0.00,0.000,1030,0.000,0.036,2309,1983,3283,3291,3276,0,0,0,0,0,0,26.40,26.36,26.42
$GC,567,-0.84,-116.8,2308,1984,3292,3276,75.3,-10.7,92,575,0.00,1.08,0.00,0.000,292,0.000,0.043,2303,2713,3283,3291,3275,0,0,0,0,0,0,26.52,26.40,26.57
$GC,668,-0.84,-116.8,2303,2712,3293,3276,85.3,-9.6,110,676,0.00,1.05,0.00,0.000,1062,0.000,0.037,2306,1989,3284,3293,3276,0,0,0,0,0,0,26.44,26.41,26.45
$GC,814,-0.84,-116.8,2306,1988,3294,3276,101.7,-11.0,135,817,0.00,1.00,0.00,0.000,516,0.000,0.047,2312,1315,3284,3293,3275,0,0,0,0,0,0,26.51,26.46,26.57
$GC,989,-0.84,-116.8,2311,1314,3294,3275,122.0,-11.8,167,993,0.00,1.05,0.00,0.000,1030,0.000,0.036,2309,2009,3284,3294,3275,0,0,0,0,0,0,26.56,26.53,26.57
$GC,1122,-0.84,-116.8,2308,2009,3294,3275,138.5,-13.0,181,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2010,3284,3294,3275,0,0,0,0,0,0,26.63,26.72,26.70
$GC,1253,-0.84,-116.8,2308,2009,3295,3275,155.0,-12.7,194,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2009,3284,3294,3275,0,0,0,0,0,0,26.64,26.71,26.70
$GC,1381,-0.84,-116.8,2308,2009,3295,3273,171.6,-12.6,207,1385,0.00,1.02,0.00,0.000,260,0.000,0.044,2303,2708,3284,3295,3274,0,0,0,0,0,0,26.66,26.57,26.72
$GC,1437,-0.84,-116.8,2303,2708,3294,3274,178.3,-11.5,217,1441,0.00,1.02,0.00,0.000,1030,0.000,0.055,2306,1997,3284,3295,3274,0,0,0,0,0,0,25.76,26.00,25.67
$GC,1569,-0.84,-116.8,2305,1997,3294,3274,193.9,-12.0,231,1573,0.00,1.00,0.00,0.000,516,0.000,0.043,2311,1319,3284,3295,3274,0,0,0,0,0,0,26.55,26.56,26.59
$GC,1614,-0.84,-116.8,2311,1319,3295,3274,199.0,-11.5,239,1618,0.00,1.02,0.00,0.000,1030,0.000,0.041,2308,1998,3284,3295,3274,0,0,0,0,0,0,26.62,26.58,26.64
$GC,1747,-0.84,-116.8,2308,1998,3295,3274,214.6,-11.3,253,1750,0.00,1.02,0.00,0.000,260,0.000,0.044,2303,2697,3284,3294,3274,0,0,0,0,0,0,26.70,26.59,26.75
$GC,1864,-0.84,-116.8,2302,2697,3294,3274,228.2,-13.1,275,1867,0.00,1.00,0.00,0.000,1030,0.000,0.041,2306,2001,3284,3295,3274,0,0,0,0,0,0,26.65,26.63,26.67
$STATE,1974,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1974,begin apogee
$GC,1979,-0.18,0.0,2308,1785,3294,3274,241.3,-9.7,287,2159,0.73,0.00,175.50,0.594,10246,0.282,0.000,2521,1784,2799,2853,2745,0,0,0,0,0,0,26.22,25.25,24.77
$STATE,2164,end apogee,CONTROL_FINISHED_OK
$STATE,2164,begin climb
$GC,2166,0.84,116.8,2521,1784,2838,2731,247.7,0.0,305,2357,1.05,0.00,180.07,0.552,10502,0.117,0.000,2846,1784,2313,2438,2189,0,0,0,0,0,0,25.32,24.96,24.64
$GC,2482,0.87,141.5,2846,1784,2413,2167,226.1,9.3,354,2515,0.08,1.08,27.35,0.625,10788,0.209,0.048,2868,1124,2219,2349,2090,0,0,0,0,0,0,25.65,25.45,24.98
$GC,2552,0.87,141.5,2868,1124,2327,2076,218.3,11.9,367,2559,0.00,1.05,0.00,0.000,1030,0.000,0.035,2865,1797,2201,2327,2076,0,0,0,0,0,0,25.77,25.74,25.79
$GC,2679,0.87,141.5,2864,1797,2325,2073,202.8,12.2,380,2683,0.00,1.08,0.00,0.000,260,0.000,0.044,2859,2503,2199,2325,2073,0,0,0,0,0,0,26.10,25.99,26.15
$GC,2773,0.87,141.5,2859,2503,2324,2070,191.1,12.7,398,2777,0.00,1.02,0.00,0.000,1030,0.000,0.037,2863,1816,2197,2324,2070,0,0,0,0,0,0,26.17,26.13,26.20
$GC,2905,0.87,141.5,2863,1816,2323,2070,174.8,12.5,412,2907,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1816,2196,2323,2069,0,0,0,0,0,0,26.19,26.28,26.26
$GC,3025,0.87,141.5,2863,1816,2322,2070,159.0,13.2,424,3027,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1816,2195,2322,2069,0,0,0,0,0,0,26.32,26.32,26.34
$GC,3145,0.87,141.5,2862,1816,2321,2069,144.0,12.1,436,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1816,2195,2321,2070,0,0,0,0,0,0,26.18,26.34,26.28
$GC,3268,0.87,141.5,2862,1816,2321,2069,129.7,11.9,448,3272,0.00,1.05,0.00,0.000,260,0.000,0.047,2859,2506,2194,2320,2069,0,0,0,0,0,0,26.51,26.40,26.58
$GC,3313,0.87,141.5,2859,2506,2319,2069,123.7,12.2,457,3321,0.00,1.05,0.00,0.000,1030,0.000,0.037,2863,1796,2194,2319,2069,0,0,0,0,0,0,26.48,26.45,26.51
$GC,3443,0.87,141.5,2862,1795,2319,2069,108.0,12.7,470,3447,0.00,1.08,0.00,0.000,516,0.000,0.047,2869,1096,2194,2319,2070,0,0,0,0,0,0,26.53,26.45,26.61
$GC,3511,0.87,141.5,2868,1097,2319,2069,99.0,12.6,483,3519,0.00,1.08,0.00,0.000,1030,0.000,0.038,2865,1806,2194,2319,2069,0,0,0,0,0,0,26.46,26.44,26.49
$GC,3650,0.88,152.5,2865,1806,2318,2069,83.6,10.1,508,3659,0.00,1.08,0.00,0.000,548,0.000,0.050,2869,1112,2194,2319,2069,0,0,0,0,0,0,26.46,26.48,26.51
$GC,3677,0.89,153.2,2868,1111,2319,2069,80.7,10.8,512,3686,0.00,1.05,2.00,0.308,9254,0.000,0.037,2866,1805,2179,2307,2051,0,0,0,0,0,0,26.55,26.51,24.06
$GC,3814,0.89,160.2,2865,1805,2314,2054,66.3,10.4,537,3830,0.00,1.08,11.50,0.646,8484,0.000,0.047,2860,2505,2145,2276,2015,0,0,0,0,0,0,26.60,26.22,25.67
$GC,4002,0.91,174.1,2860,2504,2259,2001,47.5,10.0,572,4018,0.00,1.05,8.68,0.635,9254,0.000,0.038,2864,1795,2088,2225,1952,0,0,0,0,0,0,26.47,26.43,25.62
$GC,4146,0.98,234.9,2863,1795,2216,1945,36.1,7.0,598,4258,0.12,1.10,103.57,0.506,11044,0.128,0.054,2906,1103,1832,1974,1691,0,0,0,0,0,0,26.28,25.38,25.08
$GC,4284,0.98,234.9,2906,1103,1955,1679,23.0,12.1,618,4292,0.00,1.10,0.00,0.000,1030,0.000,0.043,2903,1801,1816,1954,1678,0,0,0,0,0,0,25.72,25.71,25.75
$GC,4418,1.00,248.6,2903,1801,1953,1672,6.7,10.0,643,4427,0.00,1.10,3.20,0.470,8740,0.000,0.045,2907,1106,1783,1925,1641,0,0,0,0,0,0,26.07,25.87,25.10
$GC,4435,1.01,253.3,2906,1106,1931,1642,4.8,10.5,645,4443,0.00,1.08,2.83,0.410,9254,0.000,0.044,2903,1801,1764,1906,1622,0,0,0,0,0,0,26.08,26.06,25.11
$STATE,4464,end climb,SURFACE_DEPTH_REACHED
$STATE,4464,begin surface coast
$FINISH,0.4,1.025008
$STATE,4486,end surface coast,CONTROL_FINISHED_OK
$STATE,4486,begin surface
$SM_CCo,4506,195.15,0.628,1,0,550,551.92
$SM_CCo,4709,-0.10,0.464,0,0,549,551.92
$SM_CCo,4713,0.03,2.962,0,0,549,551.92
$SM_GC,0.44,7.65,0.28,0.03,0.062,0.053,2.962,159,2009,549,-7.41,-1.47,551.92,0,0,0,0,0,0,26.16,26.11,23.87
$IRIDIUM_FIX,4748.89,-12512.13,070921,143538
$TT8_MAMPS,0.02247,0.147553
$HUMID,53.89
$INTERNAL_PRESSURE,8.7185
$TCM_TEMP,15.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,212.4,48.8
$CP_FREE,110873051136.000000
$CP_POWER,323.310000
$CP_POWER1,0.000000
$24V_AH,23.87,18.485
$10V_AH,10.26,10.315
$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,18.000,32.050,514.700,195.175,0.000,0.000,0.000,215.025,1.500,0.000,17.737,1455.295,990.918,727.013,1644.966,270.008,0.000,1611.037,0.000,1477.627,0.000,12.401,0.000
$DEVICE_MAMPS,282.285,69.615,646.425,2962.080,0.000,0.000,0.000,97.920,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,384.518,1219.360,0.000,0.000,0.000,0.000,4316.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,211204
$DATA_FILE_SIZE,33478,654
$CAP_FILE_SIZE,87764,0
$CFSIZE,260030464,242458624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.039,309.36,1
$GPS,070921,171731,4751.084,-12510.231,3,0.8,26,15.7,0.2,186.3,9,2.3