version: 66.14
glider: 204
mission: 8
dive: 103
start: 9 7 121 17 24 26
data:
$ID,204
$MISSION,8
$DIVE,103
$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,50
$R_STBD_OVSHOOT,51
$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,192.0
$CP_NDIVE,1.0
$GPS1,070921,171731,4751.0840,-12510.2314,3,0.8,26,15.7,0.2,186.3,9,2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-63.1
$GPS2,070921,172328,4751.0601,-12510.2266,3,0.6,5,15.7,0.5,244.7,12,5.6
$SPEED_LIMITS,0.188,0.240
$TGT_NAME,NW_SLOPE
$TGT_LATLONG,4751.690,-12511.250
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,297.4,1726,-19.7,-10.833,-24.33,1645
$D_GRID,263
$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,-116.8,158,2014,683,411,0.0,0.0,0,131,0.00,0.00,-103.78,0.011,16386,0.000,0.000,160,2014,3015,3003,3028,0,0,0,0,0,0,26.11,28.83,26.17
$GC,134,-0.84,-116.8,159,2013,3004,3028,4.3,-8.5,15,157,8.25,1.00,-5.38,0.019,18724,0.224,0.068,2290,2697,3279,3280,3278,0,0,0,0,0,0,25.81,24.76,25.95
$GC,196,-0.84,-116.8,2290,2697,3283,3277,21.7,-20.8,25,204,0.05,1.02,0.00,0.000,3078,0.196,0.035,2305,1997,3280,3284,3277,0,0,0,0,0,0,26.01,26.25,26.10
$GC,331,-0.84,-116.8,2305,1993,3287,3275,42.9,-13.9,50,338,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,1994,3281,3287,3275,0,0,0,0,0,0,26.42,26.48,26.48
$GC,462,-0.84,-116.8,2305,1994,3289,3275,62.4,-14.1,75,470,0.00,1.02,0.00,0.000,516,0.000,0.072,2305,1311,3282,3289,3275,0,0,0,0,0,0,26.50,25.65,26.51
$GC,523,-0.84,-116.8,2305,1311,3290,3275,70.1,-12.2,86,530,0.00,1.05,0.00,0.000,1030,0.000,0.037,2302,2009,3282,3290,3274,0,0,0,0,0,0,26.44,26.40,26.46
$GC,659,-0.84,-116.8,2302,2009,3290,3274,85.7,-12.1,111,667,0.00,1.00,0.00,0.000,260,0.000,0.047,2297,2690,3282,3290,3274,0,0,0,0,0,0,26.39,26.43,26.46
$GC,696,-0.84,-116.8,2296,2690,3291,3274,90.2,-12.1,117,704,0.05,1.00,0.00,0.000,3078,0.222,0.032,2311,1993,3282,3291,3274,0,0,0,0,0,0,26.20,26.49,26.27
$GC,830,-0.84,-116.8,2310,1992,3290,3274,106.7,-12.4,137,834,0.00,1.00,0.00,0.000,516,0.000,0.039,2315,1315,3282,3291,3274,0,0,0,0,0,0,26.55,26.48,26.63
$GC,852,-0.84,-116.8,2315,1314,3290,3274,109.7,-12.8,141,856,0.00,1.02,0.00,0.000,1030,0.000,0.035,2312,1995,3282,3291,3274,0,0,0,0,0,0,26.51,26.48,26.54
$GC,987,-0.84,-116.8,2311,1995,3292,3274,124.4,-9.8,155,993,0.00,0.00,0.00,0.000,38,0.000,0.000,2312,1996,3282,3291,3274,0,0,0,0,0,0,26.62,26.68,26.67
$GC,1115,-0.84,-116.8,2312,1995,3292,3274,137.8,-10.6,168,1123,0.00,0.00,0.00,0.000,38,0.000,0.000,2312,1995,3283,3292,3274,0,0,0,0,0,0,26.53,26.63,26.59
$GC,1245,-0.84,-116.8,2311,1995,3292,3274,152.5,-11.6,181,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,1995,3283,3292,3274,0,0,0,0,0,0,26.64,26.71,26.70
$GC,1374,-0.84,-116.8,2312,1995,3292,3274,168.1,-12.2,194,1378,0.00,1.02,0.00,0.000,260,0.000,0.050,2307,2697,3283,3293,3274,0,0,0,0,0,0,26.69,26.53,26.72
$GC,1439,-0.84,-116.8,2307,2697,3292,3274,176.6,-12.4,207,1447,0.00,1.00,0.00,0.000,1030,0.000,0.039,2310,1994,3283,3292,3274,0,0,0,0,0,0,26.64,26.61,26.65
$GC,1568,-0.84,-116.8,2309,1994,3292,3273,191.5,-11.8,220,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,1994,3283,3292,3274,0,0,0,0,0,0,26.63,26.67,26.67
$GC,1698,-0.84,-116.8,2309,1994,3292,3274,206.7,-11.7,233,1701,0.00,1.00,0.00,0.000,516,0.000,0.039,2315,1315,3283,3293,3273,0,0,0,0,0,0,26.72,26.60,26.75
$GC,1741,-0.84,-116.8,2314,1315,3292,3273,211.7,-11.5,241,1749,0.00,1.02,0.00,0.000,1030,0.000,0.035,2312,1998,3282,3292,3273,0,0,0,0,0,0,26.64,26.62,26.67
$GC,1877,-0.84,-116.8,2312,1998,3292,3273,227.4,-11.7,255,1881,0.00,1.02,0.00,0.000,260,0.000,0.104,2307,2696,3282,3292,3272,0,0,0,0,0,0,26.69,26.59,26.75
$GC,1899,-0.84,-116.8,2306,2696,3293,3273,229.9,-11.4,259,1903,0.00,0.98,0.00,0.000,1030,0.000,0.041,2310,2003,3282,3292,3273,0,0,0,0,0,0,26.66,26.63,26.69
$GC,2034,-0.84,-116.8,2309,2003,3292,3273,244.3,-11.0,273,2038,0.00,1.00,0.00,0.000,516,0.000,0.047,2315,1324,3283,3293,3273,0,0,0,0,0,0,26.74,26.61,26.79
$STATE,2176,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2177,begin apogee
$GC,2181,-0.18,0.0,2313,1813,3292,3272,260.4,-10.9,300,2384,0.73,0.00,197.70,0.577,10246,0.150,0.000,2527,1814,2798,2853,2744,0,0,0,0,0,0,26.29,25.23,24.75
$STATE,2389,end apogee,CONTROL_FINISHED_OK
$STATE,2389,begin climb
$GC,2391,0.84,116.8,2527,1814,2839,2731,265.1,0.0,320,2579,1.05,1.05,178.88,0.561,11012,0.117,0.034,2849,2485,2318,2444,2193,0,0,0,0,0,0,25.28,24.95,24.63
$GC,2610,0.84,116.8,2848,2485,2426,2171,247.4,11.8,358,2615,0.00,1.02,0.00,0.000,1030,0.000,0.037,2852,1821,2299,2426,2172,0,0,0,0,0,0,25.48,25.45,25.49
$GC,2743,0.84,116.8,2852,1821,2421,2170,232.0,11.8,372,2747,0.00,1.12,0.00,0.000,516,0.000,0.046,2858,1110,2296,2421,2171,0,0,0,0,0,0,25.94,25.85,25.94
$GC,2851,0.84,116.8,2857,1110,2419,2171,219.7,11.6,392,2855,0.00,1.05,0.00,0.000,1030,0.000,0.040,2854,1796,2294,2418,2171,0,0,0,0,0,0,26.03,25.98,26.04
$GC,2984,0.84,116.8,2854,1796,2417,2170,204.3,11.7,406,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1796,2293,2417,2170,0,0,0,0,0,0,26.28,26.35,26.34
$GC,3115,0.84,116.8,2854,1797,2415,2170,188.9,12.0,419,3119,0.00,1.05,0.00,0.000,260,0.000,0.044,2849,2493,2292,2415,2170,0,0,0,0,0,0,26.36,26.26,26.43
$GC,3171,0.84,116.8,2849,2493,2413,2170,181.7,12.2,430,3178,0.00,1.05,0.00,0.000,1030,0.000,0.037,2853,1792,2292,2414,2170,0,0,0,0,0,0,26.39,26.34,26.39
$GC,3299,0.84,116.8,2852,1792,2412,2170,166.3,12.3,443,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1791,2291,2413,2170,0,0,0,0,0,0,26.46,26.53,26.53
$GC,3418,0.84,116.8,2852,1792,2412,2170,152.7,11.0,455,3422,0.00,1.08,0.00,0.000,260,0.000,0.043,2849,2496,2291,2413,2169,0,0,0,0,0,0,26.50,26.41,26.56
$GC,3512,0.86,132.4,2849,2496,2411,2170,143.0,9.9,473,3527,0.00,1.02,10.45,0.711,9254,0.000,0.037,2852,1802,2261,2389,2134,0,0,0,0,0,0,26.48,26.46,25.60
$GC,3655,0.87,137.3,2852,1802,2379,2125,128.7,10.5,489,3664,0.00,0.00,0.00,0.000,38,0.000,0.000,2853,1802,2252,2379,2126,0,0,0,0,0,0,26.44,26.49,26.50
$GC,3786,0.87,143.6,2852,1802,2378,2125,115.6,10.4,502,3797,0.00,1.05,4.43,0.845,8484,0.000,0.047,2849,2491,2215,2345,2086,0,0,0,0,0,0,26.55,25.99,25.56
$GC,3874,0.87,143.6,2849,2491,2345,2085,105.5,11.7,518,3878,0.00,1.02,0.00,0.000,1030,0.000,0.038,2853,1802,2215,2345,2086,0,0,0,0,0,0,26.43,26.39,26.45
$GC,4006,0.87,143.6,2852,1802,2345,2086,90.1,10.9,539,4013,0.00,1.08,0.00,0.000,516,0.000,0.047,2858,1099,2215,2345,2086,0,0,0,0,0,0,26.54,26.41,26.59
$GC,4102,0.87,143.6,2857,1099,2344,2086,79.0,12.6,557,4110,0.00,1.05,0.00,0.000,1030,0.000,0.046,2854,1794,2215,2344,2086,0,0,0,0,0,0,26.44,26.42,26.46
$GC,4236,0.88,151.5,2853,1793,2343,2086,63.8,10.3,582,4245,0.00,1.08,3.78,0.695,8484,0.000,0.044,2849,2494,2183,2314,2052,0,0,0,0,0,0,26.55,26.25,25.29
$GC,4319,0.89,153.2,2849,2493,2314,2052,55.6,10.7,597,4327,0.00,1.02,0.00,0.000,1062,0.000,0.037,2853,1803,2183,2314,2052,0,0,0,0,0,0,26.48,26.47,26.49
$GC,4456,0.97,226.2,2852,1803,2313,2052,45.0,6.3,622,4589,0.12,1.05,125.47,0.522,10532,0.141,0.041,2894,2502,1872,2014,1730,0,0,0,0,0,0,26.36,25.32,25.01
$GC,4736,0.97,226.2,2893,2502,1997,1717,14.2,14.0,669,4744,0.00,1.08,0.00,0.000,1030,0.000,0.037,2897,1792,1857,1997,1718,0,0,0,0,0,0,26.04,26.01,26.06
$STATE,4850,end climb,SURFACE_DEPTH_REACHED
$STATE,4850,begin surface coast
$FINISH,-0.2,1.025144
$STATE,4878,end surface coast,CONTROL_FINISHED_OK
$STATE,4878,begin surface
$SM_CCo,4898,450.85,0.509,1,0,549,551.92
$SM_CCo,5357,-0.22,0.208,0,0,548,551.92
$SM_CCo,5360,-0.25,0.186,0,0,550,551.92
$SM_GC,0.36,7.57,0.30,-0.25,0.060,0.048,0.186,170,2005,550,-7.38,-1.53,551.92,0,0,0,0,0,0,26.25,26.21,25.25
$IRIDIUM_FIX,4745.80,-12328.96,070921,155332
$TT8_MAMPS,0.021721,0.147553
$HUMID,52.44
$INTERNAL_PRESSURE,8.73803
$TCM_TEMP,15.10
$XPDR_PINGS,0
$CP_FREE,110576500736.000000
$CP_POWER,323.300000
$CP_POWER1,0.000000
$24V_AH,24.27,18.639
$10V_AH,10.25,10.378
$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,17.825,33.075,520.700,450.850,0.000,0.000,0.000,235.075,2.500,0.000,17.798,1548.113,1172.353,1012.953,1739.646,285.049,0.000,1961.020,0.000,1555.474,0.000,19.097,0.000
$DEVICE_MAMPS,224.145,104.040,844.560,508.725,0.000,0.000,0.000,98.685,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,411.641,1305.258,0.000,0.000,0.000,0.000,4713.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,211196
$DATA_FILE_SIZE,36804,695
$CAP_FILE_SIZE,94791,0
$CFSIZE,260030464,242380800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.042,334.99,1
$GPS,070921,185436,4751.501,-12510.952,2,1.1,5,15.7,0.2,158.4,8,7.6