version: 66.14
glider: 204
mission: 8
dive: 119
start: 9 8 121 22 52 5
data:
$ID,204
$MISSION,8
$DIVE,119
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,350
$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,115
$T_MISSION,235
$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,50
$R_STBD_OVSHOOT,68
$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,3
$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,224.0
$CP_NDIVE,1.0
$GPS1,080921,224331,4751.2534,-12512.2373,22,1.1,23,15.7,0.8,5.1,8,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-57.0
$GPS2,080921,225106,4751.3643,-12512.2725,4,0.6,5,15.7,0.4,32.5,12,10.0
$SPEED_LIMITS,0.176,0.235
$TGT_NAME,SE_SLOPE_OFF
$TGT_LATLONG,4751.083,-12512.200
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,157.4,529,-25.9,-10.145,-30.00,975
$D_GRID,359
$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,-1.00,-64.7,174,2032,698,405,0.0,0.0,0,132,0.00,0.00,-104.65,0.011,16386,0.000,0.000,175,2029,3061,3051,3071,0,0,0,0,0,0,26.09,28.83,26.16
$GC,135,-1.03,-86.5,174,2029,3052,3071,4.0,-7.8,15,152,7.97,1.15,-1.92,0.043,18980,0.223,0.062,2250,1277,3155,3157,3154,0,0,0,0,0,0,25.72,24.70,25.91
$GC,165,-1.03,-86.5,2250,1278,3162,3152,13.9,-29.3,19,172,0.00,1.08,0.00,0.000,1030,0.000,0.034,2247,1983,3156,3162,3151,0,0,0,0,0,0,26.22,26.19,26.24
$GC,303,-1.03,-86.5,2246,1983,3168,3149,36.2,-13.3,44,311,0.00,1.02,0.00,0.000,516,0.000,0.038,2250,1303,3158,3168,3148,0,0,0,0,0,0,26.41,26.27,26.45
$GC,548,-1.03,-86.5,2249,1302,3171,3148,69.9,-15.8,90,555,0.00,1.05,0.00,0.000,1030,0.000,0.034,2246,2006,3159,3171,3148,0,0,0,0,0,0,26.44,26.41,26.46
$GC,679,-1.03,-86.5,2246,2005,3172,3147,91.7,-15.3,115,686,0.00,1.05,0.00,0.000,516,0.000,0.045,2250,1300,3159,3172,3147,0,0,0,0,0,0,26.55,26.44,26.60
$GC,731,-1.03,-86.5,2250,1300,3173,3147,99.5,-14.8,124,739,0.00,1.05,0.00,0.000,1030,0.000,0.034,2247,2001,3160,3173,3147,0,0,0,0,0,0,26.49,26.46,26.51
$GC,858,-1.03,-86.5,2246,2001,3173,3147,116.9,-12.2,137,863,0.00,1.02,0.00,0.000,260,0.000,0.042,2241,2702,3160,3173,3147,0,0,0,0,0,0,26.59,26.47,26.65
$GC,947,-1.03,-86.5,2241,2703,3173,3146,129.4,-14.5,153,951,0.00,1.02,0.00,0.000,1030,0.000,0.032,2245,1980,3160,3173,3147,0,0,0,0,0,0,26.56,26.54,26.58
$GC,1079,-1.03,-86.5,2244,1980,3173,3146,147.1,-13.5,167,1083,0.00,0.98,0.00,0.000,516,0.000,0.047,2250,1316,3160,3173,3147,0,0,0,0,0,0,26.63,26.51,26.69
$GC,1145,-1.03,-86.5,2249,1314,3173,3146,156.2,-12.6,180,1154,0.00,1.02,0.00,0.000,1030,0.000,0.034,2247,2009,3159,3173,3146,0,0,0,0,0,0,26.60,26.55,26.60
$GC,1274,-1.03,-86.5,2246,2009,3173,3146,171.7,-12.2,193,1278,0.00,1.02,0.00,0.000,516,0.000,0.039,2250,1321,3159,3173,3145,0,0,0,0,0,0,26.49,26.53,26.56
$GC,1339,-1.03,-86.5,2249,1321,3173,3146,180.1,-12.9,205,1344,0.00,1.00,0.00,0.000,1030,0.000,0.044,2247,1993,3159,3173,3146,0,0,0,0,0,0,26.59,26.55,26.62
$GC,1473,-1.03,-86.5,2246,1992,3173,3145,197.3,-13.1,219,1477,0.00,1.00,0.00,0.000,516,0.000,0.041,2250,1321,3159,3173,3145,0,0,0,0,0,0,26.69,26.49,26.74
$GC,1550,-1.03,-86.5,2249,1321,3173,3145,208.0,-12.6,234,1558,0.00,1.02,0.00,0.000,1030,0.000,0.035,2246,2007,3158,3173,3144,0,0,0,0,0,0,26.61,26.58,26.63
$GC,1678,-1.03,-86.5,2246,2008,3173,3144,224.2,-12.8,247,1682,0.00,1.02,0.00,0.000,516,0.000,0.046,2250,1321,3159,3174,3144,0,0,0,0,0,0,26.67,26.54,26.73
$GC,1891,-1.03,-86.5,2249,1321,3173,3143,252.2,-13.5,287,1895,0.00,1.02,0.00,0.000,1030,0.000,0.098,2245,2004,3158,3173,3143,0,0,0,0,0,0,26.63,26.60,26.63
$GC,2023,-1.03,-86.5,2246,2004,3173,3142,269.0,-12.1,301,2027,0.00,1.00,0.00,0.000,260,0.000,0.050,2241,2692,3157,3173,3142,0,0,0,0,0,0,26.68,26.51,26.74
$GC,2156,-1.03,-86.5,2241,2693,3173,3141,287.4,-14.8,326,2164,0.00,0.98,0.00,0.000,1030,0.000,0.032,2244,2004,3157,3173,3141,0,0,0,0,0,0,26.66,26.64,26.67
$GC,2284,-1.03,-86.5,2244,2004,3173,3140,303.3,-12.3,338,2289,0.00,1.00,0.00,0.000,516,0.000,0.044,2249,1322,3156,3173,3140,0,0,0,0,0,0,26.58,26.58,26.62
$GC,2439,-1.03,-86.5,2249,1322,3173,3140,323.5,-12.4,367,2443,0.00,1.00,0.00,0.000,1030,0.000,0.043,2247,1993,3156,3173,3139,0,0,0,0,0,0,26.65,26.61,26.69
$STATE,2516,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2516,begin apogee
$GC,2521,-0.18,0.0,2246,1783,3173,3139,333.2,-13.0,373,2609,0.93,0.00,79.40,1.066,10246,0.155,0.000,2520,1782,2800,2850,2751,0,0,0,0,1,0,26.17,25.13,24.31
$STATE,2614,end apogee,CONTROL_FINISHED_OK
$STATE,2614,begin climb
$GC,2615,1.03,86.5,2520,1782,2856,2755,337.2,0.0,377,2767,1.25,1.08,142.70,0.594,10756,0.117,0.038,2911,1132,2443,2547,2340,0,0,0,0,0,0,25.25,25.10,24.60
$GC,2842,1.03,86.5,2911,1132,2527,2319,318.5,13.3,423,2849,0.00,1.05,0.00,0.000,1030,0.000,0.036,2909,1797,2421,2526,2317,0,0,0,0,0,0,25.67,25.65,25.70
$GC,2971,1.03,86.5,2908,1797,2522,2315,303.5,11.7,430,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1797,2419,2523,2315,0,0,0,0,0,0,25.89,25.98,25.96
$GC,3090,1.03,86.5,2908,1797,2522,2315,288.7,10.9,440,3094,0.00,1.05,0.00,0.000,516,0.000,0.046,2911,1133,2418,2522,2315,0,0,0,0,0,0,26.21,26.10,26.27
$GC,3125,1.03,86.5,2911,1133,2522,2315,284.0,12.8,447,3133,0.00,1.02,0.00,0.000,1030,0.000,0.036,2909,1799,2418,2521,2315,0,0,0,0,0,0,26.20,26.17,26.21
$GC,3253,1.03,86.5,2908,1798,2519,2315,268.9,11.1,460,3258,0.00,1.05,0.00,0.000,260,0.000,0.045,2904,2495,2416,2518,2314,0,0,0,0,0,0,26.36,26.21,26.42
$GC,3392,1.03,86.5,2903,2495,2516,2315,253.2,11.6,486,3396,0.00,1.00,0.00,0.000,1030,0.000,0.038,2907,1821,2415,2516,2314,0,0,0,0,0,0,26.37,26.34,26.40
$GC,3524,1.03,86.5,2906,1821,2517,2314,238.2,10.9,500,3529,0.00,1.10,0.00,0.000,516,0.000,0.067,2913,1110,2415,2515,2315,0,0,0,0,0,0,26.51,25.83,26.56
$GC,3662,1.03,86.5,2912,1110,2516,2315,222.4,11.7,527,3670,0.00,1.05,0.00,0.000,1030,0.000,0.037,2910,1798,2415,2515,2315,0,0,0,0,0,0,26.44,26.41,26.48
$GC,3790,1.03,86.5,2909,1798,2514,2315,207.5,12.0,540,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,1799,2413,2514,2313,0,0,0,0,0,0,26.60,26.65,26.62
$GC,3912,1.03,86.5,2909,1799,2514,2314,193.1,11.9,552,3917,0.00,1.05,0.00,0.000,260,0.000,0.047,2904,2505,2414,2514,2314,0,0,0,0,0,0,26.60,26.41,26.66
$GC,3965,1.03,86.5,2904,2505,2513,2313,186.6,12.2,562,3970,0.00,1.05,0.00,0.000,1030,0.000,0.044,2908,1795,2413,2513,2314,0,0,0,0,0,0,26.48,26.44,26.51
$GC,4099,1.03,86.5,2907,1795,2514,2314,171.0,11.2,576,4103,0.00,1.05,0.00,0.000,516,0.000,0.048,2913,1110,2413,2513,2314,0,0,0,0,0,0,26.57,26.50,26.63
$GC,4205,1.03,86.5,2912,1110,2513,2314,159.1,11.2,596,4210,0.00,1.05,0.00,0.000,1030,0.000,0.046,2910,1800,2413,2513,2314,0,0,0,0,0,0,26.53,26.49,26.57
$GC,4338,1.03,86.5,2909,1800,2512,2313,144.5,10.7,610,4342,0.00,1.05,0.00,0.000,260,0.000,0.047,2905,2506,2413,2513,2314,0,0,0,0,0,0,26.59,26.51,26.65
$GC,4422,1.03,91.6,2904,2506,2511,2313,136.4,9.6,626,4426,0.00,1.05,0.00,0.000,1062,0.000,0.038,2908,1795,2412,2511,2313,0,0,0,0,0,0,26.58,26.55,26.62
$GC,4557,1.03,91.6,2907,1795,2511,2313,123.6,10.9,640,4561,0.00,1.05,0.00,0.000,260,0.000,0.044,2905,2495,2412,2511,2313,0,0,0,0,0,0,26.60,26.55,26.67
$GC,4796,1.05,106.1,2905,2495,2508,2313,101.4,8.6,686,4818,0.00,1.02,14.23,0.643,9254,0.000,0.047,2908,1802,2365,2472,2258,0,0,0,0,0,0,26.62,26.60,25.70
$GC,4943,1.06,116.3,2907,1802,2457,2243,87.1,9.1,714,4952,0.08,1.10,2.80,0.555,10532,0.177,0.046,2924,2508,2326,2440,2213,0,0,0,0,0,0,26.33,26.16,24.82
$GC,5011,1.09,137.5,2923,2509,2446,2220,81.6,7.9,726,5061,0.00,1.05,39.92,0.560,9254,0.000,0.040,2927,1803,2228,2350,2107,0,0,0,0,0,0,26.48,26.42,25.43
$GC,5188,1.09,137.5,2926,1803,2335,2093,62.3,11.8,757,5195,0.00,1.10,0.00,0.000,516,0.000,0.047,2932,1098,2214,2335,2093,0,0,0,0,0,0,26.29,26.17,26.34
$GC,5434,1.10,148.9,2932,1098,2332,2093,39.3,8.9,803,5443,0.00,1.08,2.12,0.307,9254,0.000,0.037,2929,1803,2193,2315,2071,0,0,0,0,0,0,26.39,26.37,25.14
$GC,5571,1.12,161.0,2929,1803,2326,2074,26.5,8.9,828,5601,0.03,1.15,23.25,0.548,10788,0.303,0.048,2942,1094,2137,2264,2010,0,0,0,0,0,0,25.66,26.05,25.51
$GC,5671,1.13,175.7,2941,1094,2243,1996,18.4,8.6,845,5680,0.00,1.08,4.30,0.542,9254,0.000,0.043,2938,1797,2082,2212,1953,0,0,0,0,0,0,26.23,26.18,25.41
$GC,5808,1.21,236.4,2938,1797,2219,1953,8.1,3.8,870,5927,0.12,1.02,111.75,0.493,10532,0.183,0.045,2966,2494,1830,1975,1686,0,0,0,0,0,0,26.06,25.30,24.98
$STATE,5934,end climb,SURFACE_DEPTH_REACHED
$STATE,5934,begin surface coast
$FINISH,-0.5,1.025456
$STATE,5962,end surface coast,CONTROL_FINISHED_OK
$STATE,5962,begin surface
$SM_CCo,5982,199.10,0.615,1,0,551,551.92
$SM_CCo,6189,0.00,0.000,0,0,549,551.92
$SM_CCo,6191,0.00,0.000,0,0,550,551.92
$SM_GC,0.49,7.80,0.77,0.00,0.052,0.032,0.000,176,1995,550,-7.39,1.27,551.92,0,0,0,0,0,0,25.82,25.79,25.37
$IRIDIUM_FIX,4751.65,-12513.98,080921,203526
$TT8_MAMPS,0.021721,0.230692
$HUMID,52.91
$INTERNAL_PRESSURE,8.74779
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,316.8,35.9
$CP_FREE,104744910848.000000
$CP_POWER,323.310000
$CP_POWER1,0.000000
$24V_AH,24.31,20.689
$10V_AH,10.11,11.501
$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,18.175,45.900,420.475,199.100,0.000,0.000,0.000,312.250,4.000,0.000,16.743,1898.169,1584.132,691.472,2151.399,355.571,0.000,1816.966,0.000,1908.459,0.000,31.151,0.000
$DEVICE_MAMPS,302.940,97.920,1066.410,615.060,0.000,0.000,0.000,106.335,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,468.471,1471.884,0.000,0.000,0.000,0.000,5842.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,211052
$DATA_FILE_SIZE,46873,893
$CAP_FILE_SIZE,110654,0
$CFSIZE,260030464,240971776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.032,72.99,1
$GPS,090921,003631,4750.951,-12511.993,4,0.8,29,15.7,0.5,48.2,11,2.6