version: 66.14
glider: 204
mission: 8
dive: 147
start: 9 11 121 3 5 55
data:
$ID,204
$MISSION,8
$DIVE,147
$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,69
$R_STBD_OVSHOOT,62
$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,0
$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,280.0
$CP_NDIVE,1.0
$GPS1,110921,030221,4751.8950,-12510.6309,3,0.9,5,15.7,0.5,85.6,11,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-62.8
$GPS2,110921,030503,4751.8979,-12510.6182,4,0.9,6,15.7,0.3,56.2,11,8.3
$SPEED_LIMITS,0.176,0.235
$TGT_NAME,SE_SLOPE
$TGT_LATLONG,4750.360,-12508.720
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,163.0,3699,-18.4,-10.145,-23.37,1754
$D_GRID,255
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,7,-0.80,-116.8,190,2054,683,417,0.0,0.0,0,114,0.00,0.00,-104.62,0.004,16386,0.000,0.000,190,2056,3157,3144,3170,0,0,0,0,0,0,26.57,28.83,26.63
$GC,117,-0.80,-116.8,190,2056,3146,3170,4.7,-9.6,15,134,8.10,0.95,-2.33,0.029,18724,0.205,0.066,2316,2699,3279,3279,3280,0,0,0,0,0,0,25.96,24.84,26.12
$GC,251,-0.80,-116.8,2316,2700,3286,3276,30.5,-14.0,39,258,0.00,1.00,0.00,0.000,1030,0.000,0.026,2319,1997,3280,3286,3275,0,0,0,0,0,0,26.53,26.50,26.54
$GC,389,-0.80,-116.8,2318,1996,3289,3274,51.6,-14.7,64,397,0.00,1.00,0.00,0.000,516,0.000,0.033,2320,1315,3281,3289,3274,0,0,0,0,0,0,26.78,26.53,26.83
$GC,609,-0.80,-116.8,2319,1315,3290,3274,80.2,-11.6,105,616,0.00,1.00,0.00,0.000,1030,0.000,0.029,2316,1987,3282,3291,3274,0,0,0,0,0,0,26.69,26.63,26.67
$GC,748,-0.80,-116.8,2316,1986,3291,3274,96.8,-11.9,130,755,0.00,1.02,0.00,0.000,260,0.000,0.037,2311,2694,3282,3291,3274,0,0,0,0,0,0,26.90,26.64,26.96
$GC,870,-0.80,-116.8,2310,2694,3290,3274,112.1,-12.2,152,875,0.03,0.98,0.00,0.000,3078,0.217,0.025,2321,1995,3282,3291,3274,0,0,0,0,0,0,26.51,26.72,26.55
$GC,1004,-0.80,-116.8,2320,1994,3291,3274,126.7,-10.0,166,1007,0.00,0.98,0.00,0.000,548,0.000,0.032,2326,1322,3282,3291,3273,0,0,0,0,0,0,26.95,26.70,27.01
$GC,1098,-0.80,-116.8,2325,1322,3290,3273,135.7,-9.5,184,1104,0.00,1.00,0.00,0.000,1062,0.000,0.030,2323,2000,3282,3290,3274,0,0,0,0,0,0,26.75,26.73,26.77
$GC,1232,-0.80,-116.8,2322,2000,3291,3273,148.3,-9.2,198,1236,0.00,1.00,0.00,0.000,292,0.000,0.037,2318,2694,3282,3291,3273,0,0,0,0,0,0,27.00,26.72,27.05
$GC,1318,-0.80,-116.8,2317,2694,3291,3273,156.9,-9.4,215,1325,0.00,0.98,0.00,0.000,1062,0.000,0.026,2321,1992,3281,3291,3272,0,0,0,0,0,0,26.82,26.80,26.83
$GC,1448,-0.80,-116.8,2320,1992,3291,3272,168.5,-9.6,228,1456,0.00,0.00,0.00,0.000,38,0.000,0.000,2321,1991,3281,3291,3272,0,0,0,0,0,0,27.02,27.09,27.08
$GC,1577,-0.80,-116.8,2320,1991,3291,3271,178.9,-6.5,241,1580,0.00,1.02,0.00,0.000,292,0.000,0.036,2317,2693,3281,3291,3271,0,0,0,0,0,0,27.04,26.77,27.10
$GC,1666,-0.80,-116.8,2317,2693,3291,3270,184.3,-6.3,258,1673,0.00,0.98,0.00,0.000,1062,0.000,0.026,2321,1993,3280,3291,3270,0,0,0,0,0,0,26.86,26.83,26.89
$GC,1793,-0.80,-116.8,2320,1991,3291,3269,196.2,-11.1,271,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1991,3279,3290,3269,0,0,0,0,0,0,27.09,27.13,27.11
$GC,1914,-0.80,-116.8,2320,1990,3290,3268,211.5,-12.4,283,1917,0.00,0.98,0.00,0.000,516,0.000,0.033,2326,1319,3279,3291,3268,0,0,0,0,0,0,27.07,26.81,27.13
$GC,2106,-0.80,-116.8,2325,1319,3290,3267,232.7,-10.8,319,2110,0.00,1.00,0.00,0.000,1030,0.000,0.031,2323,1999,3278,3290,3267,0,0,0,0,0,0,26.86,26.83,26.89
$STATE,2136,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2136,begin apogee
$GC,2141,-0.18,0.0,2322,1774,3291,3266,236.1,-11.1,323,2329,0.65,0.00,182.80,0.562,10246,0.158,0.000,2519,1772,2799,2851,2747,0,0,0,0,0,0,26.39,25.37,24.88
$STATE,2329,end apogee,CONTROL_FINISHED_OK
$STATE,2330,begin climb
$GC,2331,0.80,116.8,2519,1772,2843,2738,241.7,0.0,342,2516,1.02,1.00,172.38,0.546,10756,0.114,0.036,2843,1145,2312,2434,2190,0,0,0,0,0,0,25.39,25.05,24.72
$GC,2747,0.80,116.8,2843,1145,2401,2168,205.7,10.6,423,2755,0.00,1.00,0.00,0.000,1030,0.000,0.031,2841,1800,2284,2401,2167,0,0,0,0,0,0,26.16,26.13,26.19
$GC,2877,0.80,122.1,2840,1800,2401,2164,192.4,9.8,436,2885,0.00,0.00,0.00,0.000,38,0.000,0.000,2840,1800,2282,2401,2164,0,0,0,0,0,0,26.52,26.58,26.58
$GC,3006,0.80,122.1,2840,1800,2400,2163,179.2,10.2,449,3013,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1800,2281,2400,2163,0,0,0,0,0,0,26.63,26.69,26.68
$GC,3138,0.82,132.5,2840,1800,2399,2162,165.7,9.5,462,3142,0.00,0.00,2.20,0.314,8742,0.000,0.000,2841,1800,2260,2381,2139,0,0,0,0,0,0,26.71,26.03,25.11
$GC,3270,0.82,132.5,2840,1800,2397,2147,152.0,10.4,476,3272,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1800,2272,2397,2147,0,0,0,0,0,0,26.76,26.82,26.82
$GC,3390,0.82,134.2,2840,1800,2397,2147,139.9,10.0,488,3402,0.00,1.02,2.62,0.418,8740,0.000,0.039,2843,1140,2257,2383,2132,0,0,0,0,0,0,26.81,26.22,25.15
$GC,3427,0.82,134.2,2843,1140,2391,2138,135.7,10.8,495,3436,0.00,1.00,0.00,0.000,1030,0.000,0.029,2841,1805,2264,2391,2137,0,0,0,0,0,0,26.60,26.56,26.62
$GC,3555,0.82,134.2,2840,1805,2394,2139,122.4,10.5,508,3560,0.00,1.00,0.00,0.000,516,0.000,0.039,2844,1147,2266,2394,2139,0,0,0,0,0,0,26.84,26.55,26.89
$GC,3652,0.82,135.7,2843,1146,2395,2139,111.9,10.1,527,3660,0.00,0.98,2.90,0.461,9254,0.000,0.031,2840,1802,2248,2375,2121,0,0,0,0,0,0,26.67,26.63,25.16
$GC,3782,0.84,154.4,2840,1802,2389,2131,100.1,9.0,540,3826,0.00,0.00,39.50,0.548,8230,0.000,0.000,2841,1803,2168,2297,2039,0,0,0,0,0,0,26.89,26.06,25.58
$GC,3955,0.85,164.3,2840,1802,2264,2010,83.3,9.6,570,3963,0.08,1.02,0.00,0.000,2340,0.245,0.037,2849,2492,2137,2265,2010,0,0,0,0,0,0,26.23,26.33,26.32
$GC,4106,0.85,164.3,2849,2493,2264,2008,66.2,11.9,598,4113,0.00,0.95,0.00,0.000,1030,0.000,0.033,2852,1844,2136,2264,2009,0,0,0,0,0,0,26.51,26.47,26.52
$GC,4246,0.90,203.8,2852,1844,2263,2008,53.3,7.8,623,4321,0.08,1.02,69.30,0.509,10532,0.178,0.037,2870,2490,1966,2104,1828,0,0,0,0,0,0,26.50,25.82,25.32
$GC,4376,0.95,246.5,2870,2490,2069,1794,43.0,7.6,643,4436,0.00,1.02,55.88,0.498,9254,0.000,0.032,2873,1809,1795,1938,1652,0,0,0,0,0,0,26.10,26.08,25.11
$GC,4562,0.95,246.5,2873,1809,1898,1614,24.9,10.3,675,4569,0.00,1.10,0.00,0.000,516,0.000,0.041,2879,1104,1756,1898,1614,0,0,0,0,0,0,26.29,26.04,26.35
$GC,4807,1.01,291.2,2878,1104,1893,1612,2.1,7.5,721,4816,0.08,1.05,5.38,0.500,11298,0.111,0.031,2905,1796,1715,1858,1573,0,0,0,0,0,0,26.17,26.36,26.25
$STATE,4817,end climb,SURFACE_DEPTH_REACHED
$STATE,4817,begin surface coast
$FINISH,-0.4,1.012977
$STATE,4844,end surface coast,CONTROL_FINISHED_OK
$STATE,4844,begin surface
$SM_CCo,4860,165.77,0.638,1,0,550,551.92
$SM_CCo,5035,0.00,0.000,0,0,550,551.92
$SM_CCo,5038,0.00,0.000,0,0,550,551.92
$SM_GC,0.53,7.50,0.28,0.00,0.055,0.052,0.000,191,2014,550,-7.38,-1.55,551.92,0,0,0,0,0,0,26.38,26.33,25.53
$IRIDIUM_FIX,4751.65,-12513.98,110921,025758
$TT8_MAMPS,0.021721,0.17976
$HUMID,54.09
$INTERNAL_PRESSURE,8.73803
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,201.1,54.5
$24V_AH,24.65,24.313
$10V_AH,10.23,13.438
$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,17.525,26.575,532.950,165.775,0.000,0.000,0.000,0.000,1.250,0.000,18.944,1560.731,1102.061,709.956,1515.463,243.830,0.000,1419.088,0.000,1618.944,0.000,10.726,0.000
$DEVICE_MAMPS,244.800,65.790,561.510,638.010,0.000,0.000,0.000,0.000,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,415.752,1318.265,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,209828
$DATA_FILE_SIZE,36779,727
$CAP_FILE_SIZE,98100,0
$CFSIZE,260030464,238882816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,4253.83,0x235ab2,1,24
$CURRENT,0.036,221.94,1
$GPS,110921,043101,4751.427,-12510.771,31,1.1,32,15.7,0.2,0.0,9,4.8