version: 66.14
glider: 204
mission: 8
dive: 156
start: 9 11 121 15 36 19
data:
$ID,204
$MISSION,8
$DIVE,156
$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,52
$R_STBD_OVSHOOT,52
$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,280.0
$CP_NDIVE,1.0
$GPS1,110921,153129,4750.4800,-12510.3516,2,0.8,7,15.7,0.2,300.7,11,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-57.7
$GPS2,110921,153520,4750.4834,-12510.3623,4,0.7,5,15.7,0.5,316.0,12,7.0
$SPEED_LIMITS,0.176,0.235
$TGT_NAME,NW_SLOPE_OFF
$TGT_LATLONG,4751.083,-12512.200
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,289.9,2540,-18.4,-10.145,-23.37,1754
$D_GRID,285
$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,65,end surface,CONTROL_FINISHED_OK
$STATE,65,begin dive
$GC,68,-0.80,-116.8,160,1981,690,411,0.0,0.0,0,174,0.00,0.00,-104.25,0.012,16386,0.000,0.000,161,1982,3046,3032,3061,0,0,0,0,0,0,26.15,28.83,26.22
$GC,177,-0.80,-116.8,160,1982,3033,3061,4.5,-9.7,15,201,8.32,1.05,-4.68,0.025,18980,0.219,0.073,2317,1288,3279,3280,3279,0,0,0,0,0,0,25.76,24.60,25.92
$GC,254,-0.80,-116.8,2316,1288,3284,3278,23.2,-16.5,28,261,0.00,1.08,0.00,0.000,1030,0.000,0.041,2313,1995,3281,3285,3278,0,0,0,0,0,0,26.25,26.22,26.27
$GC,392,-0.80,-116.8,2312,1994,3287,3277,45.3,-13.8,53,401,0.08,1.05,0.00,0.000,2564,0.236,0.034,2328,1296,3282,3287,3277,0,0,0,0,0,0,26.18,26.32,26.29
$GC,637,-0.80,-116.8,2327,1296,3290,3276,77.8,-13.3,99,645,0.00,1.08,0.00,0.000,1030,0.000,0.031,2324,2010,3283,3290,3276,0,0,0,0,0,0,26.51,26.47,26.53
$GC,769,-0.80,-116.8,2324,2010,3291,3276,94.2,-11.5,124,776,0.00,1.08,0.00,0.000,516,0.000,0.034,2328,1294,3283,3291,3276,0,0,0,0,0,0,26.70,26.50,26.75
$GC,806,-0.80,-116.8,2327,1293,3291,3276,98.3,-10.9,130,814,0.00,1.05,0.00,0.000,1030,0.000,0.032,2324,1997,3283,3290,3276,0,0,0,0,0,0,26.57,26.53,26.59
$GC,937,-0.80,-116.8,2323,1997,3291,3275,112.1,-10.7,144,941,0.00,1.02,0.00,0.000,516,0.000,0.033,2328,1307,3284,3292,3276,0,0,0,0,0,0,26.75,26.55,26.80
$GC,1056,-0.80,-116.8,2327,1307,3292,3276,125.2,-12.1,166,1060,0.00,1.02,0.00,0.000,1030,0.000,0.031,2324,2000,3283,3292,3275,0,0,0,0,0,0,26.63,26.62,26.67
$GC,1188,-0.80,-116.8,2324,2000,3292,3275,141.6,-12.9,180,1192,0.00,1.05,0.00,0.000,516,0.000,0.034,2328,1294,3283,3292,3275,0,0,0,0,0,0,26.81,26.62,26.86
$GC,1221,-0.80,-116.8,2327,1294,3292,3275,146.0,-13.3,186,1225,0.00,1.05,0.00,0.000,1030,0.000,0.031,2324,2001,3283,3292,3275,0,0,0,0,0,0,26.66,26.63,26.70
$GC,1353,-0.80,-116.8,2324,2001,3292,3275,163.0,-12.5,200,1356,0.00,1.02,0.00,0.000,516,0.000,0.034,2327,1309,3283,3292,3275,0,0,0,0,0,0,26.86,26.65,26.89
$GC,1409,-0.80,-116.8,2327,1309,3292,3275,169.4,-11.8,210,1414,0.00,1.02,0.00,0.000,1030,0.000,0.031,2324,2000,3283,3292,3274,0,0,0,0,0,0,26.70,26.67,26.72
$GC,1542,-0.80,-116.8,2323,2000,3292,3274,184.2,-10.6,224,1545,0.00,1.02,0.00,0.000,260,0.000,0.049,2318,2702,3283,3293,3274,0,0,0,0,0,0,26.71,26.59,26.74
$GC,1565,-0.80,-116.8,2318,2702,3292,3274,187.1,-10.7,229,1575,0.00,1.02,0.00,0.000,1030,0.000,0.037,2323,1977,3283,3292,3274,0,0,0,0,0,0,26.66,26.64,26.65
$GC,1695,-0.80,-116.8,2322,1977,3293,3274,200.7,-10.9,242,1698,0.00,0.95,0.00,0.000,516,0.000,0.045,2327,1326,3283,3293,3274,0,0,0,0,0,0,26.69,26.58,26.74
$GC,1738,-0.80,-116.8,2326,1326,3293,3274,205.8,-11.7,250,1743,0.00,1.00,0.00,0.000,1030,0.000,0.031,2324,2000,3283,3293,3274,0,0,0,0,0,0,26.69,26.66,26.71
$GC,1871,-0.80,-116.8,2322,2000,3293,3274,221.2,-11.5,264,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2000,3283,3292,3274,0,0,0,0,0,0,26.86,26.93,26.91
$GC,1992,-0.80,-116.8,2323,2000,3292,3274,235.4,-12.3,276,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2000,3283,3293,3273,0,0,0,0,0,0,26.88,26.94,26.94
$GC,2121,-0.80,-116.8,2323,2000,3293,3274,250.9,-11.7,289,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2000,3282,3292,3273,0,0,0,0,0,0,26.90,26.96,26.96
$GC,2244,-0.80,-116.8,2323,2000,3292,3273,265.3,-12.1,301,2249,0.00,1.00,0.00,0.000,260,0.000,0.040,2318,2690,3283,3293,3274,0,0,0,0,0,0,26.91,26.70,26.97
$GC,2332,-0.80,-116.8,2318,2690,3292,3273,275.3,-10.7,317,2336,0.00,0.98,0.00,0.000,1030,0.000,0.038,2322,1997,3282,3292,3273,0,0,0,0,0,0,26.72,26.69,26.73
$STATE,2422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2422,begin apogee
$GC,2428,-0.18,0.0,2323,1788,3293,3273,285.6,-10.9,327,2635,0.65,0.00,201.75,0.581,10246,0.161,0.000,2520,1786,2797,2852,2743,0,0,0,0,0,0,26.21,25.23,24.73
$STATE,2640,end apogee,CONTROL_FINISHED_OK
$STATE,2640,begin climb
$GC,2642,0.80,116.8,2519,1786,2844,2737,292.8,0.0,348,2836,1.02,0.00,183.30,0.568,10502,0.115,0.000,2838,1786,2315,2442,2188,0,0,0,0,0,0,25.32,24.89,24.55
$GC,3003,0.80,119.3,2837,1786,2422,2174,266.3,10.0,388,3007,0.00,1.10,0.00,0.000,292,0.000,0.050,2834,2492,2298,2422,2174,0,0,0,0,0,0,25.91,25.83,25.96
$GC,3100,0.80,121.4,2834,2491,2420,2170,256.9,10.0,406,3105,0.00,1.00,0.00,0.000,1062,0.000,0.044,2838,1829,2295,2420,2170,0,0,0,0,0,0,26.05,26.02,26.06
$GC,3233,0.80,121.4,2837,1830,2419,2170,243.3,10.2,420,3237,0.00,1.00,0.00,0.000,260,0.000,0.039,2834,2488,2294,2419,2170,0,0,0,0,0,0,26.34,26.17,26.42
$GC,3276,0.81,128.9,2834,2488,2418,2170,239.1,9.7,428,3288,0.00,1.02,4.40,0.820,9254,0.000,0.033,2838,1800,2279,2409,2150,0,0,0,0,0,0,26.28,26.25,25.33
$GC,3407,0.83,142.1,2837,1800,2409,2150,226.8,9.4,442,3438,0.00,1.10,26.50,0.618,8484,0.000,0.040,2834,2493,2216,2348,2085,0,0,0,0,0,0,26.46,25.87,25.32
$GC,3476,0.83,142.1,2834,2493,2342,2079,219.8,10.2,454,3483,0.00,1.05,0.00,0.000,1030,0.000,0.033,2838,1795,2211,2343,2080,0,0,0,0,0,0,26.13,26.08,26.13
$GC,3602,0.83,142.1,2837,1795,2341,2080,206.7,10.2,467,3604,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1796,2210,2341,2079,0,0,0,0,0,0,26.39,26.46,26.45
$GC,3722,0.83,142.1,2837,1795,2340,2080,194.1,10.6,479,3724,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1795,2209,2340,2079,0,0,0,0,0,0,26.50,26.56,26.55
$GC,3845,0.83,145.3,2837,1796,2339,2079,182.2,10.0,491,3849,0.00,1.05,0.00,0.000,292,0.000,0.040,2834,2486,2209,2339,2079,0,0,0,0,0,0,26.58,26.40,26.63
$GC,3903,0.84,152.4,2833,2486,2338,2079,176.2,9.7,502,3920,0.00,1.02,12.57,0.695,9254,0.000,0.034,2838,1795,2177,2310,2044,0,0,0,0,0,0,26.47,26.42,25.55
$GC,4041,0.84,156.7,2837,1794,2301,2037,162.6,9.9,517,4046,0.08,1.05,0.00,0.000,2596,0.224,0.041,2857,1105,2169,2301,2037,0,0,0,0,0,0,26.22,26.34,26.32
$GC,4077,0.84,156.7,2856,1105,2301,2037,158.5,10.4,524,4085,0.00,1.05,0.00,0.000,1030,0.000,0.031,2853,1798,2169,2301,2037,0,0,0,0,0,0,26.43,26.38,26.45
$GC,4205,0.84,156.7,2853,1798,2300,2037,144.7,11.1,537,4207,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1798,2168,2300,2037,0,0,0,0,0,0,26.62,26.68,26.67
$GC,4327,0.84,156.7,2852,1798,2299,2037,130.5,12.2,549,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1798,2168,2300,2037,0,0,0,0,0,0,26.67,26.73,26.72
$GC,4456,0.84,156.7,2853,1798,2299,2037,116.0,10.9,562,4464,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1798,2168,2299,2037,0,0,0,0,0,0,26.72,26.78,26.77
$GC,4587,0.85,164.2,2853,1798,2299,2036,102.8,9.7,575,4598,0.00,1.08,4.75,0.777,8484,0.000,0.040,2848,2502,2130,2265,1996,0,0,0,0,0,0,26.76,26.34,25.64
$GC,4637,0.86,171.4,2847,2502,2264,1996,97.6,9.7,584,4646,0.00,1.05,3.40,0.704,9254,0.000,0.034,2852,1793,2100,2238,1962,0,0,0,0,0,0,26.55,26.53,25.17
$GC,4773,0.86,171.4,2851,1792,2240,1962,83.1,11.2,609,4781,0.00,1.05,0.00,0.000,516,0.000,0.042,2856,1098,2101,2240,1962,0,0,0,0,0,0,26.69,26.49,26.74
$GC,4866,0.89,196.7,2856,1098,2240,1962,73.9,8.7,626,4911,0.00,1.05,37.92,0.559,9254,0.000,0.031,2853,1798,1992,2133,1851,0,0,0,0,0,0,26.58,26.56,25.49
$GC,5037,0.92,222.3,2853,1798,2123,1847,58.1,8.6,656,5074,0.10,1.10,31.25,0.544,10532,0.166,0.040,2877,2504,1890,2034,1746,0,0,0,0,0,0,26.17,25.86,25.32
$GC,5113,0.92,222.3,2876,2504,2024,1738,50.3,11.1,668,5121,0.00,1.05,0.00,0.000,1030,0.000,0.031,2881,1800,1880,2023,1738,0,0,0,0,0,0,26.10,26.09,26.14
$GC,5249,0.92,222.3,2880,1800,2019,1736,35.5,10.4,693,5257,0.00,1.08,0.00,0.000,516,0.000,0.041,2886,1097,1878,2019,1737,0,0,0,0,0,0,26.41,26.22,26.46
$GC,5371,0.92,222.3,2885,1097,2018,1737,21.1,11.4,716,5379,0.00,1.08,0.00,0.000,1030,0.000,0.031,2882,1800,1877,2018,1737,0,0,0,0,0,0,26.37,26.34,26.40
$GC,5509,1.01,290.9,2882,1800,2017,1736,8.7,6.1,741,5616,0.10,0.00,103.97,0.494,10786,0.145,0.000,2913,1803,1629,1774,1484,0,0,0,0,0,0,26.33,28.83,26.42
$STATE,5617,end climb,SURFACE_DEPTH_REACHED
$STATE,5617,begin surface coast
$FINISH,-0.4,1.014999
$STATE,5645,end surface coast,CONTROL_FINISHED_OK
$STATE,5645,begin surface
$SM_CCo,5664,189.35,0.594,1,0,549,551.92
$SM_CCo,5862,-0.28,0.172,0,0,550,551.92
$SM_CCo,5865,0.00,0.000,0,0,550,551.92
$SM_GC,0.58,7.72,0.30,0.00,0.058,0.044,0.000,173,2029,550,-7.38,-1.02,551.92,0,0,0,0,0,0,25.87,25.82,25.43
$IRIDIUM_FIX,4750.34,-12512.13,110921,140459
$TT8_MAMPS,0.02247,0.146804
$HUMID,53.81
$INTERNAL_PRESSURE,8.75756
$TCM_TEMP,15.20
$XPDR_PINGS,0
$CP_FREE,99437772800.000000
$CP_POWER,323.310000
$CP_POWER1,0.000000
$24V_AH,24.31,25.415
$10V_AH,10.24,13.948
$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,18.075,38.050,609.825,189.350,0.000,0.000,0.000,145.800,2.750,0.000,17.110,1729.986,1427.447,826.987,1854.979,298.244,0.000,1745.347,0.000,1711.192,0.000,19.623,0.000
$DEVICE_MAMPS,235.620,72.675,820.080,593.640,0.000,0.000,0.000,87.210,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,459.841,1457.121,0.000,0.000,0.000,0.000,5450.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,209780
$DATA_FILE_SIZE,40159,761
$CAP_FILE_SIZE,100462,0
$CFSIZE,260030464,238424064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.070,234.63,1
$GPS,110921,171509,4750.642,-12511.304,19,1.1,20,15.7,0.4,89.2,8,7.2