version: 66.14
glider: 204
mission: 8
dive: 157
start: 9 11 121 17 23 52
data:
$ID,204
$MISSION,8
$DIVE,157
$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,51
$R_STBD_OVSHOOT,61
$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,282.0
$CP_NDIVE,1.0
$GPS1,110921,171509,4750.6416,-12511.3037,19,1.1,20,15.7,0.4,89.2,8,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-60.8
$GPS2,110921,172242,4750.6650,-12511.2783,5,1.1,7,15.7,0.4,353.8,8,8.9
$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,307.0,1383,-22.0,-10.145,-26.51,1300
$D_GRID,323
$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,34,end surface,CONTROL_FINISHED_OK
$STATE,34,begin dive
$GC,37,-0.89,-86.4,172,2033,678,425,0.0,0.0,0,144,0.00,0.00,-105.20,0.012,16386,0.000,0.000,172,2034,3090,3079,3101,0,0,0,0,0,0,26.17,28.83,26.22
$GC,147,-0.90,-95.9,172,2033,3079,3102,4.6,-9.4,15,163,8.15,1.00,-2.05,0.041,19236,0.219,0.073,2285,2708,3192,3194,3191,0,0,0,0,0,0,25.73,24.60,25.91
$GC,181,-0.90,-95.9,2285,2708,3197,3191,15.8,-29.5,20,189,0.00,1.05,0.00,0.000,1030,0.000,0.039,2285,1995,3194,3197,3191,0,0,0,0,0,0,26.22,26.20,26.24
$GC,313,-0.90,-95.9,2284,1992,3204,3190,37.7,-14.7,45,321,0.00,1.02,0.00,0.000,260,0.000,0.046,2281,2687,3196,3204,3189,0,0,0,0,0,0,26.34,26.27,26.39
$GC,497,-0.90,-95.9,2280,2687,3205,3189,65.7,-14.1,79,504,0.00,1.00,0.00,0.000,1030,0.000,0.028,2284,1993,3197,3205,3189,0,0,0,0,0,0,26.48,26.46,26.49
$GC,629,-0.90,-95.9,2283,1993,3207,3188,81.8,-13.1,104,636,0.00,1.00,0.00,0.000,516,0.000,0.033,2288,1310,3197,3207,3188,0,0,0,0,0,0,26.66,26.47,26.71
$GC,712,-0.90,-95.9,2288,1310,3207,3188,91.5,-10.9,119,720,0.00,1.02,0.00,0.000,1030,0.000,0.031,2286,1987,3197,3207,3187,0,0,0,0,0,0,26.53,26.51,26.56
$GC,847,-0.91,-104.4,2286,1987,3207,3187,104.0,-9.5,140,851,0.00,1.00,0.00,0.000,548,0.000,0.034,2289,1313,3197,3208,3187,0,0,0,0,0,0,26.73,26.54,26.79
$GC,892,-0.91,-104.4,2288,1313,3207,3187,108.8,-11.1,148,896,0.00,1.05,0.00,0.000,1030,0.000,0.032,2286,2014,3197,3208,3187,0,0,0,0,0,0,26.58,26.55,26.60
$GC,1025,-0.91,-104.4,2285,2014,3208,3186,122.7,-10.8,162,1029,0.00,1.05,0.00,0.000,516,0.000,0.034,2289,1307,3197,3208,3186,0,0,0,0,0,0,26.78,26.58,26.84
$GC,1175,-0.91,-104.4,2288,1307,3209,3186,139.0,-10.7,190,1178,0.00,1.02,0.00,0.000,1030,0.000,0.032,2286,1997,3197,3208,3186,0,0,0,0,0,0,26.68,26.61,26.67
$GC,1309,-0.91,-104.4,2285,1997,3208,3185,154.3,-11.8,204,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1997,3196,3208,3185,0,0,0,0,0,0,26.84,26.90,26.89
$GC,1436,-0.91,-104.4,2285,1997,3208,3186,169.7,-11.9,217,1442,0.00,1.02,0.00,0.000,516,0.000,0.034,2288,1303,3196,3208,3185,0,0,0,0,0,0,26.86,26.66,26.91
$GC,1482,-0.91,-104.4,2288,1303,3208,3185,175.1,-12.1,225,1487,0.00,1.02,0.00,0.000,1030,0.000,0.041,2287,1985,3196,3208,3185,0,0,0,0,0,0,26.65,26.61,26.70
$GC,1618,-0.91,-104.4,2285,1985,3208,3185,191.7,-12.1,239,1622,0.00,1.05,0.00,0.000,260,0.000,0.048,2281,2703,3196,3209,3184,0,0,0,0,0,0,26.70,26.59,26.75
$GC,1650,-0.91,-104.4,2280,2703,3208,3185,195.9,-11.7,245,1655,0.00,1.00,0.00,0.000,1030,0.000,0.037,2283,1995,3196,3208,3184,0,0,0,0,0,0,26.67,26.65,26.69
$GC,1783,-0.91,-104.4,2283,1995,3208,3184,210.6,-11.1,259,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1994,3196,3209,3184,0,0,0,0,0,0,26.85,26.91,26.91
$GC,1914,-0.91,-104.4,2283,1994,3208,3184,224.5,-10.4,272,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1994,3196,3208,3184,0,0,0,0,0,0,26.86,26.94,26.93
$GC,2043,-0.91,-104.4,2283,1994,3208,3183,238.4,-11.2,285,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1994,3195,3208,3183,0,0,0,0,0,0,26.89,26.96,26.94
$GC,2163,-0.91,-104.4,2283,1994,3209,3182,252.9,-12.4,297,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1994,3195,3208,3182,0,0,0,0,0,0,26.91,26.97,26.96
$GC,2283,-0.91,-104.4,2283,1994,3208,3182,268.5,-13.2,309,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1994,3194,3208,3181,0,0,0,0,0,0,26.92,26.98,26.98
$GC,2403,-0.91,-104.4,2283,1994,3208,3181,283.8,-12.4,321,2408,0.00,1.05,0.00,0.000,260,0.000,0.037,2281,2707,3195,3209,3181,0,0,0,0,0,0,26.94,26.72,26.99
$GC,2460,-0.91,-104.4,2280,2707,3208,3181,290.6,-11.7,331,2464,0.00,1.00,0.00,0.000,1030,0.000,0.027,2283,1995,3195,3209,3181,0,0,0,0,0,0,26.81,26.79,26.83
$GC,2602,-0.91,-107.8,2283,1995,3208,3181,305.0,-9.9,344,2606,0.00,0.98,0.00,0.000,548,0.000,0.034,2288,1322,3194,3208,3181,0,0,0,0,0,0,26.95,26.74,27.01
$STATE,2732,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2732,begin apogee
$GC,2737,-0.18,0.0,2287,1812,3209,3180,318.5,-9.9,369,2832,0.80,0.00,86.05,1.056,10246,0.149,0.000,2523,1813,2799,2852,2746,0,0,0,0,1,0,26.25,25.13,24.28
$STATE,2836,end apogee,CONTROL_FINISHED_OK
$STATE,2836,begin climb
$GC,2839,0.91,107.8,2523,1813,2859,2753,322.3,0.0,374,3032,1.17,1.05,182.80,0.580,10500,0.118,0.035,2877,2484,2349,2472,2227,0,0,0,0,0,0,25.28,24.91,24.56
$GC,3067,0.91,107.8,2875,2484,2455,2208,308.0,11.5,395,3071,0.00,1.02,0.00,0.000,1030,0.000,0.041,2880,1816,2331,2455,2208,0,0,0,0,0,0,25.48,25.46,25.49
$GC,3199,0.91,107.8,2879,1816,2452,2206,292.9,11.7,405,3201,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1816,2328,2451,2206,0,0,0,0,0,0,25.91,25.97,25.97
$GC,3321,0.91,107.8,2880,1816,2448,2206,279.4,11.2,417,3329,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1816,2327,2448,2206,0,0,0,0,0,0,26.12,26.17,26.17
$GC,3449,0.91,107.8,2879,1816,2446,2206,265.8,10.4,430,3453,0.00,1.02,0.00,0.000,260,0.000,0.040,2878,2485,2326,2446,2206,0,0,0,0,0,0,26.39,26.21,26.46
$GC,3495,0.91,107.8,2878,2486,2445,2206,261.3,10.6,438,3499,0.00,1.02,0.00,0.000,1030,0.000,0.031,2882,1794,2325,2445,2206,0,0,0,0,0,0,26.32,26.29,26.34
$GC,3627,0.91,107.8,2881,1793,2445,2206,246.7,10.9,452,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1794,2325,2445,2206,0,0,0,0,0,0,26.53,26.60,26.60
$GC,3749,0.91,107.8,2882,1793,2444,2206,232.9,11.4,464,3756,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1793,2325,2444,2206,0,0,0,0,0,0,26.60,26.67,26.66
$GC,3877,0.91,107.8,2882,1793,2444,2205,217.9,11.6,477,3882,0.00,1.05,0.00,0.000,260,0.000,0.040,2879,2485,2325,2444,2206,0,0,0,0,0,0,26.66,26.46,26.72
$GC,3984,0.91,107.8,2879,2485,2442,2206,205.8,11.1,497,3989,0.00,1.00,0.00,0.000,1030,0.000,0.032,2882,1805,2324,2442,2206,0,0,0,0,0,0,26.56,26.51,26.59
$GC,4117,0.91,107.8,2882,1805,2442,2206,191.2,11.0,511,4125,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1805,2324,2442,2206,0,0,0,0,0,0,26.74,26.78,26.80
$GC,4249,0.91,107.8,2882,1805,2442,2207,177.4,10.7,524,4253,0.00,1.02,0.00,0.000,260,0.000,0.039,2880,2487,2324,2442,2206,0,0,0,0,0,0,26.79,26.56,26.84
$GC,4304,0.91,107.8,2879,2487,2439,2206,170.8,10.7,535,4313,0.00,1.02,0.00,0.000,1030,0.000,0.031,2883,1789,2322,2439,2206,0,0,0,0,0,0,26.65,26.63,26.67
$GC,4433,0.91,107.8,2882,1789,2439,2206,157.0,11.1,548,4437,0.00,1.05,0.00,0.000,260,0.000,0.038,2881,2490,2322,2439,2206,0,0,0,0,0,0,26.82,26.61,26.85
$GC,4499,0.91,107.8,2880,2489,2438,2206,148.6,12.5,561,4508,0.00,1.00,0.00,0.000,1030,0.000,0.031,2883,1799,2322,2438,2206,0,0,0,0,0,0,26.67,26.66,26.70
$GC,4628,0.91,107.8,2883,1799,2438,2206,132.1,13.7,574,4633,0.00,1.05,0.00,0.000,516,0.000,0.042,2889,1106,2322,2438,2206,0,0,0,0,0,0,26.85,26.63,26.91
$GC,4878,0.91,107.8,2888,1106,2438,2206,99.2,11.9,620,4886,0.00,1.02,0.00,0.000,1030,0.000,0.032,2886,1795,2322,2438,2206,0,0,0,0,0,0,26.72,26.70,26.77
$GC,5016,0.92,110.6,2885,1795,2438,2206,84.2,9.9,645,5025,0.00,1.08,0.00,0.000,548,0.000,0.042,2888,1095,2321,2437,2206,0,0,0,0,0,0,26.91,26.68,26.96
$GC,5105,0.92,110.6,2889,1095,2438,2206,74.7,10.3,661,5114,0.00,1.05,0.00,0.000,1030,0.000,0.031,2886,1799,2322,2438,2206,0,0,0,0,0,0,26.75,26.73,26.78
$GC,5240,0.94,129.2,2886,1798,2437,2206,61.6,8.7,686,5262,0.00,1.02,17.42,0.591,8484,0.000,0.040,2882,2505,2271,2396,2147,0,0,0,0,0,0,26.93,26.39,25.80
$GC,5321,0.98,165.4,2881,2505,2375,2127,55.2,7.3,700,5384,0.00,1.02,55.60,0.523,9254,0.000,0.032,2884,1805,2119,2254,1985,0,0,0,0,0,0,26.59,26.56,25.41
$GC,5510,0.99,174.7,2884,1805,2230,1960,39.3,9.4,733,5519,0.08,1.08,0.00,0.000,2596,0.167,0.041,2915,1101,2095,2230,1961,0,0,0,0,0,0,26.15,26.19,26.22
$GC,5756,1.01,187.5,2915,1101,2226,1961,14.8,9.1,779,5785,0.00,1.05,23.70,0.524,9254,0.000,0.032,2912,1796,2031,2169,1894,0,0,0,0,0,0,26.44,26.41,25.48
$GC,5913,1.11,270.5,2911,1796,2144,1867,4.3,3.6,807,5984,0.10,0.00,68.32,0.483,10786,0.161,0.000,2936,1801,1844,1989,1700,0,0,0,0,0,0,26.17,28.83,26.28
$STATE,5985,end climb,SURFACE_DEPTH_REACHED
$STATE,5985,begin surface coast
$FINISH,-0.4,1.013520
$STATE,6035,end surface coast,CONTROL_FINISHED_OK
$STATE,6035,begin surface
$SM_CCo,6054,188.02,0.630,1,0,550,551.92
$SM_CCo,6250,-0.30,0.157,0,0,549,551.92
$SM_CCo,6253,0.00,0.000,0,0,550,551.92
$SM_GC,0.43,7.72,0.28,0.00,0.057,0.050,0.000,165,2018,550,-7.39,-1.47,551.92,0,0,0,0,0,0,26.02,25.98,25.41
$IRIDIUM_FIX,4752.18,-12506.88,110921,153258
$TT8_MAMPS,0.02247,0.147553
$HUMID,53.70
$INTERNAL_PRESSURE,8.73803
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,318.5,16.7
$CP_FREE,99437772800.000000
$CP_POWER,323.310000
$CP_POWER1,0.000000
$24V_AH,24.28,25.538
$10V_AH,10.23,14.019
$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,18.025,37.000,433.900,188.025,0.000,0.000,0.000,347.400,4.250,0.000,18.887,1922.672,1634.283,741.195,2105.621,351.159,0.000,1838.882,0.000,1840.072,0.000,32.094,0.000
$DEVICE_MAMPS,218.790,72.675,1056.465,630.360,0.000,0.000,0.000,103.275,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,483.554,1519.561,0.000,0.000,0.000,0.000,5868.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,210288
$DATA_FILE_SIZE,43477,826
$CAP_FILE_SIZE,104741,0
$CFSIZE,260030464,238350336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.046,273.35,1
$GPS,110921,190925,4751.126,-12511.924,18,0.8,35,15.7,0.8,344.3,12,2.9