version: 66.14
glider: 204
mission: 8
dive: 159
start: 9 11 121 21 22 39
data:
$ID,204
$MISSION,8
$DIVE,159
$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,3
$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,57
$R_STBD_OVSHOOT,59
$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,284.0
$CP_NDIVE,1.0
$GPS1,110921,211739,4750.8896,-12511.1992,4,0.7,23,15.7,0.3,152.3,12,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-57.4
$GPS2,110921,212146,4750.8784,-12511.1963,4,0.6,5,15.7,0.5,213.4,12,9.2
$SPEED_LIMITS,0.176,0.235
$TGT_NAME,SE_SLOPE_OFF
$TGT_LATLONG,4749.750,-12509.500
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,119.8,2970,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,8,-0.80,-116.8,162,2025,695,407,0.0,0.0,0,108,0.00,0.00,-97.85,0.004,16386,0.000,0.000,162,2026,2838,2833,2843,0,0,0,0,0,0,26.28,28.83,26.34
$GC,111,-0.80,-116.8,162,2026,2834,2844,3.6,-7.9,14,135,8.38,1.02,-10.02,0.010,18724,0.209,0.067,2317,2691,3279,3283,3275,0,0,0,0,0,0,25.73,24.61,25.89
$GC,174,-0.80,-116.8,2316,2691,3286,3275,16.4,-18.8,24,181,0.00,1.00,0.00,0.000,1030,0.000,0.025,2317,1982,3280,3286,3275,0,0,0,0,0,0,26.28,26.27,26.29
$GC,305,-0.80,-116.8,2316,1983,3289,3275,39.4,-19.0,49,312,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,1983,3282,3289,3275,0,0,0,0,0,0,26.58,26.64,26.64
$GC,436,-0.80,-116.8,2316,1981,3290,3275,59.1,-14.1,74,444,0.00,1.05,0.00,0.000,260,0.000,0.035,2312,2689,3282,3290,3274,0,0,0,0,0,0,26.66,26.41,26.72
$GC,520,-0.80,-116.8,2311,2689,3291,3274,69.9,-12.0,89,527,0.00,0.98,0.00,0.000,1030,0.000,0.026,2312,2003,3282,3291,3274,0,0,0,0,0,0,26.51,26.49,26.53
$GC,653,-0.80,-116.8,2312,2003,3292,3274,84.2,-11.5,114,661,0.08,1.02,0.00,0.000,2564,0.220,0.033,2328,1316,3283,3292,3274,0,0,0,0,0,0,26.44,26.50,26.50
$GC,897,-0.80,-116.8,2327,1316,3293,3274,108.0,-10.3,160,901,0.00,1.02,0.00,0.000,1030,0.000,0.031,2325,2006,3284,3294,3274,0,0,0,0,0,0,26.63,26.60,26.66
$GC,1029,-0.80,-116.8,2324,2006,3294,3274,122.6,-10.9,174,1033,0.00,1.02,0.00,0.000,516,0.000,0.032,2329,1311,3284,3294,3274,0,0,0,0,0,0,26.88,26.61,26.94
$GC,1127,-0.80,-116.8,2328,1311,3294,3274,133.2,-10.1,193,1135,0.00,1.02,0.00,0.000,1062,0.000,0.030,2325,2006,3284,3294,3275,0,0,0,0,0,0,26.65,26.65,26.70
$GC,1258,-0.80,-116.8,2324,2006,3294,3273,146.5,-11.0,206,1261,0.00,1.02,0.00,0.000,516,0.000,0.033,2328,1313,3284,3294,3274,0,0,0,0,0,0,26.93,26.65,26.98
$GC,1334,-0.80,-116.8,2328,1312,3294,3274,155.6,-11.1,221,1342,0.00,1.02,0.00,0.000,1030,0.000,0.030,2325,2002,3284,3294,3274,0,0,0,0,0,0,26.70,26.67,26.74
$GC,1465,-0.80,-116.8,2324,2002,3294,3274,169.7,-11.1,234,1469,0.00,1.00,0.00,0.000,260,0.000,0.038,2320,2693,3284,3294,3274,0,0,0,0,0,0,26.96,26.67,27.01
$GC,1530,-0.80,-116.8,2319,2693,3293,3274,177.2,-10.9,246,1534,0.00,0.98,0.00,0.000,1030,0.000,0.026,2323,1995,3284,3294,3274,0,0,0,0,0,0,26.77,26.74,26.82
$GC,1665,-0.80,-116.8,2321,1994,3294,3274,191.4,-10.7,260,1669,0.00,0.98,0.00,0.000,516,0.000,0.033,2328,1322,3284,3294,3274,0,0,0,0,0,0,26.98,26.71,27.03
$GC,1732,-0.80,-116.8,2326,1322,3294,3274,199.3,-11.1,273,1739,0.00,1.00,0.00,0.000,1030,0.000,0.030,2325,1998,3283,3294,3273,0,0,0,0,0,0,26.77,26.73,26.79
$GC,1863,-0.80,-116.8,2324,1999,3294,3273,213.0,-11.0,286,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1999,3283,3294,3273,0,0,0,0,0,0,27.00,27.06,27.05
$GC,1990,-0.80,-116.8,2324,1999,3294,3273,226.8,-10.5,299,1994,0.00,1.00,0.00,0.000,516,0.000,0.034,2328,1321,3283,3294,3273,0,0,0,0,0,0,27.03,26.74,27.08
$GC,2023,-0.80,-116.8,2328,1321,3294,3273,230.4,-11.1,305,2027,0.00,1.00,0.00,0.000,1030,0.000,0.031,2325,2001,3283,3294,3273,0,0,0,0,0,0,26.79,26.77,26.82
$GC,2156,-0.80,-116.8,2324,2001,3294,3273,243.8,-10.1,319,2165,0.00,0.00,0.00,0.000,38,0.000,0.000,2325,2001,3283,3294,3273,0,0,0,0,0,0,27.02,27.08,27.07
$GC,2287,-0.80,-116.8,2324,2001,3294,3272,256.2,-10.3,332,2291,0.00,1.00,0.00,0.000,260,0.000,0.038,2319,2695,3283,3294,3272,0,0,0,0,0,0,27.05,26.74,27.10
$GC,2331,-0.80,-116.8,2319,2696,3294,3272,261.1,-11.1,340,2334,0.00,0.98,0.00,0.000,1030,0.000,0.025,2323,1990,3283,3294,3272,0,0,0,0,0,0,26.85,26.82,26.87
$GC,2463,-0.80,-116.8,2322,1988,3294,3271,275.6,-11.3,354,2467,0.00,1.05,0.00,0.000,260,0.000,0.037,2319,2705,3282,3294,3271,0,0,0,0,0,0,27.04,26.77,27.09
$GC,2506,-0.80,-116.8,2318,2705,3294,3271,280.7,-11.4,362,2510,0.00,0.98,0.00,0.000,1030,0.000,0.027,2323,2007,3282,3294,3271,0,0,0,0,0,0,26.85,26.83,26.87
$STATE,2551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2551,begin apogee
$GC,2557,-0.18,0.0,2324,1781,3294,3271,285.6,-11.8,367,2779,0.62,0.00,215.23,0.569,10246,0.151,0.000,2516,1779,2797,2853,2741,0,0,0,0,0,0,26.29,25.23,24.73
$STATE,2780,end apogee,CONTROL_FINISHED_OK
$STATE,2781,begin climb
$GC,2783,0.80,116.8,2515,1779,2846,2736,297.0,0.0,390,2981,1.02,1.17,190.15,0.563,11012,0.112,0.036,2830,2502,2319,2447,2192,0,0,0,0,0,0,25.29,25.06,24.56
$GC,3036,0.82,134.1,2829,2502,2423,2164,281.2,9.1,433,3059,0.00,1.02,17.17,0.650,9254,0.000,0.030,2833,1832,2249,2384,2114,0,0,0,0,0,0,25.58,25.57,24.79
$GC,3179,0.82,134.1,2832,1832,2363,2097,267.1,10.2,449,3183,0.00,1.02,0.00,0.000,260,0.000,0.037,2830,2494,2230,2363,2098,0,0,0,0,0,0,26.10,25.86,26.16
$GC,3358,0.83,144.1,2829,2494,2358,2095,249.3,9.6,484,3365,0.00,1.05,0.00,0.000,1062,0.000,0.031,2833,1790,2227,2359,2095,0,0,0,0,0,0,26.22,26.18,26.22
$GC,3486,0.84,152.5,2833,1790,2358,2095,237.1,9.7,497,3516,0.08,1.08,21.00,0.639,10532,0.210,0.037,2843,2487,2168,2306,2031,0,0,0,0,0,0,26.22,25.92,25.35
$GC,3542,0.84,152.5,2842,2488,2298,2024,230.8,10.9,507,3551,0.00,1.02,0.00,0.000,1030,0.000,0.030,2847,1801,2160,2298,2023,0,0,0,0,0,0,26.15,26.13,26.17
$GC,3671,0.84,152.5,2846,1800,2295,2023,217.2,10.6,520,3676,0.00,1.08,0.00,0.000,516,0.000,0.042,2852,1107,2159,2295,2023,0,0,0,0,0,0,26.49,26.23,26.55
$GC,3719,0.84,152.5,2851,1107,2295,2023,211.6,11.3,529,3727,0.00,1.05,0.00,0.000,1030,0.000,0.028,2848,1805,2159,2295,2023,0,0,0,0,0,0,26.34,26.31,26.35
$GC,3849,0.84,152.5,2848,1805,2294,2023,197.9,10.9,542,3853,0.00,1.02,0.00,0.000,260,0.000,0.038,2843,2491,2158,2294,2023,0,0,0,0,0,0,26.66,26.37,26.69
$GC,3892,0.84,152.5,2842,2492,2293,2023,193.1,10.9,550,3896,0.00,1.02,0.00,0.000,1030,0.000,0.031,2846,1794,2158,2293,2023,0,0,0,0,0,0,26.44,26.43,26.47
$GC,4024,0.84,152.5,2846,1795,2292,2023,178.9,10.6,564,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1794,2157,2292,2023,0,0,0,0,0,0,26.72,26.79,26.78
$GC,4154,0.84,152.5,2846,1794,2291,2023,166.0,10.2,577,4156,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1794,2156,2291,2022,0,0,0,0,0,0,26.77,26.84,26.83
$GC,4274,0.84,152.5,2846,1794,2291,2023,153.3,10.5,589,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1794,2157,2291,2023,0,0,0,0,0,0,26.82,26.86,26.86
$GC,4396,0.84,152.5,2846,1794,2290,2023,140.3,11.1,601,4400,0.00,1.05,0.00,0.000,516,0.000,0.043,2852,1107,2157,2290,2024,0,0,0,0,0,0,26.83,26.57,26.91
$GC,4428,0.84,152.5,2852,1108,2291,2023,136.8,10.5,607,4433,0.00,1.05,0.00,0.000,1030,0.000,0.032,2848,1807,2156,2290,2023,0,0,0,0,0,0,26.63,26.60,26.65
$GC,4562,0.84,152.5,2848,1808,2289,2023,122.2,11.0,621,4571,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1808,2156,2289,2023,0,0,0,0,0,0,26.89,26.95,26.95
$GC,4691,0.84,152.5,2848,1808,2289,2023,108.0,10.8,634,4695,0.00,1.02,0.00,0.000,260,0.000,0.040,2843,2496,2156,2289,2023,0,0,0,0,0,0,26.91,26.62,26.97
$GC,4755,0.84,152.5,2842,2496,2288,2023,101.0,10.8,646,4758,0.00,1.02,0.00,0.000,1030,0.000,0.033,2846,1798,2155,2288,2023,0,0,0,0,0,0,26.71,26.67,26.72
$GC,4884,0.84,152.5,2846,1798,2288,2022,86.5,11.9,671,4892,0.00,1.05,0.00,0.000,516,0.000,0.043,2852,1110,2155,2288,2023,0,0,0,0,0,0,26.95,26.64,27.01
$GC,4982,0.84,152.5,2851,1110,2288,2023,75.4,11.1,689,4989,0.00,1.02,0.00,0.000,1030,0.000,0.032,2849,1798,2155,2288,2023,0,0,0,0,0,0,26.72,26.70,26.75
$GC,5122,0.87,176.3,2848,1799,2287,2023,61.3,8.8,714,5157,0.00,1.08,27.38,0.565,8740,0.000,0.036,2852,1105,2072,2212,1933,0,0,0,0,0,0,26.98,26.07,25.70
$GC,5232,0.89,191.5,2851,1105,2200,1926,50.9,9.3,733,5256,0.05,1.05,13.48,0.589,11302,0.160,0.031,2867,1800,2010,2150,1871,0,0,0,0,0,0,26.21,26.48,25.58
$GC,5382,0.90,201.7,2866,1803,2140,1861,37.2,9.5,760,5390,0.00,1.12,2.95,0.493,8740,0.000,0.041,2872,1096,1976,2118,1834,0,0,0,0,0,0,26.65,26.11,25.15
$GC,5496,0.90,202.5,2872,1095,2123,1835,26.6,10.1,781,5504,0.00,1.08,0.00,0.000,1062,0.000,0.030,2869,1812,1978,2123,1834,0,0,0,0,0,0,26.48,26.45,26.51
$GC,5634,0.97,257.9,2868,1812,2123,1834,16.0,6.9,806,5746,0.10,1.02,103.72,0.483,10532,0.152,0.032,2892,2487,1740,1888,1592,0,0,0,0,0,0,26.44,25.48,25.13
$STATE,5845,end climb,SURFACE_DEPTH_REACHED
$STATE,5845,begin surface coast
$FINISH,-0.0,1.025098
$STATE,5871,end surface coast,CONTROL_FINISHED_OK
$STATE,5871,begin surface
$SM_CCo,5887,190.02,0.609,1,0,550,551.92
$SM_CCo,6085,-0.47,0.100,0,0,550,551.92
$SM_CCo,6088,0.00,0.000,0,0,550,551.92
$SM_GC,0.48,7.53,0.75,0.00,0.051,0.031,0.000,182,1989,550,-7.41,1.30,551.92,0,0,0,0,0,0,26.12,26.06,25.44
$IRIDIUM_FIX,4751.26,-12509.51,110921,192240
$TT8_MAMPS,0.02247,0.143808
$HUMID,53.93
$INTERNAL_PRESSURE,8.74779
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,285.6,42.3
$24V_AH,24.29,25.812
$10V_AH,10.24,14.167
$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,17.850,43.275,591.075,190.025,0.000,0.000,0.000,156.075,3.250,0.000,18.062,1862.585,1475.178,817.473,1890.913,308.967,0.000,1808.920,0.000,1864.396,0.000,24.219,0.000
$DEVICE_MAMPS,220.320,67.320,650.250,608.940,0.000,0.000,0.000,93.330,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,493.668,1562.286,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,209792
$DATA_FILE_SIZE,43538,846
$CAP_FILE_SIZE,101335,0
$CFSIZE,260030464,238227456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.063,353.71,1
$GPS,110921,230509,4750.664,-12510.569,6,1.2,24,15.7,0.1,0.0,11,3.6