version: 66.14
glider: 204
mission: 8
dive: 166
start: 9 12 121 8 56 10
data:
$ID,204
$MISSION,8
$DIVE,166
$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,50
$R_STBD_OVSHOOT,51
$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
$GPS1,120921,085121,4751.3291,-12510.9668,3,1.2,5,15.7,0.1,0.0,8,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-57.6
$GPS2,120921,085514,4751.3071,-12511.0088,4,1.2,6,15.7,0.1,0.0,8,5.5
$SPEED_LIMITS,0.176,0.235
$TGT_NAME,NW_SLOPE
$TGT_LATLONG,4751.690,-12511.250
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,330.0,770,-25.9,-10.145,-30.00,975
$D_GRID,306
$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,-1.00,-64.7,172,1995,691,409,0.0,0.0,0,114,0.00,0.00,-104.80,0.004,16386,0.000,0.000,173,1995,3052,3037,3067,0,0,0,0,0,0,26.28,28.83,26.34
$GC,117,-1.01,-69.4,172,1996,3039,3067,4.8,-9.6,14,133,8.05,0.00,-0.65,0.096,18982,0.207,0.000,2256,1993,3086,3080,3093,0,0,0,0,0,0,25.65,25.54,25.84
$GC,262,-1.01,-69.4,2256,1995,3089,3086,34.1,-13.6,40,270,0.00,1.05,0.00,0.000,260,0.000,0.036,2253,2700,3087,3089,3086,0,0,0,0,0,0,26.54,26.29,26.60
$GC,287,-1.01,-69.4,2252,2700,3089,3086,38.3,-14.4,44,295,0.00,1.05,0.00,0.000,1030,0.000,0.027,2256,1979,3088,3090,3086,0,0,0,0,0,0,26.37,26.34,26.39
$GC,424,-1.01,-69.4,2255,1978,3093,3085,56.5,-12.8,69,431,0.00,0.98,0.00,0.000,516,0.000,0.033,2261,1316,3089,3093,3085,0,0,0,0,0,0,26.65,26.40,26.70
$GC,663,-1.01,-69.4,2261,1316,3095,3085,86.5,-11.3,115,671,0.00,1.02,0.00,0.000,1030,0.000,0.030,2258,1998,3090,3095,3085,0,0,0,0,0,0,26.55,26.51,26.55
$GC,803,-1.01,-72.0,2258,1998,3096,3084,100.1,-9.9,140,807,0.00,1.02,0.00,0.000,548,0.000,0.031,2261,1314,3090,3096,3085,0,0,0,0,0,0,26.82,26.54,26.86
$GC,942,-1.01,-72.0,2261,1313,3096,3085,114.5,-11.1,166,946,0.00,1.02,0.00,0.000,1030,0.000,0.028,2258,2003,3090,3096,3085,0,0,0,0,0,0,26.64,26.61,26.67
$GC,1075,-1.01,-72.0,2258,2002,3096,3084,128.1,-10.7,180,1078,0.00,1.00,0.00,0.000,260,0.000,0.037,2253,2693,3089,3095,3084,0,0,0,0,0,0,26.89,26.61,26.94
$GC,1150,-1.01,-72.0,2252,2693,3096,3084,136.8,-11.9,194,1154,0.00,1.00,0.00,0.000,1030,0.000,0.025,2256,1984,3090,3096,3084,0,0,0,0,0,0,26.70,26.68,26.72
$GC,1283,-1.01,-72.0,2256,1983,3096,3084,153.2,-12.7,208,1286,0.00,0.98,0.00,0.000,516,0.000,0.034,2261,1315,3090,3096,3084,0,0,0,0,0,0,26.93,26.65,26.98
$GC,1338,-1.01,-72.0,2261,1315,3097,3084,160.8,-12.6,219,1347,0.00,1.02,0.00,0.000,1030,0.000,0.028,2258,2004,3090,3097,3083,0,0,0,0,0,0,26.71,26.69,26.74
$GC,1467,-1.01,-72.0,2258,2004,3097,3083,176.6,-12.3,232,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2004,3090,3097,3083,0,0,0,0,0,0,26.96,27.02,27.01
$GC,1600,-1.01,-72.0,2258,2003,3097,3083,192.3,-12.1,245,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2004,3090,3097,3083,0,0,0,0,0,0,26.96,27.03,27.02
$GC,1726,-1.01,-72.0,2258,2004,3097,3083,207.9,-12.3,258,1730,0.00,1.00,0.00,0.000,516,0.000,0.032,2261,1323,3090,3097,3083,0,0,0,0,0,0,27.00,26.71,27.05
$GC,1772,-1.01,-72.0,2261,1322,3096,3083,213.6,-13.2,266,1776,0.00,1.00,0.00,0.000,1030,0.000,0.029,2258,1998,3090,3097,3083,0,0,0,0,0,0,26.77,26.74,26.79
$GC,1905,-1.01,-72.0,2257,1998,3097,3082,231.4,-13.1,280,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,1998,3089,3096,3082,0,0,0,0,0,0,27.01,27.08,27.07
$GC,2034,-1.01,-72.0,2258,1998,3097,3082,248.1,-12.9,293,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,1998,3089,3097,3082,0,0,0,0,0,0,27.03,27.09,27.08
$GC,2155,-1.01,-72.0,2258,1998,3097,3082,263.0,-11.9,305,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,1998,3089,3097,3081,0,0,0,0,0,0,27.04,27.10,27.09
$STATE,2233,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2233,begin apogee
$GC,2238,-0.18,0.0,2258,1778,3097,3081,272.1,-11.6,313,2365,0.88,0.00,118.25,0.598,10246,0.150,0.000,2522,1777,2792,2837,2748,0,0,0,0,0,0,26.23,25.32,24.97
$STATE,2366,end apogee,CONTROL_FINISHED_OK
$STATE,2366,begin climb
$GC,2368,1.01,72.0,2522,1777,2833,2743,276.0,0.0,326,2487,1.23,1.10,108.68,0.581,11012,0.116,0.033,2898,2503,2495,2582,2408,0,0,0,0,0,0,25.51,25.03,24.68
$GC,2546,1.01,73.8,2897,2503,2564,2388,264.5,10.0,359,2555,0.00,1.02,0.00,0.000,1062,0.000,0.029,2901,1832,2476,2564,2388,0,0,0,0,0,0,25.72,25.70,25.75
$GC,2675,1.01,73.8,2900,1832,2561,2387,251.3,10.4,372,2680,0.00,1.15,0.00,0.000,516,0.000,0.037,2906,1094,2475,2562,2388,0,0,0,0,0,0,26.25,25.99,26.29
$GC,2809,1.02,79.1,2906,1093,2561,2387,237.8,9.6,396,2812,0.00,1.08,0.00,0.000,1062,0.000,0.030,2903,1799,2474,2561,2387,0,0,0,0,0,0,26.23,26.21,26.25
$GC,2941,1.03,84.6,2902,1800,2557,2387,225.7,9.6,410,2943,0.00,0.00,0.00,0.000,38,0.000,0.000,2903,1800,2473,2559,2387,0,0,0,0,0,0,26.56,26.63,26.61
$GC,3063,1.03,92.3,2903,1800,2558,2387,214.7,9.3,422,3090,0.00,0.00,21.30,0.636,8230,0.000,0.000,2903,1800,2417,2514,2320,0,0,0,0,0,0,26.64,25.79,25.43
$GC,3213,1.03,92.3,2903,1800,2502,2305,199.0,10.2,437,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1800,2403,2502,2305,0,0,0,0,0,0,26.52,26.58,26.58
$GC,3341,1.03,92.3,2902,1800,2500,2305,184.9,10.7,450,3345,0.00,1.05,0.00,0.000,260,0.000,0.038,2899,2504,2402,2499,2306,0,0,0,0,0,0,26.62,26.35,26.67
$GC,3449,1.03,92.3,2898,2503,2497,2305,173.4,11.1,470,3453,0.00,1.05,0.00,0.000,1030,0.000,0.030,2902,1789,2401,2497,2305,0,0,0,0,0,0,26.48,26.45,26.49
$GC,3581,1.03,92.3,2901,1789,2496,2305,158.5,11.0,484,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1789,2401,2497,2305,0,0,0,0,0,0,26.74,26.81,26.81
$GC,3713,1.03,92.3,2902,1789,2496,2305,143.5,11.1,497,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1789,2400,2496,2305,0,0,0,0,0,0,26.79,26.86,26.84
$GC,3841,1.04,93.8,2901,1789,2496,2305,129.9,10.0,510,3845,0.00,1.05,0.00,0.000,292,0.000,0.037,2899,2493,2400,2496,2305,0,0,0,0,0,0,26.84,26.55,26.89
$GC,3937,1.04,93.8,2899,2493,2494,2305,120.3,10.4,528,3941,0.00,1.00,0.00,0.000,1030,0.000,0.031,2901,1806,2399,2494,2305,0,0,0,0,0,0,26.64,26.60,26.67
$GC,4069,1.04,93.8,2901,1806,2494,2305,106.0,11.5,542,4073,0.00,1.08,0.00,0.000,516,0.000,0.041,2907,1097,2400,2495,2306,0,0,0,0,0,0,26.89,26.60,26.95
$GC,4235,1.04,93.8,2906,1097,2495,2305,86.8,10.6,574,4242,0.00,1.05,0.00,0.000,1030,0.000,0.030,2904,1798,2400,2495,2305,0,0,0,0,0,0,26.70,26.67,26.72
$GC,4373,1.04,93.8,2903,1798,2494,2305,71.4,11.4,599,4382,0.00,1.02,0.00,0.000,260,0.000,0.038,2899,2493,2399,2494,2305,0,0,0,0,0,0,26.95,26.65,27.01
$GC,4478,1.07,124.7,2898,2493,2494,2304,61.9,6.9,618,4529,0.05,1.00,43.28,0.542,11302,0.115,0.031,2923,1801,2284,2401,2167,0,0,0,0,0,0,26.51,26.70,25.58
$GC,4656,1.09,140.5,2923,1802,2383,2150,47.7,8.5,649,4678,0.00,1.08,12.20,0.586,8740,0.000,0.040,2929,1100,2219,2341,2098,0,0,0,0,0,0,26.60,26.05,25.46
$GC,4911,1.12,162.6,2928,1100,2330,2092,22.6,7.8,697,4947,0.00,1.08,28.33,0.526,9254,0.000,0.030,2926,1813,2131,2260,2002,0,0,0,0,0,0,26.45,26.42,25.45
$GC,5073,1.17,205.6,2925,1813,2243,1984,9.8,5.6,726,5145,0.12,1.08,65.75,0.493,10532,0.171,0.037,2951,2497,1956,2097,1816,0,0,0,0,0,0,26.06,25.65,25.13
$STATE,5275,end climb,SURFACE_DEPTH_REACHED
$STATE,5275,begin surface coast
$FINISH,-0.4,1.025455
$STATE,5322,end surface coast,CONTROL_FINISHED_OK
$STATE,5322,begin surface
$SM_CCo,5339,219.93,0.622,1,0,548,551.92
$SM_CCo,5567,-0.47,0.100,0,0,550,551.92
$SM_CCo,5570,0.03,2.970,0,0,550,551.92
$SM_GC,0.53,7.65,0.75,0.03,0.053,0.034,2.970,167,2006,550,-7.38,1.64,551.92,0,0,0,0,0,0,26.20,26.15,23.77
$IRIDIUM_FIX,4753.09,-12513.98,120921,070958
$TT8_MAMPS,0.02247,0.146055
$HUMID,53.38
$INTERNAL_PRESSURE,8.74779
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,255.8,35.4
$24V_AH,23.77,26.702
$10V_AH,10.24,14.613
$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,17.975,29.025,397.775,219.950,0.000,0.000,0.000,143.700,3.000,0.000,18.431,1766.122,1333.226,689.240,1759.563,282.106,0.000,1553.665,0.000,1737.238,0.000,24.911,0.000
$DEVICE_MAMPS,207.315,48.960,636.480,2969.730,0.000,0.000,0.000,91.800,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,464.573,1464.131,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,209764
$DATA_FILE_SIZE,40114,770
$CAP_FILE_SIZE,87674,0
$CFSIZE,260030464,237850624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.051,323.08,1
$GPS,120921,103001,4751.870,-12511.316,22,0.9,23,15.7,0.1,0.0,8,6.1