version: 66.14
glider: 204
mission: 8
dive: 181
start: 9 13 121 9 2 13
data:
$ID,204
$MISSION,8
$DIVE,181
$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,53
$R_STBD_OVSHOOT,49
$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
$GPS1,130921,085725,4750.6250,-12510.3301,14,1.2,16,15.7,0.3,44.8,8,5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-64.6
$GPS2,130921,090120,4750.6196,-12510.3027,4,0.7,6,15.7,0.2,277.1,12,9.3
$SPEED_LIMITS,0.176,0.235
$TGT_NAME,NW_SLOPE
$TGT_LATLONG,4751.690,-12511.250
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,322.3,2305,-18.4,-10.145,-23.37,1754
$D_GRID,265
$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,-116.8,162,2014,693,409,0.0,0.0,0,116,0.00,0.00,-105.93,0.004,16386,0.000,0.000,162,2015,3117,3103,3131,0,0,0,0,0,0,26.29,28.83,26.36
$GC,118,-0.80,-116.8,162,2015,3104,3132,4.8,-9.6,15,134,8.43,1.12,-3.20,0.022,18980,0.211,0.057,2321,1279,3280,3275,3286,0,0,0,0,0,0,25.67,24.54,25.84
$GC,326,-0.80,-116.8,2321,1278,3287,3281,43.0,-12.8,54,335,0.00,1.10,0.00,0.000,1030,0.000,0.029,2317,2001,3284,3288,3280,0,0,0,0,0,0,26.38,26.34,26.39
$GC,460,-0.80,-116.8,2317,2002,3289,3278,58.9,-12.3,79,467,0.00,1.02,0.00,0.000,260,0.000,0.038,2312,2697,3284,3289,3279,0,0,0,0,0,0,26.68,26.40,26.73
$GC,515,-0.80,-116.8,2311,2697,3289,3279,65.4,-11.4,89,523,0.05,1.02,0.00,0.000,3078,0.201,0.027,2324,1980,3284,3290,3279,0,0,0,0,0,0,26.17,26.46,26.25
$GC,649,-0.80,-116.8,2324,1979,3291,3278,80.4,-10.8,114,657,0.00,0.98,0.00,0.000,516,0.000,0.034,2329,1320,3284,3291,3278,0,0,0,0,0,0,26.77,26.48,26.82
$GC,724,-0.80,-116.8,2329,1320,3291,3278,88.4,-11.1,127,731,0.00,1.02,0.00,0.000,1030,0.000,0.030,2326,2008,3284,3291,3278,0,0,0,0,0,0,26.56,26.53,26.58
$GC,855,-0.80,-116.8,2325,2008,3292,3278,103.5,-11.4,149,859,0.00,1.02,0.00,0.000,516,0.000,0.032,2329,1319,3285,3292,3278,0,0,0,0,0,0,26.83,26.55,26.89
$GC,1007,-0.80,-116.8,2328,1319,3293,3277,120.1,-10.4,178,1015,0.00,1.02,0.00,0.000,1030,0.000,0.029,2326,2007,3284,3292,3277,0,0,0,0,0,0,26.63,26.60,26.66
$GC,1137,-0.80,-116.8,2325,2007,3293,3277,133.0,-10.5,191,1141,0.00,1.02,0.00,0.000,516,0.000,0.031,2329,1316,3285,3293,3277,0,0,0,0,0,0,26.90,26.60,26.95
$GC,1172,-0.80,-116.8,2329,1315,3293,3277,137.3,-10.3,198,1181,0.00,1.02,0.00,0.000,1030,0.000,0.030,2325,2002,3285,3294,3277,0,0,0,0,0,0,26.67,26.64,26.70
$GC,1301,-0.80,-116.8,2325,2003,3294,3277,151.0,-11.0,211,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2002,3285,3294,3277,0,0,0,0,0,0,26.93,26.98,26.98
$GC,1430,-0.80,-116.8,2325,2002,3294,3276,165.2,-11.2,224,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2002,3285,3294,3276,0,0,0,0,0,0,26.96,27.01,27.01
$GC,1551,-0.80,-116.8,2325,2002,3294,3276,178.8,-11.6,236,1555,0.00,1.00,0.00,0.000,516,0.000,0.032,2329,1326,3285,3294,3276,0,0,0,0,0,0,26.98,26.67,27.01
$GC,1626,-0.80,-116.8,2328,1326,3295,3276,187.9,-11.8,251,1634,0.00,1.00,0.00,0.000,1030,0.000,0.031,2326,2003,3284,3294,3275,0,0,0,0,0,0,26.74,26.71,26.77
$GC,1755,-0.80,-116.8,2325,2003,3294,3275,202.1,-11.2,264,1759,0.00,1.00,0.00,0.000,260,0.000,0.038,2321,2691,3284,3294,3275,0,0,0,0,0,0,27.00,26.69,27.05
$GC,1798,-0.80,-116.8,2320,2692,3294,3275,207.0,-11.3,272,1802,0.00,0.98,0.00,0.000,1030,0.000,0.026,2324,1998,3284,3294,3275,0,0,0,0,0,0,26.78,26.77,26.80
$GC,1930,-0.80,-116.8,2323,1997,3294,3275,221.4,-10.8,286,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1997,3284,3294,3275,0,0,0,0,0,0,27.01,27.08,27.07
$GC,2050,-0.80,-116.8,2323,1997,3294,3275,234.1,-10.6,298,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1997,3284,3294,3274,0,0,0,0,0,0,27.03,27.09,27.08
$GC,2170,-0.80,-116.8,2323,1997,3294,3274,246.3,-9.8,310,2179,0.00,0.00,0.00,0.000,38,0.000,0.000,2324,1997,3284,3294,3275,0,0,0,0,0,0,27.04,27.10,27.09
$GC,2301,-0.80,-116.8,2323,1997,3294,3274,259.5,-9.8,323,2308,0.00,0.00,0.00,0.000,38,0.000,0.000,2324,1998,3284,3294,3274,0,0,0,0,0,0,27.05,27.11,27.10
$STATE,2357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2358,begin apogee
$GC,2363,-0.18,0.0,2325,1789,3294,3274,265.1,-9.0,329,2490,0.65,0.00,116.12,0.956,10246,0.154,0.000,2521,1787,2802,2859,2746,0,0,0,0,1,0,26.22,24.98,24.15
$STATE,2491,end apogee,CONTROL_FINISHED_OK
$STATE,2491,begin climb
$GC,2493,0.80,116.8,2521,1787,2861,2749,269.3,0.0,342,2703,1.02,1.02,195.62,0.557,11012,0.116,0.034,2838,1135,2310,2437,2183,0,0,0,0,0,0,25.13,24.83,24.49
$GC,2710,0.81,127.1,2837,1135,2429,2179,255.6,9.5,380,2718,0.00,1.05,3.15,0.633,9254,0.000,0.028,2835,1797,2280,2411,2150,0,0,0,0,0,0,25.31,25.28,24.12
$GC,2839,0.82,138.3,2834,1797,2420,2150,243.6,9.5,393,2869,0.00,1.10,21.55,0.625,8484,0.000,0.038,2829,2497,2227,2362,2092,0,0,0,0,0,0,26.03,25.48,24.90
$GC,2906,0.83,146.0,2829,2497,2353,2084,237.3,9.7,405,2910,0.03,1.00,0.00,0.000,3110,0.188,0.030,2839,1833,2218,2353,2084,0,0,0,0,0,0,25.63,25.79,25.67
$GC,3039,0.85,159.3,2839,1833,2350,2084,224.3,9.4,419,3071,0.00,0.00,29.30,0.597,8230,0.000,0.000,2840,1833,2150,2289,2011,0,0,0,0,0,0,26.31,25.60,25.06
$GC,3192,0.86,171.0,2839,1833,2274,2001,210.3,9.5,434,3213,0.08,1.00,14.60,0.669,10532,0.217,0.031,2852,2501,2096,2237,1955,0,0,0,0,0,0,25.98,25.53,25.14
$GC,3258,0.86,172.4,2851,2501,2229,1949,203.5,10.1,446,3262,0.00,1.05,0.00,0.000,1062,0.000,0.032,2855,1804,2089,2229,1949,0,0,0,0,0,0,26.05,26.03,26.07
$GC,3391,0.86,172.4,2854,1804,2226,1948,189.7,10.6,460,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1804,2087,2226,1948,0,0,0,0,0,0,26.44,26.50,26.49
$GC,3522,0.86,172.4,2854,1803,2226,1947,175.1,11.6,473,3526,0.00,1.08,0.00,0.000,516,0.000,0.041,2860,1101,2086,2225,1948,0,0,0,0,0,0,26.56,26.29,26.61
$GC,3564,0.86,172.4,2860,1101,2225,1948,169.8,12.6,481,3568,0.00,1.05,0.00,0.000,1030,0.000,0.030,2857,1799,2087,2226,1948,0,0,0,0,0,0,26.39,26.35,26.41
$GC,3699,0.86,172.4,2857,1799,2224,1948,154.3,11.3,495,3703,0.00,1.02,0.00,0.000,260,0.000,0.037,2852,2493,2086,2224,1948,0,0,0,0,0,0,26.67,26.40,26.72
$GC,3762,0.86,172.4,2851,2493,2223,1948,146.8,11.5,507,3767,0.00,1.02,0.00,0.000,1030,0.000,0.033,2855,1799,2085,2223,1948,0,0,0,0,0,0,26.48,26.46,26.51
$GC,3895,0.86,172.4,2855,1799,2222,1948,132.0,10.5,521,3899,0.00,1.05,0.00,0.000,516,0.000,0.041,2860,1107,2085,2223,1948,0,0,0,0,0,0,26.76,26.47,26.82
$GC,3927,0.86,172.4,2860,1107,2221,1948,128.7,10.3,527,3932,0.00,1.05,0.00,0.000,1030,0.000,0.031,2857,1806,2085,2223,1948,0,0,0,0,0,0,26.55,26.53,26.57
$GC,4060,0.86,172.4,2857,1806,2222,1948,114.5,11.2,541,4064,0.00,1.08,0.00,0.000,516,0.000,0.041,2861,1108,2084,2221,1948,0,0,0,0,0,0,26.82,26.52,26.90
$GC,4114,0.86,172.4,2859,1107,2222,1948,108.6,11.9,551,4119,0.00,1.05,0.00,0.000,1030,0.000,0.031,2857,1808,2085,2222,1948,0,0,0,0,0,0,26.60,26.58,26.63
$GC,4246,0.86,172.4,2856,1808,2221,1948,93.2,11.6,570,4254,0.00,1.08,0.00,0.000,516,0.000,0.040,2860,1110,2084,2221,1948,0,0,0,0,0,0,26.84,26.56,26.91
$GC,4294,0.86,172.4,2860,1110,2221,1948,87.7,11.8,578,4301,0.00,1.02,0.00,0.000,1030,0.000,0.031,2857,1797,2084,2220,1948,0,0,0,0,0,0,26.64,26.62,26.67
$GC,4427,0.86,172.4,2856,1797,2219,1948,72.0,11.0,603,4435,0.00,1.02,0.00,0.000,260,0.000,0.037,2853,2493,2084,2220,1948,0,0,0,0,0,0,26.90,26.60,26.96
$GC,4509,0.86,172.4,2851,2493,2219,1948,62.5,11.0,618,4516,0.00,1.02,0.00,0.000,1030,0.000,0.033,2855,1795,2083,2219,1948,0,0,0,0,0,0,26.69,26.66,26.72
$GC,4649,0.87,178.7,2854,1795,2219,1948,48.8,9.8,643,4657,0.00,1.05,0.00,0.000,548,0.000,0.041,2861,1097,2083,2219,1947,0,0,0,0,0,0,26.94,26.63,27.00
$GC,4702,0.88,189.1,2860,1097,2219,1947,43.8,9.5,652,4724,0.00,1.05,17.12,0.568,9254,0.000,0.030,2857,1800,2027,2168,1886,0,0,0,0,0,0,26.72,26.68,25.70
$GC,4852,0.91,213.8,2857,1800,2157,1877,30.9,8.7,679,4897,0.10,1.05,34.35,0.526,10532,0.159,0.035,2882,2491,1920,2064,1776,0,0,0,0,0,0,26.47,26.06,25.50
$GC,4951,0.94,232.4,2881,2491,2056,1772,21.1,9.1,695,4981,0.00,1.02,22.05,0.529,9254,0.000,0.030,2884,1805,1846,1992,1700,0,0,0,0,0,0,26.31,26.27,25.29
$GC,5107,0.98,268.0,2884,1805,1978,1691,6.8,8.1,723,5163,0.00,1.12,52.65,0.504,8740,0.000,0.040,2890,1097,1708,1858,1558,0,0,0,0,0,0,26.48,25.67,25.13
$STATE,5190,end climb,SURFACE_DEPTH_REACHED
$STATE,5190,begin surface coast
$FINISH,-0.4,1.025292
$STATE,5229,end surface coast,CONTROL_FINISHED_OK
$STATE,5229,begin surface
$SM_CCo,5246,207.35,0.602,1,0,550,551.92
$SM_CCo,5461,-0.47,0.100,0,0,550,551.92
$SM_CCo,5465,0.05,1.704,0,0,550,551.92
$SM_GC,0.55,7.60,1.42,0.05,0.058,0.030,1.704,164,2000,550,-7.40,-1.47,551.92,0,0,0,0,0,0,26.05,25.98,24.27
$IRIDIUM_FIX,4751.26,-12509.51,130921,072202
$TT8_MAMPS,0.021721,0.144557
$HUMID,53.93
$INTERNAL_PRESSURE,8.72826
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,24.12,28.662
$10V_AH,10.22,15.552
$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,17.950,40.075,506.525,207.400,0.000,0.000,0.000,147.425,2.750,0.000,18.181,1692.323,1292.285,772.095,1677.841,291.071,0.000,1670.730,0.000,1650.275,0.000,20.828,0.000
$DEVICE_MAMPS,217.260,57.375,956.250,1704.420,0.000,0.000,0.000,88.740,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,446.313,1412.359,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,209768
$DATA_FILE_SIZE,36775,743
$CAP_FILE_SIZE,94455,0
$CFSIZE,260030464,237035520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.022,297.92,1
$GPS,130921,103433,4751.131,-12510.765,35,1.0,37,15.7,0.3,268.5,9,4.4