version: 66.14
glider: 204
mission: 8
dive: 197
start: 9 14 121 9 43 27
data:
$ID,204
$MISSION,8
$DIVE,197
$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,54
$R_STBD_OVSHOOT,48
$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
$GPS1,140921,093847,4751.1372,-12509.9521,4,1.0,5,15.7,0.6,295.7,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-64.3
$GPS2,140921,094234,4751.1509,-12509.9941,4,0.8,6,15.7,0.1,0.0,10,5.2
$SPEED_LIMITS,0.176,0.235
$TGT_NAME,MOORING
$TGT_LATLONG,4751.000,-12510.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,146.4,280,-25.9,-10.145,-30.00,975
$D_GRID,264
$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,-1.00,-64.7,157,2015,691,410,0.0,0.0,0,109,0.00,0.00,-98.80,0.004,16386,0.000,0.000,157,2015,2875,2870,2880,0,0,0,0,0,0,26.28,28.83,26.34
$GC,112,-1.05,-101.5,157,2015,2871,2881,3.6,-6.3,14,136,8.00,1.08,-7.70,0.011,18980,0.203,0.058,2249,1309,3213,3218,3208,0,0,0,0,0,0,25.63,25.57,25.83
$GC,282,-1.05,-101.5,2248,1309,3222,3208,34.1,-16.5,45,289,0.00,1.05,0.00,0.000,1030,0.000,0.030,2245,2005,3215,3222,3208,0,0,0,0,0,0,26.35,26.32,26.38
$GC,418,-1.05,-101.5,2245,2005,3224,3208,55.2,-16.3,70,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2005,3216,3224,3208,0,0,0,0,0,0,26.66,26.72,26.72
$GC,549,-1.05,-101.5,2245,2005,3224,3207,76.2,-13.0,95,557,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2006,3216,3224,3208,0,0,0,0,0,0,26.73,26.79,26.77
$GC,681,-1.05,-101.5,2245,2005,3225,3208,93.8,-10.5,120,689,0.00,1.05,0.00,0.000,516,0.000,0.033,2249,1300,3216,3225,3207,0,0,0,0,0,0,26.78,26.51,26.85
$GC,837,-1.05,-101.5,2248,1299,3225,3207,112.6,-12.5,149,846,0.00,1.05,0.00,0.000,1030,0.000,0.030,2246,2002,3216,3225,3207,0,0,0,0,0,0,26.60,26.57,26.63
$GC,966,-1.05,-101.5,2245,2001,3226,3207,127.8,-12.5,162,969,0.00,1.02,0.00,0.000,260,0.000,0.037,2241,2707,3216,3226,3207,0,0,0,0,0,0,26.86,26.58,26.92
$GC,1032,-1.05,-101.5,2240,2707,3227,3207,136.3,-12.4,175,1041,0.00,1.02,0.00,0.000,1030,0.000,0.026,2244,1975,3216,3226,3207,0,0,0,0,0,0,26.68,26.65,26.71
$GC,1160,-1.05,-101.5,2243,1975,3226,3207,151.1,-11.5,188,1166,0.00,0.95,0.00,0.000,516,0.000,0.033,2249,1321,3216,3226,3207,0,0,0,0,0,0,26.91,26.63,26.96
$GC,1337,-1.05,-101.5,2248,1322,3226,3207,171.9,-11.2,220,1341,0.00,1.00,0.00,0.000,1030,0.000,0.029,2246,2003,3216,3226,3206,0,0,0,0,0,0,26.72,26.70,26.74
$GC,1469,-1.05,-101.5,2245,2003,3226,3206,187.4,-11.6,234,1473,0.00,1.00,0.00,0.000,516,0.000,0.032,2249,1324,3215,3225,3206,0,0,0,0,0,0,26.99,26.67,27.02
$GC,1677,-1.05,-101.5,2248,1324,3226,3206,212.4,-11.8,273,1686,0.00,1.00,0.00,0.000,1030,0.000,0.029,2246,2000,3216,3226,3206,0,0,0,0,0,0,26.76,26.72,26.78
$GC,1806,-1.05,-101.5,2245,2000,3226,3206,227.8,-13.0,286,1810,0.00,1.00,0.00,0.000,516,0.000,0.033,2249,1322,3216,3226,3206,0,0,0,0,0,0,27.02,26.72,27.07
$STATE,1816,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1816,begin apogee
$GC,1822,-0.18,0.0,2247,1821,3226,3205,229.3,-13.3,288,1978,0.90,0.00,148.30,0.572,10246,0.153,0.000,2517,1822,2790,2841,2740,0,0,0,0,0,0,26.15,25.21,24.87
$STATE,1979,end apogee,CONTROL_FINISHED_OK
$STATE,1979,begin climb
$GC,1981,1.05,101.5,2517,1822,2836,2735,235.8,0.0,304,2141,1.27,1.15,150.57,0.562,10756,0.113,0.035,2918,1124,2380,2496,2265,0,0,0,0,0,0,25.40,25.14,24.63
$GC,2165,1.05,101.5,2918,1124,2484,2256,223.9,10.3,336,2169,0.00,1.05,0.00,0.000,1030,0.000,0.031,2916,1793,2369,2483,2256,0,0,0,0,0,0,25.53,25.48,25.53
$GC,2297,1.05,101.5,2916,1793,2479,2253,208.9,11.5,350,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,1793,2366,2479,2253,0,0,0,0,0,0,26.18,26.22,26.22
$GC,2418,1.05,101.5,2916,1793,2477,2252,195.5,11.4,362,2421,0.00,1.05,0.00,0.000,516,0.000,0.039,2919,1120,2364,2476,2253,0,0,0,0,0,0,26.38,26.11,26.44
$GC,2591,1.05,101.5,2918,1120,2475,2253,175.7,10.6,395,2599,0.00,1.02,0.00,0.000,1030,0.000,0.030,2916,1797,2364,2475,2253,0,0,0,0,0,0,26.34,26.32,26.37
$GC,2719,1.05,101.5,2915,1797,2474,2252,162.0,10.7,408,2723,0.00,1.02,0.00,0.000,260,0.000,0.038,2911,2487,2363,2474,2252,0,0,0,0,0,0,26.65,26.36,26.71
$GC,2754,1.05,101.5,2910,2487,2471,2252,158.0,10.4,415,2763,0.00,0.98,0.00,0.000,1030,0.000,0.030,2914,1817,2362,2473,2252,0,0,0,0,0,0,26.45,26.43,26.48
$GC,2883,1.06,110.1,2913,1817,2473,2252,145.6,9.2,428,2888,0.00,1.08,0.00,0.000,548,0.000,0.040,2919,1103,2362,2472,2252,0,0,0,0,0,0,26.73,26.44,26.79
$GC,2929,1.06,110.4,2919,1103,2472,2253,141.2,10.1,436,2933,0.00,1.05,0.00,0.000,1062,0.000,0.031,2916,1799,2362,2472,2252,0,0,0,0,0,0,26.52,26.49,26.55
$GC,3063,1.06,110.4,2915,1798,2471,2252,128.3,10.2,450,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1798,2361,2471,2252,0,0,0,0,0,0,26.80,26.86,26.85
$GC,3191,1.06,110.4,2916,1798,2470,2252,114.1,11.4,463,3195,0.00,1.05,0.00,0.000,516,0.000,0.039,2919,1107,2362,2471,2253,0,0,0,0,0,0,26.84,26.54,26.89
$GC,3237,1.06,110.4,2919,1107,2470,2253,108.7,12.7,471,3242,0.00,1.05,0.00,0.000,1030,0.000,0.031,2916,1808,2361,2471,2252,0,0,0,0,0,0,26.62,26.59,26.63
$GC,3365,1.06,110.4,2916,1808,2469,2252,93.0,12.0,490,3373,0.00,1.00,0.00,0.000,260,0.000,0.038,2911,2493,2360,2469,2252,0,0,0,0,0,0,26.89,26.58,26.94
$GC,3407,1.06,110.4,2911,2493,2468,2252,87.8,12.1,497,3414,0.00,1.00,0.00,0.000,1030,0.000,0.031,2914,1807,2360,2468,2252,0,0,0,0,0,0,26.66,26.63,26.67
$GC,3544,1.07,125.0,2914,1807,2469,2252,72.9,8.6,522,3574,0.00,1.12,24.15,0.578,8740,0.000,0.039,2920,1089,2284,2404,2164,0,0,0,0,0,0,26.92,26.23,25.63
$GC,3638,1.09,134.9,2919,1089,2389,2154,65.1,9.1,538,3646,0.00,1.08,2.55,0.454,9254,0.000,0.029,2917,1801,2251,2375,2128,0,0,0,0,0,0,26.46,26.44,25.03
$GC,3775,1.11,154.8,2916,1801,2380,2128,54.4,8.0,563,3812,0.10,1.08,31.12,0.545,10532,0.162,0.037,2937,2499,2163,2292,2035,0,0,0,0,0,0,26.38,26.02,25.44
$GC,3999,1.12,162.4,2936,2499,2275,2021,30.6,9.4,604,4006,0.00,1.05,0.00,0.000,1062,0.000,0.032,2940,1790,2147,2274,2020,0,0,0,0,0,0,26.36,26.36,26.40
$GC,4138,1.15,185.1,2939,1790,2274,2019,17.8,7.7,629,4181,0.00,1.12,38.47,0.513,8484,0.000,0.036,2936,2509,2044,2183,1905,0,0,0,0,0,0,26.69,25.92,25.39
$GC,4194,1.15,190.7,2936,2509,2168,1889,12.7,9.6,637,4202,0.00,1.05,0.00,0.000,1062,0.000,0.031,2940,1807,2027,2167,1888,0,0,0,0,0,0,26.14,26.11,26.15
$GC,4327,1.23,252.4,2939,1807,2162,1884,5.5,3.6,662,4399,0.15,0.00,69.15,0.485,11042,0.152,0.000,2985,1808,1857,2002,1713,0,0,0,0,0,0,26.06,28.83,26.15
$STATE,4400,end climb,SURFACE_DEPTH_REACHED
$STATE,4400,begin surface coast
$FINISH,-0.5,1.014223
$STATE,4432,end surface coast,CONTROL_FINISHED_OK
$STATE,4432,begin surface
$SM_CCo,4449,194.62,0.612,1,0,550,551.92
$SM_CCo,4651,-0.03,0.763,0,0,549,551.92
$SM_CCo,4655,-0.25,0.187,0,0,550,551.92
$SM_GC,0.52,7.93,0.28,-0.25,0.059,0.050,0.187,179,2007,550,-7.39,-1.53,551.92,0,0,0,0,0,0,25.94,25.89,25.28
$IRIDIUM_FIX,4751.65,-12513.98,140921,081035
$TT8_MAMPS,0.021721,0.145306
$HUMID,53.70
$INTERNAL_PRESSURE,8.72826
$TCM_TEMP,15.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,211.0,38.2
$24V_AH,24.06,30.530
$10V_AH,10.23,16.528
$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,18.350,31.225,464.325,194.625,0.000,0.000,0.000,139.250,1.750,0.000,17.930,1482.079,925.725,701.486,1539.018,259.770,0.000,1506.262,0.000,1505.620,0.000,15.247,0.000
$DEVICE_MAMPS,202.725,58.140,578.340,612.000,0.000,0.000,0.000,91.035,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,390.865,1238.933,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,209720
$DATA_FILE_SIZE,33558,678
$CAP_FILE_SIZE,79886,0
$CFSIZE,260030464,236199936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.054,316.63,1
$GPS,140921,110201,4750.914,-12509.891,12,1.1,22,15.7,0.5,356.3,8,2.7