version: 66.14
glider: 204
mission: 7
dive: 5
start: 8 29 121 2 22 16
data:
$ID,204
$MISSION,7
$DIVE,5
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,400
$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,120
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55575
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0019952599
$HD_B,0.022387199
$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,550
$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,2
$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,2620
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,3050
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$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
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$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
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$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,3.0
$CP_XMITPROFILE,3.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,8.0
$CP_NDIVE,1.0
$GPS1,290821,021535,4750.9189,-12511.2559,4,1.3,15,15.7,0.3,0.0,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-59.0
$GPS2,290821,022119,4750.9043,-12511.2695,5,1.3,17,15.7,0.4,0.0,10,10.0
$SPEED_LIMITS,0.173,0.173
$TGT_NAME,HOLD
$TGT_LATLONG,4749.112,-12507.490
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,77.9,5754,-20.4,-10.000,-29.97,2211
$D_GRID,303
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.68,-146.0,190,2156,657,438,0.0,0.0,0,133,0.00,0.00,-105.35,0.010,16386,0.000,0.000,191,2156,3066,3058,3075,0,0,0,0,0,0,26.31,28.83,26.38
$GC,136,-0.68,-146.0,190,2155,3058,3075,4.1,-8.0,15,166,8.25,2.22,-11.35,0.018,18980,0.210,0.063,2389,753,3650,3653,3647,0,0,0,0,0,0,25.97,24.87,26.15
$GC,345,-0.70,-146.0,2388,752,3654,3645,43.0,-14.5,53,352,0.00,2.15,0.00,0.000,1158,0.000,0.037,2381,2148,3650,3655,3645,0,0,0,0,0,0,26.43,26.39,26.46
$GC,538,-0.72,-146.0,2380,2148,3657,3643,67.9,-10.5,90,546,0.00,2.20,0.00,0.000,388,0.000,0.082,2371,3553,3650,3657,3644,0,0,0,0,0,0,26.51,26.39,26.60
$GC,616,-0.76,-146.0,2370,3553,3657,3643,75.4,-9.8,104,624,0.00,2.10,0.00,0.000,1190,0.000,0.034,2379,2149,3650,3657,3644,0,0,0,0,0,0,26.49,26.46,26.54
$GC,812,-0.79,-146.0,2378,2146,3657,3642,96.2,-10.8,141,819,0.00,2.15,0.00,0.000,644,0.000,0.043,2389,751,3650,3657,3643,0,0,0,0,0,0,26.48,26.50,26.56
$GC,912,-0.84,-146.0,2388,751,3657,3642,107.4,-11.0,159,915,0.00,2.10,0.00,0.000,1158,0.000,0.038,2381,2158,3649,3657,3642,0,0,0,0,0,0,26.60,26.53,26.63
$GC,1224,-0.88,-146.0,2380,2158,3657,3641,145.4,-12.3,191,1226,0.10,0.00,0.00,0.000,4230,0.144,0.000,2351,2160,3649,3657,3641,0,0,0,0,0,0,26.49,26.63,26.59
$GC,1525,-0.90,-146.0,2351,2160,3657,3639,183.6,-11.6,221,1529,0.00,2.12,0.00,0.000,644,0.000,0.044,2359,751,3648,3657,3639,0,0,0,0,0,0,26.73,26.54,26.79
$GC,1634,-0.93,-146.0,2360,751,3657,3639,195.7,-11.2,241,1637,0.00,2.10,0.00,0.000,1158,0.000,0.036,2352,2156,3647,3657,3638,0,0,0,0,0,0,26.68,26.61,26.70
$GC,1946,-0.96,-146.0,2351,2157,3657,3636,233.0,-13.3,273,1951,0.10,2.12,0.00,0.000,4484,0.151,0.047,2311,3557,3646,3657,3636,0,0,0,0,0,0,26.51,26.58,26.63
$GC,1992,-0.96,-146.0,2311,3558,3657,3635,239.6,-15.0,281,1996,0.00,2.05,0.00,0.000,1030,0.000,0.034,2320,2143,3646,3657,3636,0,0,0,0,0,0,26.72,26.67,26.74
$GC,2304,-0.96,-146.0,2319,2138,3657,3634,285.3,-14.5,313,2308,0.00,2.08,0.00,0.000,516,0.000,0.046,2325,759,3645,3657,3634,0,0,0,0,0,0,26.79,26.61,26.84
$GC,2392,-0.97,-146.0,2325,760,3657,3634,298.6,-15.0,330,2400,0.00,2.12,0.00,0.000,1158,0.000,0.036,2317,2149,3645,3657,3633,0,0,0,0,0,0,26.67,26.64,26.71
$STATE,2429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2429,begin apogee
$GC,2433,-0.17,0.0,2317,2150,3657,3633,303.8,-14.5,333,2576,0.80,0.00,135.05,1.028,10246,0.163,0.000,2549,2151,3048,3115,2982,0,0,0,0,1,0,26.20,24.77,23.95
$STATE,2581,end apogee,CONTROL_FINISHED_OK
$STATE,2581,begin climb
$GC,2582,0.68,146.0,2548,2151,3122,2986,310.1,0.0,340,2862,0.90,2.22,269.90,0.569,10500,0.125,0.045,2808,3512,2451,2563,2339,0,0,0,0,0,0,25.00,25.08,24.62
$GC,2987,0.71,215.9,2807,3512,2526,2326,303.9,6.8,420,3119,0.00,2.12,113.20,0.563,9382,0.000,0.036,2816,2115,2161,2287,2036,0,0,0,0,1,0,25.80,25.75,24.71
$GC,3419,0.76,267.8,2816,2115,2264,2028,273.0,7.6,476,3513,0.12,2.33,80.88,0.588,11172,0.168,0.053,2837,3503,1953,2084,1823,0,0,0,0,1,0,25.94,25.34,24.71
$GC,3636,0.81,274.0,2837,3504,2075,1823,253.0,9.7,517,3645,0.00,2.17,3.00,0.472,9382,0.000,0.037,2846,2110,1930,2057,1804,0,0,0,0,0,0,25.94,25.91,25.04
$GC,3944,0.86,279.6,2845,2109,2066,1807,224.3,9.7,548,3967,0.12,2.22,14.88,0.643,10916,0.177,0.048,2890,684,1908,2036,1780,0,0,0,0,0,0,26.10,25.79,25.42
$GC,4100,0.88,279.6,2889,684,2009,1755,206.0,12.1,576,4104,0.00,2.17,0.00,0.000,1158,0.000,0.037,2881,2109,1882,2009,1756,0,0,0,0,0,0,26.27,26.22,26.30
$GC,4412,0.91,279.6,2881,2110,2006,1755,169.9,11.4,608,4416,0.00,2.20,0.00,0.000,644,0.000,0.050,2890,693,1880,2006,1755,0,0,0,0,0,0,26.50,26.30,26.56
$GC,4537,0.93,279.6,2889,693,2004,1755,153.8,13.1,631,4545,0.05,2.17,0.00,0.000,3206,0.143,0.070,2902,2098,1880,2005,1755,0,0,0,0,0,0,26.27,26.43,26.34
$GC,4845,0.94,279.6,2902,2098,2004,1755,111.7,13.3,662,4852,0.00,0.00,0.00,0.000,134,0.000,0.000,2902,2098,1879,2004,1755,0,0,0,0,0,0,26.60,26.69,26.67
$GC,5159,0.96,279.6,2902,2098,2002,1755,70.3,13.9,715,5166,0.00,2.20,0.00,0.000,644,0.000,0.048,2913,699,1878,2002,1755,0,0,0,0,0,0,26.66,26.52,26.73
$GC,5271,0.97,279.6,2912,699,2002,1755,56.9,11.3,736,5279,0.00,2.15,0.00,0.000,1158,0.000,0.037,2904,2100,1878,2002,1755,0,0,0,0,0,0,26.61,26.58,26.63
$GC,5473,0.99,300.5,2904,2100,2002,1754,35.9,9.0,773,5512,0.00,2.17,25.60,0.542,8612,0.000,0.050,2893,3509,1818,1947,1690,0,0,0,0,1,0,26.71,26.23,25.72
$GC,5608,1.02,305.7,2893,3509,1932,1684,22.7,9.8,796,5617,0.08,2.17,0.00,0.000,3238,0.132,0.034,2928,2087,1807,1932,1683,0,0,0,0,0,0,26.24,26.40,26.32
$GC,5805,1.04,361.6,2928,2085,1931,1681,6.7,7.4,833,5877,0.00,0.00,63.95,0.559,8866,0.000,0.000,2928,2085,1630,1772,1489,0,0,0,0,1,0,26.53,28.83,25.42
$STATE,5877,end climb,SURFACE_DEPTH_REACHED
$STATE,5878,begin surface coast
$FINISH,-0.4,1.023717
$STATE,5905,end surface coast,CONTROL_FINISHED_OK
$STATE,5905,begin surface
$SM_CCo,5924,150.10,0.653,1,0,809,550.21
$SM_GC,0.46,7.80,0.08,150.10,0.064,0.107,0.653,181,2147,809,-7.45,-1.36,550.21,0,0,0,0,1,0,25.99,25.97,24.54
$IRIDIUM_FIX,4749.03,-12500.57,290821,021401
$TT8_MAMPS,0.021721,0.183505
$HUMID,56.89
$INTERNAL_PRESSURE,8.75756
$TCM_TEMP,15.30
$XPDR_PINGS,0
$CP_FREE,127654985728.000000
$CP_POWER,316.690000
$CP_POWER1,0.000000
$24V_AH,23.95,3.116
$10V_AH,10.25,2.659
$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,18.325,51.925,706.450,150.100,0.000,0.000,0.000,0.000,0.000,0.000,29.414,1769.422,1592.362,818.455,1761.536,257.531,0.000,1629.999,0.000,1827.216,0.000,0.548,0.000
$DEVICE_MAMPS,209.610,107.100,1028.160,652.545,0.000,0.000,0.000,0.000,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,470.642,1482.742,0.000,0.000,0.000,0.000,5624.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,212712
$DATA_FILE_SIZE,43452,848
$CAP_FILE_SIZE,106172,0
$CFSIZE,260030464,250531840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$CURRENT,0.083,161.23,1
$GPS,290821,040501,4750.559,-12510.608,10,0.9,40,15.7,0.6,222.8,9,5.9