version: 66.14
glider: 204
mission: 7
dive: 7
start: 8 29 121 6 7 20
data:
$ID,204
$MISSION,7
$DIVE,7
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,450
$D_ABORT,475
$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,150
$T_MISSION,175
$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,613.25
$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,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,42
$R_STBD_OVSHOOT,36
$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,12.0
$CP_NDIVE,1.0
$GPS1,290821,054911,4750.0610,-12510.0234,18,1.3,32,15.7,0.2,0.0,8,10.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-61.6
$GPS2,290821,060622,4749.8994,-12510.0225,5,1.2,13,15.7,0.5,193.7,9,10.0
$SPEED_LIMITS,0.173,0.173
$TGT_NAME,HOLD
$TGT_LATLONG,4749.112,-12507.490
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,65.1,3470,-20.4,-10.000,-29.97,2211
$D_GRID,279
$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,22,begin dive
$GC,25,-0.68,-146.0,173,2152,960,658,0.0,0.0,0,121,0.00,0.00,-93.75,0.010,16386,0.000,0.000,173,2153,3067,3060,3075,0,0,0,0,0,0,26.31,28.83,26.38
$GC,124,-0.68,-146.0,173,2153,3060,3075,4.0,-7.2,13,154,8.32,2.22,-11.23,0.013,18980,0.211,0.060,2387,746,3647,3649,3646,0,0,0,0,0,0,25.94,24.95,26.08
$GC,286,-0.70,-146.0,2386,746,3653,3645,36.6,-15.8,42,294,0.00,2.17,0.00,0.000,1158,0.000,0.039,2379,2156,3649,3653,3645,0,0,0,0,0,0,26.43,26.32,26.38
$GC,481,-0.72,-146.0,2378,2156,3655,3645,66.3,-16.2,79,488,0.00,2.17,0.00,0.000,388,0.000,0.049,2368,3555,3649,3654,3644,0,0,0,0,0,0,26.50,26.41,26.58
$GC,521,-0.75,-146.0,2367,3555,3655,3644,72.9,-16.0,86,530,0.00,2.12,0.00,0.000,1158,0.000,0.031,2376,2134,3650,3655,3645,0,0,0,0,0,0,26.50,26.48,26.52
$GC,716,-0.78,-146.0,2376,2132,3656,3644,100.4,-13.0,123,722,0.00,2.10,0.00,0.000,644,0.000,0.042,2387,763,3650,3656,3644,0,0,0,0,0,0,26.44,26.47,26.52
$GC,820,-0.81,-146.0,2386,764,3655,3644,112.9,-10.7,142,828,0.00,2.12,0.00,0.000,1158,0.000,0.035,2379,2154,3650,3656,3644,0,0,0,0,0,0,26.56,26.53,26.58
$GC,1128,-0.85,-146.0,2378,2154,3656,3643,147.9,-11.6,173,1132,0.00,2.12,0.00,0.000,388,0.000,0.054,2368,3555,3649,3656,3643,0,0,0,0,0,0,26.69,26.48,26.74
$GC,1164,-0.89,-146.0,2367,3555,3656,3643,152.5,-11.6,180,1173,0.08,2.10,0.00,0.000,5254,0.116,0.064,2349,2154,3649,3656,3643,0,0,0,0,0,0,26.43,26.58,26.54
$GC,1473,-0.92,-146.0,2348,2151,3656,3641,193.6,-13.4,211,1477,0.00,2.10,0.00,0.000,644,0.000,0.044,2357,753,3648,3656,3641,0,0,0,0,0,0,26.64,26.58,26.70
$GC,1584,-0.95,-146.0,2356,753,3656,3641,208.4,-13.2,232,1592,0.05,2.15,0.00,0.000,5254,0.119,0.071,2326,2158,3648,3656,3641,0,0,0,0,0,0,26.46,26.60,26.54
$GC,1891,-0.95,-146.0,2325,2158,3656,3639,252.0,-14.1,263,1895,0.00,2.12,0.00,0.000,516,0.000,0.044,2335,748,3648,3656,3640,0,0,0,0,0,0,26.75,26.59,26.81
$GC,1948,-0.96,-146.0,2334,747,3656,3640,260.1,-13.3,274,1957,0.00,2.12,0.00,0.000,1158,0.000,0.035,2326,2144,3648,3657,3639,0,0,0,0,0,0,26.65,26.62,26.68
$STATE,2093,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2093,begin apogee
$GC,2098,-0.17,0.0,2326,2145,3656,3638,279.6,-13.4,289,2286,0.73,0.00,178.02,0.838,10246,0.160,0.000,2543,2146,3049,3114,2985,0,0,0,0,1,0,26.26,24.72,23.92
$STATE,2291,end apogee,CONTROL_FINISHED_OK
$STATE,2291,begin climb
$GC,2293,0.68,146.0,2543,2147,3118,2990,287.5,0.0,308,2566,0.93,2.42,262.88,0.558,11012,0.123,0.040,2830,702,2452,2559,2345,0,0,0,0,0,0,24.98,25.06,24.60
$GC,2812,0.70,194.1,2829,702,2540,2330,270.6,7.8,407,2894,0.00,2.20,74.85,0.586,9382,0.000,0.038,2821,2103,2255,2376,2134,0,0,0,0,0,0,26.01,25.96,24.85
$GC,3202,0.75,241.1,2821,2103,2329,2101,239.6,7.8,454,3276,0.10,2.22,66.20,0.575,10916,0.190,0.046,2851,714,2060,2187,1934,0,0,0,0,0,0,25.95,25.31,25.03
$GC,3445,0.79,241.1,2850,714,2151,1910,216.7,10.3,500,3448,0.00,2.15,0.00,0.000,1158,0.000,0.037,2843,2110,2030,2151,1910,0,0,0,0,0,0,26.06,26.01,26.08
$GC,3757,0.83,241.1,2842,2111,2148,1908,185.8,10.3,532,3761,0.12,2.17,0.00,0.000,2692,0.176,0.047,2885,711,2028,2148,1908,0,0,0,0,0,0,26.13,26.22,26.25
$GC,3866,0.84,241.1,2884,711,2148,1908,173.1,12.0,553,3873,0.00,2.15,0.00,0.000,1158,0.000,0.038,2876,2098,2028,2148,1908,0,0,0,0,0,0,26.37,26.34,26.43
$GC,4172,0.87,241.1,2876,2097,2145,1908,137.4,12.0,584,4176,0.00,2.15,0.00,0.000,644,0.000,0.049,2885,707,2026,2145,1907,0,0,0,0,0,0,26.55,26.36,26.61
$GC,4247,0.87,241.1,2884,707,2146,1908,128.5,12.4,598,4252,0.00,2.10,0.00,0.000,1030,0.000,0.037,2876,2103,2027,2146,1908,0,0,0,0,0,0,26.52,26.45,26.53
$GC,4558,0.89,241.1,2875,2103,2144,1908,92.2,11.2,635,4565,0.00,2.20,0.00,0.000,644,0.000,0.047,2885,706,2026,2144,1908,0,0,0,0,0,0,26.63,26.49,26.69
$GC,4692,0.91,241.1,2885,705,2144,1908,76.8,11.4,659,4700,0.05,2.15,0.00,0.000,3206,0.138,0.069,2898,2103,2026,2144,1908,0,0,0,0,0,0,26.38,26.55,26.47
$GC,4888,0.92,265.0,2897,2103,2143,1906,55.4,8.9,696,4924,0.00,2.25,29.92,0.571,8868,0.000,0.047,2908,703,1963,2089,1838,0,0,0,0,0,0,26.68,26.14,25.62
$GC,5004,0.94,265.0,2908,703,2056,1812,42.5,12.4,716,5012,0.00,2.15,0.00,0.000,1158,0.000,0.036,2900,2095,1933,2056,1811,0,0,0,0,0,0,26.34,26.31,26.36
$GC,5199,0.96,265.0,2899,2095,2053,1809,20.3,13.3,753,5206,0.00,2.22,0.00,0.000,388,0.000,0.056,2889,3509,1932,2054,1810,0,0,0,0,0,0,26.53,26.36,26.56
$GC,5235,0.99,265.0,2889,3509,2052,1808,15.5,12.9,759,5244,0.05,2.12,0.00,0.000,3206,0.131,0.036,2917,2113,1930,2052,1809,0,0,0,0,0,0,26.27,26.42,26.34
$GC,5432,1.01,386.3,2916,2109,2049,1809,2.5,4.4,796,5447,0.00,0.00,13.10,0.581,8866,0.000,0.000,2917,2109,1898,2024,1773,0,0,0,0,0,0,26.58,28.83,26.64
$STATE,5448,end climb,SURFACE_DEPTH_REACHED
$STATE,5448,begin surface coast
$FINISH,-0.5,1.023842
$STATE,5496,end surface coast,CONTROL_FINISHED_OK
$STATE,5496,begin surface
$SM_CCo,5514,228.45,0.666,1,0,551,613.50
$SM_GC,0.46,7.62,0.00,228.45,0.063,0.000,0.666,182,2109,551,-7.45,-1.16,613.50,0,0,0,0,1,0,26.41,26.63,24.50
$IRIDIUM_FIX,4747.58,-12510.28,290821,060139
$TT8_MAMPS,0.02247,0.181258
$HUMID,54.33
$INTERNAL_PRESSURE,8.73803
$TCM_TEMP,15.40
$XPDR_PINGS,0
$CP_FREE,127572213760.000000
$CP_POWER,316.690000
$CP_POWER1,0.000000
$24V_AH,23.92,3.448
$10V_AH,10.26,2.800
$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,18.050,56.325,624.975,228.450,0.000,0.000,0.000,629.075,0.000,0.000,25.593,1703.739,1654.826,811.856,2325.327,322.763,0.000,2223.406,0.000,1755.325,0.000,0.549,0.000
$DEVICE_MAMPS,211.140,71.145,837.675,665.550,0.000,0.000,0.000,105.570,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,457.898,1448.462,0.000,0.000,0.000,0.000,5261.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,212700
$DATA_FILE_SIZE,43446,807
$CAP_FILE_SIZE,94874,0
$CFSIZE,260030464,250306560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.132,162.99,1
$GPS,290821,074417,4749.512,-12509.258,17,0.9,26,15.7,0.3,0.0,8,10.0