version: 66.14
glider: 204
mission: 9
dive: 26
start: 9 16 121 17 30 51
data:
$ID,204
$MISSION,9
$DIVE,26
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,600
$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,200
$T_MISSION,230
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,3600
$T_EPIRB,0
$USE_BATHY,-1
$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,541.92499
$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,1
$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,66
$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,97.5
$AH0_10V,83.800003
$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,-171.33574
$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,150
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$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,7.0
$CP_XMITPROFILE,7.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,50.0
$CP_NDIVE,1.0
$GPS1,160921,172433,4753.4390,-12514.4004,4,0.8,7,15.7,0.5,334.8,12,5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-59.2
$GPS2,160921,172954,4753.4917,-12514.3379,4,0.8,5,15.7,0.1,0.0,12,6.3
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,TRANSIT2
$TGT_LATLONG,4753.988,-12515.579
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,263.9,1794,-18.1,-10.000,-23.17,1779
$D_GRID,216
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.79,-116.8,166,2023,743,428,0.0,0.0,0,134,0.00,0.00,-105.90,0.011,16386,0.000,0.000,167,2021,3042,3030,3055,0,0,0,0,0,0,26.08,28.83,26.15
$GC,137,-0.79,-116.8,167,2021,3030,3056,3.8,-6.5,15,160,8.38,1.10,-5.03,0.021,18980,0.223,0.067,2322,1285,3277,3279,3276,0,0,0,0,0,0,25.65,24.46,25.84
$GC,387,-0.79,-116.8,2321,1285,3286,3275,45.7,-12.1,62,394,0.00,1.05,0.00,0.000,1030,0.000,0.035,2318,1981,3280,3286,3274,0,0,0,0,0,0,26.36,26.33,26.39
$GC,525,-0.79,-116.8,2317,1981,3287,3274,61.2,-10.8,87,532,0.00,1.05,0.00,0.000,260,0.000,0.042,2312,2693,3280,3287,3274,0,0,0,0,0,0,26.48,26.35,26.57
$GC,682,-0.79,-116.8,2312,2693,3289,3274,77.4,-12.0,116,690,0.05,1.02,0.00,0.000,3078,0.210,0.031,2326,1973,3281,3289,3274,0,0,0,0,0,0,26.09,26.40,26.16
$GC,820,-0.79,-116.8,2325,1972,3289,3274,93.3,-11.7,141,828,0.00,0.95,0.00,0.000,516,0.000,0.039,2330,1322,3282,3290,3274,0,0,0,0,0,0,26.51,26.44,26.58
$GC,878,-0.79,-116.8,2330,1322,3290,3274,100.3,-11.9,151,882,0.00,1.02,0.00,0.000,1030,0.000,0.095,2327,2003,3281,3289,3274,0,0,0,0,0,0,26.48,26.46,26.51
$GC,1010,-0.79,-116.8,2326,2003,3290,3274,114.7,-10.2,165,1015,0.00,1.02,0.00,0.000,260,0.000,0.103,2322,2697,3282,3290,3274,0,0,0,0,0,0,26.59,26.30,26.65
$GC,1056,-0.79,-116.8,2321,2697,3290,3274,119.6,-10.2,174,1064,0.00,1.00,0.00,0.000,1030,0.000,0.031,2325,1994,3282,3290,3274,0,0,0,0,0,0,26.55,26.53,26.57
$GC,1184,-0.79,-116.8,2324,1993,3290,3274,131.6,-9.4,187,1188,0.00,1.00,0.00,0.000,548,0.000,0.042,2330,1313,3282,3290,3274,0,0,0,0,0,0,26.48,26.46,26.53
$GC,1281,-0.79,-116.8,2330,1314,3291,3274,141.0,-9.3,206,1288,0.00,1.02,0.00,0.000,1062,0.000,0.035,2326,2001,3282,3290,3274,0,0,0,0,0,0,26.55,26.53,26.60
$GC,1409,-0.79,-116.8,2326,2001,3290,3274,153.1,-9.8,219,1412,0.00,1.02,0.00,0.000,548,0.000,0.046,2330,1314,3282,3290,3274,0,0,0,0,0,0,26.66,26.48,26.72
$GC,1453,-0.79,-116.8,2330,1314,3291,3273,157.4,-9.8,227,1457,0.00,1.00,0.00,0.000,1062,0.000,0.036,2327,1986,3282,3291,3274,0,0,0,0,0,0,26.54,26.54,26.59
$GC,1585,-0.79,-116.8,2326,1987,3290,3273,170.4,-9.7,241,1587,0.00,0.00,0.00,0.000,38,0.000,0.000,2327,1987,3282,3291,3273,0,0,0,0,0,0,26.62,26.66,26.65
$GC,1706,-0.79,-116.8,2326,1986,3291,3273,182.0,-9.8,253,1711,0.00,1.00,0.00,0.000,548,0.000,0.037,2330,1315,3281,3290,3273,0,0,0,0,0,0,26.65,26.50,26.70
$GC,1750,-0.79,-116.8,2330,1315,3291,3273,186.6,-10.1,261,1754,0.00,1.02,0.00,0.000,1030,0.000,0.036,2327,2003,3282,3291,3273,0,0,0,0,0,0,26.57,26.54,26.61
$GC,1882,-0.79,-116.8,2326,2003,3290,3273,200.6,-10.7,275,1886,0.00,1.00,0.00,0.000,260,0.000,0.044,2322,2690,3281,3290,3273,0,0,0,0,0,0,26.63,26.47,26.68
$GC,1934,-0.79,-116.8,2321,2690,3290,3273,206.4,-10.9,285,1939,0.00,0.98,0.00,0.000,1030,0.000,0.032,2325,1998,3281,3290,3273,0,0,0,0,0,0,26.63,26.57,26.63
$STATE,2026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2027,begin apogee
$GC,2032,-0.18,0.0,2326,1789,3291,3272,216.7,-11.3,295,2209,0.65,0.00,173.18,0.580,10246,0.156,0.000,2521,1788,2802,2857,2748,0,0,0,0,0,0,25.95,25.22,24.68
$STATE,2214,end apogee,CONTROL_FINISHED_OK
$STATE,2214,begin climb
$GC,2215,0.79,116.8,2521,1788,2840,2733,223.5,0.0,313,2409,1.00,0.00,184.32,0.546,10502,0.115,0.000,2829,1787,2316,2445,2187,0,0,0,0,0,0,25.31,25.02,24.53
$GC,2535,0.80,128.2,2829,1787,2415,2162,203.7,9.3,356,2539,0.00,1.08,0.00,0.000,292,0.000,0.041,2826,2489,2288,2415,2161,0,0,0,0,0,0,25.84,25.76,25.90
$GC,2643,0.81,138.3,2825,2489,2413,2157,193.6,9.4,377,2670,0.00,0.98,21.25,0.613,9254,0.000,0.036,2829,1834,2230,2366,2095,0,0,0,0,0,0,26.08,26.02,25.03
$GC,2792,0.81,138.3,2829,1834,2347,2081,178.8,10.4,394,2796,0.00,1.12,0.00,0.000,516,0.000,0.052,2835,1109,2213,2347,2080,0,0,0,0,0,0,26.19,26.03,26.22
$GC,2835,0.81,138.3,2834,1109,2347,2080,173.8,11.1,402,2839,0.00,1.05,0.00,0.000,1030,0.000,0.034,2831,1801,2213,2346,2080,0,0,0,0,0,0,26.15,26.13,26.17
$GC,2969,0.81,139.5,2831,1801,2345,2080,160.2,9.9,416,2973,0.00,1.02,0.00,0.000,292,0.000,0.042,2826,2486,2212,2345,2080,0,0,0,0,0,0,26.34,26.20,26.39
$GC,3022,0.83,148.4,2825,2486,2343,2079,155.0,9.5,426,3028,0.05,1.00,0.00,0.000,3110,0.177,0.037,2843,1806,2211,2344,2079,0,0,0,0,0,0,26.02,26.28,26.08
$GC,3156,0.83,148.4,2842,1806,2343,2079,142.0,10.0,440,3160,0.00,1.08,0.00,0.000,516,0.000,0.045,2848,1098,2211,2343,2079,0,0,0,0,0,0,26.46,26.29,26.52
$GC,3250,0.83,148.4,2848,1098,2343,2079,131.4,11.5,458,3254,0.00,1.05,0.00,0.000,1030,0.000,0.034,2845,1800,2210,2342,2079,0,0,0,0,0,0,26.39,26.38,26.43
$GC,3384,0.83,148.4,2845,1800,2342,2079,115.9,11.8,472,3388,0.00,1.02,0.00,0.000,260,0.000,0.042,2840,2493,2210,2341,2079,0,0,0,0,0,0,26.52,26.38,26.56
$GC,3419,0.83,148.4,2839,2494,2341,2079,111.1,12.6,479,3427,0.00,1.00,0.00,0.000,1030,0.000,0.035,2843,1809,2210,2341,2079,0,0,0,0,0,0,26.46,26.43,26.48
$GC,3547,0.83,148.4,2843,1809,2341,2079,97.0,10.0,494,3555,0.00,1.08,0.00,0.000,516,0.000,0.112,2848,1105,2210,2341,2079,0,0,0,0,0,0,26.59,26.37,26.65
$GC,3609,0.84,158.4,2848,1105,2341,2079,91.0,9.4,505,3632,0.00,1.05,18.92,0.601,9254,0.000,0.035,2844,1806,2154,2290,2018,0,0,0,0,0,0,26.44,26.40,25.46
$GC,3759,0.87,189.3,2844,1806,2269,1996,78.2,8.2,532,3802,0.08,0.00,38.88,0.554,10790,0.233,0.000,2859,1808,2027,2169,1886,0,0,0,0,0,0,26.14,25.77,25.25
$GC,3928,0.88,190.6,2860,1808,2147,1864,61.4,9.9,562,3936,0.00,1.02,0.00,0.000,292,0.000,0.043,2856,2486,2006,2147,1865,0,0,0,0,0,0,26.22,26.11,26.28
$GC,4054,0.88,190.6,2855,2486,2144,1864,48.2,11.1,585,4061,0.00,1.02,0.00,0.000,1030,0.000,0.036,2859,1795,2004,2144,1864,0,0,0,0,0,0,26.27,26.25,26.30
$GC,4190,0.88,190.6,2859,1795,2143,1862,34.1,10.5,610,4199,0.00,1.08,0.00,0.000,516,0.000,0.045,2865,1097,2002,2143,1862,0,0,0,0,0,0,26.41,26.27,26.46
$GC,4228,0.88,190.6,2864,1097,2143,1862,30.0,11.0,616,4236,0.00,1.05,0.00,0.000,1030,0.000,0.034,2861,1798,2002,2143,1862,0,0,0,0,0,0,26.34,26.29,26.39
$GC,4362,0.93,235.2,2861,1798,2142,1862,18.4,7.4,641,4438,0.10,1.08,67.22,0.505,10788,0.154,0.041,2894,1098,1833,1979,1688,0,0,0,0,0,0,26.27,25.49,25.15
$STATE,4541,end climb,SURFACE_DEPTH_REACHED
$STATE,4541,begin surface coast
$FINISH,-0.1,1.025756
$STATE,4563,end surface coast,CONTROL_FINISHED_OK
$STATE,4563,begin surface
$SM_CCo,4583,179.35,0.620,1,0,587,542.11
$SM_GC,0.58,7.53,1.40,179.35,0.054,0.030,0.620,168,1989,587,-7.40,-1.64,542.11,0,0,0,0,1,0,26.15,26.08,24.44
$IRIDIUM_FIX,4754.02,-12511.36,160921,160404
$TT8_MAMPS,0.021721,0.146804
$HUMID,53.58
$INTERNAL_PRESSURE,8.72826
$TCM_TEMP,15.20
$XPDR_PINGS,0
$CP_FREE,119477403648.000000
$CP_POWER,323.310000
$CP_POWER1,0.000000
$24V_AH,24.44,3.346
$10V_AH,10.20,1.662
$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,17.825,35.675,503.775,179.350,0.000,0.000,0.000,203.125,1.750,0.000,17.935,1514.745,955.403,715.852,1676.831,265.535,0.000,1594.390,0.000,1529.161,0.000,12.735,0.000
$DEVICE_MAMPS,233.325,112.455,612.765,619.650,0.000,0.000,0.000,99.450,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,402.816,1274.659,0.000,0.000,0.000,0.000,4388.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,154120
$DATA_FILE_SIZE,33489,675
$CAP_FILE_SIZE,88549,0
$CFSIZE,260030464,248860672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.050,36.75,1
$GPS,160921,185119,4753.641,-12514.927,12,1.2,15,15.7,0.9,111.9,9,9.5