version: 66.14
glider: 640
mission: 7
dive: 94
start: 11 4 119 16 50 20
data:
$ID,640
$MISSION,7
$DIVE,94
$N_DIVES,110
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,29
$D_BOOST,20
$T_BOOST,0
$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,170
$T_ABORT,200
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,60
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54568
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,3
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-53
$TGT_DEFAULT_LON,0
$TGT_AUTO_DEFAULT,0
$SM_CC,190
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,9
$NOCOMM_ACTION,257
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$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,312
$PITCH_MAX,3939
$C_PITCH,2525
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,33
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,217
$ROLL_MAX,3851
$ROLL_DEG,40
$C_ROLL_DIVE,1880
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,602
$VBD_MAX,3962
$C_VBD,2200
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-153.32021
$PRESSURE_SLOPE,0.000109596
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,-0.60000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042913505
$SEABIRD_T_H,0.0006241572
$SEABIRD_T_I,2.261318e-05
$SEABIRD_T_J,2.3234288e-06
$SEABIRD_C_G,-9.9638939
$SEABIRD_C_H,1.1586393
$SEABIRD_C_I,-0.0016194879
$SEABIRD_C_J,0.00021882902
$SEABIRD_C_Z,2936.1499
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,041119,164301,-5411.1548,-2.3591,16,1.0,39,-20.4,0.0,197.3,9,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-68.7
$GPS2,041119,165003,-5411.1777,-2.3072,7,1.0,20,-20.4,0.5,343.7,9,9.5
$SPEED_LIMITS,0.192,0.192
$TGT_NAME,SOUTH
$TGT_LATLONG,-5430.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,207.9,34947,-27.9,-11.111,-30.00,1023
$D_GRID,500
$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,int_press,humidity
$STATE,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-0.92,-58.4,233,1890,1430,1433,0.0,0.0,0,74,0.00,0.00,-60.45,0.000,16390,0.000,0.000,232,1889,2440,2440,2441,0,0,0,0,0,0,14.65,13.66,14.66,8.54,65.86
$GC,75,-0.92,-58.4,234,1890,2442,2441,2.7,-3.2,11,88,6.25,2.42,0.00,0.000,2308,0.369,0.051,2202,3294,2441,2443,2440,0,0,0,0,0,0,14.25,14.47,14.42,8.64,64.76
$GC,297,-0.92,-58.4,2204,3294,2446,2439,42.8,-20.2,55,304,0.05,2.42,0.00,0.000,3078,0.369,0.044,2218,1880,2441,2444,2439,0,0,0,0,0,0,14.39,14.55,14.54,8.64,64.25
$GC,333,-0.92,-58.4,2219,1880,2446,2439,50.1,-20.3,62,340,0.00,2.50,0.00,0.000,2564,0.000,0.063,2218,475,2442,2446,2438,0,0,0,0,0,0,14.73,14.50,14.74,8.64,64.37
$GC,364,-0.92,-58.4,2216,475,2444,2438,56.7,-20.3,68,372,0.05,2.40,0.00,0.000,3078,0.399,0.042,2222,1872,2441,2445,2438,0,0,0,0,0,0,14.37,14.52,14.52,8.64,63.93
$GC,401,-0.92,-58.4,2223,1872,2447,2439,63.6,-19.1,75,408,0.00,2.45,0.00,0.000,2308,0.000,0.065,2211,3288,2441,2445,2437,0,0,0,0,0,0,14.75,14.56,14.75,8.64,63.74
$GC,432,-0.92,-58.4,2211,3289,2445,2438,69.6,-18.9,81,439,0.05,2.40,0.00,0.000,3078,0.398,0.045,2221,1884,2441,2445,2437,0,0,0,0,0,0,14.40,14.57,14.55,8.64,63.34
$GC,468,-0.92,-58.4,2220,1886,2446,2438,76.5,-19.0,88,476,0.00,2.50,0.00,0.000,2564,0.000,0.063,2221,480,2441,2445,2437,0,0,0,0,0,0,14.76,14.52,14.76,8.64,63.66
$GC,505,-0.92,-58.4,2222,479,2447,2438,83.9,-19.8,95,513,0.03,2.40,0.00,0.000,3078,0.496,0.041,2216,1879,2441,2445,2437,0,0,0,0,0,0,14.38,14.56,14.54,8.64,63.54
$GC,541,-0.92,-58.4,2218,1880,2445,2438,90.9,-19.6,102,548,0.00,2.47,0.00,0.000,2308,0.000,0.068,2204,3278,2441,2445,2437,0,0,0,0,0,0,14.76,14.56,14.76,8.64,63.34
$GC,582,-0.92,-58.4,2204,3278,2447,2438,98.9,-19.2,110,589,0.08,2.38,0.00,0.000,3078,0.367,0.046,2224,1886,2441,2445,2437,0,0,0,0,0,0,14.42,14.59,14.57,8.64,63.42
$GC,623,-0.92,-58.4,2223,1887,2446,2438,106.7,-19.1,115,629,0.00,2.50,0.00,0.000,2564,0.000,0.064,2224,478,2441,2445,2437,0,0,0,0,0,0,14.78,14.53,14.78,8.64,63.50
$GC,653,-0.92,-58.4,2222,479,2446,2438,112.7,-20.0,118,659,0.03,2.40,0.00,0.000,3078,0.491,0.041,2219,1878,2441,2445,2437,0,0,0,0,0,0,14.38,14.56,14.54,8.64,62.79
$GC,723,-0.92,-58.4,2219,1880,2454,2438,126.4,-19.6,125,724,0.00,0.00,0.00,0.000,2054,0.000,0.000,2219,1879,2441,2445,2437,0,0,0,0,0,0,14.79,14.80,14.79,8.64,62.87
$GC,784,-0.92,-58.4,2218,1880,2445,2437,138.2,-19.6,131,789,0.00,2.47,0.00,0.000,2564,0.000,0.061,2219,481,2441,2445,2437,0,0,0,0,0,0,14.81,14.57,14.81,8.63,64.21
$GC,833,-0.92,-58.4,2220,481,2447,2438,148.6,-20.9,136,839,0.05,2.40,0.00,0.000,3078,0.414,0.041,2221,1878,2439,2445,2434,0,0,0,0,0,0,14.41,14.58,14.57,8.64,63.27
$GC,903,-0.92,-58.4,2222,1878,2447,2438,162.8,-20.1,143,909,0.00,2.47,0.00,0.000,2308,0.000,0.069,2210,3285,2441,2445,2437,0,0,0,0,0,0,14.82,14.57,14.82,8.63,63.78
$GC,958,-0.92,-58.4,2211,3285,2447,2438,171.9,-18.0,148,967,0.05,2.40,0.00,0.000,3078,0.416,0.047,2221,1877,2441,2445,2437,0,0,0,0,0,0,14.45,14.62,14.61,8.65,64.09
$GC,1023,-0.92,-58.4,2221,1877,2445,2437,183.8,-17.1,155,1029,0.00,2.47,0.00,0.000,2564,0.000,0.066,2221,480,2441,2445,2437,0,0,0,0,0,0,14.82,14.58,14.83,8.64,64.01
$GC,1088,-0.92,-58.4,2222,480,2447,2438,194.9,-18.2,161,1097,0.03,2.40,0.00,0.000,3078,0.490,0.042,2217,1885,2441,2445,2437,0,0,0,0,0,0,14.42,14.60,14.57,8.64,63.93
$GC,1153,-0.92,-58.4,2217,1886,2447,2438,207.5,-18.7,168,1154,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,1886,2441,2445,2437,0,0,0,0,0,0,14.83,14.83,14.84,8.64,64.45
$GC,1213,-0.92,-58.4,2216,1887,2445,2437,218.9,-18.8,174,1219,0.00,2.45,0.00,0.000,2308,0.000,0.064,2204,3287,2441,2445,2437,0,0,0,0,0,0,14.83,14.59,14.83,8.64,64.76
$GC,1253,-0.92,-58.4,2203,3288,2445,2437,226.0,-18.0,178,1260,0.08,2.40,0.00,0.000,3078,0.386,0.045,2225,1870,2440,2445,2436,0,0,0,0,0,0,14.45,14.61,14.59,8.64,65.35
$GC,1323,-0.92,-58.4,2225,1871,2447,2437,237.1,-15.9,185,1329,0.00,2.45,0.00,0.000,2564,0.000,0.065,2224,482,2440,2445,2436,0,0,0,0,0,0,14.84,14.59,14.84,8.64,65.35
$GC,1433,-0.92,-58.4,2225,483,2447,2437,255.9,-16.9,196,1439,0.00,2.40,0.00,0.000,3078,0.000,0.041,2213,1887,2440,2445,2436,0,0,0,0,0,0,14.66,14.62,14.68,8.65,65.98
$GC,1503,-0.92,-58.4,2213,1889,2445,2435,266.6,-15.0,203,1509,0.05,2.50,0.00,0.000,2564,0.514,0.062,2224,477,2440,2445,2436,0,0,0,0,0,0,14.49,14.60,14.71,8.65,66.02
$GC,1538,-0.92,-58.4,2224,477,2445,2436,271.0,-15.0,206,1546,0.03,2.38,0.00,0.000,3078,0.477,0.041,2219,1874,2440,2445,2436,0,0,0,0,0,0,14.45,14.64,14.60,8.66,65.75
$GC,1603,-0.92,-58.4,2220,1874,2447,2437,280.7,-13.8,213,1604,0.00,0.00,0.00,0.000,2054,0.000,0.000,2219,1874,2440,2445,2436,0,0,0,0,0,0,14.85,14.85,14.85,8.66,66.22
$GC,1663,-0.92,-58.4,2219,1876,2445,2436,289.0,-13.9,219,1669,0.00,2.47,0.00,0.000,2564,0.000,0.062,2219,474,2440,2445,2436,0,0,0,0,0,0,14.85,14.61,14.85,8.66,66.22
$GC,1728,-0.92,-58.4,2220,472,2447,2436,297.8,-14.6,225,1736,0.05,2.40,0.00,0.000,3078,0.404,0.040,2221,1881,2440,2445,2436,0,0,0,0,0,0,14.45,14.66,14.61,8.66,66.26
$GC,1803,-0.92,-58.4,2220,1883,2445,2436,308.4,-13.1,231,1804,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,1882,2440,2445,2435,0,0,0,0,0,0,14.85,14.85,14.85,8.67,66.57
$GC,1923,-0.92,-58.4,2227,1882,2447,2437,323.4,-12.5,239,1929,0.00,2.47,0.00,0.000,2564,0.000,0.060,2219,478,2440,2445,2435,0,0,0,0,0,0,14.86,14.63,14.86,8.67,66.49
$GC,1988,-0.92,-58.4,2221,478,2447,2436,331.4,-13.4,243,1994,0.05,2.38,0.00,0.000,3078,0.402,0.040,2223,1879,2440,2445,2435,0,0,0,0,0,0,14.46,14.69,14.62,8.67,67.28
$GC,2118,-0.92,-58.4,2222,1881,2445,2436,347.7,-12.1,252,2124,0.00,2.42,0.00,0.000,2308,0.000,0.063,2212,3275,2439,2444,2435,0,0,0,0,0,0,14.87,14.62,14.86,8.68,67.09
$GC,2183,-0.92,-58.4,2211,3276,2446,2435,355.1,-12.4,256,2189,0.03,2.35,0.00,0.000,3078,0.493,0.044,2217,1882,2440,2445,2435,0,0,0,0,0,0,14.46,14.69,14.62,8.68,66.97
$GC,2313,-0.92,-58.4,2218,1882,2447,2435,371.1,-11.7,265,2320,0.00,2.47,0.00,0.000,2564,0.000,0.063,2218,479,2440,2445,2435,0,0,0,0,0,0,14.87,14.66,14.88,8.68,67.12
$GC,2393,-0.92,-58.4,2218,478,2447,2436,380.2,-11.8,270,2400,0.05,2.38,0.00,0.000,3078,0.395,0.040,2221,1880,2440,2445,2435,0,0,0,0,0,0,14.48,14.65,14.63,8.68,66.85
$GC,2524,-0.92,-58.4,2222,1881,2447,2436,394.8,-10.9,279,2530,0.00,2.45,0.00,0.000,2308,0.000,0.063,2210,3286,2440,2445,2435,0,0,0,0,0,0,14.88,14.65,14.88,8.69,66.61
$GC,2594,-0.92,-58.4,2211,3286,2446,2436,401.5,-11.3,283,2602,0.05,2.38,0.00,0.000,3078,0.419,0.044,2223,1873,2440,2445,2435,0,0,0,0,0,0,14.47,14.65,14.63,8.69,67.56
$GC,2719,-0.92,-58.4,2224,1873,2447,2435,416.7,-11.2,292,2725,0.00,2.45,0.00,0.000,2564,0.000,0.063,2223,481,2439,2445,2434,0,0,0,0,0,0,14.88,14.65,14.88,8.68,67.36
$GC,2764,-0.92,-58.4,2223,481,2445,2436,422.1,-11.9,295,2770,0.00,2.38,0.00,0.000,3078,0.000,0.040,2213,1877,2439,2445,2434,0,0,0,0,0,0,14.70,14.66,14.71,8.69,67.12
$GC,2900,-0.92,-58.4,2213,1877,2447,2436,437.8,-11.7,304,2905,0.05,2.40,0.00,0.000,2308,0.495,0.062,2213,3283,2440,2445,2435,0,0,0,0,0,0,14.54,14.67,14.74,8.69,67.52
$GC,2934,-0.92,-58.4,2213,3285,2443,2435,441.4,-11.9,306,2941,0.03,2.38,0.00,0.000,3078,0.474,0.044,2219,1880,2440,2445,2435,0,0,0,0,0,0,14.49,14.66,14.64,8.70,67.09
$GC,3065,-0.92,-58.4,2221,1880,2447,2435,457.6,-12.0,315,3070,0.00,2.45,0.00,0.000,2564,0.000,0.063,2220,484,2440,2445,2435,0,0,0,0,0,0,14.88,14.66,14.88,8.70,67.48
$GC,3210,-0.92,-58.4,2220,484,2447,2436,475.0,-12.9,324,3217,0.05,2.35,0.00,0.000,3078,0.399,0.040,2225,1871,2440,2445,2435,0,0,0,0,0,0,14.50,14.67,14.66,8.70,67.36
$GC,3335,-0.92,-58.4,2225,1871,2447,2436,491.6,-12.2,333,3336,0.00,0.00,0.00,0.000,2054,0.000,0.000,2225,1872,2440,2446,2435,0,0,0,0,0,0,14.88,14.88,14.88,8.70,66.89
$STATE,3409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3409,begin apogee
$GC,3412,-0.15,0.0,2225,1873,2446,2435,500.6,-11.8,338,3461,0.70,0.00,46.33,2.226,10246,0.280,0.000,2470,1872,2198,2219,2177,0,0,0,0,0,0,14.55,14.21,13.42,8.70,67.20
$STATE,3462,end apogee,CONTROL_FINISHED_OK
$STATE,3462,begin climb
$GC,3463,0.92,58.4,2470,1874,2219,2177,503.2,0.0,341,3524,0.90,2.58,51.22,2.218,10500,0.185,0.060,2807,3298,1957,1978,1937,0,0,0,0,0,0,14.14,13.78,13.14,8.69,67.01
$GC,3553,0.95,84.3,2808,3298,1980,1938,497.1,8.5,347,3579,0.00,2.47,21.30,2.095,11270,0.000,0.043,2818,1906,1854,1877,1832,0,0,0,0,0,0,14.13,14.09,13.20,8.68,64.80
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$STATE,7287,end climb,SURFACE_DEPTH_REACHED
$STATE,7287,begin surface coast
$FINISH,0.7,1.027267
$STATE,7308,end surface coast,CONTROL_FINISHED_OK
$STATE,7308,begin surface
$SM_CCo,7320,38.88,0.282,0,0,1423,190.10
$SM_GC,1.03,6.38,0.00,38.88,0.114,0.000,0.282,247,1904,1423,-6.83,0.65,190.10,0,0,0,0,0,0,14.63,14.76,14.42
$IRIDIUM_FIX,-5409.81,-3.68,041119,142056
$TT8_MAMPS,0.038948,0.77147
$HUMID,63.70
$INTERNAL_PRESSURE,8.48201
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3863616
$24V_AH,13.14,35.574
$10V_AH,13.15,0.000
$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,15.625,194.175,159.000,38.875,0.000,23.759,25.794,238.641,0.000,0.000,21.857,0.000,4772.908,589.153,2286.209,127.401,0.000,1415.068,0.000,1406.681,0.000,0.536,0.000
$DEVICE_MAMPS,622.710,68.850,2226.150,282.285,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7318.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,37.925,0.000,0.000,0.000
$MEM,344768
$DATA_FILE_SIZE,20787,752
$CAP_FILE_SIZE,163379,0
$CFSIZE,1023623168,1004929024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$INTR,0,3568.51,0x235ad2,1,24
$CURRENT,0.040,46.82,1
$GPS,041119,185401,-5411.753,-2.231,20,0.9,43,-20.4,0.2,303.8,9,5.6