version: 66.14
glider: 640
mission: 9
dive: 42
start: 1 16 122 9 26 20
data:
$ID,640
$MISSION,9
$DIVE,42
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,29
$D_BOOST,0
$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,330
$T_MISSION,370
$T_ABORT,500
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54330
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,180
$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,1
$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,2390
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,34
$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,1850
$C_ROLL_CLIMB,1770
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,602
$VBD_MAX,3962
$C_VBD,2930
$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,-154.12344
$PRESSURE_SLOPE,0.00014097099
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,-0.60000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,51
$DEVICE3,38
$DEVICE4,69
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$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,2.2613181e-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
$GPS1,160122,091847,-6357.1904,221.6558,65,1.0,106,-21.1,0.4,59.7,7,5.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-70.6
$GPS2,160122,092548,-6357.1719,221.7213,8,1.3,48,-21.1,0.0,167.2,6,5.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SOUTH
$TGT_LATLONG,-6430.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,197.1,60943,-18.3,-10.000,-21.04,2236
$D_GRID,990
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,6,-0.72,-146.0,220,1821,2189,2201,0.0,0.0,0,75,0.00,0.00,-66.95,0.000,16386,0.000,0.000,221,1821,3217,3187,3248,0,0,0,0,0,0,14.72,28.83,14.73,8.51,58.42
$GC,78,-0.72,-146.0,221,1819,3187,3249,3.6,-7.2,10,101,6.05,2.67,-9.48,0.000,18692,0.374,2.282,2168,3273,3527,3513,3542,0,0,0,0,0,0,14.37,13.74,14.59,8.62,57.71
$GC,148,-0.72,-146.0,2168,3273,3516,3544,19.5,-16.1,22,156,0.00,2.42,0.00,0.000,5126,0.000,0.065,2168,1872,3530,3516,3544,0,0,0,0,0,0,14.59,14.48,14.60,8.65,57.32
$GC,198,-0.72,-146.0,2168,1873,3516,3544,29.0,-20.7,31,206,0.00,2.58,0.00,0.000,4612,0.000,0.086,2168,435,3530,3516,3544,0,0,0,0,0,0,14.69,14.49,14.70,8.65,56.77
$GC,227,-0.72,-146.0,2167,435,3516,3545,35.0,-20.5,36,235,0.00,2.38,0.00,0.000,1030,0.000,0.054,2158,1816,3530,3516,3544,0,0,0,0,0,0,14.60,14.50,14.62,8.65,57.04
$GC,357,-0.72,-146.0,2157,1817,3516,3545,59.8,-17.6,61,364,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,1817,3530,3516,3545,0,0,0,0,0,0,14.73,14.73,14.73,8.65,56.97
$GC,667,-0.72,-146.0,2157,1817,3516,3545,118.1,-18.9,92,673,0.00,2.50,0.00,0.000,260,0.000,0.081,2147,3262,3531,3517,3545,0,0,0,0,0,0,14.81,14.60,14.81,8.64,56.41
$GC,729,-0.72,-146.0,2146,3261,3517,3545,128.7,-17.7,95,734,0.00,2.45,0.00,0.000,3078,0.000,0.066,2146,1847,3530,3516,3545,0,0,0,0,0,0,14.67,14.61,14.69,8.63,56.89
$GC,1047,-0.72,-146.0,2145,1848,3516,3545,187.9,-18.4,111,1053,0.00,2.47,0.00,0.000,2564,0.000,0.089,2145,438,3531,3517,3545,0,0,0,0,0,0,14.89,14.67,14.89,8.64,57.95
$GC,1115,-0.72,-146.0,2145,438,3517,3545,198.4,-17.8,114,1120,0.08,2.38,0.00,0.000,3078,0.377,0.050,2159,1854,3530,3517,3544,0,0,0,0,0,0,14.59,14.69,14.75,8.65,57.71
$GC,1428,-0.72,-146.0,2159,1855,3516,3545,252.8,-17.1,130,1434,0.00,2.42,0.00,0.000,260,0.000,0.083,2149,3259,3530,3516,3545,0,0,0,0,0,0,14.92,14.71,14.93,8.66,58.66
$GC,1508,-0.72,-146.0,2149,3259,3516,3545,265.2,-15.4,134,1514,0.00,2.38,0.00,0.000,3078,0.000,0.065,2149,1848,3530,3516,3545,0,0,0,0,0,0,14.83,14.72,14.84,8.66,58.50
$GC,1828,-0.72,-146.0,2149,1849,3516,3545,321.0,-17.7,150,1834,0.00,2.45,0.00,0.000,2564,0.000,0.089,2149,442,3530,3516,3545,0,0,0,0,0,0,14.96,14.74,14.96,8.67,59.05
$GC,1880,-0.72,-146.0,2148,441,3516,3545,328.1,-17.7,152,1890,0.05,2.40,0.00,0.000,3078,0.347,0.051,2156,1852,3530,3516,3545,0,0,0,0,0,0,14.62,14.73,14.74,8.67,59.01
$GC,2188,-0.72,-146.0,2155,1852,3516,3544,381.8,-17.1,168,2194,0.00,2.40,0.00,0.000,2308,0.000,0.083,2146,3258,3531,3517,3545,0,0,0,0,0,0,14.98,14.75,14.98,8.68,58.78
$GC,2256,-0.72,-146.0,2145,3258,3516,3545,391.3,-16.2,171,2260,0.00,2.40,0.00,0.000,3078,0.000,0.064,2146,1852,3530,3516,3545,0,0,0,0,0,0,14.83,14.76,14.85,8.67,58.78
$GC,2569,-0.72,-146.0,2145,1853,3516,3545,445.6,-17.3,187,2575,0.00,2.47,0.00,0.000,2564,0.000,0.091,2146,435,3530,3516,3545,0,0,0,0,0,0,15.00,14.77,15.00,8.67,59.25
$GC,2621,-0.72,-146.0,2145,435,3516,3545,452.6,-17.4,189,2630,0.05,2.40,0.00,0.000,3078,0.356,0.050,2152,1845,3530,3516,3545,0,0,0,0,0,0,14.66,14.77,14.77,8.68,58.70
$GC,2928,-0.72,-146.0,2152,1845,3516,3545,505.1,-16.4,205,2934,0.00,2.42,0.00,0.000,2308,0.000,0.083,2143,3262,3530,3516,3545,0,0,0,0,0,0,15.00,14.78,15.00,8.68,58.66
$GC,3010,-0.72,-146.0,2142,3261,3516,3545,517.0,-14.8,209,3016,0.00,2.40,0.00,0.000,3078,0.000,0.068,2142,1857,3530,3516,3544,0,0,0,0,0,0,14.84,14.78,14.86,8.68,58.70
$GC,3329,-0.72,-146.0,2142,1856,3516,3545,569.7,-16.7,225,3336,0.03,2.50,0.00,0.000,2564,0.638,0.088,2154,431,3530,3516,3545,0,0,0,0,0,0,14.70,14.78,14.88,8.68,59.21
$GC,3381,-0.72,-146.0,2154,431,3516,3545,576.2,-16.5,227,3389,0.00,2.42,0.00,0.000,3078,0.000,0.050,2146,1855,3530,3516,3545,0,0,0,0,0,0,14.83,14.78,14.85,8.69,59.25
$GC,3689,-0.72,-146.0,2145,1856,3516,3545,627.6,-16.5,243,3695,0.00,2.40,0.00,0.000,2308,0.000,0.083,2135,3258,3530,3516,3545,0,0,0,0,0,0,15.02,14.79,15.02,8.69,59.64
$GC,3769,-0.72,-146.0,2135,3256,3516,3545,639.6,-15.0,247,3776,0.08,2.38,0.00,0.000,3078,0.347,0.068,2161,1842,3530,3516,3545,0,0,0,0,0,0,14.73,14.80,14.88,8.69,59.25
$GC,4089,-0.72,-146.0,2161,1842,3516,3545,687.1,-14.9,263,4095,0.00,2.45,0.00,0.000,516,0.000,0.091,2161,441,3530,3516,3545,0,0,0,0,0,0,15.02,14.81,15.02,8.70,58.89
$GC,4157,-0.72,-146.0,2161,441,3516,3545,695.7,-14.5,266,4161,0.00,2.38,0.00,0.000,3078,0.000,0.050,2151,1849,3530,3516,3545,0,0,0,0,0,0,14.87,14.82,14.89,8.70,59.13
$GC,4469,-0.72,-146.0,2151,1849,3517,3545,744.0,-15.4,282,4473,0.00,2.40,0.00,0.000,2308,0.000,0.083,2141,3262,3531,3517,3545,0,0,0,0,0,0,15.04,14.81,15.04,8.70,59.17
$GC,4547,-0.72,-146.0,2140,3261,3517,3545,754.7,-14.0,286,4553,0.05,2.42,0.00,0.000,3078,0.313,0.068,2159,1845,3531,3517,3546,0,0,0,0,0,0,14.73,14.81,14.84,8.70,59.25
$GC,4865,-0.72,-146.0,2158,1844,3517,3545,801.8,-14.9,302,4869,0.00,2.47,0.00,0.000,516,0.000,0.093,2158,434,3531,3517,3545,0,0,0,0,0,0,15.04,14.83,15.05,8.70,58.86
$GC,4921,-0.72,-146.0,2158,434,3517,3545,810.0,-14.8,305,4927,0.00,2.35,0.00,0.000,3078,0.000,0.050,2147,1851,3531,3517,3545,0,0,0,0,0,0,14.95,14.85,14.95,8.70,59.56
$GC,5241,-0.72,-146.0,2148,1852,3517,3546,858.9,-15.6,321,5245,0.00,2.40,0.00,0.000,2308,0.000,0.083,2137,3265,3531,3517,3546,0,0,0,0,0,0,15.06,14.83,15.06,8.71,59.13
$GC,5321,-0.72,-146.0,2137,3264,3517,3546,869.6,-14.1,325,5326,0.08,2.38,0.00,0.000,3078,0.340,0.069,2164,1849,3531,3517,3546,0,0,0,0,0,0,14.78,14.84,14.92,8.71,59.33
$GC,5633,-0.72,-146.0,2164,1849,3517,3546,914.1,-14.4,341,5637,0.00,2.45,0.00,0.000,4612,0.000,0.095,2164,441,3531,3517,3546,0,0,0,0,0,0,15.06,14.84,15.07,8.71,59.13
$GC,5697,-0.72,-146.0,2163,441,3517,3546,921.9,-14.1,344,5701,0.00,2.38,0.00,0.000,3078,0.000,0.050,2155,1877,3531,3517,3546,0,0,0,0,0,0,14.96,14.86,14.97,8.71,58.89
$GC,6009,-0.72,-146.0,2155,1877,3517,3546,967.7,-14.7,360,6013,0.00,2.33,0.00,0.000,2308,0.000,0.083,2145,3253,3531,3517,3546,0,0,0,0,0,0,15.07,14.85,15.07,8.72,58.93
$GC,6068,-0.72,-146.0,2144,3252,3517,3546,975.4,-13.8,363,6072,0.00,2.40,0.00,0.000,3078,0.000,0.069,2144,1849,3531,3517,3546,0,0,0,0,0,0,14.91,14.84,14.92,8.72,59.25
$STATE,6184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6184,begin apogee
$GC,6188,-0.15,0.0,2144,1743,3517,3543,992.9,-15.0,369,6312,0.52,0.00,120.32,2.658,10246,0.242,0.000,2338,1741,2929,2929,2929,0,0,0,0,0,0,14.77,13.82,13.00,8.72,59.21
$STATE,6313,end apogee,CONTROL_FINISHED_OK
$STATE,6313,begin climb
$GC,6314,0.72,146.0,2337,1742,2928,2927,999.0,0.0,375,6439,0.77,0.00,121.32,2.575,10246,0.166,0.000,2621,1742,2332,2334,2331,0,0,0,0,0,0,13.81,13.55,12.74,8.68,58.26
$GC,6726,0.72,146.0,2620,1742,2339,2330,947.3,15.3,396,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,1742,2334,2339,2330,0,0,0,0,0,0,14.42,14.42,14.42,8.62,57.63
$GC,7026,0.72,146.0,2621,1742,2339,2330,900.7,15.6,411,7027,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,1742,2334,2339,2330,0,0,0,0,0,0,14.62,14.62,14.62,8.61,58.11
$GC,7326,0.72,146.0,2621,1742,2339,2330,854.1,15.4,426,7330,0.00,2.42,0.00,0.000,516,0.000,0.088,2632,381,2334,2339,2330,0,0,0,0,0,0,14.74,14.54,14.75,8.61,58.03
$GC,7362,0.72,146.0,2632,381,2339,2330,848.5,15.1,428,7366,0.00,2.33,0.00,0.000,5126,0.000,0.042,2633,1778,2334,2339,2330,0,0,0,0,0,0,14.66,14.57,14.67,8.61,58.97
$GC,7678,0.72,146.0,2633,1778,2339,2330,799.0,15.6,444,7682,0.00,2.38,0.00,0.000,4356,0.000,0.073,2633,3165,2334,2339,2330,0,0,0,0,0,0,14.83,14.63,14.84,8.60,58.74
$GC,7742,0.72,146.0,2633,3166,2339,2330,790.2,15.8,447,7748,0.08,2.35,0.00,0.000,5126,0.379,0.069,2620,1789,2334,2339,2330,0,0,0,0,0,0,14.55,14.64,14.71,8.60,58.78
$GC,8049,0.72,146.0,2620,1789,2338,2330,744.0,14.8,462,8054,0.00,2.53,0.00,0.000,516,0.000,0.085,2630,353,2334,2339,2330,0,0,0,0,0,0,14.90,14.70,14.90,8.60,58.58
$GC,8125,0.72,146.0,2629,353,2339,2330,732.7,14.8,466,8130,0.00,2.35,0.00,0.000,5126,0.000,0.041,2631,1780,2334,2339,2330,0,0,0,0,0,0,14.81,14.71,14.82,8.59,58.26
$GC,8442,0.72,146.0,2630,1781,2339,2329,684.1,15.8,482,8448,0.00,2.35,0.00,0.000,4356,0.000,0.071,2630,3168,2334,2339,2330,0,0,0,0,0,0,14.95,14.73,14.95,8.59,58.86
$GC,8509,0.72,146.0,2630,3168,2339,2330,674.7,15.8,485,8514,0.08,2.40,0.00,0.000,5126,0.380,0.067,2617,1753,2334,2339,2330,0,0,0,0,0,0,14.65,14.74,14.81,8.60,58.86
$GC,8822,0.72,146.0,2617,1753,2339,2330,627.5,14.8,501,8828,0.00,2.42,0.00,0.000,516,0.000,0.084,2626,359,2334,2339,2330,0,0,0,0,0,0,14.97,14.76,14.97,8.59,58.58
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$GC,11865,0.72,146.0,2623,1773,2341,2330,209.4,13.2,653,11871,0.00,2.45,0.00,0.000,4612,0.000,0.083,2633,358,2336,2342,2330,0,0,0,0,0,0,15.03,14.83,15.03,8.56,59.29
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$STATE,13651,end climb,SURFACE_DEPTH_REACHED
$STATE,13651,begin surface coast
$FINISH,-0.2,1.027099
$STATE,13678,end surface coast,CONTROL_FINISHED_OK
$STATE,13678,begin surface
$SM_CCo,13751,0.00,0.000,0,0,2136,194.77
$SM_GC,1.53,5.80,0.15,0.00,0.099,0.116,0.000,278,1880,2136,-6.42,-0.79,194.77,0,0,0,0,0,0,14.49,14.47,14.54
$IRIDIUM_FIX,-6400.40,207.63,160122,052737
$TT8_MAMPS,0.019474,0.330309
$HUMID,57.79
$INTERNAL_PRESSURE,8.48201
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,12.74,159.241
$10V_AH,13.04,0.000
$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
$DEVICE_SECS,14.050,164.050,278.525,0.000,0.000,55.281,17.106,162.189,0.000,0.000,49.574,2296.834,8816.281,458.394,2526.174,82.299,0.000,1470.899,0.000,1782.511,0.000,0.535,0.000
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$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,617.174,1374.456,228.672,1116.235,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342940
$DATA_FILE_SIZE,66144,849
$CAP_FILE_SIZE,142585,0
$CFSIZE,1023623168,1016709120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,160122,131800,-6357.896,223.059,78,1.5,119,-21.1,1.0,327.2,5,5.6