version: 66.14
glider: 640
mission: 9
dive: 51
start: 1 17 122 21 44 7
data:
$ID,640
$MISSION,9
$DIVE,51
$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,100
$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,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,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,35
$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,26
$R_STBD_OVSHOOT,60
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,602
$VBD_MAX,3962
$C_VBD,2945
$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
$GPS1,170122,213832,-6401.7617,223.0746,106,0.8,119,-21.1,0.0,282.4,10,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-66.3
$GPS2,170122,214337,-6401.7197,223.1205,7,0.8,16,-21.1,0.5,215.6,10,9.8
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,SOUTH
$TGT_LATLONG,-6430.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,197.7,52466,-22.4,-10.000,-24.92,1493
$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,-0.76,-97.3,228,1883,2147,2160,0.0,0.0,0,69,0.00,0.00,-60.00,0.000,16386,0.000,0.000,228,1885,3079,3061,3098,0,0,0,0,0,0,14.71,28.83,14.71,8.51,58.23
$GC,71,-0.76,-97.3,228,1883,3062,3100,3.1,-5.1,9,94,6.00,2.55,-9.02,0.000,18692,0.376,2.282,2155,3269,3342,3333,3352,0,0,0,0,0,0,14.34,13.72,14.57,8.61,57.87
$GC,141,-0.76,-97.3,2153,3268,3334,3355,15.0,-15.4,21,148,0.00,2.42,0.00,0.000,5126,0.000,0.056,2155,1848,3345,3335,3355,0,0,0,0,0,0,14.57,14.48,14.59,8.63,56.97
$GC,190,-0.76,-97.3,2154,1848,3334,3355,24.3,-19.9,30,197,0.00,0.00,0.00,0.000,4102,0.000,0.000,2154,1848,3345,3335,3355,0,0,0,0,0,0,14.70,14.70,14.70,8.64,56.89
$GC,319,-0.76,-97.3,2154,1848,3335,3356,47.2,-15.7,55,327,0.00,2.53,0.00,0.000,4612,0.000,0.080,2155,443,3345,3335,3356,0,0,0,0,0,0,14.73,14.50,14.73,8.64,57.48
$GC,364,-0.76,-97.3,2154,443,3334,3356,53.9,-14.3,63,371,0.00,2.35,0.00,0.000,1030,0.000,0.048,2145,1823,3345,3335,3356,0,0,0,0,0,0,14.62,14.54,14.64,8.64,56.85
$GC,679,-0.76,-97.3,2144,1824,3335,3356,101.8,-15.2,104,685,0.00,2.47,0.00,0.000,260,0.000,0.078,2133,3256,3345,3335,3356,0,0,0,0,0,0,14.81,14.59,14.81,8.63,56.30
$GC,780,-0.76,-97.3,2133,3255,3334,3357,116.8,-14.9,109,786,0.00,2.42,0.00,0.000,3078,0.000,0.061,2133,1848,3346,3335,3357,0,0,0,0,0,0,14.67,14.62,14.69,8.63,56.10
$GC,1099,-0.76,-97.3,2133,1848,3335,3357,169.3,-16.6,125,1105,0.00,2.47,0.00,0.000,2564,0.000,0.084,2133,434,3346,3335,3357,0,0,0,0,0,0,14.89,14.67,14.90,8.63,57.48
$GC,1139,-0.76,-97.3,2133,434,3335,3357,175.8,-16.6,127,1146,0.08,2.38,0.00,0.000,3078,0.387,0.049,2146,1852,3346,3335,3357,0,0,0,0,0,0,14.59,14.69,14.75,8.63,57.79
$GC,1459,-0.76,-97.3,2146,1854,3335,3357,224.7,-15.3,143,1465,0.00,2.42,0.00,0.000,260,0.000,0.081,2137,3260,3346,3335,3357,0,0,0,0,0,0,14.93,14.71,14.93,8.64,58.23
$GC,1552,-0.76,-97.3,2137,3260,3334,3357,236.2,-14.3,147,1560,0.00,2.42,0.00,0.000,3078,0.000,0.062,2137,1842,3345,3334,3357,0,0,0,0,0,0,14.76,14.70,14.78,8.64,58.93
$GC,1859,-0.76,-97.3,2137,1843,3334,3357,284.2,-15.2,163,1865,0.00,2.45,0.00,0.000,2564,0.000,0.083,2137,436,3345,3334,3357,0,0,0,0,0,0,14.97,14.75,14.97,8.64,58.62
$GC,1892,-0.76,-97.3,2137,436,3334,3357,287.4,-15.3,164,1901,0.05,2.40,0.00,0.000,3078,0.353,0.049,2142,1844,3345,3334,3357,0,0,0,0,0,0,14.63,14.73,14.74,8.64,58.66
$GC,2200,-0.76,-97.3,2143,1844,3334,3357,334.7,-14.7,180,2206,0.00,2.42,0.00,0.000,2308,0.000,0.080,2133,3266,3345,3334,3357,0,0,0,0,0,0,14.98,14.76,14.99,8.65,59.29
$GC,2288,-0.76,-97.3,2133,3265,3334,3357,345.7,-13.9,184,2292,0.00,2.38,0.00,0.000,3078,0.000,0.063,2133,1844,3345,3334,3357,0,0,0,0,0,0,14.88,14.77,14.89,8.66,58.46
$GC,2600,-0.76,-97.3,2133,1844,3334,3357,393.0,-14.9,200,2606,0.00,2.45,0.00,0.000,2564,0.000,0.086,2133,438,3345,3334,3357,0,0,0,0,0,0,15.00,14.78,15.00,8.66,59.05
$GC,2633,-0.76,-97.3,2132,438,3334,3357,396.0,-15.0,201,2642,0.05,2.38,0.00,0.000,3078,0.365,0.050,2139,1838,3345,3334,3357,0,0,0,0,0,0,14.65,14.77,14.78,8.66,58.86
$GC,2940,-0.76,-97.3,2139,1838,3334,3357,442.8,-14.6,217,2946,0.00,2.42,0.00,0.000,2308,0.000,0.080,2130,3264,3345,3334,3357,0,0,0,0,0,0,15.01,14.78,15.01,8.66,59.05
$GC,3022,-0.76,-97.3,2129,3263,3334,3357,453.8,-13.8,221,3028,0.00,2.40,0.00,0.000,3078,0.000,0.063,2129,1850,3345,3334,3357,0,0,0,0,0,0,14.84,14.78,14.87,8.66,59.05
$GC,3341,-0.76,-97.3,2129,1850,3334,3357,501.4,-15.0,237,3347,0.00,2.45,0.00,0.000,2564,0.000,0.088,2129,440,3345,3333,3357,0,0,0,0,0,0,15.02,14.80,15.02,8.67,59.25
$GC,3381,-0.76,-97.3,2129,440,3334,3357,507.6,-15.2,239,3388,0.08,2.35,0.00,0.000,3078,0.381,0.049,2143,1861,3345,3333,3357,0,0,0,0,0,0,14.71,14.82,14.87,8.67,58.89
$GC,3701,-0.76,-97.3,2142,1861,3334,3358,552.8,-14.2,255,3707,0.00,2.35,0.00,0.000,2308,0.000,0.080,2134,3255,3345,3333,3357,0,0,0,0,0,0,15.02,14.81,15.03,8.67,59.09
$GC,3793,-0.76,-97.3,2133,3255,3334,3357,563.5,-13.4,259,3802,0.00,2.38,0.00,0.000,3078,0.000,0.063,2134,1854,3345,3334,3356,0,0,0,0,0,0,14.84,14.78,14.86,8.67,59.05
$GC,4101,-0.76,-97.3,2133,1855,3333,3357,608.9,-14.4,275,4107,0.00,2.45,0.00,0.000,2564,0.000,0.086,2134,438,3345,3334,3357,0,0,0,0,0,0,15.03,14.81,15.04,8.67,59.05
$GC,4161,-0.76,-97.3,2133,438,3333,3357,617.6,-14.5,278,4168,0.08,2.33,0.00,0.000,3078,0.383,0.049,2148,1849,3345,3334,3357,0,0,0,0,0,0,14.72,14.83,14.88,8.68,59.45
$GC,4482,-0.76,-97.3,2147,1849,3334,3357,660.3,-13.4,294,4487,0.00,2.40,0.00,0.000,260,0.000,0.080,2139,3258,3345,3334,3357,0,0,0,0,0,0,15.03,14.81,15.04,8.68,58.82
$GC,4574,-0.76,-97.3,2139,3257,3334,3357,670.5,-12.8,298,4582,0.00,2.40,0.00,0.000,3078,0.000,0.063,2139,1846,3345,3334,3357,0,0,0,0,0,0,14.85,14.79,14.87,8.68,58.78
$GC,4881,-0.76,-97.3,2139,1846,3334,3357,714.1,-13.9,314,4885,0.00,2.45,0.00,0.000,2564,0.000,0.087,2139,434,3345,3334,3357,0,0,0,0,0,0,15.04,14.82,15.04,8.68,59.21
$GC,4930,-0.76,-97.3,2139,434,3334,3357,719.3,-14.2,316,4938,0.00,2.35,0.00,0.000,3078,0.000,0.048,2128,1859,3345,3334,3357,0,0,0,0,0,0,14.93,14.83,14.94,8.68,59.29
$GC,5237,-0.76,-97.3,2128,1859,3334,3357,764.7,-14.3,332,5242,0.05,2.40,0.00,0.000,2308,0.452,0.078,2133,3263,3346,3335,3357,0,0,0,0,0,0,14.74,14.83,14.90,8.69,59.52
$GC,5327,-0.76,-97.3,2133,3263,3335,3358,774.9,-13.3,336,5335,0.00,2.35,0.00,0.000,3078,0.000,0.064,2133,1848,3346,3335,3357,0,0,0,0,0,0,14.95,14.83,14.95,8.69,58.62
$GC,5634,-0.76,-97.3,2133,1848,3334,3357,819.5,-14.3,352,5638,0.00,2.45,0.00,0.000,2564,0.000,0.088,2133,433,3346,3335,3358,0,0,0,0,0,0,15.07,14.84,15.07,8.69,58.86
$GC,5678,-0.76,-97.3,2132,432,3335,3358,824.7,-14.4,354,5683,0.08,2.38,0.00,0.000,3078,0.386,0.048,2146,1875,3346,3335,3358,0,0,0,0,0,0,14.76,14.85,14.91,8.69,59.52
$GC,5990,-0.76,-97.3,2146,1875,3335,3358,867.0,-13.2,370,5994,0.00,2.35,0.00,0.000,260,0.000,0.080,2138,3260,3346,3335,3358,0,0,0,0,0,0,15.07,14.85,15.07,8.69,59.45
$GC,6066,-0.76,-97.3,2137,3259,3335,3358,876.6,-12.7,374,6070,0.00,2.35,0.00,0.000,3078,0.000,0.063,2138,1843,3346,3334,3358,0,0,0,0,0,0,14.96,14.85,14.97,8.69,59.21
$GC,6382,-0.76,-97.3,2138,1843,3335,3358,918.5,-13.5,390,6386,0.00,2.42,0.00,0.000,2564,0.000,0.087,2138,441,3346,3335,3358,0,0,0,0,0,0,15.08,14.85,15.08,8.69,59.21
$GC,6418,-0.76,-97.3,2138,441,3335,3357,923.6,-13.8,392,6423,0.05,2.33,0.00,0.000,3078,0.436,0.048,2143,1851,3346,3335,3357,0,0,0,0,0,0,14.76,14.88,14.92,8.70,59.33
$GC,6735,-0.76,-97.3,2142,1852,3335,3358,964.8,-12.9,408,6741,0.00,2.38,0.00,0.000,2308,0.000,0.080,2133,3261,3346,3335,3358,0,0,0,0,0,0,15.08,14.85,15.08,8.70,59.13
$GC,6803,-0.76,-97.3,2133,3261,3335,3358,972.4,-12.8,411,6807,0.00,2.35,0.00,0.000,3078,0.000,0.064,2134,1847,3346,3335,3358,0,0,0,0,0,0,14.97,14.86,14.98,8.70,59.60
$STATE,6935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6935,begin apogee
$GC,6939,-0.14,0.0,2133,1745,3335,3357,990.6,-13.4,418,7023,0.57,0.00,79.90,2.658,10246,0.249,0.000,2343,1743,2943,2940,2946,0,0,0,0,0,0,14.78,14.00,13.16,8.70,59.25
$STATE,7024,end apogee,CONTROL_FINISHED_OK
$STATE,7024,begin climb
$GC,7025,0.76,97.3,2342,1743,2939,2945,994.6,0.0,422,7109,0.80,0.00,80.55,2.564,10246,0.166,0.000,2641,1743,2546,2546,2547,0,0,0,0,0,0,13.97,13.75,12.93,8.67,58.58
$GC,7396,0.76,97.3,2640,1743,2549,2545,955.3,12.6,441,7398,0.00,0.00,0.00,0.000,4102,0.000,0.000,2640,1744,2547,2549,2546,0,0,0,0,0,0,14.54,14.54,14.54,8.63,57.91
$GC,7696,0.76,97.3,2639,1743,2549,2546,917.2,12.7,456,7697,0.00,0.00,0.00,0.000,4102,0.000,0.000,2640,1743,2547,2549,2546,0,0,0,0,0,0,14.71,14.72,14.72,8.63,58.50
$GC,7996,0.76,97.3,2639,1743,2549,2547,879.7,12.4,471,7997,0.00,0.00,0.00,0.000,4102,0.000,0.000,2640,1743,2547,2549,2546,0,0,0,0,0,0,14.82,14.83,14.82,8.62,58.23
$GC,8296,0.76,97.3,2640,1743,2549,2547,842.5,12.4,486,8297,0.00,0.00,0.00,0.000,4102,0.000,0.000,2640,1743,2548,2549,2547,0,0,0,0,0,0,14.88,14.89,14.89,8.62,58.86
$GC,8597,0.76,97.3,2639,1743,2549,2546,805.8,12.1,501,8599,0.00,0.00,0.00,0.000,4102,0.000,0.000,2640,1743,2547,2549,2546,0,0,0,0,0,0,14.94,14.94,14.94,8.62,59.21
$GC,8896,0.76,97.3,2639,1743,2549,2546,769.6,12.0,516,8897,0.00,0.00,0.00,0.000,4102,0.000,0.000,2640,1743,2548,2549,2547,0,0,0,0,0,0,14.97,14.97,14.97,8.61,58.70
$GC,9196,0.76,97.3,2640,1743,2549,2547,733.7,12.0,531,9200,0.00,2.35,0.00,0.000,4612,0.000,0.082,2650,385,2547,2549,2546,0,0,0,0,0,0,15.00,14.78,15.00,8.61,59.52
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$STATE,16150,end climb,SURFACE_DEPTH_REACHED
$STATE,16151,begin surface coast
$FINISH,-0.0,1.027138
$STATE,16172,end surface coast,CONTROL_FINISHED_OK
$STATE,16173,begin surface
$SM_CCo,16188,16.05,1.413,0,0,2168,190.10
$SM_GC,3.13,5.72,2.65,16.05,0.075,0.063,1.413,226,1849,2168,-6.44,-0.85,190.10,0,0,0,0,0,0,14.59,14.53,13.90
$IRIDIUM_FIX,-6402.18,217.63,170122,173026
$TT8_MAMPS,0.020223,0.33705
$HUMID,57.20
$INTERNAL_PRESSURE,8.49177
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,12.93,161.888
$10V_AH,13.22,0.000
$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,14.150,182.200,212.425,16.050,0.000,23.095,18.577,162.463,0.000,0.000,17.733,2679.005,10482.529,429.975,2828.073,95.731,0.000,1578.552,0.000,2052.137,0.000,0.536,0.000
$DEVICE_MAMPS,452.115,2281.995,2657.610,1412.955,0.000,26.010,160.000,223.000,420.000,0.000,11.240,9.970,2.190,9.220,29.450,46.670,0.000,11.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,726.940,1621.300,263.103,1304.484,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342904
$DATA_FILE_SIZE,76390,992
$CAP_FILE_SIZE,160606,0
$CFSIZE,1023623168,1015808000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,180122,021624,-6402.598,222.536,61,10.7,101,-21.1,0.0,66.1,4,58.5