version: 66.14
glider: 640
mission: 9
dive: 55
start: 1 18 122 15 50 20
data:
$ID,640
$MISSION,9
$DIVE,55
$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,47
$R_STBD_OVSHOOT,78
$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
$GPS1,180122,154501,-6406.6064,224.3761,85,1.0,97,-21.1,0.5,328.7,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.9
$GPS2,180122,154949,-6406.5859,224.3438,7,1.1,22,-21.1,0.7,212.2,8,7.7
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,SOUTH
$TGT_LATLONG,-6430.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,198.3,43415,-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,-97.3,232,1830,2142,2190,0.0,0.0,0,82,0.00,0.00,-72.82,0.000,16386,0.000,0.000,233,1830,3305,3274,3337,0,0,0,0,0,0,14.69,28.83,14.70,8.51,58.66
$GC,84,-0.76,-97.3,232,1828,3275,3337,3.9,-8.3,11,99,5.93,0.00,-1.15,0.000,18438,0.368,0.000,2160,1829,3344,3318,3371,0,0,0,0,0,0,14.33,13.95,14.57,8.63,57.56
$GC,141,-0.76,-97.3,2160,1830,3320,3371,18.9,-20.3,21,148,0.00,0.00,0.00,0.000,4102,0.000,0.000,2160,1831,3345,3320,3371,0,0,0,0,0,0,14.66,14.66,14.66,8.64,56.77
$GC,190,-0.76,-97.3,2160,1830,3321,3371,28.4,-19.6,30,197,0.00,0.00,0.00,0.000,4102,0.000,0.000,2160,1830,3346,3321,3371,0,0,0,0,0,0,14.68,14.69,14.69,8.64,57.00
$GC,319,-0.76,-97.3,2160,1830,3321,3370,50.3,-14.7,55,326,0.00,0.00,0.00,0.000,4102,0.000,0.000,2160,1830,3346,3321,3371,0,0,0,0,0,0,14.71,14.72,14.72,8.64,57.87
$GC,638,-0.76,-97.3,2160,1830,3322,3371,98.5,-14.9,100,644,0.00,2.40,0.00,0.000,4612,0.000,0.080,2161,460,3347,3323,3371,0,0,0,0,0,0,14.79,14.58,14.80,8.63,56.30
$GC,686,-0.76,-97.3,2160,460,3323,3371,104.4,-15.0,102,690,0.00,2.30,0.00,0.000,5126,0.000,0.047,2150,1828,3347,3323,3371,0,0,0,0,0,0,14.71,14.61,14.71,8.63,56.69
$GC,999,-0.76,-97.3,2150,1828,3322,3371,152.0,-15.1,118,1005,0.00,2.45,0.00,0.000,4356,0.000,0.080,2139,3260,3346,3322,3371,0,0,0,0,0,0,14.87,14.65,14.88,8.62,57.20
$GC,1086,-0.76,-97.3,2139,3259,3322,3371,163.2,-14.0,122,1091,0.00,2.33,0.00,0.000,3078,0.000,0.060,2139,1870,3346,3322,3371,0,0,0,0,0,0,14.78,14.68,14.79,8.63,57.99
$GC,1399,-0.76,-97.3,2139,1869,3322,3371,211.5,-15.4,138,1405,0.00,2.50,0.00,0.000,2564,0.000,0.083,2139,434,3347,3323,3371,0,0,0,0,0,0,14.92,14.71,14.92,8.63,58.89
$GC,1461,-0.76,-97.3,2139,434,3322,3371,220.8,-15.4,141,1467,0.00,2.40,0.00,0.000,3078,0.000,0.048,2129,1845,3346,3322,3371,0,0,0,0,0,0,14.77,14.72,14.78,8.64,58.34
$GC,1780,-0.76,-97.3,2128,1846,3322,3371,270.9,-15.6,157,1787,0.05,2.42,0.00,0.000,2308,0.455,0.076,2131,3259,3346,3322,3371,0,0,0,0,0,0,14.64,14.73,14.81,8.64,58.70
$GC,1832,-0.76,-97.3,2131,3258,3322,3371,276.8,-15.2,159,1841,0.00,2.40,0.00,0.000,3078,0.000,0.060,2131,1854,3346,3322,3370,0,0,0,0,0,0,14.78,14.72,14.79,8.64,58.62
$GC,2140,-0.76,-97.3,2131,1854,3322,3371,325.0,-15.1,175,2146,0.00,2.45,0.00,0.000,2564,0.000,0.083,2131,440,3346,3322,3370,0,0,0,0,0,0,14.97,14.76,14.97,8.65,59.25
$GC,2202,-0.76,-97.3,2131,440,3322,3371,334.2,-15.2,178,2207,0.05,2.40,0.00,0.000,3078,0.367,0.048,2137,1855,3346,3322,3371,0,0,0,0,0,0,14.64,14.76,14.78,8.65,58.78
$GC,2520,-0.76,-97.3,2137,1855,3322,3371,381.5,-14.9,194,2526,0.00,2.40,0.00,0.000,2308,0.000,0.080,2128,3264,3346,3322,3371,0,0,0,0,0,0,14.99,14.77,15.00,8.65,58.54
$GC,2562,-0.76,-97.3,2127,3263,3322,3371,387.3,-14.7,196,2568,0.03,2.40,0.00,0.000,3078,0.446,0.060,2136,1851,3346,3321,3371,0,0,0,0,0,0,14.64,14.78,14.78,8.65,59.01
$GC,2881,-0.76,-97.3,2135,1850,3322,3370,434.3,-14.7,212,2886,0.00,2.45,0.00,0.000,2564,0.000,0.085,2136,438,3346,3322,3370,0,0,0,0,0,0,15.00,14.78,15.00,8.65,59.49
$GC,2948,-0.76,-97.3,2135,437,3322,3371,443.3,-15.0,215,2953,0.05,2.35,0.00,0.000,3078,0.446,0.048,2141,1855,3346,3322,3370,0,0,0,0,0,0,14.68,14.81,14.85,8.66,59.45
$GC,3261,-0.76,-97.3,2140,1856,3322,3370,489.6,-14.6,231,3267,0.00,2.38,0.00,0.000,2308,0.000,0.080,2131,3257,3346,3322,3370,0,0,0,0,0,0,15.01,14.78,15.01,8.67,59.52
$GC,3314,-0.76,-97.3,2131,3257,3322,3370,495.4,-14.3,233,3322,0.00,2.40,0.00,0.000,3078,0.000,0.062,2131,1844,3346,3322,3371,0,0,0,0,0,0,14.83,14.78,14.85,8.66,59.21
$GC,3623,-0.76,-97.3,2131,1842,3322,3371,542.6,-15.1,249,3628,0.00,2.40,0.00,0.000,2564,0.000,0.085,2131,444,3346,3322,3370,0,0,0,0,0,0,15.02,14.79,15.02,8.67,59.09
$GC,3694,-0.76,-97.3,2130,444,3322,3370,551.7,-15.2,252,3703,0.05,2.38,0.00,0.000,3078,0.365,0.047,2138,1848,3346,3322,3370,0,0,0,0,0,0,14.66,14.78,14.80,8.67,59.13
$GC,4002,-0.76,-97.3,2137,1848,3322,3371,597.3,-14.2,268,4008,0.00,2.40,0.00,0.000,2308,0.000,0.080,2128,3264,3346,3322,3370,0,0,0,0,0,0,15.02,14.80,15.02,8.67,59.45
$GC,4049,-0.76,-97.3,2128,3263,3322,3370,602.9,-14.1,270,4054,0.05,2.38,0.00,0.000,3078,0.436,0.063,2144,1840,3346,3322,3370,0,0,0,0,0,0,14.71,14.81,14.88,8.67,59.21
$GC,4362,-0.76,-97.3,2144,1841,3322,3371,646.3,-13.7,286,4368,0.00,2.45,0.00,0.000,516,0.000,0.089,2144,440,3346,3322,3371,0,0,0,0,0,0,15.02,14.81,15.02,8.68,58.93
$GC,4424,-0.76,-97.3,2142,440,3322,3370,654.6,-13.8,289,4429,0.00,2.38,0.00,0.000,3078,0.000,0.047,2134,1851,3346,3322,3370,0,0,0,0,0,0,14.87,14.82,14.88,8.67,59.13
$GC,4744,-0.76,-97.3,2134,1852,3322,3371,698.7,-14.0,305,4749,0.00,2.35,0.00,0.000,2308,0.000,0.079,2124,3253,3346,3322,3370,0,0,0,0,0,0,15.03,14.80,15.03,8.68,59.76
$GC,4784,-0.76,-97.3,2124,3252,3322,3371,704.3,-13.8,307,4790,0.05,2.38,0.00,0.000,3078,0.324,0.063,2142,1852,3346,3323,3370,0,0,0,0,0,0,14.71,14.81,14.84,8.68,58.82
$GC,5102,-0.76,-97.3,2141,1852,3323,3371,746.4,-13.0,323,5106,0.00,2.45,0.00,0.000,2564,0.000,0.087,2142,437,3347,3323,3371,0,0,0,0,0,0,15.04,14.83,15.04,8.69,58.97
$GC,5171,-0.76,-97.3,2141,437,3323,3371,753.9,-13.4,326,5179,0.00,2.35,0.00,0.000,3078,0.000,0.047,2133,1861,3347,3323,3371,0,0,0,0,0,0,14.94,14.84,14.95,8.68,59.17
$GC,5478,-0.76,-97.3,2133,1861,3323,3371,796.8,-13.6,342,5483,0.00,2.35,0.00,0.000,2308,0.000,0.079,2122,3255,3347,3323,3371,0,0,0,0,0,0,15.05,14.83,15.05,8.68,59.21
$GC,5517,-0.76,-97.3,2121,3255,3323,3371,801.6,-13.5,344,5522,0.08,2.35,0.00,0.000,3078,0.361,0.064,2147,1848,3347,3323,3371,0,0,0,0,0,0,14.76,14.84,14.91,8.69,59.13
$GC,5834,-0.76,-97.3,2147,1848,3323,3371,842.3,-12.8,360,5839,0.00,2.47,0.00,0.000,516,0.000,0.093,2147,434,3347,3324,3371,0,0,0,0,0,0,15.06,14.84,15.06,8.69,59.05
$GC,5910,-0.76,-97.3,2147,434,3323,3371,852.1,-12.9,364,5915,0.00,2.33,0.00,0.000,3078,0.000,0.047,2139,1850,3347,3324,3371,0,0,0,0,0,0,14.96,14.87,14.97,8.67,59.25
$GC,6226,-0.76,-97.3,2139,1849,3324,3371,893.3,-13.3,380,6231,0.00,2.38,0.00,0.000,2308,0.000,0.079,2128,3257,3347,3324,3371,0,0,0,0,0,0,15.07,14.85,15.07,8.69,59.76
$GC,6265,-0.76,-97.3,2128,3257,3323,3371,898.0,-13.2,382,6270,0.05,2.35,0.00,0.000,3078,0.425,0.063,2144,1844,3347,3324,3371,0,0,0,0,0,0,14.76,14.86,14.92,8.70,59.72
$GC,6582,-0.76,-97.3,2144,1843,3325,3371,938.4,-12.7,398,6587,0.00,2.45,0.00,0.000,516,0.000,0.090,2144,439,3347,3324,3371,0,0,0,0,0,0,15.07,14.85,15.07,8.69,59.37
$GC,6646,-0.76,-97.3,2144,438,3325,3371,945.7,-13.0,401,6651,0.00,2.35,0.00,0.000,3078,0.000,0.048,2136,1871,3347,3324,3371,0,0,0,0,0,0,14.97,14.87,14.98,8.70,59.37
$GC,6959,-0.76,-97.3,2135,1871,3324,3370,986.9,-13.0,417,6960,0.00,0.00,0.00,0.000,2054,0.000,0.000,2136,1871,3347,3324,3371,0,0,0,0,0,0,15.08,15.08,15.08,8.69,58.74
$STATE,6997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6997,begin apogee
$GC,7001,-0.14,0.0,2136,1749,3324,3371,992.0,-12.9,419,7085,0.57,0.00,80.12,2.671,10246,0.254,0.000,2344,1749,2944,2938,2950,0,0,0,0,0,0,14.78,14.00,13.14,8.69,59.64
$STATE,7086,end apogee,CONTROL_FINISHED_OK
$STATE,7086,begin climb
$GC,7087,0.76,97.3,2344,1749,2936,2948,995.6,0.0,423,7172,0.77,0.00,80.78,2.577,10246,0.164,0.000,2632,1748,2546,2544,2548,0,0,0,0,0,0,13.96,13.73,12.90,8.68,58.50
$GC,7459,0.76,97.3,2632,1748,2546,2547,957.0,12.2,442,7460,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1748,2546,2546,2546,0,0,0,0,0,0,14.53,14.54,14.53,8.64,57.91
$GC,7759,0.76,97.3,2632,1748,2546,2547,920.5,12.0,457,7760,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1748,2546,2546,2546,0,0,0,0,0,0,14.70,14.70,14.70,8.63,58.50
$GC,8059,0.76,97.3,2632,1748,2546,2547,884.5,12.0,472,8060,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1748,2546,2546,2546,0,0,0,0,0,0,14.81,14.81,14.81,8.63,58.66
$GC,8359,0.76,97.3,2632,1748,2546,2547,848.2,12.2,487,8360,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,1748,2546,2546,2546,0,0,0,0,0,0,14.88,14.88,14.88,8.62,58.89
$GC,8660,0.76,97.3,2632,1748,2546,2546,811.9,12.0,502,8666,0.00,2.42,0.00,0.000,260,0.000,0.071,2633,3166,2546,2546,2547,0,0,0,0,0,0,14.92,14.71,14.93,8.62,59.09
$GC,8701,0.76,97.3,2633,3166,2546,2546,807.0,12.2,504,8706,0.00,2.33,0.00,0.000,5126,0.000,0.062,2643,1784,2546,2546,2547,0,0,0,0,0,0,14.83,14.73,14.84,8.62,59.45
$GC,9019,0.76,97.3,2643,1783,2546,2547,768.0,12.2,520,9023,0.00,2.47,0.00,0.000,4612,0.000,0.082,2654,359,2546,2546,2546,0,0,0,0,0,0,14.97,14.76,14.97,8.62,59.41
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$STATE,16366,end climb,SURFACE_DEPTH_REACHED
$STATE,16366,begin surface coast
$FINISH,0.5,1.027151
$STATE,16388,end surface coast,CONTROL_FINISHED_OK
$STATE,16388,begin surface
$SM_CCo,16401,5.95,1.189,0,0,2167,190.10
$SM_GC,2.07,5.93,0.15,5.95,0.114,0.104,1.189,267,1902,2167,-6.43,-0.65,190.10,0,0,0,0,0,0,14.50,14.49,13.86
$IRIDIUM_FIX,-6405.13,212.91,180122,113941
$TT8_MAMPS,0.020223,0.328062
$HUMID,57.44
$INTERNAL_PRESSURE,8.48201
$TCM_TEMP,0.00
$XPDR_PINGS,1
$24V_AH,12.90,162.956
$10V_AH,13.20,0.000
$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
$DEVICE_SECS,14.150,167.350,221.825,5.950,0.000,22.150,13.924,150.386,0.250,0.000,23.409,2732.049,10611.108,410.764,2850.044,99.011,0.000,1571.183,0.000,2087.732,0.000,0.537,0.000
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$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,737.176,1647.120,271.245,1329.903,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342884
$DATA_FILE_SIZE,76427,1011
$CAP_FILE_SIZE,161302,0
$CFSIZE,1023623168,1015414784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,180122,202557,-6408.023,223.931,95,0.8,97,-21.1,0.0,0.0,10,8.4