version: 66.14
glider: 640
mission: 9
dive: 58
start: 1 19 122 5 36 43
data:
$ID,640
$MISSION,9
$DIVE,58
$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,1800
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$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,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
$GPS1,190122,052410,-6408.0654,223.2967,34,0.8,43,-21.1,0.4,251.8,8,9.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-69.1
$GPS2,190122,053614,-6407.9878,223.0616,7,0.8,14,-21.1,0.6,263.6,8,9.9
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,NORTH
$TGT_LATLONG,-6318.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,23.1,92636,-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,-97.3,231,1853,2065,2099,0.0,0.0,0,88,0.00,0.00,-79.50,0.000,16386,0.000,0.000,231,1854,3284,3253,3315,0,0,0,0,0,0,14.68,28.83,14.69,8.51,58.54
$GC,91,-0.76,-97.3,231,1855,3253,3315,3.8,-7.9,12,107,6.00,2.72,-1.92,0.000,18692,0.376,2.288,2153,3301,3342,3317,3368,0,0,0,0,0,0,14.33,13.68,14.55,8.64,57.60
$GC,239,-0.76,-97.3,2153,3302,3321,3368,30.1,-17.0,40,247,0.00,2.50,0.00,0.000,5126,0.000,0.064,2153,1850,3344,3321,3368,0,0,0,0,0,0,14.58,14.47,14.59,8.64,56.81
$GC,371,-0.76,-97.3,2153,1850,3321,3368,49.5,-16.3,65,378,0.00,2.45,0.00,0.000,4356,0.000,0.077,2143,3248,3344,3321,3368,0,0,0,0,0,0,14.71,14.50,14.72,8.64,56.85
$GC,485,-0.76,-97.3,2143,3248,3322,3368,66.6,-13.0,87,493,0.00,2.42,0.00,0.000,3078,0.000,0.057,2143,1845,3345,3322,3368,0,0,0,0,0,0,14.58,14.52,14.59,8.64,56.37
$GC,801,-0.76,-97.3,2143,1844,3323,3368,115.3,-15.7,116,807,0.00,2.47,0.00,0.000,516,0.000,0.080,2143,440,3345,3323,3368,0,0,0,0,0,0,14.82,14.60,14.82,8.62,55.86
$GC,853,-0.76,-97.3,2143,440,3323,3368,121.7,-15.9,118,862,0.00,2.40,0.00,0.000,3078,0.000,0.047,2133,1843,3345,3323,3368,0,0,0,0,0,0,14.64,14.59,14.66,8.62,56.18
$GC,1161,-0.76,-97.3,2132,1844,3322,3368,173.4,-16.9,134,1167,0.00,2.42,0.00,0.000,2308,0.000,0.078,2121,3260,3345,3323,3368,0,0,0,0,0,0,14.88,14.66,14.89,8.62,56.93
$GC,1203,-0.76,-97.3,2120,3259,3322,3368,180.1,-16.9,136,1208,0.05,2.40,0.00,0.000,3078,0.336,0.058,2138,1847,3345,3323,3368,0,0,0,0,0,0,14.57,14.68,14.69,8.63,57.60
$GC,1521,-0.76,-97.3,2138,1846,3323,3368,231.5,-15.9,152,1527,0.00,2.45,0.00,0.000,2564,0.000,0.081,2138,439,3345,3322,3368,0,0,0,0,0,0,14.92,14.71,14.93,8.64,58.26
$GC,1594,-0.76,-97.3,2138,439,3323,3367,241.3,-16.0,155,1602,0.00,2.40,0.00,0.000,3078,0.000,0.048,2128,1846,3345,3322,3368,0,0,0,0,0,0,14.75,14.70,14.76,8.64,58.58
$GC,1901,-0.76,-97.3,2128,1846,3323,3368,292.8,-16.2,171,1908,0.05,2.42,0.00,0.000,2308,0.451,0.077,2131,3264,3345,3323,3368,0,0,0,0,0,0,14.64,14.73,14.81,8.64,58.93
$GC,1962,-0.76,-97.3,2130,3263,3323,3368,301.8,-15.3,174,1966,0.00,2.35,0.00,0.000,3078,0.000,0.059,2131,1849,3345,3323,3368,0,0,0,0,0,0,14.85,14.75,14.86,8.65,58.70
$GC,2283,-0.76,-97.3,2130,1849,3323,3368,351.6,-15.6,190,2289,0.00,2.45,0.00,0.000,2564,0.000,0.083,2131,436,3345,3322,3368,0,0,0,0,0,0,14.98,14.76,14.98,8.65,58.62
$GC,2372,-0.76,-97.3,2130,436,3322,3368,363.9,-15.2,194,2377,0.08,2.35,0.00,0.000,3078,0.384,0.047,2144,1852,3345,3322,3368,0,0,0,0,0,0,14.66,14.78,14.83,8.65,58.19
$GC,2680,-0.76,-97.3,2143,1853,3323,3368,409.7,-14.7,209,2685,0.00,2.38,0.00,0.000,260,0.000,0.080,2134,3254,3345,3323,3367,0,0,0,0,0,0,15.00,14.75,15.00,8.65,58.78
$GC,2731,-0.76,-97.3,2134,3254,3322,3368,415.4,-14.6,211,2739,0.00,2.38,0.00,0.000,3078,0.000,0.059,2134,1847,3345,3323,3368,0,0,0,0,0,0,14.81,14.76,14.83,8.66,58.82
$GC,3039,-0.76,-97.3,2134,1846,3323,3367,462.5,-14.9,227,3045,0.00,2.45,0.00,0.000,2564,0.000,0.084,2134,436,3345,3323,3368,0,0,0,0,0,0,15.00,14.78,15.01,8.66,58.86
$GC,3106,-0.76,-97.3,2134,436,3323,3368,471.7,-15.2,230,3111,0.08,2.35,0.00,0.000,3078,0.389,0.047,2148,1854,3345,3322,3368,0,0,0,0,0,0,14.69,14.81,14.85,8.66,58.66
$GC,3419,-0.76,-97.3,2147,1855,3323,3368,515.6,-13.6,246,3425,0.00,2.40,0.00,0.000,260,0.000,0.080,2139,3261,3344,3322,3367,0,0,0,0,0,0,15.01,14.79,15.02,8.66,59.21
$GC,3468,-0.76,-97.3,2139,3261,3323,3368,520.9,-13.5,248,3472,0.00,2.35,0.00,0.000,3078,0.000,0.060,2139,1844,3345,3323,3368,0,0,0,0,0,0,14.90,14.81,14.91,8.66,59.05
$GC,3776,-0.76,-97.3,2139,1844,3322,3368,563.7,-13.7,263,3781,0.00,2.42,0.00,0.000,2564,0.000,0.085,2139,437,3345,3323,3368,0,0,0,0,0,0,15.02,14.79,15.03,8.67,58.97
$GC,3847,-0.76,-97.3,2139,437,3323,3367,572.1,-14.0,266,3855,0.00,2.40,0.00,0.000,3078,0.000,0.047,2128,1854,3345,3322,3368,0,0,0,0,0,0,14.84,14.78,14.85,8.67,58.89
$GC,4154,-0.76,-97.3,2127,1854,3322,3368,617.0,-14.2,282,4161,0.05,2.38,0.00,0.000,2308,0.441,0.076,2132,3255,3345,3323,3368,0,0,0,0,0,0,14.71,14.81,14.88,8.67,59.45
$GC,4186,-0.76,-97.3,2132,3255,3323,3368,619.8,-14.2,283,4195,0.00,2.38,0.00,0.000,3078,0.000,0.059,2132,1852,3345,3322,3368,0,0,0,0,0,0,14.84,14.79,14.86,8.67,58.62
$GC,4494,-0.76,-97.3,2132,1851,3322,3368,663.9,-13.9,299,4500,0.00,2.45,0.00,0.000,2564,0.000,0.083,2132,437,3344,3322,3367,0,0,0,0,0,0,15.03,14.81,15.04,8.67,59.21
$GC,4567,-0.76,-97.3,2132,437,3322,3368,672.4,-14.1,302,4576,0.05,2.40,0.00,0.000,3078,0.360,0.047,2139,1854,3345,3322,3368,0,0,0,0,0,0,14.68,14.80,14.80,8.68,59.05
$GC,4874,-0.76,-97.3,2138,1853,3323,3368,714.9,-13.4,318,4878,0.00,2.38,0.00,0.000,2308,0.000,0.079,2129,3261,3345,3323,3368,0,0,0,0,0,0,15.04,14.81,15.04,8.68,59.29
$GC,4923,-0.76,-97.3,2128,3259,3323,3368,719.6,-13.3,320,4930,0.00,2.35,0.00,0.000,3078,0.000,0.060,2128,1837,3345,3323,3367,0,0,0,0,0,0,14.92,14.82,14.94,8.68,59.21
$GC,5230,-0.76,-97.3,2128,1838,3323,3368,763.0,-13.7,336,5234,0.00,2.42,0.00,0.000,2564,0.000,0.085,2128,438,3345,3323,3368,0,0,0,0,0,0,15.05,14.83,15.05,8.68,58.97
$GC,5286,-0.76,-97.3,2128,438,3323,3368,770.8,-14.0,339,5291,0.08,2.35,0.00,0.000,3078,0.378,0.048,2143,1857,3345,3323,3368,0,0,0,0,0,0,14.74,14.85,14.90,8.68,59.33
$GC,5603,-0.76,-97.3,2142,1858,3323,3368,811.3,-12.8,355,5607,0.00,2.38,0.00,0.000,2308,0.000,0.079,2133,3266,3345,3323,3368,0,0,0,0,0,0,15.06,14.84,15.07,8.68,59.29
$GC,5652,-0.76,-97.3,2133,3266,3323,3368,815.8,-12.8,357,5659,0.00,2.38,0.00,0.000,3078,0.000,0.060,2133,1834,3345,3323,3368,0,0,0,0,0,0,14.95,14.85,14.95,8.69,59.05
$GC,5959,-0.76,-97.3,2133,1835,3324,3368,858.8,-13.8,373,5963,0.00,2.42,0.00,0.000,2564,0.000,0.085,2133,442,3345,3323,3368,0,0,0,0,0,0,15.07,14.85,15.07,8.69,58.82
$GC,6023,-0.76,-97.3,2132,441,3323,3368,866.6,-14.0,376,6028,0.08,2.33,0.00,0.000,3078,0.386,0.046,2147,1851,3346,3324,3368,0,0,0,0,0,0,14.75,14.87,14.91,8.69,59.37
$GC,6335,-0.76,-97.3,2147,1852,3324,3368,908.0,-13.1,392,6339,0.00,2.38,0.00,0.000,260,0.000,0.079,2139,3255,3346,3324,3368,0,0,0,0,0,0,15.07,14.85,15.07,8.70,59.13
$GC,6391,-0.76,-97.3,2138,3255,3324,3368,915.2,-13.0,395,6396,0.00,2.33,0.00,0.000,3078,0.000,0.061,2139,1848,3346,3324,3368,0,0,0,0,0,0,14.96,14.86,14.97,8.69,59.01
$GC,6707,-0.76,-97.3,2138,1847,3324,3368,958.2,-13.7,411,6712,0.00,2.45,0.00,0.000,2564,0.000,0.087,2139,437,3346,3324,3368,0,0,0,0,0,0,15.08,14.85,15.08,8.69,59.29
$GC,6771,-0.76,-97.3,2138,437,3324,3368,966.1,-14.0,414,6776,0.05,2.35,0.00,0.000,3078,0.430,0.047,2143,1862,3346,3324,3368,0,0,0,0,0,0,14.75,14.88,14.92,8.70,59.33
$STATE,6962,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6962,begin apogee
$GC,6966,-0.14,0.0,2143,1786,3324,3368,992.5,-13.4,424,7050,0.55,0.00,79.88,2.663,10246,0.251,0.000,2345,1786,2943,2938,2949,0,0,0,0,0,0,14.77,14.00,13.14,8.70,58.66
$STATE,7051,end apogee,CONTROL_FINISHED_OK
$STATE,7051,begin climb
$GC,7052,0.76,97.3,2345,1786,2937,2948,996.8,0.0,428,7145,0.77,2.67,80.35,2.565,10756,0.170,0.080,2648,401,2544,2542,2546,0,0,0,0,0,0,13.95,13.74,12.90,8.68,58.34
$GC,7187,0.77,108.7,2647,401,2543,2546,987.3,9.2,435,7208,0.00,2.45,10.77,2.219,13318,0.000,0.041,2648,1801,2498,2494,2502,0,0,0,0,0,0,14.09,14.01,13.11,8.65,56.57
$GC,7507,0.77,108.7,2648,1801,2495,2502,945.3,13.4,451,7512,0.00,2.45,0.00,0.000,4356,0.000,0.074,2648,3201,2498,2495,2502,0,0,0,0,0,0,14.57,14.35,14.57,8.63,57.75
$GC,7556,0.77,108.7,2648,3201,2495,2502,940.2,13.7,453,7564,0.08,2.38,0.00,0.000,5126,0.390,0.061,2637,1817,2499,2495,2503,0,0,0,0,0,0,14.28,14.39,14.45,8.63,57.63
$GC,7863,0.77,108.7,2637,1817,2495,2502,899.0,12.9,469,7869,0.00,2.53,0.00,0.000,516,0.000,0.078,2647,388,2498,2495,2501,0,0,0,0,0,0,14.74,14.54,14.74,8.63,58.26
$GC,7943,0.77,108.7,2646,388,2495,2502,888.6,13.0,473,7948,0.00,2.38,0.00,0.000,5126,0.000,0.041,2647,1810,2498,2495,2502,0,0,0,0,0,0,14.66,14.59,14.68,8.62,58.70
$GC,8259,0.77,108.7,2647,1812,2495,2502,846.3,13.5,489,8264,0.00,2.38,0.00,0.000,4356,0.000,0.073,2646,3200,2498,2495,2502,0,0,0,0,0,0,14.85,14.64,14.86,8.62,58.38
$GC,8308,0.77,108.7,2647,3200,2495,2502,841.3,13.6,491,8317,0.08,2.38,0.00,0.000,5126,0.382,0.060,2635,1792,2498,2495,2502,0,0,0,0,0,0,14.55,14.65,14.71,8.62,58.34
$GC,8615,0.77,108.7,2635,1792,2495,2502,800.1,12.9,507,8620,0.00,2.45,0.00,0.000,516,0.000,0.077,2644,389,2498,2495,2502,0,0,0,0,0,0,14.91,14.71,14.92,8.61,58.46
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$STATE,15490,end climb,SURFACE_DEPTH_REACHED
$STATE,15490,begin surface coast
$FINISH,0.5,1.027169
$STATE,15516,end surface coast,CONTROL_FINISHED_OK
$STATE,15517,begin surface
$SM_CCo,15530,20.02,1.747,0,0,2169,190.10
$SM_GC,2.96,6.00,0.08,20.02,0.132,0.153,1.747,224,1854,2169,-6.43,-1.13,190.10,0,0,0,0,0,0,14.64,14.57,13.13
$IRIDIUM_FIX,-6409.87,218.23,190122,052908
$TT8_MAMPS,0.019474,0.337799
$HUMID,57.83
$INTERNAL_PRESSURE,8.48201
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,12.90,163.768
$10V_AH,12.92,0.000
$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
$DEVICE_SECS,14.500,196.300,210.375,20.025,0.000,95.811,83.071,247.789,0.000,0.000,15.351,2608.955,10096.232,430.246,3041.186,101.617,0.000,1600.237,0.000,2049.195,0.000,0.536,0.000
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$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,704.557,1567.746,260.114,1267.595,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343036
$DATA_FILE_SIZE,73090,964
$CAP_FILE_SIZE,165218,0
$CFSIZE,1023623168,1015103488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,190122,095907,-6406.817,222.780,143,1.0,162,-21.1,0.0,244.7,8,10.0