version: 66.14
glider: 640
mission: 9
dive: 63
start: 1 19 122 21 3 11
data:
$ID,640
$MISSION,9
$DIVE,63
$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,29
$R_STBD_OVSHOOT,28
$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
$GPS1,190122,205355,-6403.7422,222.6654,100,1.4,140,-21.1,0.0,160.7,4,42.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-71.6
$GPS2,190122,210242,-6403.6997,222.7057,29,1.4,69,-21.1,0.3,168.4,4,20.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,NORTH
$TGT_LATLONG,-6318.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,23.5,84711,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-0.76,-97.3,218,1854,2141,2191,0.0,0.0,0,82,0.00,0.00,-72.55,0.000,16386,0.000,0.000,218,1855,3248,3213,3283,0,0,0,0,0,0,14.73,28.83,14.74,8.51,58.30
$GC,84,-0.76,-97.3,218,1856,3214,3283,3.3,-6.6,11,101,6.05,2.75,-3.08,0.000,19204,0.379,2.274,2171,396,3343,3317,3370,0,0,0,0,0,0,14.37,13.72,14.59,8.62,58.03
$GC,238,-0.76,-97.3,2171,396,3321,3370,31.7,-15.3,40,245,0.00,2.50,0.00,0.000,5126,0.000,0.050,2160,1848,3346,3322,3370,0,0,0,0,0,0,14.62,14.52,14.63,8.64,56.77
$GC,368,-0.76,-97.3,2160,1848,3322,3370,56.1,-17.6,65,375,0.00,2.47,0.00,0.000,4356,0.000,0.081,2150,3265,3346,3322,3370,0,0,0,0,0,0,14.75,14.52,14.75,8.64,57.04
$GC,407,-0.76,-97.3,2149,3265,3322,3370,62.8,-16.8,72,415,0.00,2.42,0.00,0.000,5126,0.000,0.057,2150,1857,3346,3322,3370,0,0,0,0,0,0,14.59,14.53,14.61,8.64,56.97
$GC,733,-0.76,-97.3,2149,1858,3322,3370,118.1,-16.7,103,739,0.00,2.47,0.00,0.000,4612,0.000,0.080,2150,441,3346,3323,3370,0,0,0,0,0,0,14.83,14.62,14.84,8.62,56.49
$GC,835,-0.76,-97.3,2149,441,3323,3370,134.5,-16.3,108,840,0.00,2.40,0.00,0.000,3078,0.000,0.046,2139,1851,3346,3322,3370,0,0,0,0,0,0,14.69,14.64,14.71,8.63,56.61
$GC,1153,-0.76,-97.3,2137,1851,3323,3370,186.0,-16.1,124,1159,0.00,2.40,0.00,0.000,2308,0.000,0.078,2127,3257,3346,3323,3370,0,0,0,0,0,0,14.90,14.68,14.90,8.63,58.42
$GC,1185,-0.76,-97.3,2126,3257,3322,3370,189.2,-16.1,125,1194,0.05,2.40,0.00,0.000,3078,0.337,0.058,2143,1848,3346,3323,3370,0,0,0,0,0,0,14.57,14.66,14.68,8.63,57.60
$GC,1493,-0.76,-97.3,2143,1848,3323,3370,238.5,-15.2,141,1499,0.00,2.45,0.00,0.000,2564,0.000,0.080,2143,438,3346,3323,3370,0,0,0,0,0,0,14.95,14.72,14.95,8.64,58.34
$GC,1566,-0.76,-97.3,2143,438,3322,3370,247.8,-15.3,144,1574,0.00,2.40,0.00,0.000,3078,0.000,0.047,2134,1849,3346,3323,3370,0,0,0,0,0,0,14.76,14.71,14.78,8.64,58.38
$GC,1874,-0.76,-97.3,2133,1849,3322,3370,297.7,-15.9,160,1880,0.00,2.40,0.00,0.000,2308,0.000,0.078,2122,3256,3346,3322,3371,0,0,0,0,0,0,14.97,14.74,14.97,8.65,58.38
$GC,1901,-0.76,-97.3,2122,3256,3322,3370,300.9,-15.9,161,1906,0.08,2.35,0.00,0.000,3078,0.362,0.057,2147,1842,3346,3323,3370,0,0,0,0,0,0,14.66,14.76,14.82,8.65,58.74
$GC,2214,-0.76,-97.3,2146,1842,3323,3370,348.3,-14.6,177,2220,0.00,2.45,0.00,0.000,516,0.000,0.081,2147,437,3346,3322,3370,0,0,0,0,0,0,14.97,14.76,14.99,8.65,58.70
$GC,2274,-0.76,-97.3,2146,438,3322,3370,357.1,-14.8,180,2280,0.00,2.35,0.00,0.000,3078,0.000,0.046,2137,1853,3346,3323,3370,0,0,0,0,0,0,14.88,14.78,14.88,8.65,58.89
$GC,2596,-0.76,-97.3,2136,1853,3322,3370,405.2,-15.2,196,2601,0.00,2.35,0.00,0.000,2308,0.000,0.076,2126,3250,3346,3323,3370,0,0,0,0,0,0,15.00,14.78,15.00,8.65,59.09
$GC,2634,-0.76,-97.3,2126,3250,3323,3370,411.2,-15.1,198,2641,0.05,2.33,0.00,0.000,3078,0.438,0.057,2141,1847,3346,3322,3370,0,0,0,0,0,0,14.67,14.79,14.85,8.66,58.70
$GC,2954,-0.76,-97.3,2142,1848,3322,3370,457.7,-14.4,214,2960,0.00,2.42,0.00,0.000,2564,0.000,0.085,2141,443,3346,3323,3370,0,0,0,0,0,0,15.01,14.79,15.01,8.66,58.42
$GC,3022,-0.76,-97.3,2140,443,3322,3370,466.5,-14.5,217,3026,0.00,2.33,0.00,0.000,3078,0.000,0.047,2133,1850,3346,3322,3370,0,0,0,0,0,0,14.90,14.81,14.90,8.67,58.46
$GC,3335,-0.76,-97.3,2132,1851,3322,3370,512.9,-14.7,233,3341,0.00,2.38,0.00,0.000,2308,0.000,0.077,2121,3256,3346,3322,3370,0,0,0,0,0,0,15.02,14.79,15.02,8.67,58.97
$GC,3375,-0.76,-97.3,2121,3256,3322,3370,518.7,-14.5,235,3382,0.08,2.35,0.00,0.000,3078,0.371,0.060,2146,1841,3346,3322,3370,0,0,0,0,0,0,14.71,14.81,14.87,8.67,58.82
$GC,3695,-0.76,-97.3,2145,1841,3322,3370,562.6,-13.8,251,3701,0.00,2.45,0.00,0.000,516,0.000,0.084,2146,437,3346,3322,3370,0,0,0,0,0,0,15.02,14.81,15.02,8.67,58.97
$GC,3763,-0.76,-97.3,2145,437,3323,3370,570.9,-14.0,254,3767,0.00,2.33,0.00,0.000,3078,0.000,0.046,2137,1852,3346,3322,3370,0,0,0,0,0,0,14.92,14.83,14.92,8.67,59.17
$GC,4076,-0.76,-97.3,2136,1852,3322,3370,615.5,-14.1,270,4082,0.00,2.38,0.00,0.000,2308,0.000,0.076,2126,3256,3346,3322,3370,0,0,0,0,0,0,15.03,14.81,15.03,8.67,59.13
$GC,4117,-0.76,-97.3,2125,3256,3322,3370,621.1,-14.1,272,4123,0.05,2.38,0.00,0.000,3078,0.335,0.060,2143,1850,3346,3323,3370,0,0,0,0,0,0,14.70,14.81,14.82,8.67,59.05
$GC,4436,-0.76,-97.3,2142,1849,3323,3370,664.9,-13.6,288,4442,0.00,2.45,0.00,0.000,2564,0.000,0.086,2143,437,3346,3322,3370,0,0,0,0,0,0,15.03,14.81,15.04,8.68,58.58
$GC,4504,-0.76,-97.3,2142,437,3322,3370,673.2,-13.8,291,4508,0.00,2.35,0.00,0.000,3078,0.000,0.047,2133,1859,3346,3323,3370,0,0,0,0,0,0,14.92,14.83,14.93,8.68,59.52
$GC,4817,-0.76,-97.3,2133,1860,3323,3370,717.0,-13.8,307,4823,0.00,2.38,0.00,0.000,2308,0.000,0.078,2123,3264,3347,3323,3371,0,0,0,0,0,0,15.03,14.81,15.04,8.69,59.52
$GC,4877,-0.76,-97.3,2122,3263,3323,3370,725.0,-13.5,310,4883,0.08,2.35,0.00,0.000,3078,0.364,0.062,2147,1850,3346,3323,3370,0,0,0,0,0,0,14.73,14.82,14.88,8.68,59.09
$GC,5197,-0.76,-97.3,2147,1851,3324,3370,765.4,-12.9,326,5203,0.00,2.45,0.00,0.000,516,0.000,0.087,2147,442,3346,3323,3370,0,0,0,0,0,0,15.04,14.81,15.04,8.68,58.58
$GC,5259,-0.76,-97.3,2147,442,3323,3371,773.3,-13.1,329,5263,0.00,2.38,0.00,0.000,3078,0.000,0.047,2139,1851,3346,3323,3370,0,0,0,0,0,0,14.87,14.82,14.90,8.69,59.09
$GC,5577,-0.76,-97.3,2139,1851,3323,3370,815.0,-13.3,345,5583,0.00,2.38,0.00,0.000,2308,0.000,0.077,2128,3255,3346,3323,3370,0,0,0,0,0,0,15.04,14.82,15.04,8.69,59.01
$GC,5626,-0.76,-97.3,2128,3255,3323,3370,820.4,-13.4,347,5631,0.05,2.35,0.00,0.000,3078,0.429,0.059,2144,1841,3347,3324,3370,0,0,0,0,0,0,14.71,14.83,14.89,8.69,59.01
$GC,5934,-0.76,-97.3,2144,1841,3324,3370,860.9,-12.8,362,5939,0.00,2.42,0.00,0.000,516,0.000,0.085,2145,441,3347,3324,3370,0,0,0,0,0,0,15.04,14.81,15.04,8.69,59.09
$GC,5994,-0.76,-97.3,2144,441,3324,3370,868.9,-13.3,365,5999,0.00,2.38,0.00,0.000,3078,0.000,0.046,2136,1850,3347,3324,3370,0,0,0,0,0,0,14.88,14.83,14.90,8.69,59.64
$GC,6313,-0.76,-97.3,2135,1851,3324,3370,911.6,-13.5,381,6319,0.00,2.38,0.00,0.000,2308,0.000,0.076,2125,3257,3347,3324,3370,0,0,0,0,0,0,15.04,14.82,15.04,8.70,59.01
$GC,6365,-0.76,-97.3,2125,3256,3324,3370,917.0,-13.5,383,6374,0.05,2.38,0.00,0.000,3078,0.325,0.060,2142,1850,3347,3324,3370,0,0,0,0,0,0,14.71,14.81,14.82,8.70,59.01
$GC,6674,-0.76,-97.3,2143,1850,3324,3370,958.2,-12.8,399,6680,0.00,2.42,0.00,0.000,2564,0.000,0.088,2143,445,3347,3324,3370,0,0,0,0,0,0,15.04,14.81,15.05,8.69,59.41
$GC,6736,-0.76,-97.3,2142,445,3324,3370,966.1,-13.2,402,6741,0.00,2.33,0.00,0.000,3078,0.000,0.047,2134,1854,3347,3324,3370,0,0,0,0,0,0,14.94,14.85,14.94,8.70,59.29
$STATE,6927,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6927,begin apogee
$GC,6931,-0.14,0.0,2133,1781,3324,3370,991.5,-13.2,412,7015,0.57,0.00,80.43,2.611,10246,0.258,0.000,2341,1781,2943,2932,2954,0,0,0,0,0,0,14.73,13.99,13.15,8.70,59.64
$STATE,7016,end apogee,CONTROL_FINISHED_OK
$STATE,7016,begin climb
$GC,7017,0.76,97.3,2340,1781,2931,2953,995.3,0.0,416,7110,0.77,2.62,80.22,2.504,10756,0.171,0.080,2644,409,2544,2533,2555,0,0,0,0,0,0,13.95,13.70,12.92,8.69,58.74
$GC,7155,0.77,102.5,2643,409,2535,2556,985.1,9.6,423,7166,0.00,2.40,6.15,1.909,13318,0.000,0.040,2644,1800,2525,2513,2538,0,0,0,0,0,0,14.04,13.99,13.13,8.64,56.81
$GC,7468,0.77,102.5,2643,1800,2512,2535,943.6,13.3,438,7474,0.00,2.45,0.00,0.000,4356,0.000,0.073,2643,3199,2523,2512,2535,0,0,0,0,0,0,14.57,14.35,14.57,8.63,57.56
$GC,7528,0.77,102.5,2643,3200,2512,2535,935.4,13.6,441,7535,0.08,2.38,0.00,0.000,5126,0.404,0.062,2634,1818,2524,2513,2535,0,0,0,0,0,0,14.28,14.40,14.45,8.63,57.91
$GC,7848,0.77,102.5,2634,1818,2513,2535,895.1,12.6,457,7854,0.00,2.53,0.00,0.000,516,0.000,0.078,2644,387,2523,2512,2535,0,0,0,0,0,0,14.75,14.54,14.75,8.63,57.91
$GC,7915,0.77,102.5,2643,388,2512,2535,887.4,12.8,460,7920,0.00,2.38,0.00,0.000,5126,0.000,0.039,2644,1812,2524,2513,2535,0,0,0,0,0,0,14.66,14.57,14.66,8.62,57.56
$GC,8228,0.77,102.5,2643,1813,2512,2535,846.2,12.8,476,8234,0.00,2.38,0.00,0.000,4356,0.000,0.071,2644,3202,2523,2512,2535,0,0,0,0,0,0,14.84,14.62,14.85,8.62,58.15
$GC,8288,0.77,102.5,2643,3202,2512,2535,838.4,13.0,479,8295,0.05,2.38,0.00,0.000,5126,0.448,0.060,2638,1794,2523,2512,2535,0,0,0,0,0,0,14.52,14.64,14.71,8.62,58.50
$GC,8608,0.77,102.5,2640,1794,2512,2536,798.7,12.6,495,8614,0.00,2.45,0.00,0.000,4612,0.000,0.076,2649,381,2523,2512,2535,0,0,0,0,0,0,14.90,14.69,14.90,8.61,58.54
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$STATE,15983,end climb,SURFACE_DEPTH_REACHED
$STATE,15983,begin surface coast
$FINISH,0.0,1.027171
$STATE,16006,end surface coast,CONTROL_FINISHED_OK
$STATE,16006,begin surface
$SM_CCo,16079,0.00,0.000,0,0,2146,195.75
$SM_GC,1.42,5.93,0.10,0.00,0.102,0.135,0.000,278,1873,2146,-6.42,-0.65,195.75,0,0,0,0,0,0,14.50,14.47,14.54
$IRIDIUM_FIX,-6402.10,222.54,190122,205524
$TT8_MAMPS,0.019474,0.336301
$HUMID,57.40
$INTERNAL_PRESSURE,8.48201
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,12.92,164.997
$10V_AH,13.18,0.000
$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
$DEVICE_SECS,14.500,210.450,237.100,0.000,0.000,49.538,36.818,206.810,0.000,0.000,70.365,2680.876,10223.754,401.880,3194.099,107.922,0.000,1626.829,0.000,2106.338,0.000,0.536,0.000
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$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343044
$DATA_FILE_SIZE,76580,980
$CAP_FILE_SIZE,168934,0
$CFSIZE,1023623168,1014710272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200122,013252,-6402.354,222.374,68,0.8,72,-21.1,0.7,308.3,10,9.9