version: 66.14
glider: 640
mission: 9
dive: 65
start: 1 20 122 5 47 19
data:
$ID,640
$MISSION,9
$DIVE,65
$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,27
$R_STBD_OVSHOOT,41
$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
$GPS1,200122,053925,-6401.0137,221.9038,127,0.8,133,-21.1,1.6,260.6,9,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-66.1
$GPS2,200122,054649,-6400.9946,221.9826,8,0.8,17,-21.1,0.8,120.0,9,9.6
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,NORTH
$TGT_LATLONG,-6318.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,24.1,79736,-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,-97.3,223,1862,2068,2118,0.0,0.0,0,82,0.00,0.00,-72.55,0.000,16386,0.000,0.000,223,1863,3204,3171,3237,0,0,0,0,0,0,14.69,28.83,14.69,8.52,58.42
$GC,84,-0.76,-97.3,223,1862,3172,3237,3.5,-7.2,11,100,6.00,0.00,-4.38,0.000,18950,0.372,0.000,2162,1863,3344,3319,3369,0,0,0,0,0,0,14.33,13.75,14.56,8.63,57.63
$GC,142,-0.76,-97.3,2162,1864,3323,3369,17.5,-18.3,21,149,0.00,2.55,0.00,0.000,4612,0.000,0.075,2162,433,3346,3324,3369,0,0,0,0,0,0,14.69,14.47,14.69,8.64,57.16
$GC,176,-0.76,-97.3,2161,433,3323,3369,24.0,-18.7,27,184,0.00,2.40,0.00,0.000,5126,0.000,0.047,2152,1836,3346,3323,3369,0,0,0,0,0,0,14.59,14.50,14.60,8.64,57.32
$GC,307,-0.76,-97.3,2152,1838,3324,3369,46.5,-15.5,52,313,0.00,0.00,0.00,0.000,4102,0.000,0.000,2152,1838,3346,3324,3369,0,0,0,0,0,0,14.72,14.73,14.73,8.64,57.08
$GC,621,-0.76,-97.3,2151,1838,3325,3369,96.4,-15.7,99,627,0.00,2.45,0.00,0.000,4356,0.000,0.076,2141,3259,3347,3325,3369,0,0,0,0,0,0,14.79,14.57,14.80,8.63,56.10
$GC,662,-0.76,-97.3,2141,3258,3325,3369,102.6,-15.8,101,667,0.00,2.40,0.00,0.000,3078,0.000,0.056,2141,1856,3347,3325,3369,0,0,0,0,0,0,14.64,14.59,14.66,8.63,56.06
$GC,981,-0.76,-97.3,2141,1855,3325,3369,153.9,-16.2,117,987,0.00,2.47,0.00,0.000,2564,0.000,0.078,2141,440,3347,3325,3369,0,0,0,0,0,0,14.87,14.66,14.88,8.63,57.08
$GC,1068,-0.76,-97.3,2141,441,3325,3369,166.8,-16.1,121,1073,0.00,2.38,0.00,0.000,3078,0.000,0.046,2130,1862,3347,3325,3369,0,0,0,0,0,0,14.78,14.69,14.79,8.63,57.87
$GC,1381,-0.76,-97.3,2130,1862,3325,3369,218.0,-16.3,137,1382,0.00,0.00,0.00,0.000,2054,0.000,0.000,2130,1862,3347,3325,3369,0,0,0,0,0,0,14.92,14.92,14.92,8.64,58.11
$GC,1681,-0.76,-97.3,2130,1862,3325,3369,266.5,-16.1,152,1682,0.00,0.00,0.00,0.000,2054,0.000,0.000,2130,1862,3347,3325,3369,0,0,0,0,0,0,14.95,14.96,14.95,8.65,58.58
$GC,1981,-0.76,-97.3,2130,1862,3325,3369,314.8,-16.1,167,1982,0.00,0.00,0.00,0.000,2054,0.000,0.000,2130,1862,3347,3325,3369,0,0,0,0,0,0,14.98,14.98,14.98,8.65,58.89
$GC,2281,-0.76,-97.3,2130,1862,3325,3369,362.6,-15.8,182,2287,0.00,2.45,0.00,0.000,2564,0.000,0.078,2130,439,3347,3325,3369,0,0,0,0,0,0,15.00,14.78,15.00,8.66,58.78
$GC,2308,-0.76,-97.3,2130,439,3325,3369,365.9,-15.9,183,2313,0.08,2.33,0.00,0.000,3078,0.389,0.046,2142,1850,3347,3325,3369,0,0,0,0,0,0,14.69,14.80,14.84,8.66,58.89
$GC,2621,-0.76,-97.3,2142,1851,3324,3369,412.9,-14.5,199,2627,0.00,2.38,0.00,0.000,2308,0.000,0.078,2133,3256,3347,3325,3369,0,0,0,0,0,0,15.01,14.78,15.01,8.66,59.05
$GC,2649,-0.76,-97.3,2133,3255,3325,3369,415.7,-14.5,200,2653,0.00,2.33,0.00,0.000,3078,0.000,0.057,2133,1846,3347,3325,3369,0,0,0,0,0,0,14.90,14.80,14.91,8.65,58.93
$GC,2961,-0.76,-97.3,2132,1846,3325,3369,463.4,-15.2,216,2967,0.00,2.42,0.00,0.000,2564,0.000,0.080,2133,436,3347,3325,3369,0,0,0,0,0,0,15.02,14.80,15.02,8.66,58.58
$GC,3049,-0.76,-97.3,2132,436,3325,3369,475.7,-15.2,220,3054,0.08,2.35,0.00,0.000,3078,0.397,0.047,2146,1856,3347,3325,3369,0,0,0,0,0,0,14.70,14.82,14.86,8.67,59.01
$GC,3358,-0.76,-97.3,2146,1856,3325,3369,520.6,-14.2,235,3364,0.00,2.38,0.00,0.000,260,0.000,0.078,2137,3258,3347,3325,3369,0,0,0,0,0,0,15.02,14.78,15.02,8.67,59.29
$GC,3389,-0.76,-97.3,2136,3258,3324,3369,523.5,-14.2,236,3397,0.00,2.38,0.00,0.000,3078,0.000,0.059,2136,1853,3347,3325,3369,0,0,0,0,0,0,14.84,14.78,14.85,8.67,59.09
$GC,3697,-0.76,-97.3,2136,1853,3325,3369,570.1,-14.9,252,3703,0.00,2.42,0.00,0.000,2564,0.000,0.081,2136,444,3347,3325,3369,0,0,0,0,0,0,15.03,14.81,15.04,8.67,59.01
$GC,3778,-0.76,-97.3,2136,443,3326,3369,582.3,-15.1,256,3785,0.05,2.33,0.00,0.000,3078,0.451,0.047,2141,1854,3347,3325,3369,0,0,0,0,0,0,14.70,14.83,14.88,8.67,59.37
$GC,4099,-0.76,-97.3,2140,1853,3325,3369,628.3,-14.4,272,4105,0.00,2.35,0.00,0.000,2308,0.000,0.078,2131,3251,3346,3324,3369,0,0,0,0,0,0,15.03,14.81,15.03,8.67,59.52
$GC,4145,-0.76,-97.3,2131,3250,3325,3369,634.1,-14.4,274,4150,0.00,2.33,0.00,0.000,3078,0.000,0.058,2131,1847,3346,3325,3368,0,0,0,0,0,0,14.92,14.83,14.93,8.67,58.66
$GC,4458,-0.76,-97.3,2130,1847,3325,3369,681.3,-14.7,290,4464,0.00,2.42,0.00,0.000,2564,0.000,0.081,2131,440,3347,3325,3369,0,0,0,0,0,0,15.03,14.82,15.04,8.67,59.09
$GC,4547,-0.76,-97.3,2131,441,3325,3369,693.3,-14.9,294,4552,0.08,2.33,0.00,0.000,3078,0.392,0.047,2144,1849,3347,3325,3369,0,0,0,0,0,0,14.71,14.84,14.88,8.68,59.37
$GC,4855,-0.76,-97.3,2144,1849,3326,3369,737.2,-14.0,309,4860,0.00,2.38,0.00,0.000,260,0.000,0.079,2135,3249,3347,3325,3369,0,0,0,0,0,0,15.03,14.80,15.04,8.68,58.97
$GC,4894,-0.76,-97.3,2135,3249,3326,3369,742.7,-13.9,311,4899,0.00,2.33,0.00,0.000,3078,0.000,0.058,2135,1844,3346,3326,3367,0,0,0,0,0,0,14.93,14.83,14.94,8.68,58.97
$GC,5214,-0.76,-97.3,2135,1846,3325,3369,788.2,-14.6,327,5219,0.00,2.42,0.00,0.000,2564,0.000,0.082,2135,438,3347,3326,3369,0,0,0,0,0,0,15.04,14.82,15.04,8.69,59.29
$GC,5295,-0.76,-97.3,2134,438,3326,3369,800.1,-14.6,331,5301,0.05,2.38,0.00,0.000,3078,0.363,0.046,2141,1851,3347,3326,3368,0,0,0,0,0,0,14.71,14.83,14.83,8.69,58.54
$GC,5614,-0.76,-97.3,2140,1852,3326,3370,845.0,-14.0,347,5620,0.00,2.38,0.00,0.000,2308,0.000,0.078,2132,3257,3347,3326,3369,0,0,0,0,0,0,15.04,14.81,15.04,8.69,58.62
$GC,5646,-0.76,-97.3,2132,3256,3326,3369,847.7,-13.9,348,5654,0.00,2.38,0.00,0.000,3078,0.000,0.059,2132,1852,3347,3326,3369,0,0,0,0,0,0,14.85,14.80,14.87,8.69,58.78
$GC,5954,-0.76,-97.3,2132,1852,3326,3369,893.0,-14.0,364,5960,0.00,2.42,0.00,0.000,2564,0.000,0.083,2132,442,3347,3326,3369,0,0,0,0,0,0,15.04,14.83,15.04,8.69,59.09
$GC,6034,-0.76,-97.3,2131,442,3326,3369,904.1,-13.9,368,6041,0.08,2.33,0.00,0.000,3078,0.393,0.047,2145,1854,3347,3326,3369,0,0,0,0,0,0,14.73,14.85,14.89,8.69,58.86
$GC,6356,-0.76,-97.3,2145,1853,3326,3369,945.6,-12.7,384,6361,0.00,2.38,0.00,0.000,260,0.000,0.079,2136,3257,3348,3327,3369,0,0,0,0,0,0,15.04,14.81,15.04,8.70,58.70
$GC,6402,-0.76,-97.3,2136,3258,3326,3369,950.6,-12.7,386,6406,0.00,2.35,0.00,0.000,3078,0.000,0.058,2136,1839,3347,3326,3369,0,0,0,0,0,0,14.93,14.84,14.94,8.70,59.49
$STATE,6713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6713,begin apogee
$GC,6717,-0.14,0.0,2136,1795,3327,3369,992.4,-13.2,402,6801,0.57,0.00,80.18,2.579,10246,0.254,0.000,2344,1795,2944,2934,2954,0,0,0,0,0,0,14.74,14.00,13.15,8.70,58.74
$STATE,6802,end apogee,CONTROL_FINISHED_OK
$STATE,6802,begin climb
$GC,6804,0.76,97.3,2344,1795,2933,2953,996.4,0.0,406,6896,0.77,2.62,80.03,2.495,10500,0.176,0.068,2633,3197,2545,2534,2556,0,0,0,0,0,0,13.95,13.70,12.94,8.68,58.42
$GC,6971,0.76,97.3,2633,3197,2535,2556,984.0,10.8,414,6980,0.00,2.50,0.00,0.000,5126,0.000,0.058,2644,1809,2545,2535,2555,0,0,0,0,0,0,14.09,14.04,14.12,8.65,56.37
$GC,7279,0.76,97.3,2643,1809,2535,2556,943.5,12.9,430,7285,0.00,2.55,0.00,0.000,4612,0.000,0.079,2655,383,2544,2535,2554,0,0,0,0,0,0,14.61,14.39,14.61,8.63,57.91
$GC,7372,0.76,97.3,2654,383,2534,2556,932.9,13.3,434,7381,0.05,2.42,0.00,0.000,5126,0.329,0.040,2640,1804,2545,2534,2556,0,0,0,0,0,0,14.32,14.42,14.43,8.64,57.52
$GC,7680,0.76,97.3,2639,1805,2534,2556,892.9,12.6,450,7686,0.00,2.40,0.00,0.000,4356,0.000,0.070,2639,3199,2545,2534,2556,0,0,0,0,0,0,14.78,14.55,14.78,8.63,58.30
$GC,7722,0.76,97.3,2639,3199,2535,2556,887.6,12.9,452,7727,0.00,2.42,0.00,0.000,5126,0.000,0.060,2647,1798,2545,2535,2556,0,0,0,0,0,0,14.62,14.57,14.64,8.63,58.23
$GC,8040,0.76,97.3,2648,1798,2534,2556,846.8,12.7,468,8046,0.00,2.45,0.00,0.000,4612,0.000,0.078,2660,389,2545,2535,2556,0,0,0,0,0,0,14.86,14.64,14.86,8.62,58.82
$GC,8102,0.76,97.3,2659,388,2534,2556,839.1,12.9,471,8108,0.08,2.30,0.00,0.000,5126,0.330,0.038,2636,1805,2545,2534,2556,0,0,0,0,0,0,14.54,14.66,14.66,8.62,58.54
$GC,8420,0.76,97.3,2635,1805,2534,2555,800.8,11.9,487,8426,0.00,2.38,0.00,0.000,260,0.000,0.069,2636,3199,2545,2534,2556,0,0,0,0,0,0,14.91,14.69,14.92,8.62,59.17
$GC,8473,0.76,97.3,2635,3199,2534,2556,795.9,12.1,489,8481,0.00,2.40,0.00,0.000,5126,0.000,0.060,2645,1799,2545,2535,2556,0,0,0,0,0,0,14.73,14.67,14.74,8.62,58.97
$GC,8782,0.76,97.3,2645,1799,2534,2556,757.5,12.1,505,8788,0.00,2.42,0.00,0.000,4612,0.000,0.077,2655,388,2545,2535,2555,0,0,0,0,0,0,14.95,14.73,14.95,8.61,58.54
$GC,8881,0.76,97.3,2656,388,2534,2556,745.0,12.6,510,8888,0.08,2.30,0.00,0.000,5126,0.372,0.038,2633,1791,2545,2534,2556,0,0,0,0,0,0,14.64,14.76,14.80,8.62,58.58
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$STATE,15859,end climb,SURFACE_DEPTH_REACHED
$STATE,15859,begin surface coast
$FINISH,-0.1,1.027192
$STATE,15880,end surface coast,CONTROL_FINISHED_OK
$STATE,15880,begin surface
$SM_CCo,15895,0.45,0.402,0,0,2167,190.10
$SM_GC,0.83,5.70,2.53,0.45,0.050,0.035,0.402,213,1875,2167,-6.47,-0.90,190.10,0,0,0,0,0,0,14.54,14.50,14.40
$IRIDIUM_FIX,-6402.18,217.63,200122,054043
$TT8_MAMPS,0.019474,0.336301
$HUMID,56.81
$INTERNAL_PRESSURE,8.48201
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,12.94,165.540
$10V_AH,13.19,0.000
$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
$DEVICE_SECS,14.125,186.575,227.925,0.450,0.000,46.350,52.785,182.728,0.000,0.000,18.917,2630.381,10153.178,395.299,3065.050,102.491,0.000,1582.030,0.000,2062.245,0.000,0.535,0.000
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$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,713.594,2088.915,257.758,1279.609,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343028
$DATA_FILE_SIZE,73064,973
$CAP_FILE_SIZE,159482,0
$CFSIZE,1023623168,1014530048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200122,101736,-6359.562,222.043,247,1.3,288,-21.1,1.2,354.6,7,6.3