version: 66.14
glider: 640
mission: 9
dive: 77
start: 1 22 122 10 17 3
data:
$ID,640
$MISSION,9
$DIVE,77
$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,1870
$C_ROLL_CLIMB,1780
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,75
$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
$GPS1,220122,101134,-6343.1836,228.5989,45,0.8,48,-21.2,0.0,132.5,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-69.7
$GPS2,220122,101634,-6343.1904,228.6087,7,0.8,13,-21.2,0.8,117.3,10,9.9
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,NORTH
$TGT_LATLONG,-6318.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,19.6,46672,-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,-97.3,229,1910,2132,2199,0.0,0.0,0,75,0.00,0.00,-66.18,0.000,16386,0.000,0.000,230,1909,3246,3214,3279,0,0,0,0,0,0,14.67,28.83,14.68,8.55,57.48
$GC,78,-0.76,-97.3,229,1908,3215,3279,3.6,-7.2,10,94,6.00,2.55,-3.03,0.000,18692,0.369,2.258,2158,3283,3343,3319,3368,0,0,0,0,0,0,14.32,13.65,14.55,8.65,56.65
$GC,131,-0.76,-97.3,2158,3282,3323,3368,15.9,-17.8,19,139,0.00,2.40,0.00,0.000,5126,0.000,0.054,2157,1874,3345,3323,3368,0,0,0,0,0,0,14.56,14.47,14.57,8.67,55.98
$GC,181,-0.76,-97.3,2157,1873,3323,3368,25.1,-19.1,28,189,0.00,2.50,0.00,0.000,4612,0.000,0.074,2158,460,3345,3323,3368,0,0,0,0,0,0,14.69,14.47,14.69,8.66,56.14
$GC,206,-0.76,-97.3,2157,460,3323,3368,29.5,-17.5,32,213,0.00,2.35,0.00,0.000,1030,0.000,0.046,2148,1838,3345,3323,3368,0,0,0,0,0,0,14.58,14.50,14.59,8.67,56.61
$GC,336,-0.76,-97.3,2147,1839,3324,3368,52.0,-16.3,57,343,0.00,2.53,0.00,0.000,260,0.000,0.080,2137,3283,3346,3324,3368,0,0,0,0,0,0,14.73,14.51,14.73,8.67,56.02
$GC,395,-0.76,-97.3,2137,3284,3324,3368,61.7,-15.0,68,402,0.00,2.40,0.00,0.000,3078,0.000,0.056,2137,1870,3346,3324,3368,0,0,0,0,0,0,14.64,14.54,14.65,8.67,56.26
$GC,720,-0.76,-97.3,2137,1870,3324,3368,112.3,-16.0,102,726,0.00,2.45,0.00,0.000,2564,0.000,0.077,2137,463,3346,3324,3368,0,0,0,0,0,0,14.83,14.62,14.83,8.66,56.81
$GC,807,-0.76,-97.3,2137,463,3324,3368,124.6,-15.3,106,812,0.05,2.35,0.00,0.000,3078,0.448,0.045,2141,1875,3346,3324,3368,0,0,0,0,0,0,14.52,14.65,14.70,8.66,57.24
$GC,1120,-0.76,-97.3,2140,1875,3323,3368,172.7,-15.3,122,1126,0.00,2.38,0.00,0.000,2308,0.000,0.076,2130,3272,3346,3324,3368,0,0,0,0,0,0,14.91,14.69,14.91,8.67,57.63
$GC,1193,-0.76,-97.3,2130,3272,3324,3368,181.6,-14.8,125,1201,0.00,2.38,0.00,0.000,3078,0.000,0.054,2130,1865,3346,3324,3368,0,0,0,0,0,0,14.72,14.68,14.74,8.66,57.40
$GC,1501,-0.76,-97.3,2129,1865,3324,3367,230.8,-15.7,141,1507,0.00,2.42,0.00,0.000,2564,0.000,0.075,2130,458,3346,3324,3368,0,0,0,0,0,0,14.95,14.73,14.95,8.68,58.38
$GC,1554,-0.76,-97.3,2130,458,3323,3368,237.2,-15.8,143,1563,0.05,2.38,0.00,0.000,3078,0.352,0.044,2137,1859,3345,3323,3368,0,0,0,0,0,0,14.60,14.73,14.73,8.68,58.07
$GC,1861,-0.76,-97.3,2136,1859,3324,3368,285.4,-15.2,159,1868,0.00,2.40,0.00,0.000,2308,0.000,0.075,2126,3279,3346,3324,3368,0,0,0,0,0,0,14.98,14.76,14.98,8.69,58.42
$GC,1929,-0.76,-97.3,2126,3279,3324,3368,294.3,-14.9,162,1934,0.05,2.33,0.00,0.000,3078,0.442,0.054,2141,1865,3346,3324,3368,0,0,0,0,0,0,14.65,14.78,14.83,8.69,58.34
$GC,2243,-0.76,-97.3,2141,1864,3324,3368,341.5,-14.9,178,2248,0.00,2.38,0.00,0.000,2564,0.000,0.073,2141,467,3346,3324,3368,0,0,0,0,0,0,15.00,14.77,15.00,8.69,58.82
$GC,2311,-0.76,-97.3,2142,467,3324,3368,350.6,-15.1,181,2315,0.00,2.33,0.00,0.000,3078,0.000,0.044,2132,1877,3346,3324,3368,0,0,0,0,0,0,14.89,14.81,14.90,8.69,58.50
$GC,2619,-0.76,-97.3,2132,1878,3324,3368,399.3,-15.7,196,2624,0.00,2.33,0.00,0.000,2308,0.000,0.074,2121,3272,3345,3323,3368,0,0,0,0,0,0,15.02,14.79,15.02,8.70,58.78
$GC,2650,-0.76,-97.3,2121,3272,3324,3368,402.4,-15.7,197,2658,0.05,2.35,0.00,0.000,3078,0.330,0.055,2139,1871,3346,3324,3368,0,0,0,0,0,0,14.67,14.78,14.79,8.69,58.54
$GC,2957,-0.76,-97.3,2139,1871,3324,3368,449.1,-14.7,213,2963,0.00,2.42,0.00,0.000,2564,0.000,0.079,2139,466,3346,3324,3368,0,0,0,0,0,0,15.02,14.81,15.03,8.70,58.89
$GC,3030,-0.76,-97.3,2139,465,3323,3368,458.2,-14.9,216,3038,0.00,2.38,0.00,0.000,3078,0.000,0.045,2129,1875,3346,3324,3368,0,0,0,0,0,0,14.83,14.78,14.86,8.70,58.82
$GC,3338,-0.76,-97.3,2129,1874,3324,3368,505.9,-15.1,232,3344,0.00,2.35,0.00,0.000,2308,0.000,0.073,2118,3275,3345,3323,3368,0,0,0,0,0,0,15.04,14.81,15.04,8.70,58.23
$GC,3391,-0.76,-97.3,2117,3275,3323,3368,511.8,-14.7,234,3400,0.08,2.35,0.00,0.000,3078,0.291,0.055,2145,1870,3345,3323,3368,0,0,0,0,0,0,14.70,14.78,14.81,8.70,58.86
$GC,3700,-0.76,-97.3,2144,1869,3324,3368,556.1,-13.9,250,3705,0.00,2.40,0.00,0.000,516,0.000,0.079,2145,467,3345,3323,3368,0,0,0,0,0,0,15.04,14.81,15.04,8.70,58.78
$GC,3767,-0.76,-97.3,2144,467,3324,3368,564.5,-14.1,253,3772,0.00,2.30,0.00,0.000,3078,0.000,0.044,2136,1873,3346,3324,3368,0,0,0,0,0,0,14.93,14.84,14.94,8.70,58.50
$GC,4075,-0.76,-97.3,2135,1872,3324,3368,608.4,-14.1,268,4081,0.00,2.33,0.00,0.000,2308,0.000,0.074,2125,3270,3345,3323,3368,0,0,0,0,0,0,15.04,14.81,15.05,8.70,58.42
$GC,4147,-0.76,-97.3,2124,3270,3324,3368,616.6,-13.7,271,4155,0.05,2.35,0.00,0.000,3078,0.322,0.056,2142,1869,3346,3324,3368,0,0,0,0,0,0,14.70,14.80,14.82,8.71,58.58
$GC,4454,-0.76,-97.3,2142,1869,3324,3368,660.0,-13.7,287,4460,0.00,2.42,0.00,0.000,2564,0.000,0.080,2142,460,3346,3324,3368,0,0,0,0,0,0,15.05,14.83,15.06,8.71,59.01
$GC,4516,-0.76,-97.3,2142,460,3324,3368,668.4,-13.8,290,4521,0.00,2.35,0.00,0.000,3078,0.000,0.044,2133,1866,3345,3323,3368,0,0,0,0,0,0,14.88,14.84,14.89,8.71,58.42
$GC,4835,-0.76,-97.3,2133,1866,3324,3368,712.9,-14.0,306,4841,0.00,2.38,0.00,0.000,2308,0.000,0.075,2122,3279,3346,3324,3368,0,0,0,0,0,0,15.05,14.83,15.05,8.70,58.30
$GC,4907,-0.76,-97.3,2122,3279,3324,3368,721.2,-13.9,309,4916,0.05,2.38,0.00,0.000,3078,0.329,0.054,2140,1860,3346,3324,3368,0,0,0,0,0,0,14.71,14.81,14.82,8.71,58.46
$GC,5215,-0.76,-97.3,2140,1861,3324,3368,764.1,-13.5,325,5221,0.00,2.40,0.00,0.000,2564,0.000,0.077,2140,463,3346,3324,3368,0,0,0,0,0,0,15.06,14.83,15.06,8.71,58.50
$GC,5268,-0.76,-97.3,2140,463,3324,3368,769.6,-13.7,327,5276,0.00,2.35,0.00,0.000,3078,0.000,0.044,2130,1868,3346,3325,3368,0,0,0,0,0,0,14.86,14.82,14.88,8.71,58.78
$GC,5575,-0.76,-97.3,2130,1870,3325,3368,813.8,-14.0,343,5581,0.00,2.35,0.00,0.000,2308,0.000,0.074,2119,3273,3346,3325,3368,0,0,0,0,0,0,15.06,14.83,15.06,8.71,59.01
$GC,5637,-0.76,-97.3,2119,3273,3325,3368,822.1,-13.8,346,5643,0.05,2.35,0.00,0.000,3078,0.321,0.056,2138,1870,3347,3326,3368,0,0,0,0,0,0,14.73,14.83,14.85,8.72,58.93
$GC,5956,-0.76,-97.3,2138,1869,3325,3368,864.7,-13.4,362,5962,0.00,2.42,0.00,0.000,2564,0.000,0.082,2138,464,3346,3325,3368,0,0,0,0,0,0,15.06,14.83,15.07,8.71,58.46
$GC,6018,-0.76,-97.3,2137,464,3325,3368,872.9,-13.7,365,6023,0.00,2.35,0.00,0.000,3078,0.000,0.044,2129,1870,3346,3325,3368,0,0,0,0,0,0,14.89,14.84,14.91,8.72,58.82
$GC,6336,-0.76,-97.3,2129,1870,3325,3368,916.7,-13.8,381,6342,0.00,2.35,0.00,0.000,2308,0.000,0.074,2118,3273,3346,3325,3368,0,0,0,0,0,0,15.06,14.83,15.06,8.72,58.26
$GC,6397,-0.76,-97.3,2117,3272,3325,3366,924.8,-13.7,384,6403,0.08,2.30,0.00,0.000,3078,0.345,0.057,2143,1871,3346,3325,3368,0,0,0,0,0,0,14.75,14.85,14.90,8.72,58.23
$GC,6717,-0.76,-97.3,2143,1871,3325,3368,965.1,-12.5,400,6723,0.00,2.42,0.00,0.000,2564,0.000,0.083,2143,466,3346,3325,3368,0,0,0,0,0,0,15.06,14.83,15.07,8.72,58.74
$GC,6784,-0.76,-97.3,2143,466,3325,3368,972.7,-12.8,403,6789,0.00,2.30,0.00,0.000,3078,0.000,0.044,2135,1874,3346,3326,3367,0,0,0,0,0,0,14.95,14.85,14.96,8.72,58.58
$STATE,6916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6916,begin apogee
$GC,6920,-0.14,0.0,2135,1758,3325,3368,990.4,-12.9,410,7004,0.57,0.00,79.97,2.632,10246,0.254,0.000,2342,1756,2943,2932,2954,0,0,0,0,0,0,14.73,14.00,13.15,8.71,58.15
$STATE,7005,end apogee,CONTROL_FINISHED_OK
$STATE,7005,begin climb
$GC,7006,0.76,97.3,2342,1758,2930,2953,994.1,0.0,414,7099,0.77,2.60,79.32,2.545,10756,0.168,0.076,2646,397,2544,2532,2556,0,0,0,0,0,0,13.97,13.76,12.93,8.69,57.56
$GC,7143,0.76,97.3,2646,398,2532,2556,983.5,10.1,421,7149,0.00,2.38,0.00,0.000,5126,0.000,0.037,2647,1772,2544,2532,2556,0,0,0,0,0,0,14.06,14.01,14.07,8.67,56.45
$GC,7462,0.76,97.3,2647,1772,2531,2557,941.1,13.4,437,7468,0.00,2.45,0.00,0.000,4356,0.000,0.069,2647,3189,2543,2531,2556,0,0,0,0,0,0,14.61,14.39,14.62,8.65,57.87
$GC,7544,0.76,97.3,2646,3189,2531,2556,930.2,13.5,441,7550,0.08,2.40,0.00,0.000,5126,0.338,0.057,2634,1805,2543,2531,2556,0,0,0,0,0,0,14.33,14.44,14.45,8.64,57.71
$GC,7863,0.76,97.3,2634,1804,2531,2556,890.2,12.5,457,7869,0.00,2.53,0.00,0.000,516,0.000,0.074,2644,371,2543,2531,2556,0,0,0,0,0,0,14.78,14.57,14.79,8.65,57.56
$GC,7950,0.76,97.3,2644,370,2530,2556,879.8,13.0,461,7955,0.00,2.35,0.00,0.000,5126,0.000,0.037,2644,1791,2543,2530,2556,0,0,0,0,0,0,14.70,14.60,14.71,8.65,57.60
$GC,8263,0.76,97.3,2644,1791,2530,2556,838.4,13.0,477,8269,0.00,2.35,0.00,0.000,4356,0.000,0.067,2644,3181,2543,2530,2556,0,0,0,0,0,0,14.88,14.66,14.88,8.64,58.46
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$STATE,15953,end climb,SURFACE_DEPTH_REACHED
$STATE,15953,begin surface coast
$FINISH,1.2,1.027246
$STATE,15969,end surface coast,CONTROL_FINISHED_OK
$STATE,15970,begin surface
$SM_CCo,15985,24.90,1.423,0,0,2168,190.10
$SM_GC,3.38,5.97,2.62,24.90,0.125,0.043,1.423,226,1880,2168,-6.41,-0.79,190.10,0,0,0,0,0,0,14.62,14.57,13.86
$IRIDIUM_FIX,-6343.64,230.64,220122,053229
$TT8_MAMPS,0.020223,0.332556
$HUMID,56.77
$INTERNAL_PRESSURE,8.53084
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,12.93,168.781
$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,14.500,213.900,201.425,24.900,0.000,24.651,15.430,159.858,0.000,0.000,14.353,2666.748,10064.272,422.153,3048.384,111.015,0.000,1655.092,0.000,2137.759,0.000,0.538,0.000
$DEVICE_MAMPS,647.190,2257.515,2632.365,1422.900,0.000,26.010,160.000,223.000,420.000,0.000,11.240,9.970,2.190,9.220,29.450,46.670,0.000,11.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,710.473,2088.857,258.794,1279.156,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342996
$DATA_FILE_SIZE,73082,973
$CAP_FILE_SIZE,169225,0
$CFSIZE,1023623168,1013334016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220122,144541,-6341.683,228.266,33,1.1,74,-21.2,0.3,78.1,6,5.0