version: 66.14
glider: 640
mission: 9
dive: 78
start: 1 22 122 14 51 32
data:
$ID,640
$MISSION,9
$DIVE,78
$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,26
$R_STBD_OVSHOOT,35
$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
$GPS1,220122,144541,-6341.6831,228.2659,33,1.1,74,-21.2,0.3,78.1,6,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-72.5
$GPS2,220122,145103,-6341.6621,228.2247,7,1.0,47,-21.2,1.1,346.8,7,4.1
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,NORTH
$TGT_LATLONG,-6318.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,19.9,43834,-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,-97.3,226,1880,2132,2203,0.0,0.0,0,75,0.00,0.00,-66.00,0.000,16386,0.000,0.000,226,1881,3216,3187,3245,0,0,0,0,0,0,14.71,28.83,14.71,8.55,57.71
$GC,78,-0.76,-97.3,226,1880,3186,3246,3.0,-5.4,10,94,6.00,2.65,-4.20,0.000,18692,0.370,2.254,2157,3324,3344,3324,3365,0,0,0,0,0,0,14.33,13.68,14.57,8.65,56.89
$GC,136,-0.76,-97.3,2157,3324,3327,3364,14.8,-15.0,20,144,0.00,2.47,0.00,0.000,5126,0.000,0.055,2157,1868,3345,3327,3364,0,0,0,0,0,0,14.58,14.49,14.59,8.67,56.69
$GC,186,-0.76,-97.3,2157,1869,3328,3365,23.1,-17.3,29,194,0.00,2.50,0.00,0.000,4612,0.000,0.076,2157,460,3346,3328,3365,0,0,0,0,0,0,14.71,14.49,14.71,8.67,55.82
$GC,236,-0.76,-97.3,2157,460,3328,3365,32.2,-17.5,38,244,0.00,2.40,0.00,0.000,1030,0.000,0.045,2147,1870,3346,3328,3365,0,0,0,0,0,0,14.61,14.52,14.62,8.68,55.90
$GC,366,-0.76,-97.3,2147,1871,3329,3365,53.2,-15.2,63,373,0.00,2.45,0.00,0.000,260,0.000,0.077,2136,3274,3346,3329,3364,0,0,0,0,0,0,14.75,14.52,14.76,8.66,56.41
$GC,460,-0.76,-97.3,2136,3275,3329,3365,67.6,-14.6,81,467,0.00,2.38,0.00,0.000,3078,0.000,0.054,2135,1869,3346,3329,3364,0,0,0,0,0,0,14.66,14.57,14.67,8.67,55.94
$GC,782,-0.76,-97.3,2136,1868,3329,3365,119.7,-16.4,108,787,0.00,2.42,0.00,0.000,2564,0.000,0.076,2136,464,3347,3329,3365,0,0,0,0,0,0,14.85,14.62,14.85,8.66,57.00
$GC,880,-0.76,-97.3,2136,465,3328,3365,135.8,-15.9,113,887,0.05,2.35,0.00,0.000,3078,0.444,0.044,2139,1872,3347,3329,3365,0,0,0,0,0,0,14.54,14.67,14.71,8.67,57.08
$GC,1200,-0.76,-97.3,2139,1872,3329,3365,186.1,-15.9,129,1206,0.00,2.38,0.00,0.000,2308,0.000,0.074,2129,3273,3347,3329,3365,0,0,0,0,0,0,14.92,14.70,14.93,8.68,57.52
$GC,1252,-0.76,-97.3,2129,3273,3329,3365,192.4,-15.8,131,1261,0.00,2.38,0.00,0.000,3078,0.000,0.054,2129,1867,3347,3329,3365,0,0,0,0,0,0,14.74,14.69,14.76,8.69,58.30
$GC,1560,-0.76,-97.3,2129,1867,3329,3365,245.3,-16.7,147,1566,0.00,2.42,0.00,0.000,2564,0.000,0.077,2129,463,3346,3328,3365,0,0,0,0,0,0,14.96,14.74,14.96,8.68,58.34
$GC,1633,-0.76,-97.3,2129,463,3329,3365,255.4,-16.8,150,1641,0.05,2.38,0.00,0.000,3078,0.356,0.044,2135,1866,3347,3329,3365,0,0,0,0,0,0,14.60,14.73,14.73,8.68,57.71
$GC,1940,-0.76,-97.3,2135,1866,3328,3365,305.7,-15.5,166,1946,0.00,2.38,0.00,0.000,2308,0.000,0.073,2124,3275,3347,3329,3365,0,0,0,0,0,0,14.99,14.76,14.99,8.69,58.11
$GC,1973,-0.76,-97.3,2125,3275,3328,3365,308.8,-15.5,167,1982,0.05,2.35,0.00,0.000,3078,0.343,0.052,2142,1870,3346,3329,3364,0,0,0,0,0,0,14.63,14.75,14.76,8.69,58.15
$GC,2281,-0.76,-97.3,2141,1870,3329,3365,356.9,-14.9,183,2287,0.00,2.42,0.00,0.000,2564,0.000,0.076,2141,464,3347,3329,3365,0,0,0,0,0,0,15.01,14.78,15.01,8.70,58.07
$GC,2361,-0.76,-97.3,2141,464,3329,3365,368.9,-15.0,187,2367,0.00,2.33,0.00,0.000,3078,0.000,0.044,2132,1873,3346,3328,3365,0,0,0,0,0,0,14.89,14.81,14.90,8.69,58.66
$GC,2681,-0.76,-97.3,2131,1873,3329,3365,418.0,-15.6,203,2687,0.00,2.35,0.00,0.000,2308,0.000,0.073,2121,3271,3346,3328,3364,0,0,0,0,0,0,15.02,14.80,15.02,8.69,58.50
$GC,2723,-0.76,-97.3,2120,3272,3329,3365,424.1,-15.4,205,2728,0.05,2.35,0.00,0.000,3078,0.334,0.054,2139,1872,3346,3328,3365,0,0,0,0,0,0,14.69,14.80,14.81,8.70,58.58
$GC,3041,-0.76,-97.3,2138,1872,3329,3364,471.3,-14.7,221,3047,0.00,2.42,0.00,0.000,2564,0.000,0.079,2138,464,3346,3328,3365,0,0,0,0,0,0,15.03,14.81,15.03,8.70,58.42
$GC,3129,-0.76,-97.3,2138,464,3328,3365,483.3,-15.0,225,3133,0.00,2.33,0.00,0.000,3078,0.000,0.044,2129,1879,3346,3328,3365,0,0,0,0,0,0,14.92,14.83,14.92,8.70,58.34
$GC,3441,-0.76,-97.3,2128,1880,3328,3365,532.1,-15.5,241,3448,0.05,2.35,0.00,0.000,2308,0.448,0.070,2133,3273,3346,3328,3364,0,0,0,0,0,0,14.71,14.81,14.88,8.70,58.26
$GC,3483,-0.76,-97.3,2132,3273,3329,3365,538.2,-15.5,243,3488,0.00,2.35,0.00,0.000,3078,0.000,0.054,2133,1866,3346,3328,3365,0,0,0,0,0,0,14.87,14.82,14.88,8.70,58.50
$GC,3802,-0.76,-97.3,2132,1866,3329,3365,586.8,-15.1,259,3808,0.00,2.40,0.00,0.000,2564,0.000,0.080,2133,470,3347,3329,3365,0,0,0,0,0,0,15.04,14.82,15.04,8.70,58.15
$GC,3874,-0.76,-97.3,2132,469,3328,3365,596.0,-15.4,262,3883,0.05,2.35,0.00,0.000,3078,0.360,0.043,2139,1869,3346,3328,3364,0,0,0,0,0,0,14.69,14.81,14.81,8.71,58.42
$GC,4182,-0.76,-97.3,2139,1869,3328,3365,641.4,-14.1,278,4188,0.00,2.35,0.00,0.000,2308,0.000,0.073,2130,3270,3346,3329,3364,0,0,0,0,0,0,15.05,14.82,15.05,8.70,57.91
$GC,4224,-0.76,-97.3,2130,3270,3329,3365,647.1,-14.2,280,4229,0.00,2.33,0.00,0.000,3078,0.000,0.055,2131,1880,3346,3328,3365,0,0,0,0,0,0,14.88,14.83,14.89,8.71,58.38
$GC,4543,-0.76,-97.3,2130,1880,3329,3365,694.0,-14.6,296,4549,0.00,2.45,0.00,0.000,2564,0.000,0.079,2130,460,3347,3329,3365,0,0,0,0,0,0,15.05,14.83,15.06,8.70,58.86
$GC,4630,-0.76,-97.3,2130,460,3329,3365,705.8,-14.5,300,4635,0.08,2.33,0.00,0.000,3078,0.382,0.044,2144,1875,3346,3329,3364,0,0,0,0,0,0,14.73,14.85,14.89,8.70,58.97
$GC,4943,-0.76,-97.3,2144,1875,3329,3365,749.0,-13.5,316,4949,0.00,2.35,0.00,0.000,260,0.000,0.073,2135,3272,3347,3329,3365,0,0,0,0,0,0,15.05,14.83,15.06,8.71,58.58
$GC,4975,-0.76,-97.3,2134,3272,3329,3365,751.7,-13.5,317,4984,0.00,2.35,0.00,0.000,3078,0.000,0.056,2135,1871,3347,3330,3365,0,0,0,0,0,0,14.85,14.81,14.88,8.71,58.62
$GC,5285,-0.76,-97.3,2135,1871,3330,3365,796.6,-14.1,333,5290,0.00,2.40,0.00,0.000,2564,0.000,0.082,2135,470,3347,3329,3365,0,0,0,0,0,0,15.06,14.82,15.06,8.71,58.50
$GC,5345,-0.76,-97.3,2134,470,3330,3365,805.3,-14.4,336,5351,0.05,2.35,0.00,0.000,3078,0.345,0.044,2141,1874,3347,3330,3365,0,0,0,0,0,0,14.71,14.84,14.84,8.71,59.05
$GC,5664,-0.76,-97.3,2141,1874,3330,3365,848.3,-13.5,352,5669,0.00,2.35,0.00,0.000,2308,0.000,0.073,2133,3275,3347,3330,3365,0,0,0,0,0,0,15.06,14.83,15.06,8.71,58.26
$GC,5691,-0.76,-97.3,2133,3275,3330,3365,851.0,-13.5,353,5695,0.00,2.33,0.00,0.000,3078,0.000,0.057,2133,1865,3347,3330,3365,0,0,0,0,0,0,14.94,14.85,14.95,8.72,58.78
$GC,6004,-0.76,-97.3,2132,1863,3329,3365,895.4,-13.9,369,6010,0.00,2.42,0.00,0.000,2564,0.000,0.080,2133,459,3347,3330,3365,0,0,0,0,0,0,15.06,14.83,15.07,8.71,58.89
$GC,6072,-0.76,-97.3,2132,459,3330,3365,904.0,-14.3,372,6077,0.08,2.33,0.00,0.000,3078,0.388,0.044,2147,1879,3347,3330,3365,0,0,0,0,0,0,14.73,14.85,14.90,8.72,58.93
$GC,6385,-0.76,-97.3,2147,1879,3330,3365,944.6,-12.7,388,6390,0.00,2.35,0.00,0.000,260,0.000,0.073,2139,3273,3347,3330,3365,0,0,0,0,0,0,15.06,14.83,15.07,8.72,59.25
$GC,6427,-0.76,-97.3,2138,3273,3330,3365,949.6,-12.5,390,6431,0.00,2.35,0.00,0.000,3078,0.000,0.057,2139,1869,3347,3330,3365,0,0,0,0,0,0,14.89,14.83,14.90,8.72,58.70
$STATE,6745,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6745,begin apogee
$GC,6750,-0.14,0.0,2138,1749,3329,3366,991.3,-12.9,406,6833,0.55,0.00,79.97,2.619,10246,0.249,0.000,2339,1748,2943,2933,2954,0,0,0,0,0,0,14.74,14.01,13.16,8.72,58.74
$STATE,6834,end apogee,CONTROL_FINISHED_OK
$STATE,6834,begin climb
$GC,6835,0.76,97.3,2339,1748,2932,2953,995.2,0.0,410,6927,0.77,2.65,80.00,2.547,10500,0.171,0.064,2630,3171,2543,2531,2556,0,0,0,0,0,0,13.97,13.73,12.93,8.70,58.54
$GC,6990,0.76,97.3,2629,3170,2531,2556,982.7,10.8,418,6996,0.00,2.40,0.00,0.000,5126,0.000,0.056,2640,1800,2543,2531,2556,0,0,0,0,0,0,14.15,14.06,14.16,8.67,56.34
$GC,7310,0.76,97.3,2639,1800,2531,2556,942.3,12.8,434,7316,0.00,2.55,0.00,0.000,4612,0.000,0.075,2651,367,2543,2530,2556,0,0,0,0,0,0,14.62,14.41,14.63,8.65,58.15
$GC,7392,0.76,97.3,2651,367,2530,2556,931.8,13.1,438,7397,0.05,2.40,0.00,0.000,5126,0.333,0.037,2635,1783,2543,2530,2556,0,0,0,0,0,0,14.34,14.46,14.46,8.65,57.56
$GC,7710,0.76,97.3,2634,1783,2530,2556,892.1,12.4,454,7716,0.00,2.38,0.00,0.000,260,0.000,0.066,2634,3175,2543,2530,2556,0,0,0,0,0,0,14.79,14.58,14.81,8.64,57.83
$GC,7791,0.76,97.3,2634,3176,2530,2556,882.0,12.5,458,7797,0.00,2.35,0.00,0.000,5126,0.000,0.056,2644,1776,2543,2530,2556,0,0,0,0,0,0,14.71,14.62,14.71,8.64,58.30
$GC,8111,0.76,97.3,2643,1776,2530,2556,842.0,12.6,474,8117,0.00,2.45,0.00,0.000,4612,0.000,0.074,2655,366,2542,2530,2555,0,0,0,0,0,0,14.89,14.67,14.89,8.64,58.46
$GC,8183,0.76,97.3,2654,367,2530,2556,834.2,12.9,477,8192,0.05,2.38,0.00,0.000,5126,0.334,0.036,2638,1780,2543,2530,2556,0,0,0,0,0,0,14.54,14.67,14.67,8.64,58.42
$GC,8491,0.76,97.3,2638,1780,2529,2556,795.7,12.0,493,8497,0.00,2.35,0.00,0.000,4356,0.000,0.066,2638,3179,2542,2529,2556,0,0,0,0,0,0,14.94,14.72,14.94,8.64,58.42
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$STATE,15851,end climb,SURFACE_DEPTH_REACHED
$STATE,15851,begin surface coast
$FINISH,0.5,1.027302
$STATE,15868,end surface coast,CONTROL_FINISHED_OK
$STATE,15868,begin surface
$SM_CCo,15883,1.27,0.307,0,0,2169,190.10
$SM_GC,1.23,5.75,2.62,1.27,0.073,0.042,0.307,270,1866,2169,-6.43,-0.88,190.10,0,0,0,0,0,0,14.50,14.45,14.38
$IRIDIUM_FIX,-6343.72,225.79,220122,101259
$TT8_MAMPS,0.020223,0.337799
$HUMID,56.65
$INTERNAL_PRESSURE,8.53084
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,12.93,169.050
$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
$DEVICE_SECS,14.250,204.925,223.250,1.275,0.000,25.442,14.257,146.410,0.000,0.000,48.781,2644.630,10007.489,410.456,3038.728,106.668,0.000,1624.899,0.000,2102.083,0.000,0.536,0.000
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$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,716.710,2099.570,259.449,1285.662,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343016
$DATA_FILE_SIZE,76221,978
$CAP_FILE_SIZE,163983,0
$CFSIZE,1023623168,1013235712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220122,191945,-6340.247,226.533,136,1.2,176,-21.1,0.0,178.3,7,5.7