version: 66.14
glider: 640
mission: 9
dive: 79
start: 1 22 122 19 25 33
data:
$ID,640
$MISSION,9
$DIVE,79
$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,31
$R_STBD_OVSHOOT,24
$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
$GPS1,220122,191945,-6340.2466,226.5334,136,1.2,176,-21.1,0.0,178.3,7,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-70.0
$GPS2,220122,192504,-6340.2646,226.4587,8,1.1,48,-21.1,1.2,154.4,7,4.8
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,NORTH
$TGT_LATLONG,-6318.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,21.7,41237,-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,-97.3,232,1867,2142,2189,0.0,0.0,0,82,0.00,0.00,-72.53,0.000,16386,0.000,0.000,232,1866,3317,3284,3350,0,0,0,0,0,0,14.73,28.83,14.74,8.55,57.40
$GC,84,-0.76,-97.3,232,1867,3285,3350,3.4,-5.9,11,100,5.97,2.65,-0.80,0.000,18692,0.373,2.256,2160,3335,3343,3315,3372,0,0,0,0,0,0,14.35,13.69,14.59,8.66,56.89
$GC,182,-0.76,-97.3,2160,3335,3319,3372,23.3,-18.0,29,190,0.00,2.50,0.00,0.000,5126,0.000,0.054,2160,1867,3346,3319,3373,0,0,0,0,0,0,14.59,14.50,14.60,8.67,55.59
$GC,312,-0.76,-97.3,2160,1865,3319,3372,45.7,-17.3,54,320,0.00,2.47,0.00,0.000,4612,0.000,0.075,2160,463,3345,3319,3372,0,0,0,0,0,0,14.73,14.52,14.74,8.66,56.53
$GC,342,-0.76,-97.3,2160,463,3320,3373,50.7,-16.0,59,350,0.00,2.40,0.00,0.000,5126,0.000,0.045,2150,1881,3345,3319,3372,0,0,0,0,0,0,14.64,14.55,14.64,8.66,56.18
$GC,652,-0.76,-97.3,2150,1880,3319,3372,99.7,-16.2,102,658,0.00,2.38,0.00,0.000,4356,0.000,0.073,2140,3272,3346,3319,3373,0,0,0,0,0,0,14.83,14.59,14.83,8.66,56.57
$GC,720,-0.76,-97.3,2140,3272,3319,3373,108.7,-15.5,105,724,0.00,2.38,0.00,0.000,3078,0.000,0.054,2140,1872,3346,3320,3372,0,0,0,0,0,0,14.68,14.62,14.70,8.67,56.97
$GC,1032,-0.76,-97.3,2139,1872,3319,3373,159.3,-15.9,121,1038,0.00,2.45,0.00,0.000,2564,0.000,0.077,2140,461,3345,3319,3372,0,0,0,0,0,0,14.90,14.68,14.90,8.67,57.87
$GC,1115,-0.76,-97.3,2139,461,3319,3372,172.0,-15.6,125,1120,0.00,2.38,0.00,0.000,3078,0.000,0.045,2128,1866,3345,3319,3372,0,0,0,0,0,0,14.74,14.69,14.76,8.68,57.67
$GC,1433,-0.76,-97.3,2128,1867,3319,3373,223.2,-16.1,141,1439,0.00,2.40,0.00,0.000,2308,0.000,0.076,2117,3279,3345,3319,3372,0,0,0,0,0,0,14.95,14.72,14.95,8.68,58.03
$GC,1481,-0.76,-97.3,2117,3278,3319,3373,229.4,-15.7,143,1486,0.08,2.33,0.00,0.000,3078,0.368,0.053,2142,1866,3345,3319,3372,0,0,0,0,0,0,14.64,14.74,14.80,8.68,57.91
$GC,1794,-0.76,-97.3,2141,1866,3319,3372,276.7,-14.7,159,1800,0.00,2.42,0.00,0.000,2564,0.000,0.076,2142,460,3345,3319,3372,0,0,0,0,0,0,14.98,14.76,14.98,8.68,58.34
$GC,1874,-0.76,-97.3,2141,459,3319,3372,288.8,-15.1,163,1880,0.00,2.33,0.00,0.000,3078,0.000,0.045,2132,1870,3345,3319,3372,0,0,0,0,0,0,14.87,14.77,14.88,8.69,58.38
$GC,2195,-0.76,-97.3,2132,1870,3319,3372,336.6,-15.0,179,2200,0.00,2.38,0.00,0.000,2308,0.000,0.075,2121,3278,3345,3319,3372,0,0,0,0,0,0,15.00,14.77,15.01,8.69,58.30
$GC,2282,-0.76,-97.3,2121,3276,3319,3372,348.0,-14.0,183,2287,0.08,2.33,0.00,0.000,3078,0.360,0.051,2146,1863,3345,3319,3372,0,0,0,0,0,0,14.69,14.80,14.85,8.69,58.46
$GC,2595,-0.76,-97.3,2146,1861,3319,3372,392.4,-13.8,199,2601,0.00,2.42,0.00,0.000,516,0.000,0.076,2146,458,3345,3319,3372,0,0,0,0,0,0,15.02,14.79,15.02,8.69,58.74
$GC,2657,-0.76,-97.3,2146,459,3319,3372,400.8,-14.1,202,2662,0.00,2.35,0.00,0.000,3078,0.000,0.044,2136,1861,3345,3319,3372,0,0,0,0,0,0,14.86,14.80,14.87,8.69,58.42
$GC,2976,-0.76,-97.3,2136,1862,3319,3373,446.7,-14.5,218,2982,0.00,2.35,0.00,0.000,2308,0.000,0.073,2125,3275,3345,3319,3372,0,0,0,0,0,0,15.03,14.80,15.03,8.70,58.26
$GC,3037,-0.76,-97.3,2123,3276,3319,3372,455.1,-14.2,221,3042,0.05,2.35,0.00,0.000,3078,0.321,0.054,2142,1871,3345,3319,3372,0,0,0,0,0,0,14.70,14.79,14.82,8.70,58.07
$GC,3355,-0.76,-97.3,2141,1871,3319,3372,498.9,-13.7,237,3361,0.00,2.42,0.00,0.000,2564,0.000,0.079,2142,461,3345,3319,3372,0,0,0,0,0,0,15.04,14.81,15.04,8.70,58.46
$GC,3428,-0.76,-97.3,2141,461,3319,3372,507.2,-13.9,240,3436,0.00,2.35,0.00,0.000,3078,0.000,0.044,2132,1867,3345,3319,3372,0,0,0,0,0,0,14.85,14.80,14.86,8.70,58.34
$GC,3735,-0.76,-97.3,2132,1867,3319,3372,551.3,-13.9,256,3741,0.00,2.35,0.00,0.000,2308,0.000,0.073,2121,3273,3345,3319,3372,0,0,0,0,0,0,15.04,14.82,15.04,8.70,57.91
$GC,3783,-0.76,-97.3,2121,3273,3319,3372,556.7,-13.7,258,3788,0.08,2.33,0.00,0.000,3078,0.356,0.055,2146,1860,3345,3319,3372,0,0,0,0,0,0,14.73,14.83,14.89,8.70,58.97
$GC,4096,-0.76,-97.3,2146,1860,3319,3372,598.8,-13.3,274,4102,0.00,2.42,0.00,0.000,516,0.000,0.077,2146,460,3346,3320,3372,0,0,0,0,0,0,15.04,14.82,15.05,8.70,58.03
$GC,4163,-0.76,-97.3,2146,460,3319,3372,607.0,-13.7,277,4168,0.00,2.35,0.00,0.000,3078,0.000,0.044,2137,1869,3345,3319,3372,0,0,0,0,0,0,14.88,14.83,14.90,8.71,58.54
$GC,4476,-0.76,-97.3,2135,1869,3319,3372,651.1,-14.1,293,4482,0.00,2.35,0.00,0.000,2308,0.000,0.073,2125,3272,3345,3319,3372,0,0,0,0,0,0,15.05,14.83,15.05,8.70,58.03
$GC,4523,-0.76,-97.3,2124,3273,3319,3372,656.6,-14.0,295,4528,0.05,2.30,0.00,0.000,3078,0.420,0.056,2141,1871,3346,3319,3373,0,0,0,0,0,0,14.72,14.83,14.90,8.71,58.50
$GC,4836,-0.76,-97.3,2140,1870,3320,3373,700.0,-13.6,311,4842,0.00,2.42,0.00,0.000,2564,0.000,0.080,2140,461,3346,3320,3373,0,0,0,0,0,0,15.06,14.83,15.06,8.71,58.19
$GC,4904,-0.76,-97.3,2140,461,3320,3372,708.4,-13.8,314,4908,0.00,2.30,0.00,0.000,3078,0.000,0.044,2130,1871,3346,3320,3372,0,0,0,0,0,0,14.94,14.85,14.95,8.71,58.11
$GC,5217,-0.76,-97.3,2130,1871,3320,3372,753.1,-14.1,330,5223,0.00,2.35,0.00,0.000,2308,0.000,0.073,2120,3275,3345,3320,3371,0,0,0,0,0,0,15.06,14.83,15.07,8.71,58.58
$GC,5284,-0.76,-97.3,2119,3275,3321,3371,761.5,-14.0,333,5289,0.08,2.33,0.00,0.000,3078,0.362,0.056,2145,1861,3346,3321,3372,0,0,0,0,0,0,14.74,14.85,14.90,8.71,58.62
$GC,5597,-0.76,-97.3,2144,1860,3321,3372,804.0,-13.4,349,5603,0.00,2.42,0.00,0.000,516,0.000,0.080,2144,456,3346,3320,3373,0,0,0,0,0,0,15.06,14.83,15.06,8.71,58.23
$GC,5669,-0.76,-97.3,2144,456,3321,3372,812.3,-13.8,352,5678,0.00,2.35,0.00,0.000,3078,0.000,0.044,2136,1865,3347,3321,3373,0,0,0,0,0,0,14.87,14.83,14.88,8.71,58.23
$GC,5977,-0.76,-97.3,2135,1865,3321,3373,856.5,-14.0,368,5983,0.00,2.35,0.00,0.000,2308,0.000,0.073,2125,3271,3346,3321,3372,0,0,0,0,0,0,15.07,14.83,15.07,8.71,58.62
$GC,6039,-0.76,-97.3,2124,3271,3321,3373,864.8,-13.8,371,6045,0.05,2.35,0.00,0.000,3078,0.319,0.055,2142,1864,3346,3321,3372,0,0,0,0,0,0,14.72,14.83,14.85,8.71,58.58
$GC,6358,-0.76,-97.3,2142,1864,3321,3373,907.4,-13.3,387,6363,0.00,2.40,0.00,0.000,2564,0.000,0.081,2142,465,3346,3321,3372,0,0,0,0,0,0,15.07,14.83,15.07,8.71,58.74
$GC,6439,-0.76,-97.3,2142,466,3321,3373,918.2,-13.3,391,6444,0.00,2.35,0.00,0.000,3078,0.000,0.044,2134,1876,3346,3321,3372,0,0,0,0,0,0,14.89,14.85,14.91,8.71,58.07
$GC,6758,-0.76,-97.3,2133,1877,3321,3372,961.6,-13.7,407,6764,0.00,2.33,0.00,0.000,2308,0.000,0.074,2123,3271,3346,3320,3373,0,0,0,0,0,0,15.07,14.84,15.07,8.71,59.09
$GC,6800,-0.76,-97.3,2123,3271,3321,3373,967.0,-13.6,409,6805,0.05,2.33,0.00,0.000,3078,0.321,0.057,2141,1879,3346,3321,3372,0,0,0,0,0,0,14.73,14.84,14.85,8.72,58.78
$STATE,6977,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6977,begin apogee
$GC,6981,-0.14,0.0,2141,1750,3321,3372,990.4,-13.1,418,7064,0.55,0.00,79.97,2.626,10246,0.248,0.000,2342,1749,2942,2931,2954,0,0,0,0,0,0,14.74,14.01,13.15,8.72,59.05
$STATE,7065,end apogee,CONTROL_FINISHED_OK
$STATE,7065,begin climb
$GC,7067,0.76,97.3,2343,1749,2931,2954,994.3,0.0,422,7160,0.77,2.65,79.68,2.545,10500,0.171,0.064,2637,3176,2545,2533,2557,0,0,0,0,0,0,13.96,13.71,12.93,8.70,58.23
$GC,7190,0.80,126.8,2636,3176,2533,2557,986.7,8.0,428,7224,0.00,2.42,25.15,2.399,9222,0.000,0.055,2647,1794,2425,2415,2435,0,0,0,0,0,0,14.05,13.97,12.99,8.67,56.45
$GC,7523,0.80,126.8,2646,1793,2414,2435,936.6,15.5,445,7529,0.00,2.55,0.00,0.000,516,0.000,0.076,2659,364,2425,2414,2436,0,0,0,0,0,0,14.54,14.33,14.54,8.64,57.40
$GC,7596,0.80,126.8,2659,363,2413,2435,927.1,15.7,448,7604,0.00,2.42,0.00,0.000,5126,0.000,0.038,2659,1773,2424,2413,2435,0,0,0,0,0,0,14.42,14.38,14.44,8.65,57.44
$GC,7903,0.80,126.8,2659,1772,2413,2435,876.3,15.9,464,7909,0.00,2.42,0.00,0.000,4356,0.000,0.068,2659,3183,2424,2414,2435,0,0,0,0,0,0,14.76,14.53,14.76,8.63,57.48
$GC,7971,0.80,126.8,2659,3182,2413,2435,866.6,16.2,467,7976,0.08,2.38,0.00,0.000,5126,0.395,0.057,2647,1778,2423,2412,2435,0,0,0,0,0,0,14.44,14.57,14.62,8.64,57.24
$GC,8284,0.80,126.8,2647,1778,2413,2435,818.5,14.9,483,8290,0.00,2.45,0.00,0.000,516,0.000,0.073,2657,370,2424,2413,2435,0,0,0,0,0,0,14.85,14.64,14.86,8.63,58.70
$GC,8311,0.80,126.8,2657,370,2413,2435,815.5,15.0,484,8315,0.00,2.33,0.00,0.000,5126,0.000,0.037,2658,1784,2424,2413,2435,0,0,0,0,0,0,14.76,14.68,14.76,8.63,57.99
$GC,8624,0.80,126.8,2658,1785,2413,2435,765.6,15.5,500,8630,0.00,2.38,0.00,0.000,4356,0.000,0.067,2658,3186,2424,2413,2435,0,0,0,0,0,0,14.92,14.69,14.92,8.63,58.82
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$GC,11626,0.80,126.8,2646,1783,2413,2435,330.3,13.4,650,11632,0.00,2.35,0.00,0.000,260,0.000,0.067,2647,3180,2424,2413,2435,0,0,0,0,0,0,15.04,14.83,15.04,8.61,59.33
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$STATE,14235,end climb,SURFACE_DEPTH_REACHED
$STATE,14235,begin surface coast
$FINISH,-0.1,1.027311
$STATE,14262,end surface coast,CONTROL_FINISHED_OK
$STATE,14262,begin surface
$SM_CCo,14275,31.52,1.481,0,0,2170,190.10
$SM_GC,2.93,5.75,0.15,31.52,0.090,0.098,1.481,262,1912,2170,-6.47,-0.99,190.10,0,0,0,0,0,0,14.69,14.72,13.90
$IRIDIUM_FIX,-6342.85,220.93,220122,144708
$TT8_MAMPS,0.019474,0.337799
$HUMID,56.34
$INTERNAL_PRESSURE,8.53084
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,12.93,169.315
$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
$DEVICE_SECS,14.225,185.750,195.600,31.525,0.000,24.944,12.304,150.768,0.000,0.000,50.074,2409.931,8927.170,406.926,2784.477,99.588,0.000,1511.836,0.000,1914.371,0.000,0.536,0.000
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$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,647.457,1900.066,239.152,1163.470,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343008
$DATA_FILE_SIZE,66225,885
$CAP_FILE_SIZE,150448,0
$CFSIZE,1023623168,1013153792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220122,232536,-6339.074,224.867,59,1.0,64,-21.1,1.1,244.5,8,9.5