version: 66.14
glider: 640
mission: 9
dive: 331
start: 4 4 122 11 47 36
data:
$ID,640
$MISSION,9
$DIVE,331
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$D_NO_BLEED,29
$D_BOOST,15
$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,40
$T_MISSION,50
$T_ABORT,75
$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,90
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54330
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.001
$HD_B,0.0163117
$HD_C,5.7000002e-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,180
$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,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,5
$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,20
$C_ROLL_DIVE,1820
$C_ROLL_CLIMB,1740
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,602
$VBD_MAX,3962
$C_VBD,2840
$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,450
$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,0
$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
$GPS1,040422,114249,-6438.7236,347.3369,8,1.1,48,-22.0,0.4,117.4,6,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-68.3
$GPS2,040422,114713,-6438.7100,347.3577,7,1.1,47,-22.0,0.6,186.5,6,4.8
$SPEED_LIMITS,0.173,0.173
$TGT_NAME,EAST
$TGT_LATLONG,-6500.000,600.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,138.1,111053,-14.3,-10.000,-30.00,1706
$D_GRID,120
$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,7,-0.52,-87.6,219,1799,1956,1974,0.0,0.0,0,89,0.00,0.00,-79.22,0.000,16386,0.000,0.000,220,1799,3180,3155,3206,0,0,0,0,0,0,14.73,28.83,14.74,8.50,63.54
$GC,92,-0.52,-87.6,220,1800,3155,3206,3.2,-6.0,12,107,6.40,1.35,-0.73,0.000,18948,0.362,2.209,2239,1092,3198,3172,3224,0,0,0,0,0,0,14.07,13.39,14.49,8.62,63.07
$GC,115,-0.52,-87.6,2239,1093,3173,3224,8.3,-18.1,15,121,0.00,1.20,0.00,0.000,5126,0.000,0.040,2234,1814,3198,3173,3223,0,0,0,0,0,0,14.52,14.47,14.54,8.63,62.44
$GC,313,-0.52,-87.6,2233,1814,3173,3224,30.7,-11.3,52,320,0.00,1.20,0.00,0.000,4356,0.000,0.054,2229,2517,3198,3173,3224,0,0,0,0,0,0,14.74,14.28,14.74,8.62,62.56
$GC,553,-0.52,-87.6,2228,2518,3173,3224,59.0,-12.1,97,560,0.00,1.17,0.00,0.000,5126,0.000,0.055,2228,1826,3198,3173,3224,0,0,0,0,0,0,14.51,14.44,14.54,8.62,62.28
$GC,751,-0.52,-87.6,2228,1826,3173,3224,80.4,-9.4,134,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,1827,3198,3173,3224,0,0,0,0,0,0,14.85,14.86,14.86,8.62,62.71
$GC,1052,-0.52,-87.6,2228,1827,3173,3224,111.1,-10.6,149,1056,0.00,1.17,0.00,0.000,260,0.000,0.053,2223,2522,3198,3173,3224,0,0,0,0,0,0,14.91,14.49,14.92,8.61,62.56
$GC,1122,-0.52,-87.6,2223,2523,3173,3224,117.6,-10.4,152,1126,0.00,1.20,0.00,0.000,1030,0.000,0.055,2223,1815,3198,3173,3224,0,0,0,0,0,0,14.54,14.48,14.58,8.61,62.71
$STATE,1153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1153,begin apogee
$GC,1158,-0.14,0.0,2223,1723,3173,3224,121.6,-10.2,154,1235,0.35,0.00,68.62,1.590,10246,0.252,0.000,2345,1723,2838,2834,2842,0,0,0,0,0,0,14.23,14.02,13.49,8.61,62.71
$STATE,1236,end apogee,CONTROL_FINISHED_OK
$STATE,1236,begin climb
$GC,1238,0.52,87.6,2345,1723,2834,2842,125.9,0.0,158,1315,0.52,0.00,69.28,1.506,10246,0.188,0.000,2540,1722,2481,2489,2474,0,0,0,0,0,0,14.13,13.80,13.29,8.60,62.75
$GC,1617,0.62,170.4,2540,1722,2487,2471,110.1,5.0,177,1687,0.10,1.20,63.70,1.525,10756,0.166,0.075,2640,1058,2143,2140,2146,0,0,0,0,0,0,14.38,14.06,13.39,8.55,62.52
$GC,1749,0.62,170.4,2640,1058,2141,2146,97.9,11.6,183,1757,0.15,1.15,0.00,0.000,5126,0.244,0.036,2589,1755,2143,2141,2146,0,0,0,0,0,0,13.95,14.10,14.09,8.53,61.69
$GC,2059,0.62,173.4,2588,1755,2141,2146,65.1,9.8,220,2068,0.00,1.15,4.12,1.083,8452,0.000,0.046,2589,2434,2131,2128,2134,0,0,0,0,0,0,14.66,14.46,13.54,8.51,62.48
$GC,2124,0.62,173.4,2589,2434,2128,2134,58.7,10.1,231,2131,0.00,1.17,0.00,0.000,1030,0.000,0.060,2592,1758,2131,2128,2134,0,0,0,0,0,0,14.45,14.39,14.48,8.52,62.71
$GC,2319,0.65,195.0,2592,1758,2128,2134,40.8,8.7,268,2340,0.00,0.00,18.45,1.434,10246,0.000,0.000,2592,1758,2041,2037,2046,0,0,0,0,0,0,14.79,14.43,13.67,8.52,62.87
$GC,2529,0.67,211.9,2592,1758,2041,2046,20.2,9.0,307,2542,0.00,0.00,10.40,1.284,10246,0.000,0.000,2593,1757,1973,1967,1979,0,0,0,0,0,0,14.76,14.44,13.64,8.51,63.03
$STATE,2701,end climb,SURFACE_DEPTH_REACHED
$STATE,2701,begin surface coast
$FINISH,0.9,1.027441
$STATE,2729,end surface coast,CONTROL_FINISHED_OK
$STATE,2729,begin surface
$SM_CCo,2803,0.00,0.000,0,0,1974,212.43
$SM_GC,1.06,5.68,0.00,0.00,0.094,0.000,0.000,229,1757,1974,-6.40,-1.78,212.43,0,0,0,0,0,0,14.55,14.76,14.59
$IRIDIUM_FIX,-6438.12,341.16,040422,105234
$TT8_MAMPS,0.018725,0.280875
$HUMID,62.75
$INTERNAL_PRESSURE,8.47224
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,13.29,246.113
$10V_AH,12.98,0.000
$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,13.200,12.100,234.575,0.000,0.000,37.962,15.883,90.841,0.000,0.000,48.606,882.848,943.451,293.632,894.932,66.215,0.000,634.510,0.000,578.531,0.000,0.537,0.000
$DEVICE_MAMPS,361.845,2209.320,1590.435,0.000,0.000,26.010,160.000,223.000,420.000,0.000,11.240,9.970,2.190,9.220,29.450,46.670,0.000,11.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,251.974,433.862,119.356,265.286,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343400
$DATA_FILE_SIZE,24654,345
$CAP_FILE_SIZE,41728,0
$CFSIZE,1023623168,983416832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.054,312.09,1
$GPS,040422,123538,-6438.786,347.647,7,1.2,47,-22.0,0.6,76.8,7,5.8