version: 66.14
glider: 640
mission: 9
dive: 20
start: 1 12 122 17 13 15
data:
$ID,640
$MISSION,9
$DIVE,20
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54330
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,0
$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,2400
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,34
$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,1800
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,602
$VBD_MAX,3962
$C_VBD,2930
$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
$GPS1,120122,170705,-6326.8862,219.5172,109,1.2,149,-21.1,0.0,161.0,7,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-71.0
$GPS2,120122,171243,-6326.8926,219.4479,8,1.2,48,-21.1,0.0,201.4,7,4.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SOUTH
$TGT_LATLONG,-6356.400,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,170.8,54992,-18.3,-10.000,-21.04,2236
$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,-0.72,-146.0,232,1889,2126,2135,0.0,0.0,0,82,0.00,0.00,-72.57,0.000,16386,0.000,0.000,232,1889,3262,3230,3294,0,0,0,0,0,0,14.74,28.83,14.76,8.53,59.01
$GC,84,-0.72,-146.0,232,1889,3231,3293,3.5,-6.9,11,101,5.93,0.00,-7.97,0.000,18438,0.362,0.000,2188,1889,3527,3509,3545,0,0,0,0,0,0,14.38,13.81,14.60,8.64,58.07
$GC,144,-0.72,-146.0,2187,1890,3513,3545,18.3,-19.8,21,151,0.00,2.60,0.00,0.000,4612,0.000,0.100,2187,457,3529,3513,3545,0,0,0,0,0,0,14.75,14.51,14.76,8.67,57.20
$GC,198,-0.72,-146.0,2187,457,3514,3545,28.3,-17.1,31,206,0.00,2.42,0.00,0.000,5126,0.000,0.059,2177,1857,3529,3514,3545,0,0,0,0,0,0,14.65,14.54,14.66,8.67,56.81
$GC,330,-0.72,-146.0,2177,1858,3514,3546,50.5,-18.6,56,337,0.00,0.00,0.00,0.000,4102,0.000,0.000,2177,1858,3530,3514,3546,0,0,0,0,0,0,14.78,14.78,14.78,8.67,56.97
$GC,640,-0.72,-146.0,2177,1857,3515,3545,104.8,-16.8,96,644,0.00,2.47,0.00,0.000,4356,0.000,0.090,2166,3280,3530,3515,3546,0,0,0,0,0,0,14.85,14.61,14.85,8.66,56.85
$GC,711,-0.72,-146.0,2165,3280,3515,3546,114.4,-15.7,99,715,0.00,2.42,0.00,0.000,3078,0.000,0.075,2166,1865,3529,3514,3545,0,0,0,0,0,0,14.74,14.63,14.75,8.66,56.97
$GC,1017,-0.72,-146.0,2165,1864,3515,3546,171.6,-18.6,114,1023,0.00,2.50,0.00,0.000,2564,0.000,0.099,2166,457,3530,3515,3546,0,0,0,0,0,0,14.91,14.68,14.91,8.66,58.23
$GC,1057,-0.72,-146.0,2165,457,3515,3546,178.5,-17.8,116,1064,0.00,2.40,0.00,0.000,3078,0.000,0.059,2156,1873,3530,3515,3546,0,0,0,0,0,0,14.80,14.70,14.81,8.67,58.34
$GC,1378,-0.72,-146.0,2155,1873,3515,3546,233.2,-17.1,132,1384,0.00,2.42,0.00,0.000,2308,0.000,0.093,2145,3277,3530,3514,3546,0,0,0,0,0,0,14.95,14.71,14.95,8.67,59.09
$GC,1460,-0.72,-146.0,2144,3277,3514,3546,246.4,-16.0,136,1467,0.08,2.40,0.00,0.000,3078,0.352,0.077,2171,1868,3530,3514,3546,0,0,0,0,0,0,14.66,14.73,14.80,8.68,58.58
$GC,1780,-0.72,-146.0,2170,1868,3514,3546,297.5,-16.0,152,1784,0.00,2.53,0.00,0.000,516,0.000,0.103,2171,453,3530,3514,3546,0,0,0,0,0,0,14.97,14.73,14.98,8.68,59.84
$GC,1845,-0.72,-146.0,2171,453,3514,3546,306.9,-15.4,155,1849,0.00,2.40,0.00,0.000,3078,0.000,0.059,2162,1869,3530,3514,3546,0,0,0,0,0,0,14.87,14.76,14.88,8.68,59.33
$GC,2162,-0.72,-146.0,2160,1869,3514,3545,358.6,-16.3,171,2166,0.00,2.42,0.00,0.000,2308,0.000,0.093,2150,3278,3530,3514,3546,0,0,0,0,0,0,15.02,14.77,15.02,8.69,59.33
$GC,2221,-0.72,-146.0,2149,3278,3514,3546,367.1,-15.6,174,2226,0.05,2.40,0.00,0.000,3078,0.412,0.075,2167,1857,3530,3515,3546,0,0,0,0,0,0,14.70,14.78,14.86,8.69,59.29
$GC,2540,-0.72,-146.0,2166,1857,3514,3546,415.3,-15.3,190,2545,0.00,2.45,0.00,0.000,2564,0.000,0.101,2167,456,3530,3514,3546,0,0,0,0,0,0,15.04,14.79,15.04,8.70,59.64
$GC,2606,-0.72,-146.0,2166,456,3514,3546,424.4,-15.2,193,2610,0.00,2.40,0.00,0.000,3078,0.000,0.058,2157,1887,3530,3514,3546,0,0,0,0,0,0,14.92,14.81,14.93,8.70,59.45
$GC,2918,-0.72,-146.0,2156,1887,3514,3546,475.7,-16.4,209,2922,0.00,2.38,0.00,0.000,2308,0.000,0.092,2146,3278,3529,3514,3545,0,0,0,0,0,0,15.03,14.81,15.04,8.69,59.13
$GC,2982,-0.72,-146.0,2145,3278,3514,3546,484.9,-15.3,212,2987,0.08,2.40,0.00,0.000,3078,0.346,0.076,2173,1859,3530,3514,3546,0,0,0,0,0,0,14.75,14.82,14.90,8.70,59.45
$GC,3299,-0.72,-146.0,2173,1859,3514,3546,532.9,-15.1,228,3303,0.00,2.47,0.00,0.000,516,0.000,0.103,2172,459,3530,3514,3546,0,0,0,0,0,0,15.05,14.82,15.05,8.70,59.84
$GC,3363,-0.72,-146.0,2173,459,3514,3546,541.2,-15.0,231,3369,0.00,2.38,0.00,0.000,3078,0.000,0.058,2163,1874,3530,3515,3546,0,0,0,0,0,0,14.95,14.85,14.96,8.70,59.49
$GC,3676,-0.72,-146.0,2163,1875,3514,3546,590.6,-15.6,247,3682,0.00,2.40,0.00,0.000,2308,0.000,0.091,2152,3280,3530,3515,3546,0,0,0,0,0,0,15.06,14.83,15.06,8.70,59.96
$GC,3736,-0.72,-146.0,2151,3279,3514,3546,599.3,-14.9,250,3742,0.05,2.38,0.00,0.000,3078,0.401,0.077,2171,1870,3530,3514,3546,0,0,0,0,0,0,14.76,14.84,14.92,8.70,60.00
$GC,4057,-0.72,-146.0,2170,1871,3514,3546,646.5,-14.9,266,4061,0.00,2.50,0.00,0.000,516,0.000,0.105,2170,460,3530,3514,3546,0,0,0,0,0,0,15.06,14.83,15.07,8.71,59.52
$GC,4126,-0.72,-146.0,2170,459,3515,3546,655.4,-14.6,269,4130,0.00,2.40,0.00,0.000,3078,0.000,0.058,2162,1865,3530,3515,3546,0,0,0,0,0,0,14.97,14.85,14.98,8.71,59.33
$GC,4438,-0.72,-146.0,2161,1866,3516,3546,704.3,-15.7,285,4442,0.00,2.42,0.00,0.000,2308,0.000,0.091,2150,3278,3531,3516,3546,0,0,0,0,0,0,15.07,14.85,15.08,8.71,59.25
$GC,4502,-0.72,-146.0,2149,3278,3516,3546,712.6,-14.9,288,4508,0.05,2.38,0.00,0.000,3078,0.409,0.077,2168,1869,3531,3517,3546,0,0,0,0,0,0,14.78,14.85,14.93,8.71,59.52
$GC,4815,-0.72,-146.0,2167,1868,3517,3546,760.1,-15.0,304,4821,0.00,2.50,0.00,0.000,516,0.000,0.103,2168,456,3531,3517,3546,0,0,0,0,0,0,15.07,14.85,15.08,8.71,59.68
$GC,4888,-0.72,-146.0,2168,456,3517,3547,768.7,-14.6,307,4896,0.00,2.38,0.00,0.000,3078,0.000,0.058,2159,1874,3532,3517,3547,0,0,0,0,0,0,14.97,14.87,14.98,8.71,59.45
$GC,5194,-0.72,-146.0,2159,1873,3517,3547,816.3,-15.2,323,5199,0.00,2.38,0.00,0.000,2308,0.000,0.090,2148,3276,3532,3517,3547,0,0,0,0,0,0,15.09,14.85,15.09,8.71,59.41
$GC,5239,-0.72,-146.0,2148,3276,3517,3548,822.2,-14.8,325,5244,0.05,2.38,0.00,0.000,3078,0.412,0.078,2167,1866,3532,3517,3547,0,0,0,0,0,0,14.78,14.86,14.94,8.72,60.15
$GC,5551,-0.72,-146.0,2166,1865,3518,3547,866.7,-14.0,341,5555,0.00,2.50,0.00,0.000,2564,0.000,0.106,2166,451,3532,3518,3547,0,0,0,0,0,0,15.09,14.85,15.09,8.72,59.60
$GC,5615,-0.72,-146.0,2165,450,3518,3547,874.3,-13.5,344,5619,0.00,2.38,0.00,0.000,3078,0.000,0.058,2157,1873,3532,3517,3548,0,0,0,0,0,0,14.99,14.88,15.00,8.71,59.49
$GC,5927,-0.72,-146.0,2157,1874,3517,3547,920.0,-14.5,360,5931,0.00,2.38,0.00,0.000,2308,0.000,0.090,2146,3275,3532,3517,3548,0,0,0,0,0,0,15.09,14.86,15.09,8.72,59.92
$GC,5996,-0.72,-146.0,2146,3275,3517,3548,928.2,-13.9,363,6001,0.05,2.40,0.00,0.000,3078,0.311,0.077,2166,1874,3533,3518,3548,0,0,0,0,0,0,14.78,14.86,14.90,8.72,59.68
$GC,6308,-0.72,-146.0,2166,1873,3517,3548,972.7,-14.3,379,6312,0.00,2.50,0.00,0.000,2564,0.000,0.109,2166,458,3533,3518,3548,0,0,0,0,0,0,15.09,14.86,15.09,8.72,59.33
$GC,6384,-0.72,-146.0,2166,458,3518,3548,983.1,-13.6,383,6388,0.00,2.38,0.00,0.000,3078,0.000,0.058,2157,1879,3533,3518,3548,0,0,0,0,0,0,14.99,14.89,15.00,8.72,59.41
$STATE,6439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6439,begin apogee
$GC,6443,-0.15,0.0,2156,1784,3518,3548,990.7,-13.4,386,6565,0.52,0.00,119.05,2.718,10246,0.236,0.000,2352,1783,2928,2927,2930,0,0,0,0,0,0,14.80,13.82,12.97,8.72,59.64
$STATE,6566,end apogee,CONTROL_FINISHED_OK
$STATE,6567,begin climb
$GC,6568,0.72,146.0,2352,1784,2926,2929,995.8,0.0,392,6696,0.75,2.72,119.47,2.604,10756,0.155,0.100,2643,399,2332,2332,2333,0,0,0,0,0,0,13.81,13.50,12.81,8.69,58.50
$GC,6752,0.72,146.0,2643,399,2338,2333,981.4,12.0,400,6759,0.00,2.50,0.00,0.000,5126,0.000,0.049,2644,1799,2336,2339,2333,0,0,0,0,0,0,14.04,13.95,14.05,8.64,56.69
$GC,7057,0.72,146.0,2644,1800,2343,2333,930.4,16.2,416,7062,0.00,2.47,0.00,0.000,4356,0.000,0.081,2644,3204,2338,2343,2333,0,0,0,0,0,0,14.54,14.33,14.55,8.63,57.56
$GC,7101,0.72,146.0,2644,3204,2343,2333,924.4,16.5,418,7107,0.08,2.45,0.00,0.000,5126,0.381,0.080,2633,1817,2338,2344,2333,0,0,0,0,0,0,14.28,14.35,14.44,8.63,58.15
$GC,7414,0.72,146.0,2632,1817,2344,2333,874.6,15.5,434,7421,0.00,2.58,0.00,0.000,4612,0.000,0.096,2642,385,2338,2344,2333,0,0,0,0,0,0,14.72,14.52,14.73,8.61,58.26
$GC,7494,0.72,146.0,2642,385,2344,2333,862.3,15.4,438,7500,0.00,2.40,0.00,0.000,5126,0.000,0.047,2642,1802,2338,2344,2333,0,0,0,0,0,0,14.66,14.57,14.66,8.62,58.62
$GC,7814,0.72,146.0,2642,1802,2344,2333,812.1,15.8,454,7819,0.00,2.42,0.00,0.000,4356,0.000,0.079,2643,3209,2338,2344,2333,0,0,0,0,0,0,14.84,14.62,14.84,8.61,59.05
$GC,7875,0.72,146.0,2642,3210,2344,2333,802.5,15.9,457,7881,0.08,2.42,0.00,0.000,5126,0.370,0.079,2629,1799,2338,2344,2333,0,0,0,0,0,0,14.56,14.64,14.71,8.61,59.09
$GC,8197,0.72,146.0,2629,1800,2344,2333,756.4,14.1,473,8202,0.00,2.53,0.00,0.000,516,0.000,0.096,2638,384,2338,2344,2333,0,0,0,0,0,0,14.90,14.69,14.90,8.61,59.37
$GC,8267,0.72,146.0,2638,383,2344,2333,748.4,14.2,476,8274,0.00,2.38,0.00,0.000,5126,0.000,0.048,2638,1806,2338,2344,2333,0,0,0,0,0,0,14.82,14.73,14.83,8.60,59.05
$GC,8574,0.72,146.0,2638,1807,2344,2333,702.8,14.4,492,8580,0.00,2.38,0.00,0.000,4356,0.000,0.080,2638,3202,2338,2344,2333,0,0,0,0,0,0,14.95,14.73,14.95,8.60,58.93
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$STATE,13838,end climb,SURFACE_DEPTH_REACHED
$STATE,13838,begin surface coast
$FINISH,0.1,1.027178
$STATE,13865,end surface coast,CONTROL_FINISHED_OK
$STATE,13865,begin surface
$SM_CCo,13878,13.12,1.543,0,0,2152,190.10
$SM_GC,2.96,5.72,0.12,13.12,0.095,0.125,1.543,256,1895,2152,-6.46,-0.82,190.10,0,0,0,0,0,0,14.66,14.64,13.95
$IRIDIUM_FIX,-6326.48,219.55,120122,130013
$TT8_MAMPS,0.020223,0.337799
$HUMID,57.99
$INTERNAL_PRESSURE,8.50154
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,12.81,152.569
$10V_AH,13.09,0.000
$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,13.900,179.750,255.675,13.125,0.000,21.728,25.983,167.364,0.000,0.000,49.355,2501.248,8821.085,443.074,2398.509,74.659,0.000,1495.345,0.000,1850.177,0.000,0.537,0.000
$DEVICE_MAMPS,442.935,127.755,2718.045,1543.005,0.000,26.010,160.000,223.000,420.000,0.000,11.240,9.970,2.190,9.220,29.450,46.670,0.000,11.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,630.492,816.691,232.721,1134.779,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343276
$DATA_FILE_SIZE,66169,863
$CAP_FILE_SIZE,147121,0
$CFSIZE,1023623168,1018871808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.097,260.10,1
$GPS,120122,210643,-6328.288,219.395,44,1.3,85,-21.1,0.6,218.6,5,5.2