version: 66.14
glider: 640
mission: 9
dive: 48
start: 1 17 122 9 30 12
data:
$ID,640
$MISSION,9
$DIVE,48
$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,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,1850
$C_ROLL_CLIMB,1770
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,34
$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
$GPS1,170122,092429,-6400.2642,224.0263,154,1.0,188,-21.1,0.5,321.1,8,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-67.7
$GPS2,170122,092942,-6400.2393,224.0993,7,1.0,24,-21.1,0.5,307.2,8,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SOUTH
$TGT_LATLONG,-6430.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,198.7,55165,-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,-0.70,-146.0,232,1851,2162,2172,0.0,0.0,0,83,0.00,0.00,-73.45,0.000,16386,0.000,0.000,233,1852,3293,3260,3326,0,0,0,0,0,0,14.73,28.83,14.73,8.52,58.38
$GC,85,-0.70,-146.0,232,1853,3261,3326,3.9,-8.0,11,108,6.07,2.67,-7.30,0.000,18692,0.386,2.281,2172,3303,3542,3522,3563,0,0,0,0,0,0,14.38,13.73,14.59,8.62,58.26
$GC,170,-0.70,-146.0,2171,3303,3524,3564,21.6,-12.5,26,178,0.00,2.50,0.00,0.000,5126,0.000,0.060,2172,1844,3544,3524,3565,0,0,0,0,0,0,14.59,14.48,14.59,8.65,57.08
$GC,301,-0.70,-146.0,2171,1843,3524,3565,45.6,-18.5,51,308,0.00,2.50,0.00,0.000,4612,0.000,0.085,2170,441,3544,3523,3565,0,0,0,0,0,0,14.73,14.50,14.73,8.65,57.44
$GC,370,-0.70,-146.0,2172,441,3524,3566,56.7,-14.9,64,377,0.00,2.40,0.00,0.000,3078,0.000,0.050,2162,1846,3544,3524,3565,0,0,0,0,0,0,14.64,14.54,14.64,8.65,57.24
$GC,695,-0.70,-146.0,2161,1846,3524,3565,111.4,-17.4,101,701,0.00,2.45,0.00,0.000,2308,0.000,0.083,2151,3262,3544,3524,3565,0,0,0,0,0,0,14.82,14.59,14.83,8.64,56.18
$GC,802,-0.70,-146.0,2150,3261,3524,3566,127.2,-15.3,106,807,0.00,2.38,0.00,0.000,3078,0.000,0.063,2150,1849,3545,3524,3566,0,0,0,0,0,0,14.73,14.63,14.74,8.64,56.93
$GC,1115,-0.70,-146.0,2149,1850,3524,3566,184.8,-18.4,122,1121,0.00,2.47,0.00,0.000,2564,0.000,0.086,2150,437,3545,3525,3566,0,0,0,0,0,0,14.90,14.67,14.90,8.64,57.75
$GC,1163,-0.70,-146.0,2149,437,3525,3566,192.3,-18.5,124,1168,0.08,2.38,0.00,0.000,3078,0.375,0.051,2163,1851,3545,3525,3566,0,0,0,0,0,0,14.59,14.69,14.75,8.64,57.95
$GC,1476,-0.70,-146.0,2162,1852,3524,3566,246.8,-17.1,140,1482,0.00,2.42,0.00,0.000,260,0.000,0.083,2153,3258,3545,3524,3566,0,0,0,0,0,0,14.93,14.71,14.94,8.64,58.46
$GC,1538,-0.70,-146.0,2153,3258,3524,3566,256.5,-16.5,143,1543,0.00,2.40,0.00,0.000,3078,0.000,0.062,2153,1851,3545,3524,3566,0,0,0,0,0,0,14.77,14.71,14.79,8.65,58.74
$GC,1857,-0.70,-146.0,2152,1851,3524,3564,312.2,-17.6,159,1863,0.00,2.45,0.00,0.000,2564,0.000,0.085,2152,441,3545,3524,3566,0,0,0,0,0,0,14.97,14.74,14.97,8.66,59.01
$GC,1924,-0.70,-146.0,2152,441,3524,3566,322.4,-17.1,162,1929,0.08,2.38,0.00,0.000,3078,0.367,0.049,2166,1871,3545,3524,3566,0,0,0,0,0,0,14.66,14.76,14.82,8.66,59.29
$GC,2237,-0.70,-146.0,2166,1871,3524,3566,373.4,-16.0,178,2243,0.00,2.38,0.00,0.000,260,0.000,0.082,2157,3261,3545,3524,3566,0,0,0,0,0,0,14.98,14.76,14.99,8.67,58.62
$GC,2297,-0.70,-146.0,2157,3261,3524,3566,382.3,-15.2,181,2303,0.00,2.35,0.00,0.000,3078,0.000,0.061,2157,1848,3545,3524,3566,0,0,0,0,0,0,14.88,14.77,14.88,8.67,59.05
$GC,2619,-0.70,-146.0,2157,1849,3524,3566,434.4,-16.4,197,2624,0.00,2.42,0.00,0.000,2564,0.000,0.087,2157,443,3545,3524,3566,0,0,0,0,0,0,15.00,14.77,15.00,8.67,58.86
$GC,2686,-0.70,-146.0,2156,444,3524,3566,444.1,-16.3,200,2691,0.05,2.33,0.00,0.000,3078,0.428,0.049,2162,1849,3545,3524,3566,0,0,0,0,0,0,14.68,14.80,14.85,8.67,58.93
$GC,2994,-0.70,-146.0,2162,1850,3524,3566,493.6,-15.7,215,2999,0.00,2.38,0.00,0.000,260,0.000,0.081,2153,3247,3545,3524,3566,0,0,0,0,0,0,15.01,14.78,15.01,8.66,59.25
$GC,3065,-0.70,-146.0,2153,3246,3524,3566,502.6,-15.2,218,3073,0.00,2.38,0.00,0.000,3078,0.000,0.063,2153,1848,3545,3524,3566,0,0,0,0,0,0,14.82,14.76,14.84,8.68,59.33
$GC,3373,-0.70,-146.0,2152,1848,3524,3566,553.9,-16.5,234,3379,0.00,2.45,0.00,0.000,2564,0.000,0.088,2153,438,3544,3523,3566,0,0,0,0,0,0,15.02,14.79,15.02,8.68,59.09
$GC,3425,-0.70,-146.0,2152,438,3525,3566,560.5,-16.5,236,3435,0.05,2.40,0.00,0.000,3078,0.343,0.050,2159,1852,3545,3524,3566,0,0,0,0,0,0,14.68,14.78,14.80,8.69,59.17
$GC,3735,-0.70,-146.0,2159,1853,3524,3566,611.1,-16.2,252,3740,0.00,2.35,0.00,0.000,2308,0.000,0.081,2150,3253,3545,3524,3566,0,0,0,0,0,0,15.02,14.79,15.03,8.68,59.21
$GC,3813,-0.70,-146.0,2149,3252,3524,3566,622.9,-14.7,256,3819,0.00,2.35,0.00,0.000,3078,0.000,0.063,2149,1842,3545,3524,3566,0,0,0,0,0,0,14.91,14.81,14.92,8.69,59.49
$GC,4134,-0.70,-146.0,2149,1843,3524,3566,674.8,-16.5,272,4140,0.00,2.45,0.00,0.000,2564,0.000,0.089,2149,435,3545,3524,3566,0,0,0,0,0,0,15.03,14.81,15.03,8.69,59.37
$GC,4194,-0.70,-146.0,2149,435,3524,3566,684.4,-16.2,275,4200,0.08,2.35,0.00,0.000,3078,0.373,0.050,2163,1853,3545,3524,3566,0,0,0,0,0,0,14.72,14.83,14.88,8.69,59.13
$GC,4513,-0.70,-146.0,2163,1853,3524,3566,733.0,-15.4,291,4519,0.00,2.40,0.00,0.000,260,0.000,0.083,2154,3256,3545,3524,3566,0,0,0,0,0,0,15.03,14.81,15.04,8.69,58.86
$GC,4586,-0.70,-146.0,2153,3255,3524,3566,741.7,-14.8,294,4593,0.00,2.35,0.00,0.000,3078,0.000,0.063,2153,1844,3545,3524,3566,0,0,0,0,0,0,14.93,14.83,14.94,8.70,59.05
$GC,4893,-0.70,-146.0,2153,1845,3524,3566,792.3,-16.2,310,4897,0.00,2.42,0.00,0.000,2564,0.000,0.089,2153,444,3545,3525,3566,0,0,0,0,0,0,15.05,14.83,15.05,8.70,58.82
$GC,4957,-0.70,-146.0,2153,443,3525,3566,801.0,-15.8,313,4962,0.08,2.35,0.00,0.000,3078,0.370,0.049,2168,1870,3545,3525,3566,0,0,0,0,0,0,14.75,14.84,14.90,8.70,58.70
$GC,5269,-0.70,-146.0,2167,1871,3525,3566,847.4,-14.6,329,5273,0.00,2.38,0.00,0.000,260,0.000,0.083,2159,3263,3545,3525,3566,0,0,0,0,0,0,15.06,14.83,15.07,8.71,59.13
$GC,5338,-0.70,-146.0,2158,3262,3525,3566,855.2,-14.1,332,5346,0.00,2.35,0.00,0.000,3078,0.000,0.065,2159,1852,3545,3524,3566,0,0,0,0,0,0,14.95,14.84,14.96,8.71,59.33
$GC,5645,-0.70,-146.0,2158,1852,3525,3566,903.5,-15.5,348,5649,0.00,2.45,0.00,0.000,2564,0.000,0.089,2158,440,3545,3525,3566,0,0,0,0,0,0,15.07,14.84,15.08,8.70,59.09
$GC,5709,-0.70,-146.0,2158,440,3526,3566,911.8,-14.9,351,5713,0.00,2.38,0.00,0.000,3078,0.000,0.049,2148,1876,3546,3526,3566,0,0,0,0,0,0,14.96,14.86,14.97,8.71,59.60
$GC,6021,-0.70,-146.0,2148,1876,3525,3566,960.7,-15.6,367,6025,0.00,2.33,0.00,0.000,2308,0.000,0.082,2138,3257,3545,3525,3566,0,0,0,0,0,0,15.07,14.85,15.07,8.71,59.09
$GC,6085,-0.70,-146.0,2137,3257,3525,3567,968.9,-15.0,370,6090,0.08,2.33,0.00,0.000,3078,0.344,0.066,2164,1849,3546,3526,3566,0,0,0,0,0,0,14.78,14.86,14.92,8.71,59.29
$STATE,6236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6236,begin apogee
$GC,6240,-0.14,0.0,2164,1738,3525,3566,991.7,-14.4,378,6363,0.47,0.00,119.38,2.639,10246,0.241,0.000,2340,1737,2943,2941,2946,0,0,0,0,0,0,14.77,13.84,13.02,8.72,58.74
$STATE,6364,end apogee,CONTROL_FINISHED_OK
$STATE,6364,begin climb
$GC,6365,0.70,146.0,2340,1737,2940,2945,997.4,0.0,384,6499,0.75,2.75,119.97,2.547,10500,0.173,0.069,2614,3171,2346,2346,2346,0,0,0,0,0,0,13.82,13.54,12.74,8.68,58.42
$GC,6520,0.70,146.0,2614,3171,2348,2346,984.9,11.0,392,6525,0.00,2.50,0.00,0.000,5126,0.000,0.064,2624,1797,2347,2349,2346,0,0,0,0,0,0,13.84,13.74,13.85,8.64,56.45
$GC,6837,0.70,146.0,2624,1797,2352,2346,936.9,15.2,408,6843,0.00,2.62,0.00,0.000,4612,0.000,0.085,2636,354,2348,2351,2346,0,0,0,0,0,0,14.46,14.25,14.47,8.63,57.44
$GC,6917,0.70,146.0,2635,353,2352,2346,924.8,15.2,412,6923,0.08,2.42,0.00,0.000,5126,0.365,0.041,2612,1782,2349,2352,2346,0,0,0,0,0,0,14.22,14.34,14.38,8.62,57.28
$GC,7237,0.70,146.0,2612,1782,2351,2346,878.1,14.3,428,7241,0.00,2.40,0.00,0.000,260,0.000,0.070,2612,3169,2349,2352,2346,0,0,0,0,0,0,14.70,14.48,14.71,8.61,58.07
$GC,7300,0.70,146.0,2612,3169,2351,2346,870.2,14.2,431,7305,0.00,2.40,0.00,0.000,5126,0.000,0.065,2622,1767,2349,2352,2346,0,0,0,0,0,0,14.60,14.52,14.62,8.61,57.67
$GC,7613,0.70,146.0,2621,1767,2352,2346,823.8,14.7,447,7617,0.00,2.47,0.00,0.000,4612,0.000,0.084,2633,360,2348,2351,2346,0,0,0,0,0,0,14.82,14.60,14.83,8.60,58.07
$GC,7677,0.70,146.0,2633,360,2352,2346,815.5,14.8,450,7682,0.05,2.35,0.00,0.000,5126,0.435,0.040,2617,1786,2349,2352,2346,0,0,0,0,0,0,14.52,14.63,14.69,8.61,57.91
$GC,7989,0.70,146.0,2617,1786,2352,2346,768.8,14.8,466,7993,0.00,2.35,0.00,0.000,260,0.000,0.070,2618,3164,2349,2352,2346,0,0,0,0,0,0,14.90,14.67,14.90,8.60,58.62
$GC,8053,0.70,146.0,2617,3164,2352,2346,760.4,15.0,469,8057,0.00,2.38,0.00,0.000,5126,0.000,0.065,2628,1759,2349,2352,2346,0,0,0,0,0,0,14.79,14.69,14.81,8.60,59.05
$GC,8365,0.70,146.0,2628,1759,2352,2346,712.2,15.1,485,8369,0.00,2.45,0.00,0.000,4612,0.000,0.084,2639,354,2349,2352,2346,0,0,0,0,0,0,14.95,14.72,14.95,8.60,58.74
$GC,8424,0.70,146.0,2639,353,2353,2346,703.6,15.4,488,8429,0.08,2.35,0.00,0.000,5126,0.359,0.039,2614,1784,2349,2352,2346,0,0,0,0,0,0,14.65,14.75,14.80,8.60,59.01
$GC,8742,0.70,146.0,2614,1784,2352,2345,657.6,14.2,504,8748,0.00,2.35,0.00,0.000,260,0.000,0.070,2615,3168,2349,2352,2346,0,0,0,0,0,0,14.97,14.75,14.97,8.59,58.70
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$GC,11416,0.70,146.0,2625,359,2354,2346,297.2,12.7,637,11425,0.00,2.35,0.00,0.000,5126,0.000,0.040,2627,1766,2350,2354,2346,0,0,0,0,0,0,14.86,14.81,14.87,8.57,58.66
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$STATE,13827,end climb,SURFACE_DEPTH_REACHED
$STATE,13827,begin surface coast
$FINISH,-0.1,1.027136
$STATE,13849,end surface coast,CONTROL_FINISHED_OK
$STATE,13849,begin surface
$SM_CCo,13924,0.00,0.000,0,0,2052,219.05
$SM_GC,1.14,5.75,2.65,0.00,0.085,0.050,0.000,223,1854,2052,-6.42,-0.90,219.05,0,0,0,0,0,0,14.51,14.45,14.54
$IRIDIUM_FIX,-6400.60,152.91,170122,051724
$TT8_MAMPS,0.019474,0.32956
$HUMID,57.28
$INTERNAL_PRESSURE,8.47224
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,12.74,161.039
$10V_AH,13.03,0.000
$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
$DEVICE_SECS,14.075,178.125,290.500,0.000,0.000,24.143,16.085,171.260,0.000,0.000,25.235,2337.685,8782.105,448.831,2587.890,85.252,0.000,1525.989,0.000,1873.792,0.000,0.536,0.000
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$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,631.518,1408.933,234.644,1137.310,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342940
$DATA_FILE_SIZE,66115,865
$CAP_FILE_SIZE,144955,0
$CFSIZE,1023623168,1016119296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170122,132502,-6400.497,224.558,96,3.3,136,-21.1,0.4,221.5,4,30.1