version: 66.14
glider: 640
mission: 9
dive: 50
start: 1 17 122 17 34 45
data:
$ID,640
$MISSION,9
$DIVE,50
$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,1850
$C_ROLL_CLIMB,1770
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,68
$R_STBD_OVSHOOT,27
$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
$GPS1,170122,172907,-6400.9028,223.9228,75,0.8,81,-21.1,0.0,42.3,10,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-67.5
$GPS2,170122,173415,-6400.8809,223.9799,7,0.8,16,-21.1,1.4,215.1,10,9.8
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,SOUTH
$TGT_LATLONG,-6430.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,198.5,53983,-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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,6,-0.76,-97.3,232,1801,2101,2121,0.0,0.0,0,82,0.00,0.00,-73.22,0.000,16386,0.000,0.000,232,1802,3242,3210,3274,0,0,0,0,0,0,14.67,28.83,14.69,8.51,58.58
$GC,84,-0.76,-97.3,232,1802,3211,3274,3.7,-7.6,11,101,5.97,2.83,-3.15,0.000,18692,0.373,2.275,2152,3307,3344,3322,3367,0,0,0,0,0,0,14.33,13.70,14.55,8.63,57.63
$GC,218,-0.76,-97.3,2153,3307,3326,3367,29.9,-15.6,36,226,0.00,2.45,0.00,0.000,5126,0.000,0.057,2153,1893,3346,3326,3367,0,0,0,0,0,0,14.52,14.47,14.54,8.63,56.77
$GC,348,-0.76,-97.3,2152,1893,3326,3368,50.6,-15.5,61,355,0.00,0.00,0.00,0.000,4102,0.000,0.000,2153,1892,3346,3326,3367,0,0,0,0,0,0,14.71,14.72,14.71,8.64,57.08
$GC,667,-0.76,-97.3,2152,1892,3327,3367,98.0,-14.2,106,673,0.00,2.35,0.00,0.000,4356,0.000,0.075,2143,3259,3347,3327,3367,0,0,0,0,0,0,14.79,14.58,14.79,8.63,56.41
$GC,720,-0.76,-97.3,2143,3258,3326,3367,103.8,-14.2,108,728,0.00,2.42,0.00,0.000,1030,0.000,0.059,2143,1851,3347,3327,3367,0,0,0,0,0,0,14.62,14.57,14.63,8.63,56.45
$GC,1028,-0.76,-97.3,2143,1851,3327,3367,152.7,-15.6,124,1034,0.00,2.47,0.00,0.000,2564,0.000,0.083,2143,436,3346,3326,3367,0,0,0,0,0,0,14.87,14.66,14.88,8.63,57.28
$GC,1100,-0.76,-97.3,2142,436,3327,3367,162.0,-15.5,127,1108,0.00,2.42,0.00,0.000,3078,0.000,0.048,2132,1853,3346,3326,3367,0,0,0,0,0,0,14.71,14.66,14.71,8.62,57.67
$GC,1408,-0.76,-97.3,2132,1853,3327,3367,212.6,-16.0,143,1414,0.00,2.40,0.00,0.000,2308,0.000,0.080,2121,3262,3346,3326,3367,0,0,0,0,0,0,14.92,14.70,14.92,8.63,58.15
$GC,1488,-0.76,-97.3,2121,3262,3326,3367,225.1,-15.5,147,1495,0.08,2.38,0.00,0.000,3078,0.361,0.060,2146,1841,3346,3326,3367,0,0,0,0,0,0,14.62,14.71,14.78,8.63,58.46
$GC,1808,-0.76,-97.3,2146,1841,3326,3367,273.0,-14.8,163,1814,0.00,2.45,0.00,0.000,516,0.000,0.084,2146,437,3347,3327,3367,0,0,0,0,0,0,14.95,14.73,14.95,8.64,58.62
$GC,1860,-0.76,-97.3,2146,437,3326,3367,279.1,-14.9,165,1869,0.00,2.40,0.00,0.000,3078,0.000,0.049,2137,1846,3346,3326,3367,0,0,0,0,0,0,14.77,14.72,14.79,8.64,58.11
$GC,2168,-0.76,-97.3,2136,1846,3326,3367,327.7,-15.2,181,2174,0.00,2.40,0.00,0.000,2308,0.000,0.080,2125,3260,3346,3326,3367,0,0,0,0,0,0,14.97,14.75,14.97,8.65,58.97
$GC,2230,-0.76,-97.3,2125,3260,3326,3368,336.5,-14.9,184,2236,0.05,2.40,0.00,0.000,3078,0.327,0.061,2143,1849,3346,3326,3367,0,0,0,0,0,0,14.66,14.75,14.78,8.65,58.62
$GC,2548,-0.76,-97.3,2142,1848,3326,3367,382.4,-14.3,200,2554,0.00,2.45,0.00,0.000,2564,0.000,0.086,2143,439,3346,3326,3367,0,0,0,0,0,0,14.99,14.77,15.00,8.65,58.78
$GC,2601,-0.76,-97.3,2142,439,3327,3367,388.4,-14.7,202,2609,0.00,2.40,0.00,0.000,3078,0.000,0.049,2133,1851,3346,3326,3367,0,0,0,0,0,0,14.82,14.76,14.83,8.66,59.41
$GC,2909,-0.76,-97.3,2133,1851,3326,3367,436.1,-15.1,218,2914,0.00,2.40,0.00,0.000,2308,0.000,0.080,2122,3263,3346,3326,3367,0,0,0,0,0,0,15.00,14.78,15.00,8.66,59.45
$GC,2971,-0.76,-97.3,2122,3261,3326,3367,444.9,-14.8,221,2976,0.05,2.40,0.00,0.000,3078,0.322,0.062,2140,1851,3346,3326,3367,0,0,0,0,0,0,14.69,14.78,14.80,8.66,59.41
$GC,3289,-0.76,-97.3,2139,1849,3326,3366,490.8,-14.4,237,3295,0.00,2.45,0.00,0.000,2564,0.000,0.086,2140,438,3347,3327,3367,0,0,0,0,0,0,15.01,14.79,15.02,8.67,58.70
$GC,3349,-0.76,-97.3,2139,438,3326,3367,499.6,-14.5,240,3355,0.00,2.35,0.00,0.000,3078,0.000,0.048,2129,1858,3346,3326,3367,0,0,0,0,0,0,14.90,14.81,14.92,8.67,59.25
$GC,3669,-0.76,-97.3,2129,1859,3326,3367,546.8,-14.8,256,3675,0.00,2.35,0.00,0.000,2308,0.000,0.078,2117,3257,3346,3326,3367,0,0,0,0,0,0,15.02,14.80,15.02,8.67,59.52
$GC,3718,-0.76,-97.3,2116,3256,3327,3367,552.7,-14.8,258,3723,0.08,2.35,0.00,0.000,3078,0.360,0.062,2142,1842,3346,3326,3367,0,0,0,0,0,0,14.72,14.81,14.87,8.67,59.60
$GC,4026,-0.76,-97.3,2142,1843,3326,3366,597.3,-14.2,273,4031,0.00,2.40,0.00,0.000,2564,0.000,0.087,2142,445,3346,3326,3367,0,0,0,0,0,0,15.02,14.79,15.03,8.67,59.29
$GC,4086,-0.76,-97.3,2142,444,3326,3367,606.0,-14.5,276,4091,0.00,2.38,0.00,0.000,3078,0.000,0.047,2133,1855,3346,3326,3367,0,0,0,0,0,0,14.87,14.82,14.88,8.67,59.09
$GC,4404,-0.76,-97.3,2133,1855,3326,3367,652.0,-14.5,292,4410,0.00,2.38,0.00,0.000,2308,0.000,0.079,2122,3258,3346,3326,3367,0,0,0,0,0,0,15.03,14.81,15.04,8.67,59.45
$GC,4466,-0.76,-97.3,2122,3258,3326,3367,660.5,-14.3,295,4472,0.05,2.33,0.00,0.000,3078,0.321,0.062,2140,1849,3346,3326,3367,0,0,0,0,0,0,14.72,14.81,14.83,8.68,59.37
$GC,4784,-0.76,-97.3,2140,1848,3326,3367,705.0,-13.9,311,4790,0.00,2.45,0.00,0.000,2564,0.000,0.088,2140,437,3346,3326,3367,0,0,0,0,0,0,15.04,14.81,15.04,8.68,59.01
$GC,4857,-0.76,-97.3,2140,437,3326,3367,713.5,-14.2,314,4864,0.00,2.38,0.00,0.000,3078,0.000,0.048,2130,1874,3347,3327,3367,0,0,0,0,0,0,14.92,14.83,14.94,8.68,59.49
$GC,5164,-0.76,-97.3,2130,1873,3327,3367,759.2,-14.5,330,5168,0.00,2.33,0.00,0.000,2308,0.000,0.080,2119,3253,3347,3327,3367,0,0,0,0,0,0,15.05,14.83,15.05,8.68,58.82
$GC,5202,-0.76,-97.3,2116,3252,3328,3367,764.4,-14.5,332,5208,0.08,2.38,0.00,0.000,3078,0.295,0.062,2145,1845,3347,3328,3367,0,0,0,0,0,0,14.75,14.83,14.88,8.68,59.64
$GC,5520,-0.76,-97.3,2146,1845,3328,3367,807.6,-13.5,348,5525,0.00,2.45,0.00,0.000,516,0.000,0.089,2145,441,3347,3328,3367,0,0,0,0,0,0,15.06,14.83,15.06,8.69,59.21
$GC,5579,-0.76,-97.3,2145,441,3327,3367,815.4,-13.7,351,5584,0.00,2.38,0.00,0.000,3078,0.000,0.047,2137,1850,3347,3328,3367,0,0,0,0,0,0,14.90,14.85,14.91,8.69,59.17
$GC,5896,-0.76,-97.3,2134,1852,3328,3367,859.3,-13.7,367,5901,0.00,2.38,0.00,0.000,2308,0.000,0.079,2126,3260,3347,3328,3367,0,0,0,0,0,0,15.07,14.83,15.07,8.69,59.21
$GC,5952,-0.76,-97.3,2125,3260,3328,3367,866.9,-13.5,370,5957,0.05,2.35,0.00,0.000,3078,0.412,0.062,2142,1841,3347,3328,3367,0,0,0,0,0,0,14.76,14.85,14.92,8.70,58.78
$GC,6269,-0.76,-97.3,2142,1841,3328,3367,908.2,-13.2,386,6273,0.00,2.42,0.00,0.000,2564,0.000,0.088,2142,441,3347,3328,3367,0,0,0,0,0,0,15.07,14.85,15.08,8.69,59.29
$GC,6328,-0.76,-97.3,2142,441,3328,3367,915.8,-13.5,389,6332,0.00,2.38,0.00,0.000,3078,0.000,0.047,2133,1853,3347,3328,3367,0,0,0,0,0,0,14.90,14.86,14.93,8.70,58.86
$GC,6645,-0.76,-97.3,2133,1854,3328,3367,960.5,-14.2,405,6649,0.00,2.35,0.00,0.000,2308,0.000,0.079,2122,3258,3347,3328,3367,0,0,0,0,0,0,15.08,14.85,15.08,8.70,58.78
$GC,6703,-0.76,-97.3,2122,3257,3329,3367,968.3,-13.9,408,6709,0.05,2.38,0.00,0.000,3078,0.320,0.063,2140,1851,3347,3328,3367,0,0,0,0,0,0,14.76,14.85,14.88,8.70,59.49
$STATE,6880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6880,begin apogee
$GC,6884,-0.14,0.0,2141,1739,3329,3367,992.5,-13.7,417,6971,0.55,0.00,83.12,2.803,10246,0.246,0.000,2342,1738,2943,2939,2948,0,0,0,0,0,0,14.77,13.82,12.44,8.70,59.13
$STATE,6972,end apogee,CONTROL_FINISHED_OK
$STATE,6972,begin climb
$GC,6973,0.76,97.3,2342,1738,2938,2948,996.8,0.0,421,7070,0.77,2.70,89.50,2.891,10500,0.169,0.070,2631,3176,2546,2546,2547,0,0,0,0,0,0,13.82,13.51,12.73,8.68,58.26
$GC,7106,0.80,129.1,2631,3177,2548,2547,989.5,7.8,428,7140,0.00,2.50,28.15,2.420,11270,0.000,0.061,2642,1795,2418,2419,2417,0,0,0,0,0,0,13.85,13.76,12.80,8.66,57.12
$GC,7438,0.80,129.1,2641,1795,2416,2414,941.8,14.7,445,7444,0.00,2.60,0.00,0.000,2564,0.000,0.082,2653,361,2415,2416,2414,0,0,0,0,0,0,14.40,14.19,14.40,8.64,57.83
$GC,7531,0.80,129.1,2653,361,2415,2414,929.9,14.8,449,7538,0.00,2.42,0.00,0.000,5126,0.000,0.040,2653,1780,2414,2415,2414,0,0,0,0,0,0,14.38,14.30,14.38,8.63,56.53
$GC,7838,0.80,129.1,2653,1779,2416,2414,881.9,15.2,465,7842,0.00,2.42,0.00,0.000,4356,0.000,0.072,2653,3178,2414,2415,2414,0,0,0,0,0,0,14.66,14.45,14.67,8.62,57.56
$GC,7894,0.80,129.1,2653,3179,2415,2414,873.4,15.2,468,7899,0.05,2.42,0.00,0.000,5126,0.458,0.063,2650,1767,2414,2415,2414,0,0,0,0,0,0,14.36,14.48,14.54,8.62,57.24
$GC,8211,0.80,129.1,2649,1767,2415,2414,826.7,14.9,484,8215,0.00,2.47,0.00,0.000,4612,0.000,0.080,2660,356,2415,2416,2414,0,0,0,0,0,0,14.80,14.58,14.80,8.62,57.99
$GC,8289,0.80,129.1,2660,356,2415,2414,815.3,15.0,488,8295,0.03,2.40,0.00,0.000,5126,0.454,0.039,2653,1780,2414,2415,2414,0,0,0,0,0,0,14.47,14.62,14.60,8.61,57.79
$GC,8607,0.80,129.1,2653,1780,2415,2414,768.4,14.6,504,8611,0.00,2.35,0.00,0.000,4356,0.000,0.070,2653,3167,2414,2415,2414,0,0,0,0,0,0,14.88,14.67,14.88,8.61,58.38
$GC,8685,0.80,129.1,2654,3167,2415,2414,757.3,14.6,508,8691,0.05,2.40,0.00,0.000,5126,0.405,0.063,2650,1771,2414,2415,2414,0,0,0,0,0,0,14.54,14.68,14.69,8.61,58.82
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$STATE,14382,end climb,SURFACE_DEPTH_REACHED
$STATE,14382,begin surface coast
$FINISH,-0.2,1.017033
$STATE,14403,end surface coast,CONTROL_FINISHED_OK
$STATE,14403,begin surface
$SM_CCo,14477,0.00,0.000,0,0,2154,193.78
$SM_GC,1.46,5.70,0.15,0.00,0.054,0.110,0.000,228,1884,2154,-6.41,-0.82,193.78,0,0,0,0,0,0,14.57,14.51,14.59
$IRIDIUM_FIX,-6402.02,227.45,170122,132626
$TT8_MAMPS,0.018725,0.33705
$HUMID,57.67
$INTERNAL_PRESSURE,8.48201
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,12.44,161.624
$10V_AH,12.75,0.000
$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
$DEVICE_SECS,14.050,187.775,241.475,0.000,0.000,24.919,16.957,168.201,0.000,0.000,17.358,2442.977,9183.677,414.898,2658.764,90.121,0.000,1528.120,0.000,1937.363,0.000,0.536,0.000
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$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,653.417,1458.199,242.159,1179.375,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342920
$DATA_FILE_SIZE,69493,897
$CAP_FILE_SIZE,153318,0
$CFSIZE,1023623168,1015906304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170122,213832,-6401.762,223.075,106,0.8,119,-21.1,0.0,282.4,10,9.7