version: 66.14
glider: 640
mission: 9
dive: 53
start: 1 18 122 7 7 28
data:
$ID,640
$MISSION,9
$DIVE,53
$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,63
$R_STBD_OVSHOOT,67
$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
$GPS1,180122,070003,-6403.9629,222.1829,113,1.0,128,-21.1,0.6,29.7,8,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-73.0
$GPS2,180122,070658,-6403.9800,222.2124,7,1.0,19,-21.1,1.2,292.4,8,10.0
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,SOUTH
$TGT_LATLONG,-6430.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,196.6,48340,-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,5,begin dive
$GC,6,-0.76,-97.3,227,1798,2142,2191,0.0,0.0,0,82,0.00,0.00,-72.78,0.000,16386,0.000,0.000,228,1799,3301,3272,3330,0,0,0,0,0,0,14.68,28.83,14.69,8.53,57.63
$GC,84,-0.76,-97.3,228,1800,3272,3332,3.6,-6.8,11,100,6.05,2.70,-1.27,0.000,18692,0.383,2.265,2151,3274,3342,3317,3367,0,0,0,0,0,0,14.31,13.69,14.55,8.64,57.52
$GC,147,-0.76,-97.3,2151,3274,3320,3368,19.0,-20.1,22,155,0.00,2.38,0.00,0.000,5126,0.000,0.059,2151,1888,3344,3321,3367,0,0,0,0,0,0,14.54,14.45,14.56,8.65,56.26
$GC,197,-0.76,-97.3,2151,1888,3321,3367,28.6,-19.2,31,204,0.00,2.58,0.00,0.000,4612,0.000,0.079,2151,441,3344,3321,3367,0,0,0,0,0,0,14.67,14.45,14.67,8.65,56.85
$GC,231,-0.76,-97.3,2151,440,3321,3367,35.6,-19.2,37,239,0.00,2.35,0.00,0.000,3078,0.000,0.047,2140,1814,3344,3321,3367,0,0,0,0,0,0,14.57,14.48,14.59,8.64,56.61
$GC,361,-0.76,-97.3,2139,1814,3322,3367,59.0,-17.2,62,369,0.00,2.53,0.00,0.000,2308,0.000,0.083,2126,3256,3344,3321,3367,0,0,0,0,0,0,14.71,14.49,14.71,8.64,56.41
$GC,426,-0.76,-97.3,2127,3256,3322,3368,69.7,-15.9,74,434,0.03,2.42,0.00,0.000,3078,0.435,0.061,2136,1855,3344,3322,3367,0,0,0,0,0,0,14.37,14.52,14.51,8.64,56.22
$GC,737,-0.76,-97.3,2136,1856,3322,3367,119.6,-15.8,99,743,0.00,2.47,0.00,0.000,2564,0.000,0.080,2136,440,3344,3322,3367,0,0,0,0,0,0,14.83,14.60,14.83,8.63,56.18
$GC,789,-0.76,-97.3,2135,440,3322,3367,126.1,-16.0,101,798,0.05,2.42,0.00,0.000,3078,0.353,0.048,2142,1848,3344,3322,3367,0,0,0,0,0,0,14.49,14.60,14.60,8.63,56.49
$GC,1097,-0.76,-97.3,2141,1849,3323,3367,174.9,-15.4,117,1103,0.00,2.42,0.00,0.000,2308,0.000,0.081,2132,3260,3344,3322,3367,0,0,0,0,0,0,14.88,14.66,14.89,8.64,57.28
$GC,1170,-0.76,-97.3,2132,3259,3322,3367,183.9,-14.9,120,1178,0.00,2.40,0.00,0.000,3078,0.000,0.060,2132,1855,3344,3322,3367,0,0,0,0,0,0,14.72,14.66,14.73,8.65,57.75
$GC,1478,-0.76,-97.3,2132,1855,3322,3367,234.2,-15.7,136,1484,0.00,2.45,0.00,0.000,2564,0.000,0.080,2133,439,3344,3322,3367,0,0,0,0,0,0,14.93,14.71,14.93,8.65,58.86
$GC,1540,-0.76,-97.3,2132,440,3322,3367,243.7,-15.9,139,1546,0.05,2.40,0.00,0.000,3078,0.363,0.048,2138,1850,3344,3322,3367,0,0,0,0,0,0,14.60,14.72,14.73,8.66,57.79
$GC,1858,-0.76,-97.3,2138,1851,3322,3367,292.5,-15.4,155,1864,0.00,2.40,0.00,0.000,2308,0.000,0.081,2129,3256,3344,3322,3367,0,0,0,0,0,0,14.97,14.73,14.97,8.66,58.62
$GC,1919,-0.76,-97.3,2129,3257,3322,3367,301.3,-15.0,158,1923,0.00,2.35,0.00,0.000,3078,0.000,0.060,2129,1847,3344,3321,3367,0,0,0,0,0,0,14.85,14.76,14.86,8.65,58.34
$GC,2240,-0.76,-97.3,2128,1847,3322,3367,352.3,-16.2,174,2246,0.00,2.45,0.00,0.000,2564,0.000,0.082,2129,434,3344,3322,3367,0,0,0,0,0,0,14.98,14.76,14.98,8.66,58.74
$GC,2302,-0.76,-97.3,2128,434,3322,3367,362.0,-16.0,177,2308,0.05,2.40,0.00,0.000,3078,0.356,0.048,2137,1849,3344,3322,3367,0,0,0,0,0,0,14.69,14.77,14.78,8.66,58.86
$GC,2621,-0.76,-97.3,2136,1849,3322,3367,411.3,-15.6,193,2626,0.00,2.40,0.00,0.000,2308,0.000,0.080,2126,3260,3344,3322,3367,0,0,0,0,0,0,15.00,14.77,15.00,8.65,58.62
$GC,2673,-0.76,-97.3,2126,3259,3322,3367,417.4,-15.3,195,2682,0.05,2.40,0.00,0.000,3078,0.343,0.061,2143,1851,3344,3322,3367,0,0,0,0,0,0,14.66,14.76,14.78,8.66,58.42
$GC,2981,-0.76,-97.3,2143,1850,3322,3367,465.2,-15.1,211,2987,0.00,2.45,0.00,0.000,2564,0.000,0.086,2143,438,3344,3322,3367,0,0,0,0,0,0,15.01,14.79,15.01,8.66,59.01
$GC,3043,-0.76,-97.3,2143,438,3323,3367,474.5,-15.5,214,3048,0.00,2.38,0.00,0.000,3078,0.000,0.048,2134,1847,3344,3322,3367,0,0,0,0,0,0,14.84,14.78,14.86,8.67,58.82
$GC,3362,-0.76,-97.3,2133,1848,3322,3367,523.6,-15.3,230,3367,0.00,2.40,0.00,0.000,2308,0.000,0.080,2123,3261,3344,3322,3367,0,0,0,0,0,0,15.02,14.79,15.02,8.67,59.01
$GC,3414,-0.76,-97.3,2122,3261,3322,3367,529.6,-15.2,232,3423,0.05,2.40,0.00,0.000,3078,0.331,0.061,2140,1847,3344,3322,3367,0,0,0,0,0,0,14.68,14.77,14.79,8.67,58.86
$GC,3722,-0.76,-97.3,2140,1846,3322,3367,576.6,-14.8,248,3728,0.00,2.45,0.00,0.000,2564,0.000,0.085,2139,433,3344,3322,3367,0,0,0,0,0,0,15.02,14.80,15.02,8.67,58.70
$GC,3783,-0.76,-97.3,2139,433,3322,3367,585.6,-14.9,251,3789,0.00,2.33,0.00,0.000,3078,0.000,0.048,2129,1850,3344,3322,3367,0,0,0,0,0,0,14.86,14.81,14.88,8.67,59.01
$GC,4102,-0.76,-97.3,2129,1850,3322,3367,633.7,-15.1,267,4108,0.00,2.38,0.00,0.000,2308,0.000,0.079,2117,3256,3344,3322,3367,0,0,0,0,0,0,15.03,14.81,15.03,8.68,59.01
$GC,4154,-0.76,-97.3,2117,3255,3322,3367,639.6,-14.9,269,4163,0.05,2.38,0.00,0.000,3078,0.324,0.061,2137,1856,3344,3322,3367,0,0,0,0,0,0,14.69,14.78,14.81,8.68,58.54
$GC,4462,-0.76,-97.3,2136,1854,3322,3367,684.9,-14.1,285,4468,0.00,2.45,0.00,0.000,2564,0.000,0.086,2137,440,3344,3322,3367,0,0,0,0,0,0,15.03,14.81,15.03,8.68,59.01
$GC,4524,-0.76,-97.3,2136,440,3322,3367,693.5,-14.3,288,4529,0.05,2.38,0.00,0.000,3078,0.348,0.048,2143,1846,3344,3322,3367,0,0,0,0,0,0,14.71,14.83,14.82,8.68,58.66
$GC,4842,-0.76,-97.3,2143,1847,3323,3367,737.5,-14.1,304,4846,0.00,2.40,0.00,0.000,2308,0.000,0.080,2134,3265,3345,3323,3368,0,0,0,0,0,0,15.04,14.82,15.04,8.68,59.45
$GC,4886,-0.76,-97.3,2134,3264,3323,3367,742.5,-13.8,306,4890,0.00,2.35,0.00,0.000,3078,0.000,0.063,2134,1848,3345,3323,3367,0,0,0,0,0,0,14.93,14.83,14.94,8.68,58.89
$GC,5198,-0.76,-97.3,2134,1848,3323,3367,788.3,-14.5,322,5202,0.00,2.45,0.00,0.000,2564,0.000,0.089,2134,436,3345,3323,3367,0,0,0,0,0,0,15.06,14.83,15.06,8.69,58.86
$GC,5242,-0.76,-97.3,2134,436,3323,3367,793.6,-14.6,324,5247,0.08,2.38,0.00,0.000,3078,0.380,0.050,2148,1874,3344,3322,3367,0,0,0,0,0,0,14.74,14.85,14.90,8.69,58.78
$GC,5554,-0.76,-97.3,2147,1874,3323,3368,835.8,-13.2,340,5558,0.00,2.35,0.00,0.000,260,0.000,0.080,2139,3258,3345,3323,3367,0,0,0,0,0,0,15.06,14.84,15.07,8.69,58.89
$GC,5593,-0.76,-97.3,2139,3258,3323,3367,840.6,-13.3,342,5597,0.00,2.38,0.00,0.000,3078,0.000,0.060,2139,1825,3345,3323,3367,0,0,0,0,0,0,14.95,14.85,14.97,8.69,59.05
$GC,5911,-0.76,-97.3,2139,1824,3323,3367,883.9,-13.5,358,5917,0.00,2.38,0.00,0.000,2564,0.000,0.088,2139,439,3345,3324,3367,0,0,0,0,0,0,15.07,14.83,15.07,8.69,58.74
$GC,5970,-0.76,-97.3,2139,439,3323,3367,892.1,-13.7,361,5974,0.00,2.33,0.00,0.000,3078,0.000,0.049,2129,1852,3345,3323,3367,0,0,0,0,0,0,14.97,14.87,14.97,8.69,59.01
$GC,6286,-0.76,-97.3,2128,1852,3323,3367,934.5,-13.6,377,6291,0.05,2.38,0.00,0.000,2308,0.441,0.076,2134,3256,3345,3323,3367,0,0,0,0,0,0,14.76,14.85,14.92,8.69,59.05
$GC,6346,-0.76,-97.3,2134,3255,3322,3367,941.7,-13.1,380,6350,0.00,2.33,0.00,0.000,3078,0.000,0.061,2134,1846,3345,3324,3367,0,0,0,0,0,0,14.97,14.86,14.98,8.70,58.78
$GC,6662,-0.76,-97.3,2133,1848,3324,3367,983.3,-13.3,396,6667,0.00,2.42,0.00,0.000,2564,0.000,0.088,2134,443,3345,3323,3367,0,0,0,0,0,0,15.08,14.86,15.09,8.70,59.09
$STATE,6717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6718,begin apogee
$GC,6723,-0.14,0.0,2123,1770,3323,3367,990.9,-13.5,399,6806,0.60,0.00,79.40,2.648,10246,0.249,0.000,2343,1771,2943,2938,2949,0,0,0,0,0,0,14.77,14.00,13.16,8.70,58.58
$STATE,6807,end apogee,CONTROL_FINISHED_OK
$STATE,6807,begin climb
$GC,6808,0.76,97.3,2342,1770,2937,2948,994.6,0.0,403,6893,0.80,0.00,80.65,2.586,10246,0.162,0.000,2641,1770,2546,2544,2548,0,0,0,0,0,0,13.97,13.73,12.91,8.68,58.26
$GC,7180,0.76,97.3,2640,1771,2548,2547,953.5,13.1,422,7186,0.00,2.53,0.00,0.000,4612,0.000,0.083,2652,364,2548,2549,2547,0,0,0,0,0,0,14.54,14.33,14.54,8.64,58.03
$GC,7239,0.76,97.3,2651,364,2549,2547,945.7,13.1,425,7245,0.05,2.40,0.00,0.000,5126,0.428,0.041,2638,1781,2547,2548,2547,0,0,0,0,0,0,14.27,14.39,14.44,8.61,57.99
$GC,7557,0.76,97.3,2638,1781,2548,2547,905.8,12.5,441,7563,0.00,2.38,0.00,0.000,4356,0.000,0.071,2638,3167,2547,2548,2547,0,0,0,0,0,0,14.74,14.52,14.75,8.63,58.62
$GC,7644,0.76,97.3,2638,3167,2548,2547,895.6,12.7,445,7649,0.00,2.38,0.00,0.000,5126,0.000,0.062,2648,1768,2547,2548,2547,0,0,0,0,0,0,14.66,14.57,14.67,8.63,57.95
$GC,7956,0.76,97.3,2647,1767,2549,2547,855.1,12.8,461,7961,0.00,2.47,0.00,0.000,4612,0.000,0.083,2658,356,2548,2549,2547,0,0,0,0,0,0,14.85,14.64,14.85,8.63,59.01
$GC,8025,0.76,97.3,2658,357,2548,2547,847.7,13.0,464,8034,0.08,2.38,0.00,0.000,5126,0.336,0.040,2635,1766,2547,2548,2547,0,0,0,0,0,0,14.54,14.65,14.66,8.62,58.46
$GC,8334,0.76,97.3,2635,1766,2548,2547,808.6,11.9,480,8340,0.00,2.38,0.00,0.000,260,0.000,0.070,2635,3168,2547,2548,2547,0,0,0,0,0,0,14.91,14.70,14.92,8.62,58.62
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$STATE,15900,end climb,SURFACE_DEPTH_REACHED
$STATE,15900,begin surface coast
$FINISH,0.3,1.027168
$STATE,15921,end surface coast,CONTROL_FINISHED_OK
$STATE,15921,begin surface
$SM_CCo,15934,11.30,1.355,0,0,2169,190.10
$SM_GC,3.47,5.82,0.15,11.30,0.103,0.106,1.355,274,1896,2169,-6.41,-0.76,190.10,0,0,0,0,0,0,14.53,14.52,13.89
$IRIDIUM_FIX,-6402.18,217.63,180122,070123
$TT8_MAMPS,0.020223,0.33705
$HUMID,57.56
$INTERNAL_PRESSURE,8.48201
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,12.91,162.424
$10V_AH,13.20,0.000
$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,14.500,206.050,218.425,11.300,0.000,52.874,30.729,168.502,0.000,0.000,20.124,2665.604,10278.597,440.796,2879.392,99.352,0.000,1618.226,0.000,2070.969,0.000,0.535,0.000
$DEVICE_MAMPS,441.405,2265.165,2647.665,1354.815,0.000,26.010,160.000,223.000,420.000,0.000,11.240,9.970,2.190,9.220,29.450,46.670,0.000,11.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,711.899,1591.258,258.370,1284.695,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342884
$DATA_FILE_SIZE,72937,977
$CAP_FILE_SIZE,167262,0
$CFSIZE,1023623168,1015595008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,180122,113552,-6405.522,223.575,122,0.8,126,-21.1,0.7,0.2,10,9.0