version: 66.14
glider: 640
mission: 9
dive: 56
start: 1 18 122 20 31 57
data:
$ID,640
$MISSION,9
$DIVE,56
$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,40
$R_STBD_OVSHOOT,28
$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
$GPS1,180122,202557,-6408.0229,223.9309,95,0.8,97,-21.1,0.0,0.0,10,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-71.3
$GPS2,180122,203127,-6408.0278,223.8864,8,0.8,15,-21.1,0.0,315.1,10,9.4
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,SOUTH
$TGT_LATLONG,-6430.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,197.6,40768,-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,-97.3,233,1828,2147,2186,0.0,0.0,0,75,0.00,0.00,-66.72,0.000,16386,0.000,0.000,233,1829,3177,3146,3208,0,0,0,0,0,0,14.66,28.83,14.67,8.51,57.91
$GC,78,-0.76,-97.3,233,1828,3146,3208,3.2,-6.4,10,93,6.00,0.00,-5.55,0.000,18950,0.373,0.000,2173,1829,3343,3326,3360,0,0,0,0,0,0,14.32,13.74,14.54,8.61,58.34
$GC,135,-0.76,-97.3,2173,1829,3330,3360,15.8,-17.7,20,142,0.00,0.00,0.00,0.000,4102,0.000,0.000,2173,1829,3345,3330,3361,0,0,0,0,0,0,14.67,14.68,14.68,8.64,56.77
$GC,185,-0.76,-97.3,2172,1829,3331,3361,24.7,-18.5,29,192,0.00,2.45,0.00,0.000,4612,0.000,0.079,2173,454,3345,3331,3360,0,0,0,0,0,0,14.69,14.47,14.69,8.64,57.12
$GC,229,-0.76,-97.3,2172,454,3331,3360,32.6,-16.6,37,237,0.00,2.42,0.00,0.000,5126,0.000,0.047,2163,1854,3345,3331,3360,0,0,0,0,0,0,14.55,14.50,14.57,8.64,56.81
$GC,359,-0.76,-97.3,2162,1854,3332,3361,53.4,-15.0,62,365,0.00,0.00,0.00,0.000,4102,0.000,0.000,2163,1854,3346,3331,3361,0,0,0,0,0,0,14.73,14.73,14.73,8.63,57.12
$GC,683,-0.76,-97.3,2162,1854,3332,3361,100.9,-14.3,105,689,0.00,2.42,0.00,0.000,4356,0.000,0.080,2151,3258,3346,3332,3361,0,0,0,0,0,0,14.80,14.58,14.81,8.62,55.98
$GC,745,-0.76,-97.3,2151,3258,3332,3361,109.3,-13.9,108,750,0.00,2.40,0.00,0.000,5126,0.000,0.059,2152,1861,3347,3333,3361,0,0,0,0,0,0,14.66,14.60,14.68,8.62,56.37
$GC,1064,-0.76,-97.3,2151,1860,3332,3361,155.2,-14.5,124,1070,0.00,2.50,0.00,0.000,4612,0.000,0.083,2152,433,3346,3332,3361,0,0,0,0,0,0,14.88,14.66,14.88,8.62,57.16
$GC,1136,-0.76,-97.3,2151,433,3332,3361,164.0,-14.6,127,1144,0.00,2.42,0.00,0.000,3078,0.000,0.047,2140,1851,3346,3332,3361,0,0,0,0,0,0,14.71,14.66,14.73,8.62,57.79
$GC,1444,-0.76,-97.3,2140,1851,3332,3361,211.3,-14.9,143,1450,0.00,2.42,0.00,0.000,2308,0.000,0.080,2129,3264,3346,3332,3360,0,0,0,0,0,0,14.92,14.71,14.92,8.64,58.42
$GC,1486,-0.76,-97.3,2128,3264,3332,3361,217.1,-14.7,145,1491,0.00,2.40,0.00,0.000,3078,0.000,0.060,2129,1853,3346,3332,3360,0,0,0,0,0,0,14.76,14.71,14.78,8.64,58.30
$GC,1804,-0.76,-97.3,2128,1853,3332,3361,265.8,-15.3,161,1811,0.03,2.47,0.00,0.000,2564,0.620,0.078,2139,435,3346,3332,3361,0,0,0,0,0,0,14.64,14.73,14.81,8.64,58.50
$GC,1873,-0.76,-97.3,2139,436,3332,3361,274.8,-15.2,164,1878,0.00,2.35,0.00,0.000,3078,0.000,0.047,2129,1853,3346,3332,3361,0,0,0,0,0,0,14.85,14.76,14.86,8.64,58.34
$GC,2180,-0.76,-97.3,2129,1852,3332,3361,322.0,-15.3,179,2185,0.00,2.38,0.00,0.000,2308,0.000,0.078,2117,3252,3346,3332,3360,0,0,0,0,0,0,14.97,14.76,14.97,8.64,58.86
$GC,2227,-0.76,-97.3,2117,3253,3332,3361,328.1,-15.2,181,2232,0.08,2.35,0.00,0.000,3078,0.365,0.059,2142,1839,3346,3332,3361,0,0,0,0,0,0,14.67,14.77,14.83,8.65,58.62
$GC,2540,-0.76,-97.3,2141,1839,3332,3361,373.9,-14.3,197,2546,0.00,2.42,0.00,0.000,2564,0.000,0.084,2142,443,3346,3332,3361,0,0,0,0,0,0,14.99,14.77,14.99,8.66,58.42
$GC,2592,-0.76,-97.3,2142,443,3332,3361,379.8,-14.5,199,2600,0.00,2.38,0.00,0.000,3078,0.000,0.047,2132,1845,3346,3332,3360,0,0,0,0,0,0,14.81,14.76,14.82,8.66,59.25
$GC,2900,-0.76,-97.3,2132,1845,3332,3361,427.3,-15.0,215,2906,0.00,2.40,0.00,0.000,2308,0.000,0.079,2120,3259,3346,3332,3361,0,0,0,0,0,0,15.00,14.78,15.01,8.66,59.05
$GC,2949,-0.76,-97.3,2120,3258,3332,3360,433.3,-15.0,217,2954,0.08,2.35,0.00,0.000,3078,0.357,0.062,2145,1851,3346,3331,3361,0,0,0,0,0,0,14.70,14.79,14.85,8.66,59.05
$GC,3257,-0.76,-97.3,2145,1851,3332,3361,477.6,-14.1,232,3262,0.00,2.45,0.00,0.000,516,0.000,0.087,2146,438,3346,3331,3361,0,0,0,0,0,0,15.00,14.78,15.01,8.66,59.56
$GC,3328,-0.76,-97.3,2145,438,3330,3361,486.2,-14.2,235,3336,0.00,2.38,0.00,0.000,3078,0.000,0.048,2136,1845,3346,3332,3361,0,0,0,0,0,0,14.83,14.78,14.85,8.67,59.17
$GC,3635,-0.76,-97.3,2136,1845,3331,3361,531.7,-14.3,251,3641,0.00,2.40,0.00,0.000,2308,0.000,0.079,2125,3258,3346,3332,3361,0,0,0,0,0,0,15.02,14.80,15.02,8.67,59.05
$GC,3677,-0.76,-97.3,2125,3257,3332,3361,537.4,-14.3,253,3683,0.05,2.40,0.00,0.000,3078,0.326,0.061,2143,1845,3346,3331,3362,0,0,0,0,0,0,14.70,14.79,14.82,8.67,59.09
$GC,3996,-0.76,-97.3,2143,1844,3332,3361,581.3,-13.8,269,4001,0.00,2.45,0.00,0.000,2564,0.000,0.088,2143,439,3346,3332,3361,0,0,0,0,0,0,15.02,14.80,15.03,8.67,58.86
$GC,4057,-0.76,-97.3,2143,439,3332,3361,589.9,-14.2,272,4062,0.00,2.38,0.00,0.000,3078,0.000,0.047,2134,1849,3346,3332,3361,0,0,0,0,0,0,14.86,14.81,14.88,8.67,59.29
$GC,4377,-0.76,-97.3,2134,1849,3332,3361,636.2,-14.8,288,4383,0.00,2.35,0.00,0.000,2308,0.000,0.079,2124,3249,3346,3331,3361,0,0,0,0,0,0,15.02,14.80,15.03,8.68,58.93
$GC,4423,-0.76,-97.3,2123,3249,3332,3361,642.0,-14.7,290,4428,0.08,2.33,0.00,0.000,3078,0.355,0.063,2148,1849,3346,3332,3361,0,0,0,0,0,0,14.73,14.81,14.88,8.68,58.97
$GC,4736,-0.76,-97.3,2149,1849,3332,3361,685.4,-13.6,306,4742,0.00,2.47,0.00,0.000,516,0.000,0.090,2149,437,3346,3331,3361,0,0,0,0,0,0,15.02,14.81,15.03,8.67,59.17
$GC,4798,-0.76,-97.3,2148,437,3332,3361,693.8,-13.8,309,4803,0.00,2.38,0.00,0.000,3078,0.000,0.047,2140,1849,3346,3332,3361,0,0,0,0,0,0,14.88,14.82,14.89,8.68,59.09
$GC,5116,-0.76,-97.3,2139,1849,3332,3361,738.4,-14.1,325,5122,0.00,2.38,0.00,0.000,2308,0.000,0.080,2129,3256,3347,3333,3361,0,0,0,0,0,0,15.04,14.82,15.04,8.68,58.89
$GC,5159,-0.76,-97.3,2128,3254,3332,3361,743.9,-14.0,327,5163,0.00,2.35,0.00,0.000,3078,0.000,0.061,2129,1839,3347,3333,3361,0,0,0,0,0,0,14.93,14.83,14.95,8.68,58.78
$GC,5476,-0.76,-97.3,2128,1839,3333,3361,789.9,-14.5,343,5480,0.00,2.42,0.00,0.000,2564,0.000,0.087,2129,441,3346,3332,3361,0,0,0,0,0,0,15.05,14.83,15.06,8.68,59.05
$GC,5560,-0.76,-97.3,2128,441,3333,3361,801.0,-14.6,347,5565,0.08,2.33,0.00,0.000,3078,0.379,0.047,2142,1855,3347,3333,3361,0,0,0,0,0,0,14.74,14.85,14.90,8.69,59.52
$GC,5872,-0.76,-97.3,2142,1854,3333,3361,843.7,-13.3,363,5873,0.00,0.00,0.00,0.000,2054,0.000,0.000,2143,1854,3347,3333,3361,0,0,0,0,0,0,15.06,15.06,15.07,8.69,59.33
$GC,6172,-0.76,-97.3,2142,1854,3334,3361,883.1,-12.9,378,6176,0.00,2.38,0.00,0.000,2308,0.000,0.080,2133,3262,3347,3334,3361,0,0,0,0,0,0,15.07,14.85,15.07,8.69,59.25
$GC,6210,-0.76,-97.3,2132,3262,3334,3361,887.8,-12.9,380,6215,0.00,2.40,0.00,0.000,3078,0.000,0.063,2132,1843,3347,3333,3362,0,0,0,0,0,0,14.91,14.85,14.93,8.69,59.60
$GC,6528,-0.76,-97.3,2132,1844,3335,3361,929.9,-13.1,396,6532,0.00,2.45,0.00,0.000,2564,0.000,0.090,2132,434,3347,3334,3361,0,0,0,0,0,0,15.08,14.85,15.08,8.70,59.56
$GC,6604,-0.76,-97.3,2131,434,3334,3361,940.0,-13.3,400,6609,0.08,2.33,0.00,0.000,3078,0.382,0.047,2146,1850,3348,3334,3362,0,0,0,0,0,0,14.76,14.88,14.92,8.69,59.25
$GC,6921,-0.76,-97.3,2146,1850,3334,3361,979.1,-12.3,416,6925,0.00,2.38,0.00,0.000,260,0.000,0.080,2138,3254,3348,3335,3361,0,0,0,0,0,0,15.08,14.85,15.08,8.70,58.70
$GC,6980,-0.76,-97.3,2138,3254,3334,3361,985.7,-12.0,419,6984,0.00,2.33,0.00,0.000,3078,0.000,0.063,2138,1847,3348,3334,3362,0,0,0,0,0,0,14.97,14.86,14.98,8.70,58.86
$STATE,7015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7016,begin apogee
$GC,7020,-0.14,0.0,2138,1742,3334,3361,990.5,-11.8,421,7103,0.55,0.00,80.18,2.669,10246,0.246,0.000,2339,1742,2943,2939,2948,0,0,0,0,0,0,14.77,13.99,13.12,8.70,58.89
$STATE,7104,end apogee,CONTROL_FINISHED_OK
$STATE,7105,begin climb
$GC,7106,0.76,97.3,2339,1741,2938,2946,993.8,0.0,425,7190,0.80,0.00,80.80,2.587,10246,0.171,0.000,2633,1741,2546,2544,2548,0,0,0,0,0,0,13.95,13.72,12.90,8.68,58.54
$GC,7477,0.76,97.3,2633,1741,2547,2547,953.7,12.8,444,7483,0.00,2.53,0.00,0.000,260,0.000,0.070,2633,3172,2547,2547,2547,0,0,0,0,0,0,14.53,14.32,14.54,8.64,57.99
$GC,7525,0.76,97.3,2633,3172,2548,2547,948.6,12.8,446,7529,0.00,2.38,0.00,0.000,5126,0.000,0.062,2643,1789,2547,2547,2547,0,0,0,0,0,0,14.47,14.37,14.47,8.64,57.87
$GC,7837,0.76,97.3,2643,1790,2548,2547,907.0,13.2,462,7841,0.00,2.53,0.00,0.000,4612,0.000,0.080,2654,359,2547,2548,2547,0,0,0,0,0,0,14.73,14.52,14.73,8.63,58.15
$GC,7915,0.76,97.3,2655,359,2548,2547,896.7,13.6,466,7921,0.05,2.40,0.00,0.000,5126,0.348,0.039,2640,1779,2547,2548,2547,0,0,0,0,0,0,14.43,14.55,14.56,8.63,58.38
$GC,8233,0.76,97.3,2640,1779,2547,2547,855.3,12.9,482,8237,0.00,2.35,0.00,0.000,4356,0.000,0.070,2640,3165,2547,2548,2547,0,0,0,0,0,0,14.84,14.63,14.85,8.62,58.62
$GC,8309,0.76,97.3,2640,3165,2547,2547,845.3,13.1,486,8314,0.05,2.35,0.00,0.000,5126,0.457,0.061,2635,1768,2547,2547,2547,0,0,0,0,0,0,14.53,14.66,14.71,8.62,58.89
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$GC,13640,0.77,100.9,2650,1770,2532,2532,240.6,10.8,753,13646,0.00,2.38,0.00,0.000,4356,0.000,0.070,2651,3186,2532,2532,2532,0,0,0,0,0,0,15.02,14.81,15.03,8.58,58.34
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$STATE,16045,end climb,SURFACE_DEPTH_REACHED
$STATE,16045,begin surface coast
$FINISH,-0.2,1.027178
$STATE,16066,end surface coast,CONTROL_FINISHED_OK
$STATE,16066,begin surface
$SM_CCo,16082,10.40,1.363,0,0,2167,190.10
$SM_GC,2.50,5.62,2.62,10.40,0.040,0.044,1.363,223,1876,2167,-6.43,-0.71,190.10,0,0,0,0,0,0,14.54,14.50,13.85
$IRIDIUM_FIX,-6405.21,207.99,180122,154622
$TT8_MAMPS,0.020223,0.338548
$HUMID,57.56
$INTERNAL_PRESSURE,8.49177
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,12.90,163.221
$10V_AH,13.18,0.000
$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
$DEVICE_SECS,14.050,191.825,220.050,10.400,0.000,24.754,18.222,186.525,0.000,0.000,16.360,2710.070,10293.479,424.352,2899.091,99.472,0.000,1595.135,0.000,2093.711,0.000,0.536,0.000
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$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,726.012,1632.118,270.177,1306.152,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342960
$DATA_FILE_SIZE,76352,993
$CAP_FILE_SIZE,164639,0
$CFSIZE,1023623168,1015300096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,10516.03,0x235ad2,1,24
$GPS,190122,010238,-6409.390,224.107,108,1.0,116,-21.1,0.0,332.4,8,9.8