version: 66.14
glider: 640
mission: 9
dive: 74
start: 1 21 122 20 41 32
data:
$ID,640
$MISSION,9
$DIVE,74
$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,1870
$C_ROLL_CLIMB,1780
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,69
$R_STBD_OVSHOOT,29
$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
$GPS1,210122,203530,-6347.1177,228.9085,127,1.3,168,-21.2,0.0,90.0,5,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-73.0
$GPS2,210122,204102,-6347.1113,228.9600,7,1.4,47,-21.2,0.7,127.7,4,5.6
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,NORTH
$TGT_LATLONG,-6318.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,19.5,53939,-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,-97.3,230,1823,2145,2189,0.0,0.0,0,75,0.00,0.00,-66.40,0.000,16386,0.000,0.000,230,1822,3252,3219,3286,0,0,0,0,0,0,14.73,28.83,14.73,8.55,56.93
$GC,78,-0.76,-97.3,230,1822,3220,3286,3.6,-6.6,10,94,5.97,2.75,-2.85,0.000,18692,0.372,2.257,2152,3333,3342,3317,3368,0,0,0,0,0,0,14.35,13.71,14.59,8.65,57.16
$GC,126,-0.76,-97.3,2152,3333,3320,3367,15.1,-18.5,18,134,0.00,2.45,0.00,0.000,5126,0.000,0.054,2152,1913,3344,3321,3367,0,0,0,0,0,0,14.53,14.48,14.54,8.67,56.10
$GC,176,-0.76,-97.3,2152,1913,3321,3368,23.6,-17.3,27,184,0.00,2.58,0.00,0.000,4612,0.000,0.075,2152,456,3344,3321,3368,0,0,0,0,0,0,14.71,14.49,14.71,8.66,55.90
$GC,256,-0.76,-97.3,2152,456,3321,3368,40.1,-21.3,42,264,0.00,2.45,0.00,0.000,3078,0.000,0.047,2142,1877,3344,3321,3368,0,0,0,0,0,0,14.55,14.50,14.57,8.66,55.43
$GC,572,-0.76,-97.3,2141,1877,3322,3368,94.1,-16.5,92,578,0.00,2.40,0.00,0.000,2308,0.000,0.074,2130,3275,3345,3322,3368,0,0,0,0,0,0,14.81,14.58,14.81,8.66,56.14
$GC,660,-0.76,-97.3,2130,3275,3322,3368,106.5,-15.3,96,664,0.00,2.35,0.00,0.000,3078,0.000,0.056,2131,1868,3344,3321,3368,0,0,0,0,0,0,14.72,14.62,14.73,8.66,56.37
$GC,973,-0.76,-97.3,2130,1868,3322,3368,156.7,-15.5,112,979,0.00,2.45,0.00,0.000,2564,0.000,0.076,2130,453,3345,3322,3368,0,0,0,0,0,0,14.90,14.67,14.90,8.66,57.20
$GC,1066,-0.76,-97.3,2130,453,3322,3368,169.4,-15.8,116,1075,0.05,2.40,0.00,0.000,3078,0.358,0.044,2137,1865,3345,3322,3368,0,0,0,0,0,0,14.55,14.67,14.67,8.67,57.48
$GC,1373,-0.76,-97.3,2137,1866,3322,3367,217.4,-15.5,132,1379,0.00,2.40,0.00,0.000,2308,0.000,0.074,2127,3279,3345,3322,3368,0,0,0,0,0,0,14.95,14.72,14.95,8.68,58.30
$GC,1414,-0.76,-97.3,2126,3278,3322,3368,223.5,-15.4,134,1420,0.05,2.35,0.00,0.000,3078,0.448,0.055,2141,1862,3345,3322,3368,0,0,0,0,0,0,14.62,14.74,14.79,8.68,57.95
$GC,1734,-0.76,-97.3,2141,1862,3322,3368,270.6,-14.8,150,1740,0.00,2.40,0.00,0.000,2564,0.000,0.075,2141,463,3345,3322,3368,0,0,0,0,0,0,14.97,14.75,14.97,8.68,58.34
$GC,1814,-0.76,-97.3,2141,463,3322,3368,282.4,-14.5,154,1820,0.00,2.33,0.00,0.000,3078,0.000,0.044,2131,1876,3345,3322,3368,0,0,0,0,0,0,14.86,14.78,14.88,8.68,57.99
$GC,2135,-0.76,-97.3,2131,1877,3322,3368,329.4,-15.0,170,2141,0.00,2.35,0.00,0.000,2308,0.000,0.073,2120,3272,3345,3322,3368,0,0,0,0,0,0,15.00,14.77,15.00,8.69,57.95
$GC,2176,-0.76,-97.3,2120,3272,3322,3367,335.4,-14.9,172,2182,0.05,2.35,0.00,0.000,3078,0.332,0.055,2138,1876,3345,3322,3368,0,0,0,0,0,0,14.66,14.78,14.78,8.69,57.83
$GC,2495,-0.76,-97.3,2138,1874,3322,3368,381.2,-14.4,188,2501,0.00,2.42,0.00,0.000,2564,0.000,0.078,2138,463,3345,3322,3368,0,0,0,0,0,0,15.01,14.79,15.02,8.69,58.11
$GC,2562,-0.76,-97.3,2138,463,3322,3368,390.0,-14.6,191,2567,0.00,2.35,0.00,0.000,3078,0.000,0.044,2128,1861,3345,3322,3368,0,0,0,0,0,0,14.85,14.81,14.87,8.68,57.87
$GC,2875,-0.76,-97.3,2128,1862,3322,3367,436.7,-14.4,207,2877,0.05,0.00,0.00,0.000,2054,0.464,0.000,2141,1864,3345,3322,3368,0,0,0,0,0,0,14.69,14.90,14.88,8.69,58.38
$GC,3175,-0.76,-97.3,2141,1864,3322,3368,478.4,-13.9,222,3176,0.00,0.00,0.00,0.000,2054,0.000,0.000,2141,1863,3345,3322,3368,0,0,0,0,0,0,15.03,15.03,15.04,8.70,58.42
$GC,3475,-0.76,-97.3,2141,1864,3322,3368,520.2,-13.9,237,3476,0.00,0.00,0.00,0.000,2054,0.000,0.000,2141,1864,3345,3322,3368,0,0,0,0,0,0,15.04,15.04,15.04,8.70,58.23
$GC,3775,-0.76,-97.3,2141,1863,3322,3367,562.0,-13.9,252,3776,0.00,0.00,0.00,0.000,2054,0.000,0.000,2141,1863,3345,3322,3368,0,0,0,0,0,0,15.05,15.05,15.06,8.69,58.58
$GC,4076,-0.76,-97.3,2141,1863,3322,3368,603.5,-13.8,267,4078,0.00,0.00,0.00,0.000,2054,0.000,0.000,2141,1863,3345,3322,3368,0,0,0,0,0,0,15.03,15.03,15.03,8.70,58.50
$GC,4375,-0.76,-97.3,2141,1863,3322,3368,643.4,-13.0,282,4376,0.00,0.00,0.00,0.000,2054,0.000,0.000,2141,1864,3345,3322,3368,0,0,0,0,0,0,15.06,15.07,15.07,8.70,58.97
$GC,4675,-0.76,-97.3,2141,1863,3323,3368,683.2,-13.1,297,4676,0.00,0.00,0.00,0.000,2054,0.000,0.000,2142,1864,3345,3323,3368,0,0,0,0,0,0,15.07,15.07,15.07,8.70,58.62
$GC,4975,-0.76,-97.3,2141,1864,3323,3368,722.7,-13.1,312,4976,0.00,0.00,0.00,0.000,2054,0.000,0.000,2142,1863,3346,3324,3368,0,0,0,0,0,0,15.07,15.07,15.07,8.70,58.66
$GC,5275,-0.76,-97.3,2141,1864,3324,3368,761.3,-12.8,327,5276,0.00,0.00,0.00,0.000,2054,0.000,0.000,2141,1863,3346,3324,3368,0,0,0,0,0,0,15.07,15.07,15.07,8.70,58.74
$GC,5575,-0.76,-97.3,2140,1863,3324,3368,798.3,-12.2,342,5581,0.00,2.38,0.00,0.000,2308,0.000,0.073,2132,3278,3346,3324,3368,0,0,0,0,0,0,15.07,14.85,15.07,8.70,58.78
$GC,5617,-0.76,-97.3,2132,3279,3324,3368,803.2,-12.3,344,5622,0.00,2.35,0.00,0.000,3078,0.000,0.057,2132,1875,3346,3324,3368,0,0,0,0,0,0,14.90,14.85,14.92,8.70,58.50
$GC,5935,-0.76,-97.3,2132,1874,3323,3368,844.2,-13.0,360,5941,0.00,2.42,0.00,0.000,2564,0.000,0.084,2132,462,3346,3324,3368,0,0,0,0,0,0,15.07,14.84,15.07,8.71,58.97
$GC,6028,-0.76,-97.3,2132,462,3323,3368,854.9,-13.1,364,6037,0.05,2.35,0.00,0.000,3078,0.361,0.045,2139,1870,3346,3324,3368,0,0,0,0,0,0,14.71,14.84,14.83,8.71,58.89
$GC,6336,-0.76,-97.3,2138,1871,3324,3368,895.6,-13.0,380,6342,0.00,2.38,0.00,0.000,2308,0.000,0.075,2130,3280,3346,3324,3368,0,0,0,0,0,0,15.07,14.84,15.07,8.71,58.70
$GC,6383,-0.76,-97.3,2130,3280,3324,3368,900.9,-13.1,382,6388,0.00,2.33,0.00,0.000,3078,0.000,0.057,2129,1868,3346,3324,3368,0,0,0,0,0,0,14.95,14.86,14.96,8.71,58.46
$GC,6696,-0.76,-97.3,2128,1866,3324,3368,944.7,-13.9,398,6702,0.00,2.42,0.00,0.000,2564,0.000,0.081,2130,454,3346,3324,3368,0,0,0,0,0,0,15.07,14.84,15.07,8.71,58.23
$GC,6784,-0.76,-97.3,2129,454,3324,3367,956.1,-14.0,402,6789,0.08,2.35,0.00,0.000,3078,0.386,0.044,2143,1890,3346,3324,3368,0,0,0,0,0,0,14.74,14.86,14.91,8.71,58.30
$STATE,7056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7056,begin apogee
$GC,7060,-0.14,0.0,2143,1750,3324,3368,991.5,-12.4,416,7143,0.55,0.00,80.03,2.651,10246,0.250,0.000,2345,1750,2943,2932,2954,0,0,0,0,0,0,14.76,14.00,13.12,8.72,58.26
$STATE,7144,end apogee,CONTROL_FINISHED_OK
$STATE,7144,begin climb
$GC,7146,0.76,97.3,2345,1750,2930,2952,995.0,0.0,420,7238,0.77,2.58,79.72,2.559,10756,0.161,0.077,2651,394,2544,2532,2556,0,0,0,0,0,0,13.96,13.71,12.87,8.69,58.42
$GC,7269,0.78,115.5,2651,394,2532,2557,986.4,8.8,426,7290,0.00,2.40,16.00,2.332,13318,0.000,0.037,2651,1778,2473,2455,2491,0,0,0,0,0,0,14.06,13.97,13.00,8.66,56.45
$GC,7598,0.78,115.5,2650,1779,2453,2489,936.5,15.1,443,7604,0.00,2.45,0.00,0.000,4356,0.000,0.069,2651,3180,2471,2453,2489,0,0,0,0,0,0,14.56,14.35,14.56,8.64,57.24
$GC,7665,0.78,115.5,2650,3180,2452,2489,927.4,15.3,446,7670,0.08,2.35,0.00,0.000,5126,0.406,0.058,2641,1805,2470,2452,2489,0,0,0,0,0,0,14.28,14.40,14.45,8.65,57.08
$GC,7978,0.78,115.5,2641,1805,2452,2489,881.2,14.5,462,7984,0.00,2.53,0.00,0.000,516,0.000,0.075,2649,370,2470,2452,2489,0,0,0,0,0,0,14.75,14.54,14.76,8.63,57.95
$GC,8051,0.78,115.5,2650,370,2452,2489,872.2,15.1,465,8059,0.00,2.40,0.00,0.000,5126,0.000,0.038,2651,1788,2470,2452,2489,0,0,0,0,0,0,14.60,14.56,14.62,8.64,58.34
$GC,8358,0.78,115.5,2650,1789,2452,2489,824.4,14.9,481,8364,0.00,2.38,0.00,0.000,4356,0.000,0.067,2651,3183,2470,2452,2489,0,0,0,0,0,0,14.85,14.64,14.86,8.64,58.19
$GC,8411,0.78,115.5,2650,3183,2452,2489,818.3,15.1,483,8420,0.05,2.40,0.00,0.000,5126,0.379,0.057,2646,1779,2470,2452,2489,0,0,0,0,0,0,14.50,14.63,14.63,8.63,58.34
$GC,8720,0.78,115.5,2646,1779,2452,2489,773.0,14.0,499,8725,0.00,2.42,0.00,0.000,4612,0.000,0.073,2657,366,2471,2453,2489,0,0,0,0,0,0,14.91,14.69,14.92,8.62,58.50
$GC,8747,0.78,115.5,2657,366,2452,2489,770.2,14.0,500,8752,0.05,2.33,0.00,0.000,5126,0.438,0.037,2642,1789,2470,2452,2489,0,0,0,0,0,0,14.59,14.71,14.76,8.62,58.78
$GC,9055,0.78,115.5,2642,1788,2452,2489,727.5,13.4,515,9060,0.00,2.33,0.00,0.000,260,0.000,0.067,2642,3168,2470,2452,2489,0,0,0,0,0,0,14.95,14.72,14.95,8.62,58.86
$GC,9126,0.78,115.5,2642,3169,2452,2489,719.4,13.6,518,9134,0.00,2.38,0.00,0.000,5126,0.000,0.057,2652,1775,2470,2452,2489,0,0,0,0,0,0,14.77,14.72,14.78,8.62,58.03
$GC,9434,0.78,115.5,2652,1775,2452,2489,675.6,13.7,534,9440,0.00,2.42,0.00,0.000,4612,0.000,0.076,2663,365,2470,2452,2489,0,0,0,0,0,0,14.98,14.76,14.98,8.62,58.42
$GC,9507,0.78,115.5,2662,365,2452,2489,667.2,14.0,537,9516,0.05,2.33,0.00,0.000,5126,0.375,0.037,2650,1774,2470,2451,2489,0,0,0,0,0,0,14.62,14.75,14.74,8.62,58.62
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$STATE,14982,end climb,SURFACE_DEPTH_REACHED
$STATE,14982,begin surface coast
$FINISH,-0.1,1.027137
$STATE,15008,end surface coast,CONTROL_FINISHED_OK
$STATE,15008,begin surface
$SM_CCo,15022,2.85,0.731,0,0,2169,190.10
$SM_GC,1.92,5.78,0.17,2.85,0.080,0.116,0.731,224,1891,2169,-6.42,-0.74,190.10,0,0,0,0,0,0,14.57,14.51,13.88
$IRIDIUM_FIX,-6350.38,231.28,210122,162352
$TT8_MAMPS,0.019474,0.336301
$HUMID,56.41
$INTERNAL_PRESSURE,8.52107
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,12.87,167.974
$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
$DEVICE_SECS,14.025,153.175,221.675,2.850,0.000,23.710,20.763,159.849,0.000,0.000,48.988,2480.714,9574.283,379.988,2829.879,97.118,0.000,1478.776,0.000,1924.590,0.000,0.536,0.000
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$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,680.206,1994.339,250.063,1221.229,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343016
$DATA_FILE_SIZE,69643,929
$CAP_FILE_SIZE,147100,0
$CFSIZE,1023623168,1013661696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220122,005442,-6345.753,229.700,92,1.6,133,-21.2,0.4,89.8,4,15.9