version: 66.14
glider: 640
mission: 9
dive: 76
start: 1 22 122 5 36 50
data:
$ID,640
$MISSION,9
$DIVE,76
$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,32
$R_STBD_OVSHOOT,26
$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
$GPS1,220122,053106,-6344.3208,229.2593,75,0.7,80,-21.2,0.0,244.6,11,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-70.4
$GPS2,220122,053620,-6344.3306,229.2627,7,0.8,15,-21.2,0.0,224.6,10,9.6
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,NORTH
$TGT_LATLONG,-6318.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,19.0,48801,-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,-97.3,228,1855,2129,2200,0.0,0.0,0,75,0.00,0.00,-66.20,0.000,16386,0.000,0.000,229,1855,3236,3206,3267,0,0,0,0,0,0,14.69,28.83,14.69,8.54,56.97
$GC,78,-0.76,-97.3,229,1857,3206,3268,3.3,-5.9,10,94,5.93,2.72,-3.47,0.000,18692,0.360,2.249,2154,3328,3344,3321,3367,0,0,0,0,0,0,14.32,13.67,14.56,8.65,56.45
$GC,171,-0.76,-97.3,2153,3329,3325,3367,21.3,-15.3,27,179,0.00,2.47,0.00,0.000,5126,0.000,0.053,2153,1874,3346,3325,3367,0,0,0,0,0,0,14.59,14.49,14.59,8.67,56.22
$GC,303,-0.76,-97.3,2153,1873,3325,3367,42.3,-15.6,52,310,0.00,2.50,0.00,0.000,4612,0.000,0.075,2153,461,3346,3325,3367,0,0,0,0,0,0,14.73,14.51,14.73,8.67,56.34
$GC,372,-0.76,-97.3,2153,461,3325,3367,52.8,-13.6,65,380,0.00,2.40,0.00,0.000,3078,0.000,0.043,2143,1880,3346,3326,3367,0,0,0,0,0,0,14.64,14.55,14.65,8.66,56.69
$GC,693,-0.76,-97.3,2142,1881,3325,3367,102.4,-15.8,107,698,0.00,2.40,0.00,0.000,2308,0.000,0.075,2131,3278,3346,3326,3367,0,0,0,0,0,0,14.81,14.60,14.81,8.66,56.41
$GC,793,-0.76,-97.3,2131,3277,3326,3367,117.6,-15.1,112,799,0.00,2.35,0.00,0.000,3078,0.000,0.054,2132,1869,3346,3326,3366,0,0,0,0,0,0,14.73,14.64,14.75,8.67,56.77
$GC,1113,-0.76,-97.3,2131,1869,3326,3367,168.4,-16.2,128,1119,0.00,2.45,0.00,0.000,2564,0.000,0.076,2132,456,3346,3326,3366,0,0,0,0,0,0,14.91,14.69,14.91,8.67,57.71
$GC,1195,-0.76,-97.3,2131,456,3326,3366,181.2,-16.0,132,1200,0.05,2.38,0.00,0.000,3078,0.360,0.044,2138,1864,3346,3326,3367,0,0,0,0,0,0,14.58,14.71,14.71,8.68,57.20
$GC,1513,-0.76,-97.3,2138,1864,3326,3367,231.2,-15.9,148,1519,0.00,2.40,0.00,0.000,2308,0.000,0.075,2128,3281,3346,3326,3367,0,0,0,0,0,0,14.94,14.73,14.95,8.68,58.23
$GC,1565,-0.76,-97.3,2128,3281,3326,3367,237.5,-15.7,150,1574,0.05,2.38,0.00,0.000,3078,0.342,0.054,2144,1874,3346,3325,3367,0,0,0,0,0,0,14.60,14.72,14.73,8.68,57.87
$GC,1873,-0.76,-97.3,2144,1874,3325,3367,284.9,-14.7,166,1879,0.00,2.45,0.00,0.000,516,0.000,0.077,2145,459,3346,3325,3367,0,0,0,0,0,0,14.97,14.76,14.97,8.69,58.23
$GC,1941,-0.76,-97.3,2144,459,3325,3367,293.9,-14.7,169,1945,0.00,2.33,0.00,0.000,3078,0.000,0.044,2135,1873,3346,3326,3367,0,0,0,0,0,0,14.87,14.78,14.88,8.69,57.79
$GC,2254,-0.76,-97.3,2134,1874,3325,3367,342.0,-14.8,185,2260,0.00,2.38,0.00,0.000,2308,0.000,0.074,2124,3281,3346,3325,3367,0,0,0,0,0,0,14.99,14.78,14.99,8.69,58.26
$GC,2306,-0.76,-97.3,2123,3281,3325,3366,347.8,-14.7,187,2315,0.05,2.38,0.00,0.000,3078,0.329,0.053,2141,1868,3346,3325,3367,0,0,0,0,0,0,14.66,14.74,14.78,8.69,58.34
$GC,2614,-0.76,-97.3,2141,1868,3326,3366,393.7,-14.5,203,2620,0.00,2.40,0.00,0.000,2564,0.000,0.076,2141,464,3346,3326,3367,0,0,0,0,0,0,15.00,14.79,15.01,8.69,58.23
$GC,2687,-0.76,-97.3,2142,465,3325,3365,402.4,-14.6,206,2695,0.00,2.35,0.00,0.000,3078,0.000,0.044,2131,1865,3346,3325,3367,0,0,0,0,0,0,14.83,14.78,14.85,8.69,57.87
$GC,2995,-0.76,-97.3,2130,1865,3325,3367,449.0,-14.6,222,3000,0.00,2.38,0.00,0.000,2308,0.000,0.073,2120,3275,3346,3325,3367,0,0,0,0,0,0,15.03,14.80,15.03,8.70,58.38
$GC,3055,-0.76,-97.3,2119,3275,3326,3367,457.6,-14.4,225,3061,0.08,2.33,0.00,0.000,3078,0.363,0.055,2145,1864,3346,3326,3367,0,0,0,0,0,0,14.71,14.82,14.87,8.70,58.97
$GC,3375,-0.76,-97.3,2144,1865,3325,3367,501.2,-13.5,241,3381,0.00,2.42,0.00,0.000,516,0.000,0.080,2144,463,3346,3326,3367,0,0,0,0,0,0,15.03,14.81,15.03,8.70,58.62
$GC,3436,-0.76,-97.3,2144,463,3325,3367,509.5,-13.8,244,3441,0.00,2.35,0.00,0.000,3078,0.000,0.044,2136,1865,3346,3326,3367,0,0,0,0,0,0,14.86,14.83,14.88,8.70,58.26
$GC,3755,-0.76,-97.3,2136,1865,3326,3367,553.5,-13.7,260,3761,0.00,2.38,0.00,0.000,2308,0.000,0.073,2125,3278,3346,3325,3367,0,0,0,0,0,0,15.04,14.82,15.04,8.70,58.23
$GC,3823,-0.76,-97.3,2124,3278,3325,3367,561.3,-13.3,263,3827,0.05,2.33,0.00,0.000,3078,0.414,0.056,2141,1862,3345,3324,3367,0,0,0,0,0,0,14.71,14.83,14.88,8.70,58.38
$GC,4135,-0.76,-97.3,2140,1862,3325,3367,603.1,-13.2,279,4142,0.00,2.40,0.00,0.000,2564,0.000,0.078,2140,462,3345,3325,3366,0,0,0,0,0,0,15.04,14.82,15.04,8.70,58.82
$GC,4188,-0.76,-97.3,2140,461,3326,3367,608.6,-13.5,281,4196,0.00,2.35,0.00,0.000,3078,0.000,0.044,2130,1862,3346,3325,3367,0,0,0,0,0,0,14.87,14.82,14.88,8.70,58.54
$GC,4496,-0.76,-97.3,2130,1862,3326,3367,651.6,-13.6,297,4502,0.00,2.38,0.00,0.000,2308,0.000,0.074,2119,3274,3346,3326,3367,0,0,0,0,0,0,15.04,14.83,15.04,8.70,58.93
$GC,4556,-0.76,-97.3,2119,3273,3326,3367,659.6,-13.6,300,4562,0.08,2.33,0.00,0.000,3078,0.361,0.057,2144,1865,3346,3326,3367,0,0,0,0,0,0,14.74,14.84,14.89,8.70,58.19
$GC,4876,-0.76,-97.3,2144,1865,3326,3367,700.4,-12.8,316,4880,0.00,2.42,0.00,0.000,516,0.000,0.079,2144,460,3346,3326,3367,0,0,0,0,0,0,15.05,14.83,15.06,8.71,58.78
$GC,4945,-0.76,-97.3,2144,460,3327,3367,708.4,-12.9,319,4950,0.00,2.33,0.00,0.000,3078,0.000,0.044,2135,1883,3346,3326,3367,0,0,0,0,0,0,14.94,14.85,14.95,8.71,58.26
$GC,5258,-0.76,-97.3,2134,1882,3326,3367,750.1,-13.3,335,5264,0.00,2.33,0.00,0.000,2308,0.000,0.073,2124,3271,3346,3326,3367,0,0,0,0,0,0,15.05,14.83,15.06,8.71,59.01
$GC,5307,-0.76,-97.3,2124,3270,3326,3367,755.3,-13.1,337,5312,0.05,2.30,0.00,0.000,3078,0.417,0.055,2140,1870,3347,3327,3367,0,0,0,0,0,0,14.73,14.85,14.90,8.71,58.42
$GC,5615,-0.76,-97.3,2139,1870,3327,3367,795.6,-13.0,352,5620,0.00,2.40,0.00,0.000,2564,0.000,0.082,2140,469,3346,3327,3366,0,0,0,0,0,0,15.06,14.83,15.06,8.71,58.86
$GC,5673,-0.76,-97.3,2139,469,3327,3367,803.6,-13.2,355,5679,0.00,2.30,0.00,0.000,3078,0.000,0.044,2130,1872,3347,3327,3367,0,0,0,0,0,0,14.95,14.85,14.95,8.71,58.93
$GC,5993,-0.76,-97.3,2129,1871,3327,3367,846.3,-13.4,371,5999,0.00,2.35,0.00,0.000,2308,0.000,0.074,2119,3271,3347,3327,3367,0,0,0,0,0,0,15.06,14.83,15.07,8.71,58.54
$GC,6046,-0.76,-97.3,2118,3271,3327,3367,851.6,-13.2,373,6055,0.08,2.35,0.00,0.000,3078,0.290,0.057,2146,1873,3347,3327,3367,0,0,0,0,0,0,14.73,14.81,14.83,8.71,58.70
$GC,6355,-0.76,-97.3,2145,1873,3328,3366,890.5,-12.2,389,6361,0.00,2.42,0.00,0.000,516,0.000,0.083,2146,467,3347,3327,3367,0,0,0,0,0,0,15.06,14.83,15.07,8.71,58.74
$GC,6414,-0.76,-97.3,2145,467,3327,3367,898.1,-12.5,392,6420,0.00,2.30,0.00,0.000,3078,0.000,0.044,2137,1871,3347,3327,3367,0,0,0,0,0,0,14.95,14.85,14.95,8.72,58.74
$GC,6734,-0.76,-97.3,2136,1870,3327,3367,938.5,-12.9,408,6740,0.00,2.35,0.00,0.000,2308,0.000,0.074,2126,3272,3347,3328,3367,0,0,0,0,0,0,15.06,14.83,15.07,8.72,58.50
$GC,6814,-0.76,-97.3,2126,3272,3327,3367,948.3,-12.3,412,6821,0.05,2.33,0.00,0.000,3078,0.425,0.059,2141,1864,3347,3328,3367,0,0,0,0,0,0,14.73,14.85,14.90,8.72,59.05
$GC,7134,-0.76,-97.3,2142,1866,3328,3367,988.2,-12.7,428,7140,0.00,2.42,0.00,0.000,2564,0.000,0.081,2142,460,3347,3328,3367,0,0,0,0,0,0,15.07,14.83,15.06,8.72,58.58
$STATE,7153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7153,begin apogee
$GC,7159,-0.14,0.0,2134,1773,3327,3367,990.8,-12.8,429,7242,0.57,0.00,80.15,2.639,10246,0.252,0.000,2342,1774,2942,2932,2953,0,0,0,0,0,0,14.74,14.00,13.14,8.72,59.13
$STATE,7243,end apogee,CONTROL_FINISHED_OK
$STATE,7243,begin climb
$GC,7245,0.76,97.3,2342,1774,2932,2952,994.9,0.0,433,7334,0.77,0.00,80.45,2.524,10502,0.164,0.000,2636,1775,2544,2532,2556,0,0,0,0,0,0,13.97,13.74,12.92,8.68,57.87
$GC,7634,0.76,97.3,2636,1774,2531,2556,953.0,12.7,453,7635,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,1774,2543,2531,2556,0,0,0,0,0,0,14.56,14.57,14.57,8.65,57.24
$GC,7934,0.76,97.3,2636,1775,2531,2556,915.1,12.7,468,7935,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,1775,2543,2530,2556,0,0,0,0,0,0,14.73,14.73,14.73,8.64,57.87
$GC,8236,0.76,97.3,2636,1775,2530,2556,877.4,12.4,483,8237,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,1774,2542,2530,2555,0,0,0,0,0,0,14.83,14.83,14.83,8.64,57.87
$GC,8534,0.76,97.3,2636,1775,2530,2556,840.0,12.5,498,8540,0.00,2.45,0.00,0.000,516,0.000,0.076,2647,373,2543,2530,2556,0,0,0,0,0,0,14.89,14.68,14.89,8.64,58.07
$GC,8574,0.76,97.3,2647,373,2530,2556,834.9,12.7,500,8580,0.00,2.33,0.00,0.000,5126,0.000,0.037,2649,1789,2543,2530,2556,0,0,0,0,0,0,14.78,14.70,14.80,8.64,58.19
$GC,8894,0.76,97.3,2648,1788,2530,2556,793.3,12.9,516,8900,0.00,2.35,0.00,0.000,4356,0.000,0.069,2649,3179,2543,2530,2556,0,0,0,0,0,0,14.94,14.72,14.95,8.64,58.46
$GC,8947,0.76,97.3,2649,3179,2530,2556,788.0,12.9,518,8956,0.08,2.38,0.00,0.000,5126,0.328,0.057,2634,1781,2543,2530,2556,0,0,0,0,0,0,14.60,14.71,14.72,8.63,58.42
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$STATE,16343,end climb,SURFACE_DEPTH_REACHED
$STATE,16343,begin surface coast
$FINISH,0.6,1.027233
$STATE,16364,end surface coast,CONTROL_FINISHED_OK
$STATE,16364,begin surface
$SM_CCo,16377,25.25,1.429,0,0,2168,190.10
$SM_GC,3.57,5.82,0.12,25.25,0.106,0.112,1.429,229,1910,2168,-6.42,-1.13,190.10,0,0,0,0,0,0,14.63,14.60,13.85
$IRIDIUM_FIX,-6345.57,230.85,220122,005608
$TT8_MAMPS,0.020223,0.328811
$HUMID,56.18
$INTERNAL_PRESSURE,8.52107
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,12.92,168.513
$10V_AH,13.19,0.000
$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
$DEVICE_SECS,14.275,199.450,200.325,25.250,0.000,22.862,19.862,175.173,0.000,0.000,17.318,2718.608,10422.869,430.045,3040.952,108.481,0.000,1624.195,0.000,2093.885,0.000,0.536,0.000
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$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,733.421,2155.400,269.703,1320.063,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343028
$DATA_FILE_SIZE,76200,1004
$CAP_FILE_SIZE,164963,0
$CFSIZE,1023623168,1013432320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220122,101134,-6343.184,228.599,45,0.8,48,-21.2,0.0,132.5,10,9.8