version: 66.14
glider: 640
mission: 9
dive: 82
start: 1 23 122 7 9 21
data:
$ID,640
$MISSION,9
$DIVE,82
$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,40
$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
$GPS1,230122,070425,-6336.3965,221.5986,40,0.9,64,-21.1,0.0,297.0,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-74.9
$GPS2,230122,070852,-6336.3999,221.5235,7,0.9,16,-21.1,0.0,282.8,9,9.6
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,NORTH
$TGT_LATLONG,-6318.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,28.7,34380,-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,-97.3,224,1867,2128,2201,0.0,0.0,0,82,0.00,0.00,-72.88,0.000,16386,0.000,0.000,225,1865,3316,3283,3350,0,0,0,0,0,0,14.73,28.83,14.74,8.55,56.93
$GC,84,-0.76,-97.3,224,1866,3285,3350,3.5,-7.0,11,100,5.95,2.65,-0.85,0.000,18692,0.366,2.256,2154,3326,3345,3316,3374,0,0,0,0,0,0,14.36,13.71,14.59,8.66,56.53
$GC,187,-0.76,-97.3,2153,3327,3319,3373,22.7,-14.2,30,195,0.00,2.47,0.00,0.000,5126,0.000,0.051,2154,1868,3346,3319,3374,0,0,0,0,0,0,14.61,14.52,14.62,8.67,55.67
$GC,318,-0.76,-97.3,2153,1868,3320,3374,44.3,-16.8,55,325,0.00,2.47,0.00,0.000,4612,0.000,0.073,2154,464,3347,3320,3374,0,0,0,0,0,0,14.75,14.53,14.75,8.66,56.89
$GC,352,-0.76,-97.3,2153,464,3321,3374,50.1,-16.0,61,360,0.00,2.38,0.00,0.000,3078,0.000,0.044,2143,1866,3347,3321,3374,0,0,0,0,0,0,14.65,14.55,14.66,8.66,56.65
$GC,677,-0.76,-97.3,2143,1865,3320,3374,102.8,-15.8,104,678,0.00,0.00,0.00,0.000,2054,0.000,0.000,2143,1866,3347,3320,3374,0,0,0,0,0,0,14.83,14.84,14.84,8.66,56.77
$GC,977,-0.76,-97.3,2143,1866,3320,3374,148.9,-15.6,119,983,0.00,2.40,0.00,0.000,2308,0.000,0.074,2132,3277,3347,3321,3374,0,0,0,0,0,0,14.90,14.68,14.91,8.66,58.03
$GC,1025,-0.76,-97.3,2132,3277,3321,3374,154.9,-15.3,121,1029,0.00,2.33,0.00,0.000,3078,0.000,0.053,2132,1870,3346,3321,3372,0,0,0,0,0,0,14.80,14.70,14.81,8.67,57.32
$GC,1337,-0.76,-97.3,2131,1871,3320,3374,205.4,-15.9,137,1343,0.00,2.45,0.00,0.000,2564,0.000,0.076,2132,461,3347,3321,3373,0,0,0,0,0,0,14.95,14.73,14.95,8.68,58.15
$GC,1399,-0.76,-97.3,2132,461,3320,3374,215.1,-16.3,140,1405,0.05,2.38,0.00,0.000,3078,0.356,0.045,2138,1866,3347,3320,3374,0,0,0,0,0,0,14.61,14.73,14.74,8.68,58.19
$GC,1717,-0.76,-97.3,2138,1867,3320,3374,265.1,-15.5,156,1723,0.00,2.38,0.00,0.000,2308,0.000,0.074,2129,3274,3346,3320,3373,0,0,0,0,0,0,14.99,14.75,14.99,8.68,58.34
$GC,1790,-0.76,-97.3,2128,3274,3321,3373,274.1,-15.2,159,1799,0.03,2.38,0.00,0.000,3078,0.428,0.053,2137,1865,3347,3321,3374,0,0,0,0,0,0,14.60,14.75,14.75,8.69,58.62
$GC,2098,-0.76,-97.3,2136,1865,3321,3374,323.5,-15.8,175,2104,0.00,2.40,0.00,0.000,2564,0.000,0.074,2137,464,3347,3321,3374,0,0,0,0,0,0,15.00,14.78,15.01,8.69,58.07
$GC,2186,-0.76,-97.3,2135,464,3320,3373,336.1,-15.7,179,2192,0.05,2.33,0.00,0.000,3078,0.443,0.044,2141,1875,3347,3320,3374,0,0,0,0,0,0,14.67,14.81,14.85,8.69,57.91
$GC,2494,-0.76,-97.3,2141,1876,3321,3374,384.2,-15.6,194,2500,0.00,2.33,0.00,0.000,2308,0.000,0.073,2132,3270,3346,3320,3373,0,0,0,0,0,0,15.02,14.78,15.02,8.69,58.78
$GC,2535,-0.76,-97.3,2132,3270,3320,3374,390.4,-15.6,196,2539,0.00,2.35,0.00,0.000,3078,0.000,0.055,2132,1870,3347,3320,3374,0,0,0,0,0,0,14.85,14.80,14.87,8.69,58.74
$GC,2853,-0.76,-97.3,2132,1869,3321,3374,441.3,-16.0,212,2859,0.00,2.42,0.00,0.000,2564,0.000,0.078,2132,460,3347,3320,3374,0,0,0,0,0,0,15.03,14.81,15.04,8.69,58.70
$GC,2921,-0.76,-97.3,2132,460,3320,3374,451.0,-16.1,215,2925,0.08,2.33,0.00,0.000,3078,0.381,0.044,2146,1874,3347,3320,3374,0,0,0,0,0,0,14.71,14.83,14.88,8.70,57.91
$GC,3233,-0.76,-97.3,2146,1874,3320,3374,499.0,-15.0,231,3235,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,1874,3347,3320,3374,0,0,0,0,0,0,15.03,15.04,15.04,8.70,58.66
$GC,3533,-0.76,-97.3,2145,1874,3320,3374,544.3,-15.0,246,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,1874,3347,3320,3374,0,0,0,0,0,0,15.04,15.04,15.05,8.70,58.54
$GC,3834,-0.76,-97.3,2145,1874,3320,3374,587.9,-14.6,261,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,1874,3347,3320,3374,0,0,0,0,0,0,15.05,15.06,15.06,8.71,58.70
$GC,4133,-0.76,-97.3,2146,1874,3321,3374,631.1,-14.4,276,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,1874,3347,3321,3374,0,0,0,0,0,0,15.06,15.07,15.07,8.71,58.89
$GC,4433,-0.76,-97.3,2145,1874,3321,3374,673.7,-14.3,291,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,1874,3347,3321,3374,0,0,0,0,0,0,15.07,15.07,15.07,8.71,58.30
$GC,4733,-0.76,-97.3,2144,1874,3322,3374,716.3,-13.9,306,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,1874,3347,3321,3374,0,0,0,0,0,0,15.07,15.07,15.07,8.71,58.23
$GC,5034,-0.76,-97.3,2145,1874,3322,3374,758.3,-13.8,321,5039,0.00,2.35,0.00,0.000,260,0.000,0.073,2137,3270,3348,3322,3374,0,0,0,0,0,0,15.07,14.85,15.08,8.70,58.66
$GC,5075,-0.76,-97.3,2136,3271,3322,3374,763.8,-13.7,323,5080,0.00,2.35,0.00,0.000,3078,0.000,0.055,2137,1864,3348,3322,3374,0,0,0,0,0,0,14.91,14.85,14.92,8.71,58.93
$GC,5394,-0.76,-97.3,2136,1865,3321,3374,809.4,-14.3,339,5400,0.00,2.40,0.00,0.000,2564,0.000,0.080,2137,463,3348,3322,3374,0,0,0,0,0,0,15.07,14.85,15.08,8.71,58.89
$GC,5475,-0.76,-97.3,2137,464,3322,3374,820.9,-14.4,343,5481,0.05,2.35,0.00,0.000,3078,0.348,0.044,2143,1870,3348,3322,3374,0,0,0,0,0,0,14.73,14.85,14.85,8.71,59.05
$GC,5794,-0.76,-97.3,2142,1870,3322,3374,864.6,-13.7,359,5800,0.00,2.35,0.00,0.000,2308,0.000,0.073,2134,3273,3348,3322,3374,0,0,0,0,0,0,15.07,14.85,15.07,8.71,58.74
$GC,5826,-0.76,-97.3,2134,3273,3322,3374,867.3,-13.7,360,5835,0.00,2.35,0.00,0.000,3078,0.000,0.057,2134,1874,3347,3322,3373,0,0,0,0,0,0,14.88,14.82,14.88,8.72,59.17
$GC,6134,-0.76,-97.3,2134,1875,3322,3374,911.7,-13.9,376,6140,0.00,2.42,0.00,0.000,2564,0.000,0.078,2134,460,3348,3322,3374,0,0,0,0,0,0,15.07,14.84,15.07,8.71,58.70
$GC,6214,-0.76,-97.3,2133,459,3322,3374,922.9,-13.9,380,6221,0.08,2.33,0.00,0.000,3078,0.380,0.045,2148,1878,3348,3322,3374,0,0,0,0,0,0,14.75,14.86,14.91,8.71,58.54
$GC,6536,-0.76,-97.3,2147,1878,3322,3373,963.8,-12.9,396,6541,0.00,2.33,0.00,0.000,260,0.000,0.073,2140,3269,3348,3322,3374,0,0,0,0,0,0,15.07,14.83,15.07,8.72,58.54
$GC,6586,-0.76,-97.3,2140,3268,3323,3373,968.9,-12.8,398,6595,0.00,2.35,0.00,0.000,3078,0.000,0.054,2140,1864,3348,3323,3374,0,0,0,0,0,0,14.88,14.83,14.90,8.72,58.62
$STATE,6753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6753,begin apogee
$GC,6757,-0.14,0.0,2140,1752,3323,3374,992.4,-13.4,407,6855,0.55,0.00,88.65,2.982,10246,0.246,0.000,2341,1751,2943,2931,2955,0,0,0,0,0,0,14.75,13.74,12.39,8.72,58.11
$STATE,6856,end apogee,CONTROL_FINISHED_OK
$STATE,6856,begin climb
$GC,6857,0.76,97.3,2341,1750,2930,2955,997.2,0.0,412,6962,0.77,2.78,95.03,3.075,10500,0.169,0.063,2628,3181,2544,2533,2556,0,0,0,0,0,0,13.78,12.95,11.89,8.70,57.83
$GC,7008,0.79,119.2,2628,3180,2534,2557,988.5,8.5,419,7037,0.00,2.55,22.70,2.892,11270,0.000,0.054,2638,1815,2456,2445,2467,0,0,0,0,0,0,13.57,13.51,12.06,8.68,57.16
$GC,7336,0.79,119.2,2638,1815,2445,2467,942.6,14.0,436,7342,0.00,2.62,0.00,0.000,2564,0.000,0.074,2650,370,2456,2445,2467,0,0,0,0,0,0,14.32,14.11,14.33,8.66,56.73
$GC,7415,0.79,119.2,2649,370,2445,2467,931.2,14.1,440,7422,0.00,2.40,0.00,0.000,5126,0.000,0.037,2650,1782,2456,2445,2467,0,0,0,0,0,0,14.31,14.22,14.31,8.66,55.94
$GC,7736,0.79,119.2,2649,1782,2445,2467,885.0,14.4,456,7742,0.00,2.42,0.00,0.000,4356,0.000,0.067,2650,3181,2456,2445,2467,0,0,0,0,0,0,14.65,14.43,14.65,8.65,56.93
$GC,7808,0.79,119.2,2649,3181,2445,2467,876.2,14.6,459,7817,0.05,2.45,0.00,0.000,5126,0.353,0.057,2644,1773,2456,2445,2467,0,0,0,0,0,0,14.34,14.45,14.46,8.65,57.04
$GC,8116,0.79,119.2,2644,1773,2445,2467,831.8,13.9,475,8122,0.00,2.47,0.00,0.000,516,0.000,0.073,2654,364,2456,2445,2467,0,0,0,0,0,0,14.79,14.59,14.80,8.64,57.63
$GC,8163,0.79,119.2,2653,364,2445,2466,826.1,14.1,477,8168,0.00,2.35,0.00,0.000,5126,0.000,0.037,2654,1790,2456,2445,2467,0,0,0,0,0,0,14.70,14.62,14.71,8.64,57.91
$GC,8476,0.79,119.2,2654,1791,2444,2467,779.6,14.6,493,8482,0.00,2.35,0.00,0.000,4356,0.000,0.066,2654,3183,2456,2445,2467,0,0,0,0,0,0,14.88,14.66,14.88,8.64,57.71
$GC,8538,0.79,119.2,2654,3183,2445,2467,770.7,14.7,496,8543,0.05,2.40,0.00,0.000,5126,0.381,0.056,2649,1775,2456,2445,2467,0,0,0,0,0,0,14.54,14.67,14.68,8.64,57.67
$GC,8858,0.79,119.2,2649,1775,2443,2467,725.9,14.1,512,8863,0.00,2.42,0.00,0.000,4612,0.000,0.073,2660,366,2456,2445,2467,0,0,0,0,0,0,14.91,14.71,14.91,8.63,58.03
$GC,8889,0.79,119.2,2660,366,2445,2467,723.0,14.2,513,8897,0.05,2.35,0.00,0.000,5126,0.350,0.037,2644,1777,2456,2445,2467,0,0,0,0,0,0,14.58,14.71,14.71,8.63,58.26
$GC,9196,0.79,119.2,2643,1778,2445,2467,679.7,13.5,529,9202,0.00,2.35,0.00,0.000,260,0.000,0.065,2643,3178,2456,2445,2467,0,0,0,0,0,0,14.96,14.75,14.97,8.63,58.74
$GC,9278,0.79,119.2,2643,3178,2445,2467,668.8,13.3,533,9283,0.00,2.35,0.00,0.000,5126,0.000,0.054,2653,1781,2456,2445,2467,0,0,0,0,0,0,14.81,14.76,14.82,8.63,58.30
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$STATE,14699,end climb,SURFACE_DEPTH_REACHED
$STATE,14699,begin surface coast
$FINISH,0.2,1.027343
$STATE,14725,end surface coast,CONTROL_FINISHED_OK
$STATE,14725,begin surface
$SM_CCo,14738,25.85,2.912,0,0,2169,190.10
$SM_GC,3.73,5.88,0.17,25.85,0.101,0.091,2.912,224,1939,2169,-6.43,-0.62,190.10,0,0,0,0,0,0,14.54,14.51,13.00
$IRIDIUM_FIX,-6338.99,220.53,230122,031557
$TT8_MAMPS,0.020223,0.337799
$HUMID,56.34
$INTERNAL_PRESSURE,8.53084
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,11.89,170.167
$10V_AH,12.39,0.000
$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
$DEVICE_SECS,14.075,162.525,228.000,25.850,0.000,22.411,16.803,134.670,0.000,0.000,17.328,2456.688,9342.471,409.934,2729.725,99.683,0.000,1493.979,0.000,1895.955,0.000,0.536,0.000
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$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,666.993,1962.396,251.985,1201.726,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343036
$DATA_FILE_SIZE,69544,914
$CAP_FILE_SIZE,145912,0
$CFSIZE,1023623168,1012875264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230122,112147,-6335.271,219.276,309,1.2,349,-21.1,0.8,9.3,5,6.1