version: 66.14
glider: 640
mission: 9
dive: 83
start: 1 23 122 11 27 29
data:
$ID,640
$MISSION,9
$DIVE,83
$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,42
$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
$GPS1,230122,112147,-6335.2715,219.2760,309,1.2,349,-21.1,0.8,9.3,5,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.4
$GPS2,230122,112659,-6335.2783,219.2468,7,1.1,47,-21.1,0.7,266.2,5,4.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,NORTH
$TGT_LATLONG,-6318.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,32.5,32643,-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,7,-0.76,-97.3,224,1849,2133,2202,0.0,0.0,0,82,0.00,0.00,-72.65,0.000,16386,0.000,0.000,224,1849,3309,3278,3341,0,0,0,0,0,0,14.70,28.83,14.71,8.55,56.85
$GC,84,-0.76,-97.3,225,1849,3278,3342,3.4,-6.7,11,100,5.95,2.67,-0.90,0.000,18692,0.363,2.258,2160,3331,3339,3312,3367,0,0,0,0,0,0,14.38,13.73,14.58,8.66,56.85
$GC,207,-0.76,-97.3,2160,3331,3315,3367,25.2,-13.6,34,215,0.00,2.47,0.00,0.000,5126,0.000,0.054,2160,1880,3341,3316,3367,0,0,0,0,0,0,14.59,14.50,14.60,8.67,55.51
$GC,337,-0.76,-97.3,2159,1880,3315,3367,46.1,-16.1,59,344,0.00,2.50,0.00,0.000,4612,0.000,0.070,2160,457,3341,3316,3367,0,0,0,0,0,0,14.73,14.52,14.73,8.66,56.37
$GC,371,-0.76,-97.3,2159,457,3316,3367,51.5,-14.9,65,379,0.00,2.40,0.00,0.000,5126,0.000,0.043,2150,1878,3341,3316,3367,0,0,0,0,0,0,14.64,14.55,14.64,8.66,55.67
$GC,687,-0.76,-97.3,2148,1879,3317,3367,102.8,-15.7,106,693,0.00,2.47,0.00,0.000,4612,0.000,0.074,2150,460,3341,3316,3367,0,0,0,0,0,0,14.82,14.61,14.83,8.66,56.02
$GC,739,-0.76,-97.3,2149,460,3316,3367,109.5,-16.3,108,747,0.00,2.40,0.00,0.000,3078,0.000,0.044,2138,1866,3341,3316,3367,0,0,0,0,0,0,14.66,14.61,14.67,8.66,55.98
$GC,1047,-0.76,-97.3,2137,1867,3316,3367,160.6,-15.7,124,1053,0.00,2.40,0.00,0.000,2308,0.000,0.072,2126,3278,3341,3316,3367,0,0,0,0,0,0,14.88,14.69,14.89,8.66,57.60
$GC,1074,-0.76,-97.3,2125,3278,3316,3367,163.7,-15.7,125,1079,0.05,2.35,0.00,0.000,3078,0.435,0.054,2141,1867,3341,3316,3367,0,0,0,0,0,0,14.58,14.71,14.76,8.66,57.63
$GC,1387,-0.76,-97.3,2140,1868,3315,3367,211.8,-14.8,141,1393,0.00,2.45,0.00,0.000,2564,0.000,0.076,2140,459,3341,3316,3367,0,0,0,0,0,0,14.94,14.73,14.95,8.68,57.79
$GC,1469,-0.76,-97.3,2140,458,3316,3367,223.6,-14.7,145,1474,0.00,2.38,0.00,0.000,3078,0.000,0.044,2129,1870,3341,3316,3367,0,0,0,0,0,0,14.78,14.74,14.81,8.67,58.11
$GC,1788,-0.76,-97.3,2128,1870,3316,3367,272.8,-15.6,161,1794,0.00,2.38,0.00,0.000,2308,0.000,0.073,2117,3277,3341,3316,3367,0,0,0,0,0,0,14.97,14.76,14.97,8.68,58.46
$GC,1835,-0.76,-97.3,2117,3277,3316,3367,279.0,-15.6,163,1840,0.08,2.33,0.00,0.000,3078,0.363,0.054,2142,1870,3341,3316,3367,0,0,0,0,0,0,14.68,14.78,14.83,8.68,58.66
$GC,2148,-0.76,-97.3,2142,1869,3316,3367,326.4,-14.8,179,2154,0.00,2.42,0.00,0.000,2564,0.000,0.077,2142,464,3341,3316,3367,0,0,0,0,0,0,15.00,14.78,15.00,8.68,57.99
$GC,2228,-0.76,-97.3,2142,464,3316,3367,338.1,-14.7,183,2234,0.00,2.33,0.00,0.000,3078,0.000,0.044,2130,1878,3341,3316,3367,0,0,0,0,0,0,14.89,14.80,14.90,8.68,58.62
$GC,2548,-0.76,-97.3,2132,1879,3316,3367,387.0,-15.6,199,2550,0.00,0.00,0.00,0.000,2054,0.000,0.000,2133,1879,3341,3316,3367,0,0,0,0,0,0,15.02,15.02,15.02,8.69,58.78
$GC,2848,-0.76,-97.3,2131,1879,3316,3367,433.1,-15.2,214,2849,0.00,0.00,0.00,0.000,2054,0.000,0.000,2133,1879,3341,3315,3367,0,0,0,0,0,0,15.03,15.04,15.04,8.70,58.70
$GC,3148,-0.76,-97.3,2132,1879,3316,3367,478.2,-14.8,229,3149,0.00,0.00,0.00,0.000,2054,0.000,0.000,2132,1879,3341,3316,3367,0,0,0,0,0,0,15.04,15.05,15.05,8.70,58.74
$GC,3450,-0.76,-97.3,2132,1879,3315,3367,522.6,-15.0,244,3455,0.00,2.40,0.00,0.000,2564,0.000,0.076,2132,468,3341,3316,3367,0,0,0,0,0,0,15.06,14.82,15.06,8.70,59.21
$GC,3481,-0.76,-97.3,2132,467,3316,3367,525.7,-15.1,245,3489,0.03,2.35,0.00,0.000,3078,0.473,0.044,2130,1869,3341,3316,3367,0,0,0,0,0,0,14.66,14.81,14.82,8.70,59.09
$GC,3788,-0.76,-97.3,2130,1870,3317,3367,572.9,-14.6,261,3790,0.00,0.00,0.00,0.000,2054,0.000,0.000,2130,1870,3341,3316,3367,0,0,0,0,0,0,15.06,15.06,15.07,8.70,58.34
$GC,4090,-0.76,-97.3,2129,1870,3316,3367,615.9,-14.1,276,4091,0.00,0.00,0.00,0.000,2054,0.000,0.000,2130,1870,3341,3316,3367,0,0,0,0,0,0,15.07,15.07,15.07,8.70,58.70
$GC,4388,-0.76,-97.3,2130,1870,3316,3367,658.3,-14.0,291,4390,0.00,0.00,0.00,0.000,2054,0.000,0.000,2130,1870,3341,3316,3367,0,0,0,0,0,0,15.07,15.07,15.07,8.70,58.97
$GC,4688,-0.76,-97.3,2130,1869,3317,3367,699.9,-13.7,306,4694,0.00,2.42,0.00,0.000,2564,0.000,0.079,2130,465,3342,3317,3367,0,0,0,0,0,0,15.07,14.85,15.08,8.71,58.66
$GC,4721,-0.76,-97.3,2130,466,3317,3367,702.8,-13.8,307,4730,0.05,2.35,0.00,0.000,3078,0.364,0.044,2137,1867,3342,3317,3367,0,0,0,0,0,0,14.72,14.83,14.84,8.71,58.46
$GC,5029,-0.76,-97.3,2136,1867,3317,3367,745.5,-13.4,323,5035,0.00,2.38,0.00,0.000,2308,0.000,0.074,2127,3280,3342,3317,3367,0,0,0,0,0,0,15.07,14.85,15.07,8.71,58.78
$GC,5069,-0.76,-97.3,2127,3280,3317,3367,750.7,-13.2,325,5076,0.05,2.33,0.00,0.000,3078,0.435,0.057,2143,1867,3342,3318,3367,0,0,0,0,0,0,14.74,14.86,14.92,8.71,58.42
$GC,5389,-0.76,-97.3,2143,1866,3317,3368,791.7,-12.7,341,5395,0.00,2.42,0.00,0.000,2564,0.000,0.080,2143,456,3342,3317,3367,0,0,0,0,0,0,15.07,14.85,15.07,8.71,58.58
$GC,5476,-0.76,-97.3,2143,456,3318,3367,802.0,-12.9,345,5481,0.00,2.33,0.00,0.000,3078,0.000,0.044,2133,1880,3342,3317,3367,0,0,0,0,0,0,14.96,14.86,14.97,8.71,58.89
$GC,5789,-0.76,-97.3,2132,1880,3318,3367,843.9,-13.4,361,5795,0.00,2.35,0.00,0.000,2308,0.000,0.073,2123,3278,3342,3318,3367,0,0,0,0,0,0,15.07,14.85,15.07,8.70,58.62
$GC,5821,-0.76,-97.3,2122,3279,3318,3367,846.6,-13.4,362,5830,0.05,2.35,0.00,0.000,3078,0.324,0.057,2140,1876,3342,3318,3367,0,0,0,0,0,0,14.73,14.83,14.84,8.71,58.70
$GC,6130,-0.76,-97.3,2140,1876,3318,3367,888.2,-13.1,378,6135,0.00,2.42,0.00,0.000,2564,0.000,0.080,2140,464,3342,3318,3367,0,0,0,0,0,0,15.07,14.85,15.07,8.71,58.86
$GC,6217,-0.76,-97.3,2140,464,3318,3367,898.9,-13.2,382,6221,0.00,2.30,0.00,0.000,3078,0.000,0.043,2130,1871,3342,3318,3367,0,0,0,0,0,0,14.95,14.87,14.97,8.71,58.86
$GC,6530,-0.76,-97.3,2130,1871,3318,3367,942.1,-13.8,398,6531,0.00,0.00,0.00,0.000,2054,0.000,0.000,2130,1871,3342,3318,3367,0,0,0,0,0,0,15.07,15.07,15.07,8.71,58.89
$GC,6830,-0.76,-97.3,2130,1871,3318,3367,983.6,-14.0,413,6831,0.00,0.00,0.00,0.000,2054,0.000,0.000,2130,1871,3342,3318,3367,0,0,0,0,0,0,15.07,15.08,15.08,8.72,59.01
$STATE,6888,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6888,begin apogee
$GC,6893,-0.14,0.0,2130,1758,3318,3367,992.0,-14.0,416,6991,0.57,0.00,93.30,3.074,10246,0.250,0.000,2340,1758,2943,2931,2955,0,0,0,0,0,0,14.76,13.67,12.43,8.71,58.89
$STATE,6992,end apogee,CONTROL_FINISHED_OK
$STATE,6992,begin climb
$GC,6993,0.76,97.3,2340,1757,2931,2954,996.9,0.0,421,7095,0.77,0.00,96.90,3.076,10758,0.170,0.000,2628,1757,2546,2535,2558,0,0,0,0,0,0,13.69,13.01,11.85,8.70,57.95
$GC,7390,0.76,97.3,2628,1757,2534,2557,957.4,12.3,441,7391,0.00,0.00,0.00,0.000,2054,0.000,0.000,2628,1757,2545,2534,2557,0,0,0,0,0,0,14.30,14.31,14.30,8.67,56.69
$GC,7690,0.76,97.3,2628,1757,2534,2557,920.3,12.5,456,7691,0.00,0.00,0.00,0.000,2054,0.000,0.000,2628,1757,2545,2534,2557,0,0,0,0,0,0,14.59,14.59,14.59,8.67,56.77
$GC,7990,0.76,97.3,2628,1757,2533,2557,883.7,12.1,471,7991,0.00,0.00,0.00,0.000,2054,0.000,0.000,2628,1757,2545,2534,2557,0,0,0,0,0,0,14.74,14.74,14.74,8.66,57.48
$GC,8290,0.76,97.3,2628,1757,2534,2557,848.1,11.6,486,8291,0.00,0.00,0.00,0.000,2054,0.000,0.000,2628,1757,2545,2534,2557,0,0,0,0,0,0,14.83,14.84,14.84,8.65,58.07
$GC,8590,0.76,97.3,2628,1757,2533,2557,812.9,11.7,501,8596,0.00,2.42,0.00,0.000,2308,0.000,0.066,2629,3180,2545,2533,2557,0,0,0,0,0,0,14.90,14.69,14.90,8.64,58.34
$GC,8630,0.76,97.3,2628,3180,2533,2557,808.1,11.9,503,8636,0.00,2.30,0.00,0.000,5126,0.000,0.056,2639,1802,2545,2534,2557,0,0,0,0,0,0,14.79,14.70,14.80,8.64,58.70
$GC,8950,0.76,97.3,2638,1802,2533,2557,770.2,11.9,519,8956,0.00,2.47,0.00,0.000,4612,0.000,0.074,2650,372,2545,2534,2557,0,0,0,0,0,0,14.95,14.73,14.95,8.63,58.66
$GC,9012,0.76,97.3,2650,372,2534,2557,762.9,12.2,522,9017,0.05,2.35,0.00,0.000,5126,0.337,0.036,2634,1781,2544,2532,2557,0,0,0,0,0,0,14.63,14.74,14.74,8.64,58.23
$GC,9330,0.76,97.3,2633,1782,2533,2557,726.0,11.5,538,9336,0.00,2.35,0.00,0.000,260,0.000,0.065,2634,3181,2545,2533,2557,0,0,0,0,0,0,14.97,14.76,14.97,8.63,58.82
$GC,9412,0.76,97.3,2633,3181,2533,2557,716.7,11.6,542,9417,0.00,2.38,0.00,0.000,5126,0.000,0.056,2643,1778,2545,2533,2557,0,0,0,0,0,0,14.82,14.76,14.83,8.64,58.78
$GC,9732,0.76,97.3,2643,1778,2533,2557,679.3,11.7,558,9737,0.00,2.40,0.00,0.000,4612,0.000,0.074,2654,369,2545,2533,2557,0,0,0,0,0,0,15.00,14.78,15.00,8.63,58.89
$GC,9770,0.76,97.3,2653,369,2533,2557,674.5,11.9,560,9777,0.08,2.30,0.00,0.000,5126,0.372,0.036,2631,1779,2545,2533,2557,0,0,0,0,0,0,14.69,14.81,14.85,8.63,58.78
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$GC,14348,0.77,101.0,2651,372,2521,2542,189.9,10.0,788,14355,0.05,2.30,0.00,0.000,5126,0.420,0.036,2637,1782,2532,2521,2543,0,0,0,0,0,0,14.68,14.81,14.84,8.62,58.66
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$STATE,16214,end climb,SURFACE_DEPTH_REACHED
$STATE,16214,begin surface coast
$FINISH,-0.0,1.027365
$STATE,16241,end surface coast,CONTROL_FINISHED_OK
$STATE,16241,begin surface
$SM_CCo,16254,30.00,2.942,0,0,2168,190.10
$SM_GC,4.21,5.78,0.15,30.00,0.086,0.108,2.942,223,1889,2168,-6.41,-0.99,190.10,0,0,0,0,0,0,14.59,14.54,13.03
$IRIDIUM_FIX,-6338.91,225.38,230122,070545
$TT8_MAMPS,0.020223,0.330309
$HUMID,57.16
$INTERNAL_PRESSURE,8.53084
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,11.85,170.514
$10V_AH,12.34,0.000
$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
$DEVICE_SECS,13.950,162.150,236.375,30.000,0.000,25.313,13.385,145.843,0.000,0.000,48.764,2650.683,10510.730,415.032,2918.725,107.392,0.000,1547.508,0.000,1983.257,0.000,0.536,0.000
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$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,730.948,2136.109,264.145,1308.403,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342972
$DATA_FILE_SIZE,76456,995
$CAP_FILE_SIZE,154568,0
$CFSIZE,1023623168,1012760576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230122,160112,-6333.858,217.331,65,1.0,106,-21.0,0.0,248.9,6,5.0