version: 66.14
glider: 640
mission: 9
dive: 84
start: 1 23 122 16 7 1
data:
$ID,640
$MISSION,9
$DIVE,84
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,29
$D_BOOST,15
$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,30
$R_STBD_OVSHOOT,48
$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
$GPS1,230122,160112,-6333.8579,217.3306,65,1.0,106,-21.0,0.0,248.9,6,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-69.6
$GPS2,230122,160632,-6333.8467,217.2752,7,1.1,47,-21.0,0.6,345.0,6,4.5
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,NORTH
$TGT_LATLONG,-6318.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,36.4,30443,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-0.76,-97.3,223,1890,2132,2202,0.0,0.0,0,82,0.00,0.00,-72.43,0.000,16386,0.000,0.000,223,1890,3330,3298,3363,0,0,0,0,0,0,14.66,28.83,14.66,8.55,57.08
$GC,84,-0.76,-97.3,223,1889,3298,3364,3.6,-6.7,11,100,5.97,2.55,-0.35,0.000,19204,0.363,2.246,2158,3287,3343,3313,3374,0,0,0,0,0,0,14.31,13.69,14.53,8.66,56.73
$GC,237,-0.76,-97.3,2158,3287,3318,3374,30.8,-13.8,40,245,0.00,2.42,0.00,0.000,5126,0.000,0.054,2158,1867,3346,3318,3374,0,0,0,0,0,0,14.57,14.47,14.58,8.66,55.59
$GC,367,-0.76,-97.3,2158,1866,3318,3374,52.3,-16.7,65,375,0.00,2.50,0.00,0.000,4612,0.000,0.077,2158,459,3346,3318,3374,0,0,0,0,0,0,14.71,14.50,14.71,8.66,56.02
$GC,437,-0.76,-97.3,2157,459,3318,3373,63.8,-15.1,78,444,0.00,2.38,0.00,0.000,1030,0.000,0.044,2148,1857,3346,3318,3374,0,0,0,0,0,0,14.62,14.54,14.64,8.66,56.37
$GC,762,-0.76,-97.3,2147,1858,3318,3373,116.0,-16.0,109,768,0.00,2.45,0.00,0.000,260,0.000,0.075,2137,3281,3346,3318,3374,0,0,0,0,0,0,14.83,14.62,14.83,8.65,56.81
$GC,809,-0.76,-97.3,2137,3281,3318,3373,122.3,-15.8,111,814,0.00,2.35,0.00,0.000,3078,0.000,0.053,2138,1871,3346,3319,3374,0,0,0,0,0,0,14.73,14.64,14.74,8.65,56.73
$GC,1122,-0.76,-97.3,2137,1871,3319,3373,173.6,-16.1,127,1128,0.00,2.42,0.00,0.000,2564,0.000,0.076,2137,466,3346,3318,3374,0,0,0,0,0,0,14.90,14.69,14.91,8.66,57.48
$GC,1194,-0.76,-97.3,2137,466,3318,3374,183.0,-15.9,130,1203,0.05,2.38,0.00,0.000,3078,0.346,0.044,2142,1868,3345,3318,3373,0,0,0,0,0,0,14.57,14.68,14.69,8.67,57.60
$GC,1502,-0.76,-97.3,2142,1869,3318,3373,230.3,-14.9,146,1508,0.00,2.40,0.00,0.000,2308,0.000,0.074,2133,3282,3346,3318,3374,0,0,0,0,0,0,14.95,14.73,14.96,8.67,58.42
$GC,1550,-0.76,-97.3,2133,3282,3318,3374,236.2,-15.0,148,1554,0.00,2.35,0.00,0.000,3078,0.000,0.054,2133,1864,3346,3318,3374,0,0,0,0,0,0,14.85,14.75,14.85,8.68,58.78
$GC,1862,-0.76,-97.3,2132,1865,3318,3374,285.1,-15.3,164,1868,0.00,2.42,0.00,0.000,2564,0.000,0.076,2133,457,3346,3318,3374,0,0,0,0,0,0,14.98,14.76,14.98,8.68,58.66
$GC,1943,-0.76,-97.3,2132,457,3318,3373,297.4,-15.2,168,1950,0.08,2.35,0.00,0.000,3078,0.379,0.044,2146,1880,3345,3318,3373,0,0,0,0,0,0,14.67,14.78,14.83,8.68,58.93
$GC,2263,-0.76,-97.3,2146,1880,3318,3374,342.7,-14.0,184,2269,0.00,2.35,0.00,0.000,260,0.000,0.073,2137,3272,3345,3318,3373,0,0,0,0,0,0,15.00,14.78,15.00,8.69,58.62
$GC,2325,-0.76,-97.3,2137,3272,3318,3373,350.9,-13.8,187,2330,0.00,2.35,0.00,0.000,3078,0.000,0.054,2137,1872,3345,3318,3373,0,0,0,0,0,0,14.83,14.78,14.85,8.69,58.82
$GC,2643,-0.76,-97.3,2137,1871,3318,3373,397.1,-14.4,203,2649,0.00,2.42,0.00,0.000,2564,0.000,0.079,2137,461,3345,3318,3373,0,0,0,0,0,0,15.02,14.80,15.02,8.69,58.82
$GC,2723,-0.76,-97.3,2137,461,3318,3373,408.9,-14.7,207,2730,0.05,2.33,0.00,0.000,3078,0.435,0.044,2141,1877,3345,3318,3373,0,0,0,0,0,0,14.69,14.82,14.87,8.69,58.74
$GC,3045,-0.76,-97.3,2141,1877,3318,3373,455.0,-14.7,223,3050,0.00,2.33,0.00,0.000,2308,0.000,0.073,2132,3273,3345,3318,3373,0,0,0,0,0,0,15.03,14.80,15.03,8.69,58.62
$GC,3096,-0.76,-97.3,2132,3273,3318,3373,460.8,-14.4,225,3104,0.00,2.38,0.00,0.000,3078,0.000,0.055,2132,1864,3345,3318,3373,0,0,0,0,0,0,14.85,14.79,14.86,8.69,58.86
$GC,3404,-0.76,-97.3,2132,1863,3318,3373,508.6,-15.3,241,3410,0.00,2.40,0.00,0.000,2564,0.000,0.079,2133,463,3345,3318,3373,0,0,0,0,0,0,15.04,14.82,15.04,8.69,58.50
$GC,3493,-0.76,-97.3,2132,463,3318,3373,521.2,-15.7,245,3498,0.08,2.30,0.00,0.000,3078,0.378,0.044,2146,1871,3345,3318,3373,0,0,0,0,0,0,14.73,14.84,14.88,8.70,58.86
$GC,3800,-0.76,-97.3,2146,1873,3318,3373,567.4,-14.6,260,3806,0.00,2.33,0.00,0.000,260,0.000,0.073,2137,3264,3345,3318,3373,0,0,0,0,0,0,15.04,14.81,15.05,8.70,59.25
$GC,3847,-0.76,-97.3,2137,3264,3318,3373,573.2,-14.5,262,3851,0.00,2.30,0.00,0.000,3078,0.000,0.056,2137,1868,3345,3318,3373,0,0,0,0,0,0,14.93,14.84,14.95,8.70,58.50
$GC,4159,-0.76,-97.3,2137,1869,3318,3373,620.9,-15.0,278,4165,0.00,2.42,0.00,0.000,2564,0.000,0.080,2138,460,3345,3318,3373,0,0,0,0,0,0,15.05,14.83,15.05,8.70,58.78
$GC,4240,-0.76,-97.3,2137,460,3318,3373,633.0,-14.9,282,4247,0.05,2.33,0.00,0.000,3078,0.434,0.044,2142,1881,3345,3318,3373,0,0,0,0,0,0,14.73,14.85,14.90,8.70,58.30
$GC,4560,-0.76,-97.3,2141,1881,3318,3373,678.6,-14.2,298,4561,0.00,0.00,0.00,0.000,2054,0.000,0.000,2141,1881,3346,3318,3374,0,0,0,0,0,0,15.05,15.06,15.06,8.70,58.70
$GC,4861,-0.76,-97.3,2141,1881,3319,3374,720.7,-13.9,313,4862,0.00,0.00,0.00,0.000,2054,0.000,0.000,2141,1881,3345,3318,3373,0,0,0,0,0,0,15.07,15.07,15.07,8.70,58.78
$GC,5160,-0.76,-97.3,2141,1881,3319,3373,762.2,-13.8,328,5161,0.00,0.00,0.00,0.000,2054,0.000,0.000,2142,1881,3346,3319,3373,0,0,0,0,0,0,15.07,15.07,15.07,8.71,59.01
$GC,5460,-0.76,-97.3,2141,1881,3319,3373,803.3,-13.7,343,5461,0.00,0.00,0.00,0.000,2054,0.000,0.000,2142,1881,3346,3319,3373,0,0,0,0,0,0,15.07,15.08,15.07,8.71,59.52
$GC,5760,-0.76,-97.3,2141,1881,3319,3373,843.7,-13.5,358,5761,0.00,0.00,0.00,0.000,2054,0.000,0.000,2141,1881,3346,3319,3373,0,0,0,0,0,0,15.08,15.08,15.08,8.71,58.97
$GC,6061,-0.76,-97.3,2141,1881,3319,3373,883.6,-13.2,373,6067,0.00,2.42,0.00,0.000,2564,0.000,0.079,2141,468,3346,3319,3373,0,0,0,0,0,0,15.08,14.85,15.08,8.71,59.29
$GC,6092,-0.76,-97.3,2141,469,3319,3373,886.2,-13.3,374,6100,0.00,2.35,0.00,0.000,3078,0.000,0.044,2133,1873,3346,3319,3373,0,0,0,0,0,0,14.90,14.85,14.91,8.71,59.05
$GC,6400,-0.76,-97.3,2132,1874,3320,3373,929.7,-13.5,390,6406,0.00,2.35,0.00,0.000,2308,0.000,0.073,2121,3277,3346,3319,3373,0,0,0,0,0,0,15.08,14.86,15.08,8.71,58.97
$GC,6432,-0.76,-97.3,2121,3277,3320,3373,932.5,-13.6,391,6441,0.05,2.35,0.00,0.000,3078,0.324,0.057,2139,1877,3346,3320,3373,0,0,0,0,0,0,14.73,14.83,14.85,8.71,58.97
$GC,6740,-0.76,-97.3,2139,1877,3320,3373,975.6,-13.5,407,6746,0.00,2.42,0.00,0.000,2564,0.000,0.079,2139,463,3346,3320,3373,0,0,0,0,0,0,15.08,14.85,15.08,8.71,58.70
$GC,6820,-0.76,-97.3,2139,463,3320,3372,986.6,-13.7,411,6826,0.00,2.30,0.00,0.000,3078,0.000,0.044,2129,1872,3345,3318,3373,0,0,0,0,0,0,14.96,14.88,14.97,8.71,58.86
$STATE,6859,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6859,begin apogee
$GC,6863,-0.14,0.0,2129,1754,3320,3373,991.8,-13.1,413,6962,0.57,0.00,94.93,3.075,10246,0.248,0.000,2339,1754,2943,2931,2956,0,0,0,0,0,0,14.76,13.67,12.47,8.72,59.13
$STATE,6963,end apogee,CONTROL_FINISHED_OK
$STATE,6963,begin climb
$GC,6964,0.76,97.3,2339,1754,2930,2955,996.9,0.0,418,7073,0.80,2.72,99.97,3.078,10756,0.165,0.075,2645,403,2546,2534,2558,0,0,0,0,0,0,13.66,13.01,11.86,8.70,58.89
$GC,7114,0.79,124.6,2645,403,2534,2558,988.6,8.1,425,7149,0.00,2.53,29.80,2.947,9222,0.000,0.037,2646,1766,2436,2424,2448,0,0,0,0,0,0,13.46,13.42,12.00,8.69,57.20
$GC,7457,0.79,124.6,2645,1766,2424,2447,939.0,14.6,443,7463,0.00,2.50,0.00,0.000,260,0.000,0.068,2646,3181,2435,2423,2447,0,0,0,0,0,0,14.30,14.09,14.31,8.66,56.30
$GC,7529,0.79,124.6,2645,3181,2424,2447,930.3,14.5,446,7537,0.00,2.42,0.00,0.000,5126,0.000,0.057,2656,1813,2435,2423,2447,0,0,0,0,0,0,14.21,14.16,14.23,8.65,55.71
$GC,7837,0.79,124.6,2656,1813,2424,2447,882.5,15.1,462,7843,0.00,2.55,0.00,0.000,4612,0.000,0.076,2667,372,2435,2424,2447,0,0,0,0,0,0,14.64,14.42,14.64,8.65,56.97
$GC,7897,0.79,124.6,2667,373,2424,2447,873.4,15.1,465,7904,0.08,2.38,0.00,0.000,5126,0.400,0.037,2647,1794,2435,2423,2447,0,0,0,0,0,0,14.34,14.48,14.51,8.65,56.73
$GC,8217,0.79,124.6,2647,1795,2424,2447,827.6,14.2,481,8223,0.00,2.38,0.00,0.000,260,0.000,0.066,2647,3183,2435,2423,2447,0,0,0,0,0,0,14.78,14.57,14.79,8.63,57.91
$GC,8290,0.79,124.6,2647,3184,2424,2447,818.9,14.5,484,8298,0.00,2.40,0.00,0.000,5126,0.000,0.056,2659,1785,2435,2424,2447,0,0,0,0,0,0,14.63,14.55,14.64,8.64,57.75
$GC,8598,0.79,124.6,2658,1785,2424,2447,771.4,15.1,500,8604,0.00,2.47,0.00,0.000,4612,0.000,0.075,2670,363,2435,2423,2448,0,0,0,0,0,0,14.88,14.66,14.88,8.63,58.19
$GC,8639,0.79,124.6,2670,363,2423,2447,765.2,15.3,502,8645,0.08,2.38,0.00,0.000,5126,0.337,0.036,2646,1786,2435,2423,2447,0,0,0,0,0,0,14.56,14.69,14.69,8.63,57.99
$GC,8958,0.79,124.6,2646,1784,2423,2447,718.6,14.7,518,8964,0.00,2.35,0.00,0.000,260,0.000,0.065,2646,3178,2435,2423,2447,0,0,0,0,0,0,14.93,14.72,14.93,8.63,58.23
$GC,9025,0.79,124.6,2646,3178,2423,2447,709.8,14.7,521,9029,0.00,2.35,0.00,0.000,5126,0.000,0.057,2657,1772,2435,2424,2447,0,0,0,0,0,0,14.83,14.73,14.83,8.63,58.50
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$STATE,14533,end climb,SURFACE_DEPTH_REACHED
$STATE,14533,begin surface coast
$FINISH,-0.1,1.027390
$STATE,14560,end surface coast,CONTROL_FINISHED_OK
$STATE,14560,begin surface
$SM_CCo,14573,19.90,0.260,0,0,2168,190.10
$SM_GC,3.15,5.57,0.15,19.90,0.052,0.105,0.260,218,1918,2168,-6.41,-0.93,190.10,0,0,0,0,0,0,14.70,14.65,14.50
$IRIDIUM_FIX,-6336.02,225.17,230122,112309
$TT8_MAMPS,0.018725,0.338548
$HUMID,57.00
$INTERNAL_PRESSURE,8.5113
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,11.86,170.833
$10V_AH,12.32,0.000
$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
$DEVICE_SECS,13.975,171.900,250.750,19.900,0.000,22.570,12.845,150.526,0.000,0.000,48.904,2423.514,9213.174,425.174,2752.001,102.606,0.000,1518.458,0.000,1881.866,0.000,0.537,0.000
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$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342992
$DATA_FILE_SIZE,69504,901
$CAP_FILE_SIZE,147885,0
$CFSIZE,1023623168,1012662272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230122,201231,-6332.539,214.491,98,0.7,104,-21.0,0.0,201.5,11,9.6