version: 66.14
glider: 640
mission: 9
dive: 86
start: 1 24 122 0 17 59
data:
$ID,640
$MISSION,9
$DIVE,86
$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,360
$T_MISSION,400
$T_ABORT,530
$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,90
$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,20
$C_ROLL_DIVE,1870
$C_ROLL_CLIMB,1780
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,63
$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
$GPS1,240122,001212,-6331.4375,211.8718,85,1.5,126,-21.0,0.0,265.0,4,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-71.1
$GPS2,240122,001731,-6331.4336,211.8347,7,1.5,47,-21.0,0.4,79.3,4,6.2
$SPEED_LIMITS,0.159,0.200
$TGT_NAME,NORTH
$TGT_LATLONG,-6318.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,47.9,27896,-22.1,-9.167,-24.67,1465
$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,-0.74,-87.6,221,1899,2139,2194,0.0,0.0,0,82,0.00,0.00,-72.25,0.000,16390,0.000,0.000,221,1898,3306,3272,3340,0,0,0,0,0,0,14.76,13.81,14.76,8.53,58.34
$GC,84,-0.74,-87.6,221,1898,3273,3340,3.7,-7.6,11,99,5.97,1.08,0.00,0.000,2308,0.368,0.048,2137,2557,3308,3277,3340,0,0,0,0,0,0,14.39,14.54,14.60,8.65,57.91
$GC,276,-0.74,-87.6,2137,2557,3280,3340,39.9,-16.4,48,284,0.00,1.15,0.00,0.000,3078,0.000,0.054,2137,1869,3310,3281,3340,0,0,0,0,0,0,14.60,14.56,14.62,8.65,56.81
$GC,406,-0.74,-87.6,2137,1868,3281,3340,60.1,-13.9,73,414,0.00,1.20,0.00,0.000,2564,0.000,0.061,2137,1168,3310,3281,3340,0,0,0,0,0,0,14.81,14.57,14.81,8.65,57.44
$GC,511,-0.74,-87.6,2136,1169,3281,3341,75.3,-14.7,93,519,0.05,1.12,0.00,0.000,3078,0.369,0.045,2147,1842,3310,3281,3340,0,0,0,0,0,0,14.45,14.59,14.57,8.63,57.12
$GC,829,-0.74,-87.6,2146,1843,3281,3340,118.7,-13.5,113,832,0.00,1.20,0.00,0.000,2308,0.000,0.056,2143,2565,3310,3281,3340,0,0,0,0,0,0,14.89,14.68,14.90,8.64,57.20
$GC,930,-0.74,-87.6,2143,2565,3281,3340,132.2,-13.0,118,933,0.00,1.15,0.00,0.000,3078,0.000,0.054,2143,1871,3310,3281,3340,0,0,0,0,0,0,14.75,14.71,14.76,8.64,57.40
$GC,1251,-0.74,-87.6,2143,1871,3281,3340,176.2,-14.1,134,1254,0.00,1.20,0.00,0.000,2564,0.000,0.067,2143,1167,3310,3281,3340,0,0,0,0,0,0,14.95,14.73,14.95,8.64,57.99
$GC,1372,-0.74,-87.6,2143,1168,3281,3340,193.6,-14.3,140,1376,0.00,1.15,0.00,0.000,3078,0.000,0.045,2138,1863,3310,3281,3340,0,0,0,0,0,0,14.80,14.76,14.82,8.65,58.93
$GC,1693,-0.74,-87.6,2138,1863,3282,3340,241.6,-15.0,156,1694,0.00,0.00,0.00,0.000,2054,0.000,0.000,2138,1863,3310,3281,3340,0,0,0,0,0,0,14.99,14.99,14.99,8.67,58.86
$GC,1993,-0.74,-87.6,2137,1863,3281,3340,286.1,-14.7,171,1994,0.00,0.00,0.00,0.000,2054,0.000,0.000,2138,1863,3310,3281,3340,0,0,0,0,0,0,15.01,15.01,15.01,8.67,59.09
$GC,2293,-0.74,-87.6,2138,1863,3281,3340,330.2,-14.7,186,2296,0.00,1.17,0.00,0.000,2564,0.000,0.064,2138,1169,3310,3281,3340,0,0,0,0,0,0,15.02,14.81,15.02,8.67,59.64
$GC,2361,-0.74,-87.6,2137,1170,3281,3340,339.4,-15.0,189,2366,0.05,1.15,0.00,0.000,3078,0.368,0.044,2148,1870,3310,3281,3340,0,0,0,0,0,0,14.69,14.83,14.81,8.68,59.41
$GC,2674,-0.74,-87.6,2147,1870,3281,3339,383.9,-13.8,205,2678,0.00,1.20,0.00,0.000,2564,0.000,0.068,2148,1166,3310,3281,3339,0,0,0,0,0,0,15.04,14.83,15.04,8.68,59.41
$GC,2735,-0.74,-87.6,2148,1166,3281,3340,392.3,-13.7,208,2739,0.00,1.15,0.00,0.000,3078,0.000,0.044,2145,1864,3310,3281,3340,0,0,0,0,0,0,14.88,14.83,14.89,8.68,59.25
$GC,3056,-0.74,-87.6,2145,1865,3281,3340,436.2,-13.6,224,3057,0.00,0.00,0.00,0.000,2054,0.000,0.000,2145,1865,3310,3281,3339,0,0,0,0,0,0,15.04,15.04,15.04,8.68,59.05
$GC,3356,-0.74,-87.6,2145,1865,3281,3340,477.4,-13.8,239,3360,0.00,1.20,0.00,0.000,2564,0.000,0.067,2145,1162,3310,3281,3340,0,0,0,0,0,0,15.05,14.83,15.05,8.68,58.78
$GC,3430,-0.74,-87.6,2144,1163,3280,3340,486.0,-14.0,242,3438,0.00,1.17,0.00,0.000,3078,0.000,0.045,2140,1872,3310,3281,3339,0,0,0,0,0,0,14.83,14.79,14.85,8.69,58.93
$GC,3737,-0.74,-87.6,2139,1872,3281,3340,530.5,-14.0,258,3739,0.00,0.00,0.00,0.000,2054,0.000,0.000,2139,1872,3310,3281,3340,0,0,0,0,0,0,15.06,15.06,15.06,8.68,58.89
$GC,4039,-0.74,-87.6,2139,1872,3281,3340,572.2,-13.6,273,4042,0.00,1.20,0.00,0.000,2564,0.000,0.067,2139,1168,3311,3282,3340,0,0,0,0,0,0,15.06,14.85,15.07,8.69,59.33
$GC,4127,-0.74,-87.6,2138,1169,3281,3340,583.5,-13.8,277,4132,0.00,1.15,0.00,0.000,3078,0.000,0.044,2134,1872,3310,3281,3340,0,0,0,0,0,0,14.91,14.87,14.92,8.69,59.09
$GC,4440,-0.74,-87.6,2134,1872,3281,3340,627.8,-13.9,293,4444,0.05,1.23,0.00,0.000,2564,0.477,0.063,2147,1163,3310,3281,3339,0,0,0,0,0,0,14.73,14.85,14.91,8.69,58.70
$GC,4489,-0.74,-87.6,2146,1164,3281,3340,633.6,-13.8,295,4494,0.00,1.15,0.00,0.000,3078,0.000,0.044,2142,1862,3310,3281,3340,0,0,0,0,0,0,14.91,14.87,14.92,8.69,59.05
$GC,4802,-0.74,-87.6,2142,1862,3282,3340,675.9,-13.3,311,4804,0.00,0.00,0.00,0.000,2054,0.000,0.000,2142,1862,3311,3282,3340,0,0,0,0,0,0,15.07,15.07,15.07,8.70,59.45
$GC,5102,-0.74,-87.6,2142,1862,3283,3340,715.4,-13.1,326,5106,0.00,1.20,0.00,0.000,2564,0.000,0.068,2142,1164,3311,3282,3340,0,0,0,0,0,0,15.07,14.85,15.07,8.70,59.72
$GC,5183,-0.74,-87.6,2142,1164,3283,3340,726.3,-13.3,330,5187,0.00,1.17,0.00,0.000,3078,0.000,0.046,2137,1875,3311,3283,3340,0,0,0,0,0,0,14.91,14.87,14.92,8.70,59.25
$GC,5505,-0.74,-87.6,2136,1875,3283,3340,769.1,-13.3,346,5506,0.00,0.00,0.00,0.000,2054,0.000,0.000,2137,1875,3311,3283,3340,0,0,0,0,0,0,15.07,15.07,15.07,8.70,58.78
$GC,5806,-0.74,-87.6,2136,1875,3283,3340,809.1,-13.3,361,5809,0.00,1.20,0.00,0.000,2564,0.000,0.069,2137,1172,3311,3283,3340,0,0,0,0,0,0,15.07,14.85,15.07,8.70,59.09
$GC,5854,-0.74,-87.6,2136,1173,3283,3340,814.8,-13.4,363,5859,0.05,1.15,0.00,0.000,3078,0.367,0.044,2147,1874,3311,3283,3340,0,0,0,0,0,0,14.73,14.88,14.86,8.70,59.01
$GC,6167,-0.74,-87.6,2147,1873,3284,3339,855.1,-12.5,379,6168,0.00,0.00,0.00,0.000,2054,0.000,0.000,2147,1873,3312,3284,3340,0,0,0,0,0,0,15.07,15.08,15.08,8.70,58.89
$GC,6467,-0.74,-87.6,2146,1873,3284,3339,892.3,-12.4,394,6471,0.00,1.20,0.00,0.000,2564,0.000,0.072,2147,1171,3312,3284,3340,0,0,0,0,0,0,15.08,14.86,15.08,8.70,59.37
$GC,6510,-0.74,-87.6,2147,1170,3284,3340,897.4,-12.3,396,6515,0.00,1.17,0.00,0.000,3078,0.000,0.044,2143,1878,3311,3284,3339,0,0,0,0,0,0,14.97,14.89,14.98,8.70,59.64
$GC,6828,-0.74,-87.6,2143,1878,3284,3340,937.4,-12.5,412,6830,0.00,0.00,0.00,0.000,2054,0.000,0.000,2143,1878,3312,3284,3340,0,0,0,0,0,0,15.08,15.08,15.08,8.71,58.70
$GC,7128,-0.74,-87.6,2143,1878,3284,3340,974.9,-12.5,427,7132,0.00,1.23,0.00,0.000,2564,0.000,0.069,2143,1164,3312,3284,3340,0,0,0,0,0,0,15.06,14.86,15.07,8.71,58.93
$GC,7217,-0.74,-87.6,2143,1164,3284,3340,985.3,-12.8,431,7222,0.00,1.15,0.00,0.000,3078,0.000,0.044,2138,1868,3312,3284,3340,0,0,0,0,0,0,14.92,14.88,14.93,8.71,59.17
$STATE,7248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7249,begin apogee
$GC,7253,-0.14,0.0,2138,1755,3283,3340,990.4,-12.7,433,7331,0.57,0.00,75.03,2.549,10246,0.252,0.000,2347,1754,2943,2930,2956,0,0,0,0,0,0,14.76,14.07,13.18,8.71,59.21
$STATE,7332,end apogee,CONTROL_FINISHED_OK
$STATE,7333,begin climb
$GC,7334,0.74,87.6,2346,1754,2929,2955,994.1,0.0,437,7417,0.75,1.20,75.12,2.454,10756,0.166,0.069,2633,1093,2583,2572,2595,0,0,0,0,0,0,14.03,13.68,13.02,8.69,58.62
$GC,7438,0.79,131.4,2633,1093,2572,2594,989.0,6.1,442,7482,0.00,1.17,38.05,2.364,11270,0.000,0.037,2633,1772,2406,2394,2418,0,0,0,0,0,0,14.01,13.97,12.98,8.66,56.53
$GC,7790,0.79,131.4,2633,1772,2394,2416,938.7,14.7,460,7791,0.00,0.00,0.00,0.000,2054,0.000,0.000,2633,1772,2406,2394,2418,0,0,0,0,0,0,14.52,14.53,14.52,8.64,58.26
$GC,8090,0.79,131.4,2633,1772,2393,2418,894.5,14.7,475,8091,0.00,0.00,0.00,0.000,2054,0.000,0.000,2633,1772,2405,2393,2418,0,0,0,0,0,0,14.72,14.73,14.73,8.63,58.86
$GC,8390,0.79,131.4,2633,1772,2393,2417,850.6,14.6,490,8391,0.00,0.00,0.00,0.000,2054,0.000,0.000,2633,1772,2405,2393,2418,0,0,0,0,0,0,14.83,14.83,14.83,8.62,58.58
$GC,8692,0.79,131.4,2633,1772,2393,2418,807.1,14.6,505,8693,0.00,0.00,0.00,0.000,2054,0.000,0.000,2633,1772,2405,2393,2417,0,0,0,0,0,0,14.89,14.90,14.90,8.62,58.66
$GC,8990,0.79,131.4,2633,1772,2394,2417,763.5,14.5,520,8994,0.00,1.15,0.00,0.000,2564,0.000,0.067,2639,1101,2405,2392,2418,0,0,0,0,0,0,14.93,14.73,14.94,8.61,58.82
$GC,9031,0.79,131.4,2638,1102,2393,2418,757.6,14.5,522,9035,0.00,1.10,0.00,0.000,3078,0.000,0.039,2639,1781,2405,2393,2418,0,0,0,0,0,0,14.78,14.74,14.81,8.61,58.62
$GC,9352,0.79,131.4,2638,1781,2393,2418,711.3,14.4,538,9353,0.00,0.00,0.00,0.000,2054,0.000,0.000,2639,1781,2405,2393,2417,0,0,0,0,0,0,14.97,14.97,14.97,8.61,59.25
$GC,9654,0.79,131.4,2638,1781,2393,2418,668.9,13.9,553,9655,0.00,0.00,0.00,0.000,2054,0.000,0.000,2639,1781,2405,2393,2418,0,0,0,0,0,0,15.00,15.00,15.00,8.61,59.33
$GC,9952,0.79,131.4,2638,1781,2393,2418,627.6,13.6,568,9953,0.00,0.00,0.00,0.000,2054,0.000,0.000,2639,1781,2405,2393,2417,0,0,0,0,0,0,15.02,15.02,15.02,8.60,59.72
$GC,10252,0.79,131.4,2638,1780,2393,2418,587.2,13.4,583,10253,0.00,0.00,0.00,0.000,2054,0.000,0.000,2638,1781,2405,2393,2418,0,0,0,0,0,0,15.02,15.03,15.03,8.60,58.93
$GC,10552,0.79,131.4,2638,1781,2393,2418,547.9,13.0,598,10556,0.00,1.17,0.00,0.000,2564,0.000,0.067,2644,1092,2405,2393,2418,0,0,0,0,0,0,15.04,14.83,15.04,8.60,59.49
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$STATE,14987,end climb,SURFACE_DEPTH_REACHED
$STATE,14987,begin surface coast
$FINISH,0.8,1.027385
$STATE,15013,end surface coast,CONTROL_FINISHED_OK
$STATE,15013,begin surface
$SM_CCo,15027,37.60,0.248,0,0,2168,190.10
$SM_GC,2.91,6.03,1.00,37.60,0.161,0.055,0.248,225,1888,2168,-6.42,1.44,190.10,0,0,0,0,0,0,14.78,14.74,14.57
$IRIDIUM_FIX,-6331.37,215.12,230122,201406
$TT8_MAMPS,0.019474,0.331058
$HUMID,57.52
$INTERNAL_PRESSURE,8.50154
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,12.98,171.335
$10V_AH,13.22,0.000
$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
$DEVICE_SECS,13.550,48.800,188.200,37.600,0.000,24.991,28.863,139.879,0.000,0.000,48.415,2451.557,9894.894,316.908,2631.813,94.757,0.000,1251.991,0.000,1731.759,0.000,0.536,0.000
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$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343016
$DATA_FILE_SIZE,69673,938
$CAP_FILE_SIZE,127142,0
$CFSIZE,1023623168,1012498432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240122,043130,-6329.854,210.770,73,1.0,113,-21.0,0.0,86.8,6,6.7