version: 66.14
glider: 640
mission: 9
dive: 87
start: 1 24 122 4 37 13
data:
$ID,640
$MISSION,9
$DIVE,87
$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,28
$R_STBD_OVSHOOT,43
$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
$GPS1,240122,043130,-6329.8535,210.7701,73,1.0,113,-21.0,0.0,86.8,6,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-71.3
$GPS2,240122,043645,-6329.8457,210.7046,7,1.0,48,-21.0,0.2,220.6,6,4.2
$SPEED_LIMITS,0.159,0.200
$TGT_NAME,NORTH
$TGT_LATLONG,-6318.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,52.7,25791,-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,-87.6,225,1887,2129,2202,0.0,0.0,0,82,0.00,0.00,-72.78,0.000,16386,0.000,0.000,225,1886,3303,3268,3338,0,0,0,0,0,0,14.81,28.83,14.81,8.53,57.75
$GC,84,-0.74,-87.6,225,1887,3270,3338,3.3,-6.0,11,99,5.93,1.25,0.00,0.000,2564,0.363,0.051,2174,1147,3306,3274,3338,0,0,0,0,0,0,14.42,14.57,14.64,8.65,57.79
$GC,286,-0.74,-87.6,2173,1150,3278,3337,40.5,-16.5,50,294,0.00,1.20,0.00,0.000,5126,0.000,0.047,2168,1855,3308,3278,3338,0,0,0,0,0,0,14.63,14.57,14.64,8.65,56.97
$GC,613,-0.74,-87.6,2168,1855,3278,3338,90.2,-16.0,105,617,0.00,1.20,0.00,0.000,4356,0.000,0.057,2163,2578,3308,3278,3338,0,0,0,0,0,0,14.85,14.64,14.85,8.64,56.97
$GC,666,-0.74,-87.6,2163,2579,3279,3338,96.8,-15.9,107,675,0.00,1.17,0.00,0.000,5126,0.000,0.054,2162,1868,3308,3278,3338,0,0,0,0,0,0,14.64,14.61,14.66,8.64,56.49
$GC,974,-0.74,-87.6,2161,1868,3279,3338,145.7,-15.1,123,978,0.00,1.23,0.00,0.000,4612,0.000,0.068,2162,1163,3308,3278,3338,0,0,0,0,0,0,14.92,14.71,14.92,8.64,57.40
$GC,1125,-0.74,-87.6,2162,1164,3278,3338,165.8,-13.6,130,1129,0.00,1.20,0.00,0.000,5126,0.000,0.047,2157,1879,3308,3279,3337,0,0,0,0,0,0,14.78,14.73,14.80,8.65,58.46
$GC,1437,-0.74,-87.6,2156,1879,3278,3338,209.7,-13.9,146,1438,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,1879,3307,3278,3337,0,0,0,0,0,0,14.96,14.97,14.97,8.66,58.46
$GC,1737,-0.74,-87.6,2156,1879,3278,3337,251.5,-13.9,161,1741,0.00,1.25,0.00,0.000,516,0.000,0.066,2157,1159,3307,3278,3337,0,0,0,0,0,0,15.00,14.78,15.00,8.66,59.05
$GC,1790,-0.74,-87.6,2156,1160,3278,3337,257.3,-14.0,163,1799,0.00,1.17,0.00,0.000,1030,0.000,0.045,2152,1868,3308,3278,3338,0,0,0,0,0,0,14.78,14.73,14.79,8.66,58.78
$GC,2098,-0.74,-87.6,2151,1868,3278,3337,302.9,-14.3,179,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,1868,3307,3278,3337,0,0,0,0,0,0,15.01,15.02,15.02,8.67,59.49
$GC,2398,-0.74,-87.6,2151,1868,3278,3337,345.8,-14.4,194,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,1868,3307,3278,3337,0,0,0,0,0,0,15.02,15.03,15.03,8.67,58.82
$GC,2698,-0.74,-87.6,2151,1868,3278,3337,388.6,-14.3,209,2702,0.00,1.23,0.00,0.000,516,0.000,0.066,2151,1161,3307,3278,3337,0,0,0,0,0,0,15.04,14.83,15.04,8.68,59.09
$GC,2767,-0.74,-87.6,2151,1163,3277,3337,397.5,-14.4,212,2771,0.00,1.17,0.00,0.000,3078,0.000,0.044,2146,1870,3307,3278,3337,0,0,0,0,0,0,14.88,14.85,14.90,8.67,59.37
$GC,3080,-0.74,-87.6,2145,1869,3278,3337,444.0,-14.6,228,3083,0.00,1.23,0.00,0.000,2564,0.000,0.067,2145,1158,3307,3278,3337,0,0,0,0,0,0,15.05,14.83,15.05,8.68,59.01
$GC,3128,-0.74,-87.6,2145,1159,3278,3337,450.1,-14.7,230,3132,0.00,1.17,0.00,0.000,3078,0.000,0.045,2140,1865,3307,3278,3337,0,0,0,0,0,0,14.89,14.85,14.91,8.68,59.52
$GC,3441,-0.74,-87.6,2139,1865,3278,3337,497.1,-14.8,246,3444,0.00,1.20,0.00,0.000,2564,0.000,0.067,2140,1167,3307,3278,3337,0,0,0,0,0,0,15.05,14.87,15.06,8.68,59.29
$GC,3502,-0.74,-87.6,2139,1168,3278,3337,506.3,-15.0,249,3506,0.05,1.17,0.00,0.000,3078,0.368,0.046,2150,1874,3307,3278,3337,0,0,0,0,0,0,14.70,14.85,14.83,8.68,59.05
$GC,3823,-0.74,-87.6,2149,1874,3278,3338,551.5,-14.0,265,3827,0.00,1.23,0.00,0.000,2564,0.000,0.069,2150,1165,3307,3278,3337,0,0,0,0,0,0,15.06,14.85,15.06,8.69,59.64
$GC,3872,-0.74,-87.6,2149,1166,3278,3337,557.3,-13.9,267,3876,0.00,1.17,0.00,0.000,3078,0.000,0.044,2146,1871,3307,3278,3337,0,0,0,0,0,0,14.90,14.86,14.92,8.69,59.52
$GC,4185,-0.74,-87.6,2146,1871,3278,3337,602.2,-14.0,283,4186,0.00,0.00,0.00,0.000,2054,0.000,0.000,2146,1871,3308,3279,3337,0,0,0,0,0,0,15.06,15.07,15.06,8.69,59.25
$GC,4485,-0.74,-87.6,2146,1871,3278,3337,643.9,-13.8,298,4488,0.00,1.23,0.00,0.000,2564,0.000,0.067,2146,1161,3308,3279,3337,0,0,0,0,0,0,15.07,14.84,15.07,8.69,58.97
$GC,4546,-0.74,-87.6,2146,1162,3279,3337,652.4,-13.9,301,4549,0.00,1.17,0.00,0.000,3078,0.000,0.044,2141,1871,3307,3278,3337,0,0,0,0,0,0,14.91,14.86,14.92,8.69,59.37
$GC,4866,-0.74,-87.6,2140,1871,3279,3337,696.4,-13.5,317,4868,0.00,0.00,0.00,0.000,2054,0.000,0.000,2141,1871,3308,3279,3337,0,0,0,0,0,0,15.07,15.07,15.07,8.70,59.33
$GC,5166,-0.74,-87.6,2140,1871,3280,3337,736.5,-13.4,332,5170,0.00,1.23,0.00,0.000,2564,0.000,0.068,2140,1162,3308,3280,3337,0,0,0,0,0,0,15.07,14.85,15.07,8.69,59.13
$GC,5240,-0.74,-87.6,2140,1162,3280,3337,744.8,-13.6,335,5249,0.03,1.17,0.00,0.000,3078,0.456,0.044,2143,1866,3308,3280,3337,0,0,0,0,0,0,14.65,14.81,14.80,8.70,58.54
$GC,5548,-0.74,-87.6,2142,1865,3280,3337,787.0,-13.2,351,5549,0.00,0.00,0.00,0.000,2054,0.000,0.000,2143,1866,3308,3280,3337,0,0,0,0,0,0,15.07,15.07,15.07,8.70,58.89
$GC,5848,-0.74,-87.6,2142,1866,3281,3337,826.6,-13.0,366,5852,0.00,1.23,0.00,0.000,2564,0.000,0.073,2142,1161,3308,3280,3337,0,0,0,0,0,0,15.08,14.85,15.08,8.70,58.82
$GC,5930,-0.74,-87.6,2142,1162,3281,3337,837.3,-13.1,370,5933,0.00,1.17,0.00,0.000,3078,0.000,0.046,2138,1870,3309,3281,3338,0,0,0,0,0,0,14.91,14.88,14.93,8.70,58.62
$GC,6250,-0.74,-87.6,2138,1869,3281,3337,880.1,-13.4,386,6252,0.00,0.00,0.00,0.000,2054,0.000,0.000,2138,1869,3309,3281,3337,0,0,0,0,0,0,15.07,15.07,15.08,8.71,59.13
$GC,6550,-0.74,-87.6,2138,1869,3281,3337,920.4,-13.3,401,6554,0.00,1.23,0.00,0.000,2564,0.000,0.070,2138,1164,3309,3281,3337,0,0,0,0,0,0,15.08,14.86,15.07,8.70,58.66
$GC,6639,-0.74,-87.6,2138,1165,3281,3337,931.4,-13.6,405,6644,0.05,1.17,0.00,0.000,3078,0.363,0.045,2149,1870,3309,3281,3338,0,0,0,0,0,0,14.73,14.88,14.86,8.71,59.05
$GC,6952,-0.74,-87.6,2149,1869,3281,3337,972.0,-12.6,421,6953,0.00,0.00,0.00,0.000,2054,0.000,0.000,2149,1869,3309,3281,3337,0,0,0,0,0,0,15.08,15.08,15.08,8.70,59.09
$STATE,7111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7111,begin apogee
$GC,7115,-0.14,0.0,2149,1761,3281,3336,992.1,-12.6,429,7194,0.52,0.00,75.60,2.566,10246,0.252,0.000,2342,1760,2945,2932,2958,0,0,0,0,0,0,14.76,14.06,13.22,8.71,59.21
$STATE,7195,end apogee,CONTROL_FINISHED_OK
$STATE,7195,begin climb
$GC,7196,0.74,87.6,2342,1760,2929,2954,996.3,0.0,433,7275,0.77,0.00,75.62,2.471,10246,0.166,0.000,2632,1760,2585,2575,2596,0,0,0,0,0,0,14.02,13.80,13.03,8.69,58.50
$GC,7572,0.74,87.6,2632,1760,2571,2595,961.8,10.9,452,7574,0.00,0.00,0.00,0.000,4102,0.000,0.000,2633,1760,2583,2571,2595,0,0,0,0,0,0,14.57,14.58,14.57,8.64,58.50
$GC,7872,0.74,87.6,2632,1760,2571,2595,928.9,11.0,467,7873,0.00,0.00,0.00,0.000,4102,0.000,0.000,2632,1759,2582,2570,2595,0,0,0,0,0,0,14.74,14.74,14.74,8.64,58.82
$GC,8173,0.74,87.6,2632,1759,2570,2595,896.1,11.0,482,8177,0.00,1.17,0.00,0.000,4612,0.000,0.071,2638,1090,2582,2570,2595,0,0,0,0,0,0,14.81,14.63,14.81,8.64,58.62
$GC,8236,0.74,87.6,2638,1091,2570,2595,889.2,11.0,485,8241,0.00,1.15,0.00,0.000,5126,0.000,0.038,2638,1780,2582,2570,2595,0,0,0,0,0,0,14.75,14.67,14.76,8.64,58.30
$GC,8556,0.74,87.6,2638,1780,2570,2595,853.4,11.2,501,8557,0.00,0.00,0.00,0.000,4102,0.000,0.000,2638,1780,2582,2569,2595,0,0,0,0,0,0,14.91,14.91,14.91,8.64,59.29
$GC,8855,0.74,87.6,2638,1780,2570,2595,820.2,10.9,516,8858,0.00,1.20,0.00,0.000,4612,0.000,0.068,2643,1091,2582,2570,2595,0,0,0,0,0,0,14.94,14.73,14.94,8.63,58.89
$GC,8957,0.74,87.6,2643,1092,2570,2595,809.0,11.0,521,8963,0.05,1.15,0.00,0.000,5126,0.400,0.039,2627,1786,2582,2570,2595,0,0,0,0,0,0,14.64,14.78,14.81,8.64,58.93
$GC,9276,0.74,87.6,2627,1785,2570,2595,775.7,10.4,537,9277,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1785,2582,2570,2595,0,0,0,0,0,0,14.98,14.98,14.98,8.62,59.29
$GC,9576,0.74,87.6,2628,1785,2570,2595,745.0,10.2,552,9580,0.00,1.20,0.00,0.000,516,0.000,0.065,2632,1096,2582,2569,2595,0,0,0,0,0,0,15.00,14.80,15.00,8.63,59.13
$GC,9650,0.74,87.6,2631,1098,2570,2595,738.6,10.2,555,9658,0.00,1.10,0.00,0.000,5126,0.000,0.037,2632,1775,2582,2570,2595,0,0,0,0,0,0,14.79,14.76,14.80,8.62,59.56
$GC,9958,0.74,87.6,2631,1775,2570,2595,705.5,10.4,571,9959,0.00,0.00,0.00,0.000,4102,0.000,0.000,2632,1775,2582,2570,2595,0,0,0,0,0,0,15.01,15.01,15.01,8.63,58.86
$GC,10258,0.74,87.6,2632,1775,2570,2595,674.4,10.4,586,10262,0.00,1.17,0.00,0.000,4612,0.000,0.067,2637,1093,2582,2570,2595,0,0,0,0,0,0,15.02,14.82,15.02,8.62,59.01
$GC,10319,0.74,87.6,2637,1095,2570,2595,668.0,10.5,589,10323,0.00,1.12,0.00,0.000,5126,0.000,0.038,2638,1784,2582,2570,2595,0,0,0,0,0,0,14.88,14.84,14.89,8.62,58.89
$GC,10642,0.74,87.6,2637,1783,2570,2595,634.2,10.6,605,10645,0.00,1.20,0.00,0.000,4612,0.000,0.067,2643,1089,2582,2570,2595,0,0,0,0,0,0,15.03,14.83,15.03,8.62,59.05
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$STATE,17220,end climb,SURFACE_DEPTH_REACHED
$STATE,17221,begin surface coast
$FINISH,-0.2,1.014224
$STATE,17252,end surface coast,CONTROL_FINISHED_OK
$STATE,17253,begin surface
$SM_CCo,17266,19.00,0.247,0,0,2169,190.10
$SM_GC,3.58,5.72,0.12,19.00,0.088,0.111,0.247,224,1900,2169,-6.42,-1.22,190.10,0,0,0,0,0,0,14.64,14.61,14.45
$IRIDIUM_FIX,-6332.08,318.02,240122,001346
$TT8_MAMPS,0.019474,0.278628
$HUMID,57.20
$INTERNAL_PRESSURE,8.5113
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,13.03,171.592
$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
$DEVICE_SECS,13.275,63.975,213.900,19.000,0.000,23.735,19.594,143.782,0.000,0.000,49.298,2783.426,11372.259,357.838,2984.566,108.001,0.000,1426.353,0.000,2000.818,0.000,0.536,0.000
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$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,778.474,2271.421,281.472,1391.537,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342964
$DATA_FILE_SIZE,80071,1058
$CAP_FILE_SIZE,148994,0
$CFSIZE,1023623168,1012367360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240122,092649,-6328.354,209.142,39,0.9,58,-21.0,0.6,220.8,8,7.3