version: 66.14
glider: 640
mission: 9
dive: 90
start: 1 24 122 19 30 54
data:
$ID,640
$MISSION,9
$DIVE,90
$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,30
$R_STBD_OVSHOOT,59
$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
$GPS1,240122,192403,-6325.6006,209.1140,66,0.8,69,-21.0,0.4,179.4,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-72.9
$GPS2,240122,193026,-6325.5884,209.0550,7,0.8,13,-21.0,0.6,85.0,10,9.7
$SPEED_LIMITS,0.159,0.200
$TGT_NAME,NORTH
$TGT_LATLONG,-6318.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,67.7,20506,-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,-87.6,223,1892,2130,2202,0.0,0.0,0,75,0.00,0.00,-66.53,0.000,16386,0.000,0.000,223,1892,3233,3199,3267,0,0,0,0,0,0,14.71,28.83,14.71,8.53,58.11
$GC,78,-0.74,-87.6,223,1893,3200,3267,3.3,-5.7,10,94,6.03,1.17,-2.33,0.000,18692,0.371,2.256,2168,2595,3303,3278,3329,0,0,0,0,0,0,14.35,13.67,14.58,8.64,57.67
$GC,242,-0.74,-87.6,2168,2595,3282,3328,30.7,-15.5,41,250,0.00,1.23,0.00,0.000,5126,0.000,0.055,2168,1866,3305,3282,3329,0,0,0,0,0,0,14.54,14.50,14.56,8.65,56.61
$GC,372,-0.74,-87.6,2167,1866,3282,3329,51.4,-16.0,66,379,0.00,0.00,0.00,0.000,4102,0.000,0.000,2168,1866,3305,3282,3329,0,0,0,0,0,0,14.75,14.76,14.76,8.66,56.77
$GC,681,-0.74,-87.6,2167,1867,3282,3329,99.1,-15.7,109,685,0.00,1.23,0.00,0.000,4612,0.000,0.067,2168,1164,3305,3282,3329,0,0,0,0,0,0,14.83,14.62,14.83,8.64,56.53
$GC,770,-0.74,-87.6,2167,1164,3282,3329,111.4,-15.0,113,775,0.00,1.15,0.00,0.000,5126,0.000,0.044,2162,1846,3306,3283,3329,0,0,0,0,0,0,14.69,14.65,14.71,8.64,56.49
$GC,1083,-0.74,-87.6,2162,1846,3282,3329,157.4,-13.8,129,1084,0.00,0.00,0.00,0.000,4102,0.000,0.000,2163,1846,3305,3282,3329,0,0,0,0,0,0,14.91,14.91,14.91,8.65,57.44
$GC,1383,-0.74,-87.6,2162,1846,3282,3328,198.6,-13.7,144,1387,0.00,1.20,0.00,0.000,4612,0.000,0.067,2163,1157,3305,3282,3329,0,0,0,0,0,0,14.95,14.73,14.95,8.66,58.38
$GC,1437,-0.74,-87.6,2162,1158,3282,3329,204.2,-13.6,146,1445,0.00,1.20,0.00,0.000,5126,0.000,0.044,2157,1869,3305,3282,3329,0,0,0,0,0,0,14.75,14.71,14.76,8.66,57.99
$GC,1744,-0.74,-87.6,2156,1869,3282,3328,248.4,-13.8,162,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,1870,3305,3282,3329,0,0,0,0,0,0,14.97,14.98,14.97,8.67,58.30
$GC,2044,-0.74,-87.6,2157,1870,3282,3329,288.7,-13.3,177,2046,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,1870,3305,3282,3329,0,0,0,0,0,0,14.99,15.00,15.00,8.67,58.54
$GC,2344,-0.74,-87.6,2157,1870,3282,3329,327.6,-12.9,192,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,1870,3305,3282,3329,0,0,0,0,0,0,15.02,15.02,15.02,8.67,58.46
$GC,2644,-0.74,-87.6,2157,1870,3282,3328,366.5,-13.2,207,2646,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,1870,3305,3282,3329,0,0,0,0,0,0,15.02,15.03,15.02,8.68,58.66
$GC,2946,-0.74,-87.6,2157,1870,3282,3329,406.0,-13.3,222,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,1870,3305,3282,3329,0,0,0,0,0,0,15.03,15.04,15.04,8.68,58.86
$GC,3244,-0.74,-87.6,2157,1869,3282,3329,445.5,-13.3,237,3246,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,1870,3305,3282,3328,0,0,0,0,0,0,15.04,15.04,15.04,8.68,59.01
$GC,3544,-0.74,-87.6,2156,1870,3282,3328,484.4,-12.7,252,3548,0.00,1.23,0.00,0.000,516,0.000,0.067,2157,1168,3305,3282,3328,0,0,0,0,0,0,15.04,14.83,15.05,8.68,58.97
$GC,3618,-0.74,-87.6,2157,1170,3282,3329,492.4,-13.1,255,3626,0.00,1.17,0.00,0.000,1030,0.000,0.044,2151,1872,3305,3282,3329,0,0,0,0,0,0,14.83,14.78,14.85,8.68,59.05
$GC,3926,-0.74,-87.6,2151,1871,3282,3329,534.4,-13.2,271,3927,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,1872,3305,3282,3329,0,0,0,0,0,0,15.05,15.05,15.05,8.68,58.62
$GC,4226,-0.74,-87.6,2151,1872,3282,3329,573.6,-13.1,286,4227,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,1872,3305,3282,3329,0,0,0,0,0,0,15.05,15.07,15.06,8.68,58.89
$GC,4527,-0.74,-87.6,2151,1872,3282,3329,612.1,-12.7,301,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,1872,3305,3282,3329,0,0,0,0,0,0,15.07,15.07,15.07,8.68,58.74
$GC,4826,-0.74,-87.6,2151,1872,3283,3329,649.9,-12.5,316,4829,0.00,1.23,0.00,0.000,516,0.000,0.068,2151,1167,3306,3283,3329,0,0,0,0,0,0,15.06,14.85,15.07,8.69,59.17
$GC,4909,-0.74,-87.6,2151,1168,3283,3328,660.2,-12.7,320,4912,0.00,1.17,0.00,0.000,3078,0.000,0.045,2146,1875,3306,3283,3329,0,0,0,0,0,0,14.91,14.86,14.92,8.69,59.13
$GC,5229,-0.74,-87.6,2146,1875,3284,3328,701.0,-12.7,336,5231,0.00,0.00,0.00,0.000,2054,0.000,0.000,2146,1874,3306,3284,3329,0,0,0,0,0,0,15.07,15.07,15.06,8.69,58.46
$GC,5531,-0.74,-87.6,2145,1874,3284,3329,738.8,-12.5,351,5532,0.00,0.00,0.00,0.000,2054,0.000,0.000,2146,1875,3306,3284,3329,0,0,0,0,0,0,15.07,15.07,15.07,8.69,59.01
$GC,5830,-0.74,-87.6,2146,1875,3285,3329,776.0,-12.4,366,5833,0.00,1.23,0.00,0.000,2564,0.000,0.069,2146,1163,3306,3284,3329,0,0,0,0,0,0,15.07,14.85,15.08,8.69,58.93
$GC,5883,-0.74,-87.6,2145,1163,3285,3329,781.3,-12.7,368,5891,0.00,1.17,0.00,0.000,3078,0.000,0.044,2141,1873,3307,3285,3329,0,0,0,0,0,0,14.85,14.81,14.86,8.70,59.17
$GC,6191,-0.74,-87.6,2139,1874,3285,3329,822.1,-12.8,384,6192,0.00,0.00,0.00,0.000,2054,0.000,0.000,2140,1874,3306,3284,3329,0,0,0,0,0,0,15.07,15.07,15.08,8.70,58.50
$GC,6492,-0.74,-87.6,2140,1873,3285,3328,860.6,-12.8,399,6494,0.00,0.00,0.00,0.000,2054,0.000,0.000,2140,1874,3307,3285,3329,0,0,0,0,0,0,15.07,15.07,15.08,8.70,58.62
$GC,6791,-0.74,-87.6,2140,1873,3285,3329,898.3,-12.6,414,6792,0.00,0.00,0.00,0.000,2054,0.000,0.000,2140,1873,3306,3285,3328,0,0,0,0,0,0,15.07,15.08,15.08,8.70,58.97
$GC,7091,-0.74,-87.6,2140,1874,3285,3329,936.1,-12.6,429,7095,0.00,1.23,0.00,0.000,2564,0.000,0.070,2140,1162,3307,3285,3329,0,0,0,0,0,0,15.07,14.85,15.08,8.70,58.89
$GC,7144,-0.74,-87.6,2140,1163,3285,3329,941.4,-12.8,431,7153,0.03,1.17,0.00,0.000,3078,0.434,0.045,2141,1874,3307,3285,3329,0,0,0,0,0,0,14.65,14.81,14.79,8.70,59.45
$GC,7452,-0.74,-87.6,2141,1873,3285,3329,980.4,-12.2,447,7454,0.00,0.00,0.00,0.000,2054,0.000,0.000,2141,1873,3306,3284,3329,0,0,0,0,0,0,15.07,15.08,15.08,8.70,58.82
$STATE,7531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7531,begin apogee
$GC,7535,-0.14,0.0,2141,1762,3285,3329,990.2,-12.3,451,7614,0.55,0.00,74.20,2.553,10246,0.248,0.000,2344,1762,2942,2930,2954,0,0,0,0,0,0,14.76,14.07,13.24,8.70,58.89
$STATE,7615,end apogee,CONTROL_FINISHED_OK
$STATE,7615,begin climb
$GC,7616,0.74,87.6,2344,1762,2932,2954,994.0,0.0,455,7697,0.75,1.23,75.10,2.458,10756,0.164,0.071,2631,1095,2584,2573,2595,0,0,0,0,0,0,14.04,13.67,12.96,8.69,58.54
$GC,7952,0.74,87.6,2631,1096,2571,2595,963.4,10.9,472,7956,0.00,1.15,0.00,0.000,5126,0.000,0.040,2631,1775,2583,2571,2595,0,0,0,0,0,0,14.38,14.35,14.38,8.65,57.28
$GC,8273,0.74,87.6,2631,1775,2570,2595,927.8,11.0,488,8277,0.00,1.17,0.00,0.000,4356,0.000,0.052,2631,2485,2582,2570,2595,0,0,0,0,0,0,14.73,14.53,14.73,8.64,57.87
$GC,8515,0.74,87.6,2631,2485,2570,2595,901.2,10.9,500,8519,0.00,1.15,0.00,0.000,5126,0.000,0.058,2636,1798,2582,2570,2595,0,0,0,0,0,0,14.64,14.61,14.66,8.64,58.07
$GC,8836,0.74,87.6,2636,1798,2570,2595,865.1,11.2,516,8840,0.00,1.25,0.00,0.000,4612,0.000,0.070,2642,1076,2582,2570,2595,0,0,0,0,0,0,14.88,14.66,14.88,8.63,58.66
$GC,8957,0.74,87.6,2642,1078,2570,2595,851.6,11.1,522,8962,0.03,1.17,0.00,0.000,5126,0.418,0.038,2633,1799,2582,2570,2595,0,0,0,0,0,0,14.54,14.70,14.68,8.63,57.95
$GC,9279,0.74,87.6,2633,1799,2570,2595,816.8,10.8,538,9280,0.00,0.00,0.00,0.000,4102,0.000,0.000,2633,1799,2582,2570,2595,0,0,0,0,0,0,14.95,14.95,14.95,8.63,58.42
$GC,9579,0.74,87.6,2633,1799,2570,2595,784.9,10.6,553,9583,0.00,1.25,0.00,0.000,4612,0.000,0.067,2638,1073,2582,2570,2595,0,0,0,0,0,0,14.97,14.76,14.97,8.63,59.33
$GC,9648,0.74,87.6,2637,1075,2570,2595,778.2,10.7,556,9653,0.00,1.15,0.00,0.000,5126,0.000,0.037,2638,1779,2582,2570,2595,0,0,0,0,0,0,14.82,14.79,14.84,8.63,59.33
$GC,9961,0.74,87.6,2638,1780,2570,2595,743.5,10.8,572,9962,0.00,0.00,0.00,0.000,4102,0.000,0.000,2638,1780,2582,2570,2595,0,0,0,0,0,0,15.00,15.00,15.00,8.63,59.33
$GC,10263,0.74,87.6,2637,1780,2570,2595,711.7,10.4,587,10264,0.00,0.00,0.00,0.000,4102,0.000,0.000,2638,1780,2582,2570,2595,0,0,0,0,0,0,15.02,15.02,15.02,8.62,58.74
$GC,10561,0.74,87.6,2638,1780,2570,2595,680.6,10.3,602,10565,0.00,1.25,0.00,0.000,4612,0.000,0.070,2644,1069,2582,2570,2595,0,0,0,0,0,0,15.03,14.81,15.03,8.62,59.09
$GC,10630,0.74,87.6,2643,1070,2570,2595,674.3,10.2,605,10635,0.03,1.15,0.00,0.000,5126,0.397,0.037,2634,1785,2582,2569,2595,0,0,0,0,0,0,14.68,14.83,14.81,8.62,58.89
$GC,10942,0.74,87.6,2634,1786,2569,2595,641.9,10.1,621,10944,0.00,0.00,0.00,0.000,4102,0.000,0.000,2634,1786,2581,2568,2595,0,0,0,0,0,0,15.04,15.04,15.04,8.62,59.05
$GC,11242,0.74,87.6,2634,1786,2570,2595,612.1,9.8,636,11244,0.00,0.00,0.00,0.000,4102,0.000,0.000,2634,1786,2582,2570,2594,0,0,0,0,0,0,15.05,15.05,15.05,8.62,58.97
$GC,11543,0.74,87.6,2634,1786,2570,2595,582.8,9.7,651,11546,0.00,1.23,0.00,0.000,4612,0.000,0.067,2639,1071,2582,2570,2595,0,0,0,0,0,0,15.05,14.83,15.05,8.61,59.56
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$STATE,17843,end climb,SURFACE_DEPTH_REACHED
$STATE,17843,begin surface coast
$FINISH,-0.1,1.027383
$STATE,17874,end surface coast,CONTROL_FINISHED_OK
$STATE,17874,begin surface
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$IRIDIUM_FIX,-6328.63,205.30,240122,142517
$TT8_MAMPS,0.018725,0.337799
$HUMID,57.40
$INTERNAL_PRESSURE,8.50154
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,12.96,172.352
$10V_AH,13.21,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,343160
$DATA_FILE_SIZE,79692,1088
$CAP_FILE_SIZE,151206,0
$CFSIZE,1023623168,1012072448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250122,003131,-6324.422,209.321,44,1.5,85,-21.0,0.3,179.8,5,6.5