version: 66.14
glider: 640
mission: 9
dive: 340
start: 4 4 122 21 11 12
data:
$ID,640
$MISSION,9
$DIVE,340
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,530
$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,170
$T_MISSION,190
$T_ABORT,230
$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,2
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.001
$HD_B,0.0163117
$HD_C,5.7000002e-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,180
$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,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,5
$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,1820
$C_ROLL_CLIMB,1740
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,62
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,602
$VBD_MAX,3962
$C_VBD,2840
$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,450
$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,0
$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
$GPS1,040422,210341,-6439.6626,352.0457,37,0.9,78,-22.1,0.7,7.3,7,4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.5
$GPS2,040422,211049,-6439.6709,352.1008,7,0.8,39,-22.1,0.6,351.8,8,4.2
$SPEED_LIMITS,0.170,0.170
$TGT_NAME,EAST
$TGT_LATLONG,-6500.000,600.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,134.3,106951,-14.1,-9.804,-30.00,1691
$D_GRID,500
$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,-0.51,-87.6,222,1838,1993,2015,0.0,0.0,0,86,0.00,0.00,-76.28,0.000,16386,0.000,0.000,222,1838,3196,3164,3228,0,0,0,0,0,0,14.75,28.83,14.76,8.50,64.60
$GC,89,-0.51,-87.6,222,1837,3164,3228,3.3,-6.0,12,104,6.47,1.10,0.00,0.000,2820,0.373,0.041,2230,2519,3196,3164,3228,0,0,0,0,0,0,14.06,14.47,14.46,8.62,62.87
$GC,304,-0.51,-87.6,2230,2519,3166,3221,32.2,-9.8,53,312,0.00,1.20,0.00,0.000,5126,0.000,0.055,2230,1820,3193,3166,3221,0,0,0,0,0,0,14.52,14.45,14.54,8.63,63.23
$GC,496,-0.51,-87.6,2230,1821,3166,3219,51.1,-10.4,90,504,0.00,1.25,0.00,0.000,4612,0.000,0.067,2230,1112,3192,3166,3219,0,0,0,0,0,0,14.81,14.29,14.81,8.63,63.27
$GC,527,-0.51,-87.6,2230,1113,3166,3219,54.4,-10.1,95,533,0.00,1.15,0.00,0.000,1030,0.000,0.041,2224,1803,3192,3166,3218,0,0,0,0,0,0,14.55,14.50,14.58,8.63,62.75
$GC,718,-0.51,-87.6,2224,1804,3166,3217,74.8,-11.2,132,725,0.00,1.23,0.00,0.000,260,0.000,0.054,2219,2516,3191,3166,3216,0,0,0,0,0,0,14.82,14.32,14.82,8.63,63.15
$GC,791,-0.51,-87.6,2218,2516,3166,3216,82.1,-10.7,141,795,0.00,1.17,0.00,0.000,3078,0.000,0.054,2219,1825,3190,3165,3216,0,0,0,0,0,0,14.54,14.48,14.57,8.63,62.75
$GC,1104,-0.51,-87.6,2218,1825,3166,3216,112.6,-9.5,157,1107,0.00,1.15,0.00,0.000,2308,0.000,0.052,2214,2514,3191,3166,3216,0,0,0,0,0,0,14.94,14.52,14.94,8.62,62.40
$GC,1147,-0.51,-87.6,2213,2515,3166,3216,116.5,-9.4,159,1151,0.00,1.17,0.00,0.000,3078,0.000,0.054,2213,1821,3191,3166,3216,0,0,0,0,0,0,14.59,14.52,14.62,8.62,62.87
$GC,1466,-0.51,-87.6,2213,1821,3165,3216,147.4,-9.7,175,1470,0.00,1.23,0.00,0.000,2564,0.000,0.067,2213,1112,3191,3166,3216,0,0,0,0,0,0,14.90,14.50,14.90,8.62,63.42
$GC,1510,-0.51,-87.6,2212,1115,3166,3216,151.7,-9.7,177,1514,0.03,1.17,0.00,0.000,3078,0.421,0.041,2216,1820,3191,3166,3216,0,0,0,0,0,0,14.29,14.58,14.42,8.62,62.83
$GC,1833,-0.51,-87.6,2216,1819,3166,3216,182.3,-9.4,193,1837,0.00,1.17,0.00,0.000,2308,0.000,0.054,2213,2525,3190,3165,3216,0,0,0,0,0,0,14.91,14.54,14.92,8.62,64.29
$GC,1883,-0.51,-87.6,2214,2525,3165,3216,186.3,-9.4,195,1887,0.00,1.20,0.00,0.000,3078,0.000,0.054,2213,1818,3190,3166,3215,0,0,0,0,0,0,14.62,14.54,14.64,8.62,64.17
$GC,2196,-0.51,-87.6,2213,1818,3165,3215,216.4,-9.4,211,2197,0.00,0.00,0.00,0.000,2054,0.000,0.000,2213,1819,3190,3165,3215,0,0,0,0,0,0,14.94,14.94,14.94,8.63,64.05
$GC,2496,-0.51,-87.6,2213,1818,3166,3216,244.9,-9.5,226,2499,0.00,1.17,0.00,0.000,2308,0.000,0.052,2208,2517,3190,3166,3215,0,0,0,0,0,0,14.95,14.57,14.95,8.63,64.49
$GC,2558,-0.51,-87.6,2207,2518,3165,3215,250.8,-9.3,229,2562,0.00,1.17,0.00,0.000,3078,0.000,0.054,2207,1824,3190,3165,3215,0,0,0,0,0,0,14.62,14.56,14.66,8.62,64.96
$GC,2880,-0.51,-87.6,2207,1824,3165,3214,282.2,-9.8,245,2882,0.05,0.00,0.00,0.000,2054,0.428,0.000,2223,1822,3190,3166,3215,0,0,0,0,0,0,14.44,14.71,14.64,8.64,64.60
$GC,3180,-0.51,-87.6,2223,1822,3166,3214,309.4,-9.0,260,3181,0.00,0.00,0.00,0.000,2054,0.000,0.000,2223,1822,3190,3166,3214,0,0,0,0,0,0,14.95,14.96,14.95,8.64,64.72
$GC,3480,-0.51,-87.6,2223,1822,3165,3215,336.5,-9.0,275,3484,0.00,1.15,0.00,0.000,2308,0.000,0.052,2218,2510,3189,3165,3214,0,0,0,0,0,0,14.96,14.58,14.96,8.64,64.45
$GC,3544,-0.51,-87.6,2218,2511,3166,3215,342.0,-8.8,278,3548,0.00,1.17,0.00,0.000,3078,0.000,0.054,2218,1816,3190,3166,3214,0,0,0,0,0,0,14.63,14.57,14.66,8.64,64.68
$GC,3862,-0.51,-87.6,2218,1816,3166,3214,371.0,-9.1,294,3864,0.00,0.00,0.00,0.000,2054,0.000,0.000,2218,1816,3190,3165,3215,0,0,0,0,0,0,14.96,14.96,14.96,8.65,64.96
$GC,4163,-0.51,-87.6,2217,1816,3165,3215,398.2,-9.1,309,4166,0.00,1.17,0.00,0.000,2308,0.000,0.051,2212,2518,3190,3166,3214,0,0,0,0,0,0,14.96,14.57,14.96,8.65,64.96
$GC,4233,-0.51,-87.6,2212,2519,3165,3214,404.0,-9.2,312,4236,0.00,1.17,0.00,0.000,3078,0.000,0.056,2212,1823,3190,3166,3214,0,0,0,0,0,0,14.62,14.56,14.66,8.65,65.35
$GC,4546,-0.51,-87.6,2212,1824,3165,3214,434.0,-9.5,328,4547,0.00,0.00,0.00,0.000,2054,0.000,0.000,2212,1824,3189,3165,3214,0,0,0,0,0,0,14.95,14.96,14.96,8.66,64.84
$GC,4848,-0.51,-87.6,2211,1823,3166,3214,462.8,-9.6,343,4851,0.00,1.15,0.00,0.000,2308,0.000,0.052,2207,2512,3189,3165,3214,0,0,0,0,0,0,14.96,14.57,14.96,8.66,65.19
$GC,4917,-0.51,-87.6,2206,2512,3164,3214,468.9,-9.5,346,4922,0.03,1.17,0.00,0.000,3078,0.394,0.055,2217,1817,3189,3165,3214,0,0,0,0,0,0,14.30,14.55,14.42,8.66,64.80
$GC,5231,-0.51,-87.6,2217,1817,3165,3214,498.0,-8.9,362,5232,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,1818,3189,3165,3214,0,0,0,0,0,0,14.97,14.97,14.97,8.66,65.19
$STATE,5268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5268,begin apogee
$GC,5273,-0.14,0.0,2217,1724,3165,3214,501.6,-9.0,364,5351,0.35,0.00,72.05,1.950,10246,0.246,0.000,2342,1724,2838,2833,2843,0,0,0,0,0,0,14.30,14.19,13.34,8.66,65.51
$STATE,5352,end apogee,CONTROL_FINISHED_OK
$STATE,5352,begin climb
$GC,5354,0.51,87.6,2342,1724,2833,2843,505.1,0.0,368,5436,0.52,1.20,75.05,1.867,10756,0.181,0.071,2544,1057,2479,2486,2473,0,0,0,0,0,0,14.09,13.71,13.09,8.64,63.97
$GC,5484,0.62,180.5,2544,1058,2486,2473,501.3,4.2,374,5575,0.08,1.15,79.85,1.866,11270,0.118,0.035,2611,1739,2101,2097,2105,0,0,0,0,0,0,13.88,13.93,12.93,8.61,62.48
$GC,5871,0.62,180.5,2611,1739,2106,2106,453.3,13.3,394,5876,0.08,1.17,0.00,0.000,4356,0.334,0.041,2588,2422,2106,2106,2106,0,0,0,0,0,0,14.08,14.27,14.26,8.58,62.83
$GC,5942,0.62,180.5,2587,2423,2105,2106,445.6,12.4,397,5946,0.00,1.15,0.00,0.000,1030,0.000,0.059,2592,1765,2106,2106,2106,0,0,0,0,0,0,14.36,14.29,14.39,8.58,63.38
$GC,6255,0.62,180.5,2591,1765,2106,2105,406.7,12.3,413,6259,0.00,1.30,0.00,0.000,516,0.000,0.073,2597,1035,2105,2106,2105,0,0,0,0,0,0,14.75,14.41,14.76,8.57,64.13
$GC,6345,0.62,180.5,2597,1035,2105,2106,396.6,12.3,417,6349,0.00,1.12,0.00,0.000,5126,0.000,0.035,2597,1728,2105,2105,2106,0,0,0,0,0,0,14.56,14.52,14.58,8.56,64.13
$GC,6657,0.62,180.5,2597,1728,2105,2106,356.3,12.6,433,6658,0.00,0.00,0.00,0.000,4102,0.000,0.000,2597,1728,2105,2105,2105,0,0,0,0,0,0,14.84,14.84,14.84,8.56,63.66
$GC,6958,0.62,180.5,2597,1729,2105,2105,319.5,12.1,448,6961,0.00,1.23,0.00,0.000,4612,0.000,0.073,2603,1028,2105,2105,2105,0,0,0,0,0,0,14.92,14.51,14.92,8.56,64.76
$GC,6992,0.62,180.5,2603,1029,2105,2106,316.9,12.1,449,7000,0.00,1.15,0.00,0.000,5126,0.000,0.035,2603,1736,2105,2105,2105,0,0,0,0,0,0,14.48,14.45,14.50,8.55,64.49
$GC,7300,0.62,180.5,2603,1735,2105,2106,278.6,11.7,465,7301,0.00,0.00,0.00,0.000,4102,0.000,0.000,2603,1735,2105,2105,2106,0,0,0,0,0,0,14.91,14.91,14.91,8.55,64.76
$GC,7600,0.62,180.5,2603,1735,2105,2106,243.5,11.6,480,7604,0.00,1.23,0.00,0.000,4612,0.000,0.072,2608,1033,2105,2105,2105,0,0,0,0,0,0,14.92,14.54,14.92,8.55,64.88
$GC,7630,0.62,180.5,2608,1034,2105,2105,240.9,11.6,481,7634,0.05,1.12,0.00,0.000,5126,0.295,0.035,2590,1744,2105,2105,2106,0,0,0,0,0,0,14.33,14.63,14.48,8.55,64.13
$GC,7942,0.62,180.5,2590,1744,2105,2106,206.6,10.9,497,7943,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1744,2105,2105,2105,0,0,0,0,0,0,14.92,14.93,14.93,8.55,64.09
$GC,8243,0.62,180.5,2589,1744,2105,2105,174.3,10.9,512,8246,0.00,1.25,0.00,0.000,516,0.000,0.073,2595,1032,2105,2106,2105,0,0,0,0,0,0,15.01,14.54,15.02,8.55,64.60
$GC,8287,0.62,180.5,2595,1032,2105,2106,169.7,10.9,514,8291,0.00,1.10,0.00,0.000,5126,0.000,0.034,2595,1727,2105,2105,2106,0,0,0,0,0,0,14.72,14.68,14.73,8.55,64.53
$GC,8606,0.62,180.5,2595,1729,2105,2106,133.8,11.4,530,8610,0.00,1.15,0.00,0.000,4356,0.000,0.047,2595,2423,2105,2105,2105,0,0,0,0,0,0,14.96,14.62,14.96,8.54,64.41
$GC,8640,0.62,180.5,2595,2423,2105,2105,131.1,11.5,531,8648,0.00,1.17,0.00,0.000,5126,0.000,0.060,2601,1744,2105,2105,2106,0,0,0,0,0,0,14.47,14.41,14.50,8.54,64.33
$GC,8948,0.62,180.5,2601,1744,2105,2106,92.9,11.6,547,8952,0.00,1.23,0.00,0.000,4612,0.000,0.073,2606,1033,2105,2105,2106,0,0,0,0,0,0,15.00,14.54,15.01,8.53,64.37
$GC,8998,0.62,180.5,2606,1034,2106,2106,88.0,11.7,549,9002,0.03,1.12,0.00,0.000,5126,0.375,0.035,2595,1743,2106,2106,2106,0,0,0,0,0,0,14.36,14.65,14.48,8.53,64.37
$GC,9307,0.64,190.9,2594,1743,2106,2105,56.5,9.2,600,9320,0.00,0.00,10.50,1.454,8198,0.000,0.000,2595,1743,2059,2056,2063,0,0,0,0,0,0,14.97,14.66,13.81,8.52,63.58
$GC,9505,0.64,190.9,2595,1743,2056,2063,34.7,11.4,638,9511,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1743,2059,2056,2063,0,0,0,0,0,0,14.85,14.86,14.85,8.51,64.01
$GC,9697,0.65,201.8,2595,1743,2055,2063,14.9,9.1,675,9710,0.00,0.00,6.10,0.323,10502,0.000,0.000,2595,1743,2014,2008,2020,0,0,0,0,0,0,14.85,14.57,14.22,8.51,63.66
$STATE,9806,end climb,SURFACE_DEPTH_REACHED
$STATE,9806,begin surface coast
$FINISH,0.0,1.027452
$STATE,9835,end surface coast,CONTROL_FINISHED_OK
$STATE,9835,begin surface
$SM_CCo,9910,0.00,0.000,0,0,2014,202.86
$SM_GC,1.21,5.62,0.08,0.00,0.084,0.157,0.000,245,1815,2014,-6.43,-1.81,202.86,0,0,0,0,0,0,14.67,14.59,14.71
$IRIDIUM_FIX,-6440.86,346.50,040422,210508
$TT8_MAMPS,0.019474,0.32956
$HUMID,63.74
$INTERNAL_PRESSURE,8.48201
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,12.93,247.468
$10V_AH,13.07,0.000
$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,13.300,42.600,243.550,0.000,0.000,50.370,58.104,133.153,0.000,0.000,40.452,1913.155,6023.605,313.692,1963.488,127.217,0.000,1048.014,0.000,1302.087,0.000,0.536,0.000
$DEVICE_MAMPS,427.635,156.825,1949.985,0.000,0.000,26.010,160.000,223.000,420.000,0.000,11.240,9.970,2.190,9.220,29.450,46.670,0.000,11.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,518.246,1195.644,222.857,732.512,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343472
$DATA_FILE_SIZE,48687,701
$CAP_FILE_SIZE,99473,0
$CFSIZE,1023623168,982876160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.066,86.41,1
$GPS,040422,235752,-6440.068,354.848,54,0.8,58,-22.1,1.3,122.9,9,8.8