version: 66.14
glider: 640
mission: 9
dive: 44
start: 1 16 122 17 22 9
data:
$ID,640
$MISSION,9
$DIVE,44
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,29
$D_BOOST,0
$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,150
$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,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,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,34
$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,1850
$C_ROLL_CLIMB,1770
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,71
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,602
$VBD_MAX,3962
$C_VBD,2930
$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
$GPS1,160122,171542,-6358.5903,223.1264,83,1.2,123,-21.1,0.0,131.7,7,5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-73.7
$GPS2,160122,172138,-6358.5718,223.1178,31,1.2,71,-21.1,0.5,24.8,7,5.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SOUTH
$TGT_LATLONG,-6430.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,198.1,58287,-18.3,-10.000,-21.04,2236
$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,-0.72,-146.0,225,1827,2188,2193,0.0,0.0,0,82,0.00,0.00,-72.55,0.000,16386,0.000,0.000,225,1828,3311,3280,3343,0,0,0,0,0,0,14.75,28.83,14.76,8.51,58.93
$GC,84,-0.72,-146.0,225,1828,3281,3344,4.1,-9.1,11,107,6.07,2.62,-6.35,0.000,18692,0.383,2.282,2175,3234,3529,3511,3547,0,0,0,0,0,0,14.40,13.76,14.62,8.63,58.34
$GC,139,-0.72,-146.0,2173,3233,3513,3548,18.6,-18.4,20,147,0.00,2.38,0.00,0.000,5126,0.000,0.063,2173,1874,3531,3514,3548,0,0,0,0,0,0,14.54,14.47,14.56,8.65,57.16
$GC,189,-0.72,-146.0,2173,1875,3514,3547,28.0,-20.4,29,196,0.00,2.55,0.00,0.000,4612,0.000,0.082,2173,441,3531,3514,3548,0,0,0,0,0,0,14.70,14.49,14.71,8.66,57.04
$GC,228,-0.72,-146.0,2173,441,3514,3548,35.9,-19.3,36,236,0.00,2.35,0.00,0.000,5126,0.000,0.047,2164,1805,3530,3514,3547,0,0,0,0,0,0,14.56,14.52,14.58,8.65,57.36
$GC,358,-0.72,-146.0,2163,1806,3515,3547,60.7,-20.0,61,366,0.00,2.53,0.00,0.000,4356,0.000,0.081,2152,3254,3531,3514,3548,0,0,0,0,0,0,14.74,14.52,14.74,8.65,57.00
$GC,438,-0.72,-146.0,2152,3254,3515,3548,74.1,-16.3,76,445,0.00,2.42,0.00,0.000,3078,0.000,0.063,2152,1842,3531,3515,3548,0,0,0,0,0,0,14.65,14.55,14.66,8.65,57.52
$GC,758,-0.72,-146.0,2151,1842,3515,3548,132.4,-18.0,97,764,0.00,2.47,0.00,0.000,2564,0.000,0.083,2152,438,3531,3515,3547,0,0,0,0,0,0,14.84,14.63,14.85,8.63,56.73
$GC,831,-0.72,-146.0,2151,438,3515,3548,143.2,-18.1,100,839,0.00,2.42,0.00,0.000,3078,0.000,0.050,2142,1849,3531,3515,3548,0,0,0,0,0,0,14.68,14.66,14.70,8.64,56.73
$GC,1138,-0.72,-146.0,2141,1850,3515,3548,202.2,-18.7,116,1145,0.05,2.45,0.00,0.000,2308,0.459,0.080,2145,3265,3531,3515,3548,0,0,0,0,0,0,14.59,14.69,14.76,8.65,58.30
$GC,1191,-0.72,-146.0,2143,3264,3515,3548,209.2,-18.2,118,1199,0.00,2.42,0.00,0.000,3078,0.000,0.064,2143,1853,3531,3515,3548,0,0,0,0,0,0,14.73,14.67,14.74,8.65,58.74
$GC,1498,-0.72,-146.0,2142,1853,3515,3548,266.6,-18.1,134,1504,0.00,2.47,0.00,0.000,2564,0.000,0.087,2143,435,3530,3515,3546,0,0,0,0,0,0,14.94,14.72,14.94,8.66,58.82
$GC,1566,-0.72,-146.0,2142,436,3515,3548,277.3,-17.9,137,1571,0.08,2.38,0.00,0.000,3078,0.377,0.050,2156,1855,3531,3515,3548,0,0,0,0,0,0,14.64,14.73,14.80,8.66,59.21
$GC,1879,-0.72,-146.0,2156,1854,3515,3548,331.2,-17.0,153,1885,0.00,2.40,0.00,0.000,2308,0.000,0.083,2146,3257,3531,3515,3548,0,0,0,0,0,0,14.97,14.74,14.97,8.66,58.54
$GC,1940,-0.72,-146.0,2146,3257,3515,3548,340.7,-16.1,156,1945,0.00,2.40,0.00,0.000,3078,0.000,0.062,2146,1852,3531,3515,3548,0,0,0,0,0,0,14.81,14.75,14.83,8.66,59.21
$GC,2260,-0.72,-146.0,2145,1851,3515,3547,396.2,-17.6,172,2266,0.00,2.45,0.00,0.000,2564,0.000,0.089,2146,437,3531,3515,3548,0,0,0,0,0,0,14.98,14.76,14.99,8.67,59.37
$GC,2328,-0.72,-146.0,2146,437,3515,3548,406.4,-17.2,175,2333,0.08,2.35,0.00,0.000,3078,0.376,0.050,2159,1850,3531,3515,3548,0,0,0,0,0,0,14.69,14.79,14.84,8.67,59.21
$GC,2636,-0.72,-146.0,2159,1851,3515,3548,456.6,-16.0,190,2641,0.00,2.38,0.00,0.000,260,0.000,0.083,2150,3250,3531,3515,3548,0,0,0,0,0,0,15.00,14.77,15.00,8.68,59.33
$GC,2707,-0.72,-146.0,2150,3250,3515,3548,465.6,-15.4,193,2715,0.00,2.40,0.00,0.000,3078,0.000,0.063,2150,1847,3531,3515,3548,0,0,0,0,0,0,14.82,14.76,14.84,8.68,59.05
$GC,3014,-0.72,-146.0,2149,1846,3515,3548,517.6,-16.5,209,3020,0.00,2.45,0.00,0.000,2564,0.000,0.088,2150,437,3531,3515,3548,0,0,0,0,0,0,15.01,14.79,15.01,8.68,58.74
$GC,3077,-0.72,-146.0,2149,437,3515,3548,527.2,-15.9,212,3082,0.05,2.40,0.00,0.000,3078,0.346,0.050,2157,1854,3531,3515,3548,0,0,0,0,0,0,14.69,14.80,14.81,8.69,59.25
$GC,3395,-0.72,-146.0,2156,1854,3515,3548,576.4,-15.5,228,3401,0.00,2.40,0.00,0.000,2308,0.000,0.083,2147,3262,3531,3515,3548,0,0,0,0,0,0,15.02,14.79,15.02,8.69,59.13
$GC,3468,-0.72,-146.0,2146,3262,3515,3548,585.2,-15.0,231,3476,0.00,2.40,0.00,0.000,3078,0.000,0.064,2146,1855,3531,3515,3547,0,0,0,0,0,0,14.83,14.78,14.85,8.69,58.86
$GC,3775,-0.72,-146.0,2146,1855,3515,3548,636.5,-16.4,247,3781,0.00,2.45,0.00,0.000,2564,0.000,0.088,2146,440,3531,3515,3548,0,0,0,0,0,0,15.02,14.81,15.02,8.69,59.13
$GC,3828,-0.72,-146.0,2146,440,3515,3548,643.0,-16.3,249,3837,0.05,2.40,0.00,0.000,3078,0.354,0.050,2153,1853,3531,3515,3547,0,0,0,0,0,0,14.69,14.79,14.81,8.69,59.52
$GC,4136,-0.72,-146.0,2153,1854,3515,3548,692.0,-15.5,265,4142,0.00,2.40,0.00,0.000,2308,0.000,0.083,2144,3258,3531,3515,3548,0,0,0,0,0,0,15.02,14.81,15.03,8.69,59.41
$GC,4209,-0.72,-146.0,2144,3258,3514,3548,700.8,-15.0,268,4216,0.00,2.35,0.00,0.000,3078,0.000,0.063,2143,1848,3531,3515,3547,0,0,0,0,0,0,14.92,14.82,14.93,8.69,59.09
$GC,4516,-0.72,-146.0,2143,1848,3515,3548,751.4,-16.1,284,4522,0.00,2.45,0.00,0.000,2564,0.000,0.090,2144,435,3531,3515,3548,0,0,0,0,0,0,15.04,14.83,15.04,8.70,59.21
$GC,4584,-0.72,-146.0,2143,435,3516,3548,760.7,-15.8,287,4589,0.08,2.35,0.00,0.000,3078,0.376,0.050,2158,1854,3532,3516,3548,0,0,0,0,0,0,14.74,14.85,14.90,8.70,59.45
$GC,4891,-0.72,-146.0,2158,1855,3516,3548,807.3,-15.1,302,4897,0.00,2.40,0.00,0.000,260,0.000,0.083,2149,3258,3532,3516,3548,0,0,0,0,0,0,15.04,14.83,15.05,8.70,59.49
$GC,4959,-0.72,-146.0,2148,3258,3516,3548,815.7,-14.3,305,4963,0.00,2.38,0.00,0.000,3078,0.000,0.064,2148,1831,3532,3516,3548,0,0,0,0,0,0,14.95,14.84,14.95,8.71,59.17
$GC,5271,-0.72,-146.0,2148,1831,3516,3548,864.3,-15.5,321,5278,0.00,2.42,0.00,0.000,2564,0.000,0.093,2147,437,3532,3516,3548,0,0,0,0,0,0,15.06,14.83,15.07,8.70,59.17
$GC,5324,-0.72,-146.0,2148,437,3516,3548,870.6,-15.6,323,5332,0.08,2.38,0.00,0.000,3078,0.370,0.050,2162,1867,3532,3516,3548,0,0,0,0,0,0,14.76,14.85,14.92,8.70,59.76
$GC,5631,-0.72,-146.0,2162,1869,3516,3548,915.7,-14.3,339,5635,0.00,2.38,0.00,0.000,260,0.000,0.083,2153,3260,3532,3516,3548,0,0,0,0,0,0,15.07,14.85,15.07,8.71,59.56
$GC,5700,-0.72,-146.0,2153,3260,3516,3548,923.1,-13.6,342,5707,0.00,2.38,0.00,0.000,3078,0.000,0.065,2153,1837,3532,3517,3548,0,0,0,0,0,0,14.96,14.85,14.97,8.71,59.49
$GC,6007,-0.72,-146.0,2153,1837,3516,3548,970.4,-15.3,358,6011,0.00,2.42,0.00,0.000,2564,0.000,0.092,2152,438,3532,3517,3548,0,0,0,0,0,0,15.07,14.85,15.08,8.71,58.93
$GC,6063,-0.72,-146.0,2153,438,3516,3548,978.8,-15.2,361,6067,0.00,2.35,0.00,0.000,3078,0.000,0.050,2142,1860,3532,3517,3548,0,0,0,0,0,0,14.97,14.87,14.98,8.71,58.86
$STATE,6138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6138,begin apogee
$GC,6142,-0.15,0.0,2143,1739,3517,3548,990.1,-14.9,365,6265,0.55,0.00,119.70,2.664,10246,0.247,0.000,2343,1738,2928,2928,2929,0,0,0,0,0,0,14.77,13.84,13.02,8.71,59.09
$STATE,6266,end apogee,CONTROL_FINISHED_OK
$STATE,6266,begin climb
$GC,6268,0.72,146.0,2343,1738,2927,2928,996.3,0.0,371,6401,0.75,2.67,120.28,2.584,10756,0.165,0.086,2632,379,2331,2332,2331,0,0,0,0,0,0,13.82,13.54,12.73,8.68,57.91
$GC,6456,0.72,146.0,2632,379,2334,2331,981.0,12.9,380,6464,0.00,2.47,0.00,0.000,5126,0.000,0.042,2632,1772,2333,2335,2331,0,0,0,0,0,0,13.96,13.88,13.97,8.63,56.30
$GC,6763,0.72,146.0,2632,1773,2335,2331,931.1,15.8,396,6769,0.00,2.47,0.00,0.000,4356,0.000,0.075,2632,3174,2333,2336,2331,0,0,0,0,0,0,14.49,14.27,14.50,8.61,57.48
$GC,6843,0.72,146.0,2632,3174,2335,2331,918.7,15.4,400,6848,0.08,2.40,0.00,0.000,5126,0.386,0.067,2620,1795,2333,2335,2331,0,0,0,0,0,0,14.24,14.34,14.40,8.62,57.63
$GC,7160,0.72,146.0,2620,1795,2336,2330,871.8,15.0,416,7166,0.00,2.55,0.00,0.000,516,0.000,0.085,2630,360,2333,2335,2331,0,0,0,0,0,0,14.70,14.50,14.71,8.61,58.26
$GC,7243,0.72,146.0,2630,360,2335,2331,859.8,15.0,420,7247,0.00,2.40,0.00,0.000,5126,0.000,0.041,2630,1793,2332,2335,2330,0,0,0,0,0,0,14.63,14.54,14.64,8.61,57.67
$GC,7560,0.72,146.0,2630,1795,2335,2331,810.8,15.2,436,7564,0.00,2.35,0.00,0.000,4356,0.000,0.073,2631,3169,2333,2335,2331,0,0,0,0,0,0,14.83,14.61,14.83,8.60,58.26
$GC,7624,0.72,146.0,2630,3168,2336,2331,802.5,15.1,439,7629,0.05,2.42,0.00,0.000,5126,0.339,0.067,2624,1770,2333,2336,2331,0,0,0,0,0,0,14.53,14.63,14.64,8.60,58.54
$GC,7936,0.72,146.0,2623,1770,2336,2331,756.7,14.5,455,7940,0.00,2.47,0.00,0.000,4612,0.000,0.083,2634,353,2333,2335,2331,0,0,0,0,0,0,14.90,14.68,14.90,8.59,58.82
$GC,8005,0.72,146.0,2633,353,2336,2331,748.5,14.6,458,8013,0.00,2.38,0.00,0.000,5126,0.000,0.041,2634,1768,2333,2335,2331,0,0,0,0,0,0,14.81,14.69,14.81,8.59,59.01
$GC,8312,0.72,146.0,2634,1769,2335,2331,701.9,14.4,474,8316,0.00,2.38,0.00,0.000,4356,0.000,0.072,2634,3171,2333,2336,2331,0,0,0,0,0,0,14.95,14.73,14.95,8.59,59.05
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$STATE,13769,end climb,SURFACE_DEPTH_REACHED
$STATE,13769,begin surface coast
$FINISH,-0.3,1.027116
$STATE,13785,end surface coast,CONTROL_FINISHED_OK
$STATE,13786,begin surface
$SM_CCo,13861,0.00,0.000,0,0,1994,229.60
$SM_GC,0.93,5.97,2.67,0.00,0.080,0.047,0.000,232,1845,1994,-6.42,-0.90,229.60,0,0,0,0,0,0,14.45,14.38,14.48
$IRIDIUM_FIX,-6355.35,221.93,160122,131918
$TT8_MAMPS,0.019474,0.33705
$HUMID,57.95
$INTERNAL_PRESSURE,8.46248
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,12.73,159.846
$10V_AH,13.04,0.000
$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,14.475,183.825,296.950,0.000,0.000,26.138,14.797,165.162,0.000,0.000,72.729,2304.036,8751.005,475.077,2608.740,85.081,0.000,1554.733,0.000,1861.904,0.000,0.535,0.000
$DEVICE_MAMPS,459.000,2281.995,2663.730,0.000,0.000,26.010,160.000,223.000,420.000,0.000,11.240,9.970,2.190,9.220,29.450,46.670,0.000,11.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,620.635,1389.623,227.163,1122.386,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342944
$DATA_FILE_SIZE,66197,854
$CAP_FILE_SIZE,146237,0
$CFSIZE,1023623168,1016512512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,160122,211440,-6359.144,223.410,51,0.9,60,-21.1,0.3,340.1,9,9.8