version: 66.14
glider: 640
mission: 9
dive: 70
start: 1 21 122 3 49 10
data:
$ID,640
$MISSION,9
$DIVE,70
$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,100
$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,40
$C_ROLL_DIVE,1870
$C_ROLL_CLIMB,1780
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,31
$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
$GPS1,210122,033840,-6352.4976,224.6175,116,0.8,131,-21.1,1.4,24.9,9,8.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-69.3
$GPS2,210122,034840,-6352.5010,224.6627,8,0.9,17,-21.1,1.3,254.0,9,9.5
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,NORTH
$TGT_LATLONG,-6318.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,22.8,63925,-22.4,-10.000,-24.92,1493
$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,-0.76,-97.3,231,1840,2134,2195,0.0,0.0,0,81,0.00,0.00,-72.72,0.000,16386,0.000,0.000,231,1839,3291,3260,3322,0,0,0,0,0,0,14.71,28.83,14.71,8.52,57.63
$GC,84,-0.76,-97.3,231,1839,3260,3321,3.5,-7.2,11,100,5.95,2.62,-1.67,0.000,18948,0.369,2.269,2164,432,3342,3316,3369,0,0,0,0,0,0,14.35,13.69,14.58,8.64,57.44
$GC,147,-0.76,-97.3,2163,432,3319,3369,18.5,-19.2,22,154,0.00,2.47,0.00,0.000,5126,0.000,0.049,2153,1873,3344,3319,3369,0,0,0,0,0,0,14.57,14.47,14.58,8.65,55.74
$GC,196,-0.76,-97.3,2153,1874,3320,3369,27.4,-18.1,31,204,0.00,2.45,0.00,0.000,4356,0.000,0.076,2143,3275,3344,3320,3369,0,0,0,0,0,0,14.69,14.47,14.69,8.64,56.30
$GC,216,-0.76,-97.3,2142,3275,3320,3369,30.9,-18.0,34,224,0.00,2.35,0.00,0.000,3078,0.000,0.054,2143,1893,3344,3320,3368,0,0,0,0,0,0,14.59,14.50,14.60,8.65,56.41
$GC,347,-0.76,-97.3,2142,1893,3320,3369,52.8,-15.6,59,353,0.00,0.00,0.00,0.000,2054,0.000,0.000,2143,1893,3344,3320,3369,0,0,0,0,0,0,14.72,14.73,14.72,8.64,56.37
$GC,666,-0.76,-97.3,2142,1893,3322,3369,102.5,-15.9,101,672,0.00,2.50,0.00,0.000,2564,0.000,0.076,2143,461,3345,3321,3369,0,0,0,0,0,0,14.81,14.59,14.81,8.63,56.34
$GC,753,-0.76,-97.3,2142,460,3321,3369,115.6,-16.4,105,758,0.00,2.38,0.00,0.000,3078,0.000,0.046,2132,1876,3345,3321,3369,0,0,0,0,0,0,14.72,14.62,14.73,8.64,56.22
$GC,1066,-0.76,-97.3,2132,1877,3321,3369,169.7,-17.0,121,1072,0.00,2.40,0.00,0.000,2308,0.000,0.077,2121,3279,3345,3321,3369,0,0,0,0,0,0,14.88,14.66,14.88,8.64,57.44
$GC,1098,-0.76,-97.3,2120,3279,3320,3369,172.9,-16.8,122,1107,0.05,2.40,0.00,0.000,3078,0.336,0.056,2138,1866,3345,3321,3369,0,0,0,0,0,0,14.54,14.65,14.66,8.64,57.16
$GC,1406,-0.76,-97.3,2138,1867,3321,3369,222.6,-15.4,138,1412,0.00,2.42,0.00,0.000,2564,0.000,0.079,2138,465,3345,3321,3369,0,0,0,0,0,0,14.92,14.70,14.92,8.64,57.91
$GC,1479,-0.76,-97.3,2138,465,3320,3369,231.8,-15.3,141,1487,0.00,2.38,0.00,0.000,3078,0.000,0.047,2128,1864,3345,3321,3369,0,0,0,0,0,0,14.75,14.70,14.77,8.64,57.79
$GC,1786,-0.76,-97.3,2128,1865,3321,3369,281.9,-15.7,157,1788,0.05,0.00,0.00,0.000,2054,0.452,0.000,2141,1866,3345,3321,3369,0,0,0,0,0,0,14.64,14.83,14.81,8.65,58.23
$GC,2086,-0.76,-97.3,2141,1866,3321,3369,327.0,-15.0,172,2092,0.00,2.40,0.00,0.000,2308,0.000,0.076,2131,3278,3345,3321,3369,0,0,0,0,0,0,14.97,14.76,14.98,8.66,58.74
$GC,2126,-0.76,-97.3,2131,3278,3321,3369,332.9,-14.9,174,2133,0.00,2.33,0.00,0.000,3078,0.000,0.056,2131,1871,3345,3321,3369,0,0,0,0,0,0,14.88,14.78,14.88,8.66,58.11
$GC,2446,-0.76,-97.3,2131,1871,3321,3369,382.5,-15.6,190,2452,0.00,2.42,0.00,0.000,2564,0.000,0.079,2131,463,3345,3321,3369,0,0,0,0,0,0,15.00,14.78,15.00,8.66,59.21
$GC,2534,-0.76,-97.3,2130,461,3321,3369,395.0,-15.6,194,2539,0.08,2.35,0.00,0.000,3078,0.381,0.046,2144,1885,3345,3321,3369,0,0,0,0,0,0,14.68,14.79,14.84,8.66,58.62
$GC,2847,-0.76,-97.3,2144,1886,3321,3369,441.1,-14.3,210,2853,0.00,2.40,0.00,0.000,260,0.000,0.078,2135,3278,3345,3321,3369,0,0,0,0,0,0,15.00,14.78,15.01,8.67,58.23
$GC,2887,-0.76,-97.3,2135,3280,3321,3369,446.7,-14.2,212,2893,0.00,2.33,0.00,0.000,3078,0.000,0.057,2135,1872,3345,3321,3369,0,0,0,0,0,0,14.90,14.81,14.90,8.66,58.38
$GC,3207,-0.76,-97.3,2135,1872,3321,3369,493.2,-14.5,228,3213,0.00,2.42,0.00,0.000,2564,0.000,0.081,2135,464,3345,3321,3369,0,0,0,0,0,0,15.01,14.79,15.02,8.67,58.74
$GC,3289,-0.76,-97.3,2135,463,3321,3369,504.6,-14.2,232,3295,0.05,2.35,0.00,0.000,3078,0.355,0.046,2141,1865,3345,3321,3369,0,0,0,0,0,0,14.69,14.81,14.81,8.67,58.46
$GC,3607,-0.76,-97.3,2141,1865,3321,3369,548.0,-13.6,248,3613,0.00,2.40,0.00,0.000,2308,0.000,0.077,2132,3280,3345,3321,3369,0,0,0,0,0,0,15.02,14.80,15.02,8.67,58.97
$GC,3634,-0.76,-97.3,2132,3280,3321,3369,550.8,-13.7,249,3639,0.00,2.35,0.00,0.000,3078,0.000,0.057,2132,1862,3345,3321,3369,0,0,0,0,0,0,14.91,14.81,14.92,8.67,58.74
$GC,3947,-0.76,-97.3,2132,1863,3321,3369,596.0,-14.4,265,3953,0.00,2.42,0.00,0.000,2564,0.000,0.081,2132,457,3345,3321,3369,0,0,0,0,0,0,15.02,14.81,15.02,8.67,58.62
$GC,4015,-0.76,-97.3,2132,457,3321,3369,604.9,-14.9,268,4020,0.08,2.33,0.00,0.000,3078,0.381,0.046,2145,1875,3345,3321,3369,0,0,0,0,0,0,14.71,14.83,14.88,8.67,58.58
$GC,4328,-0.76,-97.3,2145,1877,3321,3369,648.9,-13.8,284,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,1877,3345,3321,3369,0,0,0,0,0,0,15.02,15.03,15.03,8.68,59.29
$GC,4628,-0.76,-97.3,2145,1877,3321,3369,690.1,-13.9,299,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,1875,3345,3321,3369,0,0,0,0,0,0,15.03,15.04,15.04,8.68,58.70
$GC,4928,-0.76,-97.3,2145,1877,3322,3369,731.1,-13.5,314,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,1876,3345,3322,3369,0,0,0,0,0,0,15.04,15.04,15.04,8.69,58.58
$GC,5228,-0.76,-97.3,2145,1877,3323,3369,771.0,-13.2,329,5234,0.00,2.38,0.00,0.000,260,0.000,0.076,2137,3273,3346,3323,3369,0,0,0,0,0,0,15.04,14.83,15.05,8.68,58.58
$GC,5268,-0.76,-97.3,2136,3273,3323,3369,776.3,-13.1,331,5274,0.00,2.33,0.00,0.000,3078,0.000,0.057,2137,1865,3346,3323,3369,0,0,0,0,0,0,14.94,14.85,14.95,8.69,59.05
$GC,5588,-0.76,-97.3,2136,1865,3323,3369,818.7,-13.4,347,5594,0.00,2.42,0.00,0.000,2564,0.000,0.083,2136,459,3346,3323,3369,0,0,0,0,0,0,15.05,14.83,15.05,8.69,58.82
$GC,5670,-0.76,-97.3,2136,459,3323,3369,829.9,-14.0,351,5676,0.05,2.35,0.00,0.000,3078,0.348,0.044,2142,1867,3346,3323,3369,0,0,0,0,0,0,14.71,14.83,14.84,8.69,58.74
$GC,5988,-0.76,-97.3,2142,1867,3323,3369,871.6,-13.0,367,5995,0.00,2.38,0.00,0.000,2308,0.000,0.076,2133,3275,3346,3323,3369,0,0,0,0,0,0,15.05,14.83,15.05,8.70,58.82
$GC,6021,-0.76,-97.3,2133,3275,3323,3369,874.2,-13.1,368,6029,0.00,2.38,0.00,0.000,3078,0.000,0.059,2133,1871,3346,3323,3369,0,0,0,0,0,0,14.86,14.81,14.88,8.69,59.13
$GC,6330,-0.76,-97.3,2133,1870,3323,3369,917.6,-13.7,384,6336,0.00,2.40,0.00,0.000,2564,0.000,0.081,2133,459,3346,3323,3369,0,0,0,0,0,0,15.05,14.81,15.05,8.70,59.05
$GC,6397,-0.76,-97.3,2133,459,3323,3370,926.0,-14.0,387,6403,0.08,2.33,0.00,0.000,3078,0.383,0.046,2147,1876,3346,3323,3369,0,0,0,0,0,0,14.73,14.84,14.90,8.70,58.66
$GC,6705,-0.76,-97.3,2147,1876,3323,3369,966.2,-12.8,402,6711,0.00,2.35,0.00,0.000,260,0.000,0.076,2138,3274,3346,3323,3369,0,0,0,0,0,0,15.04,14.82,15.04,8.70,58.74
$GC,6744,-0.76,-97.3,2138,3274,3323,3369,971.3,-12.8,404,6750,0.00,2.33,0.00,0.000,3078,0.000,0.057,2138,1862,3346,3323,3369,0,0,0,0,0,0,14.94,14.85,14.95,8.70,59.05
$STATE,6903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6903,begin apogee
$GC,6907,-0.14,0.0,2138,1756,3322,3369,992.5,-13.5,412,6991,0.55,0.00,80.20,2.645,10246,0.249,0.000,2338,1756,2943,2932,2954,0,0,0,0,0,0,14.73,13.99,13.14,8.70,58.82
$STATE,6992,end apogee,CONTROL_FINISHED_OK
$STATE,6992,begin climb
$GC,6993,0.76,97.3,2339,1756,2931,2952,997.1,0.0,416,7086,0.77,2.65,80.40,2.552,10500,0.171,0.067,2629,3170,2544,2532,2556,0,0,0,0,0,0,13.95,13.69,12.88,8.69,58.46
$GC,7121,0.81,136.8,2629,3170,2532,2556,990.3,7.3,422,7161,0.00,2.45,33.00,2.426,11270,0.000,0.057,2639,1811,2384,2373,2396,0,0,0,0,0,0,13.98,13.94,12.91,8.65,56.41
$GC,7469,0.81,136.8,2639,1810,2373,2395,939.1,15.2,440,7475,0.00,2.55,0.00,0.000,2564,0.000,0.077,2651,374,2384,2373,2396,0,0,0,0,0,0,14.51,14.30,14.51,8.62,57.71
$GC,7541,0.81,136.8,2650,374,2373,2396,930.1,15.1,443,7550,0.00,2.42,0.00,0.000,1030,0.000,0.039,2651,1783,2384,2373,2396,0,0,0,0,0,0,14.38,14.35,14.40,8.63,57.32
$GC,7849,0.81,136.8,2650,1783,2373,2395,879.9,15.9,459,7855,0.00,2.42,0.00,0.000,260,0.000,0.070,2651,3182,2384,2373,2395,0,0,0,0,0,0,14.71,14.50,14.72,8.61,57.56
$GC,7916,0.81,136.8,2651,3183,2373,2396,870.4,15.7,462,7921,0.00,2.38,0.00,0.000,5126,0.000,0.058,2662,1775,2384,2373,2395,0,0,0,0,0,0,14.64,14.54,14.64,8.62,57.99
$GC,8229,0.81,136.8,2661,1776,2373,2395,818.8,16.4,478,8235,0.00,2.45,0.00,0.000,4612,0.000,0.075,2673,365,2384,2373,2396,0,0,0,0,0,0,14.83,14.62,14.83,8.61,58.46
$GC,8277,0.81,136.8,2673,366,2373,2395,812.0,16.7,480,8282,0.08,2.35,0.00,0.000,5126,0.413,0.037,2652,1788,2384,2373,2395,0,0,0,0,0,0,14.50,14.66,14.69,8.61,58.30
$GC,8590,0.81,136.8,2652,1788,2373,2395,760.2,16.3,496,8596,0.00,2.38,0.00,0.000,4356,0.000,0.067,2652,3186,2384,2373,2395,0,0,0,0,0,0,14.88,14.68,14.89,8.60,58.26
$GC,8642,0.81,136.8,2652,3186,2373,2395,753.6,16.4,498,8650,0.00,2.40,0.00,0.000,5126,0.000,0.057,2663,1781,2384,2373,2395,0,0,0,0,0,0,14.71,14.66,14.73,8.61,58.30
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$STATE,14017,end climb,SURFACE_DEPTH_REACHED
$STATE,14017,begin surface coast
$FINISH,-0.1,1.027170
$STATE,14043,end surface coast,CONTROL_FINISHED_OK
$STATE,14044,begin surface
$SM_CCo,14057,14.32,1.420,0,0,2169,190.10
$SM_GC,2.54,5.78,0.17,14.32,0.091,0.089,1.420,241,1908,2169,-6.41,-0.85,190.10,0,0,0,0,0,0,14.66,14.66,13.95
$IRIDIUM_FIX,-6355.35,221.93,210122,034421
$TT8_MAMPS,0.018725,0.336301
$HUMID,57.24
$INTERNAL_PRESSURE,8.49177
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,12.88,166.903
$10V_AH,13.17,0.000
$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,14.025,167.550,212.225,14.325,0.000,71.217,41.409,246.890,0.000,0.000,18.542,2356.181,9011.692,384.980,2824.172,100.057,0.000,1444.380,0.000,1812.786,0.000,0.535,0.000
$DEVICE_MAMPS,452.115,2268.990,2644.605,1419.840,0.000,26.010,160.000,223.000,420.000,0.000,11.240,9.970,2.190,9.220,29.450,46.670,0.000,11.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,636.913,1865.754,235.495,1142.611,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343008
$DATA_FILE_SIZE,66090,869
$CAP_FILE_SIZE,148634,0
$CFSIZE,1023623168,1014038528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210122,074611,-6351.055,225.265,77,1.3,117,-21.1,0.4,198.8,4,6.3