version: 66.14
glider: 640
mission: 5
dive: 68
start: 12 22 118 15 59 35
data:
$ID,640
$MISSION,5
$DIVE,68
$N_DIVES,85
$STOP_T,12271812
$D_SURF,3
$D_FLARE,3
$D_TGT,350
$D_ABORT,420
$D_NO_BLEED,29
$D_BOOST,20
$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,140
$T_MISSION,220
$T_ABORT,250
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,3600
$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,54260
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-5400
$TGT_DEFAULT_LON,0
$TGT_AUTO_DEFAULT,0
$SM_CC,220
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$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,3
$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,2400
$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,2100
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,602
$VBD_MAX,3962
$C_VBD,2690
$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,-153.19165
$PRESSURE_SLOPE,0.000109596
$AD7714Ch0Gain,1
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,-0.60000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044042631
$SEABIRD_T_H,0.0006412621
$SEABIRD_T_I,2.6024412e-05
$SEABIRD_T_J,3.2462635e-06
$SEABIRD_C_G,-10.007382
$SEABIRD_C_H,1.1528281
$SEABIRD_C_I,-0.0017483447
$SEABIRD_C_J,0.0001971516
$SEABIRD_C_Z,2950.7202
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,221218,155501,-6004.6631,-12.0202,15,0.9,39,-19.6,0.3,0.6,9,6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-68.8
$GPS2,221218,155916,-6004.6836,-12.0491,9,0.9,14,-19.6,0.0,337.7,9,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,36.7,120344,-15.5,-8.333,-18.82,2677
$D_GRID,350
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,8,-0.64,-146.0,235,2076,1765,1800,0.0,0.0,0,104,0.00,0.00,-93.38,0.000,16386,0.000,0.000,234,2075,3206,3284,3129,0,0,0,0,0,0,14.63,28.83,14.63,6.17,49.88
$GC,105,-0.64,-146.0,235,2076,3284,3130,3.2,-6.9,19,119,6.07,0.00,-3.12,0.000,18438,0.378,0.000,2190,2074,3287,3375,3200,0,0,0,0,0,0,14.26,13.54,14.40,6.27,48.77
$GC,239,-0.64,-146.0,2191,2076,3378,3200,26.3,-16.9,46,243,0.00,2.40,0.00,0.000,2564,0.000,0.071,2190,692,3288,3377,3200,0,0,0,0,0,0,14.64,14.42,14.64,6.29,48.85
$GC,259,-0.64,-146.0,2191,693,3378,3200,29.7,-17.3,50,263,0.00,2.45,0.00,0.000,3078,0.000,0.061,2181,2097,3288,3377,3200,0,0,0,0,0,0,14.47,14.41,14.49,6.28,48.18
$GC,384,-0.64,-146.0,2181,2098,3378,3201,47.7,-14.4,75,388,0.00,2.50,0.00,0.000,2308,0.000,0.087,2170,3506,3288,3377,3200,0,0,0,0,0,0,14.68,14.42,14.69,6.29,48.77
$GC,434,-0.64,-146.0,2170,3507,3377,3201,55.2,-15.2,85,439,0.05,2.35,0.00,0.000,3078,0.361,0.048,2188,2122,3288,3377,3200,0,0,0,0,0,0,14.32,14.47,14.46,6.28,48.70
$GC,559,-0.64,-146.0,2189,2123,3378,3200,74.0,-15.4,110,560,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2123,3288,3377,3200,0,0,0,0,0,0,14.71,14.71,14.71,6.28,49.05
$GC,679,-0.64,-146.0,2189,2123,3378,3200,92.9,-16.0,134,683,0.00,2.53,0.00,0.000,2564,0.000,0.073,2188,690,3287,3376,3199,0,0,0,0,0,0,14.73,14.49,14.73,6.29,49.29
$GC,719,-0.64,-146.0,2188,691,3378,3200,99.3,-15.6,142,723,0.03,2.42,0.00,0.000,3078,0.474,0.062,2186,2096,3288,3377,3200,0,0,0,0,0,0,14.33,14.50,14.49,6.28,48.70
$GC,849,-0.64,-146.0,2187,2096,3377,3201,120.3,-16.5,150,853,0.00,2.47,0.00,0.000,2564,0.000,0.073,2186,690,3288,3377,3200,0,0,0,0,0,0,14.76,14.51,14.76,6.28,49.17
$GC,874,-0.64,-146.0,2187,691,3378,3200,123.9,-17.0,151,878,0.03,2.42,0.00,0.000,3078,0.469,0.064,2185,2091,3287,3376,3199,0,0,0,0,0,0,14.36,14.52,14.50,6.28,48.89
$GC,1189,-0.64,-146.0,2185,2092,3378,3199,167.1,-12.7,167,1194,0.00,2.45,0.00,0.000,2564,0.000,0.074,2184,696,3288,3377,3199,0,0,0,0,0,0,14.81,14.54,14.81,6.29,50.03
$GC,1214,-0.64,-146.0,2185,697,3377,3200,169.6,-12.6,168,1218,0.05,2.42,0.00,0.000,3078,0.380,0.060,2192,2106,3288,3377,3199,0,0,0,0,0,0,14.41,14.56,14.58,6.29,50.59
$GC,1529,-0.64,-146.0,2192,2107,3378,3199,210.1,-12.8,184,1533,0.00,2.47,0.00,0.000,2564,0.000,0.075,2192,693,3288,3377,3199,0,0,0,0,0,0,14.83,14.58,14.83,6.31,51.06
$GC,1564,-0.64,-146.0,2193,694,3377,3200,212.7,-12.9,185,1568,0.00,2.42,0.00,0.000,3078,0.000,0.060,2182,2105,3288,3377,3199,0,0,0,0,0,0,14.65,14.60,14.68,6.30,51.65
$GC,1869,-0.64,-146.0,2183,2105,3378,3199,254.7,-13.1,201,1869,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2105,3288,3377,3199,0,0,0,0,0,0,14.85,14.85,14.85,6.31,51.37
$GC,2169,-0.64,-146.0,2182,2105,3377,3200,293.2,-12.6,216,2173,0.00,2.47,0.00,0.000,2564,0.000,0.074,2182,689,3288,3377,3199,0,0,0,0,0,0,14.88,14.62,14.88,6.32,51.53
$GC,2184,-0.64,-146.0,2182,689,3378,3199,293.2,-12.6,216,2189,0.05,2.42,0.00,0.000,3078,0.369,0.061,2188,2102,3288,3377,3199,0,0,0,0,0,0,14.49,14.64,14.64,6.32,51.26
$GC,2489,-0.64,-146.0,2188,2102,3377,3200,332.3,-12.2,232,2489,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2102,3288,3377,3199,0,0,0,0,0,0,14.89,14.89,14.89,6.32,51.81
$STATE,2648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2648,begin apogee
$GC,2651,-0.15,0.0,2189,2165,3377,3200,351.8,-12.1,240,2785,0.45,0.00,131.15,1.605,10246,0.269,0.000,2351,2163,2687,2744,2630,0,0,0,0,0,0,14.54,13.90,13.30,6.32,51.22
$STATE,2786,end apogee,CONTROL_FINISHED_OK
$STATE,2786,begin loiter
$GC,3069,-0.15,0.0,2352,2164,2740,2615,347.6,3.3,261,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2163,2676,2738,2615,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.23
$GC,3369,-0.15,0.0,2351,2164,2740,2614,337.7,3.4,276,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2163,2675,2739,2612,0,0,0,0,0,0,14.68,14.68,14.69,6.28,50.82
$GC,3669,-0.15,0.0,2352,2164,2740,2612,327.5,3.3,291,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2163,2675,2739,2611,0,0,0,0,0,0,14.76,14.77,14.77,6.28,50.86
$GC,3969,-0.15,0.0,2352,2164,2740,2611,317.4,3.4,306,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2163,2675,2739,2611,0,0,0,0,0,0,14.83,14.83,14.83,6.27,50.86
$GC,4269,-0.15,0.0,2352,2164,2739,2611,307.2,3.4,321,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2163,2674,2739,2610,0,0,0,0,0,0,14.87,14.88,14.87,6.28,51.65
$GC,4569,-0.15,0.0,2352,2164,2739,2610,296.9,3.4,336,4570,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2164,2674,2739,2609,0,0,0,0,0,0,14.90,14.91,14.90,6.28,50.78
$GC,4869,-0.15,0.0,2352,2164,2740,2610,286.8,3.3,351,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2163,2674,2739,2609,0,0,0,0,0,0,14.93,14.94,14.94,6.28,50.94
$GC,5169,-0.15,0.0,2352,2164,2740,2609,277.2,3.1,366,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2163,2674,2739,2609,0,0,0,0,0,0,14.95,14.95,14.95,6.27,51.57
$GC,5469,-0.15,0.0,2352,2164,2740,2609,268.5,2.8,381,5470,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2163,2674,2739,2609,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.14
$GC,5769,-0.15,0.0,2351,2164,2740,2610,260.6,2.6,396,5770,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2163,2673,2739,2608,0,0,0,0,0,0,14.99,14.99,14.99,6.28,50.94
$GC,6069,-0.15,0.0,2352,2164,2740,2609,253.2,2.5,411,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2163,2673,2739,2608,0,0,0,0,0,0,15.00,15.01,15.00,6.27,51.57
$STATE,6368,end loiter,LOITER_COMPLETE
$STATE,6368,begin climb
$GC,6369,0.64,146.0,2351,2164,2740,2609,245.0,0.0,426,6510,0.60,2.53,133.27,1.430,10500,0.178,0.089,2594,3550,2088,2112,2064,0,0,0,0,0,0,14.71,13.94,13.42,6.27,51.41
$GC,6539,0.64,146.0,2594,3551,2112,2060,234.2,8.7,434,6543,0.00,2.45,0.00,0.000,1030,0.000,0.051,2604,2154,2084,2111,2057,0,0,0,0,0,0,14.10,14.05,14.12,6.23,48.77
$GC,6849,0.64,146.0,2605,2154,2106,2048,194.3,12.8,450,6854,0.00,2.55,0.00,0.000,516,0.000,0.083,2615,740,2077,2105,2049,0,0,0,0,0,0,14.56,14.32,14.57,6.23,50.00
$GC,6899,0.64,146.0,2615,745,2101,2049,189.3,12.7,452,6903,0.00,2.42,0.00,0.000,5126,0.000,0.060,2616,2132,2075,2103,2048,0,0,0,0,0,0,14.41,14.35,14.43,6.23,50.47
$GC,7209,0.64,146.0,2615,2133,2103,2047,146.3,14.0,468,7213,0.00,2.55,0.00,0.000,4356,0.000,0.088,2615,3559,2073,2102,2045,0,0,0,0,0,0,14.69,14.43,14.69,6.24,50.43
$GC,7244,0.64,146.0,2616,3560,2102,2047,143.4,14.3,469,7249,0.05,2.40,0.00,0.000,5126,0.343,0.054,2608,2148,2074,2102,2046,0,0,0,0,0,0,14.33,14.47,14.47,6.23,50.78
$GC,7549,0.64,146.0,2608,2148,2102,2044,104.2,11.6,485,7553,0.00,2.50,0.00,0.000,4612,0.000,0.080,2618,738,2072,2102,2042,0,0,0,0,0,0,14.76,14.50,14.76,6.21,49.52
$GC,7574,0.64,146.0,2618,739,2102,2041,101.9,11.5,486,7578,0.00,2.42,0.00,0.000,5126,0.000,0.058,2618,2152,2071,2101,2042,0,0,0,0,0,0,14.58,14.52,14.60,6.21,50.31
$GC,7879,0.64,146.0,2618,2152,2101,2042,66.6,10.8,545,7884,0.00,2.50,0.00,0.000,4356,0.000,0.089,2618,3557,2071,2101,2041,0,0,0,0,0,0,14.78,14.53,14.78,6.20,48.74
$GC,7934,0.64,146.0,2618,3556,2101,2042,60.5,10.7,556,7939,0.05,2.38,0.00,0.000,5126,0.342,0.051,2609,2153,2070,2100,2041,0,0,0,0,0,0,14.42,14.56,14.56,6.20,48.58
$GC,8060,0.64,146.0,2610,2153,2102,2038,48.2,10.2,581,8064,0.00,2.47,0.00,0.000,4612,0.000,0.080,2624,728,2070,2100,2040,0,0,0,0,0,0,14.78,14.55,14.78,6.19,49.17
$GC,8099,0.64,146.0,2619,729,2101,2041,44.2,9.8,589,8105,0.03,2.42,0.00,0.000,5126,0.415,0.059,2609,2145,2073,2100,2047,0,0,0,0,0,0,14.41,14.55,14.54,6.19,48.70
$GC,8224,0.64,146.0,2609,2144,2101,2040,32.0,9.0,614,8229,0.00,2.50,0.00,0.000,4356,0.000,0.088,2609,3553,2070,2100,2040,0,0,0,0,0,0,14.79,14.54,14.79,6.19,48.62
$GC,8339,0.64,146.0,2609,3554,2101,2041,20.9,9.7,637,8344,0.00,2.38,0.00,0.000,5126,0.000,0.050,2618,2148,2070,2100,2040,0,0,0,0,0,0,14.63,14.58,14.64,6.19,48.97
$GC,8465,0.64,146.0,2617,2149,2100,2039,8.9,9.9,662,8469,0.00,2.45,0.00,0.000,4612,0.000,0.080,2628,740,2069,2100,2039,0,0,0,0,0,0,14.80,14.56,14.80,6.19,49.17
$GC,8504,0.64,146.0,2629,741,2100,2039,5.1,9.2,670,8509,0.05,2.40,0.00,0.000,5126,0.341,0.059,2609,2142,2068,2098,2039,0,0,0,0,0,0,14.44,14.57,14.58,6.19,49.48
$STATE,8528,end climb,SURFACE_DEPTH_REACHED
$STATE,8528,begin surface coast
$STATE,8558,end surface coast,CONTROL_FINISHED_OK
$STATE,8558,begin surface
$SM_CCo,8570,68.60,0.254,0,0,1790,220.03
$SM_GC,1.16,5.62,0.08,68.60,0.107,0.174,0.254,244,2083,1790,-6.48,0.76,220.03,0,0,0,0,0,0,14.64,14.59,14.38
$IRIDIUM_FIX,-6002.25,-8.62,221218,132548
$TT8_MAMPS,0.039697,0.090629
$HUMID,48.74
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3886048
$24V_AH,13.30,19.115
$10V_AH,13.44,0.000
$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,13.125,73.700,264.425,68.600,0.000,24.862,44.099,90.210,0.000,0.000,15.339,0.000,6897.895,448.293,1496.386,58.996,0.000,1042.695,0.000,1070.297,0.000,0.539,0.000
$DEVICE_MAMPS,474.300,191.250,1604.970,253.980,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4969.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.904,0.000,0.000,0.000
$MEM,344060
$DATA_FILE_SIZE,17310,681
$CAP_FILE_SIZE,89581,0
$CFSIZE,1023623168,1012793344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.084,220.02,1
$GPS,221218,182435,-6004.335,-12.170,36,0.8,40,-19.6,0.3,77.5,9,9.6