version: 66.14
glider: 640
mission: 5
dive: 72
start: 12 23 118 2 1 52
data:
$ID,640
$MISSION,5
$DIVE,72
$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,31
$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
$GPS1,231218,015719,-6002.8794,-11.7923,12,0.9,42,-19.6,0.7,291.4,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-64.7
$GPS2,231218,020134,-6002.8735,-11.8204,12,0.9,15,-19.6,0.7,224.7,10,9.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,34.4,116986,-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,-146.0,235,2091,1767,1799,0.0,0.0,0,104,0.00,0.00,-93.30,0.000,16386,0.000,0.000,234,2092,3207,3286,3128,0,0,0,0,0,0,14.62,28.83,14.62,6.15,49.96
$GC,105,-0.64,-146.0,235,2092,3287,3130,3.2,-7.0,19,119,6.00,2.70,-3.08,0.000,18692,0.367,2.285,2178,3506,3287,3374,3201,0,0,0,0,0,0,14.25,13.50,14.40,6.27,49.37
$GC,144,-0.64,-146.0,2178,3508,3377,3200,10.6,-16.6,27,149,0.03,2.40,0.00,0.000,3078,0.455,0.047,2187,2097,3288,3376,3200,0,0,0,0,0,0,14.22,14.40,14.38,6.29,48.42
$GC,269,-0.64,-146.0,2187,2097,3378,3200,31.8,-17.6,52,273,0.00,2.47,0.00,0.000,2564,0.000,0.073,2186,702,3289,3377,3201,0,0,0,0,0,0,14.65,14.41,14.65,6.28,48.62
$GC,319,-0.64,-146.0,2187,703,3378,3201,40.8,-17.1,62,323,0.03,2.42,0.00,0.000,3078,0.468,0.063,2185,2098,3289,3377,3201,0,0,0,0,0,0,14.27,14.42,14.42,6.28,48.85
$GC,444,-0.64,-146.0,2185,2098,3377,3202,59.9,-14.8,87,449,0.00,2.50,0.00,0.000,2308,0.000,0.088,2175,3525,3289,3377,3201,0,0,0,0,0,0,14.69,14.45,14.69,6.28,48.93
$GC,509,-0.64,-146.0,2175,3526,3378,3201,69.7,-15.2,100,513,0.05,2.40,0.00,0.000,3078,0.363,0.048,2192,2108,3289,3377,3201,0,0,0,0,0,0,14.32,14.48,14.46,6.29,48.97
$GC,634,-0.64,-146.0,2192,2108,3378,3201,87.7,-14.3,125,638,0.00,2.50,0.00,0.000,2564,0.000,0.072,2192,664,3293,3376,3210,0,0,0,0,0,0,14.72,14.49,14.72,6.29,48.58
$GC,654,-0.64,-146.0,2192,665,3377,3202,90.7,-15.1,129,658,0.00,2.50,0.00,0.000,3078,0.000,0.063,2182,2103,3289,3377,3201,0,0,0,0,0,0,14.54,14.49,14.57,6.28,48.62
$GC,779,-0.64,-146.0,2182,2104,3377,3201,110.4,-16.1,145,783,0.00,2.47,0.00,0.000,2308,0.000,0.086,2172,3505,3289,3377,3201,0,0,0,0,0,0,14.75,14.49,14.75,6.28,48.77
$GC,799,-0.64,-146.0,2172,3505,3377,3200,113.6,-16.1,146,803,0.05,2.38,0.00,0.000,3078,0.373,0.049,2188,2100,3289,3377,3201,0,0,0,0,0,0,14.37,14.52,14.51,6.28,49.05
$GC,1119,-0.64,-146.0,2189,2100,3378,3201,157.6,-12.6,162,1123,0.00,2.47,0.00,0.000,2564,0.000,0.071,2188,690,3289,3377,3201,0,0,0,0,0,0,14.79,14.54,14.80,6.28,50.19
$GC,1204,-0.64,-146.0,2189,690,3377,3202,167.0,-11.7,166,1208,0.03,2.42,0.00,0.000,3078,0.468,0.060,2186,2102,3289,3377,3201,0,0,0,0,0,0,14.39,14.57,14.55,6.29,49.92
$GC,1519,-0.64,-146.0,2186,2103,3377,3201,205.8,-12.6,182,1524,0.00,2.45,0.00,0.000,2308,0.000,0.087,2176,3493,3288,3377,3200,0,0,0,0,0,0,14.83,14.57,14.83,6.34,51.14
$GC,1549,-0.64,-146.0,2176,3497,3377,3202,208.3,-12.6,183,1553,0.05,2.35,0.00,0.000,3078,0.363,0.047,2193,2097,3288,3377,3200,0,0,0,0,0,0,14.45,14.59,14.59,6.30,50.59
$GC,1859,-0.64,-146.0,2194,2096,3377,3201,246.8,-12.0,199,1863,0.00,2.45,0.00,0.000,516,0.000,0.072,2194,692,3288,3377,3200,0,0,0,0,0,0,14.85,14.60,14.85,6.31,51.14
$GC,1889,-0.64,-146.0,2194,692,3377,3201,249.3,-12.1,200,1893,0.00,2.40,0.00,0.000,3078,0.000,0.060,2184,2098,3288,3377,3200,0,0,0,0,0,0,14.66,14.62,14.69,6.31,51.45
$GC,2199,-0.64,-146.0,2185,2099,3378,3199,288.1,-12.1,216,2199,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2098,3291,3384,3199,0,0,0,0,0,0,14.87,14.88,14.88,6.31,51.37
$GC,2499,-0.64,-146.0,2185,2098,3378,3199,323.7,-11.9,231,2499,0.00,0.00,0.00,0.000,2054,0.000,0.000,2184,2098,3288,3377,3199,0,0,0,0,0,0,14.89,14.89,14.89,6.33,52.24
$STATE,2738,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2738,begin apogee
$GC,2741,-0.15,0.0,2185,2184,3377,3200,352.3,-12.0,243,2875,0.45,0.00,131.57,1.607,10246,0.270,0.000,2346,2183,2691,2749,2633,0,0,0,0,0,0,14.55,13.90,13.29,6.33,51.41
$STATE,2876,end apogee,CONTROL_FINISHED_OK
$STATE,2876,begin loiter
$GC,3159,-0.15,0.0,2346,2184,2741,2618,347.4,3.5,264,3160,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2183,2678,2740,2616,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.51
$GC,3459,-0.15,0.0,2347,2184,2741,2614,337.2,3.4,279,3460,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2183,2677,2740,2614,0,0,0,0,0,0,14.69,14.69,14.69,6.28,50.78
$GC,3759,-0.15,0.0,2346,2184,2741,2614,327.1,3.3,294,3760,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2183,2677,2741,2613,0,0,0,0,0,0,14.76,14.77,14.76,6.28,50.90
$GC,4059,-0.15,0.0,2346,2184,2741,2612,317.2,3.3,309,4060,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2183,2675,2739,2612,0,0,0,0,0,0,14.82,14.83,14.83,6.28,51.57
$GC,4359,-0.15,0.0,2347,2184,2741,2612,307.1,3.4,324,4360,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2183,2676,2740,2612,0,0,0,0,0,0,14.87,14.88,14.87,6.27,50.98
$GC,4659,-0.15,0.0,2346,2184,2740,2613,296.7,3.5,339,4660,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2183,2676,2740,2612,0,0,0,0,0,0,14.90,14.90,14.90,6.27,50.98
$GC,4959,-0.15,0.0,2346,2184,2741,2612,285.9,3.7,354,4960,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2184,2675,2740,2610,0,0,0,0,0,0,14.93,14.93,14.94,6.28,50.98
$GC,5259,-0.15,0.0,2346,2184,2741,2613,275.0,3.6,369,5260,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2183,2675,2740,2611,0,0,0,0,0,0,14.95,14.96,14.95,6.28,51.02
$GC,5559,-0.15,0.0,2347,2183,2741,2611,264.1,3.6,384,5560,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2183,2675,2740,2611,0,0,0,0,0,0,14.97,14.97,14.97,6.27,51.26
$GC,5859,-0.15,0.0,2347,2184,2741,2611,253.5,3.5,399,5860,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2183,2675,2740,2611,0,0,0,0,0,0,14.99,14.99,15.00,6.28,51.06
$GC,6159,-0.15,0.0,2346,2184,2740,2612,243.1,3.4,414,6160,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2183,2675,2740,2611,0,0,0,0,0,0,15.00,15.01,15.00,6.27,50.90
$STATE,6458,end loiter,LOITER_COMPLETE
$STATE,6458,begin climb
$GC,6459,0.64,146.0,2346,2183,2740,2612,233.1,0.0,429,6601,0.62,2.60,134.00,1.431,10756,0.181,0.076,2607,750,2089,2113,2065,0,0,0,0,0,0,14.70,13.95,13.43,6.27,51.10
$GC,6619,0.64,146.0,2608,750,2113,2061,221.8,8.9,437,6624,0.00,2.45,0.00,0.000,5126,0.000,0.058,2607,2122,2085,2111,2059,0,0,0,0,0,0,14.07,14.02,14.09,6.23,48.66
$GC,6939,0.64,146.0,2608,2123,2107,2048,183.8,11.8,453,6944,0.00,2.58,0.00,0.000,4356,0.000,0.086,2608,3552,2077,2106,2048,0,0,0,0,0,0,14.57,14.31,14.57,6.23,49.88
$GC,7014,0.64,146.0,2608,3552,2105,2049,176.5,12.1,456,7019,0.00,2.38,0.00,0.000,5126,0.000,0.049,2618,2156,2076,2105,2048,0,0,0,0,0,0,14.42,14.38,14.44,6.24,49.96
$GC,7319,0.64,146.0,2617,2156,2104,2048,136.5,11.8,472,7324,0.00,2.53,0.00,0.000,4612,0.000,0.077,2629,741,2074,2103,2046,0,0,0,0,0,0,14.71,14.43,14.69,6.23,50.07
$GC,7369,0.64,146.0,2629,741,2103,2045,131.9,11.7,474,7374,0.05,2.42,0.00,0.000,5126,0.323,0.059,2609,2153,2076,2102,2051,0,0,0,0,0,0,14.35,14.47,14.48,6.22,49.84
$GC,7675,0.64,146.0,2609,2149,2102,2044,96.4,11.7,492,7675,0.00,0.00,0.00,0.000,4102,0.000,0.000,2609,2148,2072,2102,2042,0,0,0,0,0,0,14.75,14.76,14.75,6.21,49.37
$GC,7794,0.64,146.0,2610,2148,2103,2042,82.7,11.2,516,7800,0.00,2.47,0.00,0.000,4356,0.000,0.086,2609,3545,2072,2102,2042,0,0,0,0,0,0,14.76,14.50,14.76,6.20,49.17
$GC,7829,0.64,146.0,2609,3545,2102,2043,78.5,12.0,523,7834,0.00,2.35,0.00,0.000,5126,0.000,0.049,2618,2152,2071,2101,2042,0,0,0,0,0,0,14.60,14.54,14.62,6.20,49.13
$GC,7954,0.64,146.0,2618,2152,2102,2042,64.8,10.7,548,7960,0.03,2.50,0.00,0.000,4612,0.615,0.077,2617,740,2071,2102,2041,0,0,0,0,0,0,14.45,14.52,14.63,6.20,49.44
$GC,8009,0.64,146.0,2618,740,2102,2041,59.5,9.2,559,8014,0.00,2.40,0.00,0.000,5126,0.000,0.057,2617,2141,2070,2101,2040,0,0,0,0,0,0,14.60,14.55,14.62,6.19,49.09
$GC,8135,0.64,146.0,2617,2143,2102,2042,47.3,9.8,584,8140,0.00,2.50,0.00,0.000,4356,0.000,0.089,2618,3573,2070,2100,2040,0,0,0,0,0,0,14.78,14.54,14.78,6.19,48.70
$GC,8229,0.64,146.0,2618,3573,2103,2041,38.2,9.1,603,8234,0.05,2.40,0.00,0.000,5126,0.340,0.047,2609,2147,2071,2101,2041,0,0,0,0,0,0,14.42,14.57,14.57,6.19,48.58
$GC,8355,0.64,146.0,2610,2147,2102,2041,27.3,9.3,628,8360,0.00,2.47,0.00,0.000,4612,0.000,0.075,2618,746,2070,2101,2040,0,0,0,0,0,0,14.79,14.54,14.79,6.19,48.81
$GC,8394,0.64,146.0,2619,746,2101,2041,23.7,8.9,636,8400,0.00,2.40,0.00,0.000,5126,0.000,0.057,2627,2152,2070,2100,2040,0,0,0,0,0,0,14.62,14.56,14.64,6.18,49.37
$GC,8520,0.64,146.0,2619,2152,2102,2041,11.7,10.3,661,8520,0.00,0.00,0.00,0.000,4102,0.000,0.000,2619,2152,2070,2100,2040,0,0,0,0,0,0,14.79,14.80,14.80,6.19,49.09
$STATE,8608,end climb,SURFACE_DEPTH_REACHED
$STATE,8608,begin surface coast
$STATE,8633,end surface coast,CONTROL_FINISHED_OK
$STATE,8634,begin surface
$SM_CCo,8645,68.97,0.252,0,0,1791,220.03
$SM_GC,1.01,5.47,0.08,68.97,0.072,0.170,0.252,271,2075,1791,-6.44,1.05,220.03,0,0,0,0,0,0,14.64,14.59,14.38
$IRIDIUM_FIX,-6001.20,-209.18,221218,233001
$TT8_MAMPS,0.035952,0.091378
$HUMID,49.37
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3884000
$24V_AH,13.29,19.767
$10V_AH,13.45,0.000
$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,12.900,73.925,265.575,68.975,0.000,25.213,38.388,94.196,0.000,0.000,17.145,0.000,6950.713,444.937,1517.599,61.894,0.000,1047.643,0.000,1091.163,0.000,0.539,0.000
$DEVICE_MAMPS,615.060,2285.055,1607.265,252.450,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5044.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.904,0.000,0.000,0.000
$MEM,344088
$DATA_FILE_SIZE,17332,684
$CAP_FILE_SIZE,90450,0
$CFSIZE,1023623168,1012400128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.067,247.05,1
$GPS,231218,042807,-6002.418,-12.060,34,0.8,40,-19.6,0.8,222.5,10,10.0