version: 66.14
glider: 640
mission: 5
dive: 89
start: 12 24 118 21 48 0
data:
$ID,640
$MISSION,5
$DIVE,89
$N_DIVES,160
$STOP_T,12311812
$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,49
$R_STBD_OVSHOOT,27
$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
$GPS1,241218,214331,-5955.0342,-10.3270,13,0.8,30,-19.6,0.0,293.1,11,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-62.1
$GPS2,241218,214742,-5955.0503,-10.3483,9,0.8,15,-19.6,0.0,195.9,11,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,32.2,102430,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-0.64,-146.0,234,2075,1768,1799,0.0,0.0,0,95,0.00,0.00,-84.00,0.000,16386,0.000,0.000,233,2075,3094,3177,3012,0,0,0,0,0,0,14.62,28.83,14.63,6.16,49.72
$GC,96,-0.64,-146.0,234,2076,3177,3014,3.1,-5.8,17,115,6.05,2.78,-7.60,0.000,18692,0.373,2.283,2172,3503,3288,3383,3193,0,0,0,0,0,0,14.22,13.49,14.40,6.27,48.89
$GC,245,-0.64,-146.0,2172,3504,3383,3194,26.8,-17.2,47,249,0.05,2.35,0.00,0.000,3078,0.353,0.045,2188,2128,3288,3382,3194,0,0,0,0,0,0,14.28,14.44,14.42,6.29,48.34
$GC,370,-0.64,-146.0,2189,2128,3384,3194,46.8,-14.8,72,371,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2127,3288,3382,3194,0,0,0,0,0,0,14.67,14.67,14.67,6.29,49.13
$GC,490,-0.64,-146.0,2188,2128,3383,3195,64.5,-14.6,96,494,0.00,2.53,0.00,0.000,2564,0.000,0.071,2188,694,3288,3383,3194,0,0,0,0,0,0,14.70,14.46,14.70,6.29,48.89
$GC,515,-0.64,-146.0,2189,695,3383,3196,68.2,-15.1,101,520,0.00,2.42,0.00,0.000,3078,0.000,0.060,2179,2097,3289,3383,3195,0,0,0,0,0,0,14.52,14.47,14.54,6.29,48.77
$GC,640,-0.64,-146.0,2180,2097,3385,3195,86.5,-14.6,126,641,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2097,3288,3383,3194,0,0,0,0,0,0,14.71,14.72,14.71,6.29,48.66
$GC,760,-0.64,-146.0,2180,2097,3384,3194,103.2,-13.5,147,761,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2096,3288,3383,3194,0,0,0,0,0,0,14.73,14.73,14.73,6.28,48.54
$GC,1060,-0.64,-146.0,2180,2096,3384,3194,144.1,-13.1,162,1064,0.00,2.50,0.00,0.000,2308,0.000,0.086,2169,3509,3288,3382,3194,0,0,0,0,0,0,14.78,14.52,14.78,6.29,49.40
$GC,1100,-0.64,-146.0,2168,3510,3384,3196,149.3,-12.9,164,1104,0.05,2.40,0.00,0.000,3078,0.373,0.047,2186,2089,3288,3383,3194,0,0,0,0,0,0,14.40,14.56,14.54,6.29,49.68
$GC,1420,-0.64,-146.0,2186,2088,3384,3194,191.2,-13.1,180,1425,0.00,2.42,0.00,0.000,2564,0.000,0.072,2186,700,3288,3383,3194,0,0,0,0,0,0,14.81,14.57,14.81,6.30,50.94
$GC,1500,-0.64,-146.0,2186,700,3384,3194,201.4,-12.7,184,1505,0.00,2.40,0.00,0.000,3078,0.000,0.060,2177,2098,3288,3382,3194,0,0,0,0,0,0,14.63,14.58,14.65,6.30,50.51
$GC,1820,-0.64,-146.0,2177,2098,3384,3194,242.4,-12.9,200,1821,0.05,0.00,0.00,0.000,2054,0.484,0.000,2190,2098,3288,3382,3194,0,0,0,0,0,0,14.46,14.69,14.66,6.31,51.14
$GC,2120,-0.64,-146.0,2190,2099,3383,3194,278.1,-11.7,215,2124,0.00,2.45,0.00,0.000,2564,0.000,0.070,2190,695,3288,3382,3194,0,0,0,0,0,0,14.85,14.60,14.85,6.32,51.45
$GC,2155,-0.64,-146.0,2190,696,3383,3195,280.6,-11.8,216,2159,0.00,2.40,0.00,0.000,3078,0.000,0.059,2180,2099,3288,3382,3194,0,0,0,0,0,0,14.66,14.62,14.69,6.32,51.49
$GC,2460,-0.64,-146.0,2181,2100,3383,3194,319.4,-12.2,232,2464,0.00,2.45,0.00,0.000,2308,0.000,0.086,2170,3499,3288,3382,3194,0,0,0,0,0,0,14.86,14.60,14.86,6.32,51.53
$GC,2485,-0.64,-146.0,2170,3501,3382,3195,321.9,-12.3,233,2489,0.05,2.35,0.00,0.000,3078,0.366,0.047,2188,2097,3287,3381,3194,0,0,0,0,0,0,14.47,14.64,14.62,6.33,51.41
$STATE,2719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2719,begin apogee
$GC,2722,-0.15,0.0,2188,2167,3383,3194,351.2,-12.2,245,2854,0.45,0.00,129.25,1.611,10246,0.274,0.000,2349,2167,2690,2749,2632,0,0,0,0,0,0,14.52,13.90,13.30,6.34,51.18
$STATE,2855,end apogee,CONTROL_FINISHED_OK
$STATE,2855,begin loiter
$GC,3140,-0.15,0.0,2349,2167,2741,2617,348.3,2.9,266,3140,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2678,2740,2616,0,0,0,0,0,0,14.55,14.55,14.55,6.28,50.27
$GC,3440,-0.15,0.0,2349,2167,2740,2615,339.5,2.9,281,3440,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2677,2740,2614,0,0,0,0,0,0,14.69,14.69,14.70,6.28,50.59
$GC,3740,-0.15,0.0,2349,2167,2741,2614,330.6,3.0,296,3740,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2676,2740,2612,0,0,0,0,0,0,14.78,14.78,14.78,6.28,50.82
$GC,4040,-0.15,0.0,2350,2167,2741,2612,320.7,3.4,311,4041,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2676,2740,2612,0,0,0,0,0,0,14.83,14.83,14.83,6.29,51.10
$GC,4340,-0.15,0.0,2349,2167,2741,2613,310.3,3.6,326,4341,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2676,2740,2612,0,0,0,0,0,0,14.88,14.88,14.88,6.28,51.29
$GC,4640,-0.15,0.0,2350,2167,2741,2611,299.4,3.7,341,4640,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2675,2740,2611,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.06
$GC,4940,-0.15,0.0,2350,2167,2741,2611,288.3,3.8,356,4940,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2675,2740,2611,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.10
$GC,5240,-0.15,0.0,2349,2167,2741,2612,277.4,3.5,371,5240,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2675,2740,2611,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.02
$GC,5540,-0.15,0.0,2350,2167,2741,2610,266.8,3.6,386,5541,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2674,2740,2609,0,0,0,0,0,0,14.99,14.98,14.99,6.28,51.26
$GC,5840,-0.15,0.0,2349,2167,2740,2611,256.0,3.7,401,5841,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2675,2740,2610,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.41
$GC,6140,-0.15,0.0,2350,2167,2741,2610,244.6,3.8,416,6140,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2675,2740,2610,0,0,0,0,0,0,15.02,15.02,15.02,6.27,50.98
$STATE,6439,end loiter,LOITER_COMPLETE
$STATE,6439,begin climb
$GC,6440,0.64,146.0,2349,2167,2741,2611,233.3,0.0,431,6580,0.60,2.55,132.93,1.436,10500,0.174,0.084,2592,3543,2089,2114,2064,0,0,0,0,0,0,14.71,13.95,13.44,6.27,51.02
$GC,6625,0.64,146.0,2592,3544,2112,2059,219.6,9.8,440,6629,0.00,2.42,0.00,0.000,1030,0.000,0.048,2602,2159,2084,2112,2057,0,0,0,0,0,0,14.14,14.09,14.16,6.23,49.29
$GC,6940,0.64,146.0,2604,2159,2106,2058,183.2,11.1,456,6944,0.00,2.55,0.00,0.000,516,0.000,0.077,2615,744,2076,2104,2048,0,0,0,0,0,0,14.58,14.34,14.59,6.25,50.19
$GC,6995,0.64,146.0,2614,744,2104,2047,178.9,10.9,458,7000,0.00,2.42,0.00,0.000,5126,0.000,0.057,2614,2139,2074,2102,2047,0,0,0,0,0,0,14.43,14.38,14.45,6.23,49.96
$GC,7300,0.64,146.0,2615,2139,2103,2044,142.7,11.4,474,7305,0.00,2.53,0.00,0.000,4356,0.000,0.086,2613,3553,2072,2102,2043,0,0,0,0,0,0,14.71,14.45,14.71,6.23,50.90
$GC,7395,0.64,146.0,2615,3554,2103,2043,133.4,11.5,478,7399,0.05,2.38,0.00,0.000,5126,0.345,0.048,2606,2155,2072,2102,2043,0,0,0,0,0,0,14.35,14.50,14.48,6.23,50.66
$GC,7700,0.64,146.0,2607,2156,2103,2041,97.5,10.7,497,7704,0.00,2.47,0.00,0.000,4612,0.000,0.076,2616,729,2071,2102,2041,0,0,0,0,0,0,14.77,14.53,14.77,6.22,50.27
$GC,7735,0.64,146.0,2616,729,2102,2040,93.9,10.2,504,7739,0.00,2.45,0.00,0.000,5126,0.000,0.057,2616,2156,2072,2101,2044,0,0,0,0,0,0,14.57,14.54,14.60,6.22,50.47
$GC,7860,0.64,146.0,2616,2155,2102,2040,80.4,10.8,529,7864,0.00,2.47,0.00,0.000,4356,0.000,0.088,2616,3548,2070,2101,2040,0,0,0,0,0,0,14.78,14.52,14.78,6.20,49.17
$GC,7915,0.64,146.0,2617,3548,2102,2040,74.3,10.7,540,7919,0.05,2.38,0.00,0.000,5126,0.347,0.048,2608,2141,2070,2101,2040,0,0,0,0,0,0,14.42,14.54,14.56,6.21,48.70
$GC,8040,0.64,146.0,2609,2142,2101,2041,61.9,10.0,565,8044,0.00,2.42,0.00,0.000,4612,0.000,0.076,2618,744,2068,2101,2036,0,0,0,0,0,0,14.79,14.55,14.79,6.19,49.33
$GC,8090,0.64,146.0,2618,745,2101,2041,56.9,9.9,575,8095,0.00,2.40,0.00,0.000,5126,0.000,0.057,2618,2144,2069,2100,2039,0,0,0,0,0,0,14.63,14.57,14.64,6.21,48.93
$GC,8215,0.64,146.0,2618,2145,2101,2039,43.7,10.8,600,8219,0.00,2.50,0.00,0.000,4356,0.000,0.088,2618,3550,2069,2100,2039,0,0,0,0,0,0,14.81,14.54,14.81,6.20,48.77
$GC,8240,0.64,146.0,2618,3551,2101,2041,40.8,11.5,605,8244,0.05,2.38,0.00,0.000,5126,0.338,0.051,2609,2148,2070,2100,2040,0,0,0,0,0,0,14.44,14.58,14.57,6.19,48.70
$GC,8365,0.64,146.0,2610,2148,2101,2039,28.5,9.1,630,8369,0.00,2.47,0.00,0.000,4612,0.000,0.076,2619,747,2069,2100,2039,0,0,0,0,0,0,14.81,14.56,14.81,6.19,48.81
$GC,8405,0.65,158.2,2619,748,2101,2038,25.0,7.9,638,8415,0.00,2.40,5.55,1.241,13318,0.000,0.058,2619,2149,2040,2068,2013,0,0,0,0,0,0,14.64,14.58,13.88,6.20,49.33
$GC,8535,0.65,158.2,2618,2148,2071,2017,13.8,9.0,664,8539,0.00,2.50,0.00,0.000,4356,0.000,0.087,2619,3557,2043,2070,2016,0,0,0,0,0,0,14.78,14.52,14.78,6.19,49.21
$GC,8590,0.65,158.2,2619,3560,2071,2020,7.2,11.8,675,8595,0.05,2.38,0.00,0.000,5126,0.350,0.049,2611,2150,2044,2069,2019,0,0,0,0,0,0,14.40,14.55,14.56,6.15,49.44
$STATE,8629,end climb,SURFACE_DEPTH_REACHED
$STATE,8629,begin surface coast
$STATE,8659,end surface coast,CONTROL_FINISHED_OK
$STATE,8659,begin surface
$SM_CCo,8670,61.80,0.253,0,0,1792,220.03
$SM_GC,1.23,5.43,0.08,61.80,0.064,0.181,0.253,265,2097,1792,-6.45,0.90,220.03,0,0,0,0,0,0,14.64,14.57,14.38
$IRIDIUM_FIX,-5954.49,-8.58,241218,191444
$TT8_MAMPS,0.038948,0.083139
$HUMID,49.05
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,1
$SC_FREEKB,3875296
$24V_AH,13.30,22.656
$10V_AH,13.62,0.000
$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,12.925,73.700,267.725,61.800,0.000,23.220,15.468,106.954,0.250,0.000,16.346,0.000,6953.486,451.852,1513.912,69.390,0.000,1045.413,0.000,1094.209,0.000,0.539,0.000
$DEVICE_MAMPS,484.245,2282.760,1611.090,253.215,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5069.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.818,0.000,0.000,0.000
$MEM,344036
$DATA_FILE_SIZE,17325,689
$CAP_FILE_SIZE,90208,0
$CFSIZE,1023623168,1010728960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.050,163.19,1
$GPS,251218,001431,-5954.699,-10.020,21,0.7,38,-19.6,0.7,91.2,12,8.3