version: 66.14
glider: 640
mission: 5
dive: 66
start: 12 22 118 10 57 58
data:
$ID,640
$MISSION,5
$DIVE,66
$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,52
$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
$GPS1,221218,105325,-6005.8042,-11.7010,17,0.7,40,-19.6,0.6,89.8,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-69.7
$GPS2,221218,105740,-6005.7808,-11.7173,12,0.7,14,-19.6,0.0,276.4,12,9.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,20.6,122338,-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,6,begin dive
$GC,8,-0.64,-146.0,235,2073,1764,1799,0.0,0.0,0,105,0.00,0.00,-94.68,0.000,16386,0.000,0.000,234,2072,3228,3305,3151,0,0,0,0,0,0,14.60,28.83,14.61,6.15,49.44
$GC,106,-0.64,-146.0,234,2073,3307,3151,3.1,-7.1,19,120,6.10,2.75,-2.25,0.000,18692,0.387,2.284,2181,3509,3287,3373,3201,0,0,0,0,0,0,14.22,13.48,14.46,6.27,48.77
$GC,239,-0.64,-146.0,2182,3509,3376,3200,25.7,-14.9,46,244,0.00,2.35,0.00,0.000,3078,0.000,0.047,2181,2132,3288,3376,3201,0,0,0,0,0,0,14.46,14.41,14.48,6.29,47.99
$GC,364,-0.64,-146.0,2181,2131,3376,3202,48.0,-17.4,71,368,0.00,2.55,0.00,0.000,2564,0.000,0.073,2181,691,3288,3375,3201,0,0,0,0,0,0,14.66,14.42,14.66,6.29,48.30
$GC,444,-0.64,-146.0,2182,692,3375,3202,60.8,-14.4,87,448,0.05,2.45,0.00,0.000,3078,0.373,0.062,2187,2100,3288,3375,3201,0,0,0,0,0,0,14.31,14.43,14.45,6.29,48.62
$GC,569,-0.64,-146.0,2187,2101,3377,3201,79.6,-15.4,112,570,0.00,0.00,0.00,0.000,2054,0.000,0.000,2187,2100,3288,3375,3201,0,0,0,0,0,0,14.71,14.71,14.70,6.29,48.77
$GC,689,-0.64,-146.0,2186,2101,3377,3200,97.5,-14.8,136,689,0.00,0.00,0.00,0.000,2054,0.000,0.000,2187,2100,3288,3375,3201,0,0,0,0,0,0,14.73,14.73,14.73,6.28,48.42
$GC,809,-0.64,-146.0,2187,2101,3377,3201,115.7,-15.1,145,813,0.00,2.50,0.00,0.000,2308,0.000,0.087,2177,3502,3289,3377,3201,0,0,0,0,0,0,14.75,14.50,14.75,6.28,48.97
$GC,829,-0.64,-146.0,2178,3502,3377,3201,118.7,-14.9,146,833,0.03,2.38,0.00,0.000,3078,0.463,0.049,2185,2098,3288,3376,3201,0,0,0,0,0,0,14.36,14.52,14.50,6.28,48.89
$GC,1149,-0.64,-146.0,2185,2097,3376,3202,164.7,-14.1,162,1153,0.00,2.47,0.00,0.000,2564,0.000,0.074,2185,686,3288,3375,3201,0,0,0,0,0,0,14.80,14.54,14.80,6.29,50.31
$GC,1229,-0.64,-146.0,2185,687,3376,3202,175.3,-13.2,166,1233,0.05,2.42,0.00,0.000,3078,0.382,0.060,2192,2099,3289,3378,3201,0,0,0,0,0,0,14.41,14.56,14.55,6.29,50.00
$GC,1549,-0.64,-146.0,2192,2101,3376,3201,213.5,-11.5,182,1553,0.00,2.50,0.00,0.000,2308,0.000,0.089,2182,3509,3287,3375,3200,0,0,0,0,0,0,14.83,14.57,14.83,6.30,51.57
$GC,1574,-0.64,-146.0,2183,3510,3376,3201,215.8,-11.6,183,1578,0.00,2.38,0.00,0.000,3078,0.000,0.049,2182,2098,3287,3375,3200,0,0,0,0,0,0,14.66,14.62,14.67,6.30,51.22
$GC,1889,-0.64,-146.0,2183,2097,3376,3200,253.4,-11.8,199,1894,0.00,2.45,0.00,0.000,2564,0.000,0.073,2182,695,3288,3376,3200,0,0,0,0,0,0,14.85,14.60,14.85,6.31,51.22
$GC,1929,-0.64,-146.0,2181,695,3376,3201,258.3,-12.0,201,1934,0.05,2.40,0.00,0.000,3078,0.371,0.060,2188,2096,3288,3376,3200,0,0,0,0,0,0,14.45,14.61,14.61,6.31,51.14
$GC,2249,-0.64,-146.0,2188,2097,3376,3201,295.6,-12.0,217,2249,0.00,0.00,0.00,0.000,2054,0.000,0.000,2189,2096,3287,3375,3200,0,0,0,0,0,0,14.87,14.88,14.87,6.32,51.14
$GC,2549,-0.64,-146.0,2188,2097,3376,3201,331.7,-12.2,232,2549,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2096,3287,3375,3200,0,0,0,0,0,0,14.89,14.89,14.89,6.32,51.33
$STATE,2708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2708,begin apogee
$GC,2711,-0.15,0.0,2189,2180,3377,3200,351.6,-12.4,240,2845,0.45,0.00,131.38,1.599,10246,0.272,0.000,2357,2179,2688,2746,2631,0,0,0,0,0,0,14.54,13.90,13.29,6.32,51.33
$STATE,2846,end apogee,CONTROL_FINISHED_OK
$STATE,2846,begin loiter
$GC,3129,-0.15,0.0,2351,2180,2740,2615,349.1,2.8,261,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2179,2677,2739,2615,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.43
$GC,3429,-0.15,0.0,2351,2180,2739,2614,340.5,2.9,276,3430,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2179,2675,2738,2612,0,0,0,0,0,0,14.68,14.69,14.69,6.28,50.78
$GC,3729,-0.15,0.0,2351,2180,2740,2611,331.6,3.0,291,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2179,2675,2739,2611,0,0,0,0,0,0,14.76,14.77,14.77,6.28,51.22
$GC,4029,-0.15,0.0,2350,2180,2739,2610,322.5,3.0,306,4030,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2180,2674,2739,2610,0,0,0,0,0,0,14.82,14.83,14.83,6.28,51.37
$GC,4329,-0.15,0.0,2350,2180,2740,2611,313.4,3.0,321,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2179,2674,2739,2610,0,0,0,0,0,0,14.87,14.88,14.88,6.27,51.02
$GC,4629,-0.15,0.0,2351,2180,2739,2610,303.7,3.3,336,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2179,2673,2738,2609,0,0,0,0,0,0,14.90,14.90,14.90,6.27,50.90
$GC,4929,-0.15,0.0,2351,2180,2739,2610,293.4,3.5,351,4930,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2179,2674,2739,2609,0,0,0,0,0,0,14.93,14.93,14.93,6.28,50.98
$GC,5229,-0.15,0.0,2351,2180,2740,2609,282.5,3.8,366,5230,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2179,2673,2738,2608,0,0,0,0,0,0,14.95,14.96,14.96,6.27,50.86
$GC,5529,-0.15,0.0,2351,2180,2740,2608,271.0,3.8,381,5530,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2179,2673,2738,2609,0,0,0,0,0,0,14.97,14.97,14.97,6.27,51.57
$GC,5829,-0.15,0.0,2351,2180,2738,2610,259.7,3.8,396,5830,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2179,2673,2739,2608,0,0,0,0,0,0,14.99,15.00,14.99,6.27,50.94
$GC,6129,-0.15,0.0,2351,2180,2739,2609,248.5,3.7,411,6130,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2180,2673,2739,2608,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.33
$STATE,6428,end loiter,LOITER_COMPLETE
$STATE,6428,begin climb
$GC,6429,0.64,146.0,2351,2180,2740,2608,237.5,0.0,426,6570,0.60,2.45,133.32,1.419,11012,0.180,0.090,2591,3534,2088,2112,2064,0,0,0,0,0,0,14.71,13.94,13.43,6.27,50.90
$GC,6624,0.64,146.0,2592,3534,2111,2058,223.5,10.0,435,6630,0.00,2.42,0.00,0.000,1030,0.000,0.050,2602,2147,2083,2110,2056,0,0,0,0,0,0,14.15,14.10,14.17,6.23,48.62
$GC,6929,0.64,146.0,2602,2147,2106,2048,184.1,12.4,451,6934,0.00,2.53,0.00,0.000,516,0.000,0.080,2613,751,2076,2105,2048,0,0,0,0,0,0,14.57,14.33,14.57,6.23,49.80
$GC,6979,0.64,146.0,2613,752,2103,2049,179.4,12.2,453,6983,0.00,2.40,0.00,0.000,5126,0.000,0.060,2613,2126,2075,2102,2048,0,0,0,0,0,0,14.42,14.36,14.44,6.23,49.96
$GC,7289,0.64,146.0,2614,2127,2103,2044,139.7,12.2,469,7293,0.00,2.55,0.00,0.000,4356,0.000,0.088,2614,3555,2073,2102,2044,0,0,0,0,0,0,14.69,14.44,14.69,6.23,50.74
$GC,7354,0.64,146.0,2613,3556,2103,2045,132.3,12.3,472,7360,0.05,2.38,0.00,0.000,5126,0.347,0.052,2606,2158,2073,2102,2044,0,0,0,0,0,0,14.35,14.48,14.48,6.23,50.55
$GC,7659,0.64,146.0,2607,2158,2103,2042,98.2,10.9,489,7664,0.00,2.53,0.00,0.000,516,0.000,0.078,2615,737,2071,2102,2041,0,0,0,0,0,0,14.75,14.50,14.76,6.21,49.40
$GC,7749,0.64,146.0,2615,738,2101,2042,89.3,9.5,507,7754,0.00,2.42,0.00,0.000,5126,0.000,0.058,2615,2149,2070,2101,2040,0,0,0,0,0,0,14.59,14.53,14.61,6.21,49.21
$GC,7875,0.64,146.0,2615,2149,2102,2041,76.4,10.4,532,7879,0.00,2.50,0.00,0.000,4356,0.000,0.089,2615,3583,2070,2100,2040,0,0,0,0,0,0,14.77,14.52,14.77,6.20,48.93
$GC,7929,0.64,146.0,2615,3584,2101,2042,70.6,10.2,543,7934,0.05,2.42,0.00,0.000,5126,0.350,0.050,2608,2149,2071,2101,2041,0,0,0,0,0,0,14.42,14.55,14.55,6.20,48.54
$GC,8054,0.64,146.0,2609,2149,2102,2040,58.5,9.8,568,8059,0.00,2.47,0.00,0.000,4612,0.000,0.077,2617,748,2070,2100,2040,0,0,0,0,0,0,14.78,14.52,14.78,6.20,48.46
$GC,8099,0.64,146.0,2617,750,2101,2039,54.2,9.3,577,8104,0.00,2.40,0.00,0.000,5126,0.000,0.058,2617,2149,2070,2100,2040,0,0,0,0,0,0,14.62,14.56,14.63,6.20,48.93
$GC,8225,0.64,146.0,2618,2150,2102,2039,41.8,10.1,602,8229,0.00,2.50,0.00,0.000,4356,0.000,0.090,2617,3580,2070,2100,2040,0,0,0,0,0,0,14.78,14.54,14.78,6.19,48.62
$GC,8264,0.64,146.0,2618,3582,2101,2041,37.6,10.5,610,8270,0.05,2.40,0.00,0.000,5126,0.337,0.050,2609,2156,2070,2100,2040,0,0,0,0,0,0,14.43,14.57,14.57,6.19,48.70
$GC,8389,0.64,146.0,2610,2157,2101,2038,26.2,9.0,635,8394,0.00,2.47,0.00,0.000,4356,0.000,0.086,2609,3555,2069,2100,2039,0,0,0,0,0,0,14.79,14.54,14.80,6.19,48.77
$GC,8419,0.64,146.0,2610,3555,2101,2040,23.2,9.8,641,8424,0.00,2.38,0.00,0.000,5126,0.000,0.050,2618,2151,2070,2100,2040,0,0,0,0,0,0,14.62,14.57,14.64,6.19,48.70
$GC,8544,0.64,146.0,2618,2151,2101,2039,11.2,9.9,666,8549,0.00,2.50,0.00,0.000,4612,0.000,0.080,2629,740,2069,2100,2039,0,0,0,0,0,0,14.80,14.54,14.81,6.19,49.29
$GC,8599,0.64,146.0,2629,740,2099,2040,5.7,9.6,677,8604,0.05,2.42,0.00,0.000,5126,0.323,0.060,2616,2149,2068,2099,2038,0,0,0,0,0,0,14.45,14.57,14.58,6.19,49.64
$STATE,8628,end climb,SURFACE_DEPTH_REACHED
$STATE,8628,begin surface coast
$STATE,8658,end surface coast,CONTROL_FINISHED_OK
$STATE,8658,begin surface
$SM_CCo,8669,68.68,0.252,0,0,1791,220.03
$SM_GC,0.99,5.35,0.08,68.68,0.045,0.169,0.252,250,2072,1791,-6.45,0.93,220.03,0,0,0,0,0,0,14.65,14.59,14.38
$IRIDIUM_FIX,-6005.19,-12.94,221218,083922
$TT8_MAMPS,0.038948,0.089131
$HUMID,48.74
$INTERNAL_PRESSURE,6.10897
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3887072
$24V_AH,13.29,18.791
$10V_AH,13.47,0.000
$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,12.875,73.925,264.700,68.675,0.000,28.182,40.686,91.883,0.000,0.000,15.380,0.000,6957.941,446.642,1536.537,59.481,0.000,1055.645,0.000,1106.547,0.000,0.539,0.000
$DEVICE_MAMPS,462.825,2284.290,1598.850,251.685,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5067.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.901,0.000,0.000,0.000
$MEM,344052
$DATA_FILE_SIZE,17325,689
$CAP_FILE_SIZE,90799,0
$CFSIZE,1023623168,1012989952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.009,327.63,1
$GPS,221218,132431,-6005.197,-11.694,16,0.7,33,-19.6,1.0,207.1,12,7.5