version: 66.14
glider: 640
mission: 5
dive: 69
start: 12 22 118 18 29 18
data:
$ID,640
$MISSION,5
$DIVE,69
$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,41
$R_STBD_OVSHOOT,26
$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
$GPS1,221218,182435,-6004.3354,-12.1699,36,0.8,40,-19.6,0.3,77.5,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-68.4
$GPS2,221218,182859,-6004.3638,-12.1474,9,0.8,15,-19.6,0.0,174.1,9,9.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,36.3,119764,-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,8,-0.64,-146.0,235,2083,1765,1799,0.0,0.0,0,101,0.00,0.00,-90.38,0.000,16386,0.000,0.000,234,2081,3177,3256,3099,0,0,0,0,0,0,14.62,28.83,14.62,6.16,49.92
$GC,102,-0.64,-146.0,235,2082,3256,3101,3.3,-6.5,18,115,5.97,0.00,-4.25,0.000,18950,0.365,0.000,2194,2082,3286,3373,3199,0,0,0,0,0,0,14.24,13.81,14.47,6.27,49.21
$GC,235,-0.64,-146.0,2194,2082,3377,3200,25.8,-16.5,45,240,0.00,2.40,0.00,0.000,516,0.000,0.074,2193,705,3288,3377,3199,0,0,0,0,0,0,14.66,14.43,14.66,6.29,48.14
$GC,255,-0.64,-146.0,2194,706,3378,3198,29.2,-16.7,49,260,0.00,2.42,0.00,0.000,3078,0.000,0.062,2184,2100,3287,3376,3199,0,0,0,0,0,0,14.49,14.43,14.50,6.28,48.14
$GC,380,-0.64,-146.0,2184,2101,3377,3200,47.1,-14.7,74,384,0.00,2.45,0.00,0.000,2564,0.000,0.072,2184,708,3287,3376,3199,0,0,0,0,0,0,14.69,14.45,14.69,6.29,49.13
$GC,395,-0.64,-146.0,2184,708,3378,3199,49.4,-15.1,77,400,0.05,2.42,0.00,0.000,3078,0.373,0.061,2190,2111,3287,3376,3199,0,0,0,0,0,0,14.32,14.47,14.46,6.28,48.50
$GC,520,-0.64,-146.0,2190,2107,3377,3200,67.6,-14.0,102,524,0.00,2.42,0.00,0.000,2308,0.000,0.088,2180,3501,3287,3376,3199,0,0,0,0,0,0,14.71,14.47,14.71,6.29,48.46
$GC,550,-0.64,-146.0,2180,3499,3377,3200,71.9,-14.4,108,554,0.00,2.35,0.00,0.000,3078,0.000,0.050,2179,2116,3288,3377,3199,0,0,0,0,0,0,14.54,14.50,14.57,6.28,48.42
$GC,675,-0.64,-146.0,2181,2115,3378,3199,90.8,-15.8,133,675,0.00,0.00,0.00,0.000,2054,0.000,0.000,2180,2114,3288,3377,3199,0,0,0,0,0,0,14.73,14.74,14.73,6.28,49.01
$GC,795,-0.64,-146.0,2180,2115,3378,3199,109.7,-15.6,148,799,0.00,2.53,0.00,0.000,2564,0.000,0.074,2179,683,3287,3376,3199,0,0,0,0,0,0,14.76,14.51,14.76,6.28,48.62
$GC,835,-0.64,-146.0,2180,684,3377,3200,116.0,-15.7,150,839,0.05,2.42,0.00,0.000,3078,0.372,0.062,2186,2089,3288,3377,3199,0,0,0,0,0,0,14.37,14.51,14.52,6.28,48.74
$GC,1155,-0.64,-146.0,2187,2088,3378,3198,158.3,-12.0,166,1159,0.00,2.47,0.00,0.000,2564,0.000,0.075,2186,682,3284,3371,3198,0,0,0,0,0,0,14.81,14.55,14.81,6.28,49.60
$GC,1230,-0.64,-146.0,2186,684,3377,3200,165.7,-12.2,169,1234,0.05,2.42,0.00,0.000,3078,0.375,0.061,2193,2093,3287,3377,3198,0,0,0,0,0,0,14.42,14.56,14.56,6.29,50.11
$GC,1535,-0.64,-146.0,2193,2093,3378,3198,203.8,-12.2,185,1539,0.00,2.47,0.00,0.000,2308,0.000,0.088,2183,3503,3287,3377,3198,0,0,0,0,0,0,14.83,14.57,14.84,6.30,51.10
$GC,1565,-0.64,-146.0,2183,3504,3377,3200,206.3,-12.3,186,1569,0.00,2.38,0.00,0.000,3078,0.000,0.049,2182,2091,3287,3376,3199,0,0,0,0,0,0,14.66,14.62,14.67,6.31,50.90
$GC,1875,-0.64,-146.0,2183,2090,3377,3197,246.3,-12.3,202,1880,0.00,2.45,0.00,0.000,2564,0.000,0.073,2182,689,3287,3377,3198,0,0,0,0,0,0,14.85,14.60,14.86,6.31,51.45
$GC,1915,-0.64,-146.0,2183,690,3377,3199,251.3,-12.4,204,1920,0.05,2.42,0.00,0.000,3078,0.373,0.062,2189,2100,3287,3376,3198,0,0,0,0,0,0,14.47,14.62,14.62,6.32,52.08
$GC,2235,-0.64,-146.0,2188,2101,3377,3199,289.3,-12.2,220,2235,0.00,0.00,0.00,0.000,2054,0.000,0.000,2189,2100,3287,3376,3198,0,0,0,0,0,0,14.88,14.88,14.88,6.32,51.29
$GC,2535,-0.64,-146.0,2189,2101,3377,3199,326.7,-12.7,235,2535,0.00,0.00,0.00,0.000,2054,0.000,0.000,2189,2100,3287,3376,3198,0,0,0,0,0,0,14.89,14.89,14.89,6.32,51.22
$STATE,2734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2734,begin apogee
$GC,2737,-0.15,0.0,2189,2169,3377,3198,352.1,-12.7,245,2871,0.45,0.00,131.38,1.610,10246,0.269,0.000,2351,2169,2687,2745,2630,0,0,0,0,0,0,14.57,13.90,13.29,6.32,51.29
$STATE,2872,end apogee,CONTROL_FINISHED_OK
$STATE,2872,begin loiter
$GC,3155,-0.15,0.0,2352,2169,2740,2615,349.3,3.0,266,3156,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2676,2738,2614,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.63
$GC,3455,-0.15,0.0,2351,2169,2739,2613,339.5,3.3,281,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2169,2675,2738,2612,0,0,0,0,0,0,14.68,14.69,14.69,6.27,50.82
$GC,3755,-0.15,0.0,2352,2169,2739,2612,328.8,3.6,296,3756,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2674,2738,2611,0,0,0,0,0,0,14.77,14.77,14.77,6.27,50.78
$GC,4055,-0.15,0.0,2352,2169,2739,2611,317.1,4.0,311,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2169,2675,2739,2611,0,0,0,0,0,0,14.82,14.83,14.83,6.27,50.98
$GC,4355,-0.15,0.0,2352,2169,2738,2611,304.3,4.4,326,4356,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2674,2738,2610,0,0,0,0,0,0,14.87,14.87,14.88,6.28,51.33
$GC,4655,-0.15,0.0,2352,2169,2739,2610,291.6,4.2,341,4656,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2673,2738,2609,0,0,0,0,0,0,14.90,14.91,14.91,6.27,51.10
$GC,4955,-0.15,0.0,2352,2169,2739,2610,279.6,3.9,356,4956,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2673,2738,2609,0,0,0,0,0,0,14.93,14.94,14.93,6.27,51.73
$GC,5255,-0.15,0.0,2352,2169,2739,2610,268.6,3.5,371,5256,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2673,2738,2608,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.69
$GC,5555,-0.15,0.0,2352,2169,2740,2609,258.4,3.3,386,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2673,2738,2609,0,0,0,0,0,0,14.97,14.97,14.97,6.27,50.90
$GC,5855,-0.15,0.0,2352,2168,2739,2608,248.8,3.1,401,5856,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2673,2738,2608,0,0,0,0,0,0,14.99,15.00,15.00,6.27,50.74
$GC,6155,-0.15,0.0,2352,2169,2740,2608,239.8,3.0,416,6156,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2169,2673,2738,2608,0,0,0,0,0,0,15.00,15.01,15.01,6.28,51.06
$STATE,6454,end loiter,LOITER_COMPLETE
$STATE,6454,begin climb
$GC,6455,0.64,146.0,2352,2169,2739,2608,231.1,0.0,431,6596,0.60,2.47,133.20,1.427,10500,0.181,0.089,2592,3537,2088,2112,2065,0,0,0,0,0,0,14.71,13.95,13.43,6.27,51.53
$GC,6650,0.64,146.0,2592,3543,2111,2058,218.1,9.6,440,6656,0.00,2.42,0.00,0.000,1030,0.000,0.050,2602,2151,2084,2111,2057,0,0,0,0,0,0,14.15,14.11,14.18,6.23,48.50
$GC,6955,0.64,146.0,2604,2151,2106,2048,179.8,12.2,456,6960,0.00,2.53,0.00,0.000,516,0.000,0.079,2614,750,2076,2105,2048,0,0,0,0,0,0,14.57,14.33,14.57,6.23,50.47
$GC,7000,0.64,146.0,2615,750,2104,2050,175.2,11.9,458,7004,0.00,2.40,0.00,0.000,5126,0.000,0.059,2614,2125,2075,2103,2048,0,0,0,0,0,0,14.42,14.36,14.44,6.23,50.63
$GC,7315,0.64,146.0,2614,2126,2103,2047,134.9,11.1,474,7319,0.00,2.55,0.00,0.000,4356,0.000,0.087,2614,3555,2074,2102,2046,0,0,0,0,0,0,14.69,14.43,14.69,6.23,50.27
$GC,7345,0.64,146.0,2615,3556,2103,2045,132.8,10.6,475,7350,0.05,2.40,0.00,0.000,5126,0.340,0.051,2606,2144,2074,2102,2046,0,0,0,0,0,0,14.34,14.47,14.47,6.23,50.47
$GC,7655,0.64,146.0,2607,2144,2103,2042,99.7,10.6,491,7660,0.00,2.47,0.00,0.000,4612,0.000,0.076,2616,747,2072,2102,2043,0,0,0,0,0,0,14.76,14.50,14.76,6.21,49.96
$GC,7730,0.64,148.3,2617,747,2102,2041,92.5,8.2,506,7735,0.00,2.42,0.00,0.000,5126,0.000,0.061,2616,2153,2071,2102,2041,0,0,0,0,0,0,14.58,14.52,14.59,6.21,49.64
$GC,7855,0.64,148.3,2616,2154,2102,2042,79.2,11.6,531,7860,0.00,2.50,0.00,0.000,4356,0.000,0.089,2616,3557,2071,2101,2041,0,0,0,0,0,0,14.77,14.52,14.77,6.21,48.81
$GC,7885,0.64,148.3,2617,3558,2103,2041,75.4,12.6,537,7891,0.05,2.38,0.00,0.000,5126,0.343,0.050,2608,2148,2070,2100,2041,0,0,0,0,0,0,14.41,14.54,14.55,6.21,48.97
$GC,8011,0.64,148.3,2609,2149,2102,2041,63.2,9.6,562,8015,0.00,2.50,0.00,0.000,4612,0.000,0.077,2618,740,2071,2101,2041,0,0,0,0,0,0,14.78,14.52,14.78,6.20,48.70
$GC,8040,0.64,148.3,2619,740,2101,2040,60.1,10.6,568,8045,0.00,2.42,0.00,0.000,5126,0.000,0.059,2618,2147,2070,2101,2040,0,0,0,0,0,0,14.60,14.54,14.62,6.20,49.09
$GC,8165,0.64,148.3,2618,2148,2101,2042,47.5,10.5,593,8171,0.03,2.50,0.00,0.000,4356,0.611,0.086,2609,3556,2070,2100,2040,0,0,0,0,0,0,14.48,14.54,14.63,6.19,48.62
$GC,8200,0.64,148.3,2609,3557,2101,2042,44.2,9.9,600,8205,0.00,2.38,0.00,0.000,5126,0.000,0.049,2617,2154,2070,2100,2040,0,0,0,0,0,0,14.62,14.57,14.64,6.19,48.58
$GC,8326,0.64,148.3,2617,2153,2101,2040,31.9,10.3,625,8330,0.00,2.47,0.00,0.000,4612,0.000,0.077,2629,728,2070,2100,2040,0,0,0,0,0,0,14.79,14.55,14.79,6.19,49.17
$GC,8370,0.64,148.3,2629,729,2101,2040,27.2,9.9,634,8375,0.05,2.45,0.00,0.000,5126,0.326,0.060,2609,2153,2070,2100,2040,0,0,0,0,0,0,14.43,14.56,14.57,6.19,49.01
$GC,8496,0.64,148.3,2610,2154,2099,2039,15.5,9.7,659,8500,0.00,2.47,0.00,0.000,4356,0.000,0.089,2609,3570,2070,2100,2040,0,0,0,0,0,0,14.79,14.55,14.80,6.19,49.29
$GC,8530,0.64,148.3,2610,3571,2101,2040,12.0,9.9,666,8535,0.00,2.40,0.00,0.000,5126,0.000,0.052,2619,2149,2070,2100,2040,0,0,0,0,0,0,14.62,14.57,14.64,6.19,49.21
$STATE,8624,end climb,SURFACE_DEPTH_REACHED
$STATE,8624,begin surface coast
$STATE,8650,end surface coast,CONTROL_FINISHED_OK
$STATE,8650,begin surface
$SM_CCo,8661,68.65,0.252,0,0,1790,220.03
$SM_GC,1.04,5.55,0.08,68.65,0.088,0.172,0.252,251,2078,1790,-6.46,0.88,220.03,0,0,0,0,0,0,14.64,14.59,14.38
$IRIDIUM_FIX,-6005.19,-12.94,221218,155623
$TT8_MAMPS,0.039697,0.08988
$HUMID,48.85
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3885536
$24V_AH,13.29,19.278
$10V_AH,13.46,0.000
$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,12.950,78.350,264.575,68.650,0.000,25.944,40.693,101.434,0.000,0.000,16.337,0.000,6949.685,450.490,1540.290,61.061,0.000,1061.323,0.000,1099.425,0.000,0.539,0.000
$DEVICE_MAMPS,611.235,191.250,1610.325,251.685,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5059.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.902,0.000,0.000,0.000
$MEM,344080
$DATA_FILE_SIZE,17307,690
$CAP_FILE_SIZE,92231,0
$CFSIZE,1023623168,1012695040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.057,194.25,1
$GPS,221218,205549,-6004.052,-11.829,16,1.0,39,-19.6,0.6,352.3,9,9.5