version: 66.14
glider: 640
mission: 5
dive: 74
start: 12 23 118 7 4 50
data:
$ID,640
$MISSION,5
$DIVE,74
$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,65
$R_STBD_OVSHOOT,45
$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
$GPS1,231218,070034,-6002.1226,-12.1944,15,0.9,42,-19.6,0.2,211.4,9,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-65.1
$GPS2,231218,070432,-6002.1221,-12.2292,9,0.9,17,-19.6,0.0,154.3,9,9.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,35.2,115640,-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,-146.0,231,2121,1766,1797,0.0,0.0,0,105,0.00,0.00,-93.95,0.000,16386,0.000,0.000,231,2121,3218,3298,3138,0,0,0,0,0,0,14.64,28.83,14.64,6.15,49.72
$GC,106,-0.64,-146.0,232,2122,3299,3140,3.5,-8.3,19,121,6.00,2.62,-2.58,0.000,18692,0.362,2.280,2179,3486,3288,3375,3201,0,0,0,0,0,0,14.25,13.50,14.40,6.27,48.70
$GC,250,-0.64,-146.0,2179,3486,3378,3200,26.1,-14.0,48,254,0.00,2.30,0.00,0.000,3078,0.000,0.045,2179,2134,3288,3376,3200,0,0,0,0,0,0,14.49,14.43,14.50,6.28,48.14
$GC,375,-0.64,-146.0,2180,2133,3378,3201,45.0,-14.6,73,376,0.03,0.00,0.00,0.000,2054,0.637,0.000,2189,2133,3288,3376,3201,0,0,0,0,0,0,14.33,14.54,14.51,6.29,49.01
$GC,495,-0.64,-146.0,2190,2134,3376,3202,62.9,-15.1,97,495,0.00,0.00,0.00,0.000,2054,0.000,0.000,2189,2133,3288,3376,3200,0,0,0,0,0,0,14.71,14.71,14.71,6.29,48.74
$GC,615,-0.64,-146.0,2190,2134,3378,3200,81.3,-15.2,121,615,0.00,0.00,0.00,0.000,2054,0.000,0.000,2189,2133,3288,3376,3201,0,0,0,0,0,0,14.73,14.73,14.73,6.28,49.21
$GC,735,-0.64,-146.0,2190,2133,3378,3200,99.3,-14.0,145,735,0.00,0.00,0.00,0.000,2054,0.000,0.000,2189,2133,3289,3377,3201,0,0,0,0,0,0,14.74,14.74,14.74,6.28,49.37
$GC,865,-0.64,-146.0,2189,2134,3377,3202,117.4,-13.9,153,870,0.00,2.53,0.00,0.000,2564,0.000,0.068,2189,690,3288,3377,3200,0,0,0,0,0,0,14.77,14.52,14.77,6.28,48.93
$GC,910,-0.64,-146.0,2190,691,3378,3201,122.9,-13.9,155,914,0.00,2.40,0.00,0.000,3078,0.000,0.063,2180,2076,3288,3376,3200,0,0,0,0,0,0,14.59,14.53,14.64,6.28,48.93
$GC,1225,-0.64,-146.0,2175,2077,3377,3201,164.7,-13.5,171,1229,0.00,2.42,0.00,0.000,2564,0.000,0.070,2180,692,3288,3376,3201,0,0,0,0,0,0,14.81,14.56,14.81,6.29,49.88
$GC,1250,-0.64,-146.0,2180,692,3378,3200,167.5,-13.8,172,1255,0.05,2.42,0.00,0.000,3078,0.371,0.061,2186,2102,3288,3377,3200,0,0,0,0,0,0,14.42,14.57,14.57,6.29,50.23
$GC,1565,-0.64,-146.0,2187,2103,3376,3201,208.6,-12.5,188,1569,0.00,2.47,0.00,0.000,2308,0.000,0.087,2177,3508,3288,3377,3200,0,0,0,0,0,0,14.84,14.58,14.84,6.30,50.86
$GC,1610,-0.64,-146.0,2177,3508,3376,3201,213.9,-12.9,190,1614,0.03,2.38,0.00,0.000,3078,0.460,0.046,2185,2089,3288,3376,3200,0,0,0,0,0,0,14.44,14.62,14.58,6.30,50.82
$GC,1925,-0.64,-146.0,2185,2088,3376,3201,253.9,-12.4,206,1929,0.00,2.42,0.00,0.000,2564,0.000,0.070,2185,693,3288,3377,3199,0,0,0,0,0,0,14.86,14.62,14.86,6.31,51.53
$GC,1970,-0.64,-146.0,2185,694,3378,3199,259.0,-12.5,208,1974,0.05,2.40,0.00,0.000,3078,0.384,0.060,2192,2098,3288,3377,3199,0,0,0,0,0,0,14.46,14.62,14.62,6.31,51.45
$GC,2285,-0.64,-146.0,2192,2098,3378,3199,296.7,-11.8,224,2290,0.00,2.47,0.00,0.000,2308,0.000,0.087,2182,3508,3287,3376,3199,0,0,0,0,0,0,14.88,14.61,14.88,6.32,51.96
$GC,2300,-0.64,-146.0,2183,3510,3377,3200,296.7,-11.8,224,2304,0.00,2.35,0.00,0.000,3078,0.000,0.047,2182,2103,3288,3377,3199,0,0,0,0,0,0,14.71,14.65,14.72,6.32,51.18
$GC,2605,-0.64,-146.0,2183,2102,3378,3199,335.4,-12.2,240,2609,0.00,2.45,0.00,0.000,2564,0.000,0.070,2182,692,3288,3377,3199,0,0,0,0,0,0,14.89,14.64,14.89,6.33,51.26
$GC,2650,-0.64,-146.0,2182,692,3377,3200,340.4,-12.3,242,2655,0.05,2.40,0.00,0.000,3078,0.371,0.060,2189,2099,3288,3377,3199,0,0,0,0,0,0,14.50,14.65,14.64,6.33,51.41
$STATE,2744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2744,begin apogee
$GC,2747,-0.15,0.0,2190,2170,3377,3199,352.0,-11.5,247,2881,0.45,0.00,131.60,1.606,10246,0.272,0.000,2351,2169,2689,2747,2631,0,0,0,0,0,0,14.54,13.90,13.29,6.33,51.26
$STATE,2882,end apogee,CONTROL_FINISHED_OK
$STATE,2882,begin loiter
$GC,3165,-0.15,0.0,2352,2170,2740,2614,346.6,3.6,268,3166,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2169,2677,2739,2615,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.55
$GC,3465,-0.15,0.0,2351,2170,2739,2613,335.8,3.7,283,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2169,2675,2739,2612,0,0,0,0,0,0,14.68,14.69,14.68,6.28,50.63
$GC,3765,-0.15,0.0,2352,2170,2739,2611,325.1,3.5,298,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2169,2674,2738,2611,0,0,0,0,0,0,14.76,14.77,14.77,6.28,50.70
$GC,4065,-0.15,0.0,2351,2171,2739,2612,315.1,3.3,313,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2170,2674,2739,2610,0,0,0,0,0,0,14.82,14.83,14.83,6.28,51.02
$GC,4365,-0.15,0.0,2352,2170,2740,2609,305.9,3.0,328,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2169,2674,2739,2610,0,0,0,0,0,0,14.87,14.88,14.88,6.28,50.70
$GC,4665,-0.15,0.0,2351,2169,2740,2609,297.1,3.0,343,4666,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2169,2674,2739,2609,0,0,0,0,0,0,14.90,14.91,14.91,6.27,51.02
$GC,4965,-0.15,0.0,2352,2170,2740,2609,288.3,2.9,358,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2170,2674,2739,2609,0,0,0,0,0,0,14.93,14.94,14.93,6.27,51.14
$GC,5265,-0.15,0.0,2351,2170,2740,2609,278.6,3.3,373,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2170,2673,2738,2608,0,0,0,0,0,0,14.95,14.96,14.95,6.27,51.10
$GC,5565,-0.15,0.0,2351,2170,2739,2609,268.2,3.6,388,5566,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2169,2674,2739,2609,0,0,0,0,0,0,14.97,14.97,14.97,6.28,50.90
$GC,5865,-0.15,0.0,2352,2170,2739,2608,257.7,3.4,403,5866,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2169,2673,2739,2608,0,0,0,0,0,0,14.99,15.00,15.00,6.27,50.90
$GC,6165,-0.15,0.0,2352,2170,2738,2608,248.1,3.0,418,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2170,2673,2739,2608,0,0,0,0,0,0,15.00,15.01,15.00,6.27,50.86
$STATE,6464,end loiter,LOITER_COMPLETE
$STATE,6464,begin climb
$GC,6465,0.64,146.0,2351,2170,2739,2609,239.3,0.0,433,6606,0.60,2.60,133.65,1.440,11012,0.181,0.077,2603,742,2088,2112,2064,0,0,0,0,0,0,14.70,13.95,13.43,6.28,51.29
$GC,6715,0.64,146.0,2603,743,2108,2053,220.6,10.2,445,6719,0.00,2.45,0.00,0.000,1030,0.000,0.058,2603,2128,2079,2107,2052,0,0,0,0,0,0,14.22,14.17,14.24,6.23,49.60
$GC,7025,0.64,146.0,2603,2129,2106,2046,181.0,12.7,461,7030,0.00,2.58,0.00,0.000,260,0.000,0.086,2603,3561,2075,2105,2046,0,0,0,0,0,0,14.60,14.35,14.60,6.23,50.31
$GC,7085,0.64,146.0,2603,3560,2104,2044,173.3,12.9,464,7090,0.00,2.40,0.00,0.000,5126,0.000,0.047,2614,2151,2074,2103,2045,0,0,0,0,0,0,14.45,14.40,14.47,6.23,49.92
$GC,7405,0.64,146.0,2614,2151,2104,2042,132.5,11.9,480,7409,0.00,2.50,0.00,0.000,4612,0.000,0.076,2625,742,2072,2103,2041,0,0,0,0,0,0,14.71,14.45,14.71,6.23,50.66
$GC,7460,0.64,146.0,2625,742,2103,2042,128.0,11.5,482,7465,0.05,2.42,0.00,0.000,5126,0.311,0.059,2605,2146,2071,2102,2041,0,0,0,0,0,0,14.37,14.48,14.50,6.23,50.82
$GC,7765,0.64,146.0,2605,2147,2103,2040,95.2,10.8,504,7771,0.00,2.50,0.00,0.000,260,0.000,0.085,2606,3556,2071,2102,2040,0,0,0,0,0,0,14.76,14.50,14.76,6.21,49.60
$GC,7840,0.64,146.0,2607,3557,2103,2040,87.1,10.5,519,7845,0.00,2.38,0.00,0.000,5126,0.000,0.047,2615,2148,2070,2101,2040,0,0,0,0,0,0,14.60,14.56,14.62,6.21,48.85
$GC,7966,0.64,146.0,2615,2148,2103,2039,74.0,10.6,544,7970,0.00,2.47,0.00,0.000,4612,0.000,0.076,2625,750,2071,2102,2040,0,0,0,0,0,0,14.77,14.53,14.78,6.20,49.44
$GC,8005,0.64,146.0,2629,751,2102,2040,69.9,10.0,552,8011,0.05,2.40,0.00,0.000,5126,0.314,0.058,2606,2150,2070,2101,2039,0,0,0,0,0,0,14.42,14.55,14.55,6.21,48.93
$GC,8131,0.64,146.0,2606,2151,2102,2040,57.5,10.1,577,8135,0.00,2.45,0.00,0.000,260,0.000,0.086,2607,3555,2069,2100,2039,0,0,0,0,0,0,14.78,14.54,14.78,6.20,48.97
$GC,8180,0.64,146.0,2607,3556,2103,2040,52.2,10.2,587,8185,0.00,2.38,0.00,0.000,5126,0.000,0.047,2615,2148,2069,2100,2039,0,0,0,0,0,0,14.62,14.57,14.63,6.19,48.58
$GC,8305,0.64,146.0,2616,2148,2102,2039,38.8,10.4,612,8310,0.00,2.47,0.00,0.000,4612,0.000,0.075,2626,746,2069,2101,2038,0,0,0,0,0,0,14.79,14.54,14.79,6.19,48.85
$GC,8355,0.64,146.0,2627,746,2102,2037,34.1,9.3,622,8360,0.05,2.40,0.00,0.000,5126,0.309,0.058,2607,2150,2069,2101,2037,0,0,0,0,0,0,14.44,14.56,14.57,6.19,48.81
$GC,8481,0.64,147.3,2607,2151,2101,2038,23.0,8.3,647,8485,0.00,2.45,0.00,0.000,260,0.000,0.087,2607,3557,2068,2100,2037,0,0,0,0,0,0,14.79,14.56,14.80,6.19,49.29
$GC,8505,0.64,147.3,2607,3558,2102,2037,20.9,9.0,652,8510,0.00,2.38,0.00,0.000,5126,0.000,0.048,2615,2149,2068,2100,2037,0,0,0,0,0,0,14.62,14.57,14.65,6.19,48.89
$GC,8630,0.64,147.3,2615,2150,2101,2037,9.2,10.0,677,8635,0.00,2.47,0.00,0.000,4612,0.000,0.073,2627,742,2069,2101,2037,0,0,0,0,0,0,14.80,14.56,14.81,6.19,49.37
$GC,8655,0.64,147.3,2627,744,2100,2038,6.7,10.2,682,8660,0.05,2.40,0.00,0.000,5126,0.313,0.059,2606,2144,2068,2100,2037,0,0,0,0,0,0,14.45,14.57,14.58,6.19,49.29
$STATE,8694,end climb,SURFACE_DEPTH_REACHED
$STATE,8694,begin surface coast
$STATE,8724,end surface coast,CONTROL_FINISHED_OK
$STATE,8724,begin surface
$SM_CCo,8736,68.55,0.252,0,0,1790,220.03
$SM_GC,1.00,5.50,0.08,68.55,0.085,0.170,0.252,277,2078,1790,-6.44,0.82,220.03,0,0,0,0,0,0,14.65,14.59,14.38
$IRIDIUM_FIX,-6002.25,-4.31,231218,042926
$TT8_MAMPS,0.039697,0.092876
$HUMID,48.42
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3882976
$24V_AH,13.29,20.097
$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,12.950,78.375,265.250,68.550,0.000,24.957,18.970,94.535,0.000,0.000,18.119,0.000,6973.534,452.724,1558.504,64.109,0.000,1081.414,0.000,1141.633,0.000,0.539,0.000
$DEVICE_MAMPS,637.245,2280.465,1605.735,252.450,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5135.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.882,0.000,0.000,0.000
$MEM,344020
$DATA_FILE_SIZE,17356,696
$CAP_FILE_SIZE,93797,0
$CFSIZE,1023623168,1012203520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.029,158.50,1
$GPS,231218,093234,-6001.695,-11.811,34,0.7,38,-19.6,0.2,230.1,12,9.4