version: 66.14
glider: 640
mission: 5
dive: 76
start: 12 23 118 12 10 18
data:
$ID,640
$MISSION,5
$DIVE,76
$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,51
$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
$GPS1,231218,120531,-6001.1021,-11.4090,14,0.9,37,-19.6,0.3,285.8,10,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-73.0
$GPS2,231218,121000,-6001.0869,-11.3795,9,0.8,15,-19.6,0.0,324.4,11,9.7
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,19.3,113652,-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,-146.0,235,2078,1768,1797,0.0,0.0,0,104,0.00,0.00,-93.22,0.000,16386,0.000,0.000,234,2077,3197,3277,3117,0,0,0,0,0,0,14.62,28.83,14.62,6.11,49.64
$GC,105,-0.64,-146.0,235,2078,3279,3118,3.2,-6.7,19,120,6.00,2.72,-3.53,0.000,18692,0.367,2.282,2171,3505,3288,3376,3200,0,0,0,0,0,0,14.23,13.50,14.40,6.28,48.89
$GC,244,-0.64,-146.0,2172,3505,3378,3200,25.7,-15.7,47,248,0.05,2.35,0.00,0.000,3078,0.366,0.045,2188,2122,3293,3387,3200,0,0,0,0,0,0,14.27,14.42,14.40,6.28,48.74
$GC,369,-0.64,-146.0,2189,2122,3378,3201,45.4,-16.0,72,373,0.00,2.53,0.00,0.000,2564,0.000,0.070,2189,691,3288,3377,3200,0,0,0,0,0,0,14.67,14.42,14.67,6.28,48.42
$GC,434,-0.64,-146.0,2189,692,3378,3200,55.5,-15.1,85,439,0.00,2.42,0.00,0.000,3078,0.000,0.061,2179,2092,3289,3378,3200,0,0,0,0,0,0,14.51,14.45,14.53,6.28,48.85
$GC,559,-0.64,-146.0,2179,2092,3378,3201,75.5,-16.5,110,563,0.00,2.50,0.00,0.000,2308,0.000,0.086,2169,3501,3288,3377,3199,0,0,0,0,0,0,14.71,14.45,14.71,6.28,48.26
$GC,579,-0.64,-146.0,2169,3502,3378,3201,78.8,-16.4,114,583,0.05,2.38,0.00,0.000,3078,0.367,0.047,2186,2100,3288,3377,3200,0,0,0,0,0,0,14.33,14.50,14.47,6.29,48.42
$GC,704,-0.64,-146.0,2186,2100,3378,3200,97.9,-15.8,139,708,0.00,2.42,0.00,0.000,2564,0.000,0.070,2186,695,3288,3377,3200,0,0,0,0,0,0,14.73,14.50,14.73,6.28,48.38
$GC,754,-0.64,-146.0,2186,694,3378,3199,104.2,-15.7,144,759,0.03,2.42,0.00,0.000,3078,0.474,0.061,2184,2099,3288,3377,3200,0,0,0,0,0,0,14.32,14.50,14.49,6.28,49.01
$GC,1064,-0.64,-146.0,2185,2100,3378,3200,149.6,-13.0,160,1068,0.00,2.47,0.00,0.000,2564,0.000,0.070,2184,689,3288,3377,3200,0,0,0,0,0,0,14.79,14.54,14.78,6.28,49.17
$GC,1119,-0.64,-146.0,2184,690,3378,3201,155.3,-13.7,162,1124,0.05,2.42,0.00,0.000,3078,0.386,0.062,2187,2092,3285,3370,3200,0,0,0,0,0,0,14.39,14.55,14.54,6.29,49.76
$GC,1424,-0.64,-146.0,2192,2092,3378,3200,194.4,-11.7,178,1429,0.00,2.50,0.00,0.000,2308,0.000,0.087,2181,3509,3288,3377,3200,0,0,0,0,0,0,14.82,14.56,14.82,6.30,50.43
$GC,1494,-0.64,-146.0,2181,3510,3378,3201,202.1,-12.7,181,1498,0.00,2.38,0.00,0.000,3078,0.000,0.046,2181,2093,3289,3378,3200,0,0,0,0,0,0,14.64,14.60,14.66,6.30,50.70
$GC,1804,-0.64,-146.0,2181,2092,3378,3200,245.7,-13.8,197,1808,0.00,2.45,0.00,0.000,2564,0.000,0.070,2180,689,3288,3377,3199,0,0,0,0,0,0,14.85,14.59,14.85,6.31,51.22
$GC,1859,-0.64,-146.0,2181,690,3379,3199,251.3,-13.9,199,1863,0.05,2.42,0.00,0.000,3078,0.376,0.061,2187,2103,3288,3377,3199,0,0,0,0,0,0,14.45,14.61,14.60,6.32,50.90
$GC,2164,-0.64,-146.0,2188,2104,3378,3200,292.6,-12.8,215,2164,0.00,0.00,0.00,0.000,2054,0.000,0.000,2187,2102,3288,3377,3199,0,0,0,0,0,0,14.88,14.87,14.87,6.32,51.26
$GC,2464,-0.64,-146.0,2188,2104,3378,3200,331.1,-12.8,230,2468,0.00,2.45,0.00,0.000,2564,0.000,0.068,2187,695,3288,3377,3199,0,0,0,0,0,0,14.88,14.64,14.88,6.32,51.53
$GC,2494,-0.64,-146.0,2188,696,3378,3200,333.8,-12.9,231,2498,0.00,2.40,0.00,0.000,3078,0.000,0.060,2178,2102,3288,3377,3199,0,0,0,0,0,0,14.69,14.64,14.71,6.33,51.45
$STATE,2623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2623,begin apogee
$GC,2626,-0.15,0.0,2178,2166,3379,3199,352.1,-13.2,238,2762,0.47,0.00,131.62,1.610,10246,0.276,0.000,2347,2166,2684,2741,2627,0,0,0,0,0,0,14.53,13.89,13.29,6.33,51.65
$STATE,2763,end apogee,CONTROL_FINISHED_OK
$STATE,2764,begin loiter
$GC,3064,-0.15,0.0,2347,2167,2740,2614,348.8,3.1,260,3064,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2676,2738,2615,0,0,0,0,0,0,14.55,14.56,14.56,6.28,50.90
$GC,3364,-0.15,0.0,2347,2167,2740,2614,339.3,3.2,275,3364,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2676,2739,2613,0,0,0,0,0,0,14.69,14.70,14.69,6.28,50.82
$GC,3664,-0.15,0.0,2347,2167,2739,2612,329.6,3.2,290,3664,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2675,2739,2612,0,0,0,0,0,0,14.78,14.78,14.78,6.28,51.22
$GC,3964,-0.15,0.0,2347,2167,2740,2611,320.4,2.9,305,3965,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2675,2739,2611,0,0,0,0,0,0,14.83,14.83,14.83,6.28,51.69
$GC,4264,-0.15,0.0,2347,2167,2740,2610,312.1,2.7,320,4264,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2674,2739,2610,0,0,0,0,0,0,14.88,14.88,14.88,6.27,51.02
$GC,4564,-0.15,0.0,2347,2166,2739,2611,304.0,2.6,335,4564,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2674,2738,2610,0,0,0,0,0,0,14.91,14.92,14.92,6.28,51.22
$GC,4864,-0.15,0.0,2347,2167,2739,2609,295.6,2.8,350,4864,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2674,2739,2609,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.06
$GC,5164,-0.15,0.0,2346,2167,2739,2610,286.6,3.1,365,5164,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2167,2674,2739,2609,0,0,0,0,0,0,14.96,14.97,14.97,6.28,51.26
$GC,5464,-0.15,0.0,2345,2168,2739,2611,277.4,3.1,380,5465,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2674,2739,2609,0,0,0,0,0,0,14.98,14.98,14.98,6.27,51.77
$GC,5764,-0.15,0.0,2346,2167,2739,2610,268.6,2.9,395,5764,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2674,2739,2609,0,0,0,0,0,0,15.00,15.00,15.00,6.28,50.98
$GC,6064,-0.15,0.0,2347,2167,2739,2610,260.4,2.7,410,6064,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2167,2674,2739,2609,0,0,0,0,0,0,15.02,15.02,15.02,6.27,51.37
$STATE,6363,end loiter,LOITER_COMPLETE
$STATE,6363,begin climb
$GC,6364,0.64,146.0,2347,2167,2740,2609,252.3,0.0,425,6503,0.62,0.00,133.82,1.439,10758,0.182,0.000,2597,2166,2088,2113,2064,0,0,0,0,0,0,14.71,13.98,13.43,6.27,51.02
$GC,6804,0.64,146.0,2597,2168,2106,2049,210.4,11.1,447,6808,0.00,2.47,0.00,0.000,2308,0.000,0.088,2597,3532,2077,2106,2048,0,0,0,0,0,0,14.55,14.30,14.55,6.23,50.07
$GC,6864,0.64,146.0,2597,3532,2106,2047,203.7,11.2,450,6868,0.00,2.35,0.00,0.000,5126,0.000,0.047,2607,2159,2075,2104,2047,0,0,0,0,0,0,14.40,14.36,14.42,6.23,50.07
$GC,7184,0.64,146.0,2607,2159,2104,2043,165.0,12.4,466,7185,0.00,0.00,0.00,0.000,4102,0.000,0.000,2607,2159,2073,2103,2043,0,0,0,0,0,0,14.69,14.69,14.69,6.23,50.98
$GC,7484,0.64,146.0,2608,2158,2104,2040,132.0,10.0,481,7489,0.00,2.53,0.00,0.000,4612,0.000,0.076,2618,737,2071,2102,2041,0,0,0,0,0,0,14.75,14.50,14.75,6.23,50.63
$GC,7519,0.64,146.0,2619,738,2102,2040,130.0,10.0,482,7524,0.00,2.40,0.00,0.000,5126,0.000,0.060,2619,2131,2070,2101,2040,0,0,0,0,0,0,14.58,14.52,14.59,6.23,50.90
$GC,7824,0.64,146.0,2618,2131,2102,2041,94.9,11.1,504,7828,0.00,2.53,0.00,0.000,4356,0.000,0.089,2619,3550,2070,2101,2040,0,0,0,0,0,0,14.79,14.53,14.79,6.21,49.72
$GC,7904,0.64,146.0,2619,3551,2102,2041,85.6,11.3,520,7908,0.08,2.35,0.00,0.000,5126,0.308,0.048,2602,2156,2070,2101,2040,0,0,0,0,0,0,14.45,14.57,14.57,6.20,49.40
$GC,8029,0.64,146.0,2602,2165,2102,2041,72.4,10.6,545,8033,0.00,2.50,0.00,0.000,516,0.000,0.076,2611,743,2070,2101,2039,0,0,0,0,0,0,14.80,14.55,14.81,6.21,48.89
$GC,8059,0.64,146.0,2611,742,2101,2039,69.3,10.4,551,8064,0.00,2.42,0.00,0.000,5126,0.000,0.059,2611,2154,2069,2100,2039,0,0,0,0,0,0,14.62,14.57,14.64,6.21,48.93
$GC,8184,0.64,146.0,2612,2155,2101,2040,55.9,10.5,576,8188,0.00,2.50,0.00,0.000,4356,0.000,0.090,2611,3558,2070,2101,2039,0,0,0,0,0,0,14.81,14.55,14.81,6.19,48.77
$GC,8219,0.64,146.0,2611,3560,2101,2040,51.9,11.1,583,8224,0.05,2.38,0.00,0.000,5126,0.344,0.048,2603,2151,2069,2100,2039,0,0,0,0,0,0,14.45,14.59,14.58,6.20,48.74
$GC,8344,0.64,146.0,2604,2152,2101,2039,39.6,9.7,608,8348,0.00,2.50,0.00,0.000,516,0.000,0.075,2613,736,2069,2100,2038,0,0,0,0,0,0,14.81,14.57,14.81,6.19,48.97
$GC,8374,0.64,146.0,2612,736,2100,2039,36.9,8.6,614,8378,0.00,2.42,0.00,0.000,5126,0.000,0.059,2613,2151,2069,2100,2038,0,0,0,0,0,0,14.63,14.58,14.66,6.19,49.09
$GC,8499,0.64,146.0,2613,2148,2101,2037,25.2,9.6,639,8504,0.00,2.50,0.00,0.000,4356,0.000,0.090,2613,3559,2068,2099,2037,0,0,0,0,0,0,14.82,14.56,14.82,6.19,49.25
$GC,8539,0.64,146.0,2612,3559,2101,2037,21.3,9.7,647,8544,0.05,2.38,0.00,0.000,5126,0.337,0.048,2605,2149,2069,2100,2038,0,0,0,0,0,0,14.46,14.60,14.59,6.19,49.13
$GC,8664,0.64,146.0,2605,2150,2101,2039,9.9,9.5,672,8665,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2149,2068,2100,2037,0,0,0,0,0,0,14.82,14.81,14.83,6.18,49.48
$STATE,8738,end climb,SURFACE_DEPTH_REACHED
$STATE,8738,begin surface coast
$STATE,8768,end surface coast,CONTROL_FINISHED_OK
$STATE,8768,begin surface
$SM_CCo,8779,68.43,0.253,0,0,1793,220.03
$SM_GC,1.14,5.43,0.10,68.43,0.072,0.144,0.253,264,2070,1793,-6.44,0.48,220.03,0,0,0,0,0,0,14.67,14.63,14.40
$IRIDIUM_FIX,-5938.91,1055.22,231218,093355
$TT8_MAMPS,0.03745,0.08988
$HUMID,48.97
$INTERNAL_PRESSURE,6.0992
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3881952
$24V_AH,13.29,20.428
$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,12.925,73.650,265.450,68.425,0.000,35.494,38.910,97.261,0.000,0.000,16.378,0.000,7067.971,454.523,1534.899,64.832,0.000,1056.208,0.000,1095.263,0.000,0.540,0.000
$DEVICE_MAMPS,473.535,2281.995,1609.560,253.215,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5162.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.476,0.000,0.000,0.000
$MEM,344140
$DATA_FILE_SIZE,17344,693
$CAP_FILE_SIZE,89872,0
$CFSIZE,1023623168,1012006912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.012,19.90,1
$GPS,231218,143849,-6000.410,-11.434,19,1.0,43,-19.6,1.1,268.6,9,7.7