version: 66.14
glider: 640
mission: 5
dive: 77
start: 12 23 118 14 43 46
data:
$ID,640
$MISSION,5
$DIVE,77
$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,43
$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
$GPS1,231218,143849,-6000.4102,-11.4340,19,1.0,43,-19.6,1.1,268.6,9,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-63.4
$GPS2,231218,144328,-6000.3911,-11.4566,9,1.0,19,-19.6,0.0,89.0,10,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,24.5,112377,-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,-146.0,234,2069,1767,1796,0.0,0.0,0,105,0.00,0.00,-93.88,0.000,16386,0.000,0.000,233,2066,3206,3286,3127,0,0,0,0,0,0,14.62,28.83,14.62,6.16,50.00
$GC,106,-0.64,-146.0,234,2069,3286,3129,3.2,-7.6,19,121,6.00,2.78,-3.10,0.000,18692,0.367,2.284,2172,3514,3288,3377,3199,0,0,0,0,0,0,14.23,13.49,14.39,6.28,49.29
$GC,205,-0.64,-146.0,2173,3514,3379,3192,20.1,-16.0,39,209,0.05,2.38,0.00,0.000,3078,0.362,0.046,2189,2122,3288,3378,3198,0,0,0,0,0,0,14.26,14.42,14.40,6.28,48.14
$GC,330,-0.64,-146.0,2189,2122,3380,3199,40.6,-18.2,64,334,0.00,2.53,0.00,0.000,2564,0.000,0.072,2189,698,3288,3378,3199,0,0,0,0,0,0,14.66,14.42,14.66,6.28,48.62
$GC,410,-0.64,-146.0,2189,698,3379,3200,53.4,-15.0,80,414,0.03,2.42,0.00,0.000,3078,0.482,0.060,2187,2097,3288,3378,3199,0,0,0,0,0,0,14.28,14.45,14.44,6.28,49.40
$GC,535,-0.64,-146.0,2187,2098,3379,3199,72.7,-14.9,105,536,0.00,0.00,0.00,0.000,2054,0.000,0.000,2187,2098,3288,3378,3199,0,0,0,0,0,0,14.71,14.71,14.71,6.28,49.09
$GC,655,-0.64,-146.0,2188,2094,3379,3200,91.1,-15.5,129,655,0.00,0.00,0.00,0.000,2054,0.000,0.000,2187,2098,3289,3379,3199,0,0,0,0,0,0,14.73,14.73,14.73,6.28,48.66
$GC,775,-0.64,-146.0,2187,2098,3377,3200,109.5,-15.1,144,779,0.00,2.50,0.00,0.000,2308,0.000,0.087,2177,3507,3288,3377,3199,0,0,0,0,0,0,14.75,14.49,14.75,6.28,48.70
$GC,805,-0.64,-146.0,2177,3508,3380,3199,112.4,-15.0,145,809,0.05,2.38,0.00,0.000,3078,0.369,0.048,2194,2100,3288,3378,3199,0,0,0,0,0,0,14.36,14.52,14.50,6.28,48.77
$GC,1115,-0.64,-146.0,2194,2099,3389,3200,153.8,-12.3,161,1119,0.00,2.47,0.00,0.000,516,0.000,0.071,2194,689,3288,3378,3199,0,0,0,0,0,0,14.79,14.54,14.79,6.29,49.72
$GC,1235,-0.64,-146.0,2195,690,3380,3198,169.0,-12.4,167,1239,0.00,2.42,0.00,0.000,3078,0.000,0.061,2185,2102,3289,3379,3199,0,0,0,0,0,0,14.62,14.56,14.64,6.29,50.03
$GC,1555,-0.64,-146.0,2185,2103,3379,3199,209.5,-12.7,183,1559,0.00,2.47,0.00,0.000,2308,0.000,0.087,2174,3509,3289,3379,3199,0,0,0,0,0,0,14.83,14.57,14.83,6.30,51.22
$GC,1570,-0.64,-146.0,2175,3510,3379,3199,209.5,-12.7,183,1575,0.05,2.38,0.00,0.000,3078,0.369,0.048,2191,2096,3288,3378,3199,0,0,0,0,0,0,14.44,14.61,14.59,6.28,51.29
$GC,1875,-0.64,-146.0,2191,2096,3379,3199,249.6,-12.4,199,1880,0.00,2.45,0.00,0.000,2564,0.000,0.071,2191,691,3288,3378,3198,0,0,0,0,0,0,14.85,14.60,14.85,6.32,51.45
$GC,1900,-0.64,-146.0,2191,691,3379,3200,252.2,-12.5,200,1904,0.00,2.42,0.00,0.000,3078,0.000,0.060,2181,2106,3288,3378,3198,0,0,0,0,0,0,14.67,14.61,14.69,6.31,51.85
$GC,2215,-0.64,-146.0,2182,2107,3380,3198,292.9,-12.7,216,2219,0.00,2.45,0.00,0.000,2308,0.000,0.086,2170,3505,3287,3377,3197,0,0,0,0,0,0,14.87,14.61,14.87,6.32,51.22
$GC,2230,-0.64,-146.0,2171,3505,3379,3199,292.9,-12.7,216,2234,0.05,2.35,0.00,0.000,3078,0.366,0.047,2187,2092,3288,3378,3198,0,0,0,0,0,0,14.49,14.65,14.63,6.32,51.33
$GC,2535,-0.64,-146.0,2189,2091,3379,3202,332.6,-12.3,232,2539,0.00,2.42,0.00,0.000,2564,0.000,0.070,2188,699,3288,3378,3198,0,0,0,0,0,0,14.88,14.63,14.88,6.33,51.26
$GC,2585,-0.64,-146.0,2188,699,3379,3198,337.6,-12.4,234,2590,0.00,2.40,0.00,0.000,3078,0.000,0.060,2179,2108,3288,3378,3198,0,0,0,0,0,0,14.70,14.64,14.71,6.33,51.65
$STATE,2694,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2694,begin apogee
$GC,2697,-0.15,0.0,2180,2160,3380,3198,352.5,-12.5,240,2831,0.47,0.00,131.20,1.607,10246,0.275,0.000,2349,2159,2688,2746,2630,0,0,0,0,0,0,14.53,13.90,13.29,6.33,51.53
$STATE,2832,end apogee,CONTROL_FINISHED_OK
$STATE,2832,begin loiter
$GC,3115,-0.15,0.0,2349,2160,2740,2617,348.2,3.4,261,3116,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2677,2739,2615,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.27
$GC,3415,-0.15,0.0,2349,2160,2740,2613,337.9,3.4,276,3416,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2676,2739,2613,0,0,0,0,0,0,14.68,14.69,14.69,6.28,51.53
$GC,3715,-0.15,0.0,2349,2160,2740,2613,327.4,3.4,291,3716,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2675,2739,2612,0,0,0,0,0,0,14.77,14.77,14.77,6.28,51.45
$GC,4016,-0.15,0.0,2349,2159,2741,2612,316.7,3.5,306,4016,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2675,2739,2612,0,0,0,0,0,0,14.82,14.83,14.83,6.28,50.90
$GC,4315,-0.15,0.0,2350,2159,2740,2611,305.9,3.5,321,4316,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2675,2739,2612,0,0,0,0,0,0,14.87,14.87,14.87,6.27,50.82
$GC,4615,-0.15,0.0,2349,2160,2740,2612,295.4,3.4,336,4616,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2675,2739,2611,0,0,0,0,0,0,14.90,14.90,14.90,6.28,50.86
$GC,4915,-0.15,0.0,2349,2159,2741,2611,285.4,3.2,351,4916,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2675,2739,2611,0,0,0,0,0,0,14.92,14.93,14.93,6.27,51.77
$GC,5216,-0.15,0.0,2349,2159,2740,2613,275.6,3.3,366,5216,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2675,2739,2611,0,0,0,0,0,0,14.95,14.95,14.95,6.28,50.66
$GC,5516,-0.15,0.0,2349,2160,2740,2613,265.5,3.4,381,5516,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2675,2739,2612,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.45
$GC,5815,-0.15,0.0,2349,2159,2740,2612,255.6,3.3,396,5816,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2675,2739,2612,0,0,0,0,0,0,14.99,14.99,14.99,6.28,50.82
$GC,6115,-0.15,0.0,2349,2160,2740,2613,245.7,3.3,411,6116,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2675,2739,2612,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.22
$STATE,6414,end loiter,LOITER_COMPLETE
$STATE,6414,begin climb
$GC,6416,0.64,146.0,2349,2159,2740,2612,236.3,0.0,426,6557,0.62,2.55,133.93,1.426,10756,0.184,0.075,2610,752,2087,2110,2064,0,0,0,0,0,0,14.70,13.95,13.43,6.27,51.69
$GC,6616,0.64,146.0,2610,752,2110,2055,220.9,10.2,436,6620,0.00,2.47,0.00,0.000,5126,0.000,0.060,2610,2141,2081,2108,2055,0,0,0,0,0,0,14.16,14.10,14.18,6.23,48.81
$GC,6935,0.64,146.0,2610,2142,2105,2048,181.0,12.7,452,6940,0.00,2.55,0.00,0.000,4356,0.000,0.088,2610,3558,2075,2104,2047,0,0,0,0,0,0,14.58,14.33,14.59,6.24,50.59
$GC,7030,0.64,146.0,2610,3558,2104,2046,170.8,12.7,456,7035,0.05,2.38,0.00,0.000,5126,0.343,0.045,2602,2161,2074,2102,2047,0,0,0,0,0,0,14.26,14.40,14.40,6.23,49.88
$GC,7336,0.64,146.0,2602,2160,2103,2041,133.8,11.3,472,7337,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2160,2071,2102,2041,0,0,0,0,0,0,14.70,14.71,14.70,6.23,50.03
$GC,7636,0.64,146.0,2603,2160,2103,2040,101.0,11.1,487,7640,0.00,2.53,0.00,0.000,516,0.000,0.074,2611,732,2071,2102,2040,0,0,0,0,0,0,14.76,14.51,14.76,6.22,49.80
$GC,7680,0.64,146.0,2612,733,2102,2041,96.2,10.3,493,7685,0.00,2.42,0.00,0.000,5126,0.000,0.059,2612,2144,2070,2101,2040,0,0,0,0,0,0,14.58,14.54,14.60,6.22,49.60
$GC,7806,0.64,146.0,2612,2145,2101,2041,82.4,11.3,518,7811,0.00,2.53,0.00,0.000,4356,0.000,0.091,2612,3559,2070,2101,2039,0,0,0,0,0,0,14.76,14.51,14.77,6.21,49.44
$GC,7865,0.64,146.0,2612,3560,2101,2041,75.5,11.1,530,7871,0.05,2.38,0.00,0.000,5126,0.347,0.046,2604,2148,2070,2101,2040,0,0,0,0,0,0,14.41,14.56,14.54,6.20,48.97
$GC,7991,0.64,146.0,2604,2149,2101,2040,62.7,10.3,555,7995,0.00,2.50,0.00,0.000,516,0.000,0.073,2613,735,2067,2096,2039,0,0,0,0,0,0,14.78,14.53,14.78,6.20,48.42
$GC,8030,0.64,146.0,2614,736,2101,2039,58.6,10.0,563,8035,0.00,2.42,0.00,0.000,5126,0.000,0.060,2614,2146,2069,2100,2038,0,0,0,0,0,0,14.60,14.54,14.62,6.20,48.85
$GC,8156,0.64,146.0,2614,2147,2101,2038,44.7,11.2,588,8160,0.00,2.53,0.00,0.000,4356,0.000,0.090,2614,3559,2069,2100,2038,0,0,0,0,0,0,14.78,14.52,14.78,6.19,48.42
$GC,8210,0.64,146.0,2614,3560,2100,2040,38.5,10.9,599,8215,0.05,2.38,0.00,0.000,5126,0.335,0.046,2606,2143,2069,2100,2038,0,0,0,0,0,0,14.42,14.57,14.57,6.19,48.54
$GC,8336,0.64,146.0,2607,2144,2101,2038,26.8,9.5,624,8339,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2143,2069,2100,2038,0,0,0,0,0,0,14.78,14.78,14.78,6.19,48.46
$GC,8460,0.64,146.0,2606,2144,2100,2038,15.5,8.8,649,8465,0.00,2.53,0.00,0.000,260,0.000,0.087,2606,3558,2068,2099,2037,0,0,0,0,0,0,14.79,14.54,14.80,6.19,48.85
$GC,8495,0.64,146.0,2608,3560,2100,2039,12.2,8.9,656,8500,0.00,2.38,0.00,0.000,5126,0.000,0.045,2615,2149,2069,2100,2038,0,0,0,0,0,0,14.63,14.59,14.65,6.20,49.17
$STATE,8595,end climb,SURFACE_DEPTH_REACHED
$STATE,8595,begin surface coast
$STATE,8629,end surface coast,CONTROL_FINISHED_OK
$STATE,8630,begin surface
$SM_CCo,8642,67.88,0.251,0,0,1793,220.03
$SM_GC,1.02,5.55,0.08,67.88,0.082,0.167,0.251,240,2073,1793,-6.49,0.88,220.03,0,0,0,0,0,0,14.64,14.59,14.38
$IRIDIUM_FIX,-5959.30,-8.61,231218,120705
$TT8_MAMPS,0.039697,0.083139
$HUMID,48.66
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3881440
$24V_AH,13.29,20.594
$10V_AH,13.61,0.000
$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,13.025,73.875,265.125,67.875,0.000,23.162,47.105,101.011,0.000,0.000,20.726,0.000,6918.173,447.934,1562.345,65.248,0.000,1058.029,0.000,1111.410,0.000,0.539,0.000
$DEVICE_MAMPS,481.950,2284.290,1606.500,250.920,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5040.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.498,0.000,0.000,0.000
$MEM,344116
$DATA_FILE_SIZE,17345,683
$CAP_FILE_SIZE,90678,0
$CFSIZE,1023623168,1011908608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.053,251.38,1
$GPS,231218,171013,-5959.891,-11.847,15,0.9,56,-19.6,0.4,298.4,7,4.0