version: 66.14
glider: 640
mission: 5
dive: 78
start: 12 23 118 17 15 16
data:
$ID,640
$MISSION,5
$DIVE,78
$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,55
$R_STBD_OVSHOOT,24
$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
$GPS1,231218,171013,-5959.8906,-11.8473,15,0.9,56,-19.6,0.4,298.4,7,4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-69.8
$GPS2,231218,171458,-5959.8716,-11.9104,9,1.0,49,-19.6,0.7,312.6,6,4.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,36.7,111463,-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,-146.0,234,2072,1779,1798,0.0,0.0,0,100,0.00,0.00,-88.50,0.000,16386,0.000,0.000,233,2071,3130,3212,3049,0,0,0,0,0,0,14.63,28.83,14.63,6.16,49.56
$GC,101,-0.64,-146.0,234,2072,3212,3052,3.2,-5.9,18,120,6.00,2.80,-6.18,0.000,18692,0.368,2.287,2175,3508,3288,3381,3195,0,0,0,0,0,0,14.25,13.50,14.40,6.27,49.29
$GC,225,-0.64,-146.0,2175,3508,3382,3197,21.8,-14.2,43,230,0.05,2.35,0.00,0.000,3078,0.372,0.044,2192,2124,3288,3381,3196,0,0,0,0,0,0,14.25,14.42,14.40,6.29,47.63
$GC,350,-0.64,-146.0,2192,2123,3382,3197,41.9,-17.8,68,353,0.00,0.00,0.00,0.000,2054,0.000,0.000,2191,2123,3289,3383,3196,0,0,0,0,0,0,14.66,14.66,14.66,6.29,48.66
$GC,475,-0.64,-146.0,2192,2123,3382,3197,61.3,-15.1,93,475,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2123,3289,3382,3196,0,0,0,0,0,0,14.69,14.69,14.69,6.29,49.33
$GC,595,-0.64,-146.0,2192,2123,3383,3198,78.5,-14.3,117,599,0.00,2.53,0.00,0.000,2564,0.000,0.069,2192,692,3289,3382,3197,0,0,0,0,0,0,14.71,14.47,14.71,6.35,48.77
$GC,620,-0.64,-146.0,2192,692,3383,3196,82.1,-14.0,122,624,0.00,2.45,0.00,0.000,3078,0.000,0.060,2182,2105,3288,3381,3196,0,0,0,0,0,0,14.52,14.46,14.54,6.29,48.54
$GC,745,-0.64,-146.0,2183,2105,3383,3196,100.0,-14.6,147,750,0.00,2.47,0.00,0.000,2308,0.000,0.085,2172,3502,3289,3382,3197,0,0,0,0,0,0,14.73,14.47,14.73,6.29,49.01
$GC,775,-0.64,-146.0,2172,3502,3382,3196,103.0,-14.7,148,779,0.05,2.38,0.00,0.000,3078,0.360,0.047,2189,2098,3289,3382,3196,0,0,0,0,0,0,14.35,14.51,14.50,6.29,48.46
$GC,1085,-0.64,-146.0,2189,2097,3382,3197,147.5,-13.8,164,1089,0.00,2.50,0.00,0.000,2308,0.000,0.085,2179,3505,3289,3381,3197,0,0,0,0,0,0,14.78,14.51,14.78,6.29,49.37
$GC,1245,-0.64,-146.0,2179,3505,3382,3196,167.7,-12.1,172,1249,0.00,2.38,0.00,0.000,3078,0.000,0.044,2178,2092,3289,3382,3196,0,0,0,0,0,0,14.61,14.57,14.63,6.29,50.15
$GC,1565,-0.64,-146.0,2180,2091,3383,3196,209.2,-13.0,188,1569,0.00,2.45,0.00,0.000,2564,0.000,0.070,2178,693,3289,3382,3197,0,0,0,0,0,0,14.82,14.57,14.82,6.31,50.70
$GC,1600,-0.64,-146.0,2178,694,3382,3197,211.9,-13.2,189,1604,0.08,2.42,0.00,0.000,3078,0.338,0.060,2193,2103,3289,3382,3196,0,0,0,0,0,0,14.44,14.57,14.57,6.31,50.66
$GC,1905,-0.64,-146.0,2193,2104,3382,3197,251.0,-12.2,205,1909,0.00,2.47,0.00,0.000,2308,0.000,0.086,2183,3507,3288,3381,3196,0,0,0,0,0,0,14.83,14.58,14.83,6.31,51.06
$GC,1925,-0.64,-146.0,2184,3508,3382,3196,253.5,-12.2,206,1929,0.00,2.35,0.00,0.000,3078,0.000,0.045,2182,2104,3288,3381,3196,0,0,0,0,0,0,14.65,14.61,14.67,6.32,51.06
$GC,2245,-0.64,-146.0,2182,2103,3382,3198,293.6,-12.5,222,2250,0.00,2.45,0.00,0.000,2564,0.000,0.069,2183,696,3288,3381,3196,0,0,0,0,0,0,14.85,14.60,14.85,6.32,51.22
$GC,2300,-0.64,-146.0,2183,697,3382,3198,298.8,-12.8,224,2304,0.05,2.40,0.00,0.000,3078,0.364,0.060,2190,2099,3288,3381,3196,0,0,0,0,0,0,14.46,14.61,14.61,6.33,50.90
$GC,2605,-0.64,-146.0,2190,2100,3381,3197,337.0,-11.8,240,2609,0.00,2.50,0.00,0.000,2308,0.000,0.087,2180,3509,3289,3381,3197,0,0,0,0,0,0,14.86,14.60,14.86,6.33,51.18
$GC,2620,-0.64,-146.0,2181,3510,3381,3196,337.0,-11.8,240,2624,0.00,2.35,0.00,0.000,3078,0.000,0.046,2179,2099,3288,3381,3196,0,0,0,0,0,0,14.69,14.64,14.71,6.32,51.45
$STATE,2724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2724,begin apogee
$GC,2727,-0.15,0.0,2180,2167,3382,3195,351.7,-12.2,246,2861,0.47,0.00,131.02,1.610,10246,0.271,0.000,2350,2166,2688,2746,2630,0,0,0,0,0,0,14.51,13.89,13.28,6.33,51.45
$STATE,2862,end apogee,CONTROL_FINISHED_OK
$STATE,2862,begin loiter
$GC,3145,-0.15,0.0,2350,2167,2740,2615,346.8,3.4,267,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2677,2739,2615,0,0,0,0,0,0,14.53,14.54,14.54,6.28,50.55
$GC,3445,-0.15,0.0,2351,2167,2740,2613,335.7,3.7,282,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2675,2739,2612,0,0,0,0,0,0,14.67,14.68,14.68,6.28,50.66
$GC,3745,-0.15,0.0,2351,2167,2740,2611,324.6,3.7,297,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2675,2739,2611,0,0,0,0,0,0,14.76,14.76,14.77,6.28,51.29
$GC,4046,-0.15,0.0,2350,2167,2739,2612,313.5,3.7,312,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2675,2739,2611,0,0,0,0,0,0,14.82,14.83,14.83,6.28,51.02
$GC,4345,-0.15,0.0,2350,2167,2740,2611,302.8,3.6,327,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2166,2674,2739,2610,0,0,0,0,0,0,14.87,14.87,14.87,6.28,51.37
$GC,4645,-0.15,0.0,2350,2167,2741,2609,291.9,3.6,342,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2674,2739,2609,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.45
$GC,4945,-0.15,0.0,2351,2167,2740,2609,281.0,3.6,357,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2674,2739,2609,0,0,0,0,0,0,14.92,14.93,14.93,6.27,51.06
$GC,5245,-0.15,0.0,2351,2167,2740,2608,270.0,3.7,372,5246,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2674,2739,2609,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.06
$GC,5546,-0.15,0.0,2350,2167,2740,2610,258.9,3.7,387,5546,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2674,2739,2609,0,0,0,0,0,0,14.97,14.97,14.97,6.28,50.94
$GC,5845,-0.15,0.0,2350,2167,2740,2608,248.4,3.4,402,5846,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2673,2739,2608,0,0,0,0,0,0,14.99,14.99,14.99,6.27,51.26
$GC,6145,-0.15,0.0,2350,2167,2740,2610,238.9,3.1,417,6146,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2674,2739,2609,0,0,0,0,0,0,15.00,15.00,15.00,6.28,50.90
$STATE,6444,end loiter,LOITER_COMPLETE
$STATE,6444,begin climb
$GC,6446,0.64,146.0,2350,2167,2740,2610,230.1,0.0,432,6587,0.60,2.60,133.00,1.422,11012,0.182,0.074,2601,734,2086,2112,2060,0,0,0,0,0,0,14.70,13.95,13.43,6.28,50.78
$GC,6680,0.64,146.0,2602,734,2108,2053,213.9,9.8,443,6686,0.00,2.50,0.00,0.000,1030,0.000,0.060,2602,2141,2080,2108,2052,0,0,0,0,0,0,14.21,14.16,14.23,6.23,48.85
$GC,6985,0.64,146.0,2602,2142,2104,2046,177.0,11.5,459,6990,0.00,2.55,0.00,0.000,260,0.000,0.088,2610,3555,2074,2104,2045,0,0,0,0,0,0,14.59,14.34,14.59,6.23,50.66
$GC,7060,0.64,146.0,2602,3556,2104,2044,170.0,11.6,462,7065,0.00,2.40,0.00,0.000,5126,0.000,0.045,2612,2149,2074,2103,2045,0,0,0,0,0,0,14.45,14.40,14.46,6.23,49.96
$GC,7365,0.64,146.0,2613,2149,2104,2041,130.6,12.6,478,7366,0.00,0.00,0.00,0.000,4102,0.000,0.000,2612,2149,2071,2102,2041,0,0,0,0,0,0,14.71,14.71,14.71,6.23,50.23
$GC,7665,0.64,146.0,2612,2149,2103,2041,96.4,10.9,496,7670,0.00,2.50,0.00,0.000,4356,0.000,0.085,2612,3556,2071,2102,2040,0,0,0,0,0,0,14.76,14.50,14.76,6.22,49.80
$GC,7700,0.64,146.0,2613,3557,2103,2041,92.5,11.1,503,7706,0.05,2.38,0.00,0.000,5126,0.342,0.046,2604,2149,2071,2102,2040,0,0,0,0,0,0,14.44,14.55,14.54,6.22,50.11
$GC,7826,0.64,146.0,2605,2149,2103,2041,79.6,10.2,528,7830,0.00,2.47,0.00,0.000,516,0.000,0.073,2614,747,2070,2102,2039,0,0,0,0,0,0,14.76,14.52,14.77,6.21,48.89
$GC,7865,0.64,146.0,2614,748,2102,2038,75.6,9.8,536,7870,0.00,2.42,0.00,0.000,5126,0.000,0.058,2614,2159,2069,2100,2038,0,0,0,0,0,0,14.59,14.54,14.61,6.21,49.05
$GC,7991,0.64,146.0,2614,2160,2102,2040,62.1,11.2,561,7995,0.00,2.50,0.00,0.000,4356,0.000,0.090,2614,3558,2069,2100,2039,0,0,0,0,0,0,14.77,14.52,14.78,6.20,49.09
$GC,8040,0.64,146.0,2614,3560,2102,2039,56.2,11.2,571,8046,0.05,2.38,0.00,0.000,5126,0.337,0.045,2606,2145,2069,2101,2038,0,0,0,0,0,0,14.42,14.57,14.56,6.20,48.42
$GC,8166,0.64,146.0,2606,2146,2102,2039,43.8,9.7,596,8170,0.00,2.42,0.00,0.000,516,0.000,0.071,2615,743,2069,2101,2038,0,0,0,0,0,0,14.78,14.54,14.78,6.20,48.70
$GC,8190,0.64,146.0,2616,744,2101,2038,41.4,9.4,601,8195,0.00,2.42,0.00,0.000,5126,0.000,0.058,2616,2154,2068,2100,2037,0,0,0,0,0,0,14.60,14.55,14.63,6.20,48.93
$GC,8316,0.64,146.0,2615,2155,2101,2038,29.6,9.0,626,8320,0.00,2.45,0.00,0.000,4356,0.000,0.090,2615,3555,2068,2100,2037,0,0,0,0,0,0,14.78,14.55,14.78,6.19,48.62
$GC,8411,0.64,146.0,2615,3556,2101,2039,20.5,9.6,645,8415,0.05,2.35,0.00,0.000,5126,0.342,0.046,2608,2155,2069,2100,2038,0,0,0,0,0,0,14.43,14.57,14.57,6.19,48.77
$GC,8536,0.64,146.0,2608,2155,2101,2037,8.5,10.0,670,8540,0.00,2.47,0.00,0.000,4612,0.000,0.072,2617,747,2068,2100,2037,0,0,0,0,0,0,14.80,14.55,14.80,6.19,49.72
$GC,8565,0.64,146.0,2617,748,2100,2038,5.9,8.6,676,8570,0.00,2.40,0.00,0.000,5126,0.000,0.060,2617,2146,2068,2100,2036,0,0,0,0,0,0,14.62,14.57,14.64,6.19,49.17
$STATE,8595,end climb,SURFACE_DEPTH_REACHED
$STATE,8595,begin surface coast
$STATE,8619,end surface coast,CONTROL_FINISHED_OK
$STATE,8619,begin surface
$SM_CCo,8630,67.97,0.252,0,0,1793,220.03
$SM_GC,1.11,5.55,0.08,67.97,0.092,0.168,0.252,280,2078,1793,-6.44,0.88,220.03,0,0,0,0,0,0,14.65,14.59,14.38
$IRIDIUM_FIX,-6040.51,-1331.28,231218,144020
$TT8_MAMPS,0.038948,0.088382
$HUMID,48.50
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3880928
$24V_AH,13.28,20.763
$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,13.000,78.650,264.025,67.975,0.000,30.684,17.420,103.696,0.000,0.000,50.853,0.000,6887.672,445.371,1590.122,65.766,0.000,1068.220,0.000,1129.382,0.000,0.540,0.000
$DEVICE_MAMPS,371.790,2287.350,1609.560,252.450,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5030.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.896,0.000,0.000,0.000
$MEM,344112
$DATA_FILE_SIZE,17367,687
$CAP_FILE_SIZE,92034,0
$CFSIZE,1023623168,1011810304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.081,222.70,1
$GPS,231218,194101,-5959.610,-12.186,13,0.8,25,-19.6,0.6,232.6,10,8.4