version: 66.14
glider: 640
mission: 5
dive: 79
start: 12 23 118 19 45 25
data:
$ID,640
$MISSION,5
$DIVE,79
$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,49
$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
$GPS1,231218,194101,-5959.6099,-12.1855,13,0.8,25,-19.6,0.6,232.6,10,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-66.9
$GPS2,231218,194507,-5959.6235,-12.2345,6,0.9,12,-19.6,0.5,257.6,9,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,37.1,111038,-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,-146.0,233,2078,1764,1799,0.0,0.0,0,105,0.00,0.00,-94.12,0.000,16386,0.000,0.000,232,2077,3230,3308,3152,0,0,0,0,0,0,14.62,28.83,14.62,6.16,49.76
$GC,106,-0.64,-146.0,233,2078,3311,3153,3.4,-7.9,19,120,6.03,2.75,-2.12,0.000,18692,0.367,2.273,2181,3512,3287,3375,3200,0,0,0,0,0,0,14.24,13.49,14.40,6.28,48.54
$GC,220,-0.64,-146.0,2179,3512,3378,3201,22.7,-15.1,42,224,0.00,2.38,0.00,0.000,3078,0.000,0.043,2180,2116,3288,3376,3200,0,0,0,0,0,0,14.47,14.42,14.48,6.28,47.95
$GC,345,-0.64,-146.0,2180,2113,3378,3201,42.7,-15.0,67,346,0.00,0.00,0.00,0.000,2054,0.000,0.000,2178,2114,3289,3377,3201,0,0,0,0,0,0,14.66,14.66,14.66,6.29,49.05
$GC,465,-0.64,-146.0,2179,2115,3378,3202,61.0,-15.2,91,469,0.00,2.47,0.00,0.000,2308,0.000,0.082,2169,3507,3288,3377,3200,0,0,0,0,0,0,14.69,14.44,14.69,6.30,48.81
$GC,490,-0.64,-146.0,2169,3509,3377,3202,64.8,-15.3,96,496,0.05,2.40,0.00,0.000,3078,0.369,0.044,2186,2087,3289,3377,3201,0,0,0,0,0,0,14.32,14.48,14.45,6.29,48.70
$GC,615,-0.64,-146.0,2187,2087,3378,3200,83.4,-15.1,121,619,0.00,2.40,0.00,0.000,2564,0.000,0.069,2186,696,3288,3376,3200,0,0,0,0,0,0,14.71,14.48,14.71,6.29,48.42
$GC,650,-0.64,-146.0,2187,697,3378,3200,88.6,-14.4,128,655,0.03,2.45,0.00,0.000,3078,0.468,0.060,2185,2106,3289,3377,3201,0,0,0,0,0,0,14.31,14.48,14.46,6.29,48.54
$GC,775,-0.64,-146.0,2186,2108,3378,3201,106.5,-14.6,147,779,0.00,2.50,0.00,0.000,2308,0.000,0.086,2175,3514,3289,3377,3201,0,0,0,0,0,0,14.73,14.47,14.73,6.29,48.34
$GC,805,-0.64,-146.0,2176,3515,3378,3200,109.6,-14.8,148,809,0.05,2.38,0.00,0.000,3078,0.369,0.046,2193,2107,3289,3377,3201,0,0,0,0,0,0,14.35,14.51,14.50,6.29,48.38
$GC,1115,-0.64,-146.0,2193,2106,3378,3201,152.7,-13.2,164,1119,0.00,2.47,0.00,0.000,2308,0.000,0.084,2183,3506,3288,3377,3200,0,0,0,0,0,0,14.78,14.52,14.78,6.29,49.96
$GC,1135,-0.64,-146.0,2183,3506,3378,3200,155.4,-13.3,165,1139,0.00,2.38,0.00,0.000,3078,0.000,0.046,2183,2099,3288,3376,3200,0,0,0,0,0,0,14.60,14.56,14.62,6.30,49.68
$GC,1455,-0.64,-146.0,2182,2099,3377,3200,199.2,-13.6,181,1459,0.00,2.45,0.00,0.000,2564,0.000,0.069,2182,699,3288,3377,3200,0,0,0,0,0,0,14.81,14.57,14.81,6.31,50.55
$GC,1500,-0.64,-146.0,2182,700,3378,3201,204.8,-13.7,183,1504,0.05,2.40,0.00,0.000,3078,0.374,0.058,2189,2102,3288,3377,3199,0,0,0,0,0,0,14.41,14.57,14.56,6.31,50.47
$GC,1815,-0.64,-146.0,2190,2102,3377,3200,246.6,-13.0,199,1820,0.00,2.45,0.00,0.000,2308,0.000,0.086,2179,3497,3288,3377,3199,0,0,0,0,0,0,14.83,14.57,14.83,6.32,51.10
$GC,1830,-0.64,-146.0,2179,3498,3377,3200,246.6,-13.0,199,1834,0.00,2.35,0.00,0.000,3078,0.000,0.045,2178,2092,3287,3376,3199,0,0,0,0,0,0,14.66,14.61,14.67,6.39,51.02
$GC,2135,-0.64,-146.0,2178,2092,3377,3200,289.2,-13.3,215,2139,0.05,2.42,0.00,0.000,2564,0.487,0.069,2191,699,3288,3377,3199,0,0,0,0,0,0,14.47,14.60,14.68,6.32,51.02
$GC,2180,-0.64,-146.0,2192,700,3378,3200,294.5,-13.3,217,2185,0.00,2.40,0.00,0.000,3078,0.000,0.058,2182,2103,3288,3377,3199,0,0,0,0,0,0,14.66,14.62,14.69,6.33,50.98
$GC,2495,-0.64,-146.0,2182,2104,3377,3200,335.4,-12.7,233,2496,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2103,3288,3377,3199,0,0,0,0,0,0,14.85,14.86,14.85,6.33,51.06
$STATE,2614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2614,begin apogee
$GC,2617,-0.15,0.0,2182,2167,3377,3200,350.3,-12.4,239,2751,0.47,0.00,130.82,1.604,10246,0.273,0.000,2353,2166,2686,2744,2628,0,0,0,0,0,0,14.51,13.90,13.26,6.33,51.10
$STATE,2752,end apogee,CONTROL_FINISHED_OK
$STATE,2752,begin loiter
$GC,3035,-0.15,0.0,2353,2167,2740,2614,345.8,3.4,260,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2677,2739,2615,0,0,0,0,0,0,14.54,14.54,14.54,6.29,50.74
$GC,3335,-0.15,0.0,2352,2167,2739,2613,334.8,3.8,275,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2675,2738,2612,0,0,0,0,0,0,14.68,14.69,14.69,6.27,50.98
$GC,3635,-0.15,0.0,2351,2166,2739,2610,323.7,3.7,290,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2675,2739,2611,0,0,0,0,0,0,14.76,14.77,14.77,6.28,50.74
$GC,3935,-0.15,0.0,2353,2167,2740,2610,313.0,3.5,305,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2674,2738,2610,0,0,0,0,0,0,14.82,14.83,14.83,6.28,50.66
$GC,4235,-0.15,0.0,2352,2167,2739,2611,302.9,3.2,320,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2674,2739,2609,0,0,0,0,0,0,14.87,14.87,14.88,6.28,50.74
$GC,4535,-0.15,0.0,2352,2167,2739,2610,293.6,3.0,335,4536,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2674,2739,2609,0,0,0,0,0,0,14.90,14.91,14.91,6.28,51.02
$GC,4835,-0.15,0.0,2352,2167,2739,2610,284.9,2.9,350,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2674,2739,2609,0,0,0,0,0,0,14.93,14.93,14.93,6.28,50.86
$GC,5135,-0.15,0.0,2352,2167,2740,2609,276.0,3.0,365,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2673,2738,2608,0,0,0,0,0,0,14.95,14.96,14.96,6.28,51.10
$GC,5435,-0.15,0.0,2353,2167,2740,2608,266.7,3.0,380,5436,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2673,2739,2608,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.33
$GC,5735,-0.15,0.0,2352,2167,2739,2609,257.0,3.3,395,5736,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2673,2739,2608,0,0,0,0,0,0,14.99,15.00,14.99,6.27,50.86
$GC,6035,-0.15,0.0,2352,2167,2740,2609,247.5,3.1,410,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2673,2739,2608,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.45
$STATE,6334,end loiter,LOITER_COMPLETE
$STATE,6334,begin climb
$GC,6335,0.64,146.0,2353,2167,2740,2609,238.6,0.0,425,6477,0.60,2.55,133.10,1.424,10756,0.174,0.073,2607,751,2087,2112,2062,0,0,0,0,0,0,14.71,13.96,13.43,6.27,51.06
$GC,6575,0.64,146.0,2607,752,2108,2053,220.3,9.9,437,6580,0.00,2.45,0.00,0.000,1030,0.000,0.057,2607,2137,2080,2108,2052,0,0,0,0,0,0,14.21,14.16,14.23,6.23,49.52
$GC,6895,0.64,146.0,2607,2137,2106,2046,183.0,12.0,453,6900,0.00,2.55,0.00,0.000,4356,0.000,0.086,2607,3555,2074,2105,2044,0,0,0,0,0,0,14.60,14.35,14.60,6.23,50.00
$GC,6975,0.64,146.0,2608,3555,2105,2044,173.4,12.0,457,6980,0.00,2.38,0.00,0.000,5126,0.000,0.043,2617,2152,2074,2104,2044,0,0,0,0,0,0,14.46,14.42,14.47,6.23,50.03
$GC,7296,0.64,146.0,2618,2152,2104,2040,133.6,12.3,473,7299,0.00,2.47,0.00,0.000,4612,0.000,0.071,2629,728,2071,2103,2040,0,0,0,0,0,0,14.71,14.48,14.71,6.23,50.11
$GC,7325,0.64,146.0,2629,729,2107,2041,131.2,12.1,474,7330,0.05,2.45,0.00,0.000,5126,0.319,0.059,2609,2149,2071,2102,2040,0,0,0,0,0,0,14.37,14.47,14.50,6.23,50.19
$GC,7631,0.64,146.0,2610,2149,2103,2039,98.2,10.5,492,7636,0.00,2.50,0.00,0.000,4356,0.000,0.086,2610,3555,2070,2102,2039,0,0,0,0,0,0,14.76,14.52,14.77,6.21,49.40
$GC,7715,0.64,146.0,2609,3556,2102,2041,89.0,10.6,509,7720,0.00,2.35,0.00,0.000,5126,0.000,0.044,2618,2151,2071,2102,2040,0,0,0,0,0,0,14.60,14.54,14.61,6.21,49.40
$GC,7840,0.64,146.0,2618,2152,2102,2040,75.8,10.7,534,7845,0.00,2.47,0.00,0.000,4612,0.000,0.071,2629,745,2070,2101,2039,0,0,0,0,0,0,14.78,14.53,14.78,6.21,49.56
$GC,7881,0.64,146.0,2629,745,2101,2040,71.8,10.0,542,7885,0.05,2.42,0.00,0.000,5126,0.321,0.058,2609,2158,2069,2100,2038,0,0,0,0,0,0,14.43,14.55,14.55,6.20,48.85
$GC,8006,0.64,146.0,2609,2156,2101,2040,59.7,9.6,567,8010,0.00,2.47,0.00,0.000,4356,0.000,0.087,2609,3551,2069,2100,2038,0,0,0,0,0,0,14.78,14.54,14.78,6.20,48.46
$GC,8070,0.64,146.0,2609,3552,2102,2038,53.1,9.9,580,8076,0.00,2.35,0.00,0.000,5126,0.000,0.044,2618,2151,2069,2100,2038,0,0,0,0,0,0,14.62,14.57,14.64,6.20,48.77
$GC,8195,0.64,146.0,2618,2151,2102,2037,40.6,10.6,605,8200,0.00,2.47,0.00,0.000,4612,0.000,0.073,2629,743,2069,2101,2037,0,0,0,0,0,0,14.79,14.54,14.80,6.19,48.81
$GC,8260,0.64,146.0,2629,744,2101,2038,34.4,9.0,618,8265,0.05,2.40,0.00,0.000,5126,0.324,0.058,2609,2144,2068,2100,2037,0,0,0,0,0,0,14.45,14.57,14.57,6.20,49.01
$GC,8386,0.64,146.0,2609,2145,2101,2038,22.8,10.1,643,8390,0.00,2.47,0.00,0.000,4356,0.000,0.086,2609,3566,2068,2100,2037,0,0,0,0,0,0,14.79,14.56,14.81,6.19,49.21
$GC,8430,0.64,146.0,2609,3569,2101,2038,18.2,10.1,652,8436,0.00,2.40,0.00,0.000,5126,0.000,0.045,2618,2140,2065,2100,2030,0,0,0,0,0,0,14.63,14.59,14.66,6.19,49.13
$GC,8556,0.64,146.0,2619,2140,2101,2036,6.4,9.0,677,8560,0.00,2.42,0.00,0.000,4612,0.000,0.069,2629,756,2068,2100,2037,0,0,0,0,0,0,14.81,14.55,14.81,6.19,49.40
$GC,8575,0.64,146.0,2629,757,2100,2038,4.2,10.5,681,8580,0.05,2.42,0.00,0.000,5126,0.320,0.061,2609,2162,2067,2099,2036,0,0,0,0,0,0,14.45,14.57,14.58,6.18,49.40
$STATE,8589,end climb,SURFACE_DEPTH_REACHED
$STATE,8589,begin surface coast
$STATE,8614,end surface coast,CONTROL_FINISHED_OK
$STATE,8614,begin surface
$SM_CCo,8625,68.07,0.251,0,0,1792,220.03
$SM_GC,1.06,5.47,0.08,68.07,0.074,0.162,0.251,270,2084,1792,-6.46,1.30,220.03,0,0,0,0,0,0,14.64,14.60,14.38
$IRIDIUM_FIX,-6002.25,0.00,231218,171140
$TT8_MAMPS,0.038948,0.089131
$HUMID,48.77
$INTERNAL_PRESSURE,6.10897
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3880416
$24V_AH,13.26,20.930
$10V_AH,13.45,0.000
$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,13.000,83.225,263.925,68.075,0.000,23.512,16.242,108.132,0.000,0.000,13.140,0.000,6891.301,450.341,1538.141,66.308,0.000,1070.160,0.000,1115.308,0.000,0.539,0.000
$DEVICE_MAMPS,486.540,2272.815,1604.205,250.920,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5026.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.763,0.000,0.000,0.000
$MEM,344048
$DATA_FILE_SIZE,17336,689
$CAP_FILE_SIZE,92926,0
$CFSIZE,1023623168,1011712000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.054,192.81,1
$GPS,231218,221119,-5959.313,-12.025,15,0.7,38,-19.6,0.6,156.7,11,5.9