version: 66.14
glider: 640
mission: 5
dive: 81
start: 12 24 118 0 46 53
data:
$ID,640
$MISSION,5
$DIVE,81
$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,29
$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
$GPS1,241218,004234,-5958.8311,-11.8272,34,0.7,37,-19.6,0.0,355.0,12,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-64.9
$GPS2,241218,004634,-5958.8198,-11.8137,8,0.7,12,-19.6,1.4,286.4,12,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,23.6,109516,-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,-146.0,233,2137,1769,1794,0.0,0.0,0,101,0.00,0.00,-90.45,0.000,16386,0.000,0.000,232,2137,3172,3251,3093,0,0,0,0,0,0,14.62,28.83,14.63,6.17,49.44
$GC,103,-0.64,-146.0,232,2138,3253,3094,3.2,-6.3,18,121,6.05,2.67,-4.35,0.000,18692,0.376,2.281,2179,3513,3286,3377,3196,0,0,0,0,0,0,14.23,13.49,14.48,6.27,48.66
$GC,255,-0.64,-146.0,2180,3514,3381,3197,29.2,-16.3,49,260,0.00,2.40,0.00,0.000,3078,0.000,0.044,2179,2104,3287,3379,3196,0,0,0,0,0,0,14.45,14.41,14.47,6.29,48.74
$GC,380,-0.64,-146.0,2178,2104,3381,3198,49.5,-16.3,74,384,0.03,2.50,0.00,0.000,2564,0.637,0.068,2188,693,3288,3380,3197,0,0,0,0,0,0,14.31,14.42,14.50,6.29,48.54
$GC,450,-0.64,-146.0,2189,694,3381,3197,60.0,-14.4,88,454,0.00,2.45,0.00,0.000,3078,0.000,0.060,2179,2103,3288,3380,3197,0,0,0,0,0,0,14.50,14.45,14.52,6.29,48.77
$GC,575,-0.64,-146.0,2180,2104,3382,3197,79.4,-15.4,113,580,0.00,2.50,0.00,0.000,2308,0.000,0.085,2168,3505,3288,3380,3197,0,0,0,0,0,0,14.70,14.45,14.70,6.29,48.38
$GC,600,-0.64,-146.0,2169,3505,3381,3196,83.3,-15.4,118,604,0.08,2.38,0.00,0.000,3078,0.330,0.046,2195,2104,3288,3380,3197,0,0,0,0,0,0,14.34,14.47,14.47,6.28,49.09
$GC,740,-0.64,-146.0,2195,2103,3381,3196,103.2,-14.0,143,744,0.00,2.47,0.00,0.000,516,0.000,0.068,2195,699,3288,3380,3197,0,0,0,0,0,0,14.71,14.48,14.72,6.29,48.66
$GC,775,-0.64,-146.0,2196,700,3381,3197,106.0,-14.1,144,779,0.00,2.42,0.00,0.000,3078,0.000,0.059,2186,2100,3288,3380,3197,0,0,0,0,0,0,14.54,14.49,14.56,6.28,48.70
$GC,1080,-0.64,-146.0,2185,2101,3381,3197,149.5,-13.7,160,1080,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2101,3288,3380,3196,0,0,0,0,0,0,14.77,14.77,14.77,6.29,49.48
$GC,1380,-0.64,-146.0,2186,2101,3381,3198,191.5,-13.8,175,1380,0.00,0.00,0.00,0.000,2054,0.000,0.000,2185,2100,3288,3380,3197,0,0,0,0,0,0,14.80,14.81,14.80,6.30,50.82
$GC,1680,-0.64,-146.0,2185,2101,3380,3197,231.1,-12.9,190,1681,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2101,3288,3380,3196,0,0,0,0,0,0,14.87,14.83,14.83,6.32,51.37
$GC,1980,-0.64,-146.0,2186,2101,3381,3197,268.6,-12.1,205,1980,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2100,3288,3380,3196,0,0,0,0,0,0,14.85,14.85,14.85,6.32,51.73
$GC,2280,-0.64,-146.0,2186,2100,3381,3195,304.7,-12.0,220,2284,0.00,2.50,0.00,0.000,2308,0.000,0.085,2175,3511,3288,3380,3196,0,0,0,0,0,0,14.85,14.60,14.86,6.33,51.49
$GC,2305,-0.64,-146.0,2175,3511,3380,3197,307.2,-12.0,221,2309,0.05,2.35,0.00,0.000,3078,0.361,0.044,2192,2101,3287,3379,3196,0,0,0,0,0,0,14.47,14.64,14.62,6.32,51.65
$GC,2620,-0.64,-146.0,2191,2099,3381,3197,344.5,-11.4,237,2625,0.00,2.42,0.00,0.000,2564,0.000,0.067,2192,700,3288,3380,3197,0,0,0,0,0,0,14.87,14.63,14.87,6.33,51.41
$GC,2635,-0.64,-146.0,2193,701,3381,3196,344.5,-11.4,237,2639,0.00,2.40,0.00,0.000,3078,0.000,0.058,2182,2101,3285,3379,3192,0,0,0,0,0,0,14.68,14.63,14.71,6.33,51.92
$STATE,2679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2679,begin apogee
$GC,2682,-0.15,0.0,2183,2174,3381,3196,351.5,-11.6,240,2816,0.47,0.00,131.02,1.598,10246,0.273,0.000,2352,2174,2687,2745,2629,0,0,0,0,0,0,14.52,13.90,13.29,6.33,51.26
$STATE,2817,end apogee,CONTROL_FINISHED_OK
$STATE,2817,begin loiter
$GC,3100,-0.15,0.0,2353,2174,2740,2615,344.6,4.0,261,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2173,2677,2739,2615,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.39
$GC,3400,-0.15,0.0,2352,2174,2738,2614,333.0,3.8,276,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2173,2675,2739,2612,0,0,0,0,0,0,14.69,14.69,14.69,6.28,50.90
$GC,3700,-0.15,0.0,2352,2175,2740,2611,322.1,3.6,291,3701,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2174,2675,2739,2611,0,0,0,0,0,0,14.77,14.77,14.77,6.28,51.10
$GC,4000,-0.15,0.0,2352,2174,2740,2612,312.1,3.3,306,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2173,2675,2739,2611,0,0,0,0,0,0,14.83,14.82,14.83,6.28,50.86
$GC,4300,-0.15,0.0,2353,2174,2741,2610,302.2,3.3,321,4301,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2174,2674,2739,2610,0,0,0,0,0,0,14.87,14.88,14.88,6.28,51.06
$GC,4600,-0.15,0.0,2352,2174,2740,2610,292.0,3.5,336,4601,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2174,2673,2739,2608,0,0,0,0,0,0,14.90,14.91,14.91,6.28,51.45
$GC,4900,-0.15,0.0,2353,2174,2740,2609,281.3,3.6,351,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2174,2674,2739,2609,0,0,0,0,0,0,14.93,14.94,14.94,6.28,50.94
$GC,5200,-0.15,0.0,2353,2174,2740,2609,270.8,3.5,366,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2174,2674,2740,2609,0,0,0,0,0,0,14.95,14.96,14.96,6.28,50.90
$GC,5500,-0.15,0.0,2352,2174,2740,2610,260.8,3.3,381,5501,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2174,2674,2739,2609,0,0,0,0,0,0,14.97,14.98,14.98,6.28,51.06
$GC,5800,-0.15,0.0,2352,2174,2740,2609,251.2,3.0,396,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2173,2673,2739,2608,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.29
$GC,6100,-0.15,0.0,2352,2174,2740,2609,242.6,2.8,411,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2174,2674,2739,2609,0,0,0,0,0,0,15.00,15.01,15.01,6.28,51.29
$STATE,6399,end loiter,LOITER_COMPLETE
$STATE,6399,begin climb
$GC,6400,0.64,146.0,2353,2174,2740,2608,234.2,0.0,426,6540,0.60,2.50,133.82,1.417,10500,0.188,0.086,2591,3530,2090,2116,2064,0,0,0,0,0,0,14.70,13.95,13.45,6.27,51.65
$GC,6580,0.64,146.0,2592,3532,2115,2059,222.4,8.4,435,6585,0.00,2.38,0.00,0.000,1030,0.000,0.044,2602,2158,2085,2113,2058,0,0,0,0,0,0,14.14,14.09,14.16,6.23,48.50
$GC,6900,0.64,146.0,2603,2159,2108,2049,186.8,11.3,451,6904,0.00,2.53,0.00,0.000,516,0.000,0.073,2613,747,2077,2106,2048,0,0,0,0,0,0,14.58,14.34,14.58,6.23,50.39
$GC,6960,0.64,146.0,2614,747,2106,2048,180.3,10.9,454,6964,0.00,2.40,0.00,0.000,5126,0.000,0.057,2613,2129,2076,2104,2048,0,0,0,0,0,0,14.43,14.38,14.45,6.25,50.03
$GC,7280,0.64,146.0,2614,2129,2106,2045,142.1,11.9,470,7284,0.00,2.53,0.00,0.000,4356,0.000,0.084,2614,3549,2074,2104,2045,0,0,0,0,0,0,14.71,14.45,14.71,6.23,50.35
$GC,7335,0.64,146.0,2614,3549,2105,2045,137.3,11.9,472,7340,0.05,2.35,0.00,0.000,5126,0.349,0.046,2606,2160,2074,2104,2045,0,0,0,0,0,0,14.34,14.49,14.48,6.23,50.15
$GC,7640,0.64,146.0,2606,2160,2105,2042,102.6,11.3,488,7644,0.00,2.50,0.00,0.000,516,0.000,0.073,2615,744,2073,2104,2042,0,0,0,0,0,0,14.76,14.52,14.76,6.22,50.47
$GC,7700,0.64,146.0,2616,744,2103,2041,96.1,10.6,494,7705,0.00,2.40,0.00,0.000,5126,0.000,0.056,2615,2149,2071,2102,2041,0,0,0,0,0,0,14.59,14.54,14.61,6.22,50.11
$GC,7825,0.64,146.0,2616,2149,2104,2041,82.0,11.3,519,7830,0.00,2.47,0.00,0.000,4356,0.000,0.086,2615,3546,2071,2102,2041,0,0,0,0,0,0,14.78,14.52,14.78,6.21,48.97
$GC,7870,0.64,146.0,2616,3546,2102,2042,76.8,11.4,528,7875,0.08,2.35,0.00,0.000,5126,0.317,0.046,2599,2151,2071,2102,2041,0,0,0,0,0,0,14.42,14.56,14.55,6.20,49.64
$GC,7995,0.64,146.0,2597,2151,2101,2041,63.9,10.4,553,8000,0.00,2.47,0.00,0.000,2564,0.000,0.073,2608,746,2071,2102,2041,0,0,0,0,0,0,14.78,14.58,14.78,6.20,48.70
$GC,8055,0.64,146.0,2609,742,2103,2040,58.0,9.8,565,8061,0.00,2.40,0.00,0.000,5126,0.000,0.057,2608,2150,2071,2102,2040,0,0,0,0,0,0,14.61,14.55,14.63,6.20,48.62
$GC,8181,0.64,146.0,2608,2151,2102,2041,45.3,10.1,590,8185,0.00,2.50,0.00,0.000,4356,0.000,0.086,2608,3560,2071,2102,2040,0,0,0,0,0,0,14.79,14.54,14.79,6.20,48.58
$GC,8206,0.64,146.0,2608,3562,2101,2042,42.8,10.0,595,8210,0.00,2.38,0.00,0.000,5126,0.000,0.047,2618,2150,2071,2101,2041,0,0,0,0,0,0,14.62,14.57,14.64,6.20,48.50
$GC,8330,0.64,146.0,2619,2150,2104,2040,32.1,8.7,620,8335,0.00,2.47,0.00,0.000,4612,0.000,0.073,2629,743,2071,2102,2040,0,0,0,0,0,0,14.80,14.55,14.81,6.20,48.58
$GC,8375,0.64,146.0,2629,742,2102,2041,27.9,9.2,629,8381,0.05,2.40,0.00,0.000,5126,0.331,0.057,2617,2147,2067,2095,2040,0,0,0,0,0,0,14.45,14.58,14.57,6.19,48.58
$GC,8501,0.64,146.0,2610,2148,2102,2040,15.1,10.4,654,8505,0.00,2.50,0.00,0.000,4356,0.000,0.086,2609,3558,2070,2101,2040,0,0,0,0,0,0,14.81,14.56,14.81,6.19,49.37
$GC,8555,0.64,146.0,2609,3559,2102,2041,9.3,10.6,665,8561,0.03,2.38,0.00,0.000,5126,0.435,0.044,2609,2145,2070,2101,2040,0,0,0,0,0,0,14.42,14.59,14.57,6.19,49.96
$STATE,8614,end climb,SURFACE_DEPTH_REACHED
$STATE,8614,begin surface coast
$STATE,8640,end surface coast,CONTROL_FINISHED_OK
$STATE,8640,begin surface
$SM_CCo,8651,68.68,0.255,0,0,1790,220.03
$SM_GC,1.05,5.47,0.08,68.68,0.076,0.168,0.255,276,2070,1790,-6.45,0.74,220.03,0,0,0,0,0,0,14.65,14.59,14.38
$IRIDIUM_FIX,-5959.30,-8.61,231218,221249
$TT8_MAMPS,0.038948,0.093625
$HUMID,48.89
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3879392
$24V_AH,13.29,21.266
$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,12.950,73.525,264.850,68.675,0.000,26.578,18.562,98.773,0.000,0.000,13.376,0.000,6972.466,467.017,1460.669,66.104,0.000,1041.725,0.000,1054.364,0.000,0.539,0.000
$DEVICE_MAMPS,637.245,2281.230,1598.085,254.745,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5052.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.783,0.000,0.000,0.000
$MEM,344032
$DATA_FILE_SIZE,17360,682
$CAP_FILE_SIZE,88529,0
$CFSIZE,1023623168,1011515392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.024,228.50,1
$GPS,241218,031301,-5958.269,-11.783,15,0.7,27,-19.6,0.4,52.6,11,9.6