version: 66.14
glider: 640
mission: 5
dive: 82
start: 12 24 118 3 17 30
data:
$ID,640
$MISSION,5
$DIVE,82
$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,53
$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
$GPS1,241218,031301,-5958.2686,-11.7833,15,0.7,27,-19.6,0.4,52.6,11,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-63.7
$GPS2,241218,031712,-5958.2378,-11.7942,8,0.7,12,-19.6,0.6,168.7,11,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,29.2,108442,-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,-146.0,234,2069,1768,1794,0.0,0.0,0,105,0.00,0.00,-94.18,0.000,16386,0.000,0.000,233,2068,3227,3307,3148,0,0,0,0,0,0,14.62,28.83,14.62,6.16,49.68
$GC,106,-0.64,-146.0,233,2067,3308,3149,3.5,-8.1,19,120,6.10,2.60,-2.20,0.000,19204,0.383,2.269,2187,715,3287,3374,3201,0,0,0,0,0,0,14.26,13.49,14.40,6.28,48.70
$GC,230,-0.64,-146.0,2188,716,3378,3201,25.6,-15.2,44,235,0.03,2.40,0.00,0.000,3078,0.477,0.059,2185,2098,3289,3377,3201,0,0,0,0,0,0,14.24,14.41,14.39,6.29,47.79
$GC,355,-0.64,-146.0,2185,2098,3377,3201,46.8,-16.8,69,359,0.00,2.47,0.00,0.000,2308,0.000,0.086,2175,3512,3289,3377,3201,0,0,0,0,0,0,14.66,14.42,14.66,6.29,49.09
$GC,450,-0.64,-146.0,2176,3513,3378,3201,61.5,-14.7,88,455,0.05,2.35,0.00,0.000,3078,0.371,0.044,2192,2123,3289,3377,3201,0,0,0,0,0,0,14.31,14.47,14.45,6.29,48.74
$GC,575,-0.64,-146.0,2193,2122,3378,3201,79.6,-14.4,113,576,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2122,3289,3377,3201,0,0,0,0,0,0,14.71,14.71,14.71,6.29,49.29
$GC,695,-0.64,-146.0,2193,2122,3378,3201,97.4,-15.0,137,699,0.00,2.45,0.00,0.000,2308,0.000,0.083,2182,3502,3286,3378,3195,0,0,0,0,0,0,14.73,14.47,14.73,6.29,48.89
$GC,710,-0.64,-146.0,2182,3502,3378,3202,99.6,-14.9,140,715,0.00,2.38,0.00,0.000,3078,0.000,0.046,2182,2098,3289,3377,3201,0,0,0,0,0,0,14.55,14.50,14.57,6.29,48.46
$GC,835,-0.64,-146.0,2182,2097,3377,3202,118.6,-15.3,147,839,0.00,2.45,0.00,0.000,2564,0.000,0.068,2182,698,3289,3377,3201,0,0,0,0,0,0,14.75,14.50,14.75,6.29,49.13
$GC,865,-0.64,-146.0,2182,699,3378,3202,121.8,-15.5,148,869,0.05,2.42,0.00,0.000,3078,0.372,0.059,2187,2102,3289,3377,3201,0,0,0,0,0,0,14.35,14.52,14.51,6.29,48.97
$GC,1175,-0.64,-146.0,2188,2102,3378,3201,166.0,-13.2,164,1175,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2102,3289,3377,3201,0,0,0,0,0,0,14.79,14.79,14.78,6.29,49.88
$GC,1475,-0.64,-146.0,2188,2103,3378,3201,203.9,-12.1,179,1479,0.00,2.47,0.00,0.000,2308,0.000,0.086,2177,3506,3288,3376,3200,0,0,0,0,0,0,14.82,14.55,14.81,6.31,51.10
$GC,1505,-0.64,-146.0,2177,3507,3377,3201,206.3,-12.1,180,1509,0.03,2.35,0.00,0.000,3078,0.457,0.044,2185,2098,3288,3376,3200,0,0,0,0,0,0,14.42,14.60,14.56,6.30,50.90
$GC,1815,-0.64,-146.0,2185,2097,3376,3201,244.4,-11.8,196,1815,0.00,0.00,0.00,0.000,2054,0.000,0.000,2185,2097,3288,3377,3200,0,0,0,0,0,0,14.84,14.84,14.84,6.32,51.10
$GC,2115,-0.64,-146.0,2185,2098,3378,3201,280.2,-11.9,211,2119,0.00,2.45,0.00,0.000,2564,0.000,0.068,2185,692,3288,3377,3200,0,0,0,0,0,0,14.85,14.61,14.85,6.32,51.65
$GC,2130,-0.64,-146.0,2185,692,3378,3199,280.2,-11.9,211,2134,0.05,2.40,0.00,0.000,3078,0.385,0.060,2192,2098,3288,3377,3200,0,0,0,0,0,0,14.45,14.61,14.60,6.32,51.96
$GC,2435,-0.64,-146.0,2193,2098,3378,3200,317.1,-11.4,227,2439,0.00,2.47,0.00,0.000,2308,0.000,0.086,2182,3511,3288,3377,3200,0,0,0,0,0,0,14.87,14.61,14.86,6.33,51.73
$GC,2460,-0.64,-146.0,2182,3511,3377,3201,319.4,-11.4,228,2464,0.00,2.35,0.00,0.000,3078,0.000,0.044,2182,2098,3288,3377,3199,0,0,0,0,0,0,14.68,14.64,14.70,6.33,51.41
$STATE,2714,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2714,begin apogee
$GC,2717,-0.15,0.0,2182,2167,3378,3199,350.1,-11.8,241,2850,0.47,0.00,130.35,1.621,10246,0.272,0.000,2352,2166,2689,2748,2631,0,0,0,0,0,0,14.52,13.90,13.29,6.33,51.49
$STATE,2851,end apogee,CONTROL_FINISHED_OK
$STATE,2851,begin loiter
$GC,3135,-0.15,0.0,2352,2167,2740,2616,343.8,3.8,262,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2677,2739,2615,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.43
$GC,3435,-0.15,0.0,2352,2167,2741,2613,332.6,3.8,277,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2676,2739,2613,0,0,0,0,0,0,14.69,14.69,14.69,6.28,50.94
$GC,3735,-0.15,0.0,2352,2167,2740,2613,321.4,3.7,292,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2675,2739,2612,0,0,0,0,0,0,14.77,14.78,14.78,6.28,51.14
$GC,4035,-0.15,0.0,2352,2165,2740,2610,310.4,3.6,307,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2675,2740,2611,0,0,0,0,0,0,14.83,14.83,14.83,6.28,51.65
$GC,4335,-0.15,0.0,2351,2167,2740,2611,300.2,3.3,322,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2674,2739,2610,0,0,0,0,0,0,14.88,14.88,14.88,6.28,50.90
$GC,4635,-0.15,0.0,2352,2167,2740,2611,290.7,3.1,337,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2674,2739,2609,0,0,0,0,0,0,14.91,14.92,14.92,6.28,51.02
$GC,4935,-0.15,0.0,2352,2166,2740,2610,281.8,2.9,352,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2674,2739,2609,0,0,0,0,0,0,14.94,14.95,14.95,6.27,50.90
$GC,5235,-0.15,0.0,2352,2167,2740,2610,272.9,3.0,367,5235,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2674,2739,2609,0,0,0,0,0,0,14.97,14.97,14.97,6.27,51.02
$GC,5535,-0.15,0.0,2352,2167,2740,2610,263.8,3.0,382,5536,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2674,2739,2609,0,0,0,0,0,0,14.98,14.99,14.98,6.28,50.98
$GC,5835,-0.15,0.0,2352,2167,2740,2610,254.9,3.0,397,5836,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2167,2673,2738,2609,0,0,0,0,0,0,15.00,15.00,15.00,6.28,50.86
$GC,6135,-0.15,0.0,2352,2167,2740,2610,245.6,3.1,412,6135,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2167,2674,2739,2609,0,0,0,0,0,0,15.01,15.02,15.02,6.28,51.26
$STATE,6434,end loiter,LOITER_COMPLETE
$STATE,6434,begin climb
$GC,6435,0.64,146.0,2352,2167,2740,2610,235.6,0.0,427,6576,0.60,2.60,132.65,1.414,11012,0.184,0.074,2603,754,2089,2114,2064,0,0,0,0,0,0,14.71,13.95,13.44,6.28,51.02
$GC,6655,0.64,146.0,2602,754,2111,2055,217.4,10.8,438,6659,0.00,2.45,0.00,0.000,5126,0.000,0.057,2604,2139,2082,2110,2054,0,0,0,0,0,0,14.20,14.15,14.22,6.23,49.09
$GC,6975,0.64,146.0,2604,2139,2107,2048,177.5,12.5,454,6980,0.00,2.55,0.00,0.000,260,0.000,0.085,2603,3556,2076,2106,2047,0,0,0,0,0,0,14.60,14.35,14.60,6.22,50.27
$GC,7040,0.64,146.0,2603,3557,2106,2047,170.1,12.4,457,7044,0.00,2.38,0.00,0.000,5126,0.000,0.046,2614,2156,2075,2104,2047,0,0,0,0,0,0,14.45,14.40,14.45,6.22,50.70
$GC,7355,0.64,146.0,2614,2156,2104,2045,129.8,12.5,473,7359,0.00,2.50,0.00,0.000,4612,0.000,0.073,2625,747,2073,2103,2043,0,0,0,0,0,0,14.71,14.46,14.71,6.23,50.35
$GC,7390,0.64,146.0,2625,748,2102,2045,127.4,12.5,474,7394,0.05,2.42,0.00,0.000,5126,0.324,0.057,2606,2153,2072,2102,2043,0,0,0,0,0,0,14.36,14.48,14.50,6.23,50.51
$GC,7695,0.64,146.0,2609,2155,2103,2042,90.0,11.6,502,7699,0.00,2.47,0.00,0.000,260,0.000,0.084,2607,3549,2071,2101,2041,0,0,0,0,0,0,14.76,14.52,14.77,6.21,49.72
$GC,7720,0.64,146.0,2607,3549,2102,2042,86.9,12.1,507,7724,0.00,2.35,0.00,0.000,5126,0.000,0.046,2615,2149,2071,2101,2041,0,0,0,0,0,0,14.60,14.56,14.62,6.22,49.80
$GC,7845,0.64,146.0,2616,2150,2103,2041,72.6,11.4,532,7850,0.00,2.47,0.00,0.000,4612,0.000,0.073,2626,747,2071,2102,2041,0,0,0,0,0,0,14.78,14.52,14.78,6.21,49.17
$GC,7900,0.64,146.0,2627,747,2102,2041,66.9,10.2,543,7904,0.05,2.40,0.00,0.000,5126,0.319,0.057,2607,2150,2070,2101,2040,0,0,0,0,0,0,14.42,14.55,14.56,6.20,48.89
$GC,8025,0.64,146.0,2608,2151,2102,2042,54.1,10.1,568,8030,0.00,2.47,0.00,0.000,4356,0.000,0.085,2607,3548,2070,2100,2040,0,0,0,0,0,0,14.79,14.54,14.79,6.19,48.70
$GC,8090,0.64,146.0,2608,3548,2102,2040,47.5,9.9,581,8094,0.00,2.35,0.00,0.000,5126,0.000,0.044,2616,2148,2070,2101,2040,0,0,0,0,0,0,14.60,14.57,14.64,6.20,48.77
$GC,8215,0.64,146.0,2617,2148,2101,2040,35.3,9.7,606,8219,0.00,2.47,0.00,0.000,4612,0.000,0.072,2627,740,2070,2101,2040,0,0,0,0,0,0,14.80,14.55,14.81,6.20,48.66
$GC,8230,0.64,146.0,2628,741,2102,2041,34.1,8.8,609,8235,0.05,2.40,0.00,0.000,5126,0.327,0.057,2608,2146,2070,2101,2040,0,0,0,0,0,0,14.47,14.57,14.57,6.19,49.05
$GC,8355,0.65,153.1,2609,2147,2102,2039,23.5,8.1,634,8359,0.00,2.50,0.00,0.000,260,0.000,0.086,2608,3559,2070,2101,2039,0,0,0,0,0,0,14.81,14.54,14.81,6.19,48.85
$GC,8425,0.65,154.5,2608,3560,2101,2041,17.6,8.3,648,8430,0.00,2.38,1.90,0.344,13318,0.000,0.044,2617,2143,2061,2090,2032,0,0,0,0,0,0,14.64,14.60,14.42,6.19,49.64
$GC,8550,0.65,154.5,2618,2144,2091,2034,5.0,10.3,673,8554,0.00,2.40,0.00,0.000,4612,0.000,0.067,2628,737,2061,2089,2033,0,0,0,0,0,0,14.81,14.58,14.81,6.19,49.44
$STATE,8574,end climb,SURFACE_DEPTH_REACHED
$STATE,8574,begin surface coast
$STATE,8589,end surface coast,CONTROL_FINISHED_OK
$STATE,8589,begin surface
$SM_CCo,8603,66.57,0.252,0,0,1792,220.03
$SM_GC,1.28,5.62,2.38,66.57,0.102,0.054,0.252,241,2114,1792,-6.44,-0.62,220.03,0,0,0,0,0,0,14.66,14.60,14.39
$IRIDIUM_FIX,-6002.25,-8.62,241218,004400
$TT8_MAMPS,0.039697,0.089131
$HUMID,48.89
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,1
$SC_FREEKB,3878880
$24V_AH,13.29,21.433
$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,13.150,78.075,264.900,66.575,0.000,31.143,14.780,108.881,0.250,0.000,13.354,0.000,6919.770,442.374,1497.494,66.382,0.000,1040.329,0.000,1078.766,0.000,0.539,0.000
$DEVICE_MAMPS,476.595,2268.990,1621.035,252.450,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5000.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.875,0.000,0.000,0.000
$MEM,344072
$DATA_FILE_SIZE,17326,681
$CAP_FILE_SIZE,89781,0
$CFSIZE,1023623168,1011417088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.054,251.53,1
$GPS,241218,054301,-5957.739,-11.996,11,0.8,40,-19.6,0.7,255.5,10,6.5