version: 66.14
glider: 640
mission: 5
dive: 84
start: 12 24 118 8 21 58
data:
$ID,640
$MISSION,5
$DIVE,84
$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,37
$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
$GPS1,241218,081525,-5957.3159,-11.9887,19,0.8,41,-19.6,0.6,216.1,10,6.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-64.3
$GPS2,241218,082140,-5957.3252,-12.0882,8,0.8,16,-19.6,0.8,291.5,9,10.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,32.3,106791,-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,-146.0,234,2134,1768,1795,0.0,0.0,0,101,0.00,0.00,-89.88,0.000,16386,0.000,0.000,233,2135,3183,3261,3105,0,0,0,0,0,0,14.62,28.83,14.62,6.16,50.78
$GC,102,-0.64,-146.0,234,2134,3264,3106,3.3,-6.1,18,120,5.97,2.62,-3.85,0.000,18692,0.366,2.277,2180,3506,3284,3374,3195,0,0,0,0,0,0,14.24,13.49,14.48,6.28,48.97
$GC,200,-0.64,-146.0,2180,3507,3376,3196,19.0,-15.3,38,204,0.00,2.38,0.00,0.000,3078,0.000,0.044,2179,2109,3285,3375,3195,0,0,0,0,0,0,14.44,14.40,14.45,6.29,48.38
$GC,325,-0.64,-146.0,2180,2109,3377,3195,40.6,-17.6,63,329,0.00,2.50,0.00,0.000,2308,0.000,0.085,2168,3501,3285,3375,3195,0,0,0,0,0,0,14.65,14.39,14.65,6.29,48.93
$GC,355,-0.64,-146.0,2169,3503,3377,3196,45.8,-17.3,69,360,0.08,2.40,0.00,0.000,3078,0.330,0.045,2195,2089,3285,3376,3194,0,0,0,0,0,0,14.31,14.45,14.42,6.29,48.62
$GC,480,-0.64,-146.0,2195,2089,3377,3195,64.3,-15.3,94,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2089,3285,3376,3195,0,0,0,0,0,0,14.67,14.68,14.68,6.29,48.70
$GC,600,-0.64,-146.0,2195,2090,3376,3196,82.1,-14.0,118,604,0.00,2.45,0.00,0.000,516,0.000,0.069,2195,697,3285,3376,3194,0,0,0,0,0,0,14.69,14.46,14.70,6.29,48.70
$GC,640,-0.64,-146.0,2195,699,3375,3196,87.6,-13.4,126,644,0.00,2.42,0.00,0.000,3078,0.000,0.060,2185,2095,3285,3376,3195,0,0,0,0,0,0,14.52,14.47,14.55,6.29,48.50
$GC,775,-0.64,-146.0,2186,2095,3378,3195,106.3,-14.1,147,779,0.00,2.45,0.00,0.000,2564,0.000,0.067,2185,699,3285,3376,3195,0,0,0,0,0,0,14.73,14.49,14.73,6.29,49.09
$GC,790,-0.64,-146.0,2186,708,3377,3194,106.3,-14.1,147,794,0.05,2.42,0.00,0.000,3078,0.386,0.060,2191,2098,3285,3376,3195,0,0,0,0,0,0,14.33,14.49,14.48,6.29,49.09
$GC,1095,-0.64,-146.0,2192,2098,3377,3195,145.0,-11.2,163,1099,0.00,2.50,0.00,0.000,2308,0.000,0.086,2181,3509,3285,3376,3194,0,0,0,0,0,0,14.78,14.52,14.78,6.29,49.64
$GC,1175,-0.64,-146.0,2181,3510,3376,3196,154.2,-11.6,167,1179,0.00,2.38,0.00,0.000,3078,0.000,0.044,2180,2095,3285,3376,3195,0,0,0,0,0,0,14.61,14.56,14.62,6.29,50.31
$GC,1495,-0.64,-146.0,2181,2094,3376,3195,195.3,-13.1,183,1500,0.00,2.42,0.00,0.000,2564,0.000,0.068,2180,703,3285,3376,3194,0,0,0,0,0,0,14.81,14.57,14.81,6.30,50.82
$GC,1515,-0.64,-146.0,2181,704,3370,3194,198.1,-13.2,184,1520,0.08,2.40,0.00,0.000,3078,0.344,0.059,2195,2101,3285,3376,3194,0,0,0,0,0,0,14.42,14.57,14.57,6.30,50.63
$GC,1835,-0.64,-146.0,2195,2101,3376,3195,236.9,-12.0,200,1839,0.00,2.45,0.00,0.000,516,0.000,0.067,2195,696,3285,3376,3194,0,0,0,0,0,0,14.83,14.59,14.83,6.32,51.14
$GC,1855,-0.64,-146.0,2195,697,3377,3194,239.4,-12.0,201,1859,0.00,2.40,0.00,0.000,3078,0.000,0.059,2186,2090,3284,3374,3194,0,0,0,0,0,0,14.65,14.59,14.67,6.32,51.18
$GC,2175,-0.64,-146.0,2186,2093,3375,3195,277.8,-11.9,217,2179,0.00,2.50,0.00,0.000,2308,0.000,0.086,2175,3513,3284,3375,3194,0,0,0,0,0,0,14.85,14.59,14.85,6.32,51.06
$GC,2195,-0.64,-146.0,2175,3514,3377,3194,280.3,-12.0,218,2199,0.00,2.38,0.00,0.000,3078,0.000,0.045,2175,2097,3284,3375,3194,0,0,0,0,0,0,14.66,14.62,14.68,6.32,51.06
$GC,2515,-0.64,-146.0,2175,2096,3377,3194,320.7,-12.7,234,2519,0.08,2.45,0.00,0.000,2564,0.422,0.069,2198,692,3285,3376,3194,0,0,0,0,0,0,14.48,14.62,14.69,6.33,51.45
$GC,2565,-0.64,-146.0,2198,692,3377,3194,325.6,-12.5,236,2569,0.00,2.42,0.00,0.000,3078,0.000,0.060,2188,2105,3285,3376,3194,0,0,0,0,0,0,14.69,14.62,14.69,6.36,51.02
$STATE,2774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2774,begin apogee
$GC,2777,-0.15,0.0,2188,2166,3376,3195,351.8,-12.1,247,2910,0.45,0.00,129.43,1.613,10246,0.274,0.000,2349,2166,2686,2744,2628,0,0,0,0,0,0,14.52,13.90,13.29,6.33,51.41
$STATE,2911,end apogee,CONTROL_FINISHED_OK
$STATE,2911,begin loiter
$GC,3195,-0.15,0.0,2349,2167,2740,2616,348.0,3.1,268,3195,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2677,2739,2615,0,0,0,0,0,0,14.54,14.55,14.55,6.27,50.39
$GC,3495,-0.15,0.0,2349,2167,2740,2613,338.7,3.1,283,3495,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2675,2737,2613,0,0,0,0,0,0,14.69,14.69,14.69,6.28,51.14
$GC,3795,-0.15,0.0,2350,2167,2741,2612,329.6,2.9,298,3795,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2675,2739,2611,0,0,0,0,0,0,14.78,14.78,14.78,6.28,50.74
$GC,4095,-0.15,0.0,2349,2167,2740,2612,321.0,2.8,313,4096,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2675,2739,2611,0,0,0,0,0,0,14.83,14.83,14.84,6.27,51.22
$GC,4395,-0.15,0.0,2350,2167,2741,2610,312.3,3.0,328,4395,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2674,2739,2610,0,0,0,0,0,0,14.88,14.88,14.88,6.28,51.02
$GC,4695,-0.15,0.0,2349,2167,2740,2610,303.3,3.0,343,4696,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2674,2739,2610,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.33
$GC,4995,-0.15,0.0,2349,2167,2740,2610,293.9,3.2,358,4995,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2674,2739,2609,0,0,0,0,0,0,14.95,14.95,14.95,6.28,50.98
$GC,5295,-0.15,0.0,2350,2167,2740,2609,284.0,3.3,373,5296,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2674,2739,2609,0,0,0,0,0,0,14.97,14.97,14.97,6.27,51.14
$GC,5595,-0.15,0.0,2349,2167,2740,2610,274.3,3.1,388,5596,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2674,2739,2609,0,0,0,0,0,0,14.99,14.99,14.99,6.27,50.86
$GC,5895,-0.15,0.0,2350,2167,2740,2608,264.8,3.2,403,5895,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2673,2739,2608,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.33
$GC,6195,-0.15,0.0,2349,2167,2740,2610,254.9,3.3,418,6196,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2674,2739,2609,0,0,0,0,0,0,15.02,15.02,15.02,6.27,51.18
$STATE,6494,end loiter,LOITER_COMPLETE
$STATE,6494,begin climb
$GC,6495,0.64,146.0,2349,2167,2740,2610,244.3,0.0,433,6631,0.62,0.00,132.52,1.431,10758,0.182,0.000,2600,2166,2093,2117,2070,0,0,0,0,0,0,14.71,14.00,13.43,6.28,51.14
$GC,6915,0.64,146.0,2600,2167,2107,2048,200.7,12.3,454,6916,0.00,0.00,0.00,0.000,2054,0.000,0.000,2599,2166,2077,2106,2049,0,0,0,0,0,0,14.54,14.54,14.54,6.23,49.96
$GC,7215,0.64,146.0,2599,2167,2105,2047,164.4,12.0,469,7219,0.00,2.45,0.00,0.000,2308,0.000,0.086,2600,3536,2075,2104,2046,0,0,0,0,0,0,14.66,14.42,14.66,6.23,50.51
$GC,7235,0.64,146.0,2599,3536,2104,2047,162.1,11.9,470,7239,0.00,2.33,0.00,0.000,5126,0.000,0.044,2610,2155,2075,2104,2046,0,0,0,0,0,0,14.50,14.45,14.52,6.24,50.94
$GC,7555,0.64,146.0,2611,2156,2104,2042,130.6,9.6,486,7559,0.00,2.47,0.00,0.000,4356,0.000,0.089,2611,3538,2072,2103,2041,0,0,0,0,0,0,14.74,14.48,14.75,6.23,50.55
$GC,7600,0.64,146.0,2610,3538,2104,2042,126.6,9.8,488,7604,0.05,2.33,0.00,0.000,5126,0.340,0.044,2603,2151,2072,2103,2042,0,0,0,0,0,0,14.38,14.54,14.52,6.23,50.51
$GC,7915,0.64,146.0,2603,2152,2104,2041,98.3,8.8,504,7919,0.00,2.45,0.00,0.000,516,0.000,0.070,2612,753,2071,2103,2040,0,0,0,0,0,0,14.79,14.54,14.80,6.22,50.78
$GC,7930,0.64,146.0,2613,754,2103,2040,97.0,8.9,507,7935,0.00,2.38,0.00,0.000,5126,0.000,0.060,2613,2131,2072,2102,2042,0,0,0,0,0,0,14.62,14.56,14.64,6.22,50.59
$GC,8056,0.64,146.0,2613,2132,2103,2040,85.0,9.6,532,8059,0.00,2.40,0.00,0.000,4612,0.000,0.071,2623,740,2070,2101,2040,0,0,0,0,0,0,14.79,14.56,14.79,6.22,49.96
$GC,8180,0.64,146.0,2623,741,2101,2041,72.6,9.9,557,8185,0.05,2.42,0.00,0.000,5126,0.330,0.059,2605,2155,2070,2101,2039,0,0,0,0,0,0,14.45,14.57,14.58,6.22,49.84
$GC,8305,0.64,146.0,2605,2155,2101,2039,60.9,9.2,582,8309,0.00,2.50,0.00,0.000,260,0.000,0.090,2604,3558,2067,2101,2033,0,0,0,0,0,0,14.81,14.52,14.81,6.21,49.29
$GC,8425,0.64,146.0,2605,3557,2102,2041,49.1,9.4,606,8429,0.00,2.35,0.00,0.000,5126,0.000,0.044,2613,2149,2070,2101,2039,0,0,0,0,0,0,14.65,14.59,14.66,6.21,49.21
$GC,8551,0.64,146.0,2614,2149,2102,2039,38.2,9.3,631,8555,0.00,2.42,0.00,0.000,4612,0.000,0.072,2624,741,2070,2101,2039,0,0,0,0,0,0,14.81,14.59,14.82,6.21,49.25
$GC,8640,0.64,146.0,2624,742,2100,2039,29.9,8.9,649,8645,0.05,2.42,0.00,0.000,5126,0.331,0.057,2606,2158,2069,2101,2037,0,0,0,0,0,0,14.45,14.58,14.59,6.21,49.52
$GC,8765,0.64,146.0,2606,2158,2101,2037,19.3,10.2,674,8769,0.00,2.47,0.00,0.000,260,0.000,0.089,2605,3557,2068,2100,2037,0,0,0,0,0,0,14.82,14.57,14.83,6.20,49.25
$GC,8830,0.64,146.0,2606,3551,2101,2039,12.7,8.6,687,8835,0.00,2.35,0.00,0.000,5126,0.000,0.044,2614,2146,2069,2100,2038,0,0,0,0,0,0,14.66,14.62,14.67,6.20,48.93
$GC,8956,0.71,202.4,2615,2145,2102,2037,3.2,6.2,712,8960,0.00,0.00,2.83,0.301,10754,0.000,0.000,2615,2145,2053,2084,2023,0,0,0,0,0,0,14.83,28.83,14.83,6.20,48.74
$STATE,8960,end climb,SURFACE_DEPTH_REACHED
$STATE,8960,begin surface coast
$STATE,8999,end surface coast,CONTROL_FINISHED_OK
$STATE,8999,begin surface
$SM_CCo,9010,64.35,0.251,0,0,1790,220.03
$SM_GC,1.14,5.35,0.05,64.35,0.046,0.221,0.251,249,2089,1790,-6.45,1.07,220.03,0,0,0,0,0,0,14.67,14.61,14.40
$IRIDIUM_FIX,-5957.44,0.00,241218,054440
$TT8_MAMPS,0.038948,0.13482
$HUMID,48.26
$INTERNAL_PRESSURE,6.10897
$TCM_TEMP,0.00
$XPDR_PINGS,1
$SC_FREEKB,3877856
$24V_AH,13.29,21.775
$10V_AH,13.44,0.000
$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,12.825,77.825,264.775,64.350,0.000,47.135,54.931,109.104,0.250,0.000,17.438,0.000,7311.053,444.615,1630.754,69.471,0.000,1070.161,0.000,1139.127,0.000,0.540,0.000
$DEVICE_MAMPS,422.280,2277.405,1612.620,250.920,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5409.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.737,0.000,0.000,0.000
$MEM,344060
$DATA_FILE_SIZE,20760,721
$CAP_FILE_SIZE,94076,0
$CFSIZE,1023623168,1011220480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.050,152.07,1
$GPS,241218,105401,-5956.994,-11.483,16,0.8,27,-19.6,0.5,66.5,11,8.6