version: 66.14
glider: 640
mission: 5
dive: 85
start: 12 24 118 10 58 40
data:
$ID,640
$MISSION,5
$DIVE,85
$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,42
$R_STBD_OVSHOOT,28
$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
$GPS1,241218,105401,-5956.9937,-11.4828,16,0.8,27,-19.6,0.5,66.5,11,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-63.3
$GPS2,241218,105822,-5957.0024,-11.4511,8,0.8,16,-19.6,1.1,148.1,11,9.7
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,19.0,106132,-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,-146.0,233,2088,1766,1797,0.0,0.0,0,100,0.00,0.00,-89.03,0.000,16386,0.000,0.000,233,2087,3162,3244,3081,0,0,0,0,0,0,14.63,28.83,14.63,6.17,49.09
$GC,101,-0.64,-146.0,233,2088,3245,3083,3.1,-5.5,18,117,6.00,2.72,-4.90,0.000,18692,0.368,2.282,2171,3503,3285,3377,3194,0,0,0,0,0,0,14.23,13.49,14.40,6.28,48.50
$GC,275,-0.64,-146.0,2171,3504,3379,3195,30.3,-15.1,53,280,0.05,2.35,0.00,0.000,3078,0.360,0.043,2188,2117,3286,3378,3195,0,0,0,0,0,0,14.29,14.45,14.41,6.29,47.87
$GC,401,-0.64,-146.0,2189,2116,3379,3195,47.8,-13.3,78,406,0.00,2.47,0.00,0.000,2564,0.000,0.068,2188,687,3286,3378,3195,0,0,0,0,0,0,14.67,14.45,14.67,6.29,48.14
$GC,445,-0.64,-146.0,2189,688,3379,3195,54.3,-14.1,87,450,0.03,2.45,0.00,0.000,3078,0.474,0.061,2187,2096,3286,3378,3195,0,0,0,0,0,0,14.28,14.45,14.44,6.30,48.42
$GC,571,-0.64,-146.0,2189,2096,3379,3195,71.9,-14.5,112,575,0.00,2.53,0.00,0.000,2308,0.000,0.086,2177,3514,3286,3378,3195,0,0,0,0,0,0,14.69,14.45,14.70,6.29,48.66
$GC,591,-0.64,-146.0,2177,3514,3379,3195,74.7,-14.4,116,595,0.03,2.40,0.00,0.000,3078,0.454,0.047,2184,2091,3286,3378,3195,0,0,0,0,0,0,14.31,14.48,14.46,6.29,47.87
$GC,716,-0.64,-146.0,2186,2091,3379,3195,91.8,-13.4,141,720,0.00,2.45,0.00,0.000,2564,0.000,0.068,2188,673,3286,3378,3195,0,0,0,0,0,0,14.71,14.49,14.71,6.29,47.75
$GC,740,-0.64,-146.0,2185,674,3379,3195,95.3,-14.2,146,746,0.05,2.47,0.00,0.000,3078,0.379,0.061,2192,2101,3286,3378,3195,0,0,0,0,0,0,14.33,14.49,14.49,6.29,47.83
$GC,875,-0.64,-146.0,2192,2101,3380,3195,113.1,-13.0,158,881,0.00,2.50,0.00,0.000,2308,0.000,0.086,2182,3506,3286,3378,3195,0,0,0,0,0,0,14.74,14.49,14.74,6.29,48.38
$GC,905,-0.64,-146.0,2181,3507,3379,3196,115.8,-12.8,159,910,0.00,2.38,0.00,0.000,3078,0.000,0.045,2182,2097,3286,3378,3195,0,0,0,0,0,0,14.57,14.52,14.59,6.29,48.07
$GC,1215,-0.64,-146.0,2181,2096,3379,3196,157.6,-13.3,175,1220,0.00,2.50,0.00,0.000,2308,0.000,0.085,2171,3507,3288,3378,3198,0,0,0,0,0,0,14.78,14.53,14.78,6.29,49.44
$GC,1235,-0.64,-146.0,2171,3508,3378,3196,160.3,-13.4,176,1240,0.05,2.38,0.00,0.000,3078,0.361,0.046,2188,2098,3286,3378,3195,0,0,0,0,0,0,14.40,14.57,14.54,6.30,50.23
$GC,1555,-0.64,-146.0,2189,2097,3379,3195,201.8,-12.9,192,1556,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2097,3286,3378,3195,0,0,0,0,0,0,14.81,14.81,14.81,6.31,50.63
$GC,1855,-0.64,-146.0,2190,2098,3378,3195,240.2,-12.8,207,1856,0.00,0.00,0.00,0.000,2054,0.000,0.000,2189,2097,3286,3378,3195,0,0,0,0,0,0,14.83,14.83,14.83,6.32,50.78
$GC,2156,-0.64,-146.0,2190,2098,3379,3196,277.9,-12.5,222,2160,0.00,2.42,0.00,0.000,2564,0.000,0.068,2188,701,3286,3378,3194,0,0,0,0,0,0,14.85,14.60,14.85,6.33,51.06
$GC,2175,-0.64,-146.0,2189,702,3379,3196,280.5,-12.6,223,2180,0.00,2.40,0.00,0.000,3078,0.000,0.059,2179,2102,3289,3378,3200,0,0,0,0,0,0,14.66,14.61,14.68,6.33,51.22
$GC,2496,-0.64,-146.0,2180,2104,3379,3195,321.6,-12.9,239,2500,0.00,2.47,0.00,0.000,2308,0.000,0.085,2169,3510,3286,3378,3195,0,0,0,0,0,0,14.85,14.59,14.85,6.33,50.90
$GC,2545,-0.64,-146.0,2169,3511,3378,3196,326.9,-13.0,241,2550,0.05,2.35,0.00,0.000,3078,0.363,0.043,2186,2098,3286,3378,3195,0,0,0,0,0,0,14.47,14.64,14.61,6.33,51.22
$STATE,2734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2734,begin apogee
$GC,2738,-0.15,0.0,2187,2168,3379,3195,351.5,-12.2,251,2869,0.45,0.00,129.18,1.623,10246,0.269,0.000,2349,2168,2688,2747,2629,0,0,0,0,0,0,14.51,13.87,13.28,6.33,50.63
$STATE,2870,end apogee,CONTROL_FINISHED_OK
$STATE,2870,begin loiter
$GC,3155,-0.15,0.0,2350,2168,2741,2615,347.9,3.2,272,3156,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2168,2677,2740,2615,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.00
$GC,3455,-0.15,0.0,2350,2168,2741,2613,338.5,3.2,287,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2168,2676,2739,2613,0,0,0,0,0,0,14.68,14.69,14.69,6.28,50.43
$GC,3755,-0.15,0.0,2351,2168,2741,2612,329.4,3.0,302,3756,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2168,2675,2739,2612,0,0,0,0,0,0,14.77,14.77,14.77,6.28,50.55
$GC,4056,-0.15,0.0,2350,2169,2741,2613,320.2,3.1,317,4056,0.00,0.00,0.00,0.000,2054,0.000,0.000,2350,2168,2675,2739,2611,0,0,0,0,0,0,14.83,14.83,14.83,6.27,50.66
$GC,4355,-0.15,0.0,2350,2168,2741,2611,311.1,3.0,332,4356,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2168,2675,2740,2611,0,0,0,0,0,0,14.87,14.88,14.88,6.28,50.82
$GC,4655,-0.15,0.0,2350,2168,2741,2611,302.4,2.8,347,4656,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2168,2674,2739,2610,0,0,0,0,0,0,14.90,14.91,14.90,6.28,50.66
$GC,4956,-0.15,0.0,2350,2168,2740,2610,294.3,2.7,362,4957,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2168,2674,2739,2610,0,0,0,0,0,0,14.92,14.93,14.93,6.28,50.78
$GC,5255,-0.15,0.0,2350,2169,2740,2611,286.8,2.5,377,5256,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2168,2674,2739,2610,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.02
$GC,5556,-0.15,0.0,2350,2168,2741,2609,279.2,2.6,392,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2168,2674,2739,2609,0,0,0,0,0,0,14.97,14.97,14.97,6.28,50.78
$GC,5855,-0.15,0.0,2350,2169,2740,2610,271.4,2.7,407,5856,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2168,2674,2740,2609,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.22
$GC,6155,-0.15,0.0,2350,2168,2740,2610,263.2,2.7,422,6156,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2674,2740,2609,0,0,0,0,0,0,15.00,15.01,15.00,6.28,51.18
$STATE,6454,end loiter,LOITER_COMPLETE
$STATE,6454,begin climb
$GC,6456,0.64,146.0,2350,2168,2741,2609,254.6,0.0,437,6596,0.60,2.53,132.93,1.457,11012,0.178,0.084,2591,3531,2088,2113,2063,0,0,0,0,0,0,14.70,13.93,13.42,6.28,51.33
$GC,6656,0.64,146.0,2600,3532,2113,2056,239.7,10.1,447,6660,0.00,2.38,0.00,0.000,1030,0.000,0.044,2601,2158,2083,2111,2055,0,0,0,0,0,0,14.16,14.12,14.19,6.23,48.85
$GC,6975,0.64,146.0,2601,2158,2106,2048,201.2,12.2,463,6980,0.00,2.53,0.00,0.000,516,0.000,0.073,2613,748,2076,2105,2048,0,0,0,0,0,0,14.59,14.34,14.59,6.23,50.15
$GC,7030,0.64,146.0,2613,749,2102,2049,196.5,12.0,465,7035,0.00,2.42,0.00,0.000,5126,0.000,0.057,2613,2136,2074,2102,2047,0,0,0,0,0,0,14.43,14.38,14.45,6.24,50.07
$GC,7336,0.64,146.0,2613,2136,2103,2043,157.8,12.2,481,7340,0.00,2.53,0.00,0.000,4356,0.000,0.086,2613,3550,2072,2102,2043,0,0,0,0,0,0,14.70,14.44,14.70,6.23,50.43
$GC,7410,0.64,146.0,2613,3551,2103,2043,150.3,12.5,484,7416,0.05,2.38,0.00,0.000,5126,0.352,0.045,2605,2140,2072,2102,2043,0,0,0,0,0,0,14.35,14.49,14.49,6.23,50.74
$GC,7715,0.64,146.0,2606,2145,2103,2041,112.6,11.7,500,7720,0.00,2.47,0.00,0.000,516,0.000,0.072,2615,743,2071,2102,2041,0,0,0,0,0,0,14.76,14.52,14.76,6.23,49.88
$GC,7806,0.64,146.0,2615,744,2102,2040,103.7,11.2,504,7810,0.00,2.42,0.00,0.000,5126,0.000,0.057,2615,2156,2070,2101,2040,0,0,0,0,0,0,14.58,14.54,14.62,6.23,49.60
$GC,8110,0.64,146.0,2615,2157,2101,2041,68.3,10.9,561,8116,0.00,2.47,0.00,0.000,4356,0.000,0.086,2615,3553,2070,2100,2040,0,0,0,0,0,0,14.79,14.54,14.79,6.20,48.74
$GC,8150,0.64,146.0,2616,3554,2102,2040,63.8,10.9,569,8156,0.05,2.35,0.00,0.000,5126,0.339,0.045,2607,2153,2070,2100,2040,0,0,0,0,0,0,14.42,14.57,14.56,6.21,48.62
$GC,8276,0.64,146.0,2608,2152,2102,2039,51.7,9.7,594,8280,0.00,2.47,0.00,0.000,4612,0.000,0.071,2617,743,2070,2101,2039,0,0,0,0,0,0,14.79,14.55,14.79,6.20,48.58
$GC,8320,0.64,146.0,2617,742,2101,2040,47.5,9.1,603,8325,0.00,2.40,0.00,0.000,5126,0.000,0.057,2617,2143,2070,2102,2039,0,0,0,0,0,0,14.62,14.57,14.63,6.20,48.46
$GC,8446,0.64,146.0,2617,2143,2101,2038,35.7,9.3,628,8450,0.00,2.47,0.00,0.000,4612,0.000,0.074,2627,738,2069,2100,2039,0,0,0,0,0,0,14.80,14.57,14.80,6.19,48.22
$GC,8501,0.64,146.0,2628,739,2101,2037,30.5,9.1,639,8505,0.05,2.42,0.00,0.000,5126,0.317,0.058,2608,2149,2069,2100,2038,0,0,0,0,0,0,14.45,14.57,14.58,6.19,49.13
$GC,8626,0.65,158.8,2608,2149,2100,2039,19.5,7.8,664,8636,0.00,2.45,5.90,0.363,8452,0.000,0.086,2608,3557,2039,2067,2012,0,0,0,0,0,0,14.80,14.54,14.40,6.20,48.89
$GC,8655,0.65,158.8,2609,3556,2068,2016,16.9,9.0,670,8660,0.00,2.38,0.00,0.000,5126,0.000,0.047,2617,2143,2040,2066,2014,0,0,0,0,0,0,14.62,14.57,14.64,6.19,48.85
$GC,8781,0.67,176.6,2617,2143,2069,2017,5.2,7.7,695,8804,0.00,2.47,17.62,0.273,8708,0.000,0.070,2628,739,1966,1988,1944,0,0,0,0,0,0,14.79,14.54,14.43,6.20,49.72
$STATE,8810,end climb,SURFACE_DEPTH_REACHED
$STATE,8810,begin surface coast
$STATE,8824,end surface coast,CONTROL_FINISHED_OK
$STATE,8824,begin surface
$SM_CCo,8838,42.95,0.252,0,0,1793,220.03
$SM_GC,1.16,5.55,2.38,42.95,0.080,0.054,0.252,247,2108,1793,-6.44,-0.71,220.03,0,0,0,0,0,0,14.62,14.56,14.38
$IRIDIUM_FIX,-5959.30,-8.61,241218,081830
$TT8_MAMPS,0.03745,0.087633
$HUMID,48.34
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,3
$SC_FREEKB,3877344
$24V_AH,13.28,21.945
$10V_AH,13.43,0.000
$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,13.000,83.275,285.625,42.950,0.000,23.644,23.336,110.717,0.750,0.000,17.383,0.000,7062.450,446.718,1569.012,69.792,0.000,1069.028,0.000,1132.147,0.000,0.539,0.000
$DEVICE_MAMPS,473.535,2281.995,1622.565,252.450,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5235.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.767,0.000,0.000,0.000
$MEM,344080
$DATA_FILE_SIZE,17338,704
$CAP_FILE_SIZE,92949,0
$CFSIZE,1023623168,1011122176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.065,100.49,1
$GPS,241218,132731,-5956.493,-10.661,17,0.7,28,-19.6,0.5,54.6,12,7.2