version: 66.14
glider: 640
mission: 5
dive: 88
start: 12 24 118 19 17 56
data:
$ID,640
$MISSION,5
$DIVE,88
$N_DIVES,160
$STOP_T,12311812
$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,47
$R_STBD_OVSHOOT,27
$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
$GPS1,241218,191321,-5955.3545,-10.2558,36,0.8,38,-19.6,0.0,200.9,11,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-64.3
$GPS2,241218,191738,-5955.3315,-10.3093,9,0.8,16,-19.6,0.0,108.5,11,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,30.0,102945,-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,-146.0,234,2081,1770,1796,0.0,0.0,0,100,0.00,0.00,-89.18,0.000,16386,0.000,0.000,233,2081,3173,3252,3094,0,0,0,0,0,0,14.62,28.83,14.63,6.16,49.60
$GC,101,-0.64,-146.0,233,2082,3254,3096,3.2,-6.3,18,119,6.03,2.75,-4.38,0.000,18692,0.371,2.284,2172,3502,3287,3377,3197,0,0,0,0,0,0,14.25,13.49,14.44,6.28,48.89
$GC,255,-0.64,-146.0,2173,3502,3378,3198,29.7,-16.6,49,259,0.05,2.35,0.00,0.000,3078,0.366,0.045,2190,2122,3287,3378,3197,0,0,0,0,0,0,14.26,14.42,14.40,6.35,48.34
$GC,380,-0.64,-146.0,2191,2121,3380,3197,48.6,-13.2,74,384,0.00,2.45,0.00,0.000,2308,0.000,0.086,2180,3514,3287,3378,3197,0,0,0,0,0,0,14.67,14.42,14.66,6.29,48.85
$GC,435,-0.64,-146.0,2180,3515,3379,3197,56.3,-13.5,85,439,0.00,2.40,0.00,0.000,3078,0.000,0.047,2180,2099,3286,3378,3194,0,0,0,0,0,0,14.50,14.46,14.52,6.29,49.52
$GC,560,-0.64,-146.0,2180,2104,3379,3198,73.4,-13.6,110,564,0.00,2.50,0.00,0.000,2308,0.000,0.083,2169,3509,3287,3378,3197,0,0,0,0,0,0,14.69,14.45,14.69,6.29,48.70
$GC,575,-0.64,-146.0,2169,3510,3379,3197,75.5,-13.6,113,579,0.05,2.40,0.00,0.000,3078,0.366,0.049,2187,2102,3287,3378,3197,0,0,0,0,0,0,14.33,14.47,14.45,6.29,48.66
$GC,700,-0.64,-146.0,2188,2101,3378,3197,92.7,-14.4,138,704,0.00,2.45,0.00,0.000,2564,0.000,0.073,2187,690,3287,3378,3197,0,0,0,0,0,0,14.71,14.49,14.71,6.29,48.97
$GC,740,-0.64,-146.0,2187,690,3378,3198,98.7,-14.9,146,744,0.03,2.45,0.00,0.000,3078,0.472,0.060,2185,2105,3284,3378,3191,0,0,0,0,0,0,14.32,14.49,14.47,6.29,48.70
$GC,870,-0.64,-146.0,2184,2105,3379,3197,118.3,-15.2,154,874,0.00,2.50,0.00,0.000,2564,0.000,0.071,2184,686,3287,3378,3197,0,0,0,0,0,0,14.74,14.50,14.74,6.28,48.93
$GC,905,-0.64,-146.0,2185,687,3378,3198,121.3,-15.0,155,909,0.05,2.45,0.00,0.000,3078,0.379,0.061,2191,2098,3287,3378,3197,0,0,0,0,0,0,14.35,14.51,14.52,6.29,48.66
$GC,1210,-0.64,-146.0,2192,2098,3379,3197,165.1,-13.3,171,1214,0.00,2.50,0.00,0.000,2308,0.000,0.086,2181,3511,3287,3378,3197,0,0,0,0,0,0,14.78,14.53,14.78,6.29,49.92
$GC,1305,-0.64,-146.0,2182,3512,3379,3198,175.6,-13.2,175,1309,0.00,2.38,0.00,0.000,3078,0.000,0.046,2181,2098,3287,3378,3197,0,0,0,0,0,0,14.62,14.56,14.63,6.30,50.19
$GC,1610,-0.64,-146.0,2181,2098,3379,3198,217.6,-13.2,191,1614,0.00,2.47,0.00,0.000,2564,0.000,0.070,2180,686,3287,3378,3197,0,0,0,0,0,0,14.81,14.57,14.82,6.31,51.26
$GC,1665,-0.64,-146.0,2181,686,3379,3196,223.0,-13.4,193,1670,0.05,2.42,0.00,0.000,3078,0.366,0.059,2187,2093,3287,3378,3197,0,0,0,0,0,0,14.43,14.59,14.58,6.31,51.61
$GC,1970,-0.64,-146.0,2188,2094,3378,3198,263.6,-12.6,209,1975,0.00,2.47,0.00,0.000,2308,0.000,0.086,2177,3505,3287,3378,3197,0,0,0,0,0,0,14.83,14.58,14.83,6.32,51.26
$GC,1990,-0.64,-146.0,2177,3505,3378,3196,266.2,-12.7,210,1995,0.03,2.35,0.00,0.000,3078,0.456,0.047,2185,2102,3284,3378,3191,0,0,0,0,0,0,14.42,14.62,14.58,6.32,51.45
$GC,2310,-0.64,-146.0,2185,2099,3378,3198,306.8,-12.6,226,2314,0.00,2.45,0.00,0.000,2564,0.000,0.070,2185,692,3287,3377,3197,0,0,0,0,0,0,14.85,14.60,14.85,6.33,51.06
$GC,2375,-0.64,-146.0,2180,693,3378,3197,314.5,-12.8,229,2380,0.05,2.40,0.00,0.000,3078,0.377,0.059,2192,2098,3287,3378,3197,0,0,0,0,0,0,14.45,14.61,14.60,6.33,51.18
$STATE,2669,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2669,begin apogee
$GC,2672,-0.15,0.0,2193,2180,3379,3197,350.4,-11.9,244,2804,0.45,0.00,129.12,1.612,10246,0.272,0.000,2354,2180,2689,2748,2631,0,0,0,0,0,0,14.51,13.90,13.28,6.33,51.06
$STATE,2805,end apogee,CONTROL_FINISHED_OK
$STATE,2805,begin loiter
$GC,3090,-0.15,0.0,2354,2180,2742,2616,346.6,3.1,265,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2180,2678,2741,2616,0,0,0,0,0,0,14.54,14.55,14.55,6.28,50.07
$GC,3390,-0.15,0.0,2355,2180,2741,2614,337.5,3.2,280,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2180,2677,2740,2614,0,0,0,0,0,0,14.69,14.69,14.69,6.28,50.70
$GC,3690,-0.15,0.0,2354,2181,2741,2614,328.6,3.0,295,3690,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2180,2676,2740,2613,0,0,0,0,0,0,14.78,14.78,14.78,6.28,51.26
$GC,3990,-0.15,0.0,2354,2180,2741,2614,319.7,2.9,310,3991,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2180,2677,2741,2613,0,0,0,0,0,0,14.83,14.83,14.83,6.28,50.70
$GC,4290,-0.15,0.0,2354,2180,2741,2613,310.6,3.1,325,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2180,2676,2740,2612,0,0,0,0,0,0,14.88,14.88,14.88,6.28,50.70
$GC,4590,-0.15,0.0,2355,2180,2741,2611,301.0,3.3,340,4591,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2180,2675,2740,2611,0,0,0,0,0,0,14.91,14.92,14.92,6.28,51.65
$GC,4890,-0.15,0.0,2354,2180,2740,2613,291.2,3.2,355,4890,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2180,2675,2740,2611,0,0,0,0,0,0,14.94,14.95,14.95,6.28,50.78
$GC,5190,-0.15,0.0,2354,2181,2741,2612,281.6,3.1,370,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2180,2675,2740,2611,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.10
$GC,5490,-0.15,0.0,2355,2180,2742,2611,272.6,2.9,385,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2180,2675,2740,2611,0,0,0,0,0,0,14.98,14.99,14.99,6.28,51.65
$GC,5790,-0.15,0.0,2355,2180,2741,2611,264.0,2.9,400,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2180,2675,2740,2611,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.18
$GC,6090,-0.15,0.0,2355,2180,2742,2611,255.2,2.9,415,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2180,2675,2740,2610,0,0,0,0,0,0,15.01,15.02,15.02,6.27,51.06
$STATE,6389,end loiter,LOITER_COMPLETE
$STATE,6389,begin climb
$GC,6390,0.64,146.0,2354,2181,2741,2612,246.4,0.0,430,6531,0.60,2.65,132.38,1.454,11012,0.176,0.076,2608,747,2087,2111,2063,0,0,0,0,0,0,14.71,13.94,13.43,6.28,51.33
$GC,6615,0.64,146.0,2608,748,2109,2054,229.4,10.2,441,6619,0.00,2.42,0.00,0.000,5126,0.000,0.057,2608,2121,2080,2108,2053,0,0,0,0,0,0,14.21,14.15,14.21,6.23,49.17
$GC,6930,0.64,146.0,2609,2122,2106,2046,190.8,12.3,457,6935,0.00,2.58,0.00,0.000,4356,0.000,0.087,2602,3550,2075,2104,2046,0,0,0,0,0,0,14.60,14.35,14.60,6.24,50.63
$GC,7020,0.64,146.0,2608,3551,2104,2048,180.9,12.3,461,7024,0.03,2.40,0.00,0.000,5126,0.443,0.050,2610,2144,2075,2103,2047,0,0,0,0,0,0,14.24,14.40,14.39,6.24,50.39
$GC,7330,0.64,146.0,2611,2145,2104,2041,142.4,12.3,477,7334,0.00,2.47,0.00,0.000,4612,0.000,0.076,2619,753,2072,2103,2041,0,0,0,0,0,0,14.72,14.46,14.72,6.23,50.59
$GC,7345,0.64,146.0,2620,753,2103,2041,142.4,12.3,477,7349,0.03,2.40,0.00,0.000,5126,0.422,0.057,2610,2147,2071,2101,2041,0,0,0,0,0,0,14.34,14.49,14.47,6.23,50.15
$GC,7650,0.64,146.0,2611,2148,2102,2040,102.5,12.0,493,7654,0.00,2.50,0.00,0.000,4356,0.000,0.085,2610,3559,2071,2102,2040,0,0,0,0,0,0,14.77,14.52,14.77,6.22,50.59
$GC,7700,0.64,146.0,2610,3560,2102,2041,96.7,11.6,497,7705,0.00,2.38,0.00,0.000,5126,0.000,0.049,2619,2156,2070,2101,2040,0,0,0,0,0,0,14.61,14.55,14.62,6.21,49.56
$GC,7825,0.64,146.0,2619,2156,2102,2040,82.4,11.9,522,7829,0.00,2.47,0.00,0.000,4612,0.000,0.079,2630,737,2071,2102,2041,0,0,0,0,0,0,14.78,14.54,14.78,6.21,49.40
$GC,7870,0.64,146.0,2630,738,2102,2039,77.3,10.9,531,7874,0.05,2.42,0.00,0.000,5126,0.317,0.058,2611,2153,2070,2101,2039,0,0,0,0,0,0,14.43,14.56,14.56,6.21,49.13
$GC,7995,0.64,146.0,2610,2154,2102,2039,63.7,10.6,556,7999,0.00,2.45,0.00,0.000,4356,0.000,0.086,2610,3561,2070,2101,2039,0,0,0,0,0,0,14.79,14.55,14.80,6.20,49.13
$GC,8055,0.64,146.0,2610,3560,2101,2040,57.1,10.9,568,8059,0.03,2.38,0.00,0.000,5126,0.446,0.048,2609,2155,2069,2100,2039,0,0,0,0,0,0,14.40,14.57,14.56,6.20,48.66
$GC,8180,0.64,146.0,2610,2155,2102,2039,43.8,11.0,593,8185,0.00,2.50,0.00,0.000,4612,0.000,0.076,2619,741,2069,2100,2039,0,0,0,0,0,0,14.81,14.55,14.81,6.19,49.29
$GC,8260,0.64,146.0,2619,741,2099,2041,34.9,11.2,609,8265,0.00,2.40,0.00,0.000,5126,0.000,0.057,2617,2146,2069,2100,2038,0,0,0,0,0,0,14.63,14.57,14.64,6.19,48.89
$GC,8385,0.64,146.0,2619,2146,2101,2038,22.0,11.0,634,8389,0.00,2.50,0.00,0.000,4356,0.000,0.087,2619,3551,2068,2099,2038,0,0,0,0,0,0,14.81,14.56,14.82,6.19,48.89
$GC,8445,0.64,146.0,2619,3551,2101,2038,15.9,8.6,646,8450,0.05,2.38,0.00,0.000,5126,0.354,0.050,2610,2147,2068,2099,2038,0,0,0,0,0,0,14.45,14.59,14.59,6.19,49.29
$STATE,8569,end climb,SURFACE_DEPTH_REACHED
$STATE,8569,begin surface coast
$STATE,8604,end surface coast,CONTROL_FINISHED_OK
$STATE,8604,begin surface
$SM_CCo,8616,67.68,0.252,0,0,1791,220.03
$SM_GC,1.26,5.80,0.08,67.68,0.153,0.170,0.252,237,2076,1791,-6.45,0.82,220.03,0,0,0,0,0,0,14.67,14.61,14.39
$IRIDIUM_FIX,-5959.01,108.83,241218,164339
$TT8_MAMPS,0.038948,0.118342
$HUMID,49.01
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,1
$SC_FREEKB,3875808
$24V_AH,13.28,22.488
$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,13.350,83.625,261.500,67.675,0.000,23.346,15.749,111.476,0.250,0.000,17.348,0.000,6882.784,444.064,1550.068,69.405,0.000,1063.250,0.000,1121.230,0.000,0.540,0.000
$DEVICE_MAMPS,472.005,2284.290,1611.855,252.450,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5015.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.819,0.000,0.000,0.000
$MEM,344068
$DATA_FILE_SIZE,17324,678
$CAP_FILE_SIZE,92257,0
$CFSIZE,1023623168,1010827264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.055,218.12,1
$GPS,241218,214331,-5955.034,-10.327,13,0.8,30,-19.6,0.0,293.1,11,5.9