version: 66.14
glider: 640
mission: 5
dive: 90
start: 12 25 118 0 19 23
data:
$ID,640
$MISSION,5
$DIVE,90
$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,31
$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
$GPS1,251218,001431,-5954.6987,-10.0197,21,0.7,38,-19.6,0.7,91.2,12,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-66.3
$GPS2,251218,001905,-5954.7065,-9.9908,13,1.1,22,-19.6,0.0,11.3,9,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,20.6,101764,-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,-146.0,232,2096,1769,1796,0.0,0.0,0,100,0.00,0.00,-88.65,0.000,16386,0.000,0.000,231,2095,3160,3240,3081,0,0,0,0,0,0,14.62,28.83,14.62,6.16,50.15
$GC,101,-0.64,-146.0,232,2095,3241,3081,3.3,-6.7,18,117,6.03,2.67,-4.95,0.000,18948,0.369,2.271,2185,696,3285,3377,3193,0,0,0,0,0,0,14.23,13.48,14.40,6.27,49.25
$GC,245,-0.64,-146.0,2185,697,3379,3195,26.0,-16.0,47,251,0.05,2.45,0.00,0.000,3078,0.376,0.059,2191,2104,3286,3377,3196,0,0,0,0,0,0,14.25,14.41,14.40,6.28,47.83
$GC,371,-0.64,-146.0,2191,2103,3378,3200,45.0,-13.6,72,372,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2104,3286,3377,3196,0,0,0,0,0,0,14.66,14.66,14.66,6.29,48.97
$GC,490,-0.64,-146.0,2192,2104,3373,3196,61.8,-13.7,96,495,0.00,2.50,0.00,0.000,516,0.000,0.072,2192,695,3287,3378,3196,0,0,0,0,0,0,14.68,14.45,14.68,6.29,48.85
$GC,531,-0.64,-146.0,2192,695,3377,3195,67.5,-13.8,104,535,0.00,2.45,0.00,0.000,3078,0.000,0.058,2182,2105,3287,3378,3196,0,0,0,0,0,0,14.52,14.46,14.53,6.29,48.93
$GC,655,-0.64,-146.0,2183,2106,3379,3196,86.4,-15.9,129,656,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2105,3287,3378,3196,0,0,0,0,0,0,14.71,14.71,14.71,6.29,48.38
$GC,785,-0.64,-146.0,2181,2105,3378,3197,106.7,-15.7,149,790,0.00,2.50,0.00,0.000,2564,0.000,0.071,2182,692,3287,3378,3196,0,0,0,0,0,0,14.73,14.48,14.73,6.29,48.34
$GC,815,-0.64,-146.0,2182,693,3378,3197,110.0,-16.0,150,821,0.05,2.42,0.00,0.000,3078,0.367,0.059,2188,2097,3287,3378,3196,0,0,0,0,0,0,14.35,14.49,14.49,6.29,48.74
$GC,1125,-0.64,-146.0,2189,2097,3378,3197,153.5,-13.0,166,1130,0.00,2.47,0.00,0.000,2308,0.000,0.085,2178,3502,3286,3377,3196,0,0,0,0,0,0,14.77,14.52,14.78,6.30,49.48
$GC,1150,-0.64,-146.0,2179,3502,3378,3195,156.2,-13.0,167,1155,0.03,2.35,0.00,0.000,3078,0.456,0.047,2187,2100,3286,3377,3195,0,0,0,0,0,0,14.38,14.55,14.52,6.29,49.56
$GC,1466,-0.64,-146.0,2188,2104,3378,3195,196.9,-12.3,183,1470,0.00,2.47,0.00,0.000,2564,0.000,0.072,2187,694,3286,3378,3195,0,0,0,0,0,0,14.80,14.56,14.81,6.31,50.47
$GC,1550,-0.64,-146.0,2187,694,3379,3195,206.5,-12.0,187,1555,0.05,2.40,0.00,0.000,3078,0.375,0.058,2194,2094,3286,3377,3195,0,0,0,0,0,0,14.41,14.57,14.55,6.30,50.59
$GC,1865,-0.64,-146.0,2195,2094,3379,3195,242.6,-11.3,203,1870,0.00,2.47,0.00,0.000,260,0.000,0.086,2184,3500,3286,3377,3195,0,0,0,0,0,0,14.82,14.57,14.83,6.31,51.26
$GC,1886,-0.64,-146.0,2184,3501,3377,3196,244.9,-11.3,204,1890,0.00,2.35,0.00,0.000,3078,0.000,0.047,2184,2104,3286,3378,3195,0,0,0,0,0,0,14.65,14.60,14.66,6.32,50.90
$GC,2205,-0.64,-146.0,2183,2104,3378,3196,282.3,-11.8,220,2210,0.00,2.45,0.00,0.000,2564,0.000,0.070,2183,701,3286,3378,3195,0,0,0,0,0,0,14.84,14.59,14.84,6.31,51.81
$GC,2275,-0.64,-146.0,2184,701,3379,3195,289.5,-12.0,223,2281,0.05,2.38,0.00,0.000,3078,0.365,0.057,2190,2092,3286,3377,3195,0,0,0,0,0,0,14.45,14.60,14.59,6.33,50.98
$GC,2586,-0.64,-146.0,2191,2092,3378,3195,326.6,-11.8,239,2590,0.00,2.47,0.00,0.000,2308,0.000,0.084,2180,3503,3286,3378,3195,0,0,0,0,0,0,14.85,14.60,14.85,6.33,51.22
$GC,2625,-0.64,-146.0,2180,3504,3378,3196,331.5,-12.0,241,2630,0.00,2.35,0.00,0.000,3078,0.000,0.045,2180,2099,3286,3377,3195,0,0,0,0,0,0,14.67,14.62,14.69,6.33,51.02
$STATE,2784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2784,begin apogee
$GC,2788,-0.15,0.0,2180,2157,3378,3196,351.1,-12.5,249,2919,0.47,0.00,129.23,1.615,10246,0.271,0.000,2350,2156,2688,2747,2630,0,0,0,0,0,0,14.50,13.90,13.28,6.32,50.86
$STATE,2920,end apogee,CONTROL_FINISHED_OK
$STATE,2920,begin loiter
$GC,3205,-0.15,0.0,2350,2157,2740,2616,347.6,3.1,270,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2677,2740,2615,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.19
$GC,3505,-0.15,0.0,2351,2157,2741,2612,337.2,3.7,285,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2675,2739,2612,0,0,0,0,0,0,14.68,14.69,14.69,6.28,50.55
$GC,3805,-0.15,0.0,2350,2157,2740,2612,326.0,3.9,300,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2157,2675,2739,2611,0,0,0,0,0,0,14.76,14.77,14.77,6.28,50.59
$GC,4106,-0.15,0.0,2351,2157,2741,2611,313.6,4.2,315,4106,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2156,2675,2739,2611,0,0,0,0,0,0,14.82,14.83,14.83,6.28,50.51
$GC,4405,-0.15,0.0,2351,2157,2740,2611,300.9,4.2,330,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2675,2740,2610,0,0,0,0,0,0,14.87,14.88,14.88,6.28,50.78
$GC,4705,-0.15,0.0,2351,2157,2740,2611,288.4,4.2,345,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2156,2674,2740,2609,0,0,0,0,0,0,14.90,14.91,14.91,6.28,51.06
$GC,5005,-0.15,0.0,2351,2157,2741,2609,276.4,3.9,360,5006,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2674,2740,2609,0,0,0,0,0,0,14.93,14.93,14.93,6.28,51.33
$GC,5305,-0.15,0.0,2351,2157,2740,2610,265.1,3.7,375,5306,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2674,2740,2609,0,0,0,0,0,0,14.95,14.96,14.96,6.28,50.74
$GC,5606,-0.15,0.0,2351,2157,2741,2609,254.6,3.3,390,5607,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2156,2674,2740,2609,0,0,0,0,0,0,14.97,14.97,14.97,6.28,50.90
$GC,5905,-0.15,0.0,2351,2157,2741,2610,244.9,3.2,405,5906,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2156,2674,2740,2609,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.49
$GC,6205,-0.15,0.0,2351,2157,2741,2608,236.0,2.9,420,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2674,2740,2609,0,0,0,0,0,0,15.00,15.00,15.00,6.28,50.90
$STATE,6504,end loiter,LOITER_COMPLETE
$STATE,6504,begin climb
$GC,6506,0.64,146.0,2351,2157,2740,2610,227.9,0.0,435,6647,0.60,2.58,131.80,1.436,11012,0.179,0.086,2591,3546,2088,2114,2063,0,0,0,0,0,0,14.70,13.95,13.43,6.27,51.10
$GC,6695,0.64,146.0,2591,3547,2112,2059,216.0,8.9,444,6700,0.00,2.42,0.00,0.000,1030,0.000,0.047,2602,2155,2084,2112,2056,0,0,0,0,0,0,14.16,14.11,14.17,6.24,48.62
$GC,7005,0.64,146.0,2602,2156,2106,2049,180.7,11.2,460,7010,0.00,2.55,0.00,0.000,516,0.000,0.076,2614,740,2076,2105,2048,0,0,0,0,0,0,14.58,14.33,14.58,6.23,50.03
$GC,7040,0.64,146.0,2614,740,2104,2048,178.5,11.1,461,7045,0.00,2.42,0.00,0.000,5126,0.000,0.056,2613,2133,2075,2103,2048,0,0,0,0,0,0,14.40,14.37,14.43,6.24,49.72
$GC,7346,0.64,146.0,2614,2134,2103,2047,140.2,12.4,477,7350,0.00,2.53,0.00,0.000,4356,0.000,0.086,2614,3549,2073,2101,2045,0,0,0,0,0,0,14.69,14.44,14.69,6.23,50.27
$GC,7450,0.64,146.0,2614,3550,2103,2047,127.7,12.4,482,7456,0.05,2.38,0.00,0.000,5126,0.347,0.048,2606,2149,2074,2102,2046,0,0,0,0,0,0,14.34,14.49,14.48,6.23,50.19
$GC,7755,0.64,146.0,2606,2150,2102,2045,91.9,11.1,508,7761,0.00,2.50,0.00,0.000,516,0.000,0.075,2615,740,2072,2101,2043,0,0,0,0,0,0,14.76,14.51,14.76,6.22,49.44
$GC,7845,0.64,146.0,2616,740,2102,2041,82.7,9.8,526,7850,0.00,2.42,0.00,0.000,5126,0.000,0.056,2616,2153,2070,2100,2041,0,0,0,0,0,0,14.59,14.53,14.61,6.21,49.17
$GC,7971,0.64,146.0,2611,2154,2102,2041,69.3,10.8,551,7975,0.00,2.47,0.00,0.000,4356,0.000,0.086,2616,3546,2070,2100,2041,0,0,0,0,0,0,14.77,14.52,14.77,6.21,48.74
$GC,8025,0.64,146.0,2616,3547,2100,2042,63.2,10.6,562,8030,0.05,2.38,0.00,0.000,5126,0.345,0.047,2608,2138,2068,2100,2036,0,0,0,0,0,0,14.41,14.55,14.55,6.21,48.30
$GC,8151,0.64,146.0,2608,2144,2101,2041,51.0,9.8,587,8155,0.00,2.42,0.00,0.000,4612,0.000,0.075,2617,746,2070,2100,2040,0,0,0,0,0,0,14.78,14.54,14.78,6.20,48.30
$GC,8195,0.64,146.0,2617,747,2101,2040,46.7,9.3,596,8201,0.00,2.40,0.00,0.000,5126,0.000,0.056,2617,2143,2070,2100,2040,0,0,0,0,0,0,14.61,14.55,14.63,6.20,48.50
$GC,8321,0.64,146.0,2618,2143,2101,2039,33.9,9.4,621,8321,0.00,0.00,0.00,0.000,4102,0.000,0.000,2617,2143,2070,2100,2041,0,0,0,0,0,0,14.78,14.79,14.79,6.19,48.34
$GC,8441,0.64,146.0,2618,2144,2101,2042,21.1,12.5,645,8441,0.00,0.00,0.00,0.000,4102,0.000,0.000,2617,2143,2070,2100,2040,0,0,0,0,0,0,14.79,14.80,14.79,6.19,48.42
$GC,8561,0.64,146.0,2618,2143,2102,2040,8.5,12.4,669,8565,0.00,2.50,0.00,0.000,4356,0.000,0.086,2618,3552,2070,2100,2040,0,0,0,0,0,0,14.80,14.54,14.81,6.19,48.97
$GC,8595,0.64,146.0,2618,3552,2101,2040,4.6,10.4,676,8601,0.05,2.35,0.00,0.000,5126,0.341,0.047,2609,2156,2070,2100,2040,0,0,0,0,0,0,14.43,14.58,14.57,6.20,49.09
$STATE,8614,end climb,SURFACE_DEPTH_REACHED
$STATE,8614,begin surface coast
$STATE,8639,end surface coast,CONTROL_FINISHED_OK
$STATE,8640,begin surface
$SM_CCo,8651,67.90,0.252,0,0,1793,220.03
$SM_GC,1.53,5.47,0.08,67.90,0.079,0.169,0.252,279,2085,1793,-6.44,1.07,220.03,0,0,0,0,0,0,14.65,14.59,14.38
$IRIDIUM_FIX,-5952.63,-8.57,241218,214454
$TT8_MAMPS,0.038199,0.107107
$HUMID,48.97
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,5
$SC_FREEKB,3874784
$24V_AH,13.28,22.825
$10V_AH,13.42,0.000
$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,12.950,73.650,261.025,67.900,0.000,23.767,37.273,104.008,1.250,0.000,23.996,0.000,6913.865,439.884,1575.130,69.233,0.000,1058.174,0.000,1130.992,0.000,0.540,0.000
$DEVICE_MAMPS,455.940,2271.285,1614.915,252.450,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5050.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.946,0.000,0.000,0.000
$MEM,344016
$DATA_FILE_SIZE,17317,685
$CAP_FILE_SIZE,91491,0
$CFSIZE,1023623168,1010630656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.058,135.29,1
$GPS,251218,024531,-5954.393,-9.581,17,0.8,28,-19.6,0.9,61.1,11,8.8