version: 66.14
glider: 640
mission: 5
dive: 86
start: 12 24 118 14 11 51
data:
$ID,640
$MISSION,5
$DIVE,86
$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,30
$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
$GPS1,241218,140739,-5956.3110,-10.1122,6,0.9,15,-19.6,0.0,118.5,10,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-65.0
$GPS2,241218,141133,-5956.2891,-10.0624,9,0.9,21,-19.6,0.0,116.6,10,8.7
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,9.6,104688,-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,-146.0,235,2109,1762,1791,0.0,0.0,0,110,0.00,0.00,-98.80,0.000,16386,0.000,0.000,233,2110,3284,3364,3204,0,0,0,0,0,0,14.69,28.83,14.70,6.16,50.43
$GC,111,-0.64,-146.0,234,2110,3365,3204,3.8,-8.9,20,121,6.03,2.40,0.00,0.000,2308,0.376,0.063,2173,3512,3286,3368,3204,0,0,0,0,0,0,14.28,14.47,14.45,6.29,48.54
$GC,220,-0.64,-146.0,2173,3513,3374,3201,24.8,-17.3,42,225,0.05,2.38,0.00,0.000,3078,0.369,0.044,2189,2103,3287,3373,3201,0,0,0,0,0,0,14.33,14.49,14.47,6.29,48.11
$GC,345,-0.64,-146.0,2190,2103,3374,3201,45.3,-14.4,67,349,0.00,2.42,0.00,0.000,2564,0.000,0.069,2190,695,3287,3373,3201,0,0,0,0,0,0,14.73,14.50,14.73,6.29,48.50
$GC,445,-0.64,-146.0,2190,696,3374,3202,59.8,-14.0,87,449,0.00,2.42,0.00,0.000,3078,0.000,0.060,2181,2096,3287,3373,3201,0,0,0,0,0,0,14.56,14.50,14.58,6.29,48.34
$GC,570,-0.64,-146.0,2181,2097,3373,3202,78.1,-14.5,112,570,0.00,0.00,0.00,0.000,2054,0.000,0.000,2180,2096,3287,3373,3201,0,0,0,0,0,0,14.75,14.74,14.75,6.29,48.30
$GC,690,-0.64,-146.0,2181,2097,3373,3202,95.3,-13.8,136,694,0.00,2.50,0.00,0.000,2308,0.000,0.086,2170,3507,3287,3373,3201,0,0,0,0,0,0,14.76,14.50,14.76,6.29,48.38
$GC,735,-0.64,-146.0,2170,3508,3374,3201,100.9,-13.8,144,739,0.05,2.38,0.00,0.000,3078,0.366,0.044,2187,2091,3287,3373,3201,0,0,0,0,0,0,14.38,14.54,14.52,6.29,48.14
$GC,1050,-0.64,-146.0,2187,2090,3374,3202,139.5,-12.2,160,1054,0.00,2.42,0.00,0.000,2564,0.000,0.067,2187,701,3286,3372,3201,0,0,0,0,0,0,14.80,14.55,14.80,6.29,49.56
$GC,1090,-0.64,-146.0,2188,700,3374,3200,144.5,-12.3,162,1094,0.03,2.40,0.00,0.000,3078,0.470,0.060,2185,2097,3286,3372,3201,0,0,0,0,0,0,14.40,14.56,14.54,6.28,49.25
$GC,1410,-0.64,-146.0,2185,2098,3374,3201,185.0,-12.8,178,1415,0.00,2.47,0.00,0.000,2308,0.000,0.086,2175,3505,3287,3373,3201,0,0,0,0,0,0,14.82,14.57,14.83,6.30,50.70
$GC,1430,-0.64,-146.0,2176,3505,3374,3201,187.6,-12.9,179,1435,0.05,2.35,0.00,0.000,3078,0.369,0.044,2192,2100,3287,3373,3201,0,0,0,0,0,0,14.42,14.60,14.58,6.30,50.82
$GC,1750,-0.64,-146.0,2192,2099,3374,3201,225.5,-11.4,195,1754,0.00,2.42,0.00,0.000,2564,0.000,0.068,2192,701,3286,3373,3200,0,0,0,0,0,0,14.84,14.59,14.83,6.32,50.82
$GC,1820,-0.64,-146.0,2191,701,3373,3201,232.4,-11.5,198,1824,0.00,2.40,0.00,0.000,3078,0.000,0.059,2182,2102,3287,3373,3201,0,0,0,0,0,0,14.66,14.59,14.67,6.32,50.90
$GC,2130,-0.64,-146.0,2183,2105,3374,3200,270.0,-11.9,214,2134,0.00,2.47,0.00,0.000,2308,0.000,0.085,2171,3511,3286,3373,3200,0,0,0,0,0,0,14.85,14.57,14.85,6.32,51.29
$GC,2145,-0.64,-146.0,2171,3512,3374,3201,270.0,-11.9,214,2149,0.05,2.38,0.00,0.000,3078,0.358,0.044,2189,2090,3287,3374,3200,0,0,0,0,0,0,14.47,14.62,14.61,6.32,50.94
$GC,2450,-0.64,-146.0,2189,2089,3374,3200,306.9,-11.6,230,2454,0.00,2.42,0.00,0.000,2564,0.000,0.067,2189,693,3286,3373,3200,0,0,0,0,0,0,14.86,14.61,14.86,6.33,51.33
$GC,2505,-0.64,-146.0,2189,693,3374,3200,311.7,-11.8,232,2510,0.00,2.42,0.00,0.000,3078,0.000,0.059,2179,2108,3287,3373,3201,0,0,0,0,0,0,14.67,14.62,14.69,6.33,51.06
$STATE,2809,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2809,begin apogee
$GC,2812,-0.15,0.0,2180,2158,3374,3201,350.2,-12.1,248,2945,0.47,0.00,130.12,1.620,10246,0.273,0.000,2349,2158,2688,2746,2631,0,0,0,0,0,0,14.52,13.90,13.28,6.33,51.14
$STATE,2946,end apogee,CONTROL_FINISHED_OK
$STATE,2946,begin loiter
$GC,3230,-0.15,0.0,2350,2158,2740,2615,345.2,3.5,269,3230,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2157,2677,2739,2615,0,0,0,0,0,0,14.54,14.55,14.54,6.28,50.19
$GC,3530,-0.15,0.0,2348,2158,2740,2613,334.4,3.6,284,3530,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2157,2676,2739,2613,0,0,0,0,0,0,14.69,14.69,14.69,6.28,50.78
$GC,3830,-0.15,0.0,2349,2158,2740,2614,323.8,3.7,299,3830,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2157,2675,2739,2612,0,0,0,0,0,0,14.77,14.78,14.78,6.28,51.02
$GC,4130,-0.15,0.0,2350,2158,2741,2612,313.4,3.5,314,4131,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2675,2739,2612,0,0,0,0,0,0,14.83,14.83,14.83,6.28,50.78
$GC,4430,-0.15,0.0,2350,2158,2741,2611,303.1,3.3,329,4431,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2157,2675,2739,2611,0,0,0,0,0,0,14.88,14.88,14.88,6.28,50.98
$GC,4730,-0.15,0.0,2350,2158,2740,2611,293.0,3.3,344,4731,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2157,2675,2739,2611,0,0,0,0,0,0,14.91,14.92,14.92,6.28,50.90
$GC,5030,-0.15,0.0,2350,2158,2740,2610,283.0,3.2,359,5031,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2157,2674,2738,2610,0,0,0,0,0,0,14.94,14.95,14.95,6.28,51.02
$GC,5330,-0.15,0.0,2350,2158,2740,2610,273.3,3.2,374,5330,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2157,2674,2739,2610,0,0,0,0,0,0,14.97,14.97,14.97,6.27,50.78
$GC,5630,-0.15,0.0,2349,2158,2740,2611,264.3,2.9,389,5631,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2157,2675,2740,2610,0,0,0,0,0,0,14.98,14.98,14.99,6.28,51.61
$GC,5930,-0.15,0.0,2350,2158,2740,2610,255.5,2.9,404,5930,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2157,2674,2739,2610,0,0,0,0,0,0,15.00,15.00,15.00,6.27,50.98
$GC,6230,-0.15,0.0,2349,2158,2740,2611,247.5,2.7,419,6230,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2157,2674,2738,2610,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.73
$STATE,6529,end loiter,LOITER_COMPLETE
$STATE,6529,begin climb
$GC,6530,0.64,146.0,2350,2158,2740,2610,240.2,0.0,434,6671,0.62,2.62,131.25,1.437,11012,0.180,0.072,2610,743,2089,2112,2066,0,0,0,0,0,0,14.71,13.97,13.44,6.28,51.26
$GC,6770,0.64,146.0,2611,744,2109,2057,222.3,9.8,446,6774,0.00,2.47,0.00,0.000,5126,0.000,0.057,2611,2140,2082,2109,2056,0,0,0,0,0,0,14.22,14.17,14.24,6.24,48.89
$GC,7090,0.64,146.0,2611,2140,2107,2048,185.8,11.4,462,7095,0.00,2.55,0.00,0.000,4356,0.000,0.086,2611,3558,2077,2106,2048,0,0,0,0,0,0,14.61,14.35,14.61,6.23,50.03
$GC,7180,0.64,146.0,2610,3558,2105,2049,176.5,11.6,466,7185,0.05,2.38,0.00,0.000,5126,0.350,0.044,2604,2155,2076,2104,2049,0,0,0,0,0,0,14.28,14.41,14.41,6.24,50.82
$GC,7490,0.64,146.0,2604,2156,2105,2047,140.7,11.4,482,7494,0.00,2.50,0.00,0.000,516,0.000,0.071,2613,747,2075,2103,2047,0,0,0,0,0,0,14.70,14.47,14.72,6.23,50.47
$GC,7545,0.64,146.0,2613,747,2103,2046,136.3,11.1,484,7549,0.00,2.42,0.00,0.000,5126,0.000,0.057,2613,2152,2074,2102,2046,0,0,0,0,0,0,14.55,14.48,14.57,6.23,50.74
$GC,7850,0.64,146.0,2613,2152,2103,2044,100.5,10.8,500,7854,0.00,2.50,0.00,0.000,4356,0.000,0.086,2613,3557,2073,2102,2045,0,0,0,0,0,0,14.78,14.52,14.78,6.22,50.03
$GC,7875,0.64,146.0,2613,3558,2103,2045,97.7,10.9,502,7879,0.05,2.35,0.00,0.000,5126,0.346,0.044,2605,2160,2073,2102,2045,0,0,0,0,0,0,14.42,14.55,14.55,6.22,49.72
$GC,8000,0.64,146.0,2606,2158,2103,2044,85.0,10.3,527,8005,0.00,2.45,0.00,0.000,516,0.000,0.071,2614,743,2073,2102,2045,0,0,0,0,0,0,14.78,14.55,14.78,6.21,49.09
$GC,8040,0.64,146.0,2614,743,2102,2044,81.0,9.9,535,8045,0.00,2.40,0.00,0.000,5126,0.000,0.057,2614,2143,2072,2101,2043,0,0,0,0,0,0,14.62,14.55,14.63,6.21,49.17
$GC,8165,0.64,146.0,2614,2144,2101,2045,67.6,10.9,560,8169,0.00,2.50,0.00,0.000,4356,0.000,0.087,2615,3552,2072,2101,2043,0,0,0,0,0,0,14.80,14.54,14.80,6.21,49.09
$GC,8225,0.64,146.0,2614,3553,2102,2045,60.9,10.7,572,8230,0.05,2.35,0.00,0.000,5126,0.342,0.044,2604,2151,2074,2104,2044,0,0,0,0,0,0,14.43,14.58,14.57,6.20,48.74
$GC,8350,0.64,146.0,2607,2151,2102,2044,48.5,9.9,597,8354,0.00,2.47,0.00,0.000,4612,0.000,0.071,2616,744,2072,2101,2043,0,0,0,0,0,0,14.81,14.56,14.81,6.21,48.46
$GC,8380,0.64,146.0,2617,745,2103,2042,45.6,9.6,603,8385,0.00,2.40,0.00,0.000,5126,0.000,0.057,2616,2146,2071,2101,2041,0,0,0,0,0,0,14.62,14.57,14.65,6.21,48.54
$GC,8505,0.64,146.0,2617,2147,2102,2043,33.7,8.8,628,8509,0.00,2.50,0.00,0.000,4356,0.000,0.088,2616,3579,2070,2100,2041,0,0,0,0,0,0,14.81,14.56,14.83,6.19,48.93
$GC,8540,0.64,146.0,2617,3578,2102,2042,30.3,9.7,635,8545,0.05,2.40,0.00,0.000,5126,0.334,0.044,2609,2151,2071,2101,2041,0,0,0,0,0,0,14.45,14.60,14.58,6.14,48.81
$GC,8665,0.64,146.0,2609,2151,2102,2041,19.4,9.2,660,8669,0.00,2.47,0.00,0.000,4612,0.000,0.073,2617,745,2071,2101,2041,0,0,0,0,0,0,14.82,14.57,14.82,6.19,49.13
$GC,8730,0.64,146.0,2619,746,2102,2042,13.7,8.4,673,8734,0.00,2.40,0.00,0.000,5126,0.000,0.059,2618,2145,2070,2100,2040,0,0,0,0,0,0,14.64,14.58,14.66,6.19,49.09
$STATE,8839,end climb,SURFACE_DEPTH_REACHED
$STATE,8839,begin surface coast
$STATE,8869,end surface coast,CONTROL_FINISHED_OK
$STATE,8869,begin surface
$SM_CCo,8880,68.22,0.251,0,0,1792,220.03
$SM_GC,1.24,5.47,0.08,68.22,0.075,0.166,0.251,283,2077,1792,-6.44,0.88,220.03,0,0,0,0,0,0,14.64,14.62,14.40
$IRIDIUM_FIX,-5957.44,4.30,241218,140305
$TT8_MAMPS,0.039697,0.109354
$HUMID,48.81
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3876832
$24V_AH,13.28,22.150
$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,13.025,82.950,261.375,68.225,0.000,0.000,0.000,0.000,0.000,0.000,22.400,0.000,7105.095,448.420,1416.558,45.377,0.000,1080.532,0.000,1152.578,0.000,0.538,0.000
$DEVICE_MAMPS,470.475,240.975,1619.505,250.920,0.000,0.000,0.000,0.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5266.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.778,0.000,0.000,0.000
$MEM,344052
$DATA_FILE_SIZE,17333,701
$CAP_FILE_SIZE,119155,0
$CFSIZE,1023623168,1010991104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.025,87.87,1
$GPS,241218,164204,-5955.790,-9.971,31,0.8,43,-19.6,0.6,33.0,10,8.9