version: 66.14
glider: 640
mission: 5
dive: 93
start: 12 25 118 7 52 22
data:
$ID,640
$MISSION,5
$DIVE,93
$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,33
$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
$GPS1,251218,074724,-5953.4341,-9.5790,17,0.8,45,-19.6,0.8,297.1,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-67.0
$GPS2,251218,075204,-5953.4155,-9.6185,9,0.7,17,-19.6,0.0,5.9,11,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,29.6,99350,-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,-146.0,233,2093,1767,1796,0.0,0.0,0,100,0.00,0.00,-89.07,0.000,16386,0.000,0.000,234,2093,3194,3272,3117,0,0,0,0,0,0,14.62,28.83,14.62,6.16,50.19
$GC,101,-0.64,-146.0,233,2094,3275,3118,3.8,-7.9,18,115,6.03,2.70,-3.35,0.000,18692,0.366,2.279,2177,3504,3287,3376,3199,0,0,0,0,0,0,14.24,13.47,14.40,6.28,48.93
$GC,290,-0.64,-146.0,2177,3505,3379,3194,34.8,-15.3,56,294,0.03,2.38,0.00,0.000,3078,0.449,0.044,2185,2106,3288,3378,3199,0,0,0,0,0,0,14.26,14.45,14.41,6.28,49.01
$GC,415,-0.64,-146.0,2186,2105,3377,3199,54.6,-15.7,81,419,0.00,2.50,0.00,0.000,2308,0.000,0.084,2176,3505,3288,3378,3199,0,0,0,0,0,0,14.69,14.43,14.69,6.29,48.77
$GC,450,-0.64,-146.0,2176,3505,3378,3200,60.3,-16.5,88,454,0.05,2.40,0.00,0.000,3078,0.363,0.046,2193,2092,3288,3378,3199,0,0,0,0,0,0,14.31,14.47,14.43,6.29,49.01
$GC,575,-0.64,-146.0,2193,2091,3378,3200,79.2,-15.0,113,579,0.00,2.42,0.00,0.000,2564,0.000,0.070,2193,695,3288,3378,3198,0,0,0,0,0,0,14.71,14.48,14.71,6.29,49.05
$GC,590,-0.64,-146.0,2194,696,3377,3200,81.5,-15.1,116,594,0.00,2.42,0.00,0.000,1030,0.000,0.060,2184,2098,3288,3378,3199,0,0,0,0,0,0,14.52,14.47,14.56,6.29,48.38
$GC,715,-0.64,-146.0,2184,2098,3380,3199,100.4,-15.3,141,719,0.00,2.50,0.00,0.000,2308,0.000,0.086,2173,3508,3288,3378,3199,0,0,0,0,0,0,14.73,14.47,14.73,6.29,48.30
$GC,775,-0.64,-146.0,2173,3508,3379,3198,109.9,-15.9,144,779,0.05,2.38,0.00,0.000,3078,0.360,0.046,2190,2102,3288,3378,3199,0,0,0,0,0,0,14.35,14.51,14.50,6.28,48.74
$GC,1095,-0.64,-146.0,2190,2101,3379,3198,155.1,-13.6,160,1099,0.00,2.47,0.00,0.000,2308,0.000,0.084,2179,3500,3288,3378,3199,0,0,0,0,0,0,14.78,14.52,14.78,6.29,50.11
$GC,1270,-0.64,-146.0,2180,3501,3379,3200,175.0,-11.9,168,1275,0.03,2.35,0.00,0.000,3078,0.457,0.044,2188,2100,3288,3378,3199,0,0,0,0,0,0,14.39,14.57,14.54,6.30,50.23
$GC,1575,-0.64,-146.0,2186,2101,3378,3200,214.7,-12.6,184,1580,0.00,2.45,0.00,0.000,2564,0.000,0.070,2188,702,3288,3378,3199,0,0,0,0,0,0,14.82,14.57,14.83,6.31,51.10
$GC,1645,-0.64,-146.0,2188,704,3378,3199,222.4,-13.0,187,1649,0.00,2.40,0.00,0.000,3078,0.000,0.059,2178,2101,3288,3378,3198,0,0,0,0,0,0,14.66,14.58,14.66,6.31,51.33
$GC,1955,-0.64,-146.0,2179,2101,3377,3198,264.0,-13.2,203,1956,0.05,0.00,0.00,0.000,2054,0.483,0.000,2192,2101,3288,3378,3198,0,0,0,0,0,0,14.45,14.67,14.64,6.32,51.85
$GC,2255,-0.64,-146.0,2193,2101,3379,3198,301.6,-12.5,218,2259,0.00,2.45,0.00,0.000,2564,0.000,0.070,2192,694,3287,3378,3197,0,0,0,0,0,0,14.86,14.60,14.86,6.33,51.41
$GC,2300,-0.64,-146.0,2192,695,3379,3197,306.8,-12.7,220,2304,0.00,2.40,0.00,0.000,3078,0.000,0.057,2182,2099,3287,3378,3197,0,0,0,0,0,0,14.66,14.62,14.69,6.32,51.29
$GC,2615,-0.64,-146.0,2182,2100,3378,3198,346.9,-12.4,236,2619,0.00,2.47,0.00,0.000,2308,0.000,0.085,2171,3507,3287,3377,3197,0,0,0,0,0,0,14.87,14.60,14.87,6.28,51.22
$GC,2630,-0.64,-146.0,2172,3508,3379,3197,346.9,-12.4,236,2635,0.05,2.35,0.00,0.000,3078,0.361,0.047,2188,2102,3287,3378,3197,0,0,0,0,0,0,14.48,14.64,14.62,6.33,51.85
$STATE,2654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2654,begin apogee
$GC,2657,-0.15,0.0,2189,2154,3379,3197,351.9,-12.5,238,2789,0.45,0.00,128.98,1.620,10246,0.272,0.000,2350,2153,2689,2748,2631,0,0,0,0,0,0,14.50,13.90,13.29,6.34,51.37
$STATE,2790,end apogee,CONTROL_FINISHED_OK
$STATE,2790,begin loiter
$GC,3075,-0.15,0.0,2351,2154,2741,2618,346.8,3.4,259,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2153,2678,2741,2616,0,0,0,0,0,0,14.54,14.56,14.55,6.28,50.43
$GC,3375,-0.15,0.0,2351,2154,2741,2614,336.6,3.3,274,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2153,2677,2740,2614,0,0,0,0,0,0,14.69,14.69,14.69,6.28,50.59
$GC,3675,-0.15,0.0,2351,2153,2741,2613,325.9,3.5,289,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2153,2676,2740,2613,0,0,0,0,0,0,14.78,14.78,14.78,6.28,51.29
$GC,3975,-0.15,0.0,2351,2154,2742,2614,315.3,3.6,304,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2153,2676,2740,2612,0,0,0,0,0,0,14.83,14.84,14.84,6.28,50.94
$GC,4275,-0.15,0.0,2351,2154,2742,2612,304.4,3.5,319,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2153,2676,2740,2612,0,0,0,0,0,0,14.88,14.88,14.89,6.28,50.86
$GC,4575,-0.15,0.0,2351,2154,2740,2613,293.7,3.5,334,4576,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2153,2676,2740,2612,0,0,0,0,0,0,14.92,14.92,14.91,6.28,51.18
$GC,4875,-0.15,0.0,2351,2154,2741,2613,283.1,3.5,349,4876,0.00,0.00,0.00,0.000,2054,0.000,0.000,2351,2153,2676,2740,2612,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.14
$GC,5175,-0.15,0.0,2351,2155,2741,2613,272.7,3.4,364,5175,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2153,2675,2740,2611,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.26
$GC,5475,-0.15,0.0,2351,2154,2740,2611,262.4,3.4,379,5476,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2153,2675,2740,2611,0,0,0,0,0,0,14.98,14.99,14.99,6.27,51.26
$GC,5775,-0.15,0.0,2351,2154,2741,2611,252.2,3.4,394,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2153,2675,2740,2611,0,0,0,0,0,0,15.00,15.01,15.00,6.28,51.69
$GC,6075,-0.15,0.0,2351,2154,2741,2612,242.0,3.4,409,6075,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2153,2675,2740,2611,0,0,0,0,0,0,15.02,15.02,15.02,6.27,51.02
$STATE,6374,end loiter,LOITER_COMPLETE
$STATE,6374,begin climb
$GC,6375,0.64,146.0,2351,2154,2741,2612,232.0,0.0,424,6516,0.60,2.58,132.23,1.440,10500,0.174,0.084,2593,3543,2089,2114,2064,0,0,0,0,0,0,14.71,13.96,13.44,6.28,51.65
$GC,6585,0.64,146.0,2595,3543,2112,2056,216.0,10.8,434,6589,0.00,2.42,0.00,0.000,1030,0.000,0.045,2604,2150,2083,2111,2055,0,0,0,0,0,0,14.19,14.14,14.21,6.24,48.66
$GC,6895,0.64,146.0,2604,2149,2106,2049,177.0,12.2,450,6900,0.00,2.53,0.00,0.000,516,0.000,0.075,2622,744,2076,2105,2048,0,0,0,0,0,0,14.59,14.34,14.60,6.23,50.07
$GC,6940,0.64,146.0,2616,745,2104,2048,172.3,11.9,452,6944,0.00,2.45,0.00,0.000,5126,0.000,0.058,2615,2146,2075,2103,2047,0,0,0,0,0,0,14.44,14.38,14.45,6.23,50.27
$GC,7255,0.64,146.0,2616,2148,2104,2044,134.6,11.5,468,7259,0.00,2.53,0.00,0.000,4356,0.000,0.086,2616,3557,2073,2103,2044,0,0,0,0,0,0,14.71,14.45,14.71,6.23,50.35
$GC,7340,0.64,146.0,2616,3557,2103,2046,125.3,11.6,472,7345,0.05,2.38,0.00,0.000,5126,0.343,0.046,2608,2155,2073,2102,2044,0,0,0,0,0,0,14.35,14.50,14.49,6.23,50.19
$GC,7645,0.64,146.0,2609,2156,2103,2041,93.5,10.5,495,7649,0.00,2.47,0.00,0.000,4356,0.000,0.084,2608,3546,2071,2102,2041,0,0,0,0,0,0,14.77,14.52,14.77,6.22,49.48
$GC,7680,0.64,146.0,2609,3551,2103,2041,89.6,11.1,502,7685,0.00,2.38,0.00,0.000,5126,0.000,0.047,2617,2150,2071,2102,2041,0,0,0,0,0,0,14.60,14.55,14.62,6.22,49.25
$GC,7806,0.64,146.0,2618,2151,2103,2041,75.5,11.3,527,7809,0.00,2.45,0.00,0.000,4612,0.000,0.074,2628,736,2071,2102,2040,0,0,0,0,0,0,14.78,14.54,14.78,6.21,49.05
$GC,7860,0.64,146.0,2629,736,2102,2040,69.7,10.3,538,7865,0.05,2.42,0.00,0.000,5126,0.313,0.057,2608,2154,2070,2101,2040,0,0,0,0,0,0,14.42,14.55,14.57,6.20,48.97
$GC,7985,0.64,146.0,2608,2148,2101,2041,56.8,10.0,563,7989,0.00,2.47,0.00,0.000,4356,0.000,0.086,2608,3543,2070,2101,2040,0,0,0,0,0,0,14.79,14.53,14.79,6.20,48.85
$GC,8055,0.64,146.0,2608,3544,2101,2041,49.6,10.0,577,8059,0.00,2.35,0.00,0.000,5126,0.000,0.047,2617,2145,2070,2101,2040,0,0,0,0,0,0,14.62,14.57,14.64,6.19,48.70
$GC,8180,0.64,146.0,2617,2145,2101,2042,37.7,10.2,602,8181,0.00,0.00,0.00,0.000,4102,0.000,0.000,2617,2145,2070,2101,2040,0,0,0,0,0,0,14.81,14.80,14.81,6.19,48.70
$GC,8300,0.64,146.0,2617,2146,2101,2041,26.2,10.0,626,8305,0.00,2.50,0.00,0.000,4356,0.000,0.084,2617,3552,2070,2101,2040,0,0,0,0,0,0,14.78,14.56,14.81,6.19,49.17
$GC,8325,0.64,146.0,2617,3553,2101,2041,23.4,11.7,631,8330,0.05,2.38,0.00,0.000,5126,0.336,0.048,2609,2144,2070,2100,2040,0,0,0,0,0,0,14.45,14.59,14.59,6.19,49.17
$GC,8450,0.64,146.0,2613,2145,2101,2040,11.1,9.9,656,8454,0.00,2.47,0.00,0.000,4612,0.000,0.074,2618,744,2069,2100,2039,0,0,0,0,0,0,14.80,14.57,14.82,6.18,49.96
$GC,8485,0.64,146.0,2618,744,2100,2038,7.5,9.9,663,8489,0.00,2.40,0.00,0.000,5126,0.000,0.057,2618,2143,2069,2100,2039,0,0,0,0,0,0,14.64,14.59,14.66,6.19,49.37
$STATE,8539,end climb,SURFACE_DEPTH_REACHED
$STATE,8539,begin surface coast
$STATE,8579,end surface coast,CONTROL_FINISHED_OK
$STATE,8579,begin surface
$SM_CCo,8591,67.80,0.250,0,0,1792,220.03
$SM_GC,1.14,5.47,0.05,67.80,0.072,0.209,0.250,268,2090,1792,-6.45,1.02,220.03,0,0,0,0,0,0,14.67,14.62,14.40
$IRIDIUM_FIX,-5952.63,-8.57,251218,051906
$TT8_MAMPS,0.03745,0.083139
$HUMID,49.33
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,1
$SC_FREEKB,3873248
$24V_AH,13.29,23.331
$10V_AH,13.61,0.000
$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,12.950,78.350,261.200,67.800,0.000,30.917,36.599,106.533,0.250,0.000,18.345,0.000,6837.866,442.640,1590.686,73.299,0.000,1065.557,0.000,1139.141,0.000,0.539,0.000
$DEVICE_MAMPS,482.715,2278.935,1620.270,250.155,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4991.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.872,0.000,0.000,0.000
$MEM,344032
$DATA_FILE_SIZE,17342,682
$CAP_FILE_SIZE,92268,0
$CFSIZE,1023623168,1010335744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.028,191.70,1
$GPS,251218,101735,-5953.045,-9.463,17,0.7,32,-19.6,0.5,160.5,10,7.9