version: 66.14
glider: 640
mission: 5
dive: 94
start: 12 25 118 10 22 8
data:
$ID,640
$MISSION,5
$DIVE,94
$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,43
$R_STBD_OVSHOOT,25
$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
$GPS1,251218,101735,-5953.0454,-9.4633,17,0.7,32,-19.6,0.5,160.5,10,7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-64.5
$GPS2,251218,102149,-5953.0586,-9.4916,9,0.7,14,-19.6,0.8,180.6,11,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,25.6,98681,-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,-146.0,234,2089,1769,1795,0.0,0.0,0,105,0.00,0.00,-94.05,0.000,16386,0.000,0.000,233,2089,3270,3350,3190,0,0,0,0,0,0,14.63,28.83,14.63,6.16,49.44
$GC,106,-0.64,-146.0,234,2090,3351,3186,3.7,-8.4,19,120,5.97,2.70,-0.60,0.000,18692,0.363,2.274,2173,3511,3286,3371,3202,0,0,0,0,0,0,14.25,13.49,14.40,6.28,49.44
$GC,280,-0.64,-146.0,2174,3512,3375,3202,32.0,-14.9,54,284,0.05,2.38,0.00,0.000,3078,0.358,0.044,2190,2118,3287,3374,3201,0,0,0,0,0,0,14.27,14.43,14.42,6.29,48.38
$GC,405,-0.64,-146.0,2190,2116,3375,3202,49.7,-14.0,79,409,0.00,2.45,0.00,0.000,2308,0.000,0.085,2178,3513,3288,3375,3201,0,0,0,0,0,0,14.67,14.43,14.68,6.29,49.21
$GC,435,-0.64,-146.0,2179,3514,3376,3202,54.1,-14.9,85,439,0.00,2.40,0.00,0.000,3078,0.000,0.047,2174,2107,3288,3375,3201,0,0,0,0,0,0,14.51,14.45,14.52,6.29,48.85
$GC,560,-0.64,-146.0,2180,2107,3375,3202,72.7,-14.7,110,564,0.00,2.50,0.00,0.000,2564,0.000,0.070,2179,693,3288,3375,3201,0,0,0,0,0,0,14.70,14.46,14.70,6.29,49.33
$GC,595,-0.64,-146.0,2179,694,3376,3202,78.0,-14.9,117,599,0.08,2.45,0.00,0.000,3078,0.341,0.059,2194,2105,3288,3375,3201,0,0,0,0,0,0,14.33,14.47,14.47,6.29,48.66
$GC,720,-0.64,-146.0,2194,2106,3376,3202,95.3,-13.7,142,724,0.00,2.50,0.00,0.000,260,0.000,0.086,2183,3536,3288,3375,3201,0,0,0,0,0,0,14.71,14.48,14.72,6.29,48.70
$GC,740,-0.64,-146.0,2183,3538,3376,3201,98.1,-14.0,146,744,0.00,2.45,0.00,0.000,3078,0.000,0.047,2182,2094,3288,3375,3201,0,0,0,0,0,0,14.55,14.51,14.56,6.28,48.38
$GC,875,-0.64,-146.0,2183,2093,3376,3201,117.2,-14.1,155,879,0.00,2.53,0.00,0.000,2308,0.000,0.085,2172,3507,3288,3375,3201,0,0,0,0,0,0,14.75,14.49,14.75,6.29,48.54
$GC,910,-0.64,-146.0,2172,3511,3376,3201,120.1,-14.1,156,914,0.05,2.38,0.00,0.000,3078,0.346,0.047,2189,2110,3288,3375,3201,0,0,0,0,0,0,14.38,14.52,14.51,6.29,48.58
$GC,1215,-0.64,-146.0,2190,2110,3376,3201,162.6,-12.6,172,1219,0.00,2.50,0.00,0.000,2564,0.000,0.070,2190,687,3288,3375,3201,0,0,0,0,0,0,14.79,14.53,14.79,6.29,49.88
$GC,1250,-0.64,-146.0,2190,688,3375,3203,165.2,-12.7,173,1254,0.00,2.42,0.00,0.000,3078,0.000,0.060,2180,2095,3288,3376,3201,0,0,0,0,0,0,14.61,14.59,14.63,6.30,50.07
$GC,1555,-0.64,-146.0,2181,2096,3375,3202,205.6,-12.7,189,1559,0.00,2.47,0.00,0.000,2308,0.000,0.084,2170,3502,3288,3375,3201,0,0,0,0,0,0,14.82,14.57,14.82,6.31,50.90
$GC,1590,-0.64,-146.0,2171,3502,3375,3201,208.2,-12.8,190,1595,0.05,2.38,0.00,0.000,3078,0.356,0.046,2188,2090,3288,3375,3201,0,0,0,0,0,0,14.44,14.59,14.57,6.31,51.57
$GC,1895,-0.64,-146.0,2189,2089,3376,3201,247.7,-12.4,206,1900,0.00,2.42,0.00,0.000,2564,0.000,0.070,2188,698,3288,3375,3201,0,0,0,0,0,0,14.83,14.59,14.85,6.32,51.41
$GC,1965,-0.64,-146.0,2189,699,3375,3202,255.1,-12.4,209,1969,0.00,2.40,0.00,0.000,3078,0.000,0.057,2179,2101,3287,3375,3200,0,0,0,0,0,0,14.65,14.59,14.67,6.32,51.45
$GC,2275,-0.64,-146.0,2179,2102,3375,3201,295.9,-12.8,225,2279,0.00,2.45,0.00,0.000,2308,0.000,0.083,2168,3501,3287,3375,3200,0,0,0,0,0,0,14.85,14.59,14.85,6.32,51.73
$GC,2300,-0.64,-146.0,2169,3500,3375,3200,298.4,-12.9,226,2305,0.08,2.33,0.00,0.000,3078,0.330,0.045,2195,2104,3287,3374,3200,0,0,0,0,0,0,14.48,14.62,14.61,6.33,51.14
$GC,2615,-0.64,-146.0,2196,2103,3376,3200,335.8,-11.6,242,2619,0.00,2.45,0.00,0.000,516,0.000,0.069,2195,698,3287,3375,3200,0,0,0,0,0,0,14.86,14.62,14.87,6.33,51.14
$GC,2685,-0.64,-146.0,2196,699,3375,3202,342.9,-11.8,245,2690,0.00,2.38,0.00,0.000,3078,0.000,0.057,2185,2092,3287,3375,3200,0,0,0,0,0,0,14.68,14.62,14.70,6.33,51.77
$STATE,2754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2754,begin apogee
$GC,2757,-0.15,0.0,2186,2175,3375,3201,352.0,-11.3,249,2889,0.45,0.00,128.90,1.615,10246,0.268,0.000,2348,2174,2687,2745,2630,0,0,0,0,0,0,14.51,13.90,13.29,6.32,50.94
$STATE,2890,end apogee,CONTROL_FINISHED_OK
$STATE,2890,begin loiter
$GC,3175,-0.15,0.0,2349,2174,2741,2616,346.2,3.8,270,3175,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2174,2677,2740,2615,0,0,0,0,0,0,14.55,14.55,14.55,6.28,50.43
$GC,3475,-0.15,0.0,2348,2174,2741,2613,334.5,4.0,285,3476,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2174,2676,2739,2613,0,0,0,0,0,0,14.69,14.70,14.69,6.28,51.18
$GC,3775,-0.15,0.0,2348,2175,2740,2613,322.7,4.0,300,3775,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2174,2675,2739,2612,0,0,0,0,0,0,14.78,14.78,14.78,6.28,50.74
$GC,4075,-0.15,0.0,2348,2175,2740,2613,310.7,4.0,315,4076,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2174,2676,2740,2612,0,0,0,0,0,0,14.84,14.84,14.84,6.28,51.45
$GC,4375,-0.15,0.0,2348,2175,2739,2613,299.4,3.7,330,4376,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2174,2675,2739,2611,0,0,0,0,0,0,14.88,14.89,14.88,6.28,50.98
$GC,4675,-0.15,0.0,2348,2174,2741,2611,288.7,3.5,345,4676,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2174,2675,2740,2611,0,0,0,0,0,0,14.92,14.92,14.92,6.28,50.90
$GC,4975,-0.15,0.0,2348,2174,2741,2611,278.6,3.3,360,4976,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2174,2675,2739,2611,0,0,0,0,0,0,14.95,14.95,14.95,6.27,51.02
$GC,5275,-0.15,0.0,2349,2174,2741,2611,268.6,3.3,375,5275,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2174,2675,2739,2611,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.33
$GC,5575,-0.15,0.0,2348,2174,2741,2610,258.6,3.2,390,5576,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2174,2674,2739,2610,0,0,0,0,0,0,14.99,14.99,14.99,6.28,50.98
$GC,5875,-0.15,0.0,2348,2175,2740,2610,249.0,3.0,405,5876,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2174,2675,2740,2610,0,0,0,0,0,0,15.00,15.00,15.01,6.28,51.73
$GC,6175,-0.15,0.0,2348,2174,2741,2610,241.0,2.5,420,6176,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2174,2674,2739,2610,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.26
$STATE,6474,end loiter,LOITER_COMPLETE
$STATE,6474,begin climb
$GC,6475,0.64,146.0,2348,2174,2741,2610,234.1,0.0,435,6616,0.62,2.62,131.82,1.429,10756,0.183,0.073,2608,750,2087,2112,2063,0,0,0,0,0,0,14.71,13.97,13.45,6.28,51.06
$GC,6645,0.64,151.8,2609,751,2111,2057,224.1,8.1,443,6655,0.00,2.45,4.90,1.247,13318,0.000,0.057,2609,2124,2066,2091,2041,0,0,0,0,0,0,14.12,14.07,13.40,6.24,49.48
$GC,6955,0.64,151.8,2610,2125,2091,2031,186.2,12.2,459,6960,0.00,2.60,0.00,0.000,260,0.000,0.086,2609,3563,2060,2089,2032,0,0,0,0,0,0,14.57,14.31,14.57,6.23,50.19
$GC,7040,0.64,151.8,2609,3563,2089,2032,176.3,12.3,463,7044,0.00,2.40,0.00,0.000,5126,0.000,0.045,2619,2149,2060,2089,2031,0,0,0,0,0,0,14.42,14.38,14.45,6.23,50.15
$GC,7355,0.64,151.8,2620,2149,2088,2027,133.5,13.5,479,7359,0.00,2.50,0.00,0.000,4612,0.000,0.072,2631,741,2057,2087,2027,0,0,0,0,0,0,14.71,14.45,14.71,6.22,50.19
$GC,7415,0.64,151.8,2631,742,2087,2026,126.1,12.5,482,7419,0.05,2.45,0.00,0.000,5126,0.323,0.057,2611,2161,2055,2086,2025,0,0,0,0,0,0,14.35,14.47,14.49,6.23,50.23
$GC,7720,0.64,151.8,2612,2162,2087,2024,89.2,11.4,510,7724,0.00,2.47,0.00,0.000,4356,0.000,0.086,2611,3552,2055,2086,2025,0,0,0,0,0,0,14.76,14.51,14.77,6.29,49.56
$GC,7815,0.64,151.8,2611,3551,2086,2026,78.6,10.6,529,7819,0.00,2.35,0.00,0.000,5126,0.000,0.045,2620,2154,2059,2086,2032,0,0,0,0,0,0,14.60,14.56,14.62,6.21,49.72
$GC,7940,0.64,151.8,2621,2153,2087,2024,65.0,11.4,554,7944,0.00,2.50,0.00,0.000,4612,0.000,0.074,2631,737,2054,2085,2024,0,0,0,0,0,0,14.78,14.53,14.78,6.20,48.58
$GC,8005,0.64,151.8,2632,738,2085,2024,57.9,10.8,567,8009,0.05,2.42,0.00,0.000,5126,0.318,0.057,2611,2152,2053,2084,2023,0,0,0,0,0,0,14.43,14.55,14.54,6.20,48.85
$GC,8130,0.64,151.8,2612,2153,2084,2023,44.2,11.2,592,8135,0.00,2.47,0.00,0.000,4356,0.000,0.086,2611,3548,2053,2084,2023,0,0,0,0,0,0,14.80,14.54,14.80,6.20,48.77
$GC,8230,0.64,151.8,2611,3548,2085,2022,33.4,9.5,612,8235,0.00,2.35,0.00,0.000,5126,0.000,0.046,2619,2150,2054,2084,2024,0,0,0,0,0,0,14.63,14.57,14.64,6.19,48.77
$GC,8355,0.64,151.8,2620,2151,2085,2023,21.0,9.4,637,8359,0.00,2.47,0.00,0.000,4612,0.000,0.072,2631,741,2053,2084,2023,0,0,0,0,0,0,14.81,14.56,14.81,6.19,49.29
$GC,8385,0.64,151.8,2631,742,2084,2022,17.9,10.5,643,8389,0.05,2.40,0.00,0.000,5126,0.314,0.057,2610,2145,2054,2086,2023,0,0,0,0,0,0,14.45,14.57,14.58,6.19,49.72
$GC,8510,0.64,151.8,2612,2145,2084,2022,5.6,10.6,668,8515,0.00,2.47,0.00,0.000,4356,0.000,0.089,2611,3559,2052,2083,2022,0,0,0,0,0,0,14.81,14.57,14.81,6.19,49.64
$STATE,8534,end climb,SURFACE_DEPTH_REACHED
$STATE,8534,begin surface coast
$STATE,8554,end surface coast,CONTROL_FINISHED_OK
$STATE,8554,begin surface
$SM_CCo,8567,63.55,0.252,0,0,1793,220.03
$SM_GC,1.27,5.47,2.50,63.55,0.073,0.047,0.252,270,2092,1793,-6.46,0.88,220.03,0,0,0,0,0,0,14.66,14.62,14.39
$IRIDIUM_FIX,-5957.07,-117.34,251218,074856
$TT8_MAMPS,0.03745,0.08988
$HUMID,49.33
$INTERNAL_PRESSURE,6.10897
$TCM_TEMP,0.00
$XPDR_PINGS,2
$SC_FREEKB,3872736
$24V_AH,13.29,23.500
$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,12.975,88.475,265.625,63.550,0.000,24.564,17.178,108.875,0.500,0.000,16.017,0.000,6831.912,450.001,1536.793,72.589,0.000,1067.554,0.000,1111.295,0.000,0.540,0.000
$DEVICE_MAMPS,362.610,2273.580,1614.915,252.450,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4965.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.966,0.000,0.000,0.000
$MEM,344124
$DATA_FILE_SIZE,17366,677
$CAP_FILE_SIZE,92137,0
$CFSIZE,1023623168,1010237440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.053,143.48,1
$GPS,251218,124702,-5952.767,-9.171,19,0.8,42,-19.6,0.3,267.0,10,9.2