version: 66.14
glider: 640
mission: 5
dive: 96
start: 12 25 118 15 22 20
data:
$ID,640
$MISSION,5
$DIVE,96
$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,52
$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
$GPS1,251218,151731,-5952.5571,-8.7292,14,1.2,37,-19.6,0.0,0.7,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-65.8
$GPS2,251218,152201,-5952.5532,-8.6609,10,1.0,19,-19.6,0.0,96.4,9,7.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,12.3,97679,-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,-146.0,233,2076,1766,1796,0.0,0.0,0,100,0.00,0.00,-88.80,0.000,16386,0.000,0.000,233,2075,3172,3251,3093,0,0,0,0,0,0,14.63,28.83,14.63,6.16,49.76
$GC,101,-0.64,-146.0,234,2075,3250,3093,3.1,-5.6,18,117,6.00,2.58,-4.62,0.000,18948,0.366,2.268,2183,717,3286,3377,3196,0,0,0,0,0,0,14.25,13.50,14.40,6.28,49.44
$GC,210,-0.64,-146.0,2183,718,3379,3203,19.9,-14.2,40,215,0.05,2.40,0.00,0.000,3078,0.373,0.059,2189,2096,3288,3379,3197,0,0,0,0,0,0,14.26,14.40,14.40,6.29,47.87
$GC,336,-0.64,-146.0,2190,2095,3380,3197,39.1,-14.9,65,339,0.00,0.00,0.00,0.000,2054,0.000,0.000,2189,2095,3288,3379,3197,0,0,0,0,0,0,14.66,14.66,14.66,6.29,48.38
$GC,460,-0.64,-146.0,2190,2096,3380,3197,57.8,-15.7,90,465,0.00,2.45,0.00,0.000,2564,0.000,0.070,2189,711,3287,3378,3197,0,0,0,0,0,0,14.69,14.45,14.69,6.29,48.93
$GC,500,-0.64,-146.0,2190,706,3380,3197,64.0,-15.2,98,505,0.00,2.40,0.00,0.000,3078,0.000,0.058,2180,2099,3288,3379,3197,0,0,0,0,0,0,14.52,14.45,14.54,6.38,48.42
$GC,626,-0.64,-146.0,2181,2100,3379,3198,83.1,-15.3,123,631,0.00,2.42,0.00,0.000,2564,0.000,0.068,2180,715,3287,3378,3197,0,0,0,0,0,0,14.71,14.47,14.71,6.28,48.30
$GC,660,-0.64,-146.0,2180,716,3379,3198,88.5,-15.5,130,665,0.05,2.40,0.00,0.000,3078,0.373,0.059,2186,2099,3288,3379,3197,0,0,0,0,0,0,14.33,14.48,14.47,6.27,47.95
$GC,801,-0.64,-146.0,2187,2100,3380,3197,108.9,-14.1,149,801,0.00,0.00,0.00,0.000,2054,0.000,0.000,2187,2099,3287,3378,3197,0,0,0,0,0,0,14.71,14.73,14.73,6.28,47.95
$GC,1101,-0.64,-146.0,2187,2100,3379,3198,147.4,-12.7,164,1105,0.00,2.50,0.00,0.000,2308,0.000,0.086,2177,3501,3288,3379,3197,0,0,0,0,0,0,14.77,14.52,14.78,6.30,49.96
$GC,1120,-0.64,-146.0,2177,3502,3379,3198,149.9,-12.6,165,1125,0.03,2.33,0.00,0.000,3078,0.455,0.047,2185,2119,3287,3378,3197,0,0,0,0,0,0,14.37,14.56,14.52,6.29,49.96
$GC,1441,-0.64,-146.0,2185,2119,3378,3198,190.2,-12.5,181,1445,0.00,2.50,0.00,0.000,2564,0.000,0.070,2184,690,3288,3379,3197,0,0,0,0,0,0,14.78,14.57,14.81,6.31,50.59
$GC,1520,-0.64,-146.0,2185,691,3379,3197,200.3,-12.7,185,1526,0.05,2.42,0.00,0.000,3078,0.380,0.059,2192,2105,3291,3378,3205,0,0,0,0,0,0,14.41,14.57,14.57,6.31,50.78
$GC,1841,-0.64,-146.0,2192,2101,3380,3196,238.2,-11.5,201,1845,0.00,2.45,0.00,0.000,2308,0.000,0.086,2182,3496,3287,3378,3196,0,0,0,0,0,0,14.83,14.57,14.83,6.32,51.10
$GC,1890,-0.64,-146.0,2182,3497,3379,3198,242.9,-11.6,203,1895,0.00,2.35,0.00,0.000,3078,0.000,0.045,2181,2094,3285,3375,3196,0,0,0,0,0,0,14.65,14.60,14.66,6.32,50.66
$GC,2201,-0.64,-146.0,2181,2093,3372,3197,281.2,-12.2,219,2205,0.00,2.42,0.00,0.000,2564,0.000,0.070,2182,697,3287,3378,3196,0,0,0,0,0,0,14.84,14.60,14.84,6.33,51.22
$GC,2286,-0.64,-146.0,2181,698,3380,3196,291.0,-12.3,223,2290,0.05,2.40,0.00,0.000,3078,0.368,0.058,2187,2099,3287,3378,3196,0,0,0,0,0,0,14.44,14.60,14.59,6.32,50.70
$GC,2601,-0.64,-146.0,2188,2099,3379,3196,328.6,-11.9,239,2605,0.00,2.47,0.00,0.000,2308,0.000,0.086,2177,3505,3287,3378,3196,0,0,0,0,0,0,14.85,14.59,14.85,6.33,50.78
$GC,2630,-0.64,-146.0,2177,3506,3379,3197,331.0,-11.9,240,2635,0.03,2.35,0.00,0.000,3078,0.454,0.046,2185,2100,3287,3378,3196,0,0,0,0,0,0,14.45,14.63,14.59,6.33,50.82
$STATE,2779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2779,begin apogee
$GC,2783,-0.15,0.0,2185,2169,3379,3197,350.2,-12.0,248,2914,0.45,0.00,129.25,1.608,10246,0.269,0.000,2347,2168,2687,2747,2627,0,0,0,0,0,0,14.50,13.90,13.30,6.33,50.70
$STATE,2915,end apogee,CONTROL_FINISHED_OK
$STATE,2915,begin loiter
$GC,3200,-0.15,0.0,2349,2168,2740,2615,345.9,3.2,269,3201,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2168,2677,2739,2615,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.00
$GC,3500,-0.15,0.0,2347,2169,2740,2614,336.1,3.2,284,3501,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2168,2675,2739,2612,0,0,0,0,0,0,14.69,14.69,14.69,6.28,50.43
$GC,3800,-0.15,0.0,2348,2169,2741,2613,326.3,3.2,299,3801,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2168,2675,2739,2611,0,0,0,0,0,0,14.77,14.77,14.77,6.28,50.51
$GC,4101,-0.15,0.0,2348,2168,2740,2611,316.9,3.2,314,4101,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2168,2675,2739,2611,0,0,0,0,0,0,14.83,14.83,14.83,6.28,51.02
$GC,4400,-0.15,0.0,2347,2169,2740,2611,307.6,3.0,329,4401,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2168,2674,2739,2610,0,0,0,0,0,0,14.88,14.88,14.88,6.28,50.70
$GC,4700,-0.15,0.0,2347,2169,2740,2610,298.7,2.9,344,4701,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2168,2674,2739,2609,0,0,0,0,0,0,14.91,14.91,14.91,6.28,50.63
$GC,5000,-0.15,0.0,2347,2169,2740,2610,289.9,3.0,359,5001,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2168,2673,2738,2609,0,0,0,0,0,0,14.93,14.94,14.94,6.28,50.63
$GC,5300,-0.15,0.0,2347,2169,2740,2610,280.5,3.2,374,5301,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2168,2674,2739,2609,0,0,0,0,0,0,14.95,14.96,14.96,6.28,51.18
$GC,5601,-0.15,0.0,2348,2169,2740,2610,270.0,3.6,389,5602,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2168,2674,2739,2609,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.10
$GC,5900,-0.15,0.0,2347,2169,2740,2608,258.5,3.9,404,5901,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2168,2673,2739,2608,0,0,0,0,0,0,15.00,15.00,15.00,6.28,50.82
$GC,6200,-0.15,0.0,2347,2169,2740,2609,246.0,4.2,419,6201,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2168,2673,2739,2608,0,0,0,0,0,0,15.00,15.01,15.00,6.28,51.02
$STATE,6499,end loiter,LOITER_COMPLETE
$STATE,6499,begin climb
$GC,6501,0.64,146.0,2348,2169,2740,2608,233.3,0.0,434,6641,0.62,2.55,132.00,1.416,11012,0.177,0.086,2598,3547,2088,2113,2063,0,0,0,0,0,0,14.71,13.95,13.44,6.28,51.22
$GC,6670,0.64,146.0,2599,3548,2112,2060,220.4,10.0,442,6675,0.00,2.42,0.00,0.000,5126,0.000,0.046,2609,2157,2085,2112,2058,0,0,0,0,0,0,14.12,14.08,14.14,6.24,48.70
$GC,6980,0.64,146.0,2604,2158,2105,2049,177.8,13.7,458,6985,0.00,2.55,0.00,0.000,4612,0.000,0.073,2620,736,2076,2104,2048,0,0,0,0,0,0,14.57,14.33,14.58,6.24,49.84
$GC,7010,0.64,146.0,2620,736,2103,2049,175.1,13.6,459,7015,0.05,2.45,0.00,0.000,5126,0.313,0.058,2602,2137,2075,2102,2048,0,0,0,0,0,0,14.24,14.35,14.36,6.23,49.96
$GC,7321,0.64,146.0,2602,2138,2103,2045,133.0,13.2,475,7326,0.00,2.47,0.00,0.000,516,0.000,0.071,2610,741,2072,2102,2043,0,0,0,0,0,0,14.69,14.45,14.69,6.23,50.63
$GC,7435,0.64,146.0,2611,741,2102,2041,121.0,11.7,480,7440,0.00,2.42,0.00,0.000,5126,0.000,0.058,2611,2145,2071,2101,2041,0,0,0,0,0,0,14.53,14.50,14.54,6.23,50.19
$GC,7740,0.64,146.0,2612,2145,2101,2041,82.7,11.4,517,7746,0.00,2.53,0.00,0.000,4356,0.000,0.090,2610,3558,2070,2101,2040,0,0,0,0,0,0,14.76,14.50,14.76,6.22,49.44
$GC,7840,0.64,146.0,2612,3562,2102,2040,71.7,10.5,537,7846,0.05,2.38,0.00,0.000,5126,0.340,0.045,2604,2148,2070,2101,2040,0,0,0,0,0,0,14.40,14.54,14.54,6.21,49.13
$GC,7966,0.64,146.0,2604,2148,2101,2040,59.5,9.5,562,7970,0.00,2.45,0.00,0.000,516,0.000,0.071,2613,732,2070,2101,2040,0,0,0,0,0,0,14.76,14.54,14.77,6.21,48.38
$GC,8005,0.64,146.0,2613,733,2100,2040,55.8,9.1,570,8010,0.00,2.42,0.00,0.000,5126,0.000,0.057,2614,2144,2069,2100,2039,0,0,0,0,0,0,14.60,14.54,14.62,6.20,49.17
$GC,8131,0.64,146.0,2613,2144,2100,2040,43.7,9.8,595,8135,0.00,2.50,0.00,0.000,4356,0.000,0.089,2613,3548,2069,2100,2039,0,0,0,0,0,0,14.78,14.52,14.78,6.20,48.38
$GC,8170,0.64,146.0,2614,3548,2100,2033,39.5,10.2,603,8175,0.05,2.35,0.00,0.000,5126,0.331,0.047,2605,2153,2069,2099,2039,0,0,0,0,0,0,14.42,14.57,14.55,6.19,48.26
$GC,8296,0.64,146.0,2605,2153,2100,2040,29.0,8.6,628,8300,0.00,2.45,0.00,0.000,516,0.000,0.071,2614,737,2068,2099,2038,0,0,0,0,0,0,14.78,14.55,14.78,6.20,48.42
$GC,8331,0.64,150.8,2615,737,2100,2038,26.1,8.1,635,8335,0.00,2.42,0.00,0.000,5126,0.000,0.057,2614,2146,2068,2099,2037,0,0,0,0,0,0,14.61,14.55,14.62,6.20,48.26
$GC,8456,0.64,150.8,2616,2148,2101,2038,14.5,10.0,660,8460,0.00,2.50,0.00,0.000,4356,0.000,0.090,2614,3555,2068,2099,2037,0,0,0,0,0,0,14.79,14.53,14.80,6.20,48.70
$GC,8495,0.64,150.8,2613,3555,2099,2038,10.5,9.2,668,8500,0.05,2.38,0.00,0.000,5126,0.341,0.048,2606,2147,2068,2098,2038,0,0,0,0,0,0,14.43,14.58,14.53,6.19,48.77
$STATE,8579,end climb,SURFACE_DEPTH_REACHED
$STATE,8579,begin surface coast
$STATE,8609,end surface coast,CONTROL_FINISHED_OK
$STATE,8609,begin surface
$SM_CCo,8621,67.05,0.250,0,0,1792,220.03
$SM_GC,1.19,5.50,0.05,67.05,0.080,0.216,0.250,267,2085,1792,-6.48,1.10,220.03,0,0,0,0,0,0,14.62,14.59,14.38
$IRIDIUM_FIX,-5952.63,-8.57,251218,124826
$TT8_MAMPS,0.03745,0.110852
$HUMID,48.50
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,6
$SC_FREEKB,3871712
$24V_AH,13.30,23.834
$10V_AH,13.43,0.000
$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,13.025,78.250,261.250,67.050,0.000,33.480,32.999,98.525,1.500,0.000,20.333,0.000,6880.225,443.806,1567.995,72.738,0.000,1061.209,0.000,1126.529,0.000,0.539,0.000
$DEVICE_MAMPS,455.175,2268.225,1608.030,250.155,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5020.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.930,0.000,0.000,0.000
$MEM,344124
$DATA_FILE_SIZE,17349,691
$CAP_FILE_SIZE,91878,0
$CFSIZE,1023623168,1010040832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.045,125.34,1
$GPS,251218,174801,-5952.201,-8.469,13,0.8,31,-19.6,1.1,19.9,9,6.4