version: 66.14
glider: 640
mission: 5
dive: 98
start: 12 25 118 20 21 40
data:
$ID,640
$MISSION,5
$DIVE,98
$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,47
$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
$GPS1,251218,201701,-5951.8359,-8.6182,15,0.8,44,-19.6,0.8,286.3,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.5
$GPS2,251218,202122,-5951.8047,-8.6334,9,0.9,19,-19.6,0.0,313.5,9,10.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,26.3,96295,-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,-146.0,234,2074,1766,1797,0.0,0.0,0,100,0.00,0.00,-88.78,0.000,16386,0.000,0.000,234,2074,3186,3263,3110,0,0,0,0,0,0,14.63,28.83,14.63,6.16,49.88
$GC,101,-0.64,-146.0,235,2075,3265,3110,3.3,-5.7,18,116,5.95,2.60,-3.92,0.000,18948,0.360,2.267,2183,706,3284,3371,3197,0,0,0,0,0,0,14.23,13.49,14.40,6.28,49.52
$GC,235,-0.64,-146.0,2183,707,3380,3199,26.1,-15.5,45,239,0.05,2.42,0.00,0.000,3078,0.376,0.060,2189,2098,3288,3379,3198,0,0,0,0,0,0,14.26,14.42,14.41,6.29,47.99
$GC,360,-0.64,-146.0,2190,2098,3381,3198,45.7,-15.1,70,364,0.00,2.50,0.00,0.000,2308,0.000,0.087,2179,3502,3288,3379,3198,0,0,0,0,0,0,14.67,14.42,14.68,6.29,48.74
$GC,450,-0.64,-146.0,2180,3503,3380,3199,59.1,-14.3,88,454,0.00,2.35,0.00,0.000,3078,0.000,0.044,2179,2113,3288,3379,3198,0,0,0,0,0,0,14.52,14.48,14.54,6.29,49.37
$GC,575,-0.64,-146.0,2179,2108,3380,3199,78.4,-15.5,113,576,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2112,3288,3378,3198,0,0,0,0,0,0,14.71,14.72,14.72,6.29,48.70
$GC,695,-0.64,-146.0,2179,2112,3380,3199,96.9,-15.5,137,695,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2112,3289,3380,3198,0,0,0,0,0,0,14.73,14.73,14.73,6.28,49.21
$GC,815,-0.64,-146.0,2179,2111,3380,3199,115.3,-15.3,146,816,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2112,3289,3380,3198,0,0,0,0,0,0,14.76,14.76,14.76,6.28,48.70
$GC,1115,-0.64,-146.0,2179,2113,3380,3199,156.9,-13.7,161,1119,0.00,2.47,0.00,0.000,2564,0.000,0.067,2179,700,3290,3378,3202,0,0,0,0,0,0,14.80,14.56,14.80,6.30,50.55
$GC,1190,-0.64,-146.0,2179,696,3380,3199,165.1,-13.7,164,1194,0.08,2.42,0.00,0.000,3078,0.337,0.058,2194,2103,3288,3379,3198,0,0,0,0,0,0,14.42,14.56,14.55,6.30,49.92
$GC,1495,-0.64,-146.0,2194,2104,3380,3199,206.0,-12.7,180,1499,0.00,2.47,0.00,0.000,260,0.000,0.086,2184,3503,3288,3379,3198,0,0,0,0,0,0,14.82,14.57,14.82,6.31,51.29
$GC,1515,-0.64,-146.0,2185,3504,3381,3198,208.6,-12.7,181,1519,0.00,2.38,0.00,0.000,3078,0.000,0.045,2183,2091,3288,3379,3198,0,0,0,0,0,0,14.64,14.60,14.66,6.31,50.98
$GC,1835,-0.64,-146.0,2184,2090,3381,3197,250.8,-13.1,197,1840,0.00,2.42,0.00,0.000,2564,0.000,0.067,2183,698,3288,3379,3197,0,0,0,0,0,0,14.85,14.58,14.84,6.32,51.57
$GC,1880,-0.64,-146.0,2183,698,3380,3198,256.2,-13.3,199,1884,0.05,2.40,0.00,0.000,3078,0.365,0.057,2190,2102,3288,3379,3197,0,0,0,0,0,0,14.45,14.60,14.59,6.32,51.02
$GC,2195,-0.64,-146.0,2190,2103,3381,3197,296.0,-12.3,215,2196,0.00,0.00,0.00,0.000,2054,0.000,0.000,2190,2102,3285,3373,3197,0,0,0,0,0,0,14.85,14.86,14.86,6.32,51.41
$GC,2495,-0.64,-146.0,2190,2102,3381,3198,332.2,-12.1,230,2496,0.00,0.00,0.00,0.000,2054,0.000,0.000,2190,2102,3288,3380,3197,0,0,0,0,0,0,14.87,14.88,14.87,6.33,51.33
$STATE,2654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2654,begin apogee
$GC,2657,-0.15,0.0,2189,2165,3380,3199,351.4,-11.9,238,2789,0.45,0.00,129.30,1.619,10246,0.269,0.000,2352,2165,2688,2747,2630,0,0,0,0,0,0,14.52,13.90,13.31,6.33,51.85
$STATE,2790,end apogee,CONTROL_FINISHED_OK
$STATE,2790,begin loiter
$GC,3075,-0.15,0.0,2352,2165,2741,2614,346.8,3.4,259,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2677,2740,2614,0,0,0,0,0,0,14.55,14.55,14.55,6.28,50.35
$GC,3375,-0.15,0.0,2352,2165,2740,2613,336.8,3.5,274,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2675,2739,2612,0,0,0,0,0,0,14.69,14.70,14.70,6.28,50.82
$GC,3675,-0.15,0.0,2352,2166,2740,2612,326.5,3.4,289,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2675,2739,2611,0,0,0,0,0,0,14.78,14.78,14.78,6.28,50.78
$GC,3975,-0.15,0.0,2352,2165,2740,2610,316.6,3.1,304,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2674,2739,2610,0,0,0,0,0,0,14.84,14.84,14.84,6.28,50.98
$GC,4275,-0.15,0.0,2352,2166,2740,2611,307.4,2.9,319,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2674,2739,2610,0,0,0,0,0,0,14.88,14.89,14.89,6.28,51.37
$GC,4575,-0.15,0.0,2352,2165,2740,2610,299.0,2.7,334,4576,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2674,2739,2609,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.29
$GC,4875,-0.15,0.0,2352,2165,2741,2608,291.0,2.7,349,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2673,2739,2608,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.02
$GC,5175,-0.15,0.0,2352,2165,2740,2608,283.2,2.6,364,5176,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2673,2739,2608,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.18
$GC,5475,-0.15,0.0,2352,2166,2740,2609,275.2,2.7,379,5476,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2673,2739,2607,0,0,0,0,0,0,14.98,14.99,14.99,6.28,51.18
$GC,5775,-0.15,0.0,2352,2165,2740,2609,266.5,3.0,394,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2673,2739,2608,0,0,0,0,0,0,15.00,15.00,15.00,6.28,50.98
$GC,6075,-0.15,0.0,2352,2165,2741,2608,257.1,3.2,409,6075,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2673,2739,2608,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.06
$STATE,6374,end loiter,LOITER_COMPLETE
$STATE,6374,begin climb
$GC,6375,0.64,146.0,2352,2165,2740,2609,247.6,0.0,424,6516,0.60,2.60,131.75,1.436,10756,0.175,0.072,2605,749,2087,2112,2063,0,0,0,0,0,0,14.71,13.97,13.44,6.28,50.98
$GC,6540,0.64,146.0,2606,749,2111,2058,236.6,8.8,432,6544,0.00,2.47,0.00,0.000,5126,0.000,0.057,2606,2130,2084,2110,2058,0,0,0,0,0,0,14.10,14.05,14.12,6.24,49.13
$GC,6855,0.64,146.0,2606,2131,2106,2048,198.2,12.2,448,6860,0.00,2.47,0.00,0.000,516,0.000,0.070,2617,750,2076,2105,2047,0,0,0,0,0,0,14.58,14.34,14.58,6.24,50.19
$GC,6970,0.64,146.0,2617,751,2103,2046,187.2,10.8,453,6974,0.00,2.45,0.00,0.000,5126,0.000,0.058,2617,2157,2073,2102,2045,0,0,0,0,0,0,14.45,14.38,14.46,6.24,50.31
$GC,7275,0.64,146.0,2617,2158,2103,2043,147.6,12.4,469,7279,0.00,2.50,0.00,0.000,4356,0.000,0.088,2616,3557,2072,2102,2042,0,0,0,0,0,0,14.71,14.42,14.71,6.23,51.02
$GC,7375,0.64,146.0,2617,3557,2103,2042,135.3,12.0,474,7379,0.05,2.35,0.00,0.000,5126,0.345,0.044,2609,2161,2071,2101,2041,0,0,0,0,0,0,14.35,14.50,14.50,6.23,50.55
$GC,7680,0.64,146.0,2610,2162,2103,2041,98.5,12.9,490,7684,0.00,2.50,0.00,0.000,4612,0.000,0.070,2618,740,2070,2101,2040,0,0,0,0,0,0,14.78,14.53,14.78,6.22,50.00
$GC,7725,0.64,146.0,2618,741,2100,2041,93.1,11.6,499,7729,0.00,2.42,0.00,0.000,5126,0.000,0.057,2618,2151,2070,2100,2040,0,0,0,0,0,0,14.59,14.55,14.62,6.21,49.80
$GC,7850,0.64,146.0,2619,2152,2101,2039,77.5,12.5,524,7855,0.00,2.50,0.00,0.000,4356,0.000,0.088,2618,3554,2070,2101,2040,0,0,0,0,0,0,14.79,14.53,14.79,6.21,49.05
$GC,7920,0.64,146.0,2619,3554,2101,2040,68.4,12.4,538,7924,0.08,2.35,0.00,0.000,5126,0.305,0.044,2602,2155,2070,2100,2040,0,0,0,0,0,0,14.45,14.57,14.57,6.21,48.74
$GC,8045,0.64,146.0,2602,2155,2102,2038,54.8,10.6,563,8049,0.00,2.45,0.00,0.000,516,0.000,0.071,2611,735,2069,2100,2039,0,0,0,0,0,0,14.80,14.57,14.80,6.20,48.89
$GC,8090,0.64,146.0,2612,735,2101,2039,50.2,9.7,572,8095,0.00,2.42,0.00,0.000,5126,0.000,0.058,2618,2148,2069,2100,2038,0,0,0,0,0,0,14.61,14.57,14.64,6.20,49.01
$GC,8215,0.64,146.0,2611,2150,2100,2039,37.7,9.7,597,8219,0.00,2.45,0.00,0.000,4356,0.000,0.088,2611,3557,2069,2100,2039,0,0,0,0,0,0,14.81,14.57,14.81,6.20,48.89
$GC,8280,0.64,146.0,2611,3557,2100,2040,31.4,9.6,610,8285,0.05,2.35,0.00,0.000,5126,0.340,0.045,2603,2154,2069,2100,2039,0,0,0,0,0,0,14.44,14.59,14.57,6.20,48.89
$GC,8405,0.64,146.0,2603,2154,2101,2038,19.9,10.0,635,8409,0.00,2.47,0.00,0.000,516,0.000,0.071,2612,747,2069,2100,2038,0,0,0,0,0,0,14.81,14.57,14.82,6.19,49.01
$GC,8450,0.64,146.0,2612,748,2098,2039,15.6,9.5,644,8455,0.00,2.40,0.00,0.000,5126,0.000,0.058,2612,2152,2068,2099,2037,0,0,0,0,0,0,14.62,14.59,14.66,6.19,49.76
$GC,8575,0.64,146.0,2612,2153,2100,2038,3.3,9.4,669,8579,0.00,2.45,0.00,0.000,4356,0.000,0.089,2613,3556,2068,2099,2037,0,0,0,0,0,0,14.82,14.57,14.83,6.19,50.11
$STATE,8584,end climb,SURFACE_DEPTH_REACHED
$STATE,8584,begin surface coast
$STATE,8604,end surface coast,CONTROL_FINISHED_OK
$STATE,8604,begin surface
$SM_CCo,8617,67.28,0.252,0,0,1792,220.03
$SM_GC,1.23,5.50,2.50,67.28,0.086,0.045,0.252,286,2083,1792,-6.44,0.65,220.03,0,0,0,0,0,0,14.64,14.63,14.39
$IRIDIUM_FIX,-5954.49,-8.58,251218,174928
$TT8_MAMPS,0.03745,0.115346
$HUMID,48.97
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,2
$SC_FREEKB,3870688
$24V_AH,13.31,24.166
$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,12.850,68.650,261.050,67.275,0.000,25.575,18.965,109.624,0.500,0.000,20.316,0.000,6937.826,427.314,1513.225,72.729,0.000,1024.962,0.000,1091.169,0.000,0.541,0.000
$DEVICE_MAMPS,376.380,2267.460,1618.740,252.450,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5015.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.832,0.000,0.000,0.000
$MEM,344120
$DATA_FILE_SIZE,17329,675
$CAP_FILE_SIZE,87701,0
$CFSIZE,1023623168,1009844224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.042,196.76,1
$GPS,251218,224725,-5951.477,-8.623,16,0.9,39,-19.6,0.8,338.6,9,8.1