version: 66.14
glider: 640
mission: 5
dive: 101
start: 12 26 118 3 53 4
data:
$ID,640
$MISSION,5
$DIVE,101
$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,21
$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
$GPS1,261218,034755,-5950.7471,-8.1541,17,0.7,41,-19.6,0.4,81.0,11,6.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-64.3
$GPS2,261218,035246,-5950.7563,-8.1044,9,1.0,17,-19.6,0.0,146.3,9,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,18.0,94318,-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,-146.0,232,2073,1766,1796,0.0,0.0,0,101,0.00,0.00,-89.88,0.000,16386,0.000,0.000,232,2074,3198,3278,3119,0,0,0,0,0,0,14.60,28.83,14.61,6.16,50.03
$GC,103,-0.64,-146.0,232,2075,3280,3121,3.2,-6.2,18,120,5.97,2.60,-3.33,0.000,18948,0.364,2.263,2184,711,3286,3376,3196,0,0,0,0,0,0,14.23,13.47,14.46,6.28,48.93
$GC,195,-0.64,-146.0,2184,712,3378,3197,19.0,-15.0,37,200,0.05,2.45,0.00,0.000,3078,0.373,0.057,2190,2111,3286,3377,3196,0,0,0,0,0,0,14.21,14.35,14.43,6.30,47.71
$GC,320,-0.64,-146.0,2191,2112,3378,3196,38.7,-16.3,62,323,0.00,0.00,0.00,0.000,2054,0.000,0.000,2190,2111,3287,3377,3197,0,0,0,0,0,0,14.63,14.63,14.63,6.29,49.05
$GC,445,-0.64,-146.0,2191,2112,3377,3197,56.5,-14.1,87,449,0.00,2.47,0.00,0.000,2564,0.000,0.066,2190,709,3287,3377,3197,0,0,0,0,0,0,14.66,14.42,14.66,6.29,48.62
$GC,490,-0.64,-146.0,2190,710,3378,3197,63.1,-14.4,96,494,0.00,2.42,0.00,0.000,3078,0.000,0.060,2180,2102,3286,3376,3196,0,0,0,0,0,0,14.50,14.44,14.51,6.29,48.74
$GC,615,-0.64,-146.0,2180,2103,3378,3197,81.5,-15.2,121,620,0.00,2.45,0.00,0.000,2564,0.000,0.067,2180,712,3287,3377,3197,0,0,0,0,0,0,14.69,14.45,14.69,6.30,48.26
$GC,640,-0.64,-146.0,2181,713,3378,3197,85.3,-15.0,126,645,0.05,2.40,0.00,0.000,3078,0.370,0.060,2187,2098,3287,3377,3197,0,0,0,0,0,0,14.31,14.46,14.45,6.29,48.26
$GC,765,-0.64,-146.0,2187,2098,3378,3197,103.2,-14.3,148,769,0.00,2.40,0.00,0.000,2564,0.000,0.066,2187,705,3288,3380,3197,0,0,0,0,0,0,14.71,14.49,14.71,6.29,48.07
$GC,785,-0.64,-146.0,2187,706,3378,3197,106.2,-14.7,149,789,0.05,2.42,0.00,0.000,3078,0.376,0.061,2193,2101,3286,3377,3196,0,0,0,0,0,0,14.31,14.48,14.47,6.28,48.46
$GC,1105,-0.64,-146.0,2193,2102,3378,3197,147.2,-12.3,165,1109,0.00,2.47,0.00,0.000,2308,0.000,0.086,2183,3499,3286,3377,3196,0,0,0,0,0,0,14.76,14.50,14.76,6.30,50.19
$GC,1145,-0.64,-146.0,2184,3499,3378,3196,152.2,-12.5,167,1149,0.00,2.33,0.00,0.000,3078,0.000,0.044,2183,2117,3287,3378,3196,0,0,0,0,0,0,14.59,14.55,14.60,6.30,50.00
$GC,1465,-0.64,-146.0,2183,2117,3378,3197,192.8,-12.8,183,1469,0.00,2.47,0.00,0.000,2564,0.000,0.067,2183,698,3286,3377,3196,0,0,0,0,0,0,14.79,14.55,14.80,6.31,50.70
$GC,1535,-0.64,-146.0,2183,699,3378,3197,200.5,-12.8,186,1539,0.05,2.42,0.00,0.000,3078,0.364,0.058,2189,2099,3284,3377,3192,0,0,0,0,0,0,14.40,14.57,14.55,6.31,50.59
$GC,1845,-0.64,-146.0,2189,2105,3378,3197,238.2,-11.8,202,1846,0.00,0.00,0.00,0.000,2054,0.000,0.000,2189,2105,3286,3377,3196,0,0,0,0,0,0,14.81,14.81,14.81,6.31,51.89
$GC,2145,-0.64,-146.0,2190,2105,3377,3198,274.2,-12.0,217,2149,0.00,2.45,0.00,0.000,2564,0.000,0.066,2189,695,3287,3378,3196,0,0,0,0,0,0,14.83,14.59,14.83,6.32,51.73
$GC,2165,-0.64,-146.0,2190,695,3378,3196,276.7,-12.1,218,2169,0.00,2.42,0.00,0.000,3078,0.000,0.057,2179,2108,3286,3377,3196,0,0,0,0,0,0,14.65,14.59,14.66,6.33,51.49
$GC,2485,-0.64,-146.0,2180,2108,3378,3196,316.9,-12.5,234,2486,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2108,3286,3377,3196,0,0,0,0,0,0,14.84,14.84,14.84,6.33,51.02
$STATE,2764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2764,begin apogee
$GC,2767,-0.15,0.0,2180,2160,3378,3196,351.7,-12.3,248,2899,0.47,0.00,128.88,1.612,10246,0.273,0.000,2349,2159,2688,2747,2629,0,0,0,0,0,0,14.50,13.90,13.29,6.33,51.45
$STATE,2900,end apogee,CONTROL_FINISHED_OK
$STATE,2900,begin loiter
$GC,3185,-0.15,0.0,2349,2160,2740,2615,346.1,3.7,269,3186,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2676,2739,2614,0,0,0,0,0,0,14.55,14.55,14.55,6.28,50.90
$GC,3485,-0.15,0.0,2349,2160,2740,2613,334.9,3.7,284,3486,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2676,2740,2612,0,0,0,0,0,0,14.69,14.69,14.69,6.28,50.94
$GC,3785,-0.15,0.0,2349,2160,2740,2612,323.9,3.4,299,3786,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2675,2739,2611,0,0,0,0,0,0,14.78,14.78,14.78,6.28,51.10
$GC,4085,-0.15,0.0,2349,2160,2740,2610,313.0,3.7,314,4086,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2674,2739,2610,0,0,0,0,0,0,14.84,14.84,14.85,6.28,50.94
$GC,4385,-0.15,0.0,2349,2160,2740,2609,301.8,3.6,329,4386,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2674,2739,2609,0,0,0,0,0,0,14.89,14.89,14.89,6.28,51.33
$GC,4685,-0.15,0.0,2349,2160,2740,2610,290.3,3.9,344,4686,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2674,2740,2609,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.18
$GC,4985,-0.15,0.0,2349,2160,2740,2610,278.4,4.0,359,4986,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2673,2739,2608,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.26
$GC,5285,-0.15,0.0,2348,2161,2740,2609,267.0,3.9,374,5286,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2673,2739,2608,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.65
$GC,5585,-0.15,0.0,2349,2160,2740,2609,255.6,3.8,389,5586,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2673,2739,2608,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.29
$GC,5885,-0.15,0.0,2349,2160,2740,2608,244.7,3.7,404,5886,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2673,2739,2608,0,0,0,0,0,0,15.01,15.01,15.00,6.28,50.86
$GC,6185,-0.15,0.0,2350,2159,2741,2608,234.2,3.6,419,6186,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2159,2673,2739,2607,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.18
$STATE,6484,end loiter,LOITER_COMPLETE
$STATE,6484,begin climb
$GC,6485,0.64,146.0,2348,2160,2740,2609,223.5,0.0,434,6626,0.60,2.58,131.07,1.416,11012,0.170,0.086,2592,3546,2090,2115,2065,0,0,0,0,0,0,14.72,13.98,13.46,6.28,51.53
$GC,6705,0.64,146.0,2593,3546,2115,2058,205.0,11.3,445,6709,0.00,2.40,0.00,0.000,1030,0.000,0.043,2603,2155,2085,2114,2057,0,0,0,0,0,0,14.19,14.16,14.21,6.24,48.74
$GC,7025,0.64,146.0,2604,2155,2108,2049,164.9,12.7,461,7030,0.00,2.53,0.00,0.000,516,0.000,0.071,2614,741,2077,2106,2048,0,0,0,0,0,0,14.60,14.33,14.60,6.23,50.15
$GC,7065,0.64,146.0,2614,742,2105,2049,160.2,12.2,463,7070,0.00,2.42,0.00,0.000,5126,0.000,0.057,2614,2133,2076,2105,2048,0,0,0,0,0,0,14.42,14.38,14.45,6.25,50.23
$GC,7385,0.64,146.0,2615,2134,2105,2047,119.5,12.8,479,7389,0.00,2.47,0.00,0.000,4612,0.000,0.071,2625,741,2075,2104,2047,0,0,0,0,0,0,14.71,14.43,14.71,6.23,50.23
$GC,7505,0.64,146.0,2625,742,2103,2045,106.1,10.8,485,7510,0.05,2.42,0.00,0.000,5126,0.315,0.057,2606,2148,2073,2102,2045,0,0,0,0,0,0,14.35,14.47,14.48,6.24,50.31
$GC,7810,0.64,146.0,2606,2148,2103,2045,73.5,10.4,537,7814,0.00,2.50,0.00,0.000,260,0.000,0.086,2606,3550,2072,2102,2043,0,0,0,0,0,0,14.76,14.50,14.78,6.22,49.56
$GC,7895,0.64,146.0,2607,3551,2103,2043,64.6,10.0,554,7899,0.00,2.35,0.00,0.000,5126,0.000,0.044,2615,2152,2073,2102,2044,0,0,0,0,0,0,14.59,14.54,14.60,6.22,48.97
$GC,8020,0.64,146.0,2615,2153,2102,2044,51.9,10.7,579,8025,0.00,2.42,0.00,0.000,4612,0.000,0.071,2625,743,2072,2102,2043,0,0,0,0,0,0,14.77,14.54,14.78,6.21,48.70
$GC,8055,0.64,146.0,2626,744,2102,2043,48.1,10.2,586,8060,0.05,2.42,0.00,0.000,5126,0.311,0.057,2607,2148,2071,2102,2041,0,0,0,0,0,0,14.40,14.53,14.53,6.21,48.93
$GC,8180,0.64,146.0,2607,2149,2099,2041,35.8,9.6,611,8184,0.00,0.00,0.00,0.000,4102,0.000,0.000,2606,2148,2071,2101,2041,0,0,0,0,0,0,14.78,14.78,14.78,6.20,49.21
$GC,8305,0.64,146.0,2607,2149,2104,2042,23.7,9.5,636,8309,0.00,2.50,0.00,0.000,4356,0.000,0.086,2607,3557,2071,2102,2041,0,0,0,0,0,0,14.79,14.52,14.79,6.20,49.05
$GC,8330,0.64,146.0,2607,3557,2103,2042,21.3,9.9,641,8334,0.00,2.38,0.00,0.000,5126,0.000,0.046,2616,2150,2071,2101,2041,0,0,0,0,0,0,14.62,14.57,14.63,6.21,49.09
$GC,8455,0.64,146.0,2616,2150,2103,2036,8.5,10.1,666,8459,0.00,2.42,0.00,0.000,4612,0.000,0.071,2626,741,2071,2102,2041,0,0,0,0,0,0,14.80,14.54,14.80,6.20,49.92
$GC,8495,0.64,151.3,2627,742,2105,2040,5.1,8.1,674,8499,0.05,2.42,0.00,0.000,5126,0.317,0.057,2608,2153,2070,2101,2040,0,0,0,0,0,0,14.42,14.54,14.54,6.20,49.52
$STATE,8519,end climb,SURFACE_DEPTH_REACHED
$STATE,8519,begin surface coast
$STATE,8549,end surface coast,CONTROL_FINISHED_OK
$STATE,8549,begin surface
$SM_CCo,8560,67.75,0.251,0,0,1792,220.03
$SM_GC,1.35,5.50,0.10,67.75,0.076,0.138,0.251,260,2057,1792,-6.48,0.68,220.03,0,0,0,0,0,0,14.64,14.59,14.38
$IRIDIUM_FIX,-5928.69,-556.55,261218,011840
$TT8_MAMPS,0.039697,0.367759
$HUMID,49.17
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,7
$SC_FREEKB,3869152
$24V_AH,13.29,24.692
$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,12.900,68.600,259.950,67.750,0.000,25.936,36.402,121.659,1.750,0.000,18.325,0.000,6847.393,430.747,1571.653,75.025,0.000,1044.790,0.000,1118.426,0.000,0.541,0.000
$DEVICE_MAMPS,376.380,2262.870,1611.855,250.920,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4961.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.794,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17340,685
$CAP_FILE_SIZE,89310,0
$CFSIZE,1023623168,1009549312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.027,205.84,1
$GPS,261218,061757,-5950.379,-8.277,24,0.8,42,-19.6,0.8,161.0,10,8.6