version: 66.14
glider: 640
mission: 5
dive: 102
start: 12 26 118 6 23 2
data:
$ID,640
$MISSION,5
$DIVE,102
$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,63
$R_STBD_OVSHOOT,46
$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
$GPS1,261218,061757,-5950.3789,-8.2772,24,0.8,42,-19.6,0.8,161.0,10,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-67.6
$GPS2,261218,062244,-5950.3584,-8.2155,6,0.8,11,-19.6,0.0,231.9,10,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,26.7,93592,-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,-146.0,232,2122,1765,1796,0.0,0.0,0,101,0.00,0.00,-90.03,0.000,16386,0.000,0.000,231,2123,3201,3285,3118,0,0,0,0,0,0,14.59,28.83,14.59,6.17,49.88
$GC,103,-0.64,-146.0,232,2124,3282,3120,3.1,-5.6,18,117,5.97,2.67,-3.40,0.000,18948,0.363,2.266,2185,727,3286,3376,3197,0,0,0,0,0,0,14.21,13.47,14.45,6.28,48.89
$GC,210,-0.64,-146.0,2185,728,3379,3198,21.2,-15.6,40,215,0.05,2.35,0.00,0.000,3078,0.374,0.059,2191,2075,3287,3378,3197,0,0,0,0,0,0,14.23,14.39,14.38,6.29,47.99
$GC,336,-0.64,-146.0,2191,2074,3379,3198,41.8,-16.5,65,341,0.00,2.35,0.00,0.000,2564,0.000,0.068,2191,718,3287,3378,3197,0,0,0,0,0,0,14.64,14.42,14.64,6.29,48.46
$GC,365,-0.64,-146.0,2190,719,3379,3197,46.6,-16.1,71,370,0.00,2.40,0.00,0.000,3078,0.000,0.060,2181,2096,3288,3378,3198,0,0,0,0,0,0,14.47,14.39,14.50,6.29,48.66
$GC,491,-0.64,-146.0,2182,2105,3379,3199,66.2,-15.3,96,492,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2097,3288,3378,3198,0,0,0,0,0,0,14.66,14.67,14.67,6.30,48.58
$GC,611,-0.64,-146.0,2181,2096,3379,3198,84.6,-15.4,120,611,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2096,3288,3378,3198,0,0,0,0,0,0,14.69,14.69,14.69,6.29,48.26
$GC,736,-0.64,-146.0,2182,2097,3379,3198,103.1,-14.3,142,737,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2097,3288,3378,3198,0,0,0,0,0,0,14.71,14.71,14.71,6.29,48.50
$GC,1035,-0.64,-146.0,2181,2097,3379,3198,142.4,-12.7,157,1036,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2096,3288,3378,3198,0,0,0,0,0,0,14.75,14.76,14.76,6.30,49.76
$GC,1335,-0.64,-146.0,2182,2097,3379,3198,181.5,-13.0,172,1340,0.00,2.40,0.00,0.000,2564,0.000,0.067,2181,723,3287,3378,3197,0,0,0,0,0,0,14.78,14.56,14.78,6.31,50.70
$GC,1365,-0.64,-146.0,2181,721,3379,3196,184.2,-13.1,173,1370,0.05,2.38,0.00,0.000,3078,0.368,0.058,2188,2102,3288,3378,3198,0,0,0,0,0,0,14.40,14.54,14.54,6.31,50.86
$GC,1676,-0.64,-146.0,2188,2103,3375,3198,223.9,-12.2,189,1680,0.00,2.47,0.00,0.000,2308,0.000,0.085,2178,3506,3287,3378,3197,0,0,0,0,0,0,14.81,14.54,14.81,6.32,51.02
$GC,1695,-0.64,-146.0,2179,3507,3379,3197,226.4,-12.3,190,1700,0.03,2.30,0.00,0.000,3078,0.456,0.044,2186,2134,3287,3378,3197,0,0,0,0,0,0,14.39,14.59,14.54,6.31,51.10
$GC,2016,-0.64,-146.0,2186,2133,3379,3197,265.0,-12.0,206,2020,0.00,2.50,0.00,0.000,2564,0.000,0.067,2186,696,3287,3377,3197,0,0,0,0,0,0,14.82,14.58,14.83,6.32,50.98
$GC,2096,-0.64,-146.0,2186,697,3378,3197,274.5,-11.9,210,2100,0.05,2.42,0.00,0.000,3078,0.375,0.058,2192,2104,3288,3379,3197,0,0,0,0,0,0,14.42,14.58,14.60,6.33,50.74
$GC,2416,-0.64,-146.0,2193,2104,3379,3197,310.5,-11.3,226,2420,0.00,2.47,0.00,0.000,2308,0.000,0.085,2182,3509,3287,3378,3197,0,0,0,0,0,0,14.83,14.57,14.83,6.33,50.78
$GC,2436,-0.64,-146.0,2182,3510,3379,3197,312.9,-11.4,227,2440,0.00,2.35,0.00,0.000,3078,0.000,0.044,2182,2105,3287,3377,3197,0,0,0,0,0,0,14.65,14.60,14.66,6.33,51.06
$STATE,2754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2754,begin apogee
$GC,2758,-0.15,0.0,2183,2159,3378,3198,350.9,-11.9,243,2889,0.47,0.00,128.77,1.601,10246,0.272,0.000,2352,2158,2687,2746,2629,0,0,0,0,0,0,14.48,13.90,13.29,6.33,51.02
$STATE,2890,end apogee,CONTROL_FINISHED_OK
$STATE,2890,begin loiter
$GC,3175,-0.15,0.0,2352,2159,2741,2616,345.0,3.6,264,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2158,2676,2739,2614,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.03
$GC,3475,-0.15,0.0,2352,2158,2741,2612,334.0,3.7,279,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2675,2739,2612,0,0,0,0,0,0,14.69,14.69,14.69,6.28,51.22
$GC,3776,-0.15,0.0,2353,2157,2741,2611,323.0,3.6,294,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2158,2674,2739,2610,0,0,0,0,0,0,14.77,14.77,14.77,6.28,50.59
$GC,4076,-0.15,0.0,2353,2158,2741,2610,312.3,3.5,309,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2158,2674,2739,2609,0,0,0,0,0,0,14.83,14.83,14.83,6.28,51.06
$GC,4376,-0.15,0.0,2352,2158,2740,2610,301.8,3.4,324,4376,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2158,2674,2739,2609,0,0,0,0,0,0,14.88,14.88,14.88,6.28,50.86
$GC,4675,-0.15,0.0,2352,2158,2740,2610,291.9,3.3,339,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2158,2673,2739,2608,0,0,0,0,0,0,14.91,14.91,14.91,6.28,51.10
$GC,4975,-0.15,0.0,2352,2158,2740,2608,282.4,3.1,354,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2158,2673,2739,2608,0,0,0,0,0,0,14.93,14.94,14.94,6.28,51.73
$GC,5276,-0.15,0.0,2352,2159,2740,2609,273.4,3.0,369,5276,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2158,2673,2739,2608,0,0,0,0,0,0,14.95,14.96,14.96,6.28,50.82
$GC,5576,-0.15,0.0,2353,2158,2741,2608,264.6,2.9,384,5577,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2158,2673,2738,2608,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.18
$GC,5876,-0.15,0.0,2352,2158,2740,2607,255.7,3.0,399,5876,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2158,2673,2739,2608,0,0,0,0,0,0,14.99,15.00,14.99,6.28,51.06
$GC,6175,-0.15,0.0,2352,2158,2740,2609,246.7,3.0,414,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2158,2673,2739,2607,0,0,0,0,0,0,15.00,15.00,15.01,6.28,50.94
$STATE,6474,end loiter,LOITER_COMPLETE
$STATE,6474,begin climb
$GC,6476,0.64,146.0,2352,2159,2740,2610,238.3,0.0,429,6615,0.60,2.60,132.27,1.424,11012,0.175,0.072,2605,750,2087,2112,2063,0,0,0,0,0,0,14.71,13.96,13.45,6.27,51.22
$GC,6660,0.64,146.0,2605,751,2109,2057,226.0,9.1,438,6665,0.00,2.47,0.00,0.000,1030,0.000,0.057,2605,2137,2081,2108,2055,0,0,0,0,0,0,14.15,14.10,14.16,6.24,48.77
$GC,6976,0.64,146.0,2605,2138,2105,2048,189.0,11.7,454,6980,0.00,2.50,0.00,0.000,516,0.000,0.070,2616,747,2075,2104,2047,0,0,0,0,0,0,14.57,14.32,14.58,6.24,49.96
$GC,7095,0.64,146.0,2616,748,2102,2046,176.6,10.0,460,7100,0.00,2.45,0.00,0.000,5126,0.000,0.057,2617,2155,2073,2102,2044,0,0,0,0,0,0,14.42,14.40,14.45,6.23,50.31
$GC,7416,0.64,146.0,2616,2156,2102,2042,137.7,12.3,476,7420,0.00,2.50,0.00,0.000,4356,0.000,0.086,2616,3553,2071,2101,2041,0,0,0,0,0,0,14.71,14.42,14.71,6.23,50.31
$GC,7530,0.64,146.0,2617,3553,2103,2041,125.4,12.0,481,7536,0.05,2.38,0.00,0.000,5126,0.340,0.045,2608,2147,2070,2101,2040,0,0,0,0,0,0,14.35,14.50,14.49,6.23,50.19
$GC,7835,0.64,146.0,2609,2147,2102,2039,90.2,10.8,509,7841,0.00,2.45,0.00,0.000,4612,0.000,0.070,2618,753,2070,2101,2039,0,0,0,0,0,0,14.76,14.49,14.76,6.21,49.25
$GC,7855,0.64,146.0,2618,753,2101,2040,88.1,10.5,513,7861,0.00,2.40,0.00,0.000,5126,0.000,0.057,2618,2146,2069,2100,2039,0,0,0,0,0,0,14.56,14.51,14.58,6.21,49.37
$GC,7981,0.64,146.0,2618,2147,2101,2040,74.1,11.5,538,7985,0.00,2.50,0.00,0.000,4356,0.000,0.088,2618,3549,2068,2099,2038,0,0,0,0,0,0,14.76,14.50,14.76,6.21,48.46
$GC,8025,0.64,146.0,2618,3549,2101,2039,68.6,11.6,547,8030,0.05,2.35,0.00,0.000,5126,0.333,0.045,2608,2155,2069,2099,2039,0,0,0,0,0,0,14.39,14.54,14.52,6.20,48.26
$GC,8151,0.64,146.0,2607,2155,2100,2040,55.3,10.9,572,8155,0.00,2.45,0.00,0.000,4612,0.000,0.071,2618,736,2068,2099,2038,0,0,0,0,0,0,14.76,14.54,14.77,6.20,48.22
$GC,8185,0.64,146.0,2619,736,2100,2038,51.4,10.6,579,8190,0.00,2.42,0.00,0.000,5126,0.000,0.058,2618,2145,2068,2099,2037,0,0,0,0,0,0,14.57,14.52,14.59,6.20,48.38
$GC,8311,0.64,146.0,2623,2146,2101,2037,37.8,11.3,604,8315,0.00,2.50,0.00,0.000,4356,0.000,0.088,2618,3571,2068,2099,2037,0,0,0,0,0,0,14.77,14.53,14.77,6.15,48.26
$GC,8350,0.64,146.0,2619,3572,2100,2037,33.2,11.0,612,8355,0.05,2.40,0.00,0.000,5126,0.334,0.045,2610,2147,2068,2099,2038,0,0,0,0,0,0,14.41,14.57,14.54,6.20,48.14
$GC,8476,0.64,146.0,2610,2147,2099,2037,20.9,10.0,637,8481,0.00,2.42,0.00,0.000,4612,0.000,0.070,2619,743,2068,2099,2037,0,0,0,0,0,0,14.78,14.54,14.78,6.19,48.42
$GC,8530,0.64,146.0,2619,744,2099,2038,15.7,9.5,648,8535,0.03,2.40,0.00,0.000,5126,0.418,0.056,2609,2146,2067,2098,2037,0,0,0,0,0,0,14.40,14.55,14.54,6.19,49.25
$GC,8656,0.64,146.0,2609,2146,2100,2044,3.8,10.1,673,8661,0.00,2.45,0.00,0.000,4356,0.000,0.084,2609,3557,2067,2099,2036,0,0,0,0,0,0,14.78,14.54,14.78,6.19,48.89
$STATE,8664,end climb,SURFACE_DEPTH_REACHED
$STATE,8664,begin surface coast
$STATE,8695,end surface coast,CONTROL_FINISHED_OK
$STATE,8695,begin surface
$SM_CCo,8708,67.22,0.252,0,0,1792,220.03
$SM_GC,1.36,5.43,2.50,67.22,0.063,0.050,0.252,270,2090,1792,-6.46,0.96,220.03,0,0,0,0,0,0,14.61,14.58,14.36
$IRIDIUM_FIX,-5949.68,-8.56,261218,034925
$TT8_MAMPS,0.039697,0.340795
$HUMID,48.50
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,13
$SC_FREEKB,3868640
$24V_AH,13.29,24.867
$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,12.825,73.375,261.050,67.225,0.000,24.113,38.965,121.837,3.250,0.000,12.141,0.000,6990.326,448.149,1553.158,76.733,0.000,1046.275,0.000,1103.796,0.000,0.541,0.000
$DEVICE_MAMPS,455.940,2265.930,1601.145,251.685,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5107.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.746,0.000,0.000,0.000
$MEM,344116
$DATA_FILE_SIZE,17337,681
$CAP_FILE_SIZE,90012,0
$CFSIZE,1023623168,1009451008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.043,202.80,1
$GPS,261218,085019,-5950.015,-8.368,17,0.8,40,-19.6,0.5,45.8,11,7.9