version: 66.14
glider: 640
mission: 5
dive: 103
start: 12 26 118 8 55 27
data:
$ID,640
$MISSION,5
$DIVE,103
$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,39
$R_STBD_OVSHOOT,26
$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
$GPS1,261218,085019,-5950.0146,-8.3678,17,0.8,40,-19.6,0.5,45.8,11,7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-68.0
$GPS2,261218,085509,-5949.9912,-8.3609,6,0.8,12,-19.6,0.4,15.4,11,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,27.7,92927,-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,-146.0,234,2088,1766,1796,0.0,0.0,0,101,0.00,0.00,-90.20,0.000,16386,0.000,0.000,233,2088,3204,3285,3124,0,0,0,0,0,0,14.59,28.83,14.59,6.16,50.23
$GC,103,-0.64,-146.0,234,2088,3285,3126,3.2,-5.9,18,120,6.03,2.65,-3.17,0.000,18948,0.372,2.263,2191,702,3286,3376,3196,0,0,0,0,0,0,14.23,13.46,14.45,6.28,48.70
$GC,240,-0.64,-146.0,2192,703,3378,3197,25.8,-15.9,46,244,0.00,2.45,0.00,0.000,3078,0.000,0.057,2181,2105,3286,3377,3196,0,0,0,0,0,0,14.42,14.37,14.44,6.29,47.99
$GC,365,-0.64,-146.0,2181,2107,3370,3198,47.1,-17.2,71,369,0.00,2.50,0.00,0.000,2308,0.000,0.085,2170,3509,3287,3378,3196,0,0,0,0,0,0,14.64,14.38,14.64,6.29,48.54
$GC,390,-0.64,-146.0,2170,3508,3378,3196,51.2,-15.6,76,394,0.05,2.38,0.00,0.000,3078,0.356,0.044,2189,2113,3286,3377,3196,0,0,0,0,0,0,14.27,14.43,14.41,6.29,48.70
$GC,515,-0.64,-146.0,2189,2112,3378,3197,69.4,-14.4,101,520,0.00,2.47,0.00,0.000,2564,0.000,0.067,2188,683,3287,3378,3196,0,0,0,0,0,0,14.66,14.44,14.66,6.29,48.58
$GC,540,-0.64,-146.0,2189,684,3379,3196,73.2,-15.0,106,544,0.00,2.47,0.00,0.000,3078,0.000,0.060,2179,2102,3286,3377,3196,0,0,0,0,0,0,14.50,14.43,14.52,6.28,48.46
$GC,665,-0.64,-146.0,2180,2103,3379,3196,92.7,-16.3,131,669,0.00,2.50,0.00,0.000,2308,0.000,0.085,2168,3509,3286,3377,3196,0,0,0,0,0,0,14.69,14.44,14.69,6.29,48.34
$GC,690,-0.64,-146.0,2169,3510,3378,3197,97.0,-16.9,136,694,0.08,2.38,0.00,0.000,3078,0.329,0.047,2195,2109,3287,3378,3197,0,0,0,0,0,0,14.33,14.48,14.46,6.29,48.77
$GC,830,-0.64,-146.0,2195,2108,3378,3198,118.9,-15.0,146,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2107,3286,3377,3196,0,0,0,0,0,0,14.71,14.72,14.72,6.29,48.50
$GC,1130,-0.64,-146.0,2195,2108,3378,3198,159.0,-12.9,161,1135,0.00,2.47,0.00,0.000,516,0.000,0.068,2195,695,3286,3377,3196,0,0,0,0,0,0,14.76,14.52,14.76,6.29,50.31
$GC,1225,-0.64,-146.0,2196,695,3379,3196,169.0,-12.5,165,1229,0.00,2.42,0.00,0.000,3078,0.000,0.057,2185,2102,3286,3377,3196,0,0,0,0,0,0,14.58,14.54,14.61,6.29,50.63
$GC,1530,-0.64,-146.0,2186,2103,3378,3207,208.3,-12.3,181,1531,0.00,0.00,0.00,0.000,2054,0.000,0.000,2185,2103,3286,3377,3196,0,0,0,0,0,0,14.79,14.80,14.79,6.31,51.33
$GC,1830,-0.64,-146.0,2186,2103,3389,3195,245.1,-12.2,196,1831,0.00,0.00,0.00,0.000,2054,0.000,0.000,2185,2103,3286,3377,3196,0,0,0,0,0,0,14.82,14.82,14.81,6.31,51.22
$GC,2130,-0.64,-146.0,2185,2104,3378,3197,282.2,-12.4,211,2131,0.00,0.00,0.00,0.000,2054,0.000,0.000,2185,2103,3286,3377,3196,0,0,0,0,0,0,14.83,14.83,14.83,6.32,51.22
$GC,2430,-0.64,-146.0,2186,2103,3379,3196,319.4,-12.3,226,2431,0.00,0.00,0.00,0.000,2054,0.000,0.000,2185,2103,3287,3378,3196,0,0,0,0,0,0,14.84,14.85,14.85,6.32,51.41
$STATE,2689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2689,begin apogee
$GC,2692,-0.15,0.0,2186,2165,3378,3196,351.1,-12.1,239,2825,0.45,0.00,129.43,1.613,10246,0.269,0.000,2346,2165,2688,2745,2632,0,0,0,0,0,0,14.50,13.90,13.30,6.33,51.33
$STATE,2826,end apogee,CONTROL_FINISHED_OK
$STATE,2826,begin loiter
$GC,3110,-0.15,0.0,2346,2166,2741,2614,346.6,3.4,260,3110,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2676,2739,2614,0,0,0,0,0,0,14.55,14.55,14.55,6.28,50.43
$GC,3410,-0.15,0.0,2346,2166,2740,2614,336.3,3.5,275,3411,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2676,2739,2613,0,0,0,0,0,0,14.69,14.69,14.69,6.28,51.02
$GC,3710,-0.15,0.0,2347,2166,2741,2611,325.9,3.4,290,3711,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2676,2740,2612,0,0,0,0,0,0,14.78,14.78,14.78,6.28,51.10
$GC,4010,-0.15,0.0,2346,2165,2741,2611,315.2,3.6,305,4011,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2675,2739,2611,0,0,0,0,0,0,14.84,14.84,14.84,6.28,50.78
$GC,4310,-0.15,0.0,2347,2166,2740,2611,304.1,3.7,320,4311,0.00,0.00,0.00,0.000,2054,0.000,0.000,2344,2165,2675,2739,2611,0,0,0,0,0,0,14.88,14.89,14.88,6.28,51.18
$GC,4610,-0.15,0.0,2346,2166,2741,2611,292.8,3.8,335,4611,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2674,2738,2611,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.22
$GC,4910,-0.15,0.0,2346,2166,2741,2611,280.8,4.0,350,4911,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2675,2739,2611,0,0,0,0,0,0,14.95,14.95,14.95,6.28,50.94
$GC,5210,-0.15,0.0,2346,2165,2741,2610,269.1,3.8,365,5211,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2675,2740,2611,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.33
$GC,5510,-0.15,0.0,2346,2166,2740,2612,258.3,3.4,380,5511,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2675,2739,2611,0,0,0,0,0,0,14.99,14.99,14.99,6.27,51.45
$GC,5810,-0.15,0.0,2346,2165,2741,2611,248.9,3.0,395,5811,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2675,2739,2611,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.10
$GC,6110,-0.15,0.0,2346,2166,2741,2612,240.3,2.7,410,6111,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2676,2740,2612,0,0,0,0,0,0,15.02,15.02,15.02,6.27,50.98
$STATE,6409,end loiter,LOITER_COMPLETE
$STATE,6409,begin climb
$GC,6410,0.64,146.0,2346,2166,2740,2613,232.2,0.0,425,6551,0.62,2.60,132.73,1.428,11012,0.184,0.071,2606,745,2087,2112,2063,0,0,0,0,0,0,14.71,13.96,13.44,6.28,50.94
$GC,6615,0.64,146.0,2607,746,2109,2054,218.1,9.6,435,6619,0.00,2.45,0.00,0.000,5126,0.000,0.056,2607,2127,2081,2108,2054,0,0,0,0,0,0,14.18,14.13,14.20,6.23,49.40
$GC,6930,0.64,146.0,2607,2128,2105,2047,181.2,11.6,451,6935,0.00,2.47,0.00,0.000,4612,0.000,0.070,2617,743,2075,2104,2046,0,0,0,0,0,0,14.59,14.33,14.59,6.23,50.27
$GC,7050,0.64,146.0,2617,743,2103,2045,168.9,10.0,457,7055,0.00,2.45,0.00,0.000,5126,0.000,0.056,2617,2155,2073,2103,2044,0,0,0,0,0,0,14.43,14.38,14.45,6.24,50.43
$GC,7370,0.64,146.0,2616,2156,2102,2042,129.8,12.7,473,7374,0.00,2.50,0.00,0.000,4356,0.000,0.085,2618,3554,2071,2102,2041,0,0,0,0,0,0,14.71,14.44,14.71,6.23,50.43
$GC,7435,0.64,146.0,2618,3554,2103,2041,121.8,13.3,476,7440,0.05,2.38,0.00,0.000,5126,0.335,0.044,2609,2145,2071,2102,2041,0,0,0,0,0,0,14.35,14.50,14.50,6.23,50.39
$GC,7740,0.64,146.0,2609,2146,2103,2040,86.2,11.1,508,7744,0.00,2.47,0.00,0.000,4612,0.000,0.070,2618,740,2071,2102,2040,0,0,0,0,0,0,14.76,14.50,14.77,6.22,49.60
$GC,7770,0.64,146.0,2619,740,2102,2040,82.9,10.9,514,7775,0.00,2.42,0.00,0.000,5126,0.000,0.056,2619,2152,2069,2100,2039,0,0,0,0,0,0,14.57,14.52,14.59,6.21,49.52
$GC,7895,0.64,146.0,2619,2153,2101,2040,69.4,11.3,539,7899,0.00,2.45,0.00,0.000,4356,0.000,0.087,2618,3556,2070,2101,2039,0,0,0,0,0,0,14.77,14.52,14.77,6.21,49.05
$GC,7965,0.64,146.0,2619,3557,2101,2041,61.2,11.5,553,7969,0.05,2.38,0.00,0.000,5126,0.334,0.045,2608,2146,2070,2101,2040,0,0,0,0,0,0,14.41,14.55,14.55,6.21,48.50
$GC,8090,0.64,146.0,2609,2146,2101,2040,47.8,10.6,578,8095,0.00,2.47,0.00,0.000,4612,0.000,0.070,2619,739,2069,2100,2039,0,0,0,0,0,0,14.78,14.52,14.78,6.20,48.74
$GC,8145,0.64,146.0,2618,739,2100,2040,42.2,10.0,589,8149,0.03,2.42,0.00,0.000,5126,0.411,0.055,2609,2155,2069,2100,2038,0,0,0,0,0,0,14.40,14.55,14.54,6.20,48.77
$GC,8270,0.64,146.0,2609,2156,2100,2039,30.1,9.9,614,8275,0.00,2.47,0.00,0.000,4356,0.000,0.085,2609,3550,2069,2100,2038,0,0,0,0,0,0,14.78,14.51,14.79,6.20,48.74
$GC,8340,0.64,146.0,2609,3552,2100,2039,22.8,10.4,628,8344,0.00,2.35,0.00,0.000,5126,0.000,0.044,2618,2151,2068,2099,2038,0,0,0,0,0,0,14.60,14.55,14.62,6.19,49.21
$GC,8465,0.64,146.0,2618,2151,2101,2038,9.8,10.5,653,8469,0.00,2.47,0.00,0.000,4612,0.000,0.071,2629,742,2069,2100,2038,0,0,0,0,0,0,14.80,14.54,14.81,6.19,49.37
$GC,8495,0.64,146.0,2629,742,2099,2039,6.8,10.1,659,8499,0.05,2.40,0.00,0.000,5126,0.318,0.057,2609,2141,2067,2098,2036,0,0,0,0,0,0,14.44,14.56,14.57,6.19,49.52
$STATE,8534,end climb,SURFACE_DEPTH_REACHED
$STATE,8534,begin surface coast
$STATE,8564,end surface coast,CONTROL_FINISHED_OK
$STATE,8564,begin surface
$SM_CCo,8575,67.55,0.250,0,0,1791,220.03
$SM_GC,1.45,5.50,0.05,67.55,0.073,0.223,0.250,260,2087,1791,-6.49,1.02,220.03,0,0,0,0,0,0,14.64,14.59,14.37
$IRIDIUM_FIX,-5952.63,-8.57,261218,061926
$TT8_MAMPS,0.03745,0.35952
$HUMID,49.09
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,10
$SC_FREEKB,3868128
$24V_AH,13.30,25.043
$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,12.900,64.000,262.150,67.550,0.000,24.464,39.344,123.731,2.500,0.000,13.141,0.000,6912.257,431.785,1520.744,75.017,0.000,1021.981,0.000,1075.715,0.000,0.540,0.000
$DEVICE_MAMPS,410.805,2262.870,1613.385,250.155,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4978.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.774,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,17362,673
$CAP_FILE_SIZE,86577,0
$CFSIZE,1023623168,1009352704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.031,175.88,1
$GPS,261218,112031,-5949.618,-8.267,15,0.8,38,-19.6,0.0,289.3,10,5.9