version: 66.14
glider: 640
mission: 5
dive: 105
start: 12 26 118 13 55 45
data:
$ID,640
$MISSION,5
$DIVE,105
$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,66
$R_STBD_OVSHOOT,65
$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
$GPS1,261218,135101,-5949.0923,-7.7737,11,0.9,34,-19.6,0.5,171.7,10,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-66.2
$GPS2,261218,135527,-5949.0947,-7.7665,8,0.9,14,-19.6,0.0,165.5,10,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,14.1,91225,-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,-146.0,232,2140,1767,1796,0.0,0.0,0,100,0.00,0.00,-88.43,0.000,16386,0.000,0.000,231,2140,3187,3267,3107,0,0,0,0,0,0,14.61,28.83,14.61,6.17,49.88
$GC,101,-0.64,-146.0,232,2141,3268,3107,3.4,-6.3,18,116,6.00,2.67,-3.83,0.000,18948,0.364,2.263,2184,732,3287,3377,3197,0,0,0,0,0,0,14.23,13.45,14.39,6.28,49.44
$GC,175,-0.64,-146.0,2184,732,3379,3199,16.0,-16.6,33,179,0.05,2.33,0.00,0.000,3078,0.375,0.057,2198,2061,3287,3378,3197,0,0,0,0,0,0,14.22,14.39,14.37,6.28,48.38
$GC,300,-0.64,-146.0,2192,2062,3380,3197,36.9,-16.4,58,304,0.00,2.53,0.00,0.000,2308,0.000,0.083,2180,3509,3288,3379,3198,0,0,0,0,0,0,14.64,14.41,14.64,6.30,48.62
$GC,340,-0.64,-146.0,2181,3509,3379,3199,42.8,-14.3,66,344,0.00,2.33,0.00,0.000,3078,0.000,0.044,2181,2137,3288,3379,3198,0,0,0,0,0,0,14.52,14.45,14.50,6.29,48.74
$GC,465,-0.64,-146.0,2180,2136,3379,3198,61.2,-15.1,91,470,0.00,2.55,0.00,0.000,2564,0.000,0.066,2180,688,3288,3379,3197,0,0,0,0,0,0,14.68,14.44,14.68,6.29,48.81
$GC,500,-0.64,-146.0,2181,688,3380,3197,66.8,-15.6,98,504,0.05,2.45,0.00,0.000,3078,0.369,0.057,2188,2102,3288,3379,3197,0,0,0,0,0,0,14.30,14.46,14.45,6.29,48.89
$GC,625,-0.64,-146.0,2187,2105,3379,3199,84.9,-14.7,123,630,0.00,2.47,0.00,0.000,2308,0.000,0.083,2177,3499,3288,3379,3197,0,0,0,0,0,0,14.70,14.45,14.70,6.29,48.97
$GC,670,-0.64,-146.0,2177,3500,3380,3198,91.7,-15.1,132,674,0.03,2.38,0.00,0.000,3078,0.463,0.044,2185,2091,3287,3378,3197,0,0,0,0,0,0,14.31,14.50,14.45,6.29,48.38
$GC,805,-0.64,-146.0,2185,2090,3380,3197,112.0,-14.9,147,806,0.00,0.00,0.00,0.000,2054,0.000,0.000,2185,2090,3287,3378,3197,0,0,0,0,0,0,14.73,14.73,14.73,6.29,49.01
$GC,1105,-0.64,-146.0,2184,2091,3379,3199,152.0,-13.4,162,1109,0.00,2.42,0.00,0.000,2564,0.000,0.065,2185,702,3287,3378,3197,0,0,0,0,0,0,14.77,14.53,14.77,6.29,49.72
$GC,1190,-0.64,-146.0,2187,703,3380,3197,161.9,-12.3,166,1195,0.05,2.40,0.00,0.000,3078,0.376,0.057,2192,2098,3287,3378,3197,0,0,0,0,0,0,14.37,14.54,14.52,6.29,50.11
$GC,1505,-0.64,-146.0,2192,2099,3380,3197,199.4,-11.6,182,1506,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2098,3288,3379,3197,0,0,0,0,0,0,14.80,14.80,14.80,6.31,50.82
$GC,1805,-0.64,-146.0,2192,2099,3380,3197,233.6,-11.2,197,1809,0.00,2.47,0.00,0.000,2308,0.000,0.084,2182,3502,3288,3379,3197,0,0,0,0,0,0,14.81,14.57,14.82,6.27,51.29
$GC,1825,-0.64,-146.0,2181,3503,3379,3197,235.9,-11.2,198,1829,0.00,2.35,0.00,0.000,3078,0.000,0.044,2182,2101,3287,3378,3197,0,0,0,0,0,0,14.64,14.59,14.66,6.32,51.29
$GC,2145,-0.64,-146.0,2182,2100,3380,3197,273.5,-11.8,214,2150,0.00,2.42,0.00,0.000,2564,0.000,0.066,2181,704,3287,3378,3197,0,0,0,0,0,0,14.83,14.59,14.83,6.32,51.41
$GC,2180,-0.64,-146.0,2182,704,3379,3197,276.0,-12.0,215,2185,0.05,2.40,0.00,0.000,3078,0.369,0.057,2188,2102,3287,3378,3197,0,0,0,0,0,0,14.44,14.59,14.58,6.32,51.18
$GC,2485,-0.64,-146.0,2188,2103,3379,3198,313.6,-11.9,231,2489,0.00,2.45,0.00,0.000,2308,0.000,0.083,2178,3501,3287,3378,3197,0,0,0,0,0,0,14.84,14.58,14.83,6.33,52.04
$GC,2510,-0.64,-146.0,2178,3501,3379,3197,316.0,-11.9,232,2515,0.00,2.33,0.00,0.000,3078,0.000,0.044,2177,2106,3287,3378,3197,0,0,0,0,0,0,14.66,14.62,14.68,6.32,51.26
$STATE,2784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2784,begin apogee
$GC,2787,-0.15,0.0,2178,2158,3379,3198,350.7,-12.4,246,2919,0.47,0.00,129.25,1.614,10246,0.273,0.000,2346,2157,2689,2748,2630,0,0,0,0,0,0,14.49,13.90,13.29,6.33,51.18
$STATE,2920,end apogee,CONTROL_FINISHED_OK
$STATE,2920,begin loiter
$GC,3205,-0.15,0.0,2348,2158,2741,2615,346.6,3.3,267,3206,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2158,2677,2739,2615,0,0,0,0,0,0,14.55,14.55,14.55,6.28,50.55
$GC,3505,-0.15,0.0,2347,2159,2741,2613,336.4,3.4,282,3506,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2158,2675,2739,2612,0,0,0,0,0,0,14.69,14.69,14.69,6.29,50.51
$GC,3805,-0.15,0.0,2348,2158,2741,2612,326.6,3.2,297,3806,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2158,2675,2739,2612,0,0,0,0,0,0,14.78,14.78,14.78,6.28,51.02
$GC,4105,-0.15,0.0,2348,2159,2741,2612,317.3,3.1,312,4106,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2158,2675,2739,2611,0,0,0,0,0,0,14.83,14.84,14.84,6.28,50.86
$GC,4405,-0.15,0.0,2347,2158,2740,2612,308.1,3.0,327,4406,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2158,2675,2739,2611,0,0,0,0,0,0,14.88,14.89,14.89,6.28,50.90
$GC,4705,-0.15,0.0,2347,2159,2741,2612,298.8,3.1,342,4706,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2675,2740,2611,0,0,0,0,0,0,14.92,14.92,14.92,6.27,51.10
$GC,5005,-0.15,0.0,2347,2159,2740,2612,289.2,3.1,357,5006,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2158,2674,2739,2610,0,0,0,0,0,0,14.95,14.95,14.95,6.28,50.94
$GC,5305,-0.15,0.0,2347,2158,2741,2611,279.6,3.2,372,5306,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2158,2675,2740,2611,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.37
$GC,5605,-0.15,0.0,2347,2158,2741,2611,270.1,3.2,387,5606,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2675,2739,2611,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.53
$GC,5905,-0.15,0.0,2347,2158,2741,2611,260.6,3.1,402,5906,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2158,2675,2739,2611,0,0,0,0,0,0,15.01,15.01,15.01,6.27,51.02
$GC,6205,-0.15,0.0,2347,2158,2741,2611,251.0,3.2,417,6206,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2158,2675,2739,2611,0,0,0,0,0,0,15.02,15.02,15.02,6.27,51.06
$STATE,6504,end loiter,LOITER_COMPLETE
$STATE,6504,begin climb
$GC,6505,0.64,146.0,2347,2158,2740,2612,241.3,0.0,432,6641,0.62,0.00,132.60,1.431,10758,0.181,0.000,2596,2158,2092,2117,2068,0,0,0,0,0,0,14.71,14.00,13.43,6.28,51.18
$GC,6925,0.64,146.0,2596,2157,2105,2049,199.6,11.8,453,6930,0.00,2.50,0.00,0.000,2308,0.000,0.084,2597,3541,2076,2104,2048,0,0,0,0,0,0,14.54,14.29,14.54,6.24,50.23
$GC,6965,0.64,146.0,2597,3542,2105,2048,194.8,12.0,455,6970,0.00,2.38,0.00,0.000,5126,0.000,0.044,2607,2149,2074,2102,2047,0,0,0,0,0,0,14.37,14.33,14.38,6.23,50.31
$GC,7285,0.64,146.0,2608,2149,2103,2040,154.1,13.1,471,7290,0.00,2.47,0.00,0.000,4612,0.000,0.070,2618,747,2071,2102,2041,0,0,0,0,0,0,14.67,14.42,14.67,6.23,50.59
$GC,7310,0.64,146.0,2619,747,2102,2041,151.5,13.1,472,7316,0.03,2.40,0.00,0.000,5126,0.412,0.057,2609,2134,2071,2101,2041,0,0,0,0,0,0,14.30,14.43,14.44,6.23,50.19
$GC,7625,0.64,146.0,2609,2135,2102,2040,109.0,13.0,488,7630,0.00,2.53,0.00,0.000,4356,0.000,0.086,2609,3552,2070,2101,2040,0,0,0,0,0,0,14.73,14.47,14.74,6.23,50.11
$GC,7720,0.64,146.0,2609,3553,2102,2041,97.6,11.5,495,7725,0.00,2.35,0.00,0.000,5126,0.000,0.044,2617,2153,2070,2101,2040,0,0,0,0,0,0,14.57,14.53,14.59,6.22,50.43
$GC,7846,0.64,146.0,2618,2153,2102,2039,82.4,12.1,520,7850,0.00,2.47,0.00,0.000,4612,0.000,0.070,2629,745,2069,2100,2039,0,0,0,0,0,0,14.76,14.50,14.76,6.22,49.25
$GC,7895,0.64,146.0,2629,746,2100,2039,76.7,10.8,530,7901,0.05,2.42,0.00,0.000,5126,0.317,0.056,2608,2158,2068,2099,2038,0,0,0,0,0,0,14.38,14.50,14.51,6.22,49.96
$GC,8020,0.64,146.0,2609,2158,2100,2038,63.3,10.8,555,8025,0.00,2.47,0.00,0.000,4356,0.000,0.086,2609,3550,2068,2099,2038,0,0,0,0,0,0,14.76,14.50,14.76,6.21,49.37
$GC,8091,0.64,146.0,2609,3551,2101,2038,55.5,10.8,569,8095,0.03,2.35,0.00,0.000,5126,0.427,0.044,2608,2150,2069,2099,2039,0,0,0,0,0,0,14.38,14.56,14.52,6.21,48.34
$GC,8216,0.64,146.0,2608,2150,2099,2042,42.8,9.8,594,8221,0.00,2.47,0.00,0.000,4612,0.000,0.070,2618,715,2068,2099,2038,0,0,0,0,0,0,14.77,14.54,14.77,6.20,48.46
$GC,8265,0.64,146.0,2618,717,2099,2038,38.2,8.7,604,8270,0.00,2.47,0.00,0.000,5126,0.000,0.057,2618,2151,2068,2099,2037,0,0,0,0,0,0,14.57,14.52,14.59,6.20,48.97
$GC,8391,0.64,146.0,2618,2152,2099,2037,26.0,10.1,629,8395,0.00,2.45,0.00,0.000,4356,0.000,0.086,2618,3556,2067,2098,2037,0,0,0,0,0,0,14.77,14.54,14.78,6.23,49.21
$GC,8460,0.64,146.0,2619,3557,2100,2037,18.8,10.1,643,8465,0.05,2.35,0.00,0.000,5126,0.330,0.044,2609,2152,2067,2098,2037,0,0,0,0,0,0,14.42,14.57,14.54,6.20,49.01
$GC,8586,0.64,146.0,2609,2153,2099,2038,7.4,9.4,668,8590,0.00,2.47,0.00,0.000,4612,0.000,0.070,2619,745,2067,2098,2037,0,0,0,0,0,0,14.78,14.53,14.78,6.20,49.21
$GC,8625,0.64,146.0,2619,745,2098,2036,3.8,8.8,676,8630,0.03,2.40,0.00,0.000,5126,0.411,0.057,2609,2146,2066,2097,2036,0,0,0,0,0,0,14.37,14.53,14.52,6.20,49.68
$STATE,8634,end climb,SURFACE_DEPTH_REACHED
$STATE,8634,begin surface coast
$STATE,8664,end surface coast,CONTROL_FINISHED_OK
$STATE,8664,begin surface
$SM_CCo,8676,66.97,0.252,0,0,1793,220.03
$SM_GC,1.34,5.45,0.08,66.97,0.070,0.166,0.252,275,2083,1793,-6.45,0.85,220.03,0,0,0,0,0,0,14.62,14.58,14.36
$IRIDIUM_FIX,-5949.68,-12.84,261218,112159
$TT8_MAMPS,0.039697,0.358771
$HUMID,48.77
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,7
$SC_FREEKB,3867104
$24V_AH,13.29,25.391
$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,12.950,78.150,261.850,66.975,0.000,25.975,18.181,115.814,1.750,0.000,15.913,0.000,6976.460,442.034,1517.336,78.423,0.000,1043.545,0.000,1086.876,0.000,0.539,0.000
$DEVICE_MAMPS,462.825,2262.870,1614.150,252.450,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5076.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.794,0.000,0.000,0.000
$MEM,344104
$DATA_FILE_SIZE,17357,684
$CAP_FILE_SIZE,91831,0
$CFSIZE,1023623168,1009156096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.021,90.16,1
$GPS,261218,162225,-5948.545,-7.779,12,0.9,35,-19.6,0.4,213.1,8,7.4