version: 66.14
glider: 640
mission: 5
dive: 106
start: 12 26 118 16 27 20
data:
$ID,640
$MISSION,5
$DIVE,106
$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,44
$R_STBD_OVSHOOT,25
$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
$GPS1,261218,162225,-5948.5449,-7.7790,12,0.9,35,-19.6,0.4,213.1,8,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-68.0
$GPS2,261218,162701,-5948.5454,-7.7274,8,0.9,17,-19.6,0.5,12.2,8,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,19.4,90208,-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,-146.0,233,2081,1767,1797,0.0,0.0,0,100,0.00,0.00,-88.95,0.000,16386,0.000,0.000,232,2080,3179,3258,3101,0,0,0,0,0,0,14.60,28.83,14.61,6.16,49.84
$GC,101,-0.64,-146.0,233,2080,3260,3102,3.1,-5.5,18,116,6.00,2.62,-4.30,0.000,18948,0.362,2.258,2183,700,3286,3377,3196,0,0,0,0,0,0,14.22,13.47,14.38,6.28,48.97
$GC,205,-0.64,-146.0,2183,701,3378,3198,19.5,-15.9,39,210,0.05,2.45,0.00,0.000,3078,0.369,0.060,2189,2105,3286,3376,3197,0,0,0,0,0,0,14.24,14.38,14.39,6.29,47.75
$GC,330,-0.64,-146.0,2188,2105,3379,3196,38.9,-14.3,64,331,0.00,0.00,0.00,0.000,2054,0.000,0.000,2189,2105,3287,3378,3197,0,0,0,0,0,0,14.64,14.64,14.65,6.28,48.62
$GC,450,-0.64,-146.0,2189,2106,3378,3198,56.3,-15.5,88,455,0.00,2.47,0.00,0.000,2564,0.000,0.066,2189,700,3287,3378,3197,0,0,0,0,0,0,14.67,14.44,14.68,6.28,49.13
$GC,485,-0.64,-146.0,2190,702,3370,3198,61.5,-14.5,95,490,0.00,2.42,0.00,0.000,3078,0.000,0.058,2180,2101,3287,3378,3197,0,0,0,0,0,0,14.50,14.45,14.52,6.29,48.81
$GC,610,-0.64,-146.0,2180,2102,3379,3197,79.3,-14.6,120,611,0.00,0.00,0.00,0.000,2054,0.000,0.000,2180,2102,3287,3378,3197,0,0,0,0,0,0,14.69,14.70,14.70,6.29,49.05
$GC,730,-0.64,-146.0,2180,2103,3379,3198,97.1,-15.0,144,731,0.00,0.00,0.00,0.000,2054,0.000,0.000,2180,2102,3287,3378,3197,0,0,0,0,0,0,14.71,14.71,14.71,6.29,48.38
$GC,850,-0.64,-146.0,2179,2102,3379,3197,115.1,-15.2,153,854,0.00,2.45,0.00,0.000,2564,0.000,0.064,2179,704,3287,3378,3197,0,0,0,0,0,0,14.71,14.50,14.71,6.29,48.58
$GC,905,-0.64,-146.0,2179,699,3379,3199,121.0,-14.8,155,910,0.05,2.40,0.00,0.000,3078,0.367,0.059,2187,2096,3287,3378,3197,0,0,0,0,0,0,14.35,14.50,14.49,6.29,49.01
$GC,1210,-0.64,-146.0,2187,2096,3379,3197,163.0,-13.0,171,1215,0.00,2.47,0.00,0.000,2308,0.000,0.084,2176,3499,3287,3378,3197,0,0,0,0,0,0,14.77,14.51,14.78,6.30,50.00
$GC,1225,-0.64,-146.0,2173,3500,3379,3198,163.0,-13.0,171,1230,0.05,2.33,0.00,0.000,3078,0.367,0.044,2194,2113,3287,3377,3197,0,0,0,0,0,0,14.38,14.56,14.52,6.30,50.74
$GC,1530,-0.64,-146.0,2194,2113,3378,3197,202.6,-12.3,187,1534,0.00,2.47,0.00,0.000,516,0.000,0.066,2194,698,3287,3378,3197,0,0,0,0,0,0,14.79,14.55,14.80,6.30,50.47
$GC,1580,-0.64,-146.0,2194,698,3380,3197,207.6,-12.5,189,1584,0.00,2.40,0.00,0.000,3078,0.000,0.057,2184,2097,3287,3378,3197,0,0,0,0,0,0,14.62,14.56,14.64,6.31,50.98
$GC,1890,-0.64,-146.0,2183,2098,3378,3197,248.6,-12.7,205,1891,0.00,0.00,0.00,0.000,2054,0.000,0.000,2183,2097,3287,3378,3197,0,0,0,0,0,0,14.79,14.82,14.82,6.33,50.86
$GC,2190,-0.64,-146.0,2184,2097,3378,3197,286.4,-12.6,220,2191,0.00,0.00,0.00,0.000,2054,0.000,0.000,2184,2096,3287,3378,3197,0,0,0,0,0,0,14.83,14.83,14.83,6.32,51.06
$GC,2490,-0.64,-146.0,2184,2097,3379,3197,323.7,-12.3,235,2495,0.00,2.47,0.00,0.000,2308,0.000,0.083,2173,3505,3287,3378,3197,0,0,0,0,0,0,14.84,14.59,14.84,6.33,51.22
$GC,2505,-0.64,-146.0,2173,3506,3378,3198,323.7,-12.3,235,2510,0.05,2.35,0.00,0.000,3078,0.361,0.043,2190,2094,3287,3378,3197,0,0,0,0,0,0,14.45,14.62,14.59,6.33,51.22
$STATE,2709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2709,begin apogee
$GC,2712,-0.15,0.0,2191,2162,3379,3197,350.0,-11.8,246,2844,0.45,0.00,129.07,1.614,10246,0.271,0.000,2352,2162,2689,2748,2630,0,0,0,0,0,0,14.49,13.90,13.30,6.33,51.29
$STATE,2845,end apogee,CONTROL_FINISHED_OK
$STATE,2845,begin loiter
$GC,3130,-0.15,0.0,2352,2163,2741,2614,345.0,3.5,267,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2162,2676,2739,2614,0,0,0,0,0,0,14.54,14.55,14.55,6.28,50.23
$GC,3430,-0.15,0.0,2352,2163,2740,2612,334.3,3.6,282,3431,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2162,2675,2739,2612,0,0,0,0,0,0,14.69,14.69,14.69,6.28,50.70
$GC,3730,-0.15,0.0,2352,2163,2740,2612,323.3,3.7,297,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2162,2675,2739,2611,0,0,0,0,0,0,14.78,14.78,14.78,6.28,50.86
$GC,4030,-0.15,0.0,2352,2163,2740,2611,311.9,3.9,312,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2162,2674,2739,2610,0,0,0,0,0,0,14.83,14.84,14.84,6.27,50.78
$GC,4330,-0.15,0.0,2352,2163,2740,2610,300.5,3.7,327,4331,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2162,2674,2739,2609,0,0,0,0,0,0,14.88,14.88,14.88,6.28,51.10
$GC,4630,-0.15,0.0,2351,2162,2740,2609,289.5,3.6,342,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2162,2673,2739,2608,0,0,0,0,0,0,14.91,14.92,14.92,6.27,51.29
$GC,4930,-0.15,0.0,2352,2163,2740,2608,279.1,3.4,357,4931,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2163,2673,2739,2608,0,0,0,0,0,0,14.94,14.95,14.95,6.28,51.10
$GC,5230,-0.15,0.0,2352,2163,2740,2609,269.1,3.4,372,5231,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2162,2673,2739,2608,0,0,0,0,0,0,14.96,14.97,14.97,6.28,50.86
$GC,5530,-0.15,0.0,2352,2163,2740,2609,259.7,3.1,387,5531,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2162,2673,2739,2608,0,0,0,0,0,0,14.98,14.99,14.99,6.28,51.73
$GC,5830,-0.15,0.0,2352,2163,2740,2609,251.3,2.7,402,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2162,2674,2740,2608,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.06
$GC,6130,-0.15,0.0,2352,2163,2740,2607,243.1,2.8,417,6131,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2162,2673,2739,2607,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.73
$GC,6430,-0.15,0.0,2352,2163,2740,2608,234.0,3.2,432,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2162,2673,2739,2607,0,0,0,0,0,0,15.02,15.03,15.03,6.28,51.26
$STATE,6449,end loiter,LOITER_COMPLETE
$STATE,6449,begin climb
$GC,6450,0.64,146.0,2352,2163,2741,2607,233.3,0.0,433,6591,0.60,2.58,131.70,1.427,11012,0.172,0.084,2595,3546,2088,2114,2063,0,0,0,0,0,0,14.71,13.97,13.44,6.28,51.85
$GC,6655,0.64,146.0,2596,3546,2113,2050,217.5,10.8,443,6659,0.00,2.40,0.00,0.000,1030,0.000,0.043,2606,2162,2083,2111,2055,0,0,0,0,0,0,14.19,14.14,14.21,6.23,48.50
$GC,6970,0.64,146.0,2606,2162,2106,2048,178.1,12.4,459,6975,0.00,2.53,0.00,0.000,516,0.000,0.070,2617,747,2076,2104,2048,0,0,0,0,0,0,14.59,14.33,14.59,6.23,50.19
$GC,7000,0.64,146.0,2618,747,2104,2046,175.6,12.4,460,7004,0.00,2.42,0.00,0.000,5126,0.000,0.057,2617,2139,2075,2103,2047,0,0,0,0,0,0,14.40,14.35,14.42,6.23,50.23
$GC,7310,0.64,146.0,2618,2140,2103,2043,135.5,12.3,476,7314,0.00,2.55,0.00,0.000,4356,0.000,0.086,2618,3561,2073,2102,2044,0,0,0,0,0,0,14.69,14.40,14.69,6.23,50.55
$GC,7410,0.64,146.0,2618,3562,2103,2044,123.7,11.4,481,7415,0.05,2.40,0.00,0.000,5126,0.336,0.044,2609,2145,2072,2102,2043,0,0,0,0,0,0,14.33,14.47,14.46,6.23,50.39
$GC,7715,0.64,146.0,2610,2145,2103,2040,92.0,9.9,506,7719,0.00,2.47,0.00,0.000,4612,0.000,0.070,2619,738,2071,2102,2041,0,0,0,0,0,0,14.75,14.50,14.76,6.21,49.60
$GC,7745,0.64,146.0,2618,738,2101,2041,89.1,9.5,512,7749,0.00,2.42,0.00,0.000,5126,0.000,0.056,2619,2148,2070,2100,2040,0,0,0,0,0,0,14.57,14.52,14.60,6.22,50.43
$GC,7870,0.64,146.0,2619,2149,2103,2040,76.1,10.7,537,7874,0.00,2.47,0.00,0.000,4356,0.000,0.087,2619,3561,2070,2100,2040,0,0,0,0,0,0,14.76,14.52,14.76,6.21,49.37
$GC,7935,0.64,146.0,2619,3562,2101,2042,69.1,10.4,550,7940,0.05,2.38,0.00,0.000,5126,0.335,0.044,2610,2151,2070,2100,2040,0,0,0,0,0,0,14.39,14.54,14.54,6.21,48.81
$GC,8061,0.64,146.0,2610,2152,2102,2040,56.5,10.5,575,8065,0.00,2.45,0.00,0.000,4612,0.000,0.070,2619,733,2070,2100,2040,0,0,0,0,0,0,14.77,14.54,14.78,6.20,48.77
$GC,8110,0.64,146.0,2619,733,2100,2041,51.6,9.7,585,8115,0.03,2.45,0.00,0.000,5126,0.410,0.057,2608,2155,2069,2100,2039,0,0,0,0,0,0,14.37,14.52,14.52,6.19,48.74
$GC,8235,0.64,146.0,2609,2154,2100,2040,38.9,10.5,610,8239,0.00,2.47,0.00,0.000,4356,0.000,0.085,2608,3548,2069,2100,2039,0,0,0,0,0,0,14.78,14.53,14.78,6.20,49.01
$GC,8305,0.64,146.0,2608,3549,2100,2040,31.6,9.8,624,8309,0.00,2.35,0.00,0.000,5126,0.000,0.044,2617,2150,2069,2099,2039,0,0,0,0,0,0,14.62,14.57,14.62,6.19,48.97
$GC,8431,0.64,146.0,2618,2150,2101,2038,19.4,10.5,649,8434,0.00,2.42,0.00,0.000,4612,0.000,0.070,2628,744,2069,2100,2038,0,0,0,0,0,0,14.79,14.55,14.79,6.20,49.37
$GC,8455,0.64,146.0,2628,744,2100,2038,16.9,10.0,654,8460,0.05,2.40,0.00,0.000,5126,0.312,0.055,2608,2143,2068,2099,2038,0,0,0,0,0,0,14.43,14.56,14.57,6.20,49.48
$GC,8581,0.64,146.0,2608,2143,2099,2039,4.4,10.1,679,8585,0.00,2.50,0.00,0.000,4356,0.000,0.088,2608,3571,2068,2099,2037,0,0,0,0,0,0,14.79,14.54,14.83,6.20,49.60
$STATE,8599,end climb,SURFACE_DEPTH_REACHED
$STATE,8599,begin surface coast
$STATE,8609,end surface coast,CONTROL_FINISHED_OK
$STATE,8609,begin surface
$SM_CCo,8623,67.55,0.252,0,0,1791,220.03
$SM_GC,1.12,5.82,2.53,67.55,0.152,0.047,0.252,243,2089,1791,-6.44,0.82,220.03,0,0,0,0,0,0,14.64,14.59,14.36
$IRIDIUM_FIX,-5947.80,21.38,261218,135232
$TT8_MAMPS,0.038948,0.23968
$HUMID,48.85
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,11
$SC_FREEKB,3866592
$24V_AH,13.30,25.566
$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,13.250,73.625,260.775,67.550,0.000,24.901,18.298,124.339,2.750,0.000,18.807,0.000,6925.698,435.891,1532.433,79.628,0.000,1038.827,0.000,1092.501,0.000,0.540,0.000
$DEVICE_MAMPS,410.040,2258.280,1614.150,252.450,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5002.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.717,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,17295,685
$CAP_FILE_SIZE,91024,0
$CFSIZE,1023623168,1009057792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.029,218.17,1
$GPS,261218,185303,-5948.121,-7.938,27,0.8,30,-19.6,0.0,142.2,10,9.2