version: 66.14
glider: 640
mission: 5
dive: 107
start: 12 26 118 18 58 29
data:
$ID,640
$MISSION,5
$DIVE,107
$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,36
$R_STBD_OVSHOOT,28
$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
$GPS1,261218,185303,-5948.1206,-7.9376,27,0.8,30,-19.6,0.0,142.2,10,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-67.2
$GPS2,261218,185811,-5948.1118,-7.8806,8,0.8,13,-19.6,0.7,122.2,10,8.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,28.1,89420,-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,-146.0,236,2088,1766,1795,0.0,0.0,0,95,0.00,0.00,-83.45,0.000,16386,0.000,0.000,235,2092,3095,3176,3014,0,0,0,0,0,0,14.59,28.83,14.59,6.16,49.76
$GC,96,-0.64,-146.0,236,2088,3177,3015,3.1,-4.8,17,115,5.97,2.67,-7.78,0.000,18948,0.359,2.262,2183,707,3287,3382,3193,0,0,0,0,0,0,14.20,13.43,14.36,6.27,49.56
$GC,185,-0.64,-146.0,2182,706,3383,3195,16.3,-15.1,35,189,0.05,2.42,0.00,0.000,3078,0.376,0.057,2189,2099,3289,3383,3195,0,0,0,0,0,0,14.21,14.37,14.46,6.29,48.58
$GC,310,-0.64,-146.0,2190,2100,3384,3195,37.5,-18.1,60,314,0.00,2.50,0.00,0.000,2308,0.000,0.083,2179,3525,3289,3383,3195,0,0,0,0,0,0,14.64,14.40,14.64,6.29,48.62
$GC,330,-0.64,-146.0,2179,3526,3384,3196,41.0,-16.9,64,334,0.00,2.42,0.00,0.000,3078,0.000,0.047,2179,2099,3289,3383,3195,0,0,0,0,0,0,14.47,14.42,14.49,6.29,49.01
$GC,455,-0.64,-146.0,2179,2098,3384,3195,59.9,-15.5,89,459,0.00,2.47,0.00,0.000,2564,0.000,0.067,2178,690,3289,3383,3195,0,0,0,0,0,0,14.66,14.42,14.67,6.28,48.74
$GC,495,-0.64,-146.0,2179,691,3384,3195,65.9,-14.4,97,499,0.08,2.45,0.00,0.000,3078,0.334,0.058,2193,2100,3289,3383,3195,0,0,0,0,0,0,14.31,14.44,14.44,6.29,48.70
$GC,620,-0.64,-146.0,2194,2100,3384,3197,82.8,-12.9,122,624,0.00,0.00,0.00,0.000,2054,0.000,0.000,2194,2100,3288,3382,3195,0,0,0,0,0,0,14.69,14.73,14.69,6.29,48.58
$GC,745,-0.64,-146.0,2194,2100,3383,3196,99.5,-13.3,147,749,0.00,2.47,0.00,0.000,516,0.000,0.067,2193,695,3288,3382,3195,0,0,0,0,0,0,14.71,14.47,14.71,6.29,48.50
$GC,780,-0.64,-146.0,2194,695,3384,3195,102.2,-13.4,149,785,0.00,2.42,0.00,0.000,3078,0.000,0.058,2178,2098,3289,3383,3195,0,0,0,0,0,0,14.54,14.47,14.55,6.29,48.46
$GC,1085,-0.64,-146.0,2184,2098,3383,3196,145.3,-13.7,165,1090,0.00,2.47,0.00,0.000,2308,0.000,0.083,2173,3497,3289,3383,3195,0,0,0,0,0,0,14.76,14.51,14.76,6.29,49.76
$GC,1120,-0.64,-146.0,2174,3504,3384,3195,148.1,-13.9,166,1124,0.05,2.35,0.00,0.000,3078,0.366,0.044,2190,2101,3289,3383,3195,0,0,0,0,0,0,14.37,14.54,14.52,6.30,49.72
$GC,1425,-0.64,-146.0,2191,2100,3384,3197,190.2,-12.8,182,1429,0.00,2.45,0.00,0.000,2564,0.000,0.067,2190,696,3289,3383,3195,0,0,0,0,0,0,14.79,14.54,14.79,6.30,51.10
$GC,1480,-0.64,-146.0,2191,697,3384,3195,195.4,-12.9,184,1484,0.00,2.42,0.00,0.000,3078,0.000,0.057,2181,2104,3288,3382,3195,0,0,0,0,0,0,14.61,14.54,14.63,6.31,51.18
$GC,1785,-0.64,-146.0,2181,2105,3383,3196,236.0,-12.8,200,1789,0.00,2.47,0.00,0.000,2308,0.000,0.083,2170,3509,3288,3382,3195,0,0,0,0,0,0,14.81,14.55,14.81,6.31,51.18
$GC,1825,-0.64,-146.0,2165,3510,3383,3195,241.3,-13.0,202,1829,0.05,2.38,0.00,0.000,3078,0.362,0.044,2188,2091,3288,3382,3195,0,0,0,0,0,0,14.42,14.59,14.57,6.32,50.94
$GC,2145,-0.64,-146.0,2189,2090,3376,3195,280.9,-12.3,218,2149,0.00,2.42,0.00,0.000,2564,0.000,0.066,2187,699,3288,3382,3195,0,0,0,0,0,0,14.83,14.58,14.83,6.32,51.06
$GC,2210,-0.64,-146.0,2188,698,3390,3195,288.4,-12.6,221,2214,0.00,2.40,0.00,0.000,3078,0.000,0.057,2179,2100,3288,3382,3195,0,0,0,0,0,0,14.64,14.59,14.66,6.32,51.61
$GC,2525,-0.64,-146.0,2178,2101,3382,3196,328.8,-12.7,237,2526,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2100,3288,3382,3195,0,0,0,0,0,0,14.84,14.84,14.85,6.33,51.41
$STATE,2704,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2704,begin apogee
$GC,2707,-0.15,0.0,2179,2166,3382,3197,352.1,-12.9,246,2839,0.47,0.00,128.77,1.610,10246,0.270,0.000,2348,2165,2690,2749,2631,0,0,0,0,0,0,14.49,13.89,13.28,6.34,51.02
$STATE,2840,end apogee,CONTROL_FINISHED_OK
$STATE,2840,begin loiter
$GC,3125,-0.15,0.0,2348,2166,2743,2618,349.4,3.1,267,3125,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2165,2679,2743,2616,0,0,0,0,0,0,14.55,14.55,14.55,6.28,50.63
$GC,3425,-0.15,0.0,2348,2166,2743,2615,340.4,3.1,282,3426,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2165,2679,2744,2614,0,0,0,0,0,0,14.69,14.69,14.69,6.28,50.70
$GC,3725,-0.15,0.0,2347,2166,2743,2615,331.3,2.9,297,3726,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2165,2678,2742,2614,0,0,0,0,0,0,14.78,14.78,14.78,6.28,50.86
$GC,4025,-0.15,0.0,2348,2167,2743,2615,322.3,3.1,312,4026,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2165,2677,2742,2613,0,0,0,0,0,0,14.84,14.84,14.84,6.28,50.94
$GC,4325,-0.15,0.0,2348,2166,2743,2614,313.0,3.2,327,4326,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2165,2678,2743,2613,0,0,0,0,0,0,14.88,14.89,14.89,6.28,50.94
$GC,4625,-0.15,0.0,2348,2166,2743,2614,303.8,3.1,342,4626,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2165,2677,2742,2613,0,0,0,0,0,0,14.92,14.92,14.92,6.27,51.49
$GC,4925,-0.15,0.0,2348,2166,2743,2614,294.7,3.1,357,4926,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2165,2678,2743,2613,0,0,0,0,0,0,14.95,14.95,14.95,6.28,50.94
$GC,5225,-0.15,0.0,2348,2166,2743,2614,286.0,2.9,372,5226,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2165,2677,2742,2613,0,0,0,0,0,0,14.97,14.97,14.97,6.28,50.98
$GC,5525,-0.15,0.0,2348,2166,2742,2615,277.9,2.7,387,5526,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2165,2677,2742,2613,0,0,0,0,0,0,14.99,14.99,14.99,6.27,51.92
$GC,5825,-0.15,0.0,2349,2166,2744,2613,269.7,2.8,402,5826,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2165,2677,2742,2613,0,0,0,0,0,0,15.01,15.00,15.00,6.28,51.29
$GC,6125,-0.15,0.0,2348,2166,2743,2614,262.0,2.6,417,6126,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2165,2678,2743,2614,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.14
$STATE,6424,end loiter,LOITER_COMPLETE
$STATE,6424,begin climb
$GC,6425,0.64,146.0,2347,2166,2743,2615,253.9,0.0,432,6565,0.62,2.53,133.70,1.441,10500,0.174,0.084,2600,3559,2088,2113,2063,0,0,0,0,0,0,14.71,13.95,13.43,6.28,50.94
$GC,6610,0.64,146.0,2601,3560,2111,2058,240.8,9.9,441,6615,0.00,2.45,0.00,0.000,5126,0.000,0.044,2611,2152,2083,2111,2055,0,0,0,0,0,0,14.14,14.11,14.16,6.23,48.66
$GC,6925,0.64,146.0,2610,2153,2105,2048,201.8,12.3,457,6929,0.00,2.50,0.00,0.000,4612,0.000,0.069,2622,749,2075,2104,2047,0,0,0,0,0,0,14.58,14.32,14.58,6.23,50.27
$GC,6960,0.64,146.0,2622,748,2103,2048,199.3,12.2,458,6964,0.05,2.40,0.00,0.000,5126,0.313,0.056,2603,2125,2074,2102,2046,0,0,0,0,0,0,14.25,14.37,14.37,6.23,50.07
$GC,7265,0.64,146.0,2604,2126,2103,2041,163.9,10.8,474,7269,0.00,2.55,0.00,0.000,260,0.000,0.085,2603,3547,2071,2102,2041,0,0,0,0,0,0,14.69,14.42,14.69,6.23,50.66
$GC,7345,0.64,146.0,2603,3548,2102,2042,155.5,10.4,478,7349,0.00,2.38,0.00,0.000,5126,0.000,0.044,2612,2144,2071,2102,2041,0,0,0,0,0,0,14.52,14.49,14.53,6.23,50.39
$GC,7665,0.64,146.0,2612,2145,2102,2041,121.0,10.5,494,7670,0.00,2.47,0.00,0.000,4612,0.000,0.069,2624,739,2070,2101,2040,0,0,0,0,0,0,14.76,14.50,14.76,6.22,50.86
$GC,7740,0.64,146.0,2624,739,2100,2040,115.0,10.1,497,7744,0.05,2.42,0.00,0.000,5126,0.315,0.056,2604,2152,2069,2100,2039,0,0,0,0,0,0,14.40,14.53,14.54,6.22,50.15
$GC,8045,0.64,146.0,2605,2152,2101,2038,83.3,10.3,537,8049,0.00,2.50,0.00,0.000,260,0.000,0.084,2604,3555,2068,2099,2038,0,0,0,0,0,0,14.78,14.52,14.79,6.20,49.88
$GC,8115,0.64,146.0,2604,3556,2100,2040,75.8,10.3,551,8119,0.00,2.35,0.00,0.000,5126,0.000,0.043,2613,2152,2069,2099,2039,0,0,0,0,0,0,14.61,14.55,14.62,6.21,49.48
$GC,8240,0.64,146.0,2613,2152,2100,2039,62.3,11.6,576,8244,0.00,2.47,0.00,0.000,4612,0.000,0.070,2624,741,2071,2104,2038,0,0,0,0,0,0,14.80,14.54,14.80,6.20,49.37
$GC,8270,0.64,146.0,2625,742,2100,2037,58.9,11.1,582,8275,0.05,2.42,0.00,0.000,5126,0.307,0.055,2603,2154,2067,2098,2037,0,0,0,0,0,0,14.44,14.57,14.57,6.28,49.40
$GC,8396,0.64,146.0,2605,2154,2100,2037,45.9,9.7,607,8399,0.00,2.45,0.00,0.000,260,0.000,0.085,2605,3556,2067,2098,2037,0,0,0,0,0,0,14.80,14.54,14.81,6.19,48.77
$GC,8425,0.64,146.0,2605,3557,2099,2039,43.1,9.3,613,8429,0.00,2.35,0.00,0.000,5126,0.000,0.044,2614,2156,2067,2098,2036,0,0,0,0,0,0,14.61,14.58,14.62,6.19,49.17
$GC,8550,0.64,146.0,2614,2157,2098,2037,31.8,9.6,638,8555,0.00,2.47,0.00,0.000,4612,0.000,0.068,2625,746,2067,2098,2037,0,0,0,0,0,0,14.81,14.56,14.81,6.19,49.52
$GC,8575,0.64,146.0,2625,746,2098,2038,29.4,9.2,643,8580,0.05,2.40,0.00,0.000,5126,0.305,0.057,2605,2144,2067,2098,2037,0,0,0,0,0,0,14.44,14.55,14.57,6.19,49.52
$GC,8700,0.64,146.0,2604,2145,2099,2035,17.9,9.7,668,8704,0.00,2.50,0.00,0.000,260,0.000,0.086,2605,3571,2067,2098,2036,0,0,0,0,0,0,14.80,14.56,14.81,6.19,49.37
$GC,8745,0.64,146.0,2605,3573,2098,2038,13.5,9.2,677,8749,0.00,2.38,0.00,0.000,5126,0.000,0.044,2614,2156,2067,2098,2037,0,0,0,0,0,0,14.62,14.58,14.63,6.19,49.88
$STATE,8854,end climb,SURFACE_DEPTH_REACHED
$STATE,8854,begin surface coast
$STATE,8879,end surface coast,CONTROL_FINISHED_OK
$STATE,8879,begin surface
$SM_CCo,8890,67.25,0.253,0,0,1792,220.03
$SM_GC,1.22,5.38,0.08,67.25,0.049,0.167,0.253,244,2060,1792,-6.44,1.07,220.03,0,0,0,0,0,0,14.67,14.60,14.38
$IRIDIUM_FIX,-5947.81,-12.83,261218,162355
$TT8_MAMPS,0.03745,0.381241
$HUMID,49.29
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,10
$SC_FREEKB,3866080
$24V_AH,13.28,25.745
$10V_AH,13.60,0.000
$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,12.875,83.375,262.475,67.250,0.000,26.707,53.117,123.120,2.500,0.000,14.354,0.000,7118.731,456.672,1613.553,82.331,0.000,1074.206,0.000,1134.731,0.000,0.540,0.000
$DEVICE_MAMPS,375.615,2262.105,1610.325,253.215,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5291.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.516,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17350,704
$CAP_FILE_SIZE,93783,0
$CFSIZE,1023623168,1008959488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.054,183.87,1
$GPS,261218,212849,-5947.801,-7.703,12,0.8,41,-19.7,0.6,299.5,10,5.0