version: 66.14
glider: 640
mission: 5
dive: 109
start: 12 27 118 0 4 41
data:
$ID,640
$MISSION,5
$DIVE,109
$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,27
$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
$GPS1,271218,000004,-5947.3071,-7.4395,39,0.7,43,-19.7,0.4,212.0,11,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-67.9
$GPS2,271218,000423,-5947.2998,-7.4504,8,0.8,13,-19.7,0.0,92.7,11,9.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,20.3,87887,-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,-146.0,234,2078,1767,1798,0.0,0.0,0,101,0.00,0.00,-89.75,0.000,16386,0.000,0.000,234,2079,3200,3280,3120,0,0,0,0,0,0,14.60,28.83,14.61,6.16,49.68
$GC,103,-0.64,-146.0,235,2079,3281,3120,3.1,-5.8,18,117,6.00,2.60,-3.20,0.000,18948,0.367,2.258,2196,705,3282,3372,3192,0,0,0,0,0,0,14.23,13.47,14.47,6.27,48.93
$GC,196,-0.64,-146.0,2189,707,3374,3193,18.2,-14.5,37,201,0.00,2.42,0.00,0.000,3078,0.000,0.058,2180,2096,3283,3374,3193,0,0,0,0,0,0,14.44,14.38,14.45,6.29,48.54
$GC,321,-0.64,-146.0,2179,2097,3375,3194,38.3,-16.6,62,325,0.00,2.53,0.00,0.000,2308,0.000,0.084,2169,3515,3283,3374,3193,0,0,0,0,0,0,14.64,14.39,14.64,6.28,49.13
$GC,405,-0.64,-146.0,2169,3516,3374,3194,52.1,-15.1,79,410,0.05,2.38,0.00,0.000,3078,0.359,0.042,2187,2109,3283,3374,3193,0,0,0,0,0,0,14.28,14.45,14.42,6.29,48.89
$GC,531,-0.64,-146.0,2187,2107,3375,3192,70.4,-15.5,104,535,0.00,2.45,0.00,0.000,2564,0.000,0.067,2187,692,3283,3374,3192,0,0,0,0,0,0,14.67,14.45,14.66,6.29,48.58
$GC,565,-0.64,-146.0,2187,692,3375,3193,75.8,-15.1,111,570,0.00,2.45,0.00,0.000,3078,0.000,0.058,2177,2106,3283,3374,3192,0,0,0,0,0,0,14.50,14.45,14.52,6.29,48.70
$GC,691,-0.64,-146.0,2178,2107,3376,3193,94.8,-15.0,136,692,0.05,0.00,0.00,0.000,2054,0.465,0.000,2190,2107,3283,3374,3193,0,0,0,0,0,0,14.32,14.54,14.51,6.29,48.18
$GC,811,-0.64,-146.0,2191,2107,3375,3194,111.5,-13.5,148,815,0.00,2.47,0.00,0.000,2308,0.000,0.084,2180,3504,3283,3374,3192,0,0,0,0,0,0,14.71,14.46,14.71,6.29,48.85
$GC,855,-0.64,-146.0,2180,3504,3374,3193,117.0,-13.5,150,861,0.00,2.35,0.00,0.000,3078,0.000,0.043,2186,2105,3283,3375,3192,0,0,0,0,0,0,14.55,14.51,14.57,6.29,48.22
$GC,1171,-0.64,-146.0,2180,2104,3375,3193,158.6,-13.2,166,1175,0.00,2.45,0.00,0.000,2564,0.000,0.067,2180,699,3283,3374,3193,0,0,0,0,0,0,14.76,14.52,14.76,6.30,50.03
$GC,1256,-0.64,-146.0,2180,700,3375,3193,169.5,-13.6,170,1260,0.05,2.40,0.00,0.000,3078,0.362,0.057,2196,2098,3283,3374,3192,0,0,0,0,0,0,14.38,14.53,14.52,6.30,50.55
$GC,1571,-0.64,-146.0,2187,2098,3375,3192,211.1,-12.7,186,1571,0.00,0.00,0.00,0.000,2054,0.000,0.000,2187,2098,3283,3374,3192,0,0,0,0,0,0,14.78,14.79,14.79,6.31,50.39
$GC,1871,-0.64,-146.0,2195,2098,3375,3192,248.3,-12.1,201,1875,0.00,2.47,0.00,0.000,2308,0.000,0.085,2177,3500,3283,3374,3192,0,0,0,0,0,0,14.81,14.55,14.81,6.31,51.10
$GC,1891,-0.64,-146.0,2177,3501,3375,3192,250.8,-12.1,202,1896,0.05,2.35,0.00,0.000,3078,0.358,0.044,2195,2093,3283,3374,3192,0,0,0,0,0,0,14.41,14.59,14.56,6.32,51.26
$GC,2211,-0.64,-146.0,2195,2092,3375,3193,287.1,-11.1,218,2215,0.00,2.42,0.00,0.000,516,0.000,0.067,2194,702,3283,3374,3193,0,0,0,0,0,0,14.81,14.57,14.82,6.32,51.10
$GC,2261,-0.64,-146.0,2195,702,3374,3193,291.7,-11.4,220,2265,0.00,2.40,0.00,0.000,3078,0.000,0.057,2185,2102,3283,3374,3192,0,0,0,0,0,0,14.64,14.58,14.65,6.32,50.94
$GC,2571,-0.64,-146.0,2186,2102,3375,3192,328.0,-11.4,236,2575,0.00,2.45,0.00,0.000,2308,0.000,0.083,2175,3497,3282,3373,3192,0,0,0,0,0,0,14.81,14.57,14.81,6.32,51.33
$GC,2590,-0.64,-146.0,2175,3498,3378,3192,330.4,-11.4,237,2595,0.05,2.33,0.00,0.000,3078,0.356,0.043,2192,2101,3283,3374,3192,0,0,0,0,0,0,14.44,14.63,14.57,6.33,51.37
$STATE,2769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2769,begin apogee
$GC,2773,-0.15,0.0,2193,2155,3375,3194,350.7,-11.2,246,2903,0.43,0.00,128.00,1.607,10246,0.263,0.000,2346,2155,2690,2749,2632,0,0,0,0,0,0,14.49,13.90,13.30,6.33,50.90
$STATE,2904,end apogee,CONTROL_FINISHED_OK
$STATE,2904,begin loiter
$GC,3190,-0.15,0.0,2346,2155,2743,2617,345.0,3.6,267,3191,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2155,2679,2742,2617,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.51
$GC,3491,-0.15,0.0,2346,2156,2743,2616,333.5,3.9,282,3491,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2155,2678,2742,2614,0,0,0,0,0,0,14.69,14.69,14.69,6.28,50.47
$GC,3790,-0.15,0.0,2346,2155,2743,2613,321.7,4.0,297,3791,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2155,2677,2742,2613,0,0,0,0,0,0,14.77,14.77,14.77,6.28,50.51
$GC,4091,-0.15,0.0,2346,2156,2743,2614,309.4,4.1,312,4092,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2154,2677,2742,2613,0,0,0,0,0,0,14.83,14.83,14.83,6.28,51.53
$GC,4390,-0.15,0.0,2346,2155,2743,2612,297.4,3.9,327,4391,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2155,2677,2742,2612,0,0,0,0,0,0,14.88,14.88,14.88,6.28,51.02
$GC,4691,-0.15,0.0,2346,2156,2743,2613,285.9,3.8,342,4691,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2155,2677,2743,2612,0,0,0,0,0,0,14.91,14.91,14.91,6.28,51.02
$GC,4991,-0.15,0.0,2346,2155,2743,2611,275.0,3.5,357,4991,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2155,2676,2742,2611,0,0,0,0,0,0,14.93,14.94,14.93,6.28,50.70
$GC,5290,-0.15,0.0,2346,2155,2744,2612,264.9,3.3,372,5291,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2155,2676,2742,2611,0,0,0,0,0,0,14.95,14.96,14.96,6.28,51.45
$GC,5591,-0.15,0.0,2346,2156,2743,2613,254.8,3.4,387,5592,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2155,2677,2742,2612,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.53
$GC,5891,-0.15,0.0,2346,2155,2744,2611,244.1,3.7,402,5891,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2155,2676,2742,2611,0,0,0,0,0,0,14.99,15.00,15.00,6.27,51.06
$GC,6190,-0.15,0.0,2345,2156,2743,2612,233.2,3.7,417,6191,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2155,2676,2742,2611,0,0,0,0,0,0,15.00,15.00,15.00,6.28,50.90
$STATE,6489,end loiter,LOITER_COMPLETE
$STATE,6489,begin climb
$GC,6491,0.64,146.0,2346,2156,2743,2612,222.2,0.0,432,6631,0.62,2.58,132.95,1.405,11012,0.179,0.083,2597,3547,2089,2115,2063,0,0,0,0,0,0,14.70,13.95,13.45,6.28,51.10
$GC,6675,0.64,146.0,2597,3548,2112,2058,208.1,10.2,441,6680,0.00,2.42,0.00,0.000,5126,0.000,0.043,2607,2150,2084,2112,2057,0,0,0,0,0,0,14.15,14.11,14.17,6.23,48.93
$GC,6991,0.64,146.0,2607,2150,2106,2049,167.9,12.9,457,6995,0.00,2.50,0.00,0.000,4612,0.000,0.070,2618,750,2076,2105,2048,0,0,0,0,0,0,14.58,14.32,14.58,6.23,50.59
$GC,7045,0.64,146.0,2619,751,2103,2047,162.9,12.8,459,7051,0.00,2.42,0.00,0.000,5126,0.000,0.055,2618,2145,2075,2103,2047,0,0,0,0,0,0,14.41,14.36,14.45,6.23,49.92
$GC,7351,0.64,146.0,2619,2145,2104,2043,121.6,12.3,475,7356,0.00,2.53,0.00,0.000,4356,0.000,0.085,2619,3556,2072,2102,2043,0,0,0,0,0,0,14.69,14.42,14.69,6.23,50.31
$GC,7445,0.64,146.0,2619,3557,2103,2044,111.9,12.1,479,7450,0.05,2.38,0.00,0.000,5126,0.337,0.044,2610,2153,2072,2102,2043,0,0,0,0,0,0,14.33,14.48,14.47,6.23,49.92
$GC,7751,0.64,146.0,2610,2153,2103,2040,76.8,10.3,525,7755,0.00,2.47,0.00,0.000,4612,0.000,0.069,2620,750,2071,2102,2041,0,0,0,0,0,0,14.74,14.47,14.74,6.20,48.89
$GC,7815,0.64,146.0,2620,750,2102,2040,70.7,9.4,538,7820,0.03,2.40,0.00,0.000,5126,0.411,0.054,2610,2145,2070,2101,2040,0,0,0,0,0,0,14.36,14.52,14.50,6.20,48.74
$GC,7941,0.64,146.0,2611,2145,2102,2040,58.4,9.7,563,7945,0.00,2.47,0.00,0.000,4356,0.000,0.085,2610,3558,2070,2101,2040,0,0,0,0,0,0,14.75,14.50,14.75,6.20,48.74
$GC,7991,0.64,146.0,2610,3559,2101,2041,53.3,9.8,573,7995,0.03,2.38,0.00,0.000,5126,0.426,0.044,2609,2150,2070,2101,2040,0,0,0,0,0,0,14.35,14.52,14.50,6.20,48.62
$GC,8116,0.65,155.3,2609,2150,2101,2041,42.7,8.0,598,8125,0.00,2.45,5.28,1.229,8708,0.000,0.070,2619,746,2051,2080,2023,0,0,0,0,0,0,14.76,14.50,13.85,6.20,48.46
$GC,8151,0.67,169.7,2619,746,2082,2023,39.8,7.8,605,8172,0.00,2.42,15.77,1.285,13318,0.000,0.055,2618,2153,1993,2017,1970,0,0,0,0,0,0,14.53,14.47,13.87,6.19,48.66
$GC,8291,0.67,169.7,2619,2153,2016,1966,25.6,10.2,633,8295,0.00,2.50,0.00,0.000,4356,0.000,0.086,2619,3547,1989,2015,1963,0,0,0,0,0,0,14.66,14.38,14.66,6.19,48.14
$GC,8375,0.67,169.7,2620,3547,2016,1964,16.9,10.1,650,8380,0.03,2.38,0.00,0.000,5126,0.437,0.044,2619,2145,1989,2015,1963,0,0,0,0,0,0,14.28,14.46,14.44,6.16,48.54
$GC,8501,0.67,169.7,2620,2146,2015,1962,3.9,10.8,675,8505,0.00,2.45,0.00,0.000,4612,0.000,0.070,2629,738,1988,2015,1962,0,0,0,0,0,0,14.69,14.46,14.69,6.18,49.72
$STATE,8509,end climb,SURFACE_DEPTH_REACHED
$STATE,8509,begin surface coast
$STATE,8534,end surface coast,CONTROL_FINISHED_OK
$STATE,8534,begin surface
$SM_CCo,8547,48.03,0.253,0,0,1793,220.03
$SM_GC,1.17,5.50,2.38,48.03,0.060,0.050,0.253,272,2103,1793,-6.45,-0.82,220.03,0,0,0,0,0,0,14.56,14.49,14.31
$IRIDIUM_FIX,-5947.82,-8.55,261218,213020
$TT8_MAMPS,0.038948,0.303345
$HUMID,49.01
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,12
$SC_FREEKB,3865056
$24V_AH,13.30,26.097
$10V_AH,13.26,0.000
$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,12.925,78.125,282.000,48.025,0.000,23.831,14.059,115.084,3.000,0.000,14.395,0.000,6816.138,433.016,1532.301,79.939,0.000,1045.555,0.000,1109.310,0.000,0.539,0.000
$DEVICE_MAMPS,465.120,2258.280,1607.265,253.215,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4947.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.802,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,17336,682
$CAP_FILE_SIZE,91276,0
$CFSIZE,1023623168,1008762880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,9056.89,0x214640,7,24
$CURRENT,0.028,100.34,1
$GPS,271218,022855,-5946.792,-7.124,12,0.8,35,-19.7,0.5,205.6,9,5.2