version: 66.14
glider: 640
mission: 5
dive: 110
start: 12 27 118 2 34 2
data:
$ID,640
$MISSION,5
$DIVE,110
$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,32
$R_STBD_OVSHOOT,29
$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
$GPS1,271218,022855,-5946.7915,-7.1244,12,0.8,35,-19.7,0.5,205.6,9,5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.3
$GPS2,271218,023344,-5946.8052,-7.1170,8,0.8,14,-19.7,0.0,163.8,10,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,17.7,86949,-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,-146.0,234,2106,1767,1795,0.0,0.0,0,100,0.00,0.00,-88.35,0.000,16386,0.000,0.000,233,2105,3162,3243,3081,0,0,0,0,0,0,14.57,28.83,14.57,6.16,49.88
$GC,101,-0.64,-146.0,234,2105,3244,3083,3.0,-5.2,18,119,6.03,2.70,-4.95,0.000,18948,0.363,2.254,2184,690,3286,3378,3195,0,0,0,0,0,0,14.19,13.44,14.35,6.27,48.93
$GC,215,-0.64,-146.0,2184,691,3380,3198,20.4,-14.8,41,219,0.05,2.45,0.00,0.000,3078,0.364,0.058,2190,2089,3288,3379,3197,0,0,0,0,0,0,14.20,14.35,14.34,6.29,48.26
$GC,340,-0.64,-146.0,2191,2090,3380,3198,39.1,-13.8,66,344,0.00,2.50,0.00,0.000,2308,0.000,0.084,2180,3511,3288,3379,3197,0,0,0,0,0,0,14.62,14.38,14.62,6.29,48.58
$GC,385,-0.64,-146.0,2181,3512,3380,3199,45.1,-13.1,75,390,0.03,2.40,0.00,0.000,3078,0.459,0.043,2188,2098,3285,3373,3197,0,0,0,0,0,0,14.25,14.42,14.38,6.29,48.81
$GC,510,-0.64,-146.0,2188,2097,3380,3196,63.2,-14.9,100,514,0.00,2.42,0.00,0.000,2564,0.000,0.066,2188,693,3287,3378,3196,0,0,0,0,0,0,14.66,14.44,14.66,6.29,49.17
$GC,530,-0.64,-146.0,2188,694,3380,3198,66.1,-14.4,104,534,0.00,2.45,0.00,0.000,3078,0.000,0.059,2178,2102,3288,3379,3197,0,0,0,0,0,0,14.49,14.42,14.50,6.29,48.85
$GC,655,-0.64,-146.0,2178,2103,3380,3197,85.0,-15.6,129,656,0.05,0.00,0.00,0.000,2054,0.467,0.000,2192,2102,3288,3379,3197,0,0,0,0,0,0,14.31,14.55,14.52,6.29,48.54
$GC,775,-0.64,-146.0,2192,2102,3380,3197,102.9,-14.5,150,776,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2102,3288,3379,3197,0,0,0,0,0,0,14.71,14.71,14.71,6.27,48.74
$GC,1075,-0.64,-146.0,2192,2103,3380,3197,143.2,-12.4,165,1079,0.00,2.47,0.00,0.000,2564,0.000,0.066,2190,692,3288,3379,3197,0,0,0,0,0,0,14.75,14.51,14.76,6.36,49.56
$GC,1115,-0.64,-146.0,2192,693,3380,3198,148.1,-12.3,167,1119,0.00,2.42,0.00,0.000,3078,0.000,0.057,2182,2101,3288,3379,3197,0,0,0,0,0,0,14.57,14.52,14.60,6.29,49.84
$GC,1435,-0.64,-146.0,2182,2102,3380,3198,187.3,-12.2,183,1436,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2101,3287,3379,3196,0,0,0,0,0,0,14.78,14.78,14.78,6.30,50.43
$GC,1735,-0.64,-146.0,2183,2101,3381,3197,223.8,-12.3,198,1736,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2101,3287,3379,3196,0,0,0,0,0,0,14.81,14.81,14.81,6.31,51.02
$GC,2035,-0.64,-146.0,2182,2101,3381,3196,260.4,-12.1,213,2039,0.00,2.45,0.00,0.000,2564,0.000,0.065,2182,693,3287,3379,3196,0,0,0,0,0,0,14.83,14.58,14.83,6.32,51.18
$GC,2080,-0.64,-146.0,2182,694,3380,3197,265.4,-12.3,215,2085,0.05,2.42,0.00,0.000,3078,0.363,0.057,2188,2103,3287,3379,3196,0,0,0,0,0,0,14.43,14.59,14.58,6.32,51.45
$GC,2395,-0.64,-146.0,2188,2104,3380,3197,302.8,-11.7,231,2396,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2104,3287,3379,3196,0,0,0,0,0,0,14.83,14.84,14.84,6.32,51.77
$GC,2695,-0.64,-146.0,2195,2104,3380,3197,338.3,-11.7,246,2696,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2104,3287,3378,3196,0,0,0,0,0,0,14.85,14.85,14.85,6.32,51.14
$STATE,2814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2814,begin apogee
$GC,2817,-0.15,0.0,2189,2166,3380,3196,352.2,-11.6,252,2950,0.45,0.00,130.27,1.577,10246,0.265,0.000,2350,2166,2689,2748,2630,0,0,0,0,0,0,14.50,13.91,13.30,6.33,51.49
$STATE,2951,end apogee,CONTROL_FINISHED_OK
$STATE,2951,begin loiter
$GC,3235,-0.15,0.0,2351,2167,2740,2615,347.1,3.5,273,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2676,2739,2614,0,0,0,0,0,0,14.55,14.55,14.55,6.27,50.35
$GC,3535,-0.15,0.0,2351,2166,2740,2611,336.7,3.5,288,3536,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2675,2739,2612,0,0,0,0,0,0,14.69,14.69,14.69,6.28,51.10
$GC,3835,-0.15,0.0,2351,2166,2740,2612,326.4,3.5,303,3836,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2675,2739,2611,0,0,0,0,0,0,14.78,14.78,14.78,6.28,50.86
$GC,4135,-0.15,0.0,2351,2167,2740,2610,316.1,3.5,318,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2674,2739,2609,0,0,0,0,0,0,14.83,14.84,14.84,6.27,50.90
$GC,4435,-0.15,0.0,2351,2167,2740,2610,306.2,3.3,333,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2673,2739,2608,0,0,0,0,0,0,14.88,14.89,14.88,6.28,51.61
$GC,4735,-0.15,0.0,2351,2166,2740,2608,296.4,3.2,348,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2673,2739,2608,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.02
$GC,5035,-0.15,0.0,2351,2167,2740,2609,287.3,3.1,363,5036,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2673,2739,2608,0,0,0,0,0,0,14.95,14.95,14.95,6.27,51.14
$GC,5335,-0.15,0.0,2352,2166,2741,2608,278.7,2.9,378,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2673,2739,2608,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.37
$GC,5635,-0.15,0.0,2351,2166,2740,2608,270.2,2.7,393,5636,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2673,2739,2607,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.14
$GC,5935,-0.15,0.0,2351,2166,2740,2607,262.0,2.8,408,5936,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2673,2739,2607,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.10
$GC,6235,-0.15,0.0,2351,2166,2740,2607,254.0,2.7,423,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2673,2739,2607,0,0,0,0,0,0,15.01,15.02,15.02,6.29,51.22
$STATE,6534,end loiter,LOITER_COMPLETE
$STATE,6534,begin climb
$GC,6535,0.64,146.0,2351,2167,2740,2608,246.2,0.0,438,6676,0.60,2.55,132.70,1.442,10500,0.167,0.085,2595,3542,2087,2113,2062,0,0,0,0,0,0,14.71,13.95,13.43,6.27,51.26
$GC,6760,0.64,146.0,2596,3543,2112,2054,229.3,10.7,449,6764,0.00,2.40,0.00,0.000,1030,0.000,0.042,2606,2154,2081,2111,2052,0,0,0,0,0,0,14.20,14.16,14.23,6.23,48.89
$GC,7075,0.64,146.0,2606,2154,2105,2047,191.0,12.4,465,7080,0.00,2.53,0.00,0.000,516,0.000,0.070,2617,742,2074,2103,2046,0,0,0,0,0,0,14.59,14.33,14.60,6.22,50.55
$GC,7110,0.64,146.0,2617,743,2102,2046,188.5,12.4,466,7114,0.00,2.42,0.00,0.000,5126,0.000,0.057,2617,2132,2073,2101,2045,0,0,0,0,0,0,14.43,14.38,14.45,6.23,50.19
$GC,7415,0.64,146.0,2617,2133,2103,2041,146.1,13.6,482,7419,0.00,2.55,0.00,0.000,4356,0.000,0.086,2617,3557,2071,2102,2041,0,0,0,0,0,0,14.70,14.42,14.70,6.23,50.98
$GC,7510,0.64,146.0,2618,3557,2102,2042,135.4,13.4,486,7515,0.05,2.38,0.00,0.000,5126,0.336,0.044,2610,2147,2071,2102,2041,0,0,0,0,0,0,14.34,14.48,14.48,6.23,50.27
$GC,7815,0.64,146.0,2610,2147,2102,2041,96.2,12.0,505,7819,0.00,2.42,0.00,0.000,4612,0.000,0.068,2619,739,2069,2100,2039,0,0,0,0,0,0,14.76,14.52,14.76,6.21,50.51
$GC,7880,0.64,146.0,2620,740,2100,2040,88.8,11.2,518,7885,0.03,2.42,0.00,0.000,5126,0.413,0.056,2609,2152,2069,2100,2039,0,0,0,0,0,0,14.37,14.53,14.52,6.21,50.23
$GC,8005,0.64,146.0,2604,2153,2100,2040,74.0,11.7,543,8009,0.00,2.50,0.00,0.000,4356,0.000,0.085,2608,3557,2069,2099,2039,0,0,0,0,0,0,14.77,14.49,14.78,6.20,49.72
$GC,8075,0.64,146.0,2609,3556,2101,2039,65.7,11.4,557,8079,0.00,2.35,0.00,0.000,5126,0.000,0.043,2621,2152,2073,2107,2039,0,0,0,0,0,0,14.59,14.53,14.59,6.21,48.93
$GC,8200,0.64,146.0,2618,2154,2101,2038,52.0,10.9,582,8204,0.00,2.47,0.00,0.000,4612,0.000,0.069,2629,742,2069,2100,2038,0,0,0,0,0,0,14.78,14.53,14.78,6.20,48.77
$GC,8240,0.64,146.0,2629,742,2100,2039,47.9,9.8,590,8244,0.08,2.42,0.00,0.000,5126,0.280,0.056,2596,2153,2064,2093,2036,0,0,0,0,0,0,14.45,14.55,14.56,6.20,48.89
$GC,8365,0.64,146.0,2601,2154,2099,2038,36.2,9.4,615,8369,0.00,2.47,0.00,0.000,260,0.000,0.086,2601,3570,2068,2098,2038,0,0,0,0,0,0,14.78,14.52,14.79,6.20,48.81
$GC,8455,0.64,146.0,2601,3570,2100,2037,27.6,9.2,633,8459,0.00,2.38,0.00,0.000,5126,0.000,0.043,2609,2156,2067,2098,2037,0,0,0,0,0,0,14.59,14.55,14.62,6.19,49.52
$GC,8581,0.64,146.0,2610,2156,2100,2037,16.0,9.7,658,8584,0.00,2.42,0.00,0.000,4612,0.000,0.070,2620,744,2067,2098,2037,0,0,0,0,0,0,14.80,14.56,14.80,6.19,49.68
$GC,8635,0.64,146.0,2620,745,2098,2038,10.7,9.1,669,8639,0.05,2.42,0.00,0.000,5126,0.317,0.057,2602,2158,2067,2098,2037,0,0,0,0,0,0,14.42,14.54,14.55,6.20,49.09
$STATE,8724,end climb,SURFACE_DEPTH_REACHED
$STATE,8724,begin surface coast
$STATE,8754,end surface coast,CONTROL_FINISHED_OK
$STATE,8754,begin surface
$SM_CCo,8765,67.18,0.252,0,0,1791,220.03
$SM_GC,1.32,5.47,0.10,67.18,0.069,0.139,0.252,258,2067,1791,-6.50,0.82,220.03,0,0,0,0,0,0,14.64,14.59,14.37
$IRIDIUM_FIX,-5944.87,-8.54,271218,000133
$TT8_MAMPS,0.038199,0.280126
$HUMID,49.13
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,7
$SC_FREEKB,3864544
$24V_AH,13.30,26.272
$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,12.925,64.000,262.975,67.175,0.000,26.823,36.922,119.334,1.750,0.000,15.346,0.000,7080.964,423.837,1542.582,80.386,0.000,1023.386,0.000,1095.697,0.000,0.539,0.000
$DEVICE_MAMPS,466.650,2253.690,1577.430,251.685,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5167.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.699,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17330,693
$CAP_FILE_SIZE,88551,0
$CFSIZE,1023623168,1008664576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.022,160.47,1
$GPS,271218,050219,-5946.297,-7.077,24,0.9,42,-19.7,0.4,25.6,9,5.6