version: 66.14
glider: 640
mission: 5
dive: 112
start: 12 27 118 7 38 17
data:
$ID,640
$MISSION,5
$DIVE,112
$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,57
$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
$GPS1,271218,073321,-5945.9771,-7.1048,16,0.9,41,-19.7,0.6,128.8,8,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-64.0
$GPS2,271218,073759,-5946.0034,-7.0842,8,0.9,19,-19.7,0.0,296.3,9,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,26.2,85466,-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,-146.0,230,2069,1766,1794,0.0,0.0,0,101,0.00,0.00,-89.80,0.000,16386,0.000,0.000,230,2068,3188,3266,3110,0,0,0,0,0,0,14.59,28.83,14.59,6.16,49.72
$GC,103,-0.64,-146.0,237,2068,3267,3109,3.1,-5.0,18,121,6.03,2.78,-3.88,0.000,18692,0.363,2.271,2177,3511,3286,3377,3195,0,0,0,0,0,0,14.20,13.44,14.45,6.28,49.01
$GC,190,-0.64,-146.0,2176,3513,3378,3195,16.6,-14.5,36,194,0.03,2.38,0.00,0.000,3078,0.441,0.043,2184,2126,3286,3378,3194,0,0,0,0,0,0,14.19,14.36,14.32,6.29,47.83
$GC,315,-0.64,-146.0,2184,2126,3379,3196,36.7,-16.7,61,320,0.00,2.50,0.00,0.000,2564,0.000,0.066,2184,686,3286,3378,3195,0,0,0,0,0,0,14.61,14.39,14.61,6.29,48.74
$GC,390,-0.64,-146.0,2184,687,3379,3194,48.5,-15.2,76,394,0.05,2.47,0.00,0.000,3078,0.376,0.059,2190,2106,3287,3379,3195,0,0,0,0,0,0,14.24,14.40,14.39,6.29,48.50
$GC,515,-0.64,-146.0,2191,2106,3385,3195,66.6,-13.9,101,520,0.00,2.47,0.00,0.000,2308,0.000,0.086,2180,3515,3286,3378,3195,0,0,0,0,0,0,14.66,14.42,14.66,6.29,48.93
$GC,560,-0.64,-146.0,2181,3514,3379,3194,72.9,-14.0,110,564,0.00,2.40,0.00,0.000,3078,0.000,0.044,2179,2102,3286,3378,3195,0,0,0,0,0,0,14.50,14.45,14.52,6.36,49.13
$GC,685,-0.64,-146.0,2180,2100,3381,3196,90.8,-14.3,135,689,0.00,2.47,0.00,0.000,2564,0.000,0.066,2178,692,3282,3370,3195,0,0,0,0,0,0,14.69,14.45,14.69,6.29,48.22
$GC,710,-0.64,-146.0,2180,691,3380,3195,94.4,-14.1,140,714,0.05,2.45,0.00,0.000,3078,0.370,0.059,2186,2102,3286,3378,3195,0,0,0,0,0,0,14.30,14.47,14.45,6.29,48.22
$GC,835,-0.64,-146.0,2186,2103,3378,3196,111.7,-13.9,153,836,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2102,3286,3378,3195,0,0,0,0,0,0,14.71,14.71,14.71,6.29,48.30
$GC,1135,-0.64,-146.0,2186,2105,3379,3196,149.5,-12.1,168,1139,0.00,2.47,0.00,0.000,2308,0.000,0.084,2174,3499,3286,3378,3195,0,0,0,0,0,0,14.76,14.50,14.76,6.29,49.76
$GC,1155,-0.64,-146.0,2176,3499,3379,3195,152.0,-12.3,169,1159,0.05,2.35,0.00,0.000,3078,0.368,0.042,2192,2097,3286,3379,3194,0,0,0,0,0,0,14.37,14.54,14.51,6.29,49.40
$GC,1475,-0.64,-146.0,2193,2097,3379,3196,191.0,-12.4,185,1479,0.00,2.45,0.00,0.000,2564,0.000,0.066,2192,695,3286,3378,3195,0,0,0,0,0,0,14.78,14.54,14.79,6.30,50.47
$GC,1565,-0.64,-146.0,2193,695,3380,3188,201.1,-12.6,189,1570,0.00,2.42,0.00,0.000,3078,0.000,0.057,2182,2106,3286,3378,3195,0,0,0,0,0,0,14.61,14.55,14.62,6.30,50.59
$GC,1875,-0.64,-146.0,2183,2107,3379,3194,241.5,-12.8,205,1876,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2106,3286,3378,3195,0,0,0,0,0,0,14.81,14.81,14.81,6.32,51.45
$GC,2175,-0.64,-146.0,2182,2107,3378,3205,279.8,-12.8,220,2176,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2106,3286,3378,3195,0,0,0,0,0,0,14.83,14.83,14.83,6.32,50.98
$GC,2475,-0.64,-146.0,2182,2107,3379,3196,318.3,-12.8,235,2479,0.00,2.45,0.00,0.000,2564,0.000,0.063,2182,694,3286,3378,3195,0,0,0,0,0,0,14.84,14.59,14.84,6.32,51.29
$GC,2515,-0.64,-146.0,2182,695,3379,3196,323.6,-13.0,237,2519,0.05,2.40,0.00,0.000,3078,0.368,0.055,2188,2101,3286,3378,3194,0,0,0,0,0,0,14.43,14.60,14.59,6.32,51.49
$STATE,2734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2734,begin apogee
$GC,2737,-0.15,0.0,2188,2165,3378,3196,350.9,-12.5,248,2870,0.45,0.00,129.15,1.594,10246,0.269,0.000,2354,2164,2685,2741,2629,0,0,0,0,0,0,14.49,13.90,13.28,6.33,51.37
$STATE,2871,end apogee,CONTROL_FINISHED_OK
$STATE,2871,begin loiter
$GC,3155,-0.15,0.0,2350,2165,2741,2616,349.0,2.6,269,3156,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2164,2677,2740,2615,0,0,0,0,0,0,14.55,14.55,14.55,6.28,50.59
$GC,3455,-0.15,0.0,2349,2165,2741,2614,340.9,2.7,284,3456,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2164,2676,2740,2613,0,0,0,0,0,0,14.69,14.69,14.70,6.28,50.82
$GC,3755,-0.15,0.0,2349,2165,2741,2613,333.0,2.6,299,3756,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2164,2676,2740,2612,0,0,0,0,0,0,14.78,14.78,14.78,6.28,50.78
$GC,4055,-0.15,0.0,2348,2165,2741,2612,325.5,2.4,314,4056,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2164,2676,2740,2612,0,0,0,0,0,0,14.84,14.84,14.84,6.28,50.86
$GC,4355,-0.15,0.0,2350,2164,2741,2610,318.4,2.4,329,4356,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2164,2675,2740,2611,0,0,0,0,0,0,14.89,14.88,14.88,6.28,50.94
$GC,4655,-0.15,0.0,2350,2165,2741,2611,311.2,2.4,344,4656,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2164,2675,2740,2611,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.06
$GC,4955,-0.15,0.0,2350,2165,2741,2611,303.5,2.6,359,4956,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2164,2675,2740,2610,0,0,0,0,0,0,14.95,14.95,14.95,6.27,51.45
$GC,5255,-0.15,0.0,2350,2165,2741,2611,294.7,3.1,374,5256,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2164,2675,2740,2610,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.06
$GC,5555,-0.15,0.0,2349,2165,2741,2611,284.9,3.4,389,5556,0.00,0.00,0.00,0.000,2054,0.000,0.000,2350,2164,2675,2741,2610,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.06
$GC,5855,-0.15,0.0,2350,2165,2741,2609,274.2,3.6,404,5856,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2164,2675,2740,2610,0,0,0,0,0,0,15.00,15.01,15.01,6.27,51.10
$GC,6155,-0.15,0.0,2349,2165,2741,2611,262.9,3.8,419,6156,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2164,2674,2740,2609,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.73
$STATE,6454,end loiter,LOITER_COMPLETE
$STATE,6454,begin climb
$GC,6455,0.64,146.0,2349,2165,2741,2610,251.6,0.0,434,6592,0.60,0.00,132.65,1.478,10758,0.173,0.000,2591,2165,2092,2118,2067,0,0,0,0,0,0,14.71,13.98,13.41,6.27,51.22
$GC,6890,0.64,146.0,2592,2166,2106,2047,208.5,11.6,455,6894,0.00,2.47,0.00,0.000,2308,0.000,0.086,2588,3536,2076,2105,2047,0,0,0,0,0,0,14.55,14.30,14.55,6.23,50.31
$GC,6955,0.64,146.0,2592,3536,2105,2049,201.6,11.5,458,6960,0.00,2.35,0.00,0.000,1030,0.000,0.043,2602,2154,2076,2105,2047,0,0,0,0,0,0,14.38,14.35,14.40,6.24,50.11
$GC,7270,0.64,146.0,2603,2154,2104,2041,161.7,13.3,474,7274,0.00,2.50,0.00,0.000,516,0.000,0.070,2613,745,2072,2103,2042,0,0,0,0,0,0,14.68,14.43,14.69,6.23,50.55
$GC,7320,0.64,146.0,2614,746,2102,2041,156.5,13.3,476,7325,0.00,2.40,0.00,0.000,5126,0.000,0.056,2614,2131,2071,2101,2041,0,0,0,0,0,0,14.51,14.49,14.53,6.23,50.51
$GC,7630,0.64,146.0,2614,2132,2102,2040,113.6,13.1,492,7634,0.00,2.55,0.00,0.000,4356,0.000,0.086,2614,3558,2070,2101,2040,0,0,0,0,0,0,14.75,14.49,14.75,6.22,50.31
$GC,7735,0.64,146.0,2614,3559,2102,2041,100.8,12.6,497,7739,0.05,2.38,0.00,0.000,5126,0.344,0.044,2606,2150,2070,2101,2040,0,0,0,0,0,0,14.36,14.52,14.51,6.21,49.60
$GC,8040,0.64,146.0,2607,2150,2102,2039,67.2,10.2,556,8044,0.00,2.47,0.00,0.000,516,0.000,0.068,2615,744,2070,2101,2039,0,0,0,0,0,0,14.78,14.53,14.78,6.20,49.01
$GC,8090,0.64,146.0,2616,745,2101,2038,62.3,9.4,566,8094,0.00,2.42,0.00,0.000,5126,0.000,0.056,2616,2154,2069,2100,2038,0,0,0,0,0,0,14.60,14.55,14.62,6.20,49.25
$GC,8215,0.64,146.0,2616,2155,2101,2039,49.6,10.3,591,8219,0.00,2.45,0.00,0.000,4356,0.000,0.087,2616,3562,2069,2100,2038,0,0,0,0,0,0,14.79,14.54,14.79,6.20,48.89
$GC,8300,0.64,146.0,2611,3558,2100,2040,40.6,10.3,608,8304,0.05,2.38,0.00,0.000,5126,0.343,0.044,2608,2146,2069,2100,2038,0,0,0,0,0,0,14.42,14.57,14.57,6.20,49.01
$GC,8425,0.64,146.0,2608,2146,2101,2037,28.2,10.3,633,8430,0.00,2.42,0.00,0.000,4612,0.000,0.067,2617,739,2068,2099,2037,0,0,0,0,0,0,14.80,14.54,14.81,6.19,49.05
$GC,8485,0.64,146.0,2617,739,2100,2038,21.9,9.5,645,8490,0.00,2.40,0.00,0.000,5126,0.000,0.054,2617,2146,2067,2099,2036,0,0,0,0,0,0,14.59,14.54,14.62,6.19,49.48
$GC,8611,0.64,146.0,2617,2146,2099,2038,10.0,10.9,670,8614,0.00,2.45,0.00,0.000,4356,0.000,0.086,2617,3554,2067,2098,2037,0,0,0,0,0,0,14.80,14.55,14.81,6.19,50.19
$STATE,8679,end climb,SURFACE_DEPTH_REACHED
$STATE,8679,begin surface coast
$STATE,8699,end surface coast,CONTROL_FINISHED_OK
$STATE,8699,begin surface
$SM_CCo,8712,67.25,0.250,0,0,1792,220.03
$SM_GC,1.47,5.43,2.47,67.25,0.051,0.042,0.250,264,2087,1792,-6.45,0.90,220.03,0,0,0,0,0,0,14.66,14.62,14.38
$IRIDIUM_FIX,-5946.74,-4.28,271218,050359
$TT8_MAMPS,0.039697,0.320572
$HUMID,49.33
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,6
$SC_FREEKB,3863520
$24V_AH,13.28,26.629
$10V_AH,13.40,0.000
$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,12.825,68.675,261.800,67.250,0.000,25.618,15.940,120.299,1.500,0.000,21.028,0.000,7009.044,430.594,1542.921,79.377,0.000,1036.385,0.000,1109.857,0.000,0.541,0.000
$DEVICE_MAMPS,441.405,2270.520,1594.260,250.155,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5112.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.678,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,17348,688
$CAP_FILE_SIZE,87899,0
$CFSIZE,1023623168,1008467968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.051,168.71,1
$GPS,271218,100536,-5945.714,-6.835,33,0.8,38,-19.7,0.2,170.5,9,9.2