version: 66.14
glider: 640
mission: 5
dive: 115
start: 12 27 118 15 10 34
data:
$ID,640
$MISSION,5
$DIVE,115
$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,41
$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
$GPS1,271218,150437,-5944.8848,-6.0104,19,1.3,46,-19.7,0.4,359.7,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-62.7
$GPS2,271218,151016,-5944.9121,-6.0510,9,1.4,49,-19.7,1.1,302.7,7,6.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,10.8,83377,-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,-146.0,234,2090,1765,1793,0.0,0.0,0,105,0.00,0.00,-93.40,0.000,16386,0.000,0.000,233,2089,3231,3310,3152,0,0,0,0,0,0,14.61,28.83,14.61,6.16,50.15
$GC,106,-0.64,-146.0,234,2090,3311,3154,3.6,-8.0,19,120,6.00,0.00,-2.08,0.000,18950,0.360,0.000,2185,2089,3288,3376,3200,0,0,0,0,0,0,14.22,13.47,14.38,6.28,49.13
$GC,241,-0.64,-146.0,2185,2090,3379,3200,25.0,-14.9,46,244,0.00,2.53,0.00,0.000,2308,0.000,0.086,2174,3515,3289,3378,3200,0,0,0,0,0,0,14.62,14.38,14.62,6.29,48.14
$GC,300,-0.64,-146.0,2174,3516,3379,3201,34.4,-16.2,58,304,0.05,2.40,0.00,0.000,3078,0.360,0.043,2190,2100,3289,3378,3200,0,0,0,0,0,0,14.26,14.42,14.40,6.29,49.21
$GC,425,-0.64,-146.0,2191,2099,3380,3200,53.3,-14.4,83,428,0.00,0.00,0.00,0.000,2054,0.000,0.000,2191,2098,3289,3379,3200,0,0,0,0,0,0,14.66,14.66,14.66,6.30,49.17
$GC,550,-0.64,-146.0,2191,2099,3380,3201,71.2,-14.8,108,551,0.00,0.00,0.00,0.000,2054,0.000,0.000,2191,2099,3289,3379,3200,0,0,0,0,0,0,14.69,14.69,14.69,6.30,49.25
$GC,670,-0.64,-146.0,2191,2099,3380,3201,87.7,-12.7,132,671,0.00,0.00,0.00,0.000,2054,0.000,0.000,2191,2099,3289,3379,3200,0,0,0,0,0,0,14.71,14.71,14.71,6.29,48.66
$GC,805,-0.64,-146.0,2191,2098,3379,3199,105.4,-13.5,153,810,0.00,2.45,0.00,0.000,2564,0.000,0.067,2190,704,3289,3379,3200,0,0,0,0,0,0,14.73,14.49,14.73,6.29,48.62
$GC,830,-0.64,-146.0,2191,704,3379,3201,108.1,-13.4,154,834,0.00,2.42,0.00,0.000,3078,0.000,0.058,2181,2102,3289,3378,3200,0,0,0,0,0,0,14.54,14.50,14.57,6.29,48.70
$GC,1145,-0.64,-146.0,2182,2104,3380,3200,151.9,-13.2,170,1149,0.00,2.45,0.00,0.000,2564,0.000,0.066,2181,702,3289,3379,3200,0,0,0,0,0,0,14.77,14.52,14.77,6.30,49.60
$GC,1200,-0.64,-146.0,2181,702,3379,3201,157.4,-13.5,172,1204,0.05,2.42,0.00,0.000,3078,0.370,0.058,2188,2104,3289,3378,3200,0,0,0,0,0,0,14.38,14.53,14.52,6.30,50.03
$GC,1505,-0.64,-146.0,2188,2105,3378,3201,199.8,-13.5,188,1509,0.00,2.47,0.00,0.000,2308,0.000,0.084,2177,3504,3289,3378,3200,0,0,0,0,0,0,14.80,14.54,14.80,6.31,51.14
$GC,1545,-0.64,-146.0,2177,3505,3379,3201,205.3,-13.5,190,1549,0.00,2.35,0.00,0.000,3078,0.000,0.043,2177,2100,3289,3379,3199,0,0,0,0,0,0,14.62,14.58,14.64,6.31,51.14
$GC,1865,-0.64,-146.0,2176,2099,3380,3200,247.3,-12.9,206,1869,0.05,2.45,0.00,0.000,2564,0.477,0.066,2190,695,3289,3378,3200,0,0,0,0,0,0,14.44,14.57,14.64,6.32,51.26
$GC,1925,-0.64,-146.0,2191,695,3380,3199,254.8,-12.6,209,1929,0.00,2.42,0.00,0.000,3078,0.000,0.058,2181,2107,3288,3378,3199,0,0,0,0,0,0,14.64,14.58,14.65,6.32,51.33
$GC,2245,-0.64,-146.0,2181,2107,3380,3199,293.8,-12.2,225,2250,0.00,2.45,0.00,0.000,2308,0.000,0.085,2170,3499,3288,3378,3199,0,0,0,0,0,0,14.83,14.57,14.83,6.33,51.77
$GC,2275,-0.64,-146.0,2170,3500,3378,3201,296.3,-12.3,226,2280,0.05,2.33,0.00,0.000,3078,0.361,0.043,2188,2104,3288,3378,3199,0,0,0,0,0,0,14.44,14.62,14.57,6.33,51.53
$GC,2585,-0.64,-146.0,2188,2103,3380,3199,333.9,-11.6,242,2589,0.00,2.42,0.00,0.000,2564,0.000,0.065,2188,705,3289,3378,3200,0,0,0,0,0,0,14.84,14.59,14.84,6.32,51.49
$GC,2655,-0.64,-146.0,2188,705,3380,3199,341.0,-11.9,245,2659,0.00,2.40,0.00,0.000,3078,0.000,0.058,2178,2102,3288,3378,3199,0,0,0,0,0,0,14.65,14.60,14.67,6.33,51.29
$STATE,2724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2724,begin apogee
$GC,2727,-0.15,0.0,2178,2168,3379,3200,350.3,-11.6,249,2859,0.47,0.00,129.23,1.610,10246,0.269,0.000,2348,2166,2688,2747,2630,0,0,0,0,0,0,14.48,13.90,13.29,6.33,50.98
$STATE,2860,end apogee,CONTROL_FINISHED_OK
$STATE,2860,begin loiter
$GC,3145,-0.15,0.0,2348,2167,2741,2614,345.4,3.4,270,3146,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2676,2739,2614,0,0,0,0,0,0,14.55,14.55,14.55,6.28,50.23
$GC,3445,-0.15,0.0,2348,2168,2740,2612,335.4,3.3,285,3446,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2167,2675,2739,2612,0,0,0,0,0,0,14.69,14.69,14.70,6.28,50.59
$GC,3745,-0.15,0.0,2348,2167,2740,2612,325.6,3.3,300,3746,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2675,2739,2612,0,0,0,0,0,0,14.78,14.78,14.78,6.27,50.74
$GC,4045,-0.15,0.0,2348,2167,2740,2611,316.2,3.1,315,4046,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2167,2674,2739,2610,0,0,0,0,0,0,14.84,14.84,14.84,6.28,50.82
$GC,4345,-0.15,0.0,2348,2167,2739,2609,307.2,3.1,330,4346,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2167,2674,2739,2609,0,0,0,0,0,0,14.88,14.89,14.89,6.28,50.90
$GC,4645,-0.15,0.0,2348,2167,2740,2608,297.9,3.1,345,4646,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2674,2739,2609,0,0,0,0,0,0,14.92,14.92,14.92,6.28,50.98
$GC,4945,-0.15,0.0,2348,2167,2740,2608,288.3,3.3,360,4946,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2673,2739,2608,0,0,0,0,0,0,14.95,14.95,14.95,6.28,50.86
$GC,5245,-0.15,0.0,2348,2167,2740,2608,278.1,3.5,375,5246,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2167,2673,2739,2608,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.10
$GC,5545,-0.15,0.0,2348,2167,2740,2609,267.1,3.7,390,5546,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2167,2673,2739,2608,0,0,0,0,0,0,14.99,15.00,14.99,6.28,51.22
$GC,5845,-0.15,0.0,2347,2167,2738,2609,255.8,3.7,405,5846,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2673,2739,2608,0,0,0,0,0,0,15.00,15.01,15.00,6.28,51.10
$GC,6145,-0.15,0.0,2347,2167,2740,2609,245.0,3.4,420,6146,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2167,2673,2739,2608,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.61
$STATE,6444,end loiter,LOITER_COMPLETE
$STATE,6444,begin climb
$GC,6445,0.64,146.0,2348,2167,2740,2608,235.3,0.0,435,6586,0.62,2.62,130.98,1.427,10756,0.180,0.069,2606,746,2089,2115,2064,0,0,0,0,0,0,14.71,13.98,13.45,6.29,51.06
$GC,6615,0.64,146.0,2610,745,2112,2060,224.5,8.7,443,6619,0.00,2.47,0.00,0.000,5126,0.000,0.056,2610,2133,2084,2111,2058,0,0,0,0,0,0,14.09,14.05,14.13,6.24,49.48
$GC,6925,0.64,146.0,2610,2134,2108,2049,186.3,12.0,459,6930,0.00,2.58,0.00,0.000,4356,0.000,0.086,2610,3555,2077,2106,2048,0,0,0,0,0,0,14.58,14.31,14.58,6.23,50.19
$GC,7020,0.64,146.0,2609,3556,2106,2048,176.7,11.8,463,7024,0.03,2.38,0.00,0.000,5126,0.451,0.044,2610,2164,2076,2105,2048,0,0,0,0,0,0,14.21,14.39,14.38,6.23,49.92
$GC,7325,0.64,146.0,2611,2165,2105,2044,137.9,12.6,479,7329,0.00,2.53,0.00,0.000,4612,0.000,0.069,2620,735,2074,2104,2044,0,0,0,0,0,0,14.70,14.46,14.71,6.23,50.59
$GC,7370,0.64,146.0,2621,736,2103,2043,133.0,12.4,481,7375,0.03,2.45,0.00,0.000,5126,0.409,0.057,2609,2150,2072,2102,2043,0,0,0,0,0,0,14.32,14.47,14.46,6.23,51.02
$GC,7675,0.64,146.0,2616,2151,2103,2042,96.5,11.4,501,7679,0.00,2.45,0.00,0.000,4356,0.000,0.084,2609,3554,2071,2102,2041,0,0,0,0,0,0,14.76,14.49,14.76,6.22,50.39
$GC,7705,0.64,146.0,2610,3556,2103,2043,93.0,11.5,507,7710,0.00,2.38,0.00,0.000,5126,0.000,0.044,2618,2148,2071,2102,2041,0,0,0,0,0,0,14.56,14.52,14.58,6.22,49.92
$GC,7830,0.64,146.0,2619,2149,2104,2041,79.3,11.2,532,7834,0.00,2.47,0.00,0.000,4612,0.000,0.070,2629,746,2071,2102,2041,0,0,0,0,0,0,14.77,14.52,14.77,6.21,49.40
$GC,7880,0.64,146.0,2629,746,2103,2041,73.9,10.2,542,7884,0.05,2.42,0.00,0.000,5126,0.312,0.056,2609,2156,2071,2101,2041,0,0,0,0,0,0,14.40,14.53,14.54,6.21,50.31
$GC,8006,0.64,146.0,2617,2157,2103,2040,61.8,9.3,567,8010,0.00,2.45,0.00,0.000,4356,0.000,0.086,2609,3558,2071,2101,2041,0,0,0,0,0,0,14.78,14.53,14.78,6.20,49.33
$GC,8070,0.64,146.0,2609,3557,2101,2040,55.5,10.0,580,8074,0.00,2.38,0.00,0.000,5126,0.000,0.044,2618,2148,2071,2101,2041,0,0,0,0,0,0,14.61,14.57,14.62,6.20,49.05
$GC,8195,0.64,146.0,2618,2147,2102,2041,41.4,11.0,605,8199,0.00,2.47,0.00,0.000,4612,0.000,0.070,2629,744,2070,2101,2040,0,0,0,0,0,0,14.78,14.52,14.79,6.20,49.52
$GC,8240,0.64,146.0,2629,745,2101,2041,37.1,10.0,614,8245,0.05,2.40,0.00,0.000,5126,0.312,0.054,2609,2147,2070,2101,2040,0,0,0,0,0,0,14.42,14.55,14.56,6.20,49.29
$GC,8365,0.64,146.0,2608,2149,2101,2041,24.7,10.1,639,8370,0.00,2.47,0.00,0.000,4356,0.000,0.088,2608,3556,2070,2101,2040,0,0,0,0,0,0,14.79,14.52,14.79,6.20,49.25
$GC,8455,0.64,146.0,2609,3557,2101,2041,14.6,11.0,657,8459,0.00,2.38,0.00,0.000,5126,0.000,0.044,2618,2146,2070,2101,2040,0,0,0,0,0,0,14.61,14.55,14.62,6.20,50.19
$GC,8580,0.64,146.0,2618,2145,2101,2040,3.2,9.4,682,8584,0.00,2.47,0.00,0.000,4612,0.000,0.077,2628,746,2069,2100,2039,0,0,0,0,0,0,14.81,14.54,14.81,6.20,49.92
$STATE,8589,end climb,SURFACE_DEPTH_REACHED
$STATE,8589,begin surface coast
$STATE,8609,end surface coast,CONTROL_FINISHED_OK
$STATE,8609,begin surface
$SM_CCo,8622,67.40,0.249,0,0,1793,220.03
$SM_GC,0.99,5.47,2.50,67.40,0.063,0.106,0.249,265,2095,1793,-6.48,-0.76,220.03,0,0,0,0,0,0,14.65,14.55,14.37
$IRIDIUM_FIX,-5944.87,-8.54,271218,123534
$TT8_MAMPS,0.035952,0.348285
$HUMID,49.09
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,7
$SC_FREEKB,3861984
$24V_AH,13.29,27.156
$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,12.925,78.325,260.200,67.400,0.000,39.500,23.388,133.854,1.750,0.000,50.409,0.000,6877.861,438.523,1635.030,82.793,0.000,1062.577,0.000,1130.617,0.000,0.539,0.000
$DEVICE_MAMPS,476.595,187.425,1610.325,248.625,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5021.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.746,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,17321,688
$CAP_FILE_SIZE,92269,0
$CFSIZE,1023623168,1008173056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.022,151.86,1
$GPS,271218,173629,-5944.477,-6.118,39,0.7,43,-19.7,0.3,269.8,10,8.6