version: 66.14
glider: 640
mission: 5
dive: 116
start: 12 27 118 17 42 10
data:
$ID,640
$MISSION,5
$DIVE,116
$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,29
$R_STBD_OVSHOOT,18
$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
$GPS1,271218,173629,-5944.4771,-6.1179,39,0.7,43,-19.7,0.3,269.8,10,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-63.3
$GPS2,271218,174152,-5944.5200,-6.1813,9,0.9,20,-19.7,0.9,45.7,9,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,21.0,82662,-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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,9,-0.64,-146.0,232,2098,1768,1791,0.0,0.0,0,95,0.00,0.00,-83.10,0.000,16386,0.000,0.000,231,2098,3066,3148,2985,0,0,0,0,0,0,14.59,28.83,14.59,6.16,50.90
$GC,96,-0.64,-146.0,232,2098,3159,2985,3.3,-6.8,17,116,6.00,2.72,-8.77,0.000,18692,0.356,2.274,2176,3524,3287,3385,3190,0,0,0,0,0,0,14.22,13.41,14.38,6.27,49.21
$GC,225,-0.64,-146.0,2176,3524,3386,3193,23.8,-18.5,43,230,0.05,2.42,0.00,0.000,3078,0.360,0.040,2192,2081,3288,3385,3192,0,0,0,0,0,0,14.23,14.40,14.38,6.30,48.34
$GC,350,-0.64,-146.0,2192,2080,3386,3193,43.4,-14.4,68,354,0.00,2.53,0.00,0.000,2308,0.000,0.083,2181,3516,3288,3385,3192,0,0,0,0,0,0,14.65,14.41,14.65,6.29,48.81
$GC,375,-0.64,-146.0,2181,3517,3386,3193,47.2,-15.3,73,380,0.00,2.38,0.00,0.000,3078,0.000,0.045,2181,2123,3289,3386,3192,0,0,0,0,0,0,14.49,14.45,14.50,6.29,48.70
$GC,500,-0.64,-146.0,2181,2122,3387,3191,66.6,-15.6,98,501,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2122,3288,3385,3192,0,0,0,0,0,0,14.68,14.69,14.68,6.29,48.93
$GC,620,-0.64,-146.0,2181,2122,3387,3192,84.7,-15.0,122,624,0.00,2.53,0.00,0.000,2564,0.000,0.066,2181,687,3288,3385,3192,0,0,0,0,0,0,14.70,14.46,14.70,6.29,48.66
$GC,660,-0.64,-146.0,2181,688,3387,3192,91.2,-16.2,130,664,0.05,2.47,0.00,0.000,3078,0.372,0.057,2187,2111,3292,3393,3192,0,0,0,0,0,0,14.30,14.47,14.46,6.29,48.46
$GC,800,-0.64,-146.0,2187,2111,3386,3192,113.0,-15.3,146,804,0.00,2.50,0.00,0.000,2564,0.000,0.066,2186,689,3289,3386,3192,0,0,0,0,0,0,14.73,14.47,14.73,6.29,48.70
$GC,825,-0.64,-146.0,2186,689,3387,3192,116.1,-15.2,147,829,0.05,2.45,0.00,0.000,3078,0.383,0.058,2191,2104,3289,3386,3192,0,0,0,0,0,0,14.32,14.49,14.48,6.29,49.01
$GC,1140,-0.64,-146.0,2192,2104,3385,3192,159.7,-13.3,163,1145,0.00,2.47,0.00,0.000,2308,0.000,0.085,2181,3500,3288,3385,3192,0,0,0,0,0,0,14.77,14.51,14.77,6.30,49.52
$GC,1175,-0.64,-146.0,2178,3501,3386,3193,162.3,-13.2,164,1179,0.00,2.38,0.00,0.000,3078,0.000,0.044,2181,2087,3288,3385,3192,0,0,0,0,0,0,14.58,14.54,14.60,6.29,49.96
$GC,1480,-0.64,-146.0,2180,2087,3386,3193,203.6,-12.8,180,1484,0.00,2.42,0.00,0.000,2564,0.000,0.066,2181,697,3289,3385,3194,0,0,0,0,0,0,14.80,14.56,14.80,6.31,51.14
$GC,1525,-0.64,-146.0,2182,700,3386,3192,208.7,-12.8,182,1530,0.05,2.40,0.00,0.000,3078,0.368,0.057,2187,2093,3288,3385,3192,0,0,0,0,0,0,14.40,14.55,14.55,6.31,50.55
$GC,1840,-0.64,-146.0,2187,2094,3386,3193,247.6,-12.2,198,1844,0.00,2.47,0.00,0.000,2308,0.000,0.083,2177,3499,3288,3385,3192,0,0,0,0,0,0,14.82,14.56,14.82,6.32,50.98
$GC,1880,-0.64,-146.0,2177,3500,3386,3192,252.6,-12.3,200,1884,0.03,2.33,0.00,0.000,3078,0.453,0.043,2185,2104,3288,3385,3192,0,0,0,0,0,0,14.40,14.59,14.55,6.32,51.14
$GC,2200,-0.64,-146.0,2185,2104,3386,3192,291.8,-12.3,216,2204,0.00,2.45,0.00,0.000,2564,0.000,0.066,2185,697,3288,3385,3192,0,0,0,0,0,0,14.83,14.57,14.83,6.33,51.41
$GC,2275,-0.64,-146.0,2185,695,3386,3192,299.3,-12.5,219,2280,0.05,2.40,0.00,0.000,3078,0.375,0.056,2192,2096,3288,3384,3192,0,0,0,0,0,0,14.42,14.59,14.57,6.32,51.14
$GC,2580,-0.64,-146.0,2192,2097,3386,3193,336.5,-11.7,235,2585,0.00,2.47,0.00,0.000,2308,0.000,0.083,2181,3505,3288,3385,3192,0,0,0,0,0,0,14.84,14.58,14.84,6.32,51.69
$GC,2615,-0.64,-146.0,2182,3504,3385,3192,338.9,-11.7,236,2619,0.00,2.35,0.00,0.000,3078,0.000,0.043,2181,2093,3288,3384,3192,0,0,0,0,0,0,14.65,14.61,14.67,6.33,51.77
$STATE,2699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2699,begin apogee
$GC,2702,-0.15,0.0,2182,2161,3386,3192,350.9,-12.0,241,2834,0.47,0.00,129.27,1.602,10246,0.269,0.000,2351,2161,2689,2748,2630,0,0,0,0,0,0,14.48,13.90,13.29,6.33,51.18
$STATE,2835,end apogee,CONTROL_FINISHED_OK
$STATE,2835,begin loiter
$GC,3120,-0.15,0.0,2351,2162,2740,2615,346.2,3.4,262,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2161,2677,2740,2614,0,0,0,0,0,0,14.54,14.55,14.55,6.28,50.98
$GC,3420,-0.15,0.0,2352,2161,2740,2612,336.1,3.3,277,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2161,2675,2738,2612,0,0,0,0,0,0,14.69,14.69,14.69,6.28,51.26
$GC,3720,-0.15,0.0,2351,2161,2740,2612,326.1,3.2,292,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2161,2675,2739,2611,0,0,0,0,0,0,14.78,14.78,14.78,6.28,51.10
$GC,4020,-0.15,0.0,2352,2161,2741,2610,316.1,3.4,307,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2161,2674,2739,2610,0,0,0,0,0,0,14.84,14.84,14.84,6.28,51.57
$GC,4320,-0.15,0.0,2351,2162,2740,2611,305.8,3.4,322,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2674,2739,2609,0,0,0,0,0,0,14.88,14.89,14.89,6.28,51.06
$GC,4620,-0.15,0.0,2352,2161,2741,2609,295.3,3.6,337,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2161,2674,2739,2609,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.37
$GC,4920,-0.15,0.0,2352,2161,2740,2608,284.9,3.4,352,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2161,2673,2739,2608,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.10
$GC,5220,-0.15,0.0,2352,2161,2740,2609,274.6,3.3,367,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2161,2673,2739,2608,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.02
$GC,5520,-0.15,0.0,2352,2161,2740,2609,264.8,3.3,382,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2673,2739,2608,0,0,0,0,0,0,14.98,14.99,14.99,6.27,51.18
$GC,5820,-0.15,0.0,2351,2162,2740,2609,254.6,3.4,397,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2161,2673,2739,2608,0,0,0,0,0,0,15.00,15.01,15.01,6.28,51.14
$GC,6120,-0.15,0.0,2351,2162,2740,2609,244.4,3.4,412,6121,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2161,2673,2739,2608,0,0,0,0,0,0,15.02,15.02,15.02,6.27,51.22
$STATE,6419,end loiter,LOITER_COMPLETE
$STATE,6419,begin climb
$GC,6420,0.64,146.0,2352,2161,2740,2607,234.3,0.0,427,6561,0.60,2.60,131.60,1.419,11012,0.175,0.070,2604,749,2088,2114,2063,0,0,0,0,0,0,14.71,13.97,13.45,6.27,51.06
$GC,6675,0.64,146.0,2605,749,2108,2052,215.6,10.1,439,6680,0.00,2.45,0.00,0.000,1030,0.000,0.055,2605,2133,2079,2108,2051,0,0,0,0,0,0,14.24,14.20,14.26,6.23,49.48
$GC,6980,0.64,146.0,2605,2134,2105,2046,177.8,12.0,455,6985,0.00,2.58,0.00,0.000,260,0.000,0.086,2605,3558,2075,2105,2045,0,0,0,0,0,0,14.61,14.34,14.61,6.23,50.23
$GC,7085,0.64,146.0,2605,3558,2104,2045,166.1,11.5,460,7089,0.00,2.38,0.00,0.000,5126,0.000,0.044,2615,2157,2074,2103,2045,0,0,0,0,0,0,14.47,14.42,14.49,6.23,50.15
$GC,7400,0.64,146.0,2616,2157,2104,2041,126.0,12.5,476,7404,0.00,2.50,0.00,0.000,4612,0.000,0.069,2626,740,2071,2102,2041,0,0,0,0,0,0,14.72,14.45,14.72,6.23,50.98
$GC,7450,0.64,146.0,2627,741,2099,2042,121.4,11.9,478,7454,0.05,2.42,0.00,0.000,5126,0.308,0.056,2607,2144,2070,2101,2040,0,0,0,0,0,0,14.35,14.47,14.47,6.23,50.82
$GC,7755,0.64,146.0,2608,2144,2102,2039,86.9,10.7,511,7759,0.00,2.53,0.00,0.000,4356,0.000,0.083,2608,3566,2070,2101,2040,0,0,0,0,0,0,14.76,14.50,14.77,6.21,49.76
$GC,7830,0.64,146.0,2615,3566,2102,2040,78.8,10.1,526,7834,0.00,2.38,0.00,0.000,5126,0.000,0.043,2615,2151,2072,2104,2040,0,0,0,0,0,0,14.57,14.53,14.59,6.21,49.01
$GC,7955,0.64,146.0,2617,2155,2102,2040,66.2,10.9,551,7959,0.00,2.47,0.00,0.000,4612,0.000,0.070,2627,747,2070,2101,2039,0,0,0,0,0,0,14.78,14.52,14.78,6.20,48.85
$GC,8010,0.64,146.0,2627,748,2101,2039,59.9,10.7,562,8015,0.05,2.42,0.00,0.000,5126,0.305,0.055,2607,2161,2069,2100,2038,0,0,0,0,0,0,14.40,14.52,14.52,6.20,49.05
$GC,8135,0.64,146.0,2608,2161,2110,2039,46.8,9.6,587,8139,0.00,2.47,0.00,0.000,4356,0.000,0.083,2604,3555,2070,2103,2038,0,0,0,0,0,0,14.78,14.52,14.79,6.20,49.52
$GC,8281,0.64,146.0,2608,3556,2101,2040,31.0,11.4,616,8285,0.00,2.33,0.00,0.000,5126,0.000,0.043,2617,2140,2069,2100,2039,0,0,0,0,0,0,14.67,14.59,14.69,6.19,48.89
$GC,8406,0.64,146.0,2617,2138,2101,2037,21.8,9.9,641,8409,0.00,2.40,0.00,0.000,4612,0.000,0.070,2627,744,2068,2100,2037,0,0,0,0,0,0,14.80,14.57,14.80,6.20,49.60
$GC,8480,0.67,172.3,2628,745,2098,2038,15.9,7.3,656,8506,0.00,2.40,19.75,0.330,13318,0.000,0.055,2628,2143,1982,2005,1959,0,0,0,0,0,0,14.60,14.54,14.35,6.19,49.64
$STATE,8619,end climb,SURFACE_DEPTH_REACHED
$STATE,8619,begin surface coast
$STATE,8639,end surface coast,CONTROL_FINISHED_OK
$STATE,8639,begin surface
$SM_CCo,8651,45.97,0.252,0,0,1790,220.03
$SM_GC,1.19,5.78,0.05,45.97,0.125,0.218,0.252,239,2079,1790,-6.46,1.05,220.03,0,0,0,0,0,0,14.62,14.56,14.36
$IRIDIUM_FIX,-5944.87,-8.54,271218,150623
$TT8_MAMPS,0.039697,0.355026
$HUMID,49.13
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,7
$SC_FREEKB,3861472
$24V_AH,13.29,27.333
$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,13.225,78.625,280.625,45.975,0.000,24.517,42.831,137.764,1.750,0.000,22.005,0.000,6882.211,430.433,1629.418,83.690,0.000,1060.032,0.000,1143.368,0.000,0.540,0.000
$DEVICE_MAMPS,452.880,2273.580,1601.910,252.450,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5051.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.648,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17297,688
$CAP_FILE_SIZE,91924,0
$CFSIZE,1023623168,1008074752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.062,181.70,1
$GPS,271218,200805,-5944.332,-6.231,14,0.8,35,-19.7,0.6,168.6,10,9.8