version: 66.14
glider: 640
mission: 5
dive: 92
start: 12 25 118 5 22 13
data:
$ID,640
$MISSION,5
$DIVE,92
$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,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
$GPS1,251218,051525,-5953.9541,-9.4335,17,0.9,52,-19.6,0.4,101.6,9,4.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-64.4
$GPS2,251218,052155,-5953.9023,-9.4616,9,1.0,20,-19.6,0.5,271.2,8,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,20.0,100234,-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,-146.0,234,2100,1767,1795,0.0,0.0,0,100,0.00,0.00,-88.43,0.000,16386,0.000,0.000,233,2099,3161,3242,3080,0,0,0,0,0,0,14.62,28.83,14.61,6.16,49.68
$GC,101,-0.64,-146.0,233,2100,3242,3083,3.3,-6.0,18,119,6.05,2.67,-4.88,0.000,19204,0.371,2.267,2188,693,3285,3377,3194,0,0,0,0,0,0,14.22,13.49,14.38,6.28,48.97
$GC,125,-0.64,-146.0,2189,693,3378,3195,7.7,-17.9,23,130,0.03,2.45,0.00,0.000,3078,0.480,0.053,2186,2105,3286,3377,3195,0,0,0,0,0,0,14.19,14.35,14.34,6.29,48.46
$GC,250,-0.64,-146.0,2186,2105,3379,3195,29.7,-16.8,48,254,0.00,2.50,0.00,0.000,2564,0.000,0.070,2185,671,3286,3378,3195,0,0,0,0,0,0,14.62,14.40,14.62,6.29,48.66
$GC,435,-0.64,-146.0,2185,672,3379,3196,58.0,-13.0,85,440,0.05,2.47,0.00,0.000,3078,0.375,0.057,2192,2099,3286,3378,3195,0,0,0,0,0,0,14.28,14.45,14.44,6.29,48.62
$GC,560,-0.64,-146.0,2192,2099,3379,3196,75.1,-14.3,110,564,0.00,2.47,0.00,0.000,2308,0.000,0.085,2181,3523,3286,3378,3195,0,0,0,0,0,0,14.69,14.45,14.70,6.29,48.93
$GC,625,-0.64,-146.0,2183,3523,3372,3195,84.4,-14.3,123,630,0.00,2.40,0.00,0.000,3078,0.000,0.046,2181,2102,3286,3378,3194,0,0,0,0,0,0,14.53,14.49,14.54,6.28,49.09
$GC,755,-0.64,-146.0,2182,2101,3380,3195,103.4,-14.2,146,759,0.00,2.47,0.00,0.000,2564,0.000,0.070,2181,690,3286,3378,3195,0,0,0,0,0,0,14.73,14.48,14.73,6.28,48.34
$GC,805,-0.64,-146.0,2182,691,3379,3195,109.0,-14.1,148,809,0.05,2.42,0.00,0.000,3078,0.366,0.058,2188,2096,3286,3378,3195,0,0,0,0,0,0,14.35,14.50,14.49,6.29,48.42
$GC,1115,-0.64,-146.0,2189,2097,3379,3195,154.6,-14.1,164,1119,0.00,2.47,0.00,0.000,2564,0.000,0.070,2188,687,3286,3378,3195,0,0,0,0,0,0,14.78,14.53,14.78,6.29,49.68
$GC,1165,-0.64,-146.0,2188,688,3379,3196,160.2,-14.1,166,1170,0.05,2.42,0.00,0.000,3078,0.375,0.059,2194,2098,3286,3378,3195,0,0,0,0,0,0,14.36,14.54,14.53,6.30,50.00
$GC,1475,-0.64,-146.0,2194,2098,3383,3196,200.8,-12.3,182,1479,0.00,2.47,0.00,0.000,260,0.000,0.086,2185,3499,3286,3378,3195,0,0,0,0,0,0,14.81,14.55,14.81,6.31,51.18
$GC,1495,-0.64,-146.0,2185,3500,3378,3196,203.3,-12.3,183,1499,0.00,2.35,0.00,0.000,3078,0.000,0.046,2185,2098,3286,3378,3194,0,0,0,0,0,0,14.63,14.59,14.65,6.31,51.14
$GC,1815,-0.64,-146.0,2185,2098,3380,3195,242.8,-12.2,199,1820,0.00,2.45,0.00,0.000,2564,0.000,0.070,2184,695,3286,3378,3195,0,0,0,0,0,0,14.83,14.56,14.83,6.32,51.49
$GC,1860,-0.64,-146.0,2184,696,3379,3195,247.8,-12.2,201,1864,0.05,2.40,0.00,0.000,3078,0.366,0.058,2191,2099,3286,3378,3195,0,0,0,0,0,0,14.44,14.59,14.59,6.32,51.02
$GC,2175,-0.64,-146.0,2192,2100,3378,3195,284.6,-11.4,217,2179,0.00,2.47,0.00,0.000,2308,0.000,0.086,2181,3509,3286,3378,3195,0,0,0,0,0,0,14.85,14.59,14.85,6.32,51.57
$GC,2190,-0.64,-146.0,2181,3510,3379,3194,284.6,-11.4,217,2194,0.00,2.35,0.00,0.000,3078,0.000,0.047,2181,2104,3286,3378,3194,0,0,0,0,0,0,14.66,14.63,14.69,6.33,51.26
$GC,2495,-0.64,-146.0,2181,2103,3379,3195,323.0,-12.1,233,2499,0.00,2.45,0.00,0.000,2564,0.000,0.069,2180,696,3286,3378,3195,0,0,0,0,0,0,14.86,14.62,14.86,6.33,51.69
$GC,2550,-0.64,-146.0,2180,697,3379,3195,328.0,-12.3,235,2554,0.05,2.40,0.00,0.000,3078,0.362,0.058,2187,2105,3286,3378,3194,0,0,0,0,0,0,14.47,14.62,14.61,6.33,51.26
$STATE,2734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2734,begin apogee
$GC,2737,-0.15,0.0,2189,2167,3379,3195,351.4,-11.7,245,2869,0.45,0.00,128.65,1.642,10246,0.266,0.000,2350,2166,2687,2746,2629,0,0,0,0,0,0,14.52,13.88,13.28,6.33,51.10
$STATE,2870,end apogee,CONTROL_FINISHED_OK
$STATE,2870,begin loiter
$GC,3155,-0.15,0.0,2351,2167,2741,2616,345.9,3.6,266,3155,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2678,2740,2616,0,0,0,0,0,0,14.54,14.55,14.54,6.28,50.27
$GC,3455,-0.15,0.0,2350,2167,2741,2613,335.0,3.7,281,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2167,2676,2739,2613,0,0,0,0,0,0,14.69,14.69,14.69,6.28,50.66
$GC,3755,-0.15,0.0,2351,2167,2742,2612,323.9,3.8,296,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2676,2740,2612,0,0,0,0,0,0,14.78,14.78,14.78,6.28,51.22
$GC,4055,-0.15,0.0,2350,2167,2741,2613,312.3,4.0,311,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2676,2740,2612,0,0,0,0,0,0,14.83,14.84,14.84,6.28,50.78
$GC,4355,-0.15,0.0,2350,2166,2741,2612,300.5,3.9,326,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2675,2739,2611,0,0,0,0,0,0,14.88,14.88,14.88,6.28,50.82
$GC,4655,-0.15,0.0,2350,2167,2741,2611,288.9,3.9,341,4655,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2675,2740,2611,0,0,0,0,0,0,14.91,14.92,14.92,6.28,51.18
$GC,4955,-0.15,0.0,2350,2168,2741,2612,277.7,3.7,356,4956,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2675,2739,2611,0,0,0,0,0,0,14.94,14.95,14.95,6.28,50.90
$GC,5255,-0.15,0.0,2350,2168,2741,2612,266.7,3.7,371,5255,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2675,2740,2611,0,0,0,0,0,0,14.97,14.97,14.97,6.27,51.18
$GC,5555,-0.15,0.0,2350,2167,2741,2610,255.8,3.7,386,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2675,2740,2610,0,0,0,0,0,0,14.98,14.99,14.99,6.28,51.02
$GC,5855,-0.15,0.0,2350,2167,2740,2612,244.8,3.5,401,5855,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2675,2740,2611,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.22
$GC,6155,-0.15,0.0,2350,2167,2741,2610,234.5,3.3,416,6155,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2675,2740,2610,0,0,0,0,0,0,15.02,15.02,15.02,6.27,51.10
$STATE,6454,end loiter,LOITER_COMPLETE
$STATE,6454,begin climb
$GC,6455,0.64,146.0,2350,2167,2741,2611,224.9,0.0,431,6595,0.60,2.53,132.23,1.412,11012,0.171,0.086,2593,3534,2088,2113,2063,0,0,0,0,0,0,14.71,13.96,13.45,6.27,51.06
$GC,6620,0.64,146.0,2594,3536,2113,2060,213.8,8.8,439,6624,0.00,2.40,0.00,0.000,1030,0.000,0.047,2604,2157,2085,2112,2058,0,0,0,0,0,0,14.09,14.07,14.13,6.23,48.50
$GC,6935,0.64,146.0,2604,2157,2105,2049,175.6,12.0,455,6939,0.00,2.53,0.00,0.000,516,0.000,0.074,2615,750,2076,2104,2048,0,0,0,0,0,0,14.58,14.33,14.59,6.24,50.15
$GC,6990,0.64,146.0,2615,751,2103,2049,171.1,11.7,457,6995,0.00,2.40,0.00,0.000,5126,0.000,0.057,2615,2130,2074,2102,2047,0,0,0,0,0,0,14.42,14.38,14.45,6.23,50.03
$GC,7295,0.64,146.0,2615,2131,2103,2044,132.2,12.0,473,7300,0.00,2.55,0.00,0.000,4356,0.000,0.086,2614,3558,2072,2102,2043,0,0,0,0,0,0,14.70,14.44,14.70,6.23,50.74
$GC,7360,0.64,146.0,2617,3559,2103,2044,125.0,12.0,476,7364,0.05,2.40,0.00,0.000,5126,0.347,0.047,2608,2144,2072,2102,2043,0,0,0,0,0,0,14.35,14.48,14.47,6.23,50.47
$GC,7665,0.64,146.0,2608,2144,2103,2040,91.4,11.2,502,7669,0.00,2.47,0.00,0.000,4612,0.000,0.073,2618,741,2071,2102,2040,0,0,0,0,0,0,14.76,14.51,14.76,6.22,49.68
$GC,7705,0.64,146.0,2618,742,2101,2041,87.1,10.4,510,7709,0.00,2.42,0.00,0.000,5126,0.000,0.057,2617,2154,2070,2101,2040,0,0,0,0,0,0,14.59,14.53,14.60,6.22,49.48
$GC,7830,0.64,146.0,2618,2155,2101,2041,73.0,11.7,535,7834,0.00,2.50,0.00,0.000,4356,0.000,0.088,2618,3556,2070,2100,2040,0,0,0,0,0,0,14.78,14.52,14.78,6.20,48.97
$GC,7890,0.64,146.0,2618,3557,2101,2041,65.7,11.8,547,7894,0.05,2.38,0.00,0.000,5126,0.337,0.047,2610,2147,2070,2100,2040,0,0,0,0,0,0,14.42,14.57,14.56,6.21,49.01
$GC,8015,0.64,146.0,2610,2147,2101,2039,52.1,10.4,572,8019,0.00,2.42,0.00,0.000,4612,0.000,0.072,2619,743,2070,2101,2040,0,0,0,0,0,0,14.79,14.55,14.79,6.20,48.85
$GC,8050,0.64,146.0,2619,739,2101,2041,48.4,10.2,579,8055,0.03,2.40,0.00,0.000,5126,0.416,0.056,2608,2143,2069,2100,2039,0,0,0,0,0,0,14.40,14.57,14.54,6.20,49.52
$GC,8175,0.64,146.0,2608,2144,2101,2039,36.0,9.3,604,8179,0.00,2.53,0.00,0.000,4356,0.000,0.086,2608,3565,2069,2099,2039,0,0,0,0,0,0,14.80,14.54,14.81,6.19,48.66
$GC,8235,0.64,146.0,2609,3566,2101,2039,30.0,10.2,616,8239,0.00,2.38,0.00,0.000,5126,0.000,0.044,2617,2152,2070,2100,2040,0,0,0,0,0,0,14.62,14.59,14.65,6.19,48.89
$GC,8360,0.64,146.0,2618,2152,2101,2040,19.0,9.2,641,8365,0.00,2.47,0.00,0.000,4612,0.000,0.070,2636,740,2069,2100,2039,0,0,0,0,0,0,14.81,14.55,14.81,6.19,49.60
$GC,8400,0.64,146.0,2629,741,2100,2038,15.2,9.0,649,8406,0.05,2.42,0.00,0.000,5126,0.313,0.057,2608,2155,2068,2099,2038,0,0,0,0,0,0,14.45,14.57,14.58,6.20,49.09
$GC,8525,0.64,146.0,2609,2155,2100,2039,4.4,10.3,674,8529,0.00,2.47,0.00,0.000,4356,0.000,0.085,2608,3583,2071,2098,2044,0,0,0,0,0,0,14.81,14.57,14.82,6.18,49.40
$STATE,8544,end climb,SURFACE_DEPTH_REACHED
$STATE,8544,begin surface coast
$STATE,8564,end surface coast,CONTROL_FINISHED_OK
$STATE,8564,begin surface
$SM_CCo,8577,67.72,0.252,0,0,1792,220.03
$SM_GC,1.32,5.53,2.53,67.72,0.088,0.047,0.252,305,2095,1792,-6.46,0.93,220.03,0,0,0,0,0,0,14.58,14.61,14.38
$IRIDIUM_FIX,-5954.49,-12.88,251218,051653
$TT8_MAMPS,0.039697,0.152047
$HUMID,48.85
$INTERNAL_PRESSURE,6.10897
$TCM_TEMP,0.00
$XPDR_PINGS,1
$SC_FREEKB,3873760
$24V_AH,13.28,23.162
$10V_AH,13.45,0.000
$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,13.075,88.400,260.875,67.725,0.000,53.008,60.112,107.671,0.250,0.000,21.802,0.000,6914.052,451.610,1601.829,72.880,0.000,1062.420,0.000,1101.076,0.000,0.539,0.000
$DEVICE_MAMPS,480.420,2266.695,1642.455,252.450,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4973.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.882,0.000,0.000,0.000
$MEM,344072
$DATA_FILE_SIZE,17382,682
$CAP_FILE_SIZE,92771,0
$CFSIZE,1023623168,1010434048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.023,249.30,1
$GPS,251218,074724,-5953.434,-9.579,17,0.8,45,-19.6,0.8,297.1,9,9.8