version: 66.14
glider: 640
mission: 5
dive: 118
start: 12 27 118 22 42 37
data:
$ID,640
$MISSION,5
$DIVE,118
$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,45
$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
$GPS1,271218,223731,-5944.1411,-5.8256,19,0.8,42,-19.7,1.0,7.8,11,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-52.5
$GPS2,271218,224219,-5944.1929,-5.7705,9,0.9,15,-19.7,1.3,88.4,11,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,15.5,82030,-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,-146.0,232,2088,1765,1798,0.0,0.0,0,114,0.00,0.00,-102.12,0.000,16390,0.000,0.000,232,2088,3283,3367,3200,0,0,0,0,0,0,14.59,13.74,14.60,6.17,49.96
$GC,116,-0.64,-146.0,232,2089,3368,3202,3.0,-5.7,21,126,6.03,2.50,0.00,0.000,2308,0.362,0.070,2181,3516,3285,3369,3201,0,0,0,0,0,0,14.22,14.38,14.36,6.29,48.89
$GC,180,-0.64,-146.0,2180,3518,3374,3198,11.3,-13.6,34,185,0.00,2.38,0.00,0.000,3078,0.000,0.041,2179,2109,3286,3374,3198,0,0,0,0,0,0,14.45,14.41,14.46,6.29,48.74
$GC,305,-0.64,-146.0,2179,2109,3375,3198,27.7,-13.7,59,306,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2103,3290,3374,3207,0,0,0,0,0,0,14.65,14.65,14.65,6.29,48.85
$GC,425,-0.64,-146.0,2179,2109,3375,3199,43.7,-11.7,83,429,0.03,2.47,0.00,0.000,2564,0.629,0.063,2189,696,3286,3374,3198,0,0,0,0,0,0,14.32,14.43,14.51,6.30,48.70
$GC,460,-0.64,-146.0,2189,697,3375,3199,47.8,-11.6,90,465,0.00,2.45,0.00,0.000,3078,0.000,0.057,2179,2106,3286,3374,3198,0,0,0,0,0,0,14.51,14.45,14.52,6.29,48.77
$GC,585,-0.64,-146.0,2179,2106,3375,3198,62.2,-12.1,115,589,0.00,2.47,0.00,0.000,2564,0.000,0.066,2179,696,3286,3374,3198,0,0,0,0,0,0,14.70,14.45,14.70,6.29,49.21
$GC,640,-0.64,-146.0,2179,697,3374,3199,68.9,-11.6,126,645,0.08,2.42,0.00,0.000,3078,0.333,0.058,2194,2098,3286,3374,3198,0,0,0,0,0,0,14.33,14.47,14.46,6.29,49.01
$GC,766,-0.64,-146.0,2195,2099,3375,3198,83.7,-12.3,151,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2098,3286,3374,3198,0,0,0,0,0,0,14.71,14.72,14.72,6.29,48.38
$GC,890,-0.64,-146.0,2194,2099,3374,3198,97.8,-10.3,176,894,0.00,2.47,0.00,0.000,516,0.000,0.066,2194,692,3286,3374,3198,0,0,0,0,0,0,14.73,14.50,14.73,6.29,48.66
$GC,910,-0.64,-146.0,2193,692,3375,3198,99.9,-10.6,180,914,0.00,2.42,0.00,0.000,3078,0.000,0.058,2193,2097,3286,3374,3198,0,0,0,0,0,0,14.57,14.50,14.57,6.29,48.62
$GC,1035,-0.64,-146.0,2185,2098,3375,3198,112.9,-10.6,187,1036,0.00,0.00,0.00,0.000,2054,0.000,0.000,2184,2097,3285,3374,3197,0,0,0,0,0,0,14.75,14.76,14.76,6.29,48.93
$GC,1335,-0.64,-146.0,2186,2098,3375,3198,139.5,-10.1,202,1340,0.00,2.47,0.00,0.000,2308,0.000,0.083,2174,3499,3286,3374,3198,0,0,0,0,0,0,14.78,14.53,14.78,6.24,49.76
$GC,1405,-0.64,-146.0,2174,3501,3374,3199,146.9,-12.0,205,1409,0.05,2.35,0.00,0.000,3078,0.366,0.043,2190,2098,3286,3374,3198,0,0,0,0,0,0,14.39,14.57,14.54,6.30,50.15
$GC,1715,-0.64,-146.0,2191,2097,3375,3197,188.9,-12.9,221,1719,0.00,2.42,0.00,0.000,2564,0.000,0.067,2190,706,3286,3374,3198,0,0,0,0,0,0,14.81,14.55,14.81,6.31,50.94
$GC,1785,-0.64,-146.0,2190,706,3375,3198,196.7,-12.9,224,1789,0.00,2.40,0.00,0.000,3078,0.000,0.058,2181,2102,3285,3374,3197,0,0,0,0,0,0,14.62,14.57,14.64,6.31,50.70
$GC,2095,-0.64,-146.0,2181,2103,3374,3198,240.1,-13.7,240,2099,0.00,2.45,0.00,0.000,2308,0.000,0.084,2171,3497,3285,3373,3197,0,0,0,0,0,0,14.83,14.57,14.83,6.32,50.98
$GC,2145,-0.64,-146.0,2171,3498,3374,3196,245.6,-13.7,242,2150,0.05,2.35,0.00,0.000,3078,0.356,0.043,2189,2092,3285,3374,3197,0,0,0,0,0,0,14.43,14.60,14.57,6.32,51.45
$GC,2455,-0.64,-146.0,2189,2091,3375,3197,285.4,-12.3,258,2459,0.00,2.42,0.00,0.000,2564,0.000,0.066,2189,697,3285,3374,3197,0,0,0,0,0,0,14.83,14.59,14.83,6.32,51.22
$GC,2495,-0.64,-146.0,2187,697,3374,3198,290.4,-12.4,260,2499,0.00,2.40,0.00,0.000,3078,0.000,0.057,2180,2099,3285,3374,3196,0,0,0,0,0,0,14.64,14.60,14.66,6.32,51.33
$GC,2815,-0.64,-146.0,2180,2100,3375,3198,329.5,-12.1,276,2820,0.00,2.47,0.00,0.000,2308,0.000,0.083,2169,3508,3285,3373,3197,0,0,0,0,0,0,14.85,14.59,14.85,6.33,51.92
$GC,2850,-0.64,-146.0,2169,3509,3374,3197,331.9,-12.2,277,2854,0.05,2.35,0.00,0.000,3078,0.356,0.044,2187,2100,3285,3374,3197,0,0,0,0,0,0,14.45,14.62,14.59,6.33,51.10
$STATE,2994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2994,begin apogee
$GC,2997,-0.15,0.0,2188,2155,3374,3192,350.6,-11.5,285,3129,0.45,0.00,128.90,1.626,10246,0.266,0.000,2349,2155,2687,2745,2629,0,0,0,0,0,0,14.48,13.90,13.30,6.33,50.94
$STATE,3130,end apogee,CONTROL_FINISHED_OK
$STATE,3130,begin loiter
$GC,3415,-0.15,0.0,2350,2155,2739,2616,344.1,3.9,306,3416,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2155,2676,2739,2614,0,0,0,0,0,0,14.55,14.55,14.55,6.28,50.55
$GC,3715,-0.15,0.0,2350,2155,2740,2612,332.8,3.8,321,3716,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2153,2675,2738,2612,0,0,0,0,0,0,14.69,14.70,14.70,6.28,51.45
$GC,4015,-0.15,0.0,2350,2155,2739,2612,321.6,3.8,336,4016,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2155,2674,2738,2611,0,0,0,0,0,0,14.78,14.78,14.78,6.28,50.90
$GC,4315,-0.15,0.0,2350,2155,2739,2610,310.3,3.9,351,4316,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2154,2674,2738,2610,0,0,0,0,0,0,14.84,14.84,14.84,6.28,50.82
$GC,4615,-0.15,0.0,2350,2155,2739,2610,298.6,3.9,366,4616,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2155,2673,2738,2609,0,0,0,0,0,0,14.88,14.89,14.89,6.28,51.06
$GC,4915,-0.15,0.0,2350,2155,2740,2608,286.7,4.0,381,4916,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2154,2673,2738,2609,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.45
$GC,5215,-0.15,0.0,2349,2155,2739,2609,274.9,3.9,396,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2154,2673,2738,2609,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.29
$GC,5515,-0.15,0.0,2350,2155,2739,2608,263.7,3.6,411,5516,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2154,2673,2738,2608,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.14
$GC,5815,-0.15,0.0,2350,2155,2739,2608,252.4,3.8,426,5816,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2155,2673,2738,2608,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.26
$GC,6115,-0.15,0.0,2350,2155,2739,2609,240.5,4.2,441,6116,0.00,0.00,0.00,0.000,2054,0.000,0.000,2350,2154,2673,2738,2608,0,0,0,0,0,0,15.00,15.01,15.01,6.28,51.92
$GC,6415,-0.15,0.0,2351,2155,2739,2607,227.5,4.4,456,6416,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2154,2673,2738,2608,0,0,0,0,0,0,15.02,15.02,15.02,6.27,50.98
$STATE,6714,end loiter,LOITER_COMPLETE
$STATE,6714,begin climb
$GC,6715,0.64,146.0,2350,2155,2739,2608,214.7,0.0,471,6856,0.62,2.58,131.48,1.401,10756,0.182,0.069,2610,751,2087,2112,2063,0,0,0,0,0,0,14.71,13.98,13.47,6.27,51.57
$GC,6975,0.64,146.0,2610,752,2107,2053,193.4,9.7,484,6979,0.00,2.45,0.00,0.000,5126,0.000,0.056,2610,2140,2079,2107,2052,0,0,0,0,0,0,14.23,14.19,14.26,6.23,49.09
$GC,7295,0.64,146.0,2611,2140,2105,2044,157.0,11.8,500,7300,0.00,2.53,0.00,0.000,4356,0.000,0.084,2610,3550,2074,2104,2044,0,0,0,0,0,0,14.62,14.35,14.62,6.23,50.07
$GC,7370,0.64,146.0,2610,3551,2104,2046,149.7,12.2,503,7375,0.03,2.38,0.00,0.000,5126,0.454,0.044,2606,2155,2078,2112,2044,0,0,0,0,0,0,14.24,14.42,14.39,6.23,50.55
$GC,7675,0.66,162.5,2611,2161,2103,2042,120.9,7.7,519,7694,0.00,2.53,12.55,1.400,8708,0.000,0.069,2620,738,2021,2046,1996,0,0,0,0,0,0,14.71,14.40,13.84,6.23,50.27
$GC,7805,0.66,162.5,2621,738,2047,1993,109.6,10.1,525,7809,0.00,2.45,0.00,0.000,5126,0.000,0.055,2620,2151,2019,2045,1993,0,0,0,0,0,0,14.46,14.41,14.49,6.22,49.76
$GC,8110,0.66,162.5,2621,2150,2046,1991,70.5,12.1,576,8114,0.00,2.50,0.00,0.000,4356,0.000,0.085,2621,3552,2018,2045,1991,0,0,0,0,0,0,14.72,14.46,14.72,6.20,49.72
$GC,8185,0.66,162.5,2621,3552,2046,1991,61.6,10.8,591,8191,0.05,2.38,0.00,0.000,5126,0.334,0.044,2613,2148,2018,2045,1991,0,0,0,0,0,0,14.33,14.52,14.47,6.20,48.85
$GC,8310,0.66,162.5,2613,2148,2046,1990,48.0,11.7,616,8314,0.00,2.45,0.00,0.000,516,0.000,0.069,2622,735,2018,2046,1990,0,0,0,0,0,0,14.73,14.50,14.74,6.19,48.70
$GC,8385,0.66,162.5,2622,736,2045,1989,39.3,11.2,631,8390,0.00,2.45,0.00,0.000,5126,0.000,0.057,2622,2158,2016,2043,1989,0,0,0,0,0,0,14.56,14.50,14.58,6.20,48.93
$GC,8510,0.66,162.5,2622,2156,2045,1988,23.5,12.8,656,8514,0.00,2.42,0.00,0.000,4356,0.000,0.081,2622,3556,2016,2043,1989,0,0,0,0,0,0,14.76,14.52,14.76,6.20,49.17
$GC,8580,0.66,162.5,2623,3557,2044,1989,14.5,13.1,670,8584,0.05,2.38,0.00,0.000,5126,0.340,0.046,2615,2142,2016,2043,1989,0,0,0,0,0,0,14.38,14.54,14.53,6.19,50.07
$STATE,8704,end climb,SURFACE_DEPTH_REACHED
$STATE,8704,begin surface coast
$STATE,8724,end surface coast,CONTROL_FINISHED_OK
$STATE,8724,begin surface
$SM_CCo,8735,54.33,0.251,0,0,1792,220.03
$SM_GC,0.75,5.55,0.00,54.33,0.086,0.000,0.251,274,2141,1792,-6.45,1.16,220.03,0,0,0,0,0,0,14.63,14.78,14.36
$IRIDIUM_FIX,-5944.87,-8.54,271218,200937
$TT8_MAMPS,0.03745,0.378245
$HUMID,49.21
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,6
$SC_FREEKB,3860448
$24V_AH,13.30,27.688
$10V_AH,13.22,0.000
$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,13.025,73.250,272.925,54.325,0.000,25.895,15.284,135.430,1.500,0.000,16.366,0.000,6936.726,438.170,1624.466,83.093,0.000,1081.411,0.000,1171.932,0.000,0.540,0.000
$DEVICE_MAMPS,628.830,172.125,1626.390,250.920,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5138.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.853,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,17374,699
$CAP_FILE_SIZE,92079,0
$CFSIZE,1023623168,1007878144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.059,117.02,1
$GPS,281218,011002,-5943.891,-5.353,16,0.8,34,-19.7,1.2,316.6,11,8.2