version: 66.14
glider: 640
mission: 5
dive: 51
start: 12 21 118 6 3 9
data:
$ID,640
$MISSION,5
$DIVE,51
$N_DIVES,75
$STOP_T,12271812
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,400
$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,110
$T_MISSION,130
$T_ABORT,160
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$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,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,602
$VBD_MAX,3962
$C_VBD,2630
$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
$GPS1,211218,055831,-6012.1396,-11.0609,8,0.8,36,-19.6,0.2,60.6,10,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-61.4
$GPS2,211218,060252,-6012.1274,-11.0858,9,1.0,18,-19.6,0.0,295.7,8,9.7
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,29.6,133998,-16.8,-9.091,-19.85,2456
$D_GRID,300
$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,-0.67,-146.0,235,2069,1704,1738,0.0,0.0,0,101,0.00,0.00,-89.80,0.000,16386,0.000,0.000,233,2069,3111,3190,3033,0,0,0,0,0,0,14.60,28.83,14.62,6.15,49.33
$GC,102,-0.67,-146.0,234,2069,3191,3035,3.2,-6.0,18,121,5.95,2.78,-4.47,0.000,18692,0.370,2.293,2163,3510,3225,3318,3133,0,0,0,0,0,0,14.24,13.51,14.47,6.27,49.29
$GC,229,-0.67,-146.0,2163,3511,3320,3134,25.0,-16.4,44,234,0.05,2.35,0.00,0.000,3078,0.379,0.050,2180,2140,3225,3318,3132,0,0,0,0,0,0,14.24,14.40,14.39,6.28,47.99
$GC,355,-0.67,-146.0,2179,2139,3320,3133,44.7,-14.7,69,360,0.00,2.58,0.00,0.000,2564,0.000,0.076,2180,692,3226,3319,3133,0,0,0,0,0,0,14.65,14.40,14.65,6.28,48.38
$GC,389,-0.67,-146.0,2180,694,3320,3134,49.7,-14.1,76,394,0.00,2.45,0.00,0.000,3078,0.000,0.065,2170,2092,3225,3318,3133,0,0,0,0,0,0,14.47,14.42,14.50,6.28,48.93
$GC,515,-0.67,-146.0,2169,2093,3320,3134,68.0,-14.6,101,520,0.00,2.53,0.00,0.000,2308,0.000,0.090,2159,3508,3226,3319,3133,0,0,0,0,0,0,14.69,14.43,14.69,6.28,48.34
$GC,534,-0.67,-146.0,2164,3508,3320,3134,71.0,-15.2,105,540,0.05,2.40,0.00,0.000,3078,0.389,0.053,2176,2099,3225,3318,3133,0,0,0,0,0,0,14.31,14.47,14.45,6.28,48.58
$GC,660,-0.67,-146.0,2176,2099,3320,3134,89.6,-15.0,130,664,0.00,2.50,0.00,0.000,2564,0.000,0.077,2175,690,3225,3319,3132,0,0,0,0,0,0,14.71,14.47,14.71,6.28,48.38
$GC,685,-0.67,-146.0,2176,691,3320,3133,93.7,-17.0,135,689,0.03,2.45,0.00,0.000,3078,0.482,0.066,2172,2095,3226,3319,3134,0,0,0,0,0,0,14.33,14.48,14.47,6.28,48.42
$GC,810,-0.67,-146.0,2173,2096,3320,3133,112.9,-15.3,148,814,0.00,2.53,0.00,0.000,2308,0.000,0.093,2164,3515,3226,3319,3133,0,0,0,0,0,0,14.73,14.48,14.73,6.28,48.54
$GC,880,-0.67,-146.0,2159,3516,3319,3133,121.6,-14.3,151,884,0.05,2.40,0.00,0.000,3078,0.380,0.051,2180,2096,3226,3319,3133,0,0,0,0,0,0,14.38,14.52,14.51,6.28,48.77
$GC,1190,-0.67,-146.0,2180,2096,3320,3134,162.6,-12.4,167,1194,0.00,2.47,0.00,0.000,2564,0.000,0.076,2180,689,3226,3319,3133,0,0,0,0,0,0,14.79,14.54,14.79,6.29,50.23
$GC,1280,-0.67,-146.0,2180,690,3319,3134,172.6,-12.5,171,1285,0.00,2.45,0.00,0.000,3078,0.000,0.065,2170,2107,3226,3319,3133,0,0,0,0,0,0,14.62,14.57,14.64,6.29,50.39
$GC,1590,-0.67,-146.0,2170,2108,3319,3133,211.9,-12.3,187,1590,0.00,0.00,0.00,0.000,2054,0.000,0.000,2170,2107,3223,3314,3133,0,0,0,0,0,0,14.83,14.83,14.83,6.31,51.29
$GC,1890,-0.67,-146.0,2165,2108,3320,3133,248.6,-12.3,202,1895,0.00,2.47,0.00,0.000,2564,0.000,0.076,2170,690,3225,3318,3133,0,0,0,0,0,0,14.85,14.61,14.85,6.31,51.92
$GC,1930,-0.67,-146.0,2170,691,3320,3132,253.6,-12.5,204,1935,0.05,2.42,0.00,0.000,3078,0.399,0.065,2176,2097,3226,3319,3133,0,0,0,0,0,0,14.46,14.61,14.61,6.31,51.22
$GC,2250,-0.67,-146.0,2176,2098,3320,3132,291.5,-11.8,220,2254,0.00,2.47,0.00,0.000,2308,0.000,0.091,2167,3503,3226,3319,3133,0,0,0,0,0,0,14.87,14.62,14.87,6.31,51.85
$GC,2280,-0.67,-146.0,2167,3503,3320,3132,293.9,-11.9,221,2284,0.00,2.35,0.00,0.000,3078,0.000,0.051,2166,2097,3226,3319,3133,0,0,0,0,0,0,14.69,14.65,14.71,6.32,51.77
$STATE,2329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2329,begin apogee
$GC,2332,-0.15,0.0,2166,2162,3319,3133,301.1,-12.1,224,2470,0.52,0.00,133.62,1.507,10246,0.279,0.000,2353,2162,2624,2680,2569,0,0,0,0,0,0,14.52,13.91,13.32,6.32,50.98
$STATE,2471,end apogee,CONTROL_FINISHED_OK
$STATE,2471,begin climb
$GC,2472,0.67,146.0,2354,2162,2680,2568,305.4,0.0,231,2617,0.68,2.60,137.52,1.424,10500,0.200,0.090,2600,3546,2029,2047,2011,0,0,0,0,0,0,13.85,13.61,13.16,6.27,49.56
$GC,2651,0.67,146.0,2601,3547,2047,2006,289.9,11.6,240,2655,0.00,2.50,0.00,0.000,3078,0.000,0.054,2611,2148,2025,2046,2004,0,0,0,0,0,0,13.90,13.85,13.92,6.22,47.79
$GC,2966,0.67,146.0,2611,2148,2042,1995,246.8,13.6,256,2970,0.00,2.58,0.00,0.000,2564,0.000,0.084,2621,740,2017,2041,1994,0,0,0,0,0,0,14.45,14.20,14.45,6.22,49.84
$GC,3016,0.67,146.0,2623,740,2041,1992,241.6,13.3,258,3020,0.00,2.47,0.00,0.000,5126,0.000,0.063,2622,2136,2016,2039,1993,0,0,0,0,0,0,14.30,14.23,14.32,6.22,49.60
$GC,3326,0.67,146.0,2623,2138,2041,1992,196.8,14.1,274,3330,0.00,2.58,0.00,0.000,4356,0.000,0.093,2622,3558,2015,2039,1992,0,0,0,0,0,0,14.60,14.35,14.61,6.22,50.82
$GC,3421,0.67,146.0,2622,3559,2040,1993,185.8,13.7,278,3426,0.05,2.42,0.00,0.000,5126,0.339,0.055,2615,2146,2015,2039,1991,0,0,0,0,0,0,14.28,14.42,14.41,6.22,50.31
$GC,3726,0.67,146.0,2616,2146,2040,1990,142.3,13.8,294,3730,0.00,2.50,0.00,0.000,516,0.000,0.081,2624,747,2014,2039,1989,0,0,0,0,0,0,14.70,14.45,14.71,6.22,50.59
$GC,3776,0.67,146.0,2624,748,2038,1990,137.0,13.6,296,3780,0.00,2.45,0.00,0.000,5126,0.000,0.063,2625,2154,2013,2038,1989,0,0,0,0,0,0,14.54,14.47,14.56,6.22,50.35
$GC,4081,0.67,146.0,2625,2155,2038,1989,94.8,12.7,317,4085,0.00,2.50,0.00,0.000,4356,0.000,0.091,2625,3555,2013,2038,1989,0,0,0,0,0,0,14.76,14.50,14.76,6.21,50.23
$GC,4126,0.67,146.0,2625,3557,2039,1989,88.9,12.6,326,4131,0.05,2.38,0.00,0.000,5126,0.340,0.053,2617,2157,2013,2038,1989,0,0,0,0,0,0,14.42,14.54,14.54,6.21,49.84
$GC,4251,0.67,146.0,2617,2157,2045,1990,73.8,12.1,351,4255,0.00,2.53,0.00,0.000,516,0.000,0.080,2626,740,2013,2038,1988,0,0,0,0,0,0,14.76,14.52,14.77,6.21,49.33
$GC,4301,0.67,146.0,2626,740,2039,1989,68.2,10.9,361,4305,0.00,2.45,0.00,0.000,5126,0.000,0.062,2626,2155,2013,2038,1988,0,0,0,0,0,0,14.59,14.54,14.62,6.20,49.40
$GC,4426,0.67,146.0,2627,2156,2038,1988,53.3,12.0,386,4430,0.00,2.50,0.00,0.000,4356,0.000,0.093,2626,3583,2012,2038,1987,0,0,0,0,0,0,14.78,14.53,14.78,6.19,48.81
$GC,4496,0.67,146.0,2627,3583,2038,1988,44.9,11.3,400,4501,0.05,2.42,0.00,0.000,5126,0.344,0.052,2619,2145,2013,2038,1988,0,0,0,0,0,0,14.43,14.56,14.57,6.20,48.46
$GC,4621,0.67,146.0,2619,2145,2039,1988,31.2,10.4,425,4625,0.00,2.47,0.00,0.000,4612,0.000,0.080,2628,747,2013,2038,1988,0,0,0,0,0,0,14.78,14.54,14.78,6.19,48.77
$GC,4671,0.67,146.0,2629,748,2038,1988,26.3,10.1,435,4675,0.00,2.42,0.00,0.000,5126,0.000,0.063,2628,2153,2012,2038,1987,0,0,0,0,0,0,14.62,14.57,14.63,6.18,49.05
$GC,4796,0.67,146.0,2628,2152,2039,1987,12.8,12.3,460,4801,0.00,2.50,0.00,0.000,4356,0.000,0.093,2628,3556,2012,2038,1987,0,0,0,0,0,0,14.79,14.53,14.80,6.18,48.77
$GC,4836,0.67,146.0,2629,3557,2039,1987,6.8,14.1,468,4841,0.05,2.35,0.00,0.000,5126,0.334,0.050,2620,2155,2012,2037,1987,0,0,0,0,0,0,14.45,14.59,14.58,6.19,48.81
$STATE,4870,end climb,SURFACE_DEPTH_REACHED
$STATE,4870,begin surface coast
$STATE,4890,end surface coast,CONTROL_FINISHED_OK
$STATE,4890,begin surface
$SM_CCo,4902,70.60,0.249,0,0,1733,220.03
$SM_GC,1.14,5.78,0.08,70.60,0.140,0.170,0.249,273,2080,1733,-6.45,1.07,220.03,0,0,0,0,0,0,14.62,14.59,14.38
$IRIDIUM_FIX,-6010.00,-12.97,211218,043116
$TT8_MAMPS,0.03745,0.243425
$HUMID,48.50
$INTERNAL_PRESSURE,6.10897
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3894752
$24V_AH,13.16,16.422
$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,13.350,84.400,271.150,70.600,0.000,22.560,36.323,107.581,0.000,0.000,19.216,0.000,3503.223,456.920,1235.258,45.942,0.000,946.263,0.000,834.947,0.000,0.539,0.000
$DEVICE_MAMPS,481.950,2292.705,1507.050,248.625,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4883.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.990,0.000,0.000,0.000
$MEM,344100
$DATA_FILE_SIZE,13915,479
$CAP_FILE_SIZE,73818,0
$CFSIZE,1023623168,1014497280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.029,244.55,1
$GPS,211218,072637,-6011.644,-11.101,8,1.2,16,-19.6,0.0,66.1,8,9.4