version: 66.14
glider: 640
mission: 5
dive: 60
start: 12 21 118 21 28 0
data:
$ID,640
$MISSION,5
$DIVE,60
$N_DIVES,85
$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,190
$T_ABORT,200
$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,40
$R_STBD_OVSHOOT,24
$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
$GPS1,211218,212331,-6008.2363,-11.9758,6,0.9,39,-19.6,0.0,316.8,9,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-68.2
$GPS2,211218,212741,-6008.2158,-12.0094,8,0.9,14,-19.6,0.4,5.4,9,9.6
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,35.2,126854,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8,-0.67,-146.0,234,2084,1769,1797,0.0,0.0,0,104,0.00,0.00,-93.60,0.000,16386,0.000,0.000,233,2083,3213,3294,3132,0,0,0,0,0,0,14.62,28.83,14.62,6.15,49.17
$GC,105,-0.67,-146.0,234,2084,3295,3132,3.4,-7.7,19,120,5.97,2.70,-2.78,0.000,18692,0.370,2.285,2162,3506,3287,3376,3199,0,0,0,0,0,0,14.23,13.50,14.43,6.27,48.66
$GC,159,-0.67,-146.0,2162,3507,3378,3200,13.5,-16.6,30,163,0.05,2.38,0.00,0.000,3078,0.365,0.050,2179,2116,3287,3376,3199,0,0,0,0,0,0,14.24,14.38,14.37,6.29,48.38
$GC,284,-0.67,-146.0,2179,2116,3379,3200,35.8,-18.7,55,288,0.00,2.53,0.00,0.000,2564,0.000,0.076,2179,669,3289,3378,3200,0,0,0,0,0,0,14.65,14.42,14.64,6.28,47.71
$GC,299,-0.67,-146.0,2179,669,3378,3199,38.9,-20.4,58,303,0.00,2.50,0.00,0.000,3078,0.000,0.064,2170,2098,3284,3369,3199,0,0,0,0,0,0,14.47,14.41,14.48,6.28,48.38
$GC,424,-0.67,-146.0,2169,2100,3377,3199,60.5,-16.6,83,425,0.00,0.00,0.00,0.000,2054,0.000,0.000,2169,2101,3287,3377,3198,0,0,0,0,0,0,14.68,14.68,14.68,6.28,48.34
$GC,544,-0.67,-146.0,2169,2100,3379,3199,79.7,-15.7,107,545,0.00,0.00,0.00,0.000,2054,0.000,0.000,2169,2099,3288,3377,3199,0,0,0,0,0,0,14.70,14.71,14.70,6.29,48.54
$GC,664,-0.67,-146.0,2169,2100,3378,3200,99.1,-15.7,131,665,0.00,0.00,0.00,0.000,2054,0.000,0.000,2169,2100,3288,3377,3199,0,0,0,0,0,0,14.72,14.73,14.73,6.28,48.74
$GC,794,-0.67,-146.0,2169,2100,3379,3200,119.2,-15.7,139,798,0.00,2.47,0.00,0.000,2564,0.000,0.076,2169,693,3288,3377,3199,0,0,0,0,0,0,14.76,14.51,14.75,6.28,48.58
$GC,809,-0.67,-146.0,2169,694,3378,3200,119.2,-15.7,139,813,0.05,2.45,0.00,0.000,3078,0.397,0.061,2174,2106,3288,3377,3199,0,0,0,0,0,0,14.35,14.52,14.52,6.28,49.44
$GC,1114,-0.67,-146.0,2174,2107,3378,3200,164.3,-13.5,155,1118,0.00,2.45,0.00,0.000,2308,0.000,0.087,2165,3500,3288,3377,3199,0,0,0,0,0,0,14.79,14.54,14.80,6.29,50.07
$GC,1189,-0.67,-146.0,2165,3502,3378,3199,172.5,-13.7,158,1194,0.03,2.35,0.00,0.000,3078,0.481,0.049,2172,2097,3288,3377,3199,0,0,0,0,0,0,14.41,14.57,14.58,6.30,50.15
$GC,1494,-0.67,-146.0,2173,2096,3379,3198,215.5,-13.4,174,1499,0.00,2.45,0.00,0.000,2564,0.000,0.076,2172,697,3287,3377,3198,0,0,0,0,0,0,14.83,14.58,14.83,6.31,50.63
$GC,1529,-0.67,-146.0,2171,698,3378,3199,218.3,-13.6,175,1533,0.05,2.40,0.00,0.000,3078,0.379,0.060,2179,2097,3287,3377,3198,0,0,0,0,0,0,14.45,14.59,14.59,6.31,50.94
$GC,1834,-0.67,-146.0,2179,2097,3379,3199,260.2,-13.0,191,1838,0.00,2.47,0.00,0.000,2308,0.000,0.088,2170,3508,3287,3377,3198,0,0,0,0,0,0,14.85,14.59,14.85,6.31,51.02
$GC,1859,-0.67,-146.0,2170,3506,3378,3197,262.8,-13.1,192,1864,0.00,2.35,0.00,0.000,3078,0.000,0.050,2170,2102,3287,3377,3198,0,0,0,0,0,0,14.68,14.63,14.70,6.32,50.74
$STATE,2133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2133,begin apogee
$GC,2136,-0.15,0.0,2170,2170,3378,3199,300.6,-13.5,206,2273,0.50,0.00,132.00,1.553,10246,0.277,0.000,2347,2169,2683,2740,2627,0,0,0,0,0,0,14.52,13.90,13.31,6.32,51.02
$STATE,2274,end apogee,CONTROL_FINISHED_OK
$STATE,2274,begin loiter
$GC,2574,-0.15,0.0,2348,2170,2740,2615,296.9,3.2,228,2574,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2169,2676,2739,2614,0,0,0,0,0,0,14.55,14.56,14.56,6.27,50.23
$GC,2874,-0.15,0.0,2348,2170,2739,2612,287.2,3.2,243,2874,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2169,2675,2739,2612,0,0,0,0,0,0,14.69,14.69,14.69,6.27,50.86
$GC,3174,-0.15,0.0,2348,2170,2741,2611,277.7,3.2,258,3174,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2169,2675,2739,2611,0,0,0,0,0,0,14.78,14.78,14.78,6.27,50.70
$GC,3474,-0.15,0.0,2348,2170,2740,2611,268.3,3.2,273,3475,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2169,2674,2738,2611,0,0,0,0,0,0,14.83,14.83,14.83,6.27,50.90
$GC,3774,-0.15,0.0,2348,2170,2740,2610,258.9,3.1,288,3774,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2169,2675,2739,2611,0,0,0,0,0,0,14.88,14.88,14.88,6.28,51.02
$GC,4074,-0.15,0.0,2347,2170,2739,2612,249.3,3.2,303,4074,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2169,2674,2738,2610,0,0,0,0,0,0,14.91,14.91,14.91,6.27,51.14
$GC,4374,-0.15,0.0,2348,2170,2739,2611,239.9,3.1,318,4374,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2169,2674,2738,2610,0,0,0,0,0,0,14.94,14.94,14.94,6.27,51.29
$GC,4674,-0.15,0.0,2348,2170,2739,2611,230.6,3.1,333,4674,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2169,2674,2738,2610,0,0,0,0,0,0,14.96,14.97,14.97,6.27,50.94
$GC,4974,-0.15,0.0,2348,2170,2739,2611,221.6,3.1,348,4975,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2169,2674,2738,2610,0,0,0,0,0,0,14.98,14.98,14.98,6.27,50.98
$GC,5274,-0.15,0.0,2347,2170,2739,2611,212.5,3.1,363,5274,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2169,2674,2739,2610,0,0,0,0,0,0,15.00,15.00,15.00,6.27,50.86
$GC,5574,-0.15,0.0,2348,2170,2739,2612,203.1,3.1,378,5575,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2169,2675,2739,2611,0,0,0,0,0,0,15.01,15.01,15.01,6.27,50.94
$STATE,5873,end loiter,LOITER_COMPLETE
$STATE,5873,begin climb
$GC,5874,0.67,146.0,2348,2170,2740,2610,193.2,0.0,393,6015,0.65,2.60,133.55,1.375,10756,0.187,0.082,2617,742,2087,2110,2065,0,0,0,0,0,0,14.71,13.97,13.45,6.27,51.02
$GC,6074,0.67,146.0,2617,743,2108,2055,176.8,11.3,403,6078,0.00,2.47,0.00,0.000,1030,0.000,0.059,2617,2138,2080,2105,2055,0,0,0,0,0,0,14.16,14.11,14.19,6.23,48.93
$GC,6394,0.67,146.0,2617,2139,2104,2049,136.3,12.4,419,6399,0.00,2.55,0.00,0.000,260,0.000,0.086,2617,3558,2075,2103,2048,0,0,0,0,0,0,14.59,14.34,14.59,6.23,49.88
$GC,6459,0.67,146.0,2617,3559,2103,2048,128.9,12.3,422,6463,0.00,2.40,0.00,0.000,5126,0.000,0.051,2627,2146,2074,2102,2047,0,0,0,0,0,0,14.43,14.38,14.45,6.23,49.88
$GC,6764,0.67,146.0,2627,2147,2102,2044,89.5,12.1,448,6768,0.00,2.50,0.00,0.000,4612,0.000,0.080,2639,746,2072,2102,2043,0,0,0,0,0,0,14.70,14.45,14.70,6.21,49.25
$GC,6804,0.67,146.0,2638,747,2102,2043,84.9,11.4,456,6808,0.05,2.40,0.00,0.000,5126,0.314,0.058,2619,2141,2071,2101,2042,0,0,0,0,0,0,14.34,14.48,14.49,6.21,49.44
$GC,6929,0.67,146.0,2619,2141,2102,2041,71.0,10.8,481,6933,0.00,2.53,0.00,0.000,4356,0.000,0.087,2620,3556,2071,2101,2041,0,0,0,0,0,0,14.72,14.47,14.72,6.21,49.13
$GC,6969,0.67,146.0,2620,3557,2101,2043,66.5,11.0,489,6973,0.00,2.38,0.00,0.000,5126,0.000,0.050,2629,2155,2071,2101,2041,0,0,0,0,0,0,14.56,14.50,14.57,6.20,48.97
$GC,7094,0.67,146.0,2630,2155,2102,2041,52.7,11.2,514,7098,0.00,2.53,0.00,0.000,4612,0.000,0.080,2640,737,2071,2101,2041,0,0,0,0,0,0,14.74,14.49,14.74,6.20,48.62
$GC,7144,0.67,146.0,2641,737,2100,2041,47.4,10.0,524,7148,0.05,2.42,0.00,0.000,5126,0.313,0.058,2620,2147,2070,2100,2041,0,0,0,0,0,0,14.40,14.52,14.53,6.20,48.89
$GC,7269,0.67,146.0,2621,2148,2100,2041,35.5,9.1,549,7273,0.00,2.50,0.00,0.000,4356,0.000,0.088,2621,3554,2069,2099,2040,0,0,0,0,0,0,14.76,14.50,14.76,6.20,48.66
$GC,7344,0.67,146.0,2621,3555,2101,2040,27.7,10.5,564,7348,0.00,2.38,0.00,0.000,5126,0.000,0.050,2630,2147,2070,2100,2040,0,0,0,0,0,0,14.59,14.52,14.62,6.19,48.54
$GC,7469,0.67,146.0,2631,2147,2101,2040,14.0,10.2,589,7473,0.00,2.50,0.00,0.000,4612,0.000,0.081,2641,715,2070,2100,2040,0,0,0,0,0,0,14.77,14.54,14.78,6.20,49.17
$GC,7504,0.69,157.3,2642,716,2099,2040,10.9,8.6,596,7514,0.05,2.47,5.15,0.307,13318,0.313,0.060,2622,2156,2044,2072,2017,0,0,0,0,0,0,14.43,14.54,14.39,6.19,49.52
$STATE,7593,end climb,SURFACE_DEPTH_REACHED
$STATE,7593,begin surface coast
$STATE,7618,end surface coast,CONTROL_FINISHED_OK
$STATE,7618,begin surface
$SM_CCo,7628,63.15,0.252,0,0,1791,220.03
$SM_GC,1.19,5.45,0.10,63.15,0.060,0.148,0.252,269,2074,1791,-6.45,0.76,220.03,0,0,0,0,0,0,14.63,14.57,14.36
$IRIDIUM_FIX,-6011.87,-12.99,211218,193323
$TT8_MAMPS,0.038948,0.089131
$HUMID,48.74
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3890144
$24V_AH,13.31,17.845
$10V_AH,13.49,0.000
$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,12.900,64.325,270.700,63.150,0.000,23.930,31.856,93.158,0.000,0.000,15.335,0.000,6070.953,431.886,1394.522,53.418,0.000,983.532,0.000,986.918,0.000,0.539,0.000
$DEVICE_MAMPS,481.185,2285.055,1552.950,252.450,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4010.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.905,0.000,0.000,0.000
$MEM,344120
$DATA_FILE_SIZE,17340,619
$CAP_FILE_SIZE,82287,0
$CFSIZE,1023623168,1013579776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.046,289.21,1
$GPS,211218,233701,-6007.665,-12.070,17,0.9,28,-19.6,0.9,229.7,11,10.0