version: 66.14
glider: 640
mission: 5
dive: 99
start: 12 25 118 22 52 15
data:
$ID,640
$MISSION,5
$DIVE,99
$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,36
$R_STBD_OVSHOOT,28
$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
$GPS1,251218,224725,-5951.4766,-8.6233,16,0.9,39,-19.6,0.8,338.6,9,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-63.0
$GPS2,251218,225156,-5951.4741,-8.6517,9,0.9,16,-19.6,0.8,83.9,9,8.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,26.7,95687,-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,-146.0,233,2082,1768,1797,0.0,0.0,0,95,0.00,0.00,-84.03,0.000,16386,0.000,0.000,233,2082,3095,3175,3015,0,0,0,0,0,0,14.62,28.83,14.63,6.16,50.19
$GC,96,-0.64,-146.0,234,2082,3176,3016,3.0,-4.2,17,115,6.00,2.62,-7.95,0.000,18948,0.364,2.266,2188,696,3288,3383,3193,0,0,0,0,0,0,14.23,13.46,14.39,6.28,49.05
$GC,220,-0.64,-146.0,2188,697,3383,3197,20.1,-15.1,42,225,0.03,2.45,0.00,0.000,3078,0.475,0.058,2185,2101,3285,3376,3195,0,0,0,0,0,0,14.23,14.40,14.39,6.29,48.14
$GC,345,-0.64,-146.0,2185,2102,3383,3196,39.8,-13.9,67,349,0.00,2.47,0.00,0.000,2308,0.000,0.085,2175,3510,3292,3389,3195,0,0,0,0,0,0,14.66,14.43,14.66,6.29,48.74
$GC,400,-0.64,-146.0,2176,3511,3384,3195,47.5,-13.7,78,405,0.05,2.38,0.00,0.000,3078,0.366,0.044,2192,2104,3289,3383,3195,0,0,0,0,0,0,14.29,14.46,14.45,6.29,48.85
$GC,525,-0.64,-146.0,2193,2103,3384,3195,65.0,-14.1,103,529,0.00,2.47,0.00,0.000,2564,0.000,0.068,2193,677,3289,3384,3195,0,0,0,0,0,0,14.69,14.47,14.69,6.30,48.93
$GC,540,-0.64,-146.0,2193,677,3385,3195,67.2,-14.5,106,545,0.00,2.47,0.00,0.000,3078,0.000,0.058,2183,2102,3289,3383,3195,0,0,0,0,0,0,14.52,14.46,14.54,6.29,48.70
$GC,665,-0.64,-146.0,2183,2103,3385,3195,85.4,-14.4,131,669,0.00,2.50,0.00,0.000,2308,0.000,0.083,2172,3509,3289,3383,3195,0,0,0,0,0,0,14.71,14.46,14.71,6.29,48.62
$GC,680,-0.64,-146.0,2172,3510,3383,3196,87.6,-14.4,134,685,0.05,2.40,0.00,0.000,3078,0.368,0.047,2189,2095,3289,3383,3195,0,0,0,0,0,0,14.33,14.50,14.48,6.29,48.54
$GC,810,-0.64,-146.0,2190,2095,3384,3195,105.8,-14.2,154,811,0.00,0.00,0.00,0.000,2054,0.000,0.000,2189,2094,3289,3383,3195,0,0,0,0,0,0,14.73,14.73,14.73,6.29,48.50
$GC,1110,-0.64,-146.0,2189,2094,3384,3195,148.2,-13.8,169,1114,0.00,2.45,0.00,0.000,2564,0.000,0.069,2189,698,3289,3383,3195,0,0,0,0,0,0,14.77,14.52,14.77,6.29,49.44
$GC,1175,-0.64,-146.0,2189,699,3383,3196,156.3,-13.7,172,1180,0.00,2.40,0.00,0.000,3078,0.000,0.057,2179,2095,3288,3382,3195,0,0,0,0,0,0,14.59,14.54,14.62,6.30,49.92
$GC,1490,-0.64,-146.0,2180,2096,3383,3196,198.8,-12.9,188,1494,0.00,2.47,0.00,0.000,2308,0.000,0.083,2169,3502,3288,3382,3195,0,0,0,0,0,0,14.80,14.54,14.80,6.31,50.98
$GC,1535,-0.64,-146.0,2169,3502,3384,3195,204.0,-12.9,190,1539,0.08,2.35,0.00,0.000,3078,0.325,0.044,2195,2096,3288,3382,3195,0,0,0,0,0,0,14.43,14.59,14.57,6.31,51.81
$GC,1850,-0.64,-146.0,2195,2095,3383,3196,242.0,-11.8,206,1854,0.00,2.45,0.00,0.000,516,0.000,0.068,2195,693,3288,3382,3195,0,0,0,0,0,0,14.81,14.57,14.81,6.34,51.18
$GC,1905,-0.64,-146.0,2195,694,3382,3196,246.8,-11.9,208,1910,0.00,2.40,0.00,0.000,3078,0.000,0.057,2186,2096,3288,3382,3195,0,0,0,0,0,0,14.63,14.59,14.67,6.32,51.69
$GC,2210,-0.64,-146.0,2186,2097,3383,3196,286.3,-12.6,224,2215,0.00,2.47,0.00,0.000,2308,0.000,0.083,2175,3504,3287,3380,3195,0,0,0,0,0,0,14.83,14.58,14.83,6.33,51.49
$GC,2235,-0.64,-146.0,2176,3505,3382,3196,288.8,-12.6,225,2239,0.05,2.35,0.00,0.000,3078,0.363,0.044,2193,2096,3288,3382,3195,0,0,0,0,0,0,14.44,14.61,14.59,6.33,51.41
$GC,2550,-0.64,-146.0,2193,2095,3382,3196,328.3,-12.4,241,2554,0.00,2.42,0.00,0.000,2564,0.000,0.067,2193,702,3288,3382,3195,0,0,0,0,0,0,14.84,14.60,14.84,6.33,51.37
$GC,2620,-0.64,-146.0,2194,703,3382,3195,335.8,-12.6,244,2624,0.00,2.40,0.00,0.000,3078,0.000,0.057,2183,2104,3288,3382,3195,0,0,0,0,0,0,14.66,14.60,14.68,6.33,51.10
$STATE,2729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2729,begin apogee
$GC,2732,-0.15,0.0,2184,2167,3382,3195,350.7,-12.5,250,2865,0.47,0.00,129.48,1.607,10246,0.271,0.000,2353,2166,2686,2745,2627,0,0,0,0,0,0,14.49,13.90,13.29,6.33,51.02
$STATE,2866,end apogee,CONTROL_FINISHED_OK
$STATE,2866,begin loiter
$GC,3150,-0.15,0.0,2353,2167,2740,2616,348.5,2.8,271,3150,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2166,2677,2740,2614,0,0,0,0,0,0,14.54,14.55,14.54,6.28,50.70
$GC,3450,-0.15,0.0,2354,2166,2741,2612,340.2,2.8,286,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2167,2676,2740,2612,0,0,0,0,0,0,14.69,14.69,14.69,6.28,50.70
$GC,3750,-0.15,0.0,2354,2167,2740,2612,331.8,2.8,301,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2167,2675,2739,2611,0,0,0,0,0,0,14.78,14.78,14.78,6.28,50.63
$GC,4050,-0.15,0.0,2353,2167,2740,2612,323.2,3.0,316,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2166,2674,2739,2610,0,0,0,0,0,0,14.83,14.84,14.84,6.28,50.98
$GC,4350,-0.15,0.0,2354,2167,2740,2611,314.1,3.1,331,4351,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2166,2674,2739,2609,0,0,0,0,0,0,14.88,14.88,14.88,6.28,50.90
$GC,4650,-0.15,0.0,2353,2167,2740,2610,304.3,3.4,346,4651,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2166,2674,2740,2609,0,0,0,0,0,0,14.92,14.92,14.92,6.27,51.02
$GC,4950,-0.15,0.0,2354,2167,2741,2608,293.4,3.8,361,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2166,2674,2739,2609,0,0,0,0,0,0,14.94,14.95,14.95,6.27,51.10
$GC,5250,-0.15,0.0,2353,2167,2740,2610,281.2,4.2,376,5251,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2167,2673,2739,2608,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.81
$GC,5550,-0.15,0.0,2354,2167,2741,2608,268.4,4.3,391,5551,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2166,2673,2739,2608,0,0,0,0,0,0,14.98,14.99,14.99,6.27,51.57
$GC,5850,-0.15,0.0,2354,2168,2740,2609,256.0,3.9,406,5850,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2166,2674,2740,2608,0,0,0,0,0,0,15.00,15.00,15.01,6.28,51.33
$GC,6150,-0.15,0.0,2354,2167,2741,2609,244.6,3.7,421,6150,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2166,2673,2739,2608,0,0,0,0,0,0,15.02,15.02,15.02,6.27,50.98
$STATE,6449,end loiter,LOITER_COMPLETE
$STATE,6449,begin climb
$GC,6450,0.64,146.0,2353,2167,2740,2609,233.5,0.0,436,6591,0.60,2.60,131.93,1.422,10756,0.174,0.071,2607,751,2087,2112,2063,0,0,0,0,0,0,14.71,13.97,13.45,6.27,51.29
$GC,6700,0.64,146.0,2608,752,2108,2052,212.6,11.2,448,6704,0.00,2.45,0.00,0.000,5126,0.000,0.057,2608,2136,2078,2106,2051,0,0,0,0,0,0,14.20,14.17,14.24,6.23,49.29
$GC,7010,0.64,146.0,2608,2136,2105,2046,171.1,13.2,464,7015,0.00,2.55,0.00,0.000,4356,0.000,0.086,2608,3553,2074,2103,2046,0,0,0,0,0,0,14.61,14.33,14.62,6.23,50.47
$GC,7110,0.64,146.0,2608,3555,2103,2045,158.0,12.8,469,7115,0.03,2.38,0.00,0.000,5126,0.441,0.044,2609,2155,2073,2102,2045,0,0,0,0,0,0,14.23,14.40,14.38,6.23,50.23
$GC,7430,0.64,146.0,2609,2159,2103,2040,116.5,12.9,485,7434,0.00,2.50,0.00,0.000,4612,0.000,0.070,2619,741,2071,2101,2041,0,0,0,0,0,0,14.72,14.45,14.72,6.23,50.70
$GC,7465,0.64,146.0,2619,741,2101,2041,114.0,12.6,486,7469,0.00,2.42,0.00,0.000,5126,0.000,0.056,2618,2149,2070,2101,2040,0,0,0,0,0,0,14.54,14.48,14.56,6.23,50.51
$GC,7770,0.64,146.0,2619,2149,2102,2040,76.3,11.3,532,7775,0.00,2.47,0.00,0.000,4612,0.000,0.071,2629,746,2070,2101,2040,0,0,0,0,0,0,14.76,14.48,14.76,6.21,49.88
$GC,7895,0.64,146.0,2630,748,2101,2040,63.3,10.0,557,7900,0.05,2.42,0.00,0.000,5126,0.324,0.057,2609,2159,2069,2100,2039,0,0,0,0,0,0,14.41,14.54,14.54,6.21,49.05
$GC,8020,0.64,146.0,2610,2160,2101,2039,50.3,10.6,582,8024,0.00,2.47,0.00,0.000,4356,0.000,0.085,2609,3552,2069,2100,2039,0,0,0,0,0,0,14.78,14.50,14.78,6.20,48.85
$GC,8080,0.64,146.0,2610,3552,2101,2039,43.9,10.2,594,8084,0.00,2.35,0.00,0.000,5126,0.000,0.044,2618,2149,2069,2099,2039,0,0,0,0,0,0,14.58,14.54,14.61,6.20,48.54
$GC,8205,0.64,146.0,2617,2148,2100,2039,31.2,10.9,619,8209,0.00,2.47,0.00,0.000,4612,0.000,0.070,2629,742,2069,2100,2038,0,0,0,0,0,0,14.78,14.54,14.79,6.20,48.62
$GC,8295,0.64,146.0,2629,742,2100,2037,22.1,9.4,637,8299,0.05,2.42,0.00,0.000,5126,0.327,0.056,2609,2153,2068,2099,2037,0,0,0,0,0,0,14.42,14.55,14.56,6.20,48.81
$GC,8420,0.64,146.0,2609,2154,2099,2038,10.8,9.0,662,8424,0.00,2.47,0.00,0.000,4356,0.000,0.088,2609,3547,2068,2099,2037,0,0,0,0,0,0,14.80,14.51,14.80,6.19,49.25
$GC,8470,0.64,146.0,2609,3548,2100,2038,5.6,10.1,672,8475,0.00,2.35,0.00,0.000,5126,0.000,0.043,2618,2144,2068,2099,2037,0,0,0,0,0,0,14.61,14.57,14.62,6.19,49.64
$STATE,8504,end climb,SURFACE_DEPTH_REACHED
$STATE,8504,begin surface coast
$STATE,8539,end surface coast,CONTROL_FINISHED_OK
$STATE,8539,begin surface
$SM_CCo,8550,67.28,0.252,0,0,1791,220.03
$SM_GC,1.25,5.50,0.05,67.28,0.079,0.216,0.252,282,2079,1791,-6.45,1.05,220.03,0,0,0,0,0,0,14.63,14.59,14.37
$IRIDIUM_FIX,-5952.63,-4.29,251218,201829
$TT8_MAMPS,0.03745,0.328811
$HUMID,48.85
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,6
$SC_FREEKB,3870176
$24V_AH,13.29,24.340
$10V_AH,13.42,0.000
$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,12.950,78.425,261.400,67.275,0.000,23.207,39.367,104.494,1.500,0.000,18.183,0.000,6804.562,441.069,1575.927,73.828,0.000,1064.107,0.000,1136.292,0.000,0.541,0.000
$DEVICE_MAMPS,475.065,2265.930,1606.500,251.685,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4951.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.737,0.000,0.000,0.000
$MEM,344104
$DATA_FILE_SIZE,17327,686
$CAP_FILE_SIZE,90902,0
$CFSIZE,1023623168,1009745920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.036,160.65,1
$GPS,261218,011658,-5951.174,-8.423,40,0.8,44,-19.6,0.6,3.0,11,9.8