version: 66.14
glider: 640
mission: 5
dive: 119
start: 12 28 118 1 15 10
data:
$ID,640
$MISSION,5
$DIVE,119
$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,35
$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
$GPS1,281218,011002,-5943.8906,-5.3526,16,0.8,34,-19.7,1.2,316.6,11,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-61.4
$GPS2,281218,011452,-5943.8823,-5.2975,9,1.0,19,-19.7,0.0,351.1,10,9.7
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,10.6,81427,-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,-146.0,234,2140,1767,1794,0.0,0.0,0,105,0.00,0.00,-93.57,0.000,16386,0.000,0.000,233,2140,3190,3268,3113,0,0,0,0,0,0,14.60,28.83,14.60,6.17,50.59
$GC,106,-0.64,-146.0,234,2142,3269,3114,3.1,-6.6,19,121,5.97,2.62,-3.60,0.000,18692,0.357,2.270,2173,3509,3284,3373,3196,0,0,0,0,0,0,14.21,13.41,14.37,6.28,49.48
$GC,175,-0.64,-146.0,2173,3510,3375,3197,13.9,-15.2,33,181,0.05,2.40,0.00,0.000,3078,0.360,0.044,2190,2106,3285,3375,3196,0,0,0,0,0,0,14.22,14.37,14.37,6.29,48.03
$GC,300,-0.64,-146.0,2191,2105,3377,3196,31.7,-14.2,58,304,0.00,2.45,0.00,0.000,2564,0.000,0.067,2190,695,3286,3376,3196,0,0,0,0,0,0,14.64,14.42,14.64,6.30,48.66
$GC,330,-0.64,-146.0,2190,695,3376,3196,36.0,-13.8,64,334,0.00,2.45,0.00,0.000,3078,0.000,0.058,2180,2102,3285,3375,3196,0,0,0,0,0,0,14.47,14.41,14.49,6.30,49.09
$GC,455,-0.64,-146.0,2181,2103,3376,3197,50.2,-11.3,89,460,0.00,2.47,0.00,0.000,2564,0.000,0.067,2180,696,3286,3376,3196,0,0,0,0,0,0,14.66,14.43,14.67,6.29,48.93
$GC,591,-0.64,-146.0,2180,697,3376,3197,64.5,-9.4,116,595,0.08,2.40,0.00,0.000,3078,0.398,0.057,2193,2105,3286,3376,3196,0,0,0,0,0,0,14.32,14.47,14.52,6.30,48.77
$GC,715,-0.64,-146.0,2193,2106,3376,3198,76.0,-8.8,141,720,0.00,2.45,0.00,0.000,2308,0.000,0.085,2182,3511,3285,3375,3196,0,0,0,0,0,0,14.69,14.47,14.71,6.29,48.97
$GC,740,-0.64,-146.0,2183,3511,3376,3197,78.3,-8.7,146,744,0.00,2.40,0.00,0.000,3078,0.000,0.045,2182,2094,3285,3375,3196,0,0,0,0,0,0,14.54,14.50,14.56,6.29,48.66
$GC,865,-0.64,-146.0,2182,2094,3376,3197,89.9,-9.1,171,869,0.00,2.45,0.00,0.000,2564,0.000,0.067,2182,696,3286,3376,3196,0,0,0,0,0,0,14.72,14.48,14.73,6.29,48.34
$GC,895,-0.64,-146.0,2182,697,3377,3196,92.7,-9.2,177,900,0.05,2.42,0.00,0.000,3078,0.366,0.058,2188,2099,3285,3374,3196,0,0,0,0,0,0,14.33,14.49,14.48,6.29,48.58
$GC,1020,-0.64,-146.0,2188,2100,3376,3197,103.7,-9.1,196,1024,0.00,2.47,0.00,0.000,2564,0.000,0.067,2188,690,3286,3376,3196,0,0,0,0,0,0,14.74,14.50,14.74,6.28,48.74
$GC,1035,-0.64,-146.0,2188,691,3377,3198,103.7,-9.1,196,1040,0.03,2.42,0.00,0.000,3078,0.469,0.058,2184,2092,3286,3376,3196,0,0,0,0,0,0,14.33,14.50,14.48,6.28,48.85
$GC,1340,-0.64,-146.0,2185,2092,3377,3197,146.4,-16.0,212,1341,0.00,0.00,0.00,0.000,2054,0.000,0.000,2185,2092,3285,3375,3196,0,0,0,0,0,0,14.78,14.78,14.78,6.30,49.88
$GC,1640,-0.64,-146.0,2185,2093,3376,3196,189.3,-13.8,227,1644,0.00,2.42,0.00,0.000,2564,0.000,0.065,2184,699,3285,3376,3195,0,0,0,0,0,0,14.80,14.56,14.80,6.31,50.90
$GC,1685,-0.64,-146.0,2185,700,3376,3197,195.0,-13.9,229,1689,0.05,2.40,0.00,0.000,3078,0.377,0.057,2191,2097,3284,3374,3195,0,0,0,0,0,0,14.39,14.54,14.55,6.31,50.90
$GC,2000,-0.64,-146.0,2191,2099,3376,3191,236.7,-12.8,245,2005,0.00,2.47,0.00,0.000,2308,0.000,0.084,2181,3500,3285,3376,3195,0,0,0,0,0,0,14.82,14.57,14.83,6.32,51.73
$GC,2030,-0.64,-146.0,2181,3501,3376,3196,239.3,-12.9,246,2034,0.00,2.35,0.00,0.000,3078,0.000,0.044,2180,2098,3285,3376,3195,0,0,0,0,0,0,14.64,14.59,14.66,6.32,51.06
$GC,2340,-0.64,-146.0,2181,2097,3377,3195,280.5,-12.8,262,2344,0.00,2.45,0.00,0.000,2564,0.000,0.067,2180,690,3285,3375,3195,0,0,0,0,0,0,14.83,14.59,14.83,6.32,51.22
$GC,2385,-0.64,-146.0,2181,691,3377,3195,285.8,-12.9,264,2390,0.05,2.42,0.00,0.000,3078,0.369,0.058,2187,2101,3286,3378,3195,0,0,0,0,0,0,14.43,14.59,14.57,6.32,51.29
$GC,2700,-0.64,-146.0,2187,2101,3370,3195,324.0,-11.6,280,2704,0.00,2.47,0.00,0.000,2308,0.000,0.084,2177,3506,3285,3375,3195,0,0,0,0,0,0,14.84,14.57,14.84,6.33,51.26
$GC,2725,-0.64,-146.0,2177,3508,3374,3196,326.4,-11.6,281,2729,0.05,2.35,0.00,0.000,3078,0.364,0.044,2194,2101,3285,3375,3195,0,0,0,0,0,0,14.44,14.62,14.59,6.33,51.49
$STATE,2939,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2939,begin apogee
$GC,2942,-0.15,0.0,2195,2156,3376,3196,350.6,-11.0,292,3074,0.43,0.00,128.38,1.591,10246,0.269,0.000,2347,2156,2687,2746,2629,0,0,0,0,0,0,14.49,13.90,13.29,6.33,50.98
$STATE,3075,end apogee,CONTROL_FINISHED_OK
$STATE,3075,begin loiter
$GC,3360,-0.15,0.0,2348,2156,2741,2617,343.0,4.1,313,3361,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2155,2678,2741,2615,0,0,0,0,0,0,14.55,14.56,14.56,6.28,50.39
$GC,3660,-0.15,0.0,2347,2156,2741,2615,330.9,4.0,328,3661,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2155,2677,2740,2614,0,0,0,0,0,0,14.70,14.70,14.70,6.28,51.41
$GC,3960,-0.15,0.0,2348,2156,2741,2613,319.4,3.8,343,3961,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2155,2676,2740,2612,0,0,0,0,0,0,14.78,14.78,14.78,6.28,50.82
$GC,4260,-0.15,0.0,2348,2155,2741,2611,308.7,3.4,358,4261,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2675,2740,2611,0,0,0,0,0,0,14.84,14.84,14.84,6.28,50.70
$GC,4560,-0.15,0.0,2348,2156,2740,2611,297.9,3.8,373,4561,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2675,2740,2611,0,0,0,0,0,0,14.89,14.89,14.88,6.27,51.02
$GC,4860,-0.15,0.0,2347,2156,2741,2612,286.4,3.9,388,4861,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2155,2675,2740,2611,0,0,0,0,0,0,14.92,14.92,14.92,6.28,50.90
$GC,5160,-0.15,0.0,2347,2156,2741,2611,274.4,3.9,403,5161,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2675,2740,2611,0,0,0,0,0,0,14.95,14.95,14.95,6.27,51.18
$GC,5460,-0.15,0.0,2348,2156,2741,2610,263.2,3.6,418,5461,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2675,2740,2610,0,0,0,0,0,0,14.97,14.97,14.97,6.27,51.10
$GC,5760,-0.15,0.0,2348,2157,2741,2610,252.1,3.9,433,5761,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2675,2740,2610,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.73
$GC,6060,-0.15,0.0,2347,2157,2741,2611,240.8,3.8,448,6061,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2675,2741,2609,0,0,0,0,0,0,15.01,15.01,15.01,6.28,51.10
$GC,6360,-0.15,0.0,2347,2157,2741,2611,228.8,4.1,463,6361,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2675,2740,2610,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.26
$STATE,6659,end loiter,LOITER_COMPLETE
$STATE,6659,begin climb
$GC,6660,0.64,146.0,2348,2156,2741,2610,217.4,0.0,478,6801,0.62,2.58,132.02,1.398,10756,0.181,0.070,2613,754,2088,2114,2062,0,0,0,0,0,0,14.71,13.97,13.45,6.28,51.18
$GC,6810,0.65,159.0,2608,755,2112,2061,208.3,7.8,485,6828,0.00,2.47,12.77,1.349,9222,0.000,0.055,2608,2136,2036,2061,2012,0,0,0,0,0,0,14.07,14.02,13.45,6.24,49.33
$GC,7140,0.65,159.0,2608,2136,2053,1998,166.1,12.6,502,7145,0.00,2.58,0.00,0.000,260,0.000,0.085,2608,3559,2024,2052,1997,0,0,0,0,0,0,14.55,14.31,14.56,6.23,50.03
$GC,7225,0.65,159.0,2609,3560,2053,2007,156.4,12.1,506,7229,0.00,2.40,0.00,0.000,5126,0.000,0.045,2618,2148,2024,2052,1996,0,0,0,0,0,0,14.42,14.37,14.43,6.23,50.11
$GC,7540,0.65,159.0,2619,2148,2051,1993,120.5,11.1,522,7544,0.00,2.50,0.00,0.000,4612,0.000,0.071,2629,743,2021,2050,1993,0,0,0,0,0,0,14.69,14.42,14.69,6.22,50.98
$GC,7615,0.65,159.0,2630,743,2050,1993,113.2,12.1,525,7620,0.05,2.45,0.00,0.000,5126,0.322,0.056,2610,2160,2019,2047,1992,0,0,0,0,0,0,14.34,14.47,14.47,6.22,50.23
$GC,7920,0.65,159.0,2611,2161,2048,1993,74.2,12.3,571,7925,0.00,2.47,0.00,0.000,260,0.000,0.083,2610,3552,2020,2048,1992,0,0,0,0,0,0,14.74,14.47,14.75,6.21,49.33
$GC,8010,0.65,159.0,2611,3552,2049,1991,62.4,13.2,589,8014,0.00,2.35,0.00,0.000,5126,0.000,0.044,2619,2154,2020,2048,1992,0,0,0,0,0,0,14.56,14.51,14.57,6.20,48.74
$GC,8135,0.65,159.0,2620,2154,2049,1990,47.6,10.6,614,8138,0.00,0.00,0.00,0.000,4102,0.000,0.000,2619,2153,2019,2048,1991,0,0,0,0,0,0,14.76,14.76,14.76,6.20,49.09
$GC,8260,0.65,159.0,2620,2154,2049,1990,33.5,11.7,639,8265,0.00,2.50,0.00,0.000,4612,0.000,0.071,2630,738,2019,2048,1990,0,0,0,0,0,0,14.78,14.50,14.78,6.20,49.17
$GC,8320,0.65,159.0,2631,739,2048,1990,26.5,11.3,651,8325,0.05,2.42,0.00,0.000,5126,0.311,0.057,2610,2146,2021,2053,1989,0,0,0,0,0,0,14.39,14.50,14.53,6.20,49.25
$GC,8445,0.65,159.0,2611,2146,2048,1989,12.9,10.0,676,8449,0.00,2.50,0.00,0.000,260,0.000,0.086,2611,3550,2017,2046,1989,0,0,0,0,0,0,14.78,14.52,14.78,6.19,49.48
$GC,8525,0.65,159.0,2611,3551,2047,1990,4.6,8.7,692,8529,0.00,2.35,0.00,0.000,5126,0.000,0.044,2620,2150,2018,2046,1990,0,0,0,0,0,0,14.62,14.57,14.63,6.19,49.64
$STATE,8539,end climb,SURFACE_DEPTH_REACHED
$STATE,8539,begin surface coast
$STATE,8564,end surface coast,CONTROL_FINISHED_OK
$STATE,8564,begin surface
$SM_CCo,8575,54.80,0.249,0,0,1793,220.03
$SM_GC,0.71,5.45,0.05,54.80,0.061,0.221,0.249,267,2085,1793,-6.46,1.19,220.03,0,0,0,0,0,0,14.64,14.57,14.38
$IRIDIUM_FIX,-5944.87,-12.81,271218,223904
$TT8_MAMPS,0.039697,0.358022
$HUMID,49.52
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,8
$SC_FREEKB,3859936
$24V_AH,13.29,27.865
$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,12.925,78.475,273.175,54.800,0.000,25.567,20.746,126.284,2.000,0.000,20.228,0.000,6828.031,438.308,1574.532,84.401,0.000,1061.888,0.000,1122.199,0.000,0.540,0.000
$DEVICE_MAMPS,468.945,2269.755,1591.200,249.390,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4978.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.872,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17301,700
$CAP_FILE_SIZE,91827,0
$CFSIZE,1023623168,1007779840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.041,86.17,1
$GPS,281218,034001,-5943.376,-5.100,15,0.7,39,-19.7,0.3,267.5,12,8.2