version: 66.14
glider: 640
mission: 5
dive: 120
start: 12 28 118 3 45 22
data:
$ID,640
$MISSION,5
$DIVE,120
$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,49
$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
$GPS1,281218,034001,-5943.3765,-5.0995,15,0.7,39,-19.7,0.3,267.5,12,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-62.7
$GPS2,281218,034504,-5943.3511,-5.1148,12,0.8,20,-19.7,0.7,332.1,10,9.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,13.7,80434,-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,-146.0,234,2082,1764,1794,0.0,0.0,0,105,0.00,0.00,-93.47,0.000,16386,0.000,0.000,234,2082,3188,3266,3110,0,0,0,0,0,0,14.60,28.83,14.61,6.17,49.88
$GC,106,-0.64,-146.0,235,2083,3278,3111,3.2,-7.2,19,121,6.00,2.78,-3.83,0.000,18692,0.362,2.278,2176,3506,3285,3376,3195,0,0,0,0,0,0,14.22,13.43,14.38,6.28,48.74
$GC,195,-0.64,-146.0,2176,3508,3379,3196,17.1,-14.9,37,200,0.05,2.35,0.00,0.000,3078,0.369,0.042,2193,2120,3287,3379,3195,0,0,0,0,0,0,14.23,14.41,14.37,6.30,48.74
$GC,320,-0.64,-146.0,2193,2125,3380,3195,39.0,-18.3,62,324,0.00,2.47,0.00,0.000,2564,0.000,0.066,2193,689,3287,3379,3195,0,0,0,0,0,0,14.64,14.42,14.64,6.29,48.46
$GC,335,-0.64,-146.0,2193,690,3380,3195,41.9,-19.1,65,340,0.00,2.47,0.00,0.000,3078,0.000,0.058,2182,2106,3287,3379,3195,0,0,0,0,0,0,14.47,14.42,14.48,6.29,48.50
$GC,460,-0.64,-146.0,2183,2107,3380,3195,66.1,-19.3,90,464,0.00,2.50,0.00,0.000,2308,0.000,0.083,2172,3511,3287,3379,3195,0,0,0,0,0,0,14.67,14.42,14.67,6.30,48.77
$GC,620,-0.64,-146.0,2173,3511,3380,3195,91.3,-11.9,122,625,0.05,2.40,0.00,0.000,3078,0.355,0.043,2189,2090,3287,3379,3195,0,0,0,0,0,0,14.32,14.48,14.45,6.30,49.37
$GC,745,-0.64,-146.0,2189,2090,3379,3196,104.3,-10.5,141,750,0.00,2.40,0.00,0.000,2564,0.000,0.065,2189,692,3287,3379,3195,0,0,0,0,0,0,14.71,14.50,14.72,6.29,48.58
$GC,765,-0.64,-146.0,2189,692,3380,3196,106.4,-10.6,142,770,0.00,2.45,0.00,0.000,3078,0.000,0.058,2180,2104,3287,3379,3195,0,0,0,0,0,0,14.54,14.49,14.56,6.29,48.38
$GC,1085,-0.64,-146.0,2180,2105,3380,3195,138.7,-11.0,158,1089,0.00,2.47,0.00,0.000,2564,0.000,0.066,2179,693,3287,3379,3195,0,0,0,0,0,0,14.76,14.52,14.77,6.29,49.80
$GC,1160,-0.64,-146.0,2180,693,3379,3195,145.7,-11.7,161,1164,0.05,2.42,0.00,0.000,3078,0.374,0.057,2186,2096,3287,3379,3195,0,0,0,0,0,0,14.37,14.53,14.52,6.30,49.84
$GC,1465,-0.64,-146.0,2186,2097,3380,3196,185.8,-13.3,177,1469,0.00,2.47,0.00,0.000,2308,0.000,0.085,2176,3499,3286,3378,3195,0,0,0,0,0,0,14.79,14.54,14.80,6.31,50.39
$GC,1535,-0.64,-146.0,2176,3499,3381,3195,194.1,-13.7,180,1540,0.05,2.33,0.00,0.000,3078,0.367,0.042,2193,2107,3287,3379,3195,0,0,0,0,0,0,14.38,14.58,14.55,6.31,51.37
$GC,1845,-0.64,-146.0,2193,2106,3380,3196,235.6,-12.8,196,1849,0.00,2.45,0.00,0.000,2564,0.000,0.066,2192,695,3287,3379,3195,0,0,0,0,0,0,14.81,14.57,14.82,6.31,50.66
$GC,1900,-0.64,-146.0,2193,696,3380,3196,240.8,-12.8,198,1905,0.00,2.40,0.00,0.000,3078,0.000,0.057,2183,2095,3287,3379,3195,0,0,0,0,0,0,14.63,14.58,14.64,6.31,51.33
$GC,2205,-0.64,-146.0,2179,2095,3379,3195,280.8,-12.3,214,2210,0.00,2.47,0.00,0.000,2308,0.000,0.083,2173,3500,3286,3378,3195,0,0,0,0,0,0,14.83,14.57,14.83,6.32,51.65
$GC,2245,-0.64,-146.0,2173,3501,3380,3195,285.8,-12.3,216,2250,0.05,2.35,0.00,0.000,3078,0.358,0.043,2190,2095,3287,3379,3195,0,0,0,0,0,0,14.42,14.61,14.58,6.32,50.98
$GC,2565,-0.64,-146.0,2190,2094,3380,3195,323.1,-11.8,232,2569,0.00,2.42,0.00,0.000,2564,0.000,0.066,2189,699,3287,3379,3195,0,0,0,0,0,0,14.84,14.59,14.84,6.33,50.94
$GC,2620,-0.64,-146.0,2189,700,3379,3195,328.1,-12.1,234,2624,0.00,2.40,0.00,0.000,3078,0.000,0.057,2180,2101,3287,3379,3195,0,0,0,0,0,0,14.65,14.59,14.67,6.33,50.86
$STATE,2784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2784,begin apogee
$GC,2787,-0.15,0.0,2180,2167,3379,3196,350.1,-12.4,243,2919,0.47,0.00,129.35,1.609,10246,0.271,0.000,2349,2166,2689,2748,2630,0,0,0,0,0,0,14.47,13.90,13.29,6.33,50.82
$STATE,2920,end apogee,CONTROL_FINISHED_OK
$STATE,2920,begin loiter
$GC,3205,-0.15,0.0,2350,2167,2740,2615,346.9,3.1,264,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2676,2739,2614,0,0,0,0,0,0,14.54,14.55,14.55,6.28,50.47
$GC,3505,-0.15,0.0,2350,2167,2740,2611,337.9,3.0,279,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2166,2675,2739,2612,0,0,0,0,0,0,14.69,14.69,14.70,6.28,50.51
$GC,3805,-0.15,0.0,2350,2167,2740,2610,328.6,3.2,294,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2674,2738,2610,0,0,0,0,0,0,14.78,14.78,14.78,6.29,51.22
$GC,4105,-0.15,0.0,2350,2166,2740,2609,319.1,3.2,309,4106,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2674,2739,2609,0,0,0,0,0,0,14.84,14.84,14.84,6.28,50.82
$GC,4405,-0.15,0.0,2351,2166,2740,2608,309.1,3.4,324,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2673,2739,2608,0,0,0,0,0,0,14.88,14.89,14.89,6.29,50.74
$GC,4705,-0.15,0.0,2350,2167,2739,2609,298.2,3.7,339,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2673,2739,2608,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.06
$GC,5005,-0.15,0.0,2350,2167,2740,2608,286.5,4.0,354,5006,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2166,2673,2739,2608,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.14
$GC,5305,-0.15,0.0,2351,2167,2740,2607,275.2,3.7,369,5306,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2673,2739,2607,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.26
$GC,5605,-0.15,0.0,2350,2167,2740,2607,264.0,3.7,384,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2673,2739,2607,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.06
$GC,5905,-0.15,0.0,2350,2167,2740,2607,252.0,4.1,399,5906,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2672,2738,2607,0,0,0,0,0,0,15.00,15.00,15.00,6.28,50.98
$GC,6205,-0.15,0.0,2350,2167,2739,2608,239.8,3.9,414,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2673,2739,2607,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.29
$STATE,6504,end loiter,LOITER_COMPLETE
$STATE,6504,begin climb
$GC,6505,0.64,146.0,2350,2166,2740,2607,228.6,0.0,429,6646,0.60,2.58,131.85,1.415,10756,0.177,0.069,2604,757,2087,2112,2062,0,0,0,0,0,0,14.70,13.97,13.45,6.27,51.85
$GC,6720,0.64,146.0,2602,758,2108,2054,213.0,10.2,439,6725,0.00,2.42,0.00,0.000,1030,0.000,0.056,2602,2128,2079,2107,2052,0,0,0,0,0,0,14.20,14.15,14.22,6.23,49.84
$GC,7025,0.64,146.0,2603,2129,2106,2044,175.5,11.7,455,7030,0.00,2.58,0.00,0.000,260,0.000,0.085,2602,3558,2073,2103,2044,0,0,0,0,0,0,14.59,14.32,14.59,6.23,50.11
$GC,7115,0.64,146.0,2603,3558,2102,2044,166.3,11.5,459,7119,0.00,2.38,0.00,0.000,5126,0.000,0.043,2612,2156,2073,2103,2044,0,0,0,0,0,0,14.43,14.38,14.45,6.23,50.47
$GC,7425,0.64,146.0,2613,2164,2102,2042,124.9,14.0,475,7429,0.00,2.47,0.00,0.000,4612,0.000,0.068,2624,754,2071,2101,2041,0,0,0,0,0,0,14.71,14.43,14.71,6.21,50.43
$GC,7475,0.64,146.0,2624,755,2101,2041,119.7,13.5,477,7479,0.05,2.42,0.00,0.000,5126,0.319,0.057,2605,2155,2070,2100,2040,0,0,0,0,0,0,14.33,14.46,14.46,6.22,50.27
$GC,7780,0.64,146.0,2606,2155,2101,2038,81.6,12.0,513,7784,0.00,2.50,0.00,0.000,260,0.000,0.085,2605,3554,2069,2100,2038,0,0,0,0,0,0,14.76,14.50,14.76,6.22,49.56
$GC,7865,0.64,146.0,2606,3556,2100,2040,71.4,11.5,530,7869,0.00,2.38,0.00,0.000,5126,0.000,0.044,2614,2145,2069,2100,2039,0,0,0,0,0,0,14.57,14.52,14.58,6.21,49.48
$GC,7991,0.68,180.2,2615,2146,2100,2038,60.1,7.0,555,8025,0.00,2.45,29.62,1.291,8708,0.000,0.070,2625,738,1949,1971,1928,0,0,0,0,0,0,14.76,14.35,13.83,6.20,48.89
$GC,8055,0.77,258.2,2626,739,1972,1924,56.2,5.3,568,8136,0.00,2.45,75.80,1.218,11270,0.000,0.056,2626,2143,1636,1644,1629,0,0,0,0,0,0,14.39,14.33,13.52,6.19,48.74
$GC,8255,0.77,258.2,2625,2143,1634,1610,38.1,11.5,608,8259,0.00,2.58,0.00,0.000,2308,0.000,0.084,2626,3552,1621,1634,1609,0,0,0,0,0,0,14.42,14.16,14.42,6.15,48.11
$GC,8315,0.77,258.2,2625,3553,1634,1609,31.3,10.9,620,8319,0.00,2.42,0.00,0.000,3078,0.000,0.046,2636,2144,1621,1634,1608,0,0,0,0,0,0,14.28,14.24,14.30,6.16,48.14
$GC,8440,0.77,258.2,2636,2144,1633,1605,15.0,14.8,645,8444,0.00,2.47,0.00,0.000,2564,0.000,0.071,2647,742,1618,1634,1603,0,0,0,0,0,0,14.54,14.34,14.54,6.15,48.85
$GC,8485,0.77,258.2,2647,743,1631,1605,8.5,13.0,654,8489,0.00,2.45,0.00,0.000,1030,0.000,0.056,2647,2143,1617,1630,1604,0,0,0,0,0,0,14.37,14.32,14.38,6.15,48.74
$STATE,8524,end climb,SURFACE_DEPTH_REACHED
$STATE,8524,begin surface coast
$STATE,8539,end surface coast,CONTROL_FINISHED_OK
$STATE,8539,begin surface
$SM_CCo,8611,0.00,0.000,0,0,1615,263.69
$SM_GC,0.69,5.68,0.05,0.00,0.077,0.212,0.000,243,2090,1615,-6.46,1.07,263.69,0,0,0,0,0,0,14.44,14.37,14.47
$IRIDIUM_FIX,-5944.88,0.00,281218,011135
$TT8_MAMPS,0.03745,0.319823
$HUMID,49.33
$INTERNAL_PRESSURE,6.0992
$TCM_TEMP,0.00
$XPDR_PINGS,7
$SC_FREEKB,3859424
$24V_AH,13.29,28.073
$10V_AH,13.26,0.000
$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,13.050,78.700,366.625,0.000,0.000,24.387,19.949,136.187,1.750,0.000,21.742,0.000,6817.927,446.184,1569.774,83.030,0.000,1076.755,0.000,1111.367,0.000,0.539,0.000
$DEVICE_MAMPS,374.085,2278.170,1608.795,0.000,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4953.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.785,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17337,665
$CAP_FILE_SIZE,88765,0
$CFSIZE,1023623168,1007681536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.013,180.82,1
$GPS,281218,060957,-5942.945,-5.185,12,0.8,44,-19.7,1.0,222.6,10,9.8