version: 66.14
glider: 640
mission: 5
dive: 122
start: 12 28 118 8 48 54
data:
$ID,640
$MISSION,5
$DIVE,122
$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,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
$GPS1,281218,084132,-5942.6353,-5.0329,16,0.9,26,-19.7,0.5,52.8,10,9.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-69.2
$GPS2,281218,084836,-5942.6895,-5.1172,10,0.9,17,-19.7,1.0,165.4,10,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,19.9,79211,-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,-146.0,234,2081,1769,1795,0.0,0.0,0,105,0.00,0.00,-93.70,0.000,16386,0.000,0.000,233,2081,3186,3264,3108,0,0,0,0,0,0,14.55,28.83,14.55,6.16,50.15
$GC,106,-0.64,-146.0,233,2082,3264,3110,3.2,-6.3,19,124,6.05,2.75,-3.90,0.000,18692,0.363,2.267,2179,3506,3286,3377,3196,0,0,0,0,0,0,14.16,13.43,14.33,6.28,49.21
$GC,180,-0.64,-146.0,2178,3507,3378,3196,15.7,-15.6,34,184,0.00,2.38,0.00,0.000,3078,0.000,0.042,2179,2121,3286,3378,3195,0,0,0,0,0,0,14.38,14.34,14.43,6.29,48.89
$GC,305,-0.64,-146.0,2179,2119,3379,3197,37.5,-18.9,59,306,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2119,3287,3379,3196,0,0,0,0,0,0,14.59,14.59,14.60,6.29,48.62
$GC,425,-0.64,-146.0,2179,2120,3379,3197,57.8,-15.7,83,426,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2119,3286,3379,3193,0,0,0,0,0,0,14.63,14.63,14.64,6.30,48.66
$GC,545,-0.64,-146.0,2179,2120,3379,3197,77.4,-16.1,107,549,0.00,2.53,0.00,0.000,2564,0.000,0.065,2185,690,3287,3378,3196,0,0,0,0,0,0,14.66,14.47,14.66,6.29,48.70
$GC,575,-0.64,-146.0,2178,690,3379,3200,82.2,-16.1,113,579,0.08,2.45,0.00,0.000,3078,0.338,0.059,2193,2093,3287,3378,3196,0,0,0,0,0,0,14.29,14.42,14.43,6.29,49.01
$GC,701,-0.64,-146.0,2194,2094,3380,3196,99.8,-13.5,138,704,0.00,2.47,0.00,0.000,2308,0.000,0.085,2183,3507,3287,3378,3196,0,0,0,0,0,0,14.68,14.45,14.69,6.29,48.38
$GC,715,-0.64,-146.0,2183,3509,3379,3197,100.4,-14.0,139,719,0.00,2.40,0.00,0.000,3078,0.000,0.044,2183,2093,3287,3378,3196,0,0,0,0,0,0,14.52,14.47,14.53,6.28,49.01
$GC,1020,-0.64,-146.0,2183,2092,3380,3196,142.9,-13.6,155,1024,0.00,2.45,0.00,0.000,2564,0.000,0.067,2182,696,3287,3378,3196,0,0,0,0,0,0,14.74,14.50,14.74,6.29,49.25
$GC,1155,-0.64,-146.0,2183,695,3380,3196,158.3,-12.1,161,1160,0.05,2.42,0.00,0.000,3078,0.367,0.057,2188,2101,3287,3378,3196,0,0,0,0,0,0,14.36,14.52,14.59,6.29,49.44
$GC,1460,-0.64,-146.0,2188,2101,3379,3197,196.5,-11.9,177,1461,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2101,3287,3378,3196,0,0,0,0,0,0,14.78,14.78,14.78,6.31,50.70
$GC,1760,-0.64,-146.0,2189,2100,3379,3197,232.7,-12.2,192,1764,0.00,2.47,0.00,0.000,2308,0.000,0.084,2178,3504,3287,3378,3196,0,0,0,0,0,0,14.81,14.54,14.81,6.32,50.90
$GC,1790,-0.64,-146.0,2178,3504,3379,3197,235.2,-12.2,193,1794,0.03,2.35,0.00,0.000,3078,0.461,0.043,2186,2096,3287,3378,3196,0,0,0,0,0,0,14.40,14.59,14.54,6.31,51.69
$GC,2100,-0.64,-146.0,2187,2096,3379,3196,274.7,-12.5,209,2104,0.00,2.42,0.00,0.000,2564,0.000,0.065,2186,703,3286,3377,3195,0,0,0,0,0,0,14.82,14.59,14.83,6.32,51.22
$GC,2170,-0.64,-146.0,2187,704,3379,3195,282.3,-12.7,212,2175,0.00,2.40,0.00,0.000,3078,0.000,0.057,2176,2103,3286,3378,3195,0,0,0,0,0,0,14.64,14.59,14.66,6.32,51.10
$GC,2480,-0.64,-146.0,2176,2104,3379,3195,322.8,-12.9,228,2481,0.05,0.00,0.00,0.000,2054,0.474,0.000,2190,2103,3286,3377,3195,0,0,0,0,0,0,14.46,14.69,14.66,6.32,51.18
$STATE,2719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2719,begin apogee
$GC,2722,-0.15,0.0,2191,2169,3379,3195,351.9,-12.0,240,2855,0.45,0.00,129.90,1.577,10246,0.271,0.000,2351,2168,2688,2747,2629,0,0,0,0,0,0,14.46,13.91,13.30,6.33,51.92
$STATE,2856,end apogee,CONTROL_FINISHED_OK
$STATE,2856,begin loiter
$GC,3140,-0.15,0.0,2352,2168,2740,2614,348.4,3.2,261,3141,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2676,2739,2614,0,0,0,0,0,0,14.54,14.55,14.55,6.29,50.43
$GC,3440,-0.15,0.0,2351,2169,2740,2612,338.5,3.3,276,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2168,2675,2739,2611,0,0,0,0,0,0,14.69,14.70,14.69,6.28,50.94
$GC,3740,-0.15,0.0,2351,2169,2740,2612,328.1,3.5,291,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2674,2739,2610,0,0,0,0,0,0,14.78,14.78,14.78,6.28,51.37
$GC,4040,-0.15,0.0,2351,2169,2740,2610,317.3,3.6,306,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2674,2739,2609,0,0,0,0,0,0,14.83,14.84,14.84,6.28,51.02
$GC,4340,-0.15,0.0,2352,2169,2741,2608,306.4,3.6,321,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2673,2739,2608,0,0,0,0,0,0,14.88,14.88,14.89,6.27,51.02
$GC,4640,-0.15,0.0,2352,2168,2740,2608,295.4,3.6,336,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2673,2739,2608,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.06
$GC,4940,-0.15,0.0,2351,2169,2740,2609,284.2,3.7,351,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2673,2739,2607,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.41
$GC,5240,-0.15,0.0,2351,2169,2739,2608,273.6,3.4,366,5241,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2672,2739,2606,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.22
$GC,5540,-0.15,0.0,2351,2169,2740,2608,263.6,3.3,381,5541,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2673,2739,2607,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.41
$GC,5840,-0.15,0.0,2351,2169,2740,2608,253.3,3.5,396,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2673,2740,2607,0,0,0,0,0,0,15.00,15.01,15.01,6.27,51.53
$GC,6140,-0.15,0.0,2351,2168,2740,2609,242.3,3.8,411,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2673,2739,2607,0,0,0,0,0,0,15.02,15.02,15.02,6.27,51.10
$STATE,6439,end loiter,LOITER_COMPLETE
$STATE,6439,begin climb
$GC,6440,0.64,146.0,2352,2168,2740,2607,230.7,0.0,426,6581,0.60,2.53,131.85,1.412,10500,0.184,0.082,2590,3540,2087,2115,2060,0,0,0,0,0,0,14.70,13.97,13.45,6.27,51.14
$GC,6670,0.64,146.0,2591,3540,2114,2052,212.5,11.0,437,6674,0.00,2.38,0.00,0.000,1030,0.000,0.042,2601,2161,2082,2113,2052,0,0,0,0,0,0,14.21,14.16,14.23,6.24,48.97
$GC,6980,0.64,146.0,2602,2160,2107,2045,174.4,12.2,453,6985,0.00,2.53,0.00,0.000,516,0.000,0.070,2612,749,2075,2106,2045,0,0,0,0,0,0,14.60,14.34,14.60,6.23,50.19
$GC,7040,0.64,146.0,2612,749,2105,2043,167.4,11.9,456,7045,0.00,2.40,0.00,0.000,5126,0.000,0.055,2613,2130,2073,2104,2043,0,0,0,0,0,0,14.42,14.38,14.45,6.23,49.88
$GC,7360,0.64,146.0,2613,2130,2101,2041,124.7,13.4,472,7364,0.00,2.45,0.00,0.000,4612,0.000,0.068,2623,746,2072,2104,2040,0,0,0,0,0,0,14.71,14.44,14.71,6.23,50.35
$GC,7480,0.64,146.0,2623,746,2103,2041,110.0,11.6,478,7484,0.05,2.42,0.00,0.000,5126,0.313,0.055,2605,2153,2070,2101,2039,0,0,0,0,0,0,14.35,14.47,14.47,6.23,50.31
$GC,7785,0.64,146.0,2604,2154,2103,2039,77.2,10.5,524,7790,0.00,2.50,0.00,0.000,260,0.000,0.085,2604,3555,2070,2102,2038,0,0,0,0,0,0,14.76,14.50,14.76,6.21,49.33
$GC,7835,0.64,146.0,2604,3556,2102,2039,71.7,11.0,534,7839,0.00,2.38,0.00,0.000,5126,0.000,0.044,2614,2146,2069,2101,2038,0,0,0,0,0,0,14.59,14.55,14.61,6.21,48.89
$GC,7960,0.64,146.0,2613,2148,2104,2038,58.4,9.8,559,7964,0.00,2.47,0.00,0.000,4612,0.000,0.069,2624,744,2069,2102,2037,0,0,0,0,0,0,14.77,14.50,14.78,6.20,48.89
$GC,8025,0.64,146.0,2625,744,2102,2037,52.4,9.5,572,8030,0.05,2.42,0.00,0.000,5126,0.307,0.056,2605,2152,2069,2101,2037,0,0,0,0,0,0,14.41,14.54,14.54,6.20,48.77
$GC,8151,0.64,146.0,2606,2153,2102,2037,40.8,9.1,597,8155,0.00,2.45,0.00,0.000,260,0.000,0.086,2605,3555,2069,2101,2037,0,0,0,0,0,0,14.78,14.53,14.78,6.20,48.62
$GC,8230,0.64,146.0,2606,3555,2102,2037,33.2,9.3,613,8234,0.00,2.38,0.00,0.000,5126,0.000,0.044,2614,2138,2069,2101,2037,0,0,0,0,0,0,14.59,14.54,14.59,6.20,49.21
$GC,8356,0.64,146.0,2614,2139,2102,2038,20.9,10.1,638,8359,0.00,2.40,0.00,0.000,4612,0.000,0.069,2625,750,2068,2101,2036,0,0,0,0,0,0,14.79,14.55,14.79,6.22,49.37
$GC,8405,0.64,146.0,2625,750,2102,2037,15.8,10.2,648,8410,0.05,2.40,0.00,0.000,5126,0.315,0.055,2606,2149,2068,2101,2036,0,0,0,0,0,0,14.42,14.59,14.56,6.20,49.37
$GC,8531,0.64,146.0,2606,2149,2102,2036,3.7,8.5,673,8534,0.00,2.45,0.00,0.000,260,0.000,0.082,2605,3557,2067,2100,2035,0,0,0,0,0,0,14.80,14.55,14.80,6.15,49.68
$STATE,8539,end climb,SURFACE_DEPTH_REACHED
$STATE,8539,begin surface coast
$STATE,8569,end surface coast,CONTROL_FINISHED_OK
$STATE,8569,begin surface
$SM_CCo,8583,66.93,0.250,0,0,1793,220.03
$SM_GC,0.83,5.53,2.47,66.93,0.079,0.045,0.250,259,2105,1793,-6.49,1.19,220.03,0,0,0,0,0,0,14.64,14.59,14.36
$IRIDIUM_FIX,-5943.02,-4.27,281218,084317
$TT8_MAMPS,0.038199,0.325815
$HUMID,49.25
$INTERNAL_PRESSURE,6.10897
$TCM_TEMP,0.00
$XPDR_PINGS,5
$SC_FREEKB,3858400
$24V_AH,13.30,28.436
$10V_AH,13.39,0.000
$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,12.975,68.600,261.750,66.925,0.000,61.786,57.894,129.579,1.250,0.000,18.149,0.000,6917.052,431.798,1645.453,83.971,0.000,1046.406,0.000,1127.537,0.000,0.540,0.000
$DEVICE_MAMPS,474.300,2266.695,1577.430,250.155,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4984.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.708,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17320,681
$CAP_FILE_SIZE,89292,0
$CFSIZE,1023623168,1007484928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.057,157.02,1
$GPS,281218,111401,-5942.446,-4.862,20,0.8,36,-19.7,1.0,207.8,10,8.8