version: 66.14
glider: 640
mission: 5
dive: 123
start: 12 28 118 11 22 4
data:
$ID,640
$MISSION,5
$DIVE,123
$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,30
$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
$GPS1,281218,111401,-5942.4458,-4.8624,20,0.8,36,-19.7,1.0,207.8,10,8.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-62.6
$GPS2,281218,112145,-5942.4976,-4.8088,9,0.9,19,-19.7,0.5,336.8,10,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,51.6,6452,-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,-146.0,230,2104,1764,1795,0.0,0.0,0,105,0.00,0.00,-93.97,0.000,16386,0.000,0.000,230,2102,3194,3275,3114,0,0,0,0,0,0,14.59,28.83,14.59,6.14,50.23
$GC,106,-0.64,-146.0,231,2102,3276,3115,3.1,-7.3,19,121,6.12,2.67,-3.58,0.000,18692,0.376,2.265,2174,3505,3288,3376,3200,0,0,0,0,0,0,14.20,13.41,14.37,6.28,49.21
$GC,200,-0.64,-146.0,2175,3505,3379,3200,19.4,-15.1,38,204,0.05,2.40,0.00,0.000,3078,0.360,0.042,2191,2094,3288,3377,3199,0,0,0,0,0,0,14.22,14.38,14.47,6.29,48.22
$GC,325,-0.64,-146.0,2192,2094,3380,3200,38.1,-15.9,63,330,0.00,2.42,0.00,0.000,2564,0.000,0.067,2191,698,3289,3378,3200,0,0,0,0,0,0,14.64,14.41,14.64,6.30,48.54
$GC,410,-0.64,-146.0,2191,698,3378,3201,49.9,-13.2,80,414,0.00,2.45,0.00,0.000,3078,0.000,0.057,2182,2106,3289,3378,3200,0,0,0,0,0,0,14.47,14.42,14.50,6.30,48.70
$GC,535,-0.64,-146.0,2182,2107,3378,3201,68.1,-14.9,105,539,0.00,2.47,0.00,0.000,2564,0.000,0.065,2182,701,3288,3378,3199,0,0,0,0,0,0,14.68,14.43,14.68,6.29,48.50
$GC,555,-0.64,-146.0,2182,701,3379,3201,71.1,-15.4,109,559,0.05,2.42,0.00,0.000,3078,0.369,0.058,2188,2098,3289,3378,3200,0,0,0,0,0,0,14.29,14.44,14.44,6.29,48.62
$GC,680,-0.64,-146.0,2189,2098,3380,3200,88.8,-14.2,134,683,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2097,3289,3378,3200,0,0,0,0,0,0,14.69,14.70,14.69,6.29,48.22
$GC,820,-0.64,-146.0,2188,2098,3379,3198,108.8,-14.4,153,824,0.00,2.45,0.00,0.000,2564,0.000,0.066,2188,702,3289,3378,3200,0,0,0,0,0,0,14.72,14.47,14.72,6.29,48.62
$GC,860,-0.64,-146.0,2188,703,3380,3200,114.5,-14.6,155,864,0.03,2.42,0.00,0.000,3078,0.466,0.059,2185,2099,3289,3378,3200,0,0,0,0,0,0,14.31,14.48,14.46,6.29,48.30
$GC,1180,-0.64,-146.0,2187,2100,3380,3200,153.4,-12.5,171,1184,0.00,2.45,0.00,0.000,2564,0.000,0.066,2186,699,3288,3378,3199,0,0,0,0,0,0,14.76,14.51,14.74,6.30,49.64
$GC,1225,-0.64,-146.0,2186,700,3379,3201,158.7,-13.0,173,1229,0.05,2.42,0.00,0.000,3078,0.379,0.057,2193,2102,3288,3378,3199,0,0,0,0,0,0,14.35,14.52,14.51,6.30,50.00
$GC,1540,-0.64,-146.0,2192,2103,3379,3201,199.2,-12.7,189,1541,0.00,0.00,0.00,0.000,2054,0.000,0.000,2193,2102,3288,3378,3198,0,0,0,0,0,0,14.79,14.79,14.78,6.31,50.51
$GC,1840,-0.64,-146.0,2193,2104,3379,3201,236.1,-12.0,204,1841,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2102,3288,3378,3199,0,0,0,0,0,0,14.81,14.81,14.81,6.31,51.14
$GC,2140,-0.64,-146.0,2188,2103,3379,3200,270.9,-11.4,219,2144,0.00,2.45,0.00,0.000,2564,0.000,0.064,2192,696,3288,3378,3199,0,0,0,0,0,0,14.82,14.57,14.82,6.32,51.10
$GC,2170,-0.64,-146.0,2192,694,3379,3200,273.2,-11.5,220,2175,0.00,2.40,0.00,0.000,3078,0.000,0.056,2183,2096,3288,3378,3199,0,0,0,0,0,0,14.64,14.58,14.66,6.32,51.26
$GC,2480,-0.64,-146.0,2183,2097,3379,3200,310.9,-11.8,236,2484,0.00,2.47,0.00,0.000,2308,0.000,0.083,2172,3502,3288,3378,3199,0,0,0,0,0,0,14.83,14.56,14.83,6.32,51.81
$GC,2500,-0.64,-146.0,2172,3502,3378,3200,313.4,-11.9,237,2504,0.05,2.35,0.00,0.000,3078,0.367,0.043,2189,2099,3288,3378,3199,0,0,0,0,0,0,14.42,14.60,14.58,6.32,51.22
$STATE,2819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2819,begin apogee
$GC,2823,-0.15,0.0,2190,2151,3379,3198,350.4,-11.5,253,2954,0.45,0.00,128.55,1.613,10246,0.269,0.000,2351,2155,2692,2751,2633,0,0,0,0,0,0,14.47,13.90,13.29,6.33,51.49
$STATE,2955,end apogee,CONTROL_FINISHED_OK
$STATE,2955,begin loiter
$GC,3240,-0.15,0.0,2351,2155,2743,2618,344.9,3.6,274,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2155,2679,2742,2616,0,0,0,0,0,0,14.54,14.55,14.55,6.28,50.31
$GC,3540,-0.15,0.0,2351,2155,2743,2614,334.1,3.6,289,3541,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2154,2677,2741,2614,0,0,0,0,0,0,14.69,14.69,14.69,6.28,50.63
$GC,3840,-0.15,0.0,2351,2155,2743,2613,323.5,3.5,304,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2154,2677,2742,2613,0,0,0,0,0,0,14.78,14.78,14.78,6.28,50.78
$GC,4140,-0.15,0.0,2350,2155,2743,2611,313.2,3.5,319,4141,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2155,2676,2741,2612,0,0,0,0,0,0,14.84,14.84,14.84,6.28,50.90
$GC,4440,-0.15,0.0,2351,2156,2743,2613,302.8,3.6,334,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2155,2677,2742,2612,0,0,0,0,0,0,14.88,14.89,14.89,6.28,50.78
$GC,4740,-0.15,0.0,2351,2155,2743,2612,292.6,3.4,349,4741,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2155,2676,2741,2612,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.37
$GC,5040,-0.15,0.0,2351,2155,2743,2611,282.5,3.4,364,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2155,2677,2742,2612,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.65
$GC,5340,-0.15,0.0,2351,2155,2742,2612,272.0,3.5,379,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2155,2676,2741,2612,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.10
$GC,5640,-0.15,0.0,2351,2155,2743,2611,261.5,3.5,394,5641,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2155,2676,2741,2611,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.26
$GC,5940,-0.15,0.0,2351,2155,2742,2612,250.7,3.6,409,5941,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2155,2676,2742,2611,0,0,0,0,0,0,15.00,15.00,15.01,6.27,51.29
$GC,6240,-0.15,0.0,2351,2155,2742,2612,240.0,3.6,424,6241,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2155,2676,2741,2611,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.45
$GC,6540,-0.15,0.0,2351,2155,2742,2612,229.3,3.5,439,6541,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2155,2676,2742,2611,0,0,0,0,0,0,15.03,15.03,15.03,6.27,51.29
$STATE,6559,end loiter,LOITER_COMPLETE
$STATE,6559,begin climb
$GC,6560,0.64,146.0,2351,2155,2742,2612,228.6,0.0,440,6695,0.60,0.00,131.85,1.418,10758,0.181,0.000,2590,2154,2094,2120,2068,0,0,0,0,0,0,14.70,14.00,13.45,6.27,51.02
$GC,6980,0.64,146.0,2591,2155,2108,2047,187.7,11.6,461,6985,0.00,2.53,0.00,0.000,2308,0.000,0.086,2591,3546,2077,2107,2047,0,0,0,0,0,0,14.55,14.28,14.55,6.25,49.76
$GC,7065,0.64,146.0,2591,3547,2106,2049,178.4,11.6,465,7069,0.00,2.38,0.00,0.000,1030,0.000,0.043,2601,2152,2076,2106,2047,0,0,0,0,0,0,14.42,14.35,14.43,6.23,50.07
$GC,7380,0.64,146.0,2602,2152,2104,2043,140.0,12.0,481,7384,0.00,2.50,0.00,0.000,516,0.000,0.072,2613,745,2072,2104,2041,0,0,0,0,0,0,14.69,14.42,14.69,6.23,50.39
$GC,7445,0.64,146.0,2614,746,2104,2040,133.2,11.6,484,7450,0.00,2.42,0.00,0.000,5126,0.000,0.057,2613,2142,2071,2102,2041,0,0,0,0,0,0,14.51,14.46,14.54,6.23,50.31
$GC,7750,0.64,146.0,2613,2143,2103,2037,95.9,11.5,504,7754,0.00,2.47,0.00,0.000,4356,0.000,0.085,2613,3559,2070,2102,2039,0,0,0,0,0,0,14.76,14.51,14.78,6.22,50.35
$GC,7825,0.64,146.0,2614,3560,2104,2040,87.6,10.8,519,7829,0.05,2.38,0.00,0.000,5126,0.339,0.046,2605,2152,2071,2102,2040,0,0,0,0,0,0,14.38,14.53,14.52,6.22,50.43
$GC,7951,0.64,146.0,2605,2152,2103,2040,74.9,10.1,544,7954,0.00,2.45,0.00,0.000,516,0.000,0.070,2615,738,2070,2102,2039,0,0,0,0,0,0,14.76,14.53,14.77,6.21,49.88
$GC,7990,0.64,146.0,2615,739,2102,2039,71.1,9.2,552,7994,0.00,2.42,0.00,0.000,5126,0.000,0.056,2615,2146,2070,2102,2038,0,0,0,0,0,0,14.57,14.51,14.59,6.21,49.33
$GC,8115,0.64,146.0,2616,2147,2101,2038,58.6,10.4,577,8119,0.00,2.47,0.00,0.000,4356,0.000,0.087,2615,3559,2069,2101,2038,0,0,0,0,0,0,14.78,14.53,14.78,6.20,49.05
$GC,8165,0.64,146.0,2615,3560,2102,2039,53.2,10.6,587,8169,0.05,2.40,0.00,0.000,5126,0.342,0.047,2607,2142,2069,2101,2038,0,0,0,0,0,0,14.40,14.55,14.54,6.20,49.56
$GC,8290,0.64,146.0,2608,2141,2103,2038,41.5,8.8,612,8294,0.00,2.45,0.00,0.000,4612,0.000,0.069,2617,745,2069,2101,2037,0,0,0,0,0,0,14.79,14.51,14.79,6.20,48.85
$GC,8340,0.64,146.0,2617,746,2102,2037,37.2,8.3,622,8345,0.00,2.42,0.00,0.000,5126,0.000,0.056,2617,2156,2069,2101,2037,0,0,0,0,0,0,14.59,14.52,14.60,6.20,49.01
$GC,8465,0.64,146.0,2617,2157,2102,2037,25.5,9.7,647,8469,0.00,2.50,0.00,0.000,4356,0.000,0.088,2617,3558,2069,2101,2037,0,0,0,0,0,0,14.80,14.53,14.80,6.19,49.33
$GC,8535,0.64,146.0,2617,3559,2101,2039,18.4,10.0,661,8539,0.05,2.38,0.00,0.000,5126,0.334,0.044,2609,2147,2069,2101,2037,0,0,0,0,0,0,14.42,14.58,14.56,6.20,49.40
$GC,8660,0.64,146.0,2609,2147,2102,2036,6.1,10.5,686,8665,0.00,2.42,0.00,0.000,4612,0.000,0.069,2619,741,2069,2101,2037,0,0,0,0,0,0,14.81,14.57,14.81,6.20,49.64
$GC,8690,0.64,146.0,2619,742,2101,2037,3.1,9.2,692,8694,0.00,2.42,0.00,0.000,5126,0.000,0.057,2619,2149,2068,2100,2036,0,0,0,0,0,0,14.59,14.53,14.61,6.19,49.60
$STATE,8699,end climb,SURFACE_DEPTH_REACHED
$STATE,8699,begin surface coast
$STATE,8729,end surface coast,CONTROL_FINISHED_OK
$STATE,8729,begin surface
$SM_CCo,8740,66.82,0.250,0,0,1792,220.03
$SM_GC,0.97,5.53,0.08,66.82,0.077,0.161,0.250,267,2071,1792,-6.46,0.96,220.03,0,0,0,0,0,0,14.65,14.59,14.37
$IRIDIUM_FIX,-5944.88,-4.27,281218,111534
$TT8_MAMPS,0.038948,0.238182
$HUMID,49.64
$INTERNAL_PRESSURE,6.10897
$TCM_TEMP,0.00
$XPDR_PINGS,7
$SC_FREEKB,3857888
$24V_AH,13.29,28.619
$10V_AH,13.37,0.000
$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,13.075,73.450,260.400,66.825,0.000,52.978,33.270,183.164,1.750,0.000,20.172,0.000,7083.438,435.240,1663.764,94.847,0.000,1043.949,0.000,1105.291,0.000,0.541,0.000
$DEVICE_MAMPS,465.885,2265.165,1612.620,250.155,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5123.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.541,0.000,0.000,0.000
$MEM,344072
$DATA_FILE_SIZE,17326,700
$CAP_FILE_SIZE,93603,0
$CFSIZE,1023623168,1007386624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.072,119.67,1
$GPS,281218,134955,-5942.143,-3.706,13,0.9,42,-19.7,0.6,107.3,11,5.9