version: 66.14
glider: 640
mission: 5
dive: 124
start: 12 28 118 13 55 3
data:
$ID,640
$MISSION,5
$DIVE,124
$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,59
$R_STBD_OVSHOOT,26
$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
$GPS1,281218,134955,-5942.1426,-3.7060,13,0.9,42,-19.7,0.6,107.3,11,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-67.2
$GPS2,281218,135443,-5942.1250,-3.6653,9,0.8,21,-19.7,0.5,38.4,11,9.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,44.1,5219,-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,-146.0,231,2070,1762,1797,0.0,0.0,0,109,0.00,0.00,-98.72,0.000,16390,0.000,0.000,231,2070,3286,3370,3202,0,0,0,0,0,0,14.60,13.43,14.60,6.17,50.31
$GC,111,-0.64,-146.0,232,2071,3371,3203,3.7,-9.5,20,121,6.00,2.47,0.00,0.000,2308,0.359,0.061,2173,3514,3287,3371,3203,0,0,0,0,0,0,14.22,14.40,14.38,6.29,48.97
$GC,150,-0.64,-146.0,2173,3514,3377,3210,11.8,-17.8,28,154,0.05,2.35,0.00,0.000,3078,0.362,0.044,2189,2132,3289,3376,3202,0,0,0,0,0,0,14.25,14.42,14.40,6.29,48.38
$GC,275,-0.64,-146.0,2190,2131,3378,3201,32.6,-15.9,53,279,0.00,0.00,0.00,0.000,2054,0.000,0.000,2189,2131,3289,3376,3202,0,0,0,0,0,0,14.66,14.66,14.66,6.30,48.58
$GC,400,-0.64,-146.0,2190,2131,3378,3201,51.5,-13.5,78,404,0.00,2.53,0.00,0.000,2564,0.000,0.066,2189,695,3289,3377,3202,0,0,0,0,0,0,14.68,14.44,14.69,6.29,48.81
$GC,505,-0.64,-146.0,2189,695,3377,3202,66.3,-13.5,99,509,0.00,2.42,0.00,0.000,3078,0.000,0.057,2180,2096,3289,3377,3201,0,0,0,0,0,0,14.50,14.45,14.52,6.29,49.21
$GC,630,-0.64,-146.0,2180,2097,3378,3202,85.0,-15.4,124,631,0.00,0.00,0.00,0.000,2054,0.000,0.000,2180,2096,3289,3377,3202,0,0,0,0,0,0,14.71,14.71,14.71,6.29,48.54
$GC,750,-0.64,-146.0,2180,2097,3377,3202,103.5,-15.3,145,755,0.00,2.47,0.00,0.000,2308,0.000,0.082,2169,3497,3289,3376,3202,0,0,0,0,0,0,14.73,14.47,14.73,6.29,48.54
$GC,800,-0.64,-146.0,2169,3497,3377,3205,109.5,-15.2,147,804,0.05,2.38,0.00,0.000,3078,0.370,0.043,2187,2085,3289,3377,3201,0,0,0,0,0,0,14.33,14.52,14.49,6.29,49.01
$GC,1110,-0.64,-146.0,2187,2090,3377,3202,152.6,-13.3,163,1114,0.00,2.42,0.00,0.000,2564,0.000,0.067,2187,699,3289,3377,3202,0,0,0,0,0,0,14.76,14.52,14.76,6.29,49.96
$GC,1160,-0.64,-146.0,2188,699,3378,3200,158.1,-13.3,165,1164,0.00,2.40,0.00,0.000,3078,0.000,0.057,2177,2096,3289,3377,3201,0,0,0,0,0,0,14.59,14.52,14.60,6.30,50.03
$GC,1470,-0.64,-146.0,2178,2097,3377,3202,200.2,-13.0,181,1474,0.05,2.47,0.00,0.000,2308,0.470,0.083,2181,3502,3288,3376,3201,0,0,0,0,0,0,14.42,14.53,14.61,6.31,50.70
$GC,1495,-0.64,-146.0,2182,3503,3377,3202,202.8,-12.9,182,1499,0.00,2.35,0.00,0.000,3078,0.000,0.044,2180,2102,3288,3376,3201,0,0,0,0,0,0,14.61,14.57,14.63,6.31,50.63
$GC,1810,-0.64,-146.0,2181,2101,3378,3201,242.7,-12.4,198,1814,0.00,2.45,0.00,0.000,2564,0.000,0.067,2180,695,3289,3377,3202,0,0,0,0,0,0,14.81,14.55,14.81,6.32,51.18
$GC,1880,-0.64,-146.0,2181,695,3378,3202,250.3,-12.7,201,1884,0.05,2.40,0.00,0.000,3078,0.368,0.056,2187,2099,3289,3377,3201,0,0,0,0,0,0,14.40,14.57,14.56,6.32,50.82
$GC,2190,-0.64,-146.0,2188,2100,3377,3201,287.5,-11.6,217,2195,0.00,2.47,0.00,0.000,2308,0.000,0.083,2177,3503,3288,3376,3201,0,0,0,0,0,0,14.82,14.56,14.82,6.32,50.94
$GC,2220,-0.64,-146.0,2177,3503,3377,3202,289.8,-11.6,218,2224,0.03,2.35,0.00,0.000,3078,0.454,0.044,2185,2098,3289,3377,3201,0,0,0,0,0,0,14.40,14.59,14.55,6.33,50.86
$GC,2530,-0.64,-146.0,2185,2098,3377,3202,326.8,-11.5,234,2534,0.00,2.45,0.00,0.000,2564,0.000,0.067,2185,692,3289,3377,3201,0,0,0,0,0,0,14.83,14.57,14.83,6.32,50.98
$GC,2585,-0.64,-146.0,2185,692,3377,3202,331.6,-11.8,236,2589,0.05,2.42,0.00,0.000,3078,0.369,0.057,2192,2101,3288,3376,3201,0,0,0,0,0,0,14.40,14.57,14.56,6.33,51.10
$STATE,2749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2749,begin apogee
$GC,2752,-0.15,0.0,2193,2164,3378,3201,351.9,-11.4,245,2884,0.45,0.00,128.50,1.611,10246,0.269,0.000,2354,2171,2686,2744,2629,0,0,0,0,0,0,14.47,13.90,13.29,6.33,51.14
$STATE,2885,end apogee,CONTROL_FINISHED_OK
$STATE,2885,begin loiter
$GC,3170,-0.15,0.0,2354,2164,2740,2614,346.3,3.6,266,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2163,2677,2739,2615,0,0,0,0,0,0,14.55,14.55,14.55,6.28,50.55
$GC,3470,-0.15,0.0,2354,2164,2739,2613,335.4,3.7,281,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2163,2675,2738,2612,0,0,0,0,0,0,14.69,14.69,14.69,6.28,51.22
$GC,3770,-0.15,0.0,2353,2164,2740,2610,324.5,3.5,296,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2164,2675,2739,2611,0,0,0,0,0,0,14.78,14.78,14.78,6.28,51.06
$GC,4070,-0.15,0.0,2354,2164,2740,2610,314.1,3.4,311,4071,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2164,2674,2739,2610,0,0,0,0,0,0,14.84,14.84,14.84,6.28,51.14
$GC,4370,-0.15,0.0,2354,2164,2740,2609,303.5,3.5,326,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2164,2674,2739,2609,0,0,0,0,0,0,14.88,14.89,14.89,6.27,50.78
$GC,4670,-0.15,0.0,2355,2165,2740,2608,293.1,3.3,341,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2164,2674,2739,2609,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.14
$GC,4970,-0.15,0.0,2354,2164,2738,2610,283.7,3.0,356,4971,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2164,2673,2738,2609,0,0,0,0,0,0,14.94,14.95,14.95,6.28,51.02
$GC,5270,-0.15,0.0,2354,2164,2739,2609,275.3,2.7,371,5271,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2164,2673,2739,2608,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.26
$GC,5570,-0.15,0.0,2353,2164,2739,2609,267.9,2.4,386,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2163,2673,2739,2608,0,0,0,0,0,0,14.99,14.99,14.99,6.28,50.94
$GC,5870,-0.15,0.0,2353,2165,2739,2609,261.0,2.2,401,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2164,2673,2738,2608,0,0,0,0,0,0,15.00,15.01,15.01,6.28,51.14
$GC,6170,-0.15,0.0,2354,2164,2740,2607,254.1,2.3,416,6171,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2164,2673,2739,2608,0,0,0,0,0,0,15.02,15.02,15.02,6.27,51.14
$STATE,6469,end loiter,LOITER_COMPLETE
$STATE,6469,begin climb
$GC,6470,0.64,146.0,2354,2164,2740,2607,247.7,0.0,431,6609,0.60,2.62,131.23,1.444,11012,0.175,0.070,2607,745,2087,2113,2062,0,0,0,0,0,0,14.71,13.97,13.43,6.28,51.06
$GC,6650,0.64,146.0,2607,746,2122,2056,236.5,8.5,440,6654,0.00,2.47,0.00,0.000,5126,0.000,0.056,2607,2132,2082,2109,2055,0,0,0,0,0,0,14.13,14.08,14.15,6.24,49.40
$GC,6970,0.64,146.0,2608,2133,2105,2045,201.1,11.2,456,6974,0.00,2.58,0.00,0.000,4356,0.000,0.086,2608,3558,2074,2105,2043,0,0,0,0,0,0,14.59,14.31,14.59,6.24,50.43
$GC,7070,0.64,146.0,2608,3558,2105,2044,190.2,10.7,461,7074,0.00,2.40,0.00,0.000,5126,0.000,0.044,2618,2150,2073,2103,2044,0,0,0,0,0,0,14.44,14.40,14.46,6.24,50.39
$GC,7390,0.64,146.0,2619,2150,2103,2040,155.3,10.6,477,7394,0.00,2.47,0.00,0.000,4612,0.000,0.071,2628,751,2071,2102,2040,0,0,0,0,0,0,14.71,14.43,14.71,6.23,50.51
$GC,7440,0.64,146.0,2629,752,2102,2041,151.1,10.6,479,7444,0.05,2.40,0.00,0.000,5126,0.317,0.058,2610,2137,2070,2101,2039,0,0,0,0,0,0,14.33,14.46,14.47,6.23,50.51
$GC,7750,0.64,146.0,2610,2139,2102,2038,117.7,10.3,495,7755,0.00,2.53,0.00,0.000,4356,0.000,0.085,2610,3558,2069,2101,2038,0,0,0,0,0,0,14.77,14.50,14.77,6.23,50.27
$GC,7835,0.64,146.0,2611,3560,2102,2038,109.2,10.6,499,7839,0.00,2.38,0.00,0.000,5126,0.000,0.044,2619,2145,2069,2101,2038,0,0,0,0,0,0,14.59,14.55,14.62,6.22,49.80
$GC,8140,0.64,146.0,2619,2146,2102,2038,73.5,12.0,546,8144,0.00,2.47,0.00,0.000,4612,0.000,0.070,2630,740,2069,2101,2037,0,0,0,0,0,0,14.80,14.54,14.80,6.21,49.88
$GC,8205,0.64,146.0,2630,741,2101,2036,66.2,11.3,559,8209,0.08,2.42,0.00,0.000,5126,0.291,0.056,2602,2153,2068,2100,2036,0,0,0,0,0,0,14.45,14.56,14.57,6.21,49.56
$GC,8330,0.64,146.0,2602,2154,2101,2036,52.4,10.9,584,8335,0.00,2.45,0.00,0.000,260,0.000,0.086,2602,3559,2067,2099,2036,0,0,0,0,0,0,14.80,14.53,14.81,6.20,49.80
$GC,8370,0.64,146.0,2603,3560,2101,2036,48.0,10.8,592,8375,0.00,2.38,0.00,0.000,5126,0.000,0.044,2611,2148,2067,2100,2035,0,0,0,0,0,0,14.59,14.56,14.62,6.20,49.05
$GC,8495,0.64,146.0,2612,2148,2101,2037,35.4,9.5,617,8498,0.00,0.00,0.00,0.000,4102,0.000,0.000,2611,2147,2068,2100,2036,0,0,0,0,0,0,14.81,14.81,14.81,6.20,48.74
$GC,8620,0.64,146.0,2611,2148,2100,2037,23.1,10.3,642,8624,0.00,2.47,0.00,0.000,4612,0.000,0.070,2622,739,2067,2100,2035,0,0,0,0,0,0,14.81,14.54,14.82,6.20,49.29
$GC,8655,0.64,146.0,2622,739,2100,2036,19.7,9.5,649,8659,0.05,2.42,0.00,0.000,5126,0.311,0.056,2602,2156,2067,2099,2035,0,0,0,0,0,0,14.44,14.57,14.58,6.20,49.92
$GC,8780,0.67,169.6,2603,2157,2100,2035,8.8,7.4,674,8801,0.00,2.45,16.65,0.296,10500,0.000,0.085,2602,3555,1993,2019,1967,0,0,0,0,0,0,14.81,14.53,14.39,6.19,50.15
$GC,8840,0.67,169.6,2603,3555,2018,1968,3.0,10.8,686,8844,0.00,2.38,0.00,0.000,1030,0.000,0.045,2612,2142,1992,2017,1968,0,0,0,0,0,0,14.59,14.55,14.62,6.19,49.25
$STATE,8849,end climb,SURFACE_DEPTH_REACHED
$STATE,8849,begin surface coast
$STATE,8879,end surface coast,CONTROL_FINISHED_OK
$STATE,8879,begin surface
$SM_CCo,8890,48.20,0.252,0,0,1792,220.03
$SM_GC,1.00,5.35,0.05,48.20,0.040,0.213,0.252,247,2065,1792,-6.45,0.96,220.03,0,0,0,0,0,0,14.64,14.58,14.38
$IRIDIUM_FIX,-5941.93,-8.53,281218,111933
$TT8_MAMPS,0.038948,0.375998
$HUMID,49.05
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,11
$SC_FREEKB,3857376
$24V_AH,13.29,28.797
$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,12.850,78.250,276.375,48.200,0.000,24.499,20.009,127.633,2.750,0.000,22.727,0.000,7097.034,438.249,1610.470,87.740,0.000,1071.790,0.000,1156.646,0.000,0.540,0.000
$DEVICE_MAMPS,470.475,213.435,1611.090,251.685,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5293.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.465,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17360,694
$CAP_FILE_SIZE,93347,0
$CFSIZE,1023623168,1007288320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.065,81.83,1
$GPS,281218,162501,-5941.534,-2.638,14,0.8,37,-19.7,0.5,286.4,10,7.2