version: 66.14
glider: 640
mission: 5
dive: 125
start: 12 28 118 16 30 27
data:
$ID,640
$MISSION,5
$DIVE,125
$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,64
$R_STBD_OVSHOOT,73
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,602
$VBD_MAX,3962
$C_VBD,2720
$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
$GPS1,281218,162501,-5941.5337,-2.6376,14,0.8,37,-19.7,0.5,286.4,10,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-63.0
$GPS2,281218,163008,-5941.4912,-2.6438,9,0.8,17,-19.7,1.2,225.5,10,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,51.7,3707,-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,-146.0,233,2149,1764,1794,0.0,0.0,0,105,0.00,0.00,-93.57,0.000,16386,0.000,0.000,233,2149,3223,3306,3140,0,0,0,0,0,0,14.60,28.83,14.61,6.17,50.03
$GC,106,-0.64,-146.0,233,2149,3306,3141,3.7,-9.1,19,120,6.07,2.53,-3.38,0.000,18692,0.370,2.277,2180,3463,3318,3410,3226,0,0,0,0,0,0,14.22,13.41,14.38,6.28,49.44
$GC,235,-0.64,-146.0,2181,3464,3413,3226,24.1,-14.3,45,239,0.00,2.28,0.00,0.000,3078,0.000,0.043,2180,2128,3319,3412,3226,0,0,0,0,0,0,14.46,14.42,14.47,6.29,48.14
$GC,360,-0.64,-146.0,2180,2128,3413,3227,44.9,-18.3,70,364,0.00,2.53,0.00,0.000,2564,0.000,0.068,2180,699,3319,3413,3226,0,0,0,0,0,0,14.66,14.41,14.66,6.30,49.21
$GC,435,-0.64,-146.0,2180,706,3413,3226,57.6,-15.4,85,439,0.05,2.35,0.00,0.000,3078,0.361,0.057,2187,2055,3319,3412,3226,0,0,0,0,0,0,14.28,14.45,14.43,6.29,48.85
$GC,561,-0.64,-146.0,2187,2056,3414,3226,76.3,-15.4,110,564,0.00,2.53,0.00,0.000,2308,0.000,0.084,2177,3507,3319,3412,3226,0,0,0,0,0,0,14.66,14.45,14.69,6.30,48.77
$GC,595,-0.64,-146.0,2177,3507,3413,3227,81.6,-15.1,117,600,0.03,2.38,0.00,0.000,3078,0.452,0.044,2185,2098,3319,3412,3226,0,0,0,0,0,0,14.28,14.47,14.45,6.29,48.46
$GC,735,-0.64,-146.0,2185,2098,3414,3226,103.2,-15.7,142,736,0.00,0.00,0.00,0.000,2054,0.000,0.000,2185,2097,3319,3412,3226,0,0,0,0,0,0,14.71,14.71,14.71,6.30,48.77
$GC,1035,-0.64,-146.0,2185,2097,3413,3226,146.0,-13.4,157,1039,0.00,2.45,0.00,0.000,2564,0.000,0.067,2184,696,3321,3413,3229,0,0,0,0,0,0,14.76,14.52,14.76,6.30,49.88
$GC,1060,-0.64,-146.0,2185,701,3413,3226,148.7,-13.4,158,1064,0.05,2.42,0.00,0.000,3078,0.375,0.058,2192,2102,3319,3412,3226,0,0,0,0,0,0,14.35,14.52,14.50,6.29,49.92
$GC,1375,-0.64,-146.0,2192,2102,3413,3226,191.1,-13.3,174,1380,0.00,2.47,0.00,0.000,2308,0.000,0.084,2181,3502,3319,3412,3226,0,0,0,0,0,0,14.78,14.52,14.78,6.31,50.51
$GC,1405,-0.64,-146.0,2181,3502,3413,3227,193.9,-13.4,175,1409,0.00,2.35,0.00,0.000,3078,0.000,0.044,2181,2103,3319,3412,3226,0,0,0,0,0,0,14.59,14.55,14.61,6.31,50.70
$GC,1715,-0.64,-146.0,2182,2102,3414,3226,238.7,-13.8,191,1719,0.00,2.45,0.00,0.000,2564,0.000,0.066,2181,696,3319,3412,3226,0,0,0,0,0,0,14.80,14.55,14.80,6.32,51.61
$GC,1775,-0.64,-146.0,2181,693,3411,3227,247.1,-13.8,194,1779,0.05,2.42,0.00,0.000,3078,0.364,0.057,2187,2104,3319,3412,3226,0,0,0,0,0,0,14.40,14.57,14.55,6.32,51.10
$GC,2095,-0.64,-146.0,2187,2104,3413,3226,288.1,-12.7,210,2099,0.00,2.45,0.00,0.000,2308,0.000,0.083,2177,3497,3319,3412,3226,0,0,0,0,0,0,14.81,14.55,14.81,6.33,51.33
$GC,2140,-0.64,-146.0,2177,3499,3413,3226,293.3,-12.8,212,2144,0.05,2.35,0.00,0.000,3078,0.363,0.042,2194,2094,3319,3412,3226,0,0,0,0,0,0,14.40,14.59,14.57,6.32,50.86
$GC,2455,-0.64,-146.0,2195,2093,3413,3226,332.2,-12.1,228,2459,0.00,2.42,0.00,0.000,516,0.000,0.066,2194,702,3319,3412,3226,0,0,0,0,0,0,14.82,14.58,14.83,6.33,51.22
$GC,2510,-0.64,-146.0,2194,703,3413,3227,337.2,-12.2,230,2515,0.00,2.40,0.00,0.000,3078,0.000,0.057,2185,2101,3319,3412,3226,0,0,0,0,0,0,14.63,14.59,14.66,6.28,51.53
$STATE,2614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2614,begin apogee
$GC,2617,-0.15,0.0,2185,2165,3406,3227,351.8,-12.4,236,2749,0.47,0.00,128.50,1.620,10246,0.268,0.000,2354,2164,2716,2775,2657,0,0,0,0,0,0,14.46,13.89,13.28,6.33,51.37
$STATE,2750,end apogee,CONTROL_FINISHED_OK
$STATE,2750,begin loiter
$GC,3035,-0.15,0.0,2354,2165,2772,2642,349.4,2.8,257,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2164,2706,2771,2642,0,0,0,0,0,0,14.54,14.55,14.54,6.29,50.35
$GC,3335,-0.15,0.0,2354,2165,2772,2640,341.2,2.8,272,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2164,2705,2771,2640,0,0,0,0,0,0,14.69,14.69,14.69,6.28,50.82
$GC,3635,-0.15,0.0,2354,2165,2772,2640,333.0,2.7,287,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2164,2705,2771,2639,0,0,0,0,0,0,14.78,14.78,14.78,6.28,50.94
$GC,3935,-0.15,0.0,2355,2165,2772,2637,324.7,2.8,302,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2164,2704,2771,2638,0,0,0,0,0,0,14.83,14.83,14.83,6.28,50.94
$GC,4235,-0.15,0.0,2354,2166,2771,2638,316.0,3.0,317,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2164,2704,2770,2638,0,0,0,0,0,0,14.88,14.88,14.88,6.28,51.06
$GC,4535,-0.15,0.0,2355,2165,2772,2637,306.5,3.2,332,4536,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2164,2703,2770,2637,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.02
$GC,4835,-0.15,0.0,2355,2165,2772,2637,297.0,3.1,347,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2164,2704,2771,2637,0,0,0,0,0,0,14.94,14.95,14.95,6.28,51.14
$GC,5135,-0.15,0.0,2354,2165,2772,2638,287.8,3.0,362,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2164,2703,2770,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.02
$GC,5435,-0.15,0.0,2354,2164,2772,2637,279.3,2.8,377,5436,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2164,2704,2771,2637,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.06
$GC,5735,-0.15,0.0,2354,2165,2772,2637,271.5,2.6,392,5736,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2164,2703,2770,2637,0,0,0,0,0,0,15.00,15.01,15.01,6.28,51.37
$GC,6035,-0.15,0.0,2354,2165,2772,2636,263.6,2.6,407,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2164,2704,2771,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.10
$STATE,6334,end loiter,LOITER_COMPLETE
$STATE,6334,begin climb
$GC,6335,0.64,146.0,2354,2164,2772,2637,255.9,0.0,422,6472,0.60,2.58,130.27,1.447,10756,0.177,0.067,2606,741,2118,2144,2093,0,0,0,0,0,0,14.70,13.88,13.43,6.28,51.06
$GC,6511,0.64,148.6,2607,742,2140,2088,244.5,8.2,430,6516,0.00,2.47,0.00,0.000,5126,0.000,0.056,2606,2133,2112,2139,2086,0,0,0,0,0,0,14.14,14.09,14.16,6.24,49.21
$GC,6831,0.64,148.6,2608,2133,2135,2076,208.1,11.6,446,6835,0.00,2.58,0.00,0.000,260,0.000,0.085,2607,3556,2105,2134,2076,0,0,0,0,0,0,14.58,14.33,14.59,6.24,50.86
$GC,6921,0.64,148.6,2607,3557,2133,2078,198.6,11.8,450,6925,0.00,2.40,0.00,0.000,5126,0.000,0.044,2617,2146,2104,2133,2076,0,0,0,0,0,0,14.45,14.39,14.46,6.22,50.03
$GC,7231,0.64,148.6,2618,2146,2132,2074,158.0,12.8,466,7235,0.00,2.47,0.00,0.000,4612,0.000,0.070,2629,743,2102,2131,2074,0,0,0,0,0,0,14.70,14.45,14.70,6.23,50.59
$GC,7276,0.64,148.6,2629,743,2130,2067,153.2,12.4,468,7280,0.05,2.42,0.00,0.000,5126,0.321,0.057,2609,2144,2101,2129,2073,0,0,0,0,0,0,14.34,14.47,14.48,6.23,51.26
$GC,7591,0.64,148.6,2610,2145,2130,2072,117.1,10.8,484,7595,0.00,2.50,0.00,0.000,4356,0.000,0.084,2610,3555,2100,2129,2072,0,0,0,0,0,0,14.76,14.50,14.76,6.23,50.78
$GC,7686,0.64,148.6,2610,3556,2130,2073,108.2,11.2,488,7691,0.00,2.38,0.00,0.000,5126,0.000,0.044,2619,2148,2100,2129,2072,0,0,0,0,0,0,14.59,14.54,14.61,6.23,50.51
$GC,7991,0.64,148.6,2618,2148,2129,2071,73.1,11.4,537,7995,0.00,2.47,0.00,0.000,4612,0.000,0.069,2629,740,2100,2129,2071,0,0,0,0,0,0,14.79,14.54,14.79,6.21,49.21
$GC,8031,0.64,148.6,2630,740,2128,2071,68.8,10.3,545,8036,0.05,2.42,0.00,0.000,5126,0.312,0.056,2609,2153,2098,2127,2070,0,0,0,0,0,0,14.42,14.56,14.56,6.20,49.37
$GC,8157,0.64,148.6,2609,2154,2128,2070,56.7,9.6,570,8160,0.00,2.45,0.00,0.000,4356,0.000,0.084,2609,3558,2098,2127,2070,0,0,0,0,0,0,14.80,14.54,14.80,6.21,48.81
$GC,8211,0.64,148.6,2609,3558,2128,2072,51.5,9.3,581,8215,0.00,2.38,0.00,0.000,5126,0.000,0.044,2618,2144,2099,2127,2071,0,0,0,0,0,0,14.62,14.57,14.64,6.20,48.81
$GC,8337,0.64,148.6,2619,2144,2128,2071,40.2,9.4,606,8340,0.00,2.47,0.00,0.000,4356,0.000,0.083,2618,3561,2098,2127,2070,0,0,0,0,0,0,14.80,14.56,14.81,6.20,49.01
$GC,8401,0.64,148.6,2619,3561,2128,2071,34.0,9.4,619,8406,0.05,2.38,0.00,0.000,5126,0.334,0.043,2610,2147,2099,2127,2071,0,0,0,0,0,0,14.42,14.59,14.56,6.20,49.01
$GC,8527,0.64,148.6,2611,2147,2128,2070,22.7,9.3,644,8531,0.00,2.42,0.00,0.000,4612,0.000,0.067,2620,740,2098,2127,2070,0,0,0,0,0,0,14.81,14.57,14.81,6.20,49.01
$GC,8571,0.64,148.6,2620,741,2127,2071,18.6,9.5,653,8576,0.03,2.42,0.00,0.000,5126,0.410,0.054,2609,2154,2097,2126,2069,0,0,0,0,0,0,14.41,14.57,14.56,6.20,49.33
$GC,8697,0.65,155.5,2610,2155,2127,2069,7.0,8.1,678,8703,0.00,2.45,2.17,0.336,12548,0.000,0.082,2610,3557,2085,2114,2056,0,0,0,0,0,0,14.81,14.56,14.42,6.20,49.48
$STATE,8740,end climb,SURFACE_DEPTH_REACHED
$STATE,8740,begin surface coast
$STATE,8760,end surface coast,CONTROL_FINISHED_OK
$STATE,8760,begin surface
$SM_CCo,8775,63.53,0.250,0,0,1822,220.03
$SM_GC,1.14,5.50,2.50,63.53,0.073,0.049,0.250,270,2091,1822,-6.47,0.99,220.03,0,0,0,0,0,0,14.66,14.60,14.38
$IRIDIUM_FIX,-5940.07,4.26,281218,135133
$TT8_MAMPS,0.035952,0.334054
$HUMID,49.25
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,8
$SC_FREEKB,3856864
$24V_AH,13.28,28.977
$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,13.050,83.075,260.950,63.525,0.000,24.065,29.211,141.194,2.000,0.000,18.346,0.000,7014.979,433.578,1613.325,90.130,0.000,1062.106,0.000,1143.387,0.000,0.540,0.000
$DEVICE_MAMPS,452.115,2277.405,1619.505,250.155,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5175.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.334,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17314,691
$CAP_FILE_SIZE,93358,0
$CFSIZE,1023623168,1007190016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.020,47.59,1
$GPS,281218,185851,-5940.901,-1.942,40,0.8,42,-19.7,0.5,47.1,11,9.7