version: 66.14
glider: 640
mission: 5
dive: 127
start: 12 28 118 21 38 6
data:
$ID,640
$MISSION,5
$DIVE,127
$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,32
$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,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
$GPS1,281218,213301,-5941.4556,-2.0362,17,0.8,34,-19.7,0.0,282.5,10,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-64.1
$GPS2,281218,213748,-5941.4736,-2.0949,10,0.8,15,-19.7,0.4,133.7,10,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,194.3,71376,-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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,10,-0.64,-146.0,234,2110,1798,1823,0.0,0.0,0,106,0.00,0.00,-94.03,0.000,16386,0.000,0.000,233,2109,3266,3344,3188,0,0,0,0,0,0,14.61,28.83,14.61,6.17,50.07
$GC,107,-0.64,-146.0,232,2110,3345,3188,3.6,-8.2,19,121,6.03,2.70,-1.83,0.000,18948,0.364,2.252,2187,696,3318,3406,3230,0,0,0,0,0,0,14.20,13.42,14.38,6.29,49.17
$GC,156,-0.64,-146.0,2188,697,3409,3236,12.6,-15.2,29,160,0.05,2.47,0.00,0.000,3078,0.381,0.061,2193,2102,3318,3408,3229,0,0,0,0,0,0,14.20,14.36,14.35,6.30,48.50
$GC,282,-0.64,-146.0,2193,2103,3409,3231,33.0,-16.6,54,285,0.00,2.47,0.00,0.000,2308,0.000,0.084,2182,3514,3319,3408,3230,0,0,0,0,0,0,14.63,14.40,14.61,6.30,49.17
$GC,316,-0.64,-146.0,2183,3509,3409,3231,38.8,-16.4,61,320,0.00,2.40,0.00,0.000,3078,0.000,0.044,2182,2103,3318,3408,3229,0,0,0,0,0,0,14.47,14.42,14.49,6.29,48.54
$GC,441,-0.64,-146.0,2177,2101,3409,3231,56.2,-11.8,86,445,0.00,2.47,0.00,0.000,2564,0.000,0.066,2182,695,3318,3408,3229,0,0,0,0,0,0,14.67,14.42,14.67,6.30,48.81
$GC,556,-0.64,-146.0,2182,695,3410,3231,71.6,-13.6,109,560,0.00,2.42,0.00,0.000,3078,0.000,0.057,2171,2095,3318,3408,3229,0,0,0,0,0,0,14.51,14.45,14.53,6.30,49.29
$GC,681,-0.64,-146.0,2172,2096,3410,3230,90.6,-15.6,134,685,0.08,2.45,0.00,0.000,2308,0.412,0.081,2183,3505,3319,3408,3230,0,0,0,0,0,0,14.31,14.47,14.51,6.30,48.89
$GC,731,-0.64,-146.0,2184,3505,3409,3231,98.1,-14.4,144,736,0.00,2.38,0.00,0.000,3078,0.000,0.044,2182,2096,3319,3408,3230,0,0,0,0,0,0,14.54,14.49,14.56,6.30,48.46
$GC,866,-0.64,-146.0,2183,2095,3409,3230,118.3,-15.4,153,867,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2094,3318,3408,3229,0,0,0,0,0,0,14.73,14.73,14.73,6.30,48.70
$GC,1166,-0.64,-146.0,2184,2095,3410,3229,159.9,-14.2,168,1171,0.00,2.45,0.00,0.000,2564,0.000,0.066,2182,692,3318,3408,3229,0,0,0,0,0,0,14.77,14.51,14.77,6.30,50.19
$GC,1241,-0.64,-146.0,2183,693,3410,3229,168.6,-14.4,171,1245,0.05,2.42,0.00,0.000,3078,0.363,0.058,2188,2099,3319,3409,3229,0,0,0,0,0,0,14.37,14.53,14.52,6.30,50.70
$GC,1546,-0.64,-146.0,2189,2100,3410,3234,211.2,-12.9,187,1550,0.00,2.47,0.00,0.000,2308,0.000,0.086,2179,3497,3318,3408,3229,0,0,0,0,0,0,14.80,14.52,14.80,6.31,50.90
$GC,1621,-0.64,-146.0,2178,3499,3409,3229,218.8,-12.8,190,1625,0.00,2.35,0.00,0.000,3078,0.000,0.042,2178,2094,3318,3408,3229,0,0,0,0,0,0,14.62,14.57,14.63,6.32,51.06
$GC,1926,-0.64,-146.0,2178,2093,3409,3229,258.8,-12.2,206,1930,0.03,2.42,0.00,0.000,2564,0.636,0.066,2188,698,3318,3408,3229,0,0,0,0,0,0,14.42,14.54,14.61,6.32,51.49
$GC,1991,-0.64,-146.0,2188,699,3409,3230,266.0,-12.1,209,1995,0.03,2.40,0.00,0.000,3078,0.467,0.059,2186,2094,3318,3409,3228,0,0,0,0,0,0,14.39,14.57,14.54,6.33,50.98
$GC,2306,-0.64,-146.0,2186,2095,3402,3229,303.4,-11.9,225,2310,0.00,2.47,0.00,0.000,2308,0.000,0.086,2175,3499,3318,3408,3228,0,0,0,0,0,0,14.80,14.55,14.81,6.33,50.90
$GC,2361,-0.64,-146.0,2176,3505,3409,3228,308.4,-12.2,227,2366,0.05,2.35,0.00,0.000,3078,0.366,0.042,2193,2090,3318,3408,3228,0,0,0,0,0,0,14.40,14.59,14.54,6.33,51.53
$GC,2666,-0.64,-146.0,2193,2089,3409,3229,346.8,-12.1,243,2671,0.00,2.40,0.00,0.000,2564,0.000,0.064,2193,705,3318,3408,3228,0,0,0,0,0,0,14.83,14.57,14.83,6.34,51.33
$STATE,2705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2705,begin apogee
$GC,2710,-0.15,0.0,2184,2152,3409,3228,351.8,-12.3,245,2842,0.47,0.00,128.10,1.606,10246,0.271,0.000,2353,2151,2718,2777,2660,0,0,0,0,0,0,14.45,13.90,13.28,6.33,51.22
$STATE,2843,end apogee,CONTROL_FINISHED_OK
$STATE,2843,begin loiter
$GC,3126,-0.15,0.0,2353,2152,2774,2645,349.2,2.9,266,3127,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2151,2708,2772,2645,0,0,0,0,0,0,14.54,14.54,14.55,6.29,50.86
$GC,3426,-0.15,0.0,2353,2152,2773,2642,340.1,3.1,281,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2152,2707,2772,2643,0,0,0,0,0,0,14.69,14.69,14.69,6.29,50.63
$GC,3726,-0.15,0.0,2353,2152,2773,2642,330.4,3.3,296,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2151,2707,2772,2642,0,0,0,0,0,0,14.78,14.78,14.78,6.29,51.10
$GC,4026,-0.15,0.0,2353,2153,2773,2642,320.5,3.3,311,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2151,2706,2772,2641,0,0,0,0,0,0,14.83,14.83,14.83,6.29,50.86
$GC,4326,-0.15,0.0,2353,2152,2773,2640,310.5,3.3,326,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2151,2705,2771,2640,0,0,0,0,0,0,14.88,14.88,14.88,6.28,50.98
$GC,4626,-0.15,0.0,2353,2152,2773,2641,300.4,3.5,341,4627,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2151,2706,2772,2640,0,0,0,0,0,0,14.91,14.92,14.92,6.28,51.49
$GC,4926,-0.15,0.0,2353,2152,2773,2641,289.4,3.8,356,4927,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2151,2706,2772,2640,0,0,0,0,0,0,14.94,14.94,14.95,6.28,51.14
$GC,5226,-0.15,0.0,2353,2152,2773,2641,277.6,4.0,371,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2151,2705,2772,2639,0,0,0,0,0,0,14.96,14.97,14.97,6.29,51.10
$GC,5526,-0.15,0.0,2352,2152,2772,2641,265.4,4.2,386,5527,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2152,2706,2772,2640,0,0,0,0,0,0,14.98,14.98,14.98,6.28,51.22
$GC,5826,-0.15,0.0,2353,2151,2773,2640,252.6,4.1,401,5827,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2151,2706,2772,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.33
$GC,6126,-0.15,0.0,2353,2152,2773,2640,240.9,3.8,416,6127,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2151,2706,2772,2640,0,0,0,0,0,0,15.01,15.02,15.01,6.28,50.98
$STATE,6425,end loiter,LOITER_COMPLETE
$STATE,6425,begin climb
$GC,6426,0.64,146.0,2353,2153,2773,2641,230.4,0.0,431,6567,0.60,2.60,130.75,1.420,10500,0.180,0.083,2594,3553,2120,2146,2094,0,0,0,0,0,0,14.69,13.97,13.45,6.28,51.18
$GC,6631,0.64,146.0,2594,3554,2144,2087,215.1,10.4,441,6635,0.00,2.40,0.00,0.000,1030,0.000,0.042,2604,2157,2115,2143,2087,0,0,0,0,0,0,14.20,14.15,14.21,6.24,48.74
$GC,6946,0.64,146.0,2605,2157,2136,2078,179.2,11.0,457,6951,0.00,2.53,0.00,0.000,516,0.000,0.070,2615,744,2106,2135,2078,0,0,0,0,0,0,14.59,14.33,14.60,6.24,50.03
$GC,6991,0.64,146.0,2616,743,2134,2077,175.1,10.7,459,6995,0.00,2.45,0.00,0.000,5126,0.000,0.058,2616,2150,2105,2133,2077,0,0,0,0,0,0,14.43,14.38,14.45,6.24,50.31
$GC,7306,0.64,146.0,2616,2151,2132,2077,136.8,13.0,475,7310,0.00,2.50,0.00,0.000,4356,0.000,0.086,2616,3549,2104,2132,2076,0,0,0,0,0,0,14.70,14.42,14.70,6.22,50.31
$GC,7376,0.64,146.0,2616,3549,2133,2076,128.5,13.7,478,7381,0.05,2.35,0.00,0.000,5126,0.339,0.044,2608,2152,2104,2132,2076,0,0,0,0,0,0,14.32,14.47,14.45,6.23,50.55
$GC,7681,0.64,146.0,2608,2153,2132,2076,90.4,11.7,505,7686,0.00,2.50,0.00,0.000,4356,0.000,0.083,2607,3555,2104,2133,2075,0,0,0,0,0,0,14.76,14.50,14.76,6.22,49.68
$GC,7796,0.64,146.0,2608,3556,2132,2076,78.0,10.0,528,7801,0.00,2.38,0.00,0.000,5126,0.000,0.044,2617,2144,2103,2132,2075,0,0,0,0,0,0,14.57,14.52,14.58,6.22,48.97
$GC,7922,0.64,146.0,2617,2146,2132,2076,66.2,9.5,553,7926,0.00,2.42,0.00,0.000,4612,0.000,0.070,2628,737,2103,2131,2075,0,0,0,0,0,0,14.77,14.54,14.77,6.21,49.48
$GC,7961,0.64,146.0,2629,738,2130,2075,62.5,9.2,561,7966,0.05,2.42,0.00,0.000,5126,0.311,0.058,2608,2140,2101,2129,2074,0,0,0,0,0,0,14.40,14.54,14.54,6.21,49.01
$GC,8086,0.66,163.5,2609,2152,2130,2073,52.0,7.7,586,8106,0.00,2.55,13.48,1.343,8452,0.000,0.086,2608,3565,2047,2072,2023,0,0,0,0,0,0,14.78,14.45,13.90,6.20,48.70
$GC,8131,0.67,175.6,2609,3565,2073,2022,48.7,7.9,595,8148,0.00,2.40,12.38,1.279,9222,0.000,0.044,2618,2148,2005,2026,1984,0,0,0,0,0,0,14.52,14.47,13.84,6.20,49.25
$GC,8267,0.68,180.4,2617,2149,2022,1972,37.8,8.2,622,8276,0.00,2.53,4.80,1.206,8452,0.000,0.085,2618,3556,1980,2003,1958,0,0,0,0,0,0,14.64,14.36,13.74,6.19,48.34
$GC,8306,0.68,180.4,2618,3557,2004,1959,34.3,8.7,630,8311,0.00,2.40,0.00,0.000,5126,0.000,0.045,2628,2148,1980,2003,1958,0,0,0,0,0,0,14.43,14.39,14.45,6.20,48.42
$GC,8432,0.68,180.4,2628,2149,2005,1956,21.6,11.9,655,8436,0.00,2.45,0.00,0.000,4612,0.000,0.070,2639,740,1979,2003,1956,0,0,0,0,0,0,14.66,14.42,14.66,6.19,48.81
$GC,8481,0.68,180.4,2639,740,2003,1956,15.9,11.2,665,8486,0.05,2.45,0.00,0.000,5126,0.308,0.052,2621,2164,1978,2003,1954,0,0,0,0,0,0,14.31,14.43,14.44,6.19,48.85
$STATE,8596,end climb,SURFACE_DEPTH_REACHED
$STATE,8596,begin surface coast
$STATE,8620,end surface coast,CONTROL_FINISHED_OK
$STATE,8620,begin surface
$SM_CCo,8633,37.38,0.256,0,0,1821,220.03
$SM_GC,1.45,5.68,0.10,37.38,0.096,0.129,0.256,271,2061,1821,-6.49,0.96,220.03,0,0,0,0,0,0,14.51,14.50,14.31
$IRIDIUM_FIX,-5940.07,0.00,281218,190212
$TT8_MAMPS,0.038948,0.361018
$HUMID,49.29
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,8
$SC_FREEKB,3855840
$24V_AH,13.28,29.349
$10V_AH,13.18,0.000
$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,13.200,83.475,289.500,37.375,0.000,23.603,15.811,131.964,2.000,0.000,16.365,0.000,6851.447,436.857,1583.080,90.773,0.000,1064.500,0.000,1133.919,0.000,0.540,0.000
$DEVICE_MAMPS,636.480,2252.160,1605.735,255.510,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5035.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.541,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17360,693
$CAP_FILE_SIZE,93435,0
$CFSIZE,1023623168,1006993408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.059,165.23,1
$GPS,291218,000334,-5942.096,-1.661,32,0.7,35,-19.7,1.1,196.5,10,8.9