version: 66.14
glider: 640
mission: 5
dive: 55
start: 12 21 118 11 59 57
data:
$ID,640
$MISSION,5
$DIVE,55
$N_DIVES,85
$STOP_T,12271812
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,400
$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,110
$T_MISSION,160
$T_ABORT,200
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,1800
$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,46
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,602
$VBD_MAX,3962
$C_VBD,2630
$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
$GPS1,211218,115530,-6010.1040,-11.7411,5,8.7,45,-19.6,0.0,281.5,4,41.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-64.3
$GPS2,211218,115940,-6010.1235,-11.8129,8,1.2,15,-19.6,1.1,149.3,8,9.6
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,39.3,130356,-16.8,-9.091,-19.85,2456
$D_GRID,300
$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,-0.67,-146.0,233,2077,1704,1742,0.0,0.0,0,105,0.00,0.00,-93.68,0.000,16386,0.000,0.000,233,2076,3153,3235,3072,0,0,0,0,0,0,14.61,28.83,14.62,6.16,49.09
$GC,106,-0.67,-146.0,234,2076,3236,3073,3.2,-7.0,19,121,6.00,2.72,-2.83,0.000,18692,0.372,2.284,2162,3515,3227,3317,3138,0,0,0,0,0,0,14.24,13.50,14.39,6.27,49.13
$GC,224,-0.67,-146.0,2162,3517,3320,3139,25.3,-15.8,43,229,0.05,2.40,0.00,0.000,3078,0.385,0.047,2178,2115,3228,3318,3139,0,0,0,0,0,0,14.26,14.42,14.40,6.28,47.79
$GC,350,-0.67,-146.0,2178,2115,3319,3140,46.4,-14.5,68,351,0.00,0.00,0.00,0.000,2054,0.000,0.000,2178,2113,3228,3318,3138,0,0,0,0,0,0,14.66,14.66,14.66,6.28,48.54
$GC,470,-0.67,-146.0,2178,2115,3318,3140,64.3,-14.5,92,470,0.00,0.00,0.00,0.000,2054,0.000,0.000,2178,2114,3228,3318,3139,0,0,0,0,0,0,14.69,14.69,14.69,6.28,48.54
$GC,590,-0.67,-146.0,2177,2110,3319,3140,82.6,-15.1,116,594,0.00,2.53,0.00,0.000,2564,0.000,0.074,2178,689,3228,3318,3138,0,0,0,0,0,0,14.71,14.47,14.71,6.28,49.33
$GC,644,-0.67,-146.0,2179,688,3319,3139,90.9,-14.9,127,649,0.00,2.47,0.00,0.000,3078,0.000,0.063,2168,2111,3228,3318,3139,0,0,0,0,0,0,14.55,14.50,14.56,6.28,48.38
$GC,770,-0.67,-146.0,2168,2111,3319,3140,108.9,-14.7,143,771,0.00,0.00,0.00,0.000,2054,0.000,0.000,2168,2111,3228,3318,3139,0,0,0,0,0,0,14.74,14.74,14.74,6.28,49.09
$GC,1070,-0.67,-146.0,2169,2111,3319,3138,148.1,-12.6,158,1071,0.00,0.00,0.00,0.000,2054,0.000,0.000,2168,2111,3228,3318,3139,0,0,0,0,0,0,14.78,14.79,14.79,6.29,49.52
$GC,1370,-0.67,-146.0,2168,2111,3318,3139,185.8,-12.6,173,1375,0.00,2.45,0.00,0.000,2308,0.000,0.086,2157,3503,3227,3317,3138,0,0,0,0,0,0,14.83,14.57,14.83,6.30,50.59
$GC,1395,-0.67,-146.0,2158,3504,3319,3139,188.4,-12.7,174,1399,0.05,2.38,0.00,0.000,3078,0.386,0.047,2175,2090,3227,3317,3138,0,0,0,0,0,0,14.45,14.61,14.59,6.30,50.63
$GC,1710,-0.67,-146.0,2175,2089,3319,3139,227.9,-12.3,190,1714,0.00,2.42,0.00,0.000,2564,0.000,0.073,2175,701,3228,3318,3138,0,0,0,0,0,0,14.85,14.60,14.85,6.27,51.14
$GC,1780,-0.67,-146.0,2175,699,3319,3138,235.4,-12.5,193,1784,0.03,2.40,0.00,0.000,3078,0.479,0.062,2173,2094,3228,3318,3138,0,0,0,0,0,0,14.45,14.62,14.60,6.31,51.06
$GC,2090,-0.67,-146.0,2173,2095,3319,3138,273.3,-11.6,209,2094,0.00,2.47,0.00,0.000,2308,0.000,0.087,2164,3504,3227,3317,3138,0,0,0,0,0,0,14.87,14.61,14.87,6.31,50.94
$GC,2130,-0.67,-146.0,2163,3505,3319,3137,278.1,-11.8,211,2134,0.05,2.35,0.00,0.000,3078,0.377,0.047,2181,2101,3228,3318,3138,0,0,0,0,0,0,14.49,14.64,14.64,6.32,50.98
$STATE,2329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2329,begin apogee
$GC,2332,-0.15,0.0,2182,2167,3319,3138,300.6,-11.2,221,2469,0.47,0.00,132.82,1.553,10246,0.276,0.000,2351,2166,2624,2680,2569,0,0,0,0,0,0,14.53,13.91,13.33,6.32,51.45
$STATE,2470,end apogee,CONTROL_FINISHED_OK
$STATE,2471,begin loiter
$GC,2770,-0.15,0.0,2352,2167,2676,2558,291.8,4.1,243,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2616,2675,2557,0,0,0,0,0,0,14.56,14.56,14.56,6.27,50.55
$GC,3070,-0.15,0.0,2352,2167,2675,2555,279.3,4.2,258,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2614,2675,2554,0,0,0,0,0,0,14.69,14.69,14.69,6.27,50.51
$GC,3370,-0.15,0.0,2352,2167,2675,2553,266.7,4.2,273,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2613,2674,2553,0,0,0,0,0,0,14.78,14.78,14.78,6.27,50.74
$GC,3670,-0.15,0.0,2352,2167,2675,2553,254.5,3.9,288,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2613,2674,2552,0,0,0,0,0,0,14.83,14.83,14.83,6.27,50.74
$GC,3970,-0.15,0.0,2352,2167,2675,2550,243.1,3.7,303,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2612,2674,2551,0,0,0,0,0,0,14.88,14.88,14.88,6.27,50.78
$STATE,4269,end loiter,LOITER_COMPLETE
$STATE,4269,begin climb
$GC,4270,0.67,146.0,2352,2167,2675,2550,231.4,0.0,318,4414,0.65,2.62,135.00,1.402,10756,0.187,0.080,2619,742,2026,2048,2005,0,0,0,0,0,0,14.60,13.82,13.38,6.27,51.06
$GC,4439,0.67,146.0,2620,743,2049,2000,218.2,10.5,326,4444,0.00,2.50,0.00,0.000,5126,0.000,0.060,2619,2134,2022,2046,1999,0,0,0,0,0,0,14.05,14.00,14.08,6.23,48.89
$GC,4750,0.67,146.0,2620,2134,2044,1990,174.3,13.8,342,4755,0.00,2.58,0.00,0.000,260,0.000,0.089,2619,3552,2016,2043,1990,0,0,0,0,0,0,14.54,14.28,14.54,6.22,49.96
$GC,4850,0.67,146.0,2620,3548,2041,1991,160.9,13.1,347,4855,0.00,2.40,0.00,0.000,5126,0.000,0.050,2630,2151,2015,2041,1990,0,0,0,0,0,0,14.40,14.35,14.42,6.22,50.55
$GC,5170,0.67,146.0,2630,2151,2041,1988,116.2,14.1,363,5174,0.00,2.53,0.00,0.000,4612,0.000,0.083,2641,744,2013,2040,1986,0,0,0,0,0,0,14.69,14.42,14.69,6.22,50.90
$GC,5244,0.67,146.0,2642,745,2040,1985,108.5,13.1,366,5249,0.08,2.45,0.00,0.000,5126,0.291,0.061,2614,2154,2012,2039,1985,0,0,0,0,0,0,14.37,14.47,14.48,6.22,50.31
$GC,5550,0.67,146.0,2614,2155,2039,1986,70.2,12.3,418,5554,0.00,2.50,0.00,0.000,260,0.000,0.090,2614,3552,2012,2039,1985,0,0,0,0,0,0,14.74,14.47,14.74,6.21,49.76
$GC,5645,0.67,146.0,2615,3553,2039,1986,58.5,12.0,437,5649,0.00,2.38,0.00,0.000,5126,0.000,0.052,2623,2155,2011,2039,1984,0,0,0,0,0,0,14.59,14.54,14.60,6.20,48.62
$GC,5770,0.67,146.0,2623,2156,2032,1985,43.6,11.6,462,5774,0.00,2.53,0.00,0.000,4612,0.000,0.081,2634,738,2011,2039,1984,0,0,0,0,0,0,14.76,14.52,14.76,6.19,48.77
$GC,5809,0.67,146.0,2634,738,2039,1984,39.0,11.4,470,5814,0.05,2.45,0.00,0.000,5126,0.319,0.062,2615,2151,2011,2038,1984,0,0,0,0,0,0,14.42,14.52,14.54,6.20,49.21
$GC,5935,0.67,146.0,2615,2152,2039,1984,24.8,10.4,495,5939,0.00,2.50,0.00,0.000,260,0.000,0.090,2615,3555,2011,2038,1984,0,0,0,0,0,0,14.77,14.52,14.78,6.19,48.62
$GC,6015,0.67,146.5,2618,3556,2039,1985,16.6,9.1,511,6019,0.00,2.38,0.00,0.000,5126,0.000,0.051,2624,2151,2011,2038,1984,0,0,0,0,0,0,14.61,14.56,14.63,6.19,48.85
$GC,6140,0.67,146.5,2624,2150,2039,1984,4.3,9.3,536,6145,0.00,2.53,0.00,0.000,4612,0.000,0.082,2635,734,2010,2037,1983,0,0,0,0,0,0,14.78,14.54,14.78,6.19,49.25
$STATE,6154,end climb,SURFACE_DEPTH_REACHED
$STATE,6154,begin surface coast
$STATE,6174,end surface coast,CONTROL_FINISHED_OK
$STATE,6174,begin surface
$SM_CCo,6187,69.40,0.245,0,0,1732,220.03
$SM_GC,1.06,5.57,2.42,69.40,0.084,0.069,0.245,272,2100,1732,-6.44,-0.59,220.03,0,0,0,0,0,0,14.60,14.54,14.38
$IRIDIUM_FIX,-6007.06,0.00,211218,102630
$TT8_MAMPS,0.039697,0.293608
$HUMID,48.77
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3892704
$24V_AH,13.33,17.055
$10V_AH,13.43,0.000
$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,13.000,59.450,267.825,69.400,0.000,23.729,38.908,94.265,0.000,0.000,16.619,0.000,4751.960,431.997,1284.224,46.589,0.000,936.168,0.000,896.746,0.000,0.539,0.000
$DEVICE_MAMPS,478.890,2283.525,1552.950,244.800,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4368.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.019,0.000,0.000,0.000
$MEM,344156
$DATA_FILE_SIZE,13908,543
$CAP_FILE_SIZE,72155,0
$CFSIZE,1023623168,1014104064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.084,235.92,1
$GPS,211218,134502,-6009.838,-12.057,9,1.0,27,-19.6,0.8,337.9,10,9.1