version: 66.14
glider: 640
mission: 5
dive: 56
start: 12 21 118 13 49 26
data:
$ID,640
$MISSION,5
$DIVE,56
$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,24
$R_STBD_OVSHOOT,18
$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
$GPS1,211218,134502,-6009.8384,-12.0573,9,1.0,27,-19.6,0.8,337.9,10,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-64.5
$GPS2,211218,134908,-6009.8750,-12.0696,8,0.8,13,-19.6,0.9,66.1,10,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,39.7,129920,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8,-0.67,-146.0,235,2101,1705,1741,0.0,0.0,0,104,0.00,0.00,-93.62,0.000,16386,0.000,0.000,234,2101,3151,3232,3070,0,0,0,0,0,0,14.61,28.83,14.61,6.15,49.52
$GC,105,-0.67,-146.0,235,2101,3233,3070,3.3,-7.0,19,120,6.03,2.70,-2.95,0.000,18692,0.378,2.290,2164,3519,3227,3318,3136,0,0,0,0,0,0,14.23,13.50,14.39,6.27,48.97
$GC,204,-0.67,-146.0,2164,3520,3319,3136,19.4,-16.5,39,208,0.05,2.42,0.00,0.000,3078,0.363,0.049,2181,2092,3227,3318,3137,0,0,0,0,0,0,14.26,14.40,14.38,6.29,48.34
$GC,329,-0.67,-146.0,2181,2091,3319,3138,38.9,-15.3,64,333,0.00,2.47,0.00,0.000,2564,0.000,0.076,2181,698,3227,3318,3136,0,0,0,0,0,0,14.65,14.42,14.66,6.28,48.22
$GC,359,-0.67,-146.0,2182,698,3320,3137,43.1,-13.6,70,363,0.00,2.45,0.00,0.000,3078,0.000,0.060,2171,2108,3227,3318,3137,0,0,0,0,0,0,14.48,14.42,14.50,6.28,48.66
$GC,484,-0.67,-146.0,2172,2108,3320,3137,60.8,-15.3,95,488,0.00,2.47,0.00,0.000,2308,0.000,0.088,2160,3503,3227,3318,3137,0,0,0,0,0,0,14.69,14.43,14.69,6.28,49.17
$GC,514,-0.67,-146.0,2162,3501,3319,3137,65.4,-15.7,101,519,0.05,2.38,0.00,0.000,3078,0.385,0.050,2178,2107,3227,3318,3136,0,0,0,0,0,0,14.32,14.47,14.45,6.28,48.50
$GC,639,-0.67,-146.0,2177,2106,3319,3137,83.4,-13.5,126,643,0.00,2.50,0.00,0.000,2564,0.000,0.075,2177,690,3227,3318,3137,0,0,0,0,0,0,14.71,14.47,14.71,6.28,48.30
$GC,668,-0.67,-146.0,2178,691,3319,3137,87.4,-13.3,132,673,0.00,2.45,0.00,0.000,3078,0.000,0.063,2167,2102,3227,3318,3137,0,0,0,0,0,0,14.54,14.49,14.56,6.28,48.46
$GC,809,-0.67,-146.0,2168,2103,3319,3136,105.5,-12.8,154,809,0.00,0.00,0.00,0.000,2054,0.000,0.000,2167,2103,3227,3318,3137,0,0,0,0,0,0,14.73,14.74,14.74,6.28,48.46
$GC,1109,-0.67,-146.0,2168,2104,3319,3138,144.4,-13.4,169,1114,0.00,2.47,0.00,0.000,2564,0.000,0.073,2167,692,3227,3318,3137,0,0,0,0,0,0,14.78,14.54,14.78,6.28,49.92
$GC,1134,-0.67,-146.0,2167,692,3319,3138,147.2,-13.5,170,1138,0.05,2.42,0.00,0.000,3078,0.407,0.061,2173,2099,3227,3318,3136,0,0,0,0,0,0,14.39,14.56,14.55,6.28,50.47
$GC,1449,-0.67,-146.0,2174,2100,3319,3137,188.2,-12.6,186,1453,0.00,2.47,0.00,0.000,2308,0.000,0.087,2164,3505,3227,3318,3136,0,0,0,0,0,0,14.82,14.57,14.82,6.30,50.86
$GC,1479,-0.67,-146.0,2165,3505,3319,3136,190.8,-12.6,187,1483,0.05,2.38,0.00,0.000,3078,0.378,0.049,2181,2091,3227,3318,3136,0,0,0,0,0,0,14.44,14.60,14.59,6.30,50.98
$GC,1789,-0.67,-146.0,2181,2090,3319,3137,229.7,-12.0,203,1793,0.00,2.45,0.00,0.000,2564,0.000,0.075,2181,686,3227,3318,3136,0,0,0,0,0,0,14.82,14.60,14.84,6.30,51.18
$GC,1844,-0.67,-146.0,2181,691,3319,3137,234.6,-12.1,205,1848,0.00,2.42,0.00,0.000,3078,0.000,0.062,2171,2100,3227,3318,3136,0,0,0,0,0,0,14.66,14.61,14.68,6.31,51.02
$GC,2149,-0.67,-146.0,2171,2102,3319,3136,255.6,-5.0,221,2153,0.00,2.45,0.00,0.000,2308,0.000,0.086,2160,3505,3227,3318,3136,0,0,0,0,0,0,14.86,14.62,14.86,6.32,51.10
$GC,2654,-0.67,-146.0,2161,3505,3320,3135,283.6,-5.7,246,2658,0.05,2.35,0.00,0.000,3078,0.389,0.044,2177,2082,3227,3318,3136,0,0,0,0,0,0,14.48,14.64,14.63,6.32,51.06
$STATE,2948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2948,begin apogee
$GC,2951,-0.15,0.0,2177,2175,3319,3135,300.7,-5.9,261,3085,0.47,0.00,131.30,1.544,10246,0.287,0.000,2346,2174,2629,2686,2572,0,0,0,0,0,0,14.53,13.92,13.33,6.32,50.90
$STATE,3086,end apogee,CONTROL_FINISHED_OK
$STATE,3086,begin loiter
$GC,3369,-0.15,0.0,2346,2175,2679,2559,294.5,3.1,282,3370,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2174,2618,2679,2558,0,0,0,0,0,0,14.54,14.55,14.54,6.27,49.96
$GC,3669,-0.15,0.0,2346,2175,2678,2555,284.7,3.4,297,3670,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2174,2615,2677,2554,0,0,0,0,0,0,14.69,14.69,14.69,6.28,50.43
$GC,3969,-0.15,0.0,2346,2174,2678,2553,274.0,3.6,312,3970,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2174,2614,2676,2553,0,0,0,0,0,0,14.77,14.77,14.77,6.27,51.14
$GC,4269,-0.15,0.0,2346,2175,2677,2554,264.1,3.0,327,4270,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2174,2615,2677,2553,0,0,0,0,0,0,14.83,14.83,14.83,6.27,50.82
$GC,4569,-0.15,0.0,2346,2175,2677,2553,256.2,2.4,342,4570,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2174,2614,2676,2552,0,0,0,0,0,0,14.88,14.88,14.87,6.27,50.98
$STATE,4868,end loiter,LOITER_COMPLETE
$STATE,4868,begin climb
$GC,4869,0.67,146.0,2346,2174,2677,2551,248.9,0.0,357,5011,0.65,2.60,134.25,1.427,10756,0.157,0.077,2623,758,2028,2046,2010,0,0,0,0,0,0,14.62,13.82,13.35,6.27,50.74
$GC,5179,0.67,146.0,2623,758,2042,1996,228.4,9.1,372,5184,0.00,2.42,0.00,0.000,5126,0.000,0.060,2624,2128,2017,2040,1994,0,0,0,0,0,0,14.25,14.20,14.27,6.22,49.25
$GC,5489,0.67,146.0,2624,2128,2042,1989,182.9,14.8,388,5494,0.00,2.58,0.00,0.000,4356,0.000,0.086,2623,3559,2014,2040,1989,0,0,0,0,0,0,14.60,14.35,14.60,6.22,50.35
$GC,5529,0.67,146.0,2624,3560,2041,1990,176.8,15.0,390,5535,0.05,2.40,0.00,0.000,5126,0.341,0.054,2617,2156,2014,2039,1989,0,0,0,0,0,0,14.26,14.38,14.38,6.22,50.11
$GC,5849,0.67,146.0,2617,2157,2040,1987,131.8,14.1,406,5853,0.00,2.53,0.00,0.000,516,0.000,0.083,2626,752,2012,2039,1986,0,0,0,0,0,0,14.69,14.44,14.70,6.22,50.43
$GC,5909,0.67,146.0,2626,752,2039,1988,123.8,13.5,409,5913,0.00,2.42,0.00,0.000,5126,0.000,0.060,2625,2153,2012,2038,1986,0,0,0,0,0,0,14.51,14.47,14.54,6.22,50.15
$GC,6214,0.67,146.0,2626,2154,2039,1986,83.1,13.6,443,6219,0.00,2.53,0.00,0.000,4612,0.000,0.085,2637,745,2011,2038,1985,0,0,0,0,0,0,14.75,14.50,14.75,6.20,49.52
$GC,6244,0.67,146.0,2637,746,2039,1984,79.1,13.3,449,6249,0.05,2.42,0.00,0.000,5126,0.319,0.060,2618,2156,2015,2038,1993,0,0,0,0,0,0,14.41,14.52,14.54,6.21,49.40
$GC,6369,0.67,146.0,2619,2156,2038,1986,63.7,11.9,474,6374,0.00,2.50,0.00,0.000,260,0.000,0.089,2618,3555,2011,2038,1984,0,0,0,0,0,0,14.76,14.51,14.76,6.20,49.29
$GC,6414,0.67,146.0,2618,3557,2038,1986,58.1,12.1,483,6420,0.00,2.38,0.00,0.000,5126,0.000,0.053,2631,2152,2011,2038,1984,0,0,0,0,0,0,14.59,14.54,14.62,6.20,48.34
$GC,6539,0.67,146.0,2628,2152,2039,1984,42.6,12.5,508,6544,0.00,2.50,0.00,0.000,4612,0.000,0.082,2638,744,2010,2037,1984,0,0,0,0,0,0,14.77,14.51,14.77,6.20,48.50
$GC,6569,0.67,146.0,2638,745,2038,1985,38.9,12.2,514,6574,0.05,2.42,0.00,0.000,5126,0.317,0.060,2619,2146,2010,2037,1984,0,0,0,0,0,0,14.42,14.54,14.54,6.20,48.74
$GC,6694,0.67,146.0,2619,2152,2038,1985,25.2,10.5,539,6699,0.00,2.50,0.00,0.000,4612,0.000,0.082,2628,749,2011,2038,1984,0,0,0,0,0,0,14.77,14.53,14.78,6.19,48.30
$GC,6729,0.67,146.0,2629,749,2038,1984,21.5,10.7,546,6734,0.00,2.42,0.00,0.000,5126,0.000,0.060,2629,2157,2010,2036,1984,0,0,0,0,0,0,14.59,14.54,14.61,6.19,48.38
$GC,6854,0.67,146.0,2629,2157,2038,1984,7.3,11.9,571,6859,0.00,2.47,0.00,0.000,4356,0.000,0.090,2629,3550,2010,2037,1983,0,0,0,0,0,0,14.78,14.53,14.78,6.19,49.25
$GC,6889,0.67,146.0,2629,3551,2037,1994,3.8,9.9,578,6894,0.05,2.35,0.00,0.000,5126,0.340,0.050,2621,2152,2010,2036,1984,0,0,0,0,0,0,14.43,14.57,14.55,6.19,48.81
$STATE,6898,end climb,SURFACE_DEPTH_REACHED
$STATE,6898,begin surface coast
$STATE,6923,end surface coast,CONTROL_FINISHED_OK
$STATE,6923,begin surface
$SM_CCo,6934,68.40,0.246,0,0,1733,220.03
$SM_GC,1.11,5.53,0.08,68.40,0.075,0.173,0.246,269,2084,1733,-6.48,0.99,220.03,0,0,0,0,0,0,14.63,14.57,14.38
$IRIDIUM_FIX,-6010.01,-4.32,211218,115644
$TT8_MAMPS,0.03745,0.285369
$HUMID,48.26
$INTERNAL_PRESSURE,6.0992
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3892192
$24V_AH,13.33,17.216
$10V_AH,13.41,0.000
$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,13.125,78.925,265.550,68.400,0.000,23.265,25.556,101.260,0.000,0.000,14.375,0.000,5273.196,446.887,1485.300,52.514,0.000,1037.847,0.000,1074.572,0.000,0.540,0.000
$DEVICE_MAMPS,406.980,2290.410,1543.770,246.330,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5134.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.990,0.000,0.000,0.000
$MEM,344120
$DATA_FILE_SIZE,13880,585
$CAP_FILE_SIZE,84675,0
$CFSIZE,1023623168,1013989376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.116,261.51,1
$GPS,211218,154701,-6009.623,-12.246,5,0.9,31,-19.6,0.0,249.6,9,7.2