version: 66.14
glider: 640
mission: 5
dive: 62
start: 12 22 118 1 55 26
data:
$ID,640
$MISSION,5
$DIVE,62
$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,190
$T_ABORT,200
$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,41
$R_STBD_OVSHOOT,27
$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
$GPS1,221218,015119,-6007.2310,-12.2912,16,0.7,39,-19.6,0.4,281.7,11,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-65.5
$GPS2,221218,015507,-6007.2437,-12.3269,12,0.9,17,-19.6,0.7,329.5,9,9.0
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,38.7,125089,-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,-146.0,235,2082,1768,1797,0.0,0.0,0,108,0.00,0.00,-98.05,0.000,16390,0.000,0.000,234,2081,3286,3366,3207,0,0,0,0,0,0,14.62,13.53,14.62,6.16,49.44
$GC,110,-0.67,-146.0,235,2082,3369,3202,3.8,-9.5,20,120,5.97,2.47,0.00,0.000,2308,0.372,0.067,2164,3512,3288,3369,3208,0,0,0,0,0,0,14.25,14.41,14.40,6.28,48.46
$GC,164,-0.67,-146.0,2164,3510,3376,3203,14.6,-16.9,31,168,0.05,2.38,0.00,0.000,3078,0.367,0.048,2179,2118,3288,3374,3203,0,0,0,0,0,0,14.28,14.42,14.42,6.29,48.03
$GC,289,-0.67,-146.0,2181,2116,3376,3203,35.5,-16.1,56,292,0.00,0.00,0.00,0.000,4102,0.000,0.000,2180,2116,3289,3375,3203,0,0,0,0,0,0,14.68,14.68,14.68,6.29,48.38
$GC,414,-0.67,-146.0,2181,2117,3377,3203,54.7,-15.9,81,414,0.00,0.00,0.00,0.000,2054,0.000,0.000,2180,2116,3289,3375,3203,0,0,0,0,0,0,14.71,14.71,14.71,6.31,48.62
$GC,534,-0.67,-146.0,2181,2117,3375,3204,73.5,-15.5,105,534,0.00,0.00,0.00,0.000,2054,0.000,0.000,2180,2116,3289,3375,3203,0,0,0,0,0,0,14.73,14.73,14.73,6.28,48.50
$GC,654,-0.67,-146.0,2180,2117,3375,3204,92.1,-15.3,129,659,0.00,2.53,0.00,0.000,2564,0.000,0.076,2180,689,3289,3375,3203,0,0,0,0,0,0,14.74,14.50,14.74,6.28,48.93
$GC,714,-0.67,-146.0,2181,689,3377,3203,101.3,-14.4,141,719,0.00,2.45,0.00,0.000,3078,0.000,0.063,2171,2105,3289,3375,3203,0,0,0,0,0,0,14.57,14.51,14.59,6.28,48.85
$GC,1034,-0.67,-146.0,2171,2105,3376,3204,145.8,-13.1,157,1038,0.00,2.47,0.00,0.000,2308,0.000,0.086,2160,3510,3288,3375,3202,0,0,0,0,0,0,14.80,14.54,14.80,6.29,49.64
$GC,1059,-0.67,-146.0,2160,3511,3376,3201,148.5,-13.2,158,1064,0.05,2.38,0.00,0.000,3078,0.376,0.049,2177,2099,3289,3375,3203,0,0,0,0,0,0,14.41,14.57,14.56,6.29,49.64
$GC,1374,-0.67,-146.0,2177,2099,3376,3203,191.7,-13.6,174,1378,0.00,2.45,0.00,0.000,2564,0.000,0.075,2176,696,3289,3375,3203,0,0,0,0,0,0,14.83,14.57,14.83,6.30,50.70
$GC,1424,-0.67,-146.0,2177,697,3376,3202,197.3,-13.8,176,1429,0.00,2.40,0.00,0.000,3078,0.000,0.061,2167,2094,3288,3375,3202,0,0,0,0,0,0,14.64,14.59,14.66,6.31,50.70
$GC,1734,-0.67,-146.0,2167,2095,3375,3203,240.5,-13.5,192,1735,0.05,0.00,0.00,0.000,2054,0.474,0.000,2181,2095,3289,3376,3202,0,0,0,0,0,0,14.49,14.71,14.69,6.31,51.29
$GC,2034,-0.67,-146.0,2181,2094,3376,3201,278.6,-12.5,207,2035,0.00,0.00,0.00,0.000,2054,0.000,0.000,2180,2094,3288,3375,3202,0,0,0,0,0,0,14.88,14.88,14.88,6.32,52.24
$STATE,2213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2213,begin apogee
$GC,2216,-0.15,0.0,2181,2178,3376,3201,301.2,-12.5,216,2351,0.47,0.00,131.65,1.548,10246,0.275,0.000,2350,2178,2686,2743,2629,0,0,0,0,0,0,14.54,13.90,13.32,6.32,52.28
$STATE,2352,end apogee,CONTROL_FINISHED_OK
$STATE,2352,begin loiter
$GC,2635,-0.15,0.0,2351,2179,2740,2617,297.0,3.3,237,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2178,2677,2738,2616,0,0,0,0,0,0,14.54,14.54,14.54,6.27,50.35
$GC,2935,-0.15,0.0,2351,2178,2740,2614,287.7,3.1,252,2936,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2178,2676,2739,2614,0,0,0,0,0,0,14.68,14.68,14.69,6.27,50.82
$GC,3235,-0.15,0.0,2351,2178,2740,2613,278.8,2.9,267,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2178,2676,2739,2613,0,0,0,0,0,0,14.76,14.77,14.77,6.27,51.73
$GC,3535,-0.15,0.0,2351,2178,2739,2612,270.0,3.0,282,3536,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2178,2675,2739,2612,0,0,0,0,0,0,14.82,14.83,14.83,6.27,51.22
$GC,3835,-0.15,0.0,2351,2179,2740,2612,260.9,3.0,297,3836,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2178,2675,2739,2612,0,0,0,0,0,0,14.87,14.88,14.88,6.27,50.98
$GC,4135,-0.15,0.0,2351,2179,2740,2613,251.8,3.1,312,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2178,2675,2739,2612,0,0,0,0,0,0,14.90,14.90,14.91,6.27,51.53
$GC,4435,-0.15,0.0,2351,2179,2740,2613,241.9,3.5,327,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2178,2675,2739,2612,0,0,0,0,0,0,14.92,14.93,14.94,6.28,51.02
$GC,4735,-0.15,0.0,2351,2178,2740,2612,231.1,3.8,342,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2178,2675,2739,2612,0,0,0,0,0,0,14.95,14.96,14.95,6.27,51.22
$GC,5035,-0.15,0.0,2351,2179,2740,2613,220.0,3.8,357,5036,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2178,2675,2739,2612,0,0,0,0,0,0,14.97,14.97,14.97,6.27,51.29
$GC,5335,-0.15,0.0,2351,2179,2740,2614,208.4,3.8,372,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2179,2676,2739,2613,0,0,0,0,0,0,14.99,14.99,14.99,6.27,51.33
$GC,5635,-0.15,0.0,2351,2179,2740,2614,197.1,3.7,387,5636,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2178,2676,2739,2613,0,0,0,0,0,0,15.00,15.01,15.00,6.27,51.41
$STATE,5934,end loiter,LOITER_COMPLETE
$STATE,5934,begin climb
$GC,5935,0.67,146.0,2351,2178,2741,2613,186.3,0.0,402,6076,0.65,2.45,134.10,1.388,10500,0.176,0.086,2612,3534,2088,2111,2065,0,0,0,0,0,0,14.71,13.96,13.45,6.27,51.37
$GC,6115,0.67,146.0,2612,3534,2112,2059,171.7,10.9,411,6119,0.00,2.42,0.00,0.000,5126,0.000,0.050,2622,2148,2084,2110,2058,0,0,0,0,0,0,14.12,14.09,14.14,6.23,48.81
$GC,6435,0.67,146.0,2622,2148,2104,2050,130.8,12.9,427,6440,0.00,2.53,0.00,0.000,4612,0.000,0.081,2633,747,2076,2103,2049,0,0,0,0,0,0,14.58,14.33,14.58,6.22,49.88
$GC,6515,0.67,146.0,2634,747,2103,2048,121.1,12.1,431,6521,0.05,2.40,0.00,0.000,5126,0.316,0.057,2615,2129,2074,2101,2048,0,0,0,0,0,0,14.26,14.39,14.39,6.22,50.23
$GC,6820,0.67,146.0,2615,2130,2103,2045,85.9,11.2,462,6825,0.00,2.53,0.00,0.000,260,0.000,0.085,2614,3549,2073,2101,2045,0,0,0,0,0,0,14.69,14.44,14.69,6.21,49.17
$GC,6865,0.67,146.0,2615,3549,2102,2045,80.8,10.8,471,6870,0.00,2.38,0.00,0.000,5126,0.000,0.051,2624,2149,2073,2101,2045,0,0,0,0,0,0,14.52,14.47,14.54,6.21,49.76
$GC,6991,0.67,146.0,2625,2150,2102,2044,67.2,11.1,496,6995,0.00,2.50,0.00,0.000,4612,0.000,0.080,2635,745,2072,2101,2043,0,0,0,0,0,0,14.71,14.46,14.71,6.20,49.21
$GC,7035,0.67,146.0,2635,746,2101,2044,62.3,10.6,505,7040,0.05,2.42,0.00,0.000,5126,0.315,0.057,2615,2150,2071,2100,2043,0,0,0,0,0,0,14.38,14.48,14.50,6.20,48.62
$GC,7161,0.67,146.0,2616,2154,2102,2042,49.7,9.9,530,7165,0.00,2.45,0.00,0.000,260,0.000,0.086,2616,3558,2071,2100,2042,0,0,0,0,0,0,14.73,14.49,14.73,6.20,48.89
$GC,7200,0.67,146.0,2616,3559,2101,2048,45.5,10.2,538,7205,0.00,2.38,0.00,0.000,5126,0.000,0.050,2625,2156,2071,2100,2042,0,0,0,0,0,0,14.57,14.50,14.58,6.20,48.85
$GC,7325,0.68,151.6,2625,2156,2101,2042,33.5,8.9,563,7330,0.00,2.50,0.00,0.000,4612,0.000,0.080,2636,745,2070,2100,2041,0,0,0,0,0,0,14.74,14.52,14.75,6.19,48.93
$GC,7450,0.68,151.6,2636,745,2100,2042,21.6,9.8,588,7456,0.05,2.42,0.00,0.000,5126,0.324,0.060,2617,2151,2069,2099,2040,0,0,0,0,0,0,14.40,14.53,14.53,6.19,48.70
$GC,7576,0.68,151.6,2617,2152,2100,2040,8.4,11.8,613,7580,0.00,2.45,0.00,0.000,260,0.000,0.088,2617,3558,2070,2100,2040,0,0,0,0,0,0,14.76,14.52,14.76,6.19,48.89
$STATE,7624,end climb,SURFACE_DEPTH_REACHED
$STATE,7624,begin surface coast
$STATE,7649,end surface coast,CONTROL_FINISHED_OK
$STATE,7649,begin surface
$SM_CCo,7662,68.85,0.249,0,0,1791,220.03
$SM_GC,0.99,5.45,2.50,68.85,0.067,0.044,0.249,279,2088,1791,-6.44,0.59,220.03,0,0,0,0,0,0,14.61,14.57,14.35
$IRIDIUM_FIX,-6007.05,-12.96,211218,233821
$TT8_MAMPS,0.039697,0.084637
$HUMID,48.66
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3889120
$24V_AH,13.32,18.155
$10V_AH,13.62,0.000
$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,12.850,53.950,265.750,68.850,0.000,26.370,15.316,89.344,0.000,0.000,18.497,0.000,6121.700,433.425,1359.500,52.808,0.000,972.074,0.000,982.279,0.000,0.539,0.000
$DEVICE_MAMPS,474.300,165.240,1548.360,248.625,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4058.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.904,0.000,0.000,0.000
$MEM,344124
$DATA_FILE_SIZE,17314,628
$CAP_FILE_SIZE,78450,0
$CFSIZE,1023623168,1013399552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.069,234.78,1
$GPS,221218,040519,-6006.934,-12.399,18,0.7,41,-19.6,0.9,227.7,12,6.3