version: 66.14
glider: 640
mission: 5
dive: 256
start: 1 11 119 12 13 51
data:
$ID,640
$MISSION,5
$DIVE,256
$N_DIVES,500
$STOP_T,1171912
$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,39
$R_STBD_OVSHOOT,30
$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
$GPS1,110119,120604,-5955.3882,-1.4584,24,0.8,28,-19.7,0.4,13.7,10,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-68.2
$GPS2,110119,121333,-5955.3877,-1.3925,9,0.9,18,-19.7,0.0,166.9,9,10.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,13.7,28528,-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,-146.0,234,2093,1793,1825,0.0,0.0,0,101,0.00,0.00,-88.12,0.000,16386,0.000,0.000,233,2094,3185,3265,3105,0,0,0,0,0,0,14.60,28.83,14.60,6.18,50.63
$GC,103,-0.64,-146.0,234,2093,3264,3107,3.2,-6.9,18,121,6.03,2.67,-4.97,0.000,18948,0.355,2.236,2190,699,3316,3410,3223,0,0,0,0,0,0,14.14,13.39,14.43,6.29,50.39
$GC,212,-0.64,-146.0,2191,702,3412,3223,21.8,-16.1,40,216,0.00,2.40,0.00,0.000,3078,0.000,0.056,2181,2102,3317,3411,3224,0,0,0,0,0,0,14.48,14.37,14.49,6.30,48.66
$GC,336,-0.64,-146.0,2181,2103,3412,3225,42.9,-18.3,65,340,0.00,2.47,0.00,0.000,2564,0.000,0.063,2180,703,3317,3411,3224,0,0,0,0,0,0,14.65,14.37,14.64,6.31,49.92
$GC,391,-0.64,-146.0,2180,704,3412,3225,53.5,-17.3,76,396,0.08,2.40,0.00,0.000,3078,0.372,0.057,2194,2104,3317,3411,3224,0,0,0,0,0,0,14.21,14.42,14.46,6.31,49.48
$GC,517,-0.64,-146.0,2194,2104,3413,3225,73.3,-15.6,101,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2104,3318,3411,3225,0,0,0,0,0,0,14.67,14.68,14.68,6.31,49.01
$GC,641,-0.64,-146.0,2195,2105,3412,3224,92.8,-16.3,126,645,0.00,2.47,0.00,0.000,516,0.000,0.062,2194,696,3318,3412,3225,0,0,0,0,0,0,14.70,14.42,14.71,6.31,49.21
$GC,656,-0.64,-146.0,2194,701,3412,3226,95.3,-16.3,129,660,0.00,2.42,0.00,0.000,3078,0.000,0.056,2185,2099,3317,3411,3224,0,0,0,0,0,0,14.50,14.43,14.52,6.30,49.05
$GC,791,-0.64,-146.0,2180,2099,3412,3224,116.8,-15.9,141,795,0.00,2.47,0.00,0.000,2308,0.000,0.081,2174,3512,3317,3411,3224,0,0,0,0,0,0,14.73,14.45,14.73,6.30,48.46
$GC,831,-0.64,-146.0,2175,3514,3412,3224,123.4,-16.0,143,835,0.05,2.40,0.00,0.000,3078,0.362,0.042,2191,2097,3318,3411,3225,0,0,0,0,0,0,14.24,14.48,14.42,6.30,48.62
$GC,1151,-0.64,-146.0,2191,2095,3412,3225,169.4,-13.8,159,1152,0.00,0.00,0.00,0.000,2054,0.000,0.000,2191,2095,3318,3411,3225,0,0,0,0,0,0,14.78,14.78,14.78,6.31,50.27
$GC,1451,-0.64,-146.0,2192,2095,3412,3224,208.8,-12.9,174,1456,0.00,2.45,0.00,0.000,2564,0.000,0.062,2190,671,3317,3411,3224,0,0,0,0,0,0,14.80,14.53,14.81,6.32,50.98
$GC,1521,-0.64,-146.0,2191,672,3412,3226,216.6,-13.0,177,1525,0.00,2.42,0.00,0.000,3078,0.000,0.055,2181,2103,3317,3411,3224,0,0,0,0,0,0,14.66,14.56,14.67,6.32,51.29
$GC,1831,-0.64,-146.0,2181,2103,3412,3224,257.1,-12.5,193,1832,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2103,3317,3411,3224,0,0,0,0,0,0,14.82,14.83,14.82,6.33,51.14
$GC,2131,-0.64,-146.0,2181,2104,3412,3225,294.7,-12.6,208,2132,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2103,3317,3411,3224,0,0,0,0,0,0,14.83,14.83,14.83,6.33,51.10
$GC,2431,-0.64,-146.0,2181,2104,3412,3225,332.6,-12.7,223,2432,0.00,0.00,0.00,0.000,2054,0.000,0.000,2180,2103,3317,3411,3224,0,0,0,0,0,0,14.85,14.84,14.85,6.34,51.96
$STATE,2570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2570,begin apogee
$GC,2574,-0.15,0.0,2181,2171,3412,3225,350.3,-12.6,230,2705,0.47,0.00,127.38,1.561,10246,0.266,0.000,2349,2170,2715,2776,2655,0,0,0,0,0,0,14.39,13.95,13.34,6.33,51.65
$STATE,2706,end apogee,CONTROL_FINISHED_OK
$STATE,2706,begin loiter
$GC,2991,-0.15,0.0,2349,2171,2772,2643,346.1,3.4,251,2992,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2170,2706,2771,2641,0,0,0,0,0,0,14.57,14.58,14.57,6.30,50.86
$GC,3291,-0.15,0.0,2349,2171,2772,2639,335.5,3.6,266,3292,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2170,2705,2771,2639,0,0,0,0,0,0,14.72,14.72,14.72,6.29,50.86
$GC,3591,-0.15,0.0,2349,2171,2772,2639,324.9,3.5,281,3592,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2169,2704,2771,2637,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.10
$GC,3891,-0.15,0.0,2349,2171,2772,2636,314.7,3.4,296,3892,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2170,2704,2771,2637,0,0,0,0,0,0,14.85,14.86,14.86,6.29,51.22
$GC,4191,-0.15,0.0,2349,2171,2772,2636,304.7,3.3,311,4192,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2170,2703,2770,2636,0,0,0,0,0,0,14.91,14.91,14.91,6.29,52.00
$GC,4491,-0.15,0.0,2349,2171,2772,2637,295.1,3.2,326,4492,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2170,2703,2771,2636,0,0,0,0,0,0,14.94,14.94,14.94,6.29,51.26
$GC,4791,-0.15,0.0,2349,2171,2772,2635,284.9,3.4,341,4792,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2170,2703,2771,2635,0,0,0,0,0,0,14.96,14.97,14.96,6.29,51.53
$GC,5091,-0.15,0.0,2349,2171,2773,2635,273.9,3.8,356,5092,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2170,2703,2771,2635,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.33
$GC,5392,-0.15,0.0,2349,2171,2773,2637,261.9,4.2,371,5392,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2170,2703,2771,2636,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.29
$GC,5691,-0.15,0.0,2349,2171,2771,2636,249.5,4.2,386,5692,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2170,2703,2771,2635,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.85
$GC,5991,-0.15,0.0,2349,2171,2772,2636,238.2,3.4,401,5992,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2170,2703,2771,2635,0,0,0,0,0,0,15.03,15.03,15.03,6.28,51.92
$STATE,6290,end loiter,LOITER_COMPLETE
$STATE,6290,begin climb
$GC,6291,0.64,146.0,2349,2171,2772,2636,229.3,0.0,416,6432,0.62,2.53,130.55,1.395,11012,0.172,0.081,2599,3537,2118,2143,2093,0,0,0,0,0,0,14.64,14.00,13.49,6.28,51.33
$GC,6516,0.64,146.0,2599,3537,2141,2086,213.4,10.0,427,6520,0.00,2.38,0.00,0.000,5126,0.000,0.041,2609,2160,2112,2139,2085,0,0,0,0,0,0,14.24,14.20,14.26,6.24,49.17
$GC,6831,0.64,146.0,2610,2161,2134,2077,178.5,11.2,443,6836,0.00,2.47,0.00,0.000,4612,0.000,0.065,2620,745,2104,2132,2077,0,0,0,0,0,0,14.62,14.33,14.62,6.24,50.43
$GC,6881,0.64,146.0,2620,746,2130,2078,174.0,11.2,445,6885,0.05,2.40,0.00,0.000,5126,0.303,0.052,2602,2123,2103,2129,2077,0,0,0,0,0,0,14.18,14.35,14.33,6.24,50.55
$GC,7191,0.64,146.0,2603,2124,2130,2074,137.6,11.6,461,7195,0.00,2.53,0.00,0.000,260,0.000,0.081,2602,3564,2101,2128,2075,0,0,0,0,0,0,14.72,14.42,14.72,6.23,50.59
$GC,7301,0.64,146.0,2603,3562,2129,2075,125.9,11.5,466,7305,0.00,2.40,0.00,0.000,5126,0.000,0.041,2611,2145,2101,2128,2075,0,0,0,0,0,0,14.49,14.45,14.52,6.24,50.98
$GC,7606,0.64,146.0,2613,2145,2129,2073,87.0,11.9,496,7611,0.00,2.47,0.00,0.000,4612,0.000,0.066,2622,742,2100,2127,2073,0,0,0,0,0,0,14.78,14.48,14.78,6.22,50.07
$GC,7651,0.64,146.0,2622,743,2126,2074,82.0,10.5,505,7656,0.05,2.42,0.00,0.000,5126,0.297,0.053,2602,2157,2099,2125,2073,0,0,0,0,0,0,14.31,14.46,14.45,6.22,50.00
$GC,7776,0.64,146.0,2603,2157,2127,2073,69.5,9.7,530,7780,0.00,2.50,0.00,0.000,260,0.000,0.083,2606,3556,2099,2126,2073,0,0,0,0,0,0,14.78,14.47,14.78,6.22,49.92
$GC,7811,0.64,146.0,2603,3558,2126,2074,65.9,9.8,537,7815,0.00,2.38,0.00,0.000,5126,0.000,0.042,2611,2151,2099,2126,2073,0,0,0,0,0,0,14.54,14.50,14.57,6.21,49.88
$GC,7937,0.64,146.0,2612,2151,2126,2074,54.5,9.0,562,7941,0.00,2.42,0.00,0.000,4612,0.000,0.066,2622,745,2099,2126,2073,0,0,0,0,0,0,14.78,14.52,14.79,6.21,49.13
$GC,7996,0.64,146.0,2623,746,2126,2072,49.1,9.1,574,8001,0.05,2.42,0.00,0.000,5126,0.295,0.054,2603,2157,2098,2125,2072,0,0,0,0,0,0,14.35,14.52,14.50,6.20,49.29
$GC,8122,0.66,168.3,2603,2158,2126,2073,38.7,7.5,599,8146,0.00,2.47,17.67,1.278,10500,0.000,0.083,2603,3547,2028,2050,2006,0,0,0,0,0,0,14.79,14.42,13.89,6.20,49.56
$GC,8196,0.66,168.3,2603,3548,2051,2005,31.9,9.6,614,8200,0.00,2.38,0.00,0.000,1030,0.000,0.042,2612,2149,2027,2050,2005,0,0,0,0,0,0,14.50,14.47,14.52,6.20,49.80
$GC,8322,0.66,168.3,2612,2149,2051,2003,20.0,9.2,639,8326,0.00,2.45,0.00,0.000,516,0.000,0.066,2623,740,2027,2052,2002,0,0,0,0,0,0,14.71,14.46,14.71,6.19,49.48
$GC,8381,0.66,168.3,2623,740,2049,2002,14.4,9.4,651,8385,0.00,2.42,0.00,0.000,5126,0.000,0.052,2623,2147,2024,2046,2003,0,0,0,0,0,0,14.49,14.43,14.50,6.19,49.88
$STATE,8495,end climb,SURFACE_DEPTH_REACHED
$STATE,8495,begin surface coast
$STATE,8520,end surface coast,CONTROL_FINISHED_OK
$STATE,8520,begin surface
$SM_CCo,8533,48.58,0.245,0,0,1823,220.03
$SM_GC,1.24,5.47,0.08,48.58,0.047,0.164,0.245,258,2077,1823,-6.49,0.90,220.03,0,0,0,0,0,0,14.59,14.52,14.29
$IRIDIUM_FIX,-5928.47,913.11,110119,120800
$TT8_MAMPS,0.03745,0.349034
$HUMID,50.11
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3789792
$24V_AH,13.34,52.167
$10V_AH,13.54,0.000
$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,12.875,63.800,275.600,48.575,0.000,48.970,76.241,123.375,0.000,0.000,19.261,0.000,6888.466,404.263,1602.667,137.111,0.000,1006.334,0.000,1088.667,0.000,0.539,0.000
$DEVICE_MAMPS,371.790,2236.095,1561.365,244.800,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4934.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.791,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17321,679
$CAP_FILE_SIZE,87025,0
$CFSIZE,1023623168,994312192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.057,108.35,1
$GPS,110119,143757,-5954.944,-0.982,38,0.8,41,-19.7,0.7,77.7,10,8.9