version: 66.14
glider: 640
mission: 5
dive: 128
start: 12 29 118 0 11 14
data:
$ID,640
$MISSION,5
$DIVE,128
$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,69
$R_STBD_OVSHOOT,49
$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
$GPS1,291218,000334,-5942.0957,-1.6608,32,0.7,35,-19.7,1.1,196.5,10,8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-63.8
$GPS2,291218,001056,-5942.1162,-1.6097,10,0.7,15,-19.7,0.0,79.2,12,9.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,201.7,70176,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-0.64,-146.0,233,2120,1797,1823,0.0,0.0,0,105,0.00,0.00,-93.30,0.000,16386,0.000,0.000,232,2120,3236,3317,3156,0,0,0,0,0,0,14.56,28.83,14.57,6.17,50.63
$GC,106,-0.64,-146.0,233,2121,3318,3159,3.5,-8.0,19,121,6.00,2.62,-2.97,0.000,19204,0.357,2.248,2185,729,3322,3416,3228,0,0,0,0,0,0,14.19,13.38,14.34,6.29,49.05
$GC,135,-0.64,-146.0,2186,730,3410,3228,9.3,-18.0,25,140,0.05,2.38,0.00,0.000,3078,0.365,0.061,2192,2077,3321,3409,3233,0,0,0,0,0,0,14.17,14.31,14.32,6.30,48.70
$GC,260,-0.64,-146.0,2193,2077,3411,3227,29.0,-15.8,50,263,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2076,3318,3410,3227,0,0,0,0,0,0,14.59,14.60,14.59,6.30,48.38
$GC,385,-0.64,-146.0,2193,2077,3411,3228,49.9,-15.3,75,389,0.00,2.58,0.00,0.000,2308,0.000,0.086,2182,3512,3319,3410,3228,0,0,0,0,0,0,14.64,14.38,14.64,6.30,48.74
$GC,500,-0.64,-146.0,2183,3513,3411,3228,67.9,-14.0,98,504,0.00,2.33,0.00,0.000,3078,0.000,0.043,2181,2138,3319,3410,3228,0,0,0,0,0,0,14.49,14.45,14.51,6.30,49.17
$GC,626,-0.64,-146.0,2182,2138,3411,3228,87.1,-15.5,123,629,0.00,2.50,0.00,0.000,2564,0.000,0.064,2181,686,3319,3410,3228,0,0,0,0,0,0,14.68,14.45,14.68,6.30,48.38
$GC,675,-0.64,-146.0,2182,685,3411,3228,94.7,-15.1,133,680,0.05,2.45,0.00,0.000,3078,0.361,0.060,2188,2098,3319,3410,3228,0,0,0,0,0,0,14.30,14.45,14.44,6.28,48.11
$GC,810,-0.64,-146.0,2188,2099,3410,3229,114.5,-14.3,145,815,0.00,2.50,0.00,0.000,2308,0.000,0.084,2178,3506,3319,3410,3228,0,0,0,0,0,0,14.71,14.45,14.71,6.29,48.50
$GC,840,-0.64,-146.0,2178,3507,3410,3229,117.4,-14.4,146,844,0.03,2.38,0.00,0.000,3078,0.449,0.044,2185,2101,3319,3410,3228,0,0,0,0,0,0,14.30,14.49,14.45,6.29,48.62
$GC,1150,-0.64,-146.0,2187,2100,3411,3227,162.3,-14.5,162,1154,0.00,2.45,0.00,0.000,2564,0.000,0.067,2186,696,3318,3409,3228,0,0,0,0,0,0,14.75,14.51,14.75,6.30,50.11
$GC,1275,-0.64,-146.0,2186,697,3411,3228,178.6,-13.2,168,1280,0.05,2.42,0.00,0.000,3078,0.370,0.057,2192,2101,3319,3410,3228,0,0,0,0,0,0,14.35,14.52,14.50,6.31,50.63
$GC,1590,-0.64,-146.0,2193,2102,3410,3229,218.4,-12.2,184,1594,0.00,2.47,0.00,0.000,2308,0.000,0.085,2182,3500,3319,3410,3228,0,0,0,0,0,0,14.78,14.53,14.78,6.32,50.74
$GC,1650,-0.64,-146.0,2183,3501,3411,3227,225.8,-12.4,187,1654,0.00,2.35,0.00,0.000,3078,0.000,0.043,2182,2096,3318,3410,3227,0,0,0,0,0,0,14.61,14.57,14.63,6.32,50.70
$GC,1970,-0.64,-146.0,2183,2095,3411,3227,265.9,-12.5,203,1974,0.00,2.42,0.00,0.000,2564,0.000,0.064,2182,701,3318,3410,3227,0,0,0,0,0,0,14.81,14.56,14.80,6.33,51.53
$GC,2040,-0.64,-146.0,2183,701,3411,3227,273.5,-12.7,206,2044,0.05,2.40,0.00,0.000,3078,0.359,0.058,2189,2096,3318,3409,3227,0,0,0,0,0,0,14.40,14.56,14.55,6.33,50.86
$GC,2350,-0.64,-146.0,2189,2097,3410,3227,311.5,-11.8,222,2355,0.00,2.47,0.00,0.000,2308,0.000,0.084,2178,3504,3318,3410,3227,0,0,0,0,0,0,14.82,14.56,14.80,6.33,51.37
$GC,2420,-0.64,-146.0,2178,3503,3410,3227,318.8,-12.1,225,2424,0.03,2.35,0.00,0.000,3078,0.452,0.043,2187,2098,3317,3409,3226,0,0,0,0,0,0,14.40,14.59,14.54,6.33,50.98
$STATE,2689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2689,begin apogee
$GC,2692,-0.15,0.0,2188,2170,3411,3226,352.0,-11.9,239,2824,0.45,0.00,128.68,1.584,10246,0.268,0.000,2348,2170,2718,2777,2660,0,0,0,0,0,0,14.46,13.90,13.29,6.33,51.02
$STATE,2825,end apogee,CONTROL_FINISHED_OK
$STATE,2825,begin loiter
$GC,3110,-0.15,0.0,2348,2170,2771,2644,347.7,3.3,260,3111,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2169,2706,2770,2643,0,0,0,0,0,0,14.55,14.55,14.55,6.29,50.31
$GC,3410,-0.15,0.0,2348,2170,2771,2640,338.0,3.1,275,3411,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2169,2705,2770,2640,0,0,0,0,0,0,14.70,14.70,14.70,6.28,51.06
$GC,3710,-0.15,0.0,2348,2170,2771,2638,328.2,3.3,290,3711,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2170,2704,2770,2639,0,0,0,0,0,0,14.78,14.78,14.78,6.28,51.06
$GC,4010,-0.15,0.0,2348,2170,2770,2638,317.9,3.4,305,4011,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2170,2703,2768,2638,0,0,0,0,0,0,14.84,14.84,14.84,6.29,50.82
$GC,4310,-0.15,0.0,2349,2170,2771,2637,307.3,3.4,320,4311,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2170,2704,2770,2638,0,0,0,0,0,0,14.89,14.89,14.89,6.28,50.98
$GC,4610,-0.15,0.0,2348,2170,2770,2639,297.4,3.3,335,4611,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2169,2703,2770,2637,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.77
$GC,4910,-0.15,0.0,2349,2170,2771,2637,288.5,3.0,350,4911,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2170,2703,2770,2637,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.10
$GC,5210,-0.15,0.0,2347,2170,2770,2639,280.0,2.9,365,5211,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2169,2703,2770,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.53
$GC,5510,-0.15,0.0,2349,2170,2771,2637,270.9,3.1,380,5511,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2170,2703,2770,2637,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.06
$GC,5810,-0.15,0.0,2349,2170,2770,2638,260.7,3.4,395,5811,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2169,2703,2770,2637,0,0,0,0,0,0,15.01,15.01,15.01,6.28,51.29
$GC,6110,-0.15,0.0,2348,2170,2771,2638,250.5,3.4,410,6111,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2170,2703,2770,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.27,50.98
$STATE,6409,end loiter,LOITER_COMPLETE
$STATE,6409,begin climb
$GC,6410,0.64,146.0,2348,2170,2771,2638,241.0,0.0,425,6550,0.62,2.50,130.45,1.426,10500,0.174,0.083,2600,3543,2118,2143,2093,0,0,0,0,0,0,14.71,13.89,13.43,6.28,51.06
$GC,6590,0.64,146.0,2600,3544,2142,2088,227.6,10.0,434,6594,0.00,2.40,0.00,0.000,5126,0.000,0.043,2610,2161,2113,2141,2086,0,0,0,0,0,0,14.14,14.09,14.16,6.23,49.05
$GC,6910,0.64,146.0,2610,2161,2135,2078,189.0,12.1,450,6915,0.00,2.53,0.00,0.000,4612,0.000,0.070,2621,745,2105,2133,2077,0,0,0,0,0,0,14.59,14.33,14.59,6.24,50.31
$GC,6950,0.64,146.0,2621,745,2130,2078,184.4,11.8,452,6955,0.05,2.42,0.00,0.000,5126,0.312,0.057,2603,2133,2104,2131,2077,0,0,0,0,0,0,14.23,14.35,14.35,6.24,50.90
$GC,7270,0.64,146.0,2603,2134,2131,2076,148.8,11.3,468,7274,0.00,2.55,0.00,0.000,260,0.000,0.086,2603,3555,2102,2130,2074,0,0,0,0,0,0,14.70,14.42,14.71,6.23,50.59
$GC,7375,0.64,146.0,2603,3556,2131,2075,136.4,12.4,473,7380,0.00,2.38,0.00,0.000,5126,0.000,0.044,2611,2149,2102,2130,2074,0,0,0,0,0,0,14.54,14.50,14.56,6.23,50.51
$GC,7680,0.64,146.0,2612,2149,2129,2072,95.7,13.1,493,7684,0.00,2.47,0.00,0.000,4612,0.000,0.070,2623,746,2100,2129,2072,0,0,0,0,0,0,14.76,14.49,14.74,6.23,50.47
$GC,7765,0.64,146.0,2624,746,2128,2072,85.1,12.2,510,7769,0.05,2.42,0.00,0.000,5126,0.311,0.057,2604,2157,2098,2126,2071,0,0,0,0,0,0,14.40,14.53,14.54,6.22,50.19
$GC,7890,0.64,146.0,2604,2158,2128,2072,69.5,12.5,535,7895,0.00,2.47,0.00,0.000,260,0.000,0.086,2604,3546,2099,2127,2071,0,0,0,0,0,0,14.78,14.50,14.78,6.22,49.84
$GC,7940,0.64,146.0,2604,3548,2128,2071,63.0,12.7,545,7944,0.00,2.35,0.00,0.000,5126,0.000,0.044,2613,2151,2098,2126,2071,0,0,0,0,0,0,14.58,14.54,14.60,6.21,49.05
$GC,8065,0.64,146.0,2613,2151,2132,2071,46.9,13.1,570,8069,0.00,2.42,0.00,0.000,4612,0.000,0.068,2624,742,2098,2126,2071,0,0,0,0,0,0,14.78,14.55,14.78,6.21,48.97
$GC,8080,0.64,146.0,2619,743,2127,2071,44.9,12.3,573,8084,0.05,2.42,0.00,0.000,5126,0.304,0.058,2604,2149,2098,2126,2071,0,0,0,0,0,0,14.40,14.52,14.54,6.21,49.01
$GC,8205,0.65,155.0,2605,2149,2128,2070,33.4,8.0,598,8216,0.00,2.47,4.15,1.166,10500,0.000,0.085,2604,3549,2085,2112,2058,0,0,0,0,0,0,14.79,14.50,13.81,6.16,49.01
$GC,8280,0.65,155.0,2604,3550,2112,2060,26.0,10.1,613,8284,0.00,2.38,0.00,0.000,5126,0.000,0.044,2613,2141,2085,2112,2059,0,0,0,0,0,0,14.57,14.55,14.59,6.21,48.85
$GC,8405,0.65,155.0,2614,2140,2113,2059,13.7,9.4,638,8409,0.00,2.40,0.00,0.000,4612,0.000,0.067,2624,741,2085,2112,2058,0,0,0,0,0,0,14.78,14.58,14.78,6.20,49.48
$GC,8470,0.66,161.9,2623,741,2112,2058,7.3,8.1,651,8480,0.00,2.42,5.82,0.293,13318,0.000,0.058,2624,2146,2058,2083,2034,0,0,0,0,0,0,14.57,14.51,14.40,6.20,49.17
$STATE,8514,end climb,SURFACE_DEPTH_REACHED
$STATE,8514,begin surface coast
$STATE,8539,end surface coast,CONTROL_FINISHED_OK
$STATE,8539,begin surface
$SM_CCo,8552,55.83,0.249,0,0,1821,220.03
$SM_GC,1.12,5.57,0.08,55.83,0.076,0.168,0.249,232,2080,1821,-6.50,0.88,220.03,0,0,0,0,0,0,14.62,14.56,14.35
$IRIDIUM_FIX,-5940.07,0.00,291218,000509
$TT8_MAMPS,0.039697,0.362516
$HUMID,49.17
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,6
$SC_FREEKB,3855328
$24V_AH,13.29,29.531
$10V_AH,13.28,0.000
$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,13.050,78.325,269.100,55.825,0.000,48.811,78.417,140.955,1.500,0.000,16.383,0.000,6870.617,434.409,1659.904,89.916,0.000,1054.491,0.000,1119.711,0.000,0.540,0.000
$DEVICE_MAMPS,452.115,2247.570,1584.315,249.390,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4952.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.568,0.000,0.000,0.000
$MEM,344104
$DATA_FILE_SIZE,17346,665
$CAP_FILE_SIZE,92870,0
$CFSIZE,1023623168,1006895104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.084,100.37,1
$GPS,291218,023531,-5942.526,-0.745,16,0.8,27,-19.7,0.6,339.6,9,9.5