version: 66.14
glider: 640
mission: 5
dive: 132
start: 12 29 118 10 15 32
data:
$ID,640
$MISSION,5
$DIVE,132
$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,73
$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
$GPS1,291218,100955,-5943.4346,-0.2608,10,0.9,40,-19.7,0.0,327.8,8,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-65.1
$GPS2,291218,101513,-5943.4351,-0.3194,8,0.9,16,-19.7,0.6,301.0,8,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,200.5,67719,-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,-146.0,235,2148,1799,1823,0.0,0.0,0,101,0.00,0.00,-89.95,0.000,16386,0.000,0.000,234,2148,3202,3282,3122,0,0,0,0,0,0,14.57,28.83,14.57,6.17,50.55
$GC,103,-0.64,-146.0,235,2148,3283,3123,3.3,-6.1,18,121,6.07,2.58,-4.38,0.000,18692,0.376,2.269,2174,3459,3317,3410,3225,0,0,0,0,0,0,14.18,13.38,14.44,6.28,49.25
$GC,150,-0.64,-146.0,2175,3459,3413,3226,12.9,-18.0,28,154,0.05,2.25,0.00,0.000,3078,0.360,0.041,2191,2135,3319,3412,3226,0,0,0,0,0,0,14.16,14.33,14.31,6.30,48.42
$GC,275,-0.64,-146.0,2191,2134,3413,3227,33.9,-16.8,53,280,0.00,2.50,0.00,0.000,2564,0.000,0.064,2191,693,3319,3412,3226,0,0,0,0,0,0,14.59,14.38,14.59,6.30,48.89
$GC,330,-0.64,-146.0,2191,693,3413,3226,42.8,-15.3,64,334,0.00,2.38,0.00,0.000,3078,0.000,0.057,2181,2053,3318,3412,3225,0,0,0,0,0,0,14.44,14.39,14.46,6.30,48.38
$GC,455,-0.64,-146.0,2182,2054,3412,3226,62.0,-14.3,89,460,0.00,2.40,0.00,0.000,2564,0.000,0.067,2181,697,3319,3412,3226,0,0,0,0,0,0,14.64,14.41,14.64,6.30,49.40
$GC,570,-0.64,-146.0,2182,698,3413,3226,77.8,-13.4,112,574,0.05,2.45,0.00,0.000,3078,0.363,0.057,2182,2105,3319,3412,3226,0,0,0,0,0,0,14.28,14.43,14.42,6.30,48.74
$GC,695,-0.64,-146.0,2187,2106,3412,3228,95.4,-15.1,137,700,0.00,2.45,0.00,0.000,2308,0.000,0.083,2178,3512,3319,3412,3226,0,0,0,0,0,0,14.69,14.49,14.69,6.30,48.50
$GC,725,-0.64,-146.0,2177,3512,3413,3226,99.9,-15.0,143,729,0.03,2.38,0.00,0.000,3078,0.453,0.044,2185,2107,3319,3412,3226,0,0,0,0,0,0,14.27,14.46,14.42,6.35,48.58
$GC,850,-0.64,-146.0,2186,2107,3413,3226,117.8,-14.5,150,854,0.00,2.47,0.00,0.000,2564,0.000,0.067,2184,698,3319,3412,3226,0,0,0,0,0,0,14.71,14.47,14.71,6.36,48.74
$GC,910,-0.64,-146.0,2185,699,3413,3227,126.7,-14.9,153,914,0.05,2.42,0.00,0.000,3078,0.370,0.057,2192,2098,3319,3412,3226,0,0,0,0,0,0,14.31,14.48,14.47,6.29,48.50
$GC,1230,-0.64,-146.0,2192,2099,3413,3227,168.6,-12.9,169,1235,0.00,2.47,0.00,0.000,2308,0.000,0.083,2181,3498,3319,3412,3226,0,0,0,0,0,0,14.76,14.50,14.76,6.30,49.84
$GC,1290,-0.64,-146.0,2181,3499,3413,3226,176.4,-12.9,172,1295,0.00,2.35,0.00,0.000,3078,0.000,0.043,2181,2099,3318,3410,3226,0,0,0,0,0,0,14.59,14.54,14.60,6.31,50.27
$GC,1610,-0.64,-146.0,2181,2098,3413,3234,217.8,-12.8,188,1614,0.00,2.45,0.00,0.000,2564,0.000,0.067,2180,698,3319,3412,3226,0,0,0,0,0,0,14.79,14.54,14.78,6.31,51.18
$GC,1705,-0.64,-146.0,2181,698,3414,3226,228.0,-12.8,192,1709,0.05,2.42,0.00,0.000,3078,0.363,0.057,2187,2103,3319,3412,3226,0,0,0,0,0,0,14.38,14.53,14.52,6.32,50.66
$GC,2010,-0.64,-146.0,2187,2104,3412,3227,267.4,-12.4,208,2014,0.00,2.47,0.00,0.000,2308,0.000,0.083,2177,3505,3318,3412,3225,0,0,0,0,0,0,14.80,14.54,14.81,6.32,50.90
$GC,2040,-0.64,-146.0,2177,3505,3413,3225,270.0,-12.5,209,2045,0.03,2.35,0.00,0.000,3078,0.447,0.043,2185,2101,3318,3412,3225,0,0,0,0,0,0,14.40,14.58,14.54,6.32,51.14
$GC,2350,-0.64,-146.0,2185,2101,3412,3227,310.0,-12.5,225,2354,0.00,2.42,0.00,0.000,2564,0.000,0.065,2185,705,3319,3412,3226,0,0,0,0,0,0,14.81,14.57,14.82,6.33,51.02
$GC,2435,-0.64,-146.0,2185,705,3413,3225,319.9,-12.3,229,2439,0.05,2.40,0.00,0.000,3078,0.367,0.057,2192,2101,3318,3412,3225,0,0,0,0,0,0,14.39,14.57,14.57,6.33,51.33
$STATE,2689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2689,begin apogee
$GC,2692,-0.15,0.0,2192,2166,3413,3225,350.4,-11.8,242,2824,0.45,0.00,128.88,1.587,10246,0.268,0.000,2353,2167,2719,2778,2660,0,0,0,0,0,0,14.47,13.91,13.29,6.33,51.26
$STATE,2825,end apogee,CONTROL_FINISHED_OK
$STATE,2825,begin loiter
$GC,3110,-0.15,0.0,2353,2168,2770,2644,345.8,3.3,263,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2167,2706,2770,2642,0,0,0,0,0,0,14.54,14.55,14.55,6.28,50.55
$GC,3410,-0.15,0.0,2353,2167,2770,2641,336.5,3.0,278,3411,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2166,2705,2770,2640,0,0,0,0,0,0,14.69,14.70,14.70,6.28,50.66
$GC,3710,-0.15,0.0,2353,2167,2771,2640,328.4,2.5,293,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2166,2704,2770,2638,0,0,0,0,0,0,14.78,14.78,14.78,6.28,51.45
$GC,4010,-0.15,0.0,2354,2167,2771,2638,320.7,2.5,308,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2167,2704,2770,2638,0,0,0,0,0,0,14.84,14.85,14.84,6.28,51.06
$GC,4310,-0.15,0.0,2354,2167,2770,2639,312.8,2.8,323,4311,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2167,2703,2770,2637,0,0,0,0,0,0,14.88,14.89,14.89,6.28,51.33
$GC,4610,-0.15,0.0,2354,2167,2771,2637,304.4,2.8,338,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2166,2703,2770,2637,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.69
$GC,4910,-0.15,0.0,2354,2167,2771,2637,296.8,2.5,353,4911,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2167,2703,2770,2637,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.41
$GC,5210,-0.15,0.0,2353,2167,2771,2638,289.9,2.1,368,5211,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2167,2703,2770,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.33
$GC,5510,-0.15,0.0,2353,2167,2771,2638,283.6,2.0,383,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2166,2703,2770,2637,0,0,0,0,0,0,14.99,14.99,14.99,6.28,50.98
$GC,5810,-0.15,0.0,2353,2167,2771,2637,277.1,2.2,398,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2167,2703,2770,2637,0,0,0,0,0,0,15.00,15.01,15.01,6.29,51.96
$GC,6110,-0.15,0.0,2354,2167,2771,2636,270.3,2.3,413,6111,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2167,2703,2770,2636,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.29
$STATE,6409,end loiter,LOITER_COMPLETE
$STATE,6409,begin climb
$GC,6410,0.64,146.0,2353,2167,2770,2638,263.1,0.0,428,6551,0.60,2.55,130.68,1.457,10500,0.171,0.084,2596,3540,2116,2140,2093,0,0,0,0,0,0,14.71,13.97,13.43,6.28,51.33
$GC,6565,0.68,178.2,2597,3541,2141,2091,255.3,7.1,435,6600,0.00,2.42,30.85,1.405,11270,0.000,0.044,2607,2154,1992,2015,1969,0,0,0,0,0,0,14.09,14.04,13.40,6.24,48.93
$GC,6905,0.68,178.2,2607,2155,2005,1947,209.6,13.5,453,6909,0.00,2.53,0.00,0.000,2564,0.000,0.070,2618,747,1975,2003,1947,0,0,0,0,0,0,14.53,14.28,14.54,6.23,49.68
$GC,6955,0.68,178.2,2618,747,2002,1948,204.5,13.2,455,6959,0.00,2.42,0.00,0.000,1030,0.000,0.057,2618,2128,1973,2001,1946,0,0,0,0,0,0,14.37,14.33,14.40,6.23,50.03
$GC,7265,0.68,178.2,2618,2130,2000,1944,158.2,14.9,471,7269,0.00,2.58,0.00,0.000,260,0.000,0.086,2620,3562,1967,1992,1942,0,0,0,0,0,0,14.66,14.40,14.67,6.29,50.74
$GC,7350,0.68,178.2,2618,3563,2000,1944,146.5,14.6,475,7354,0.00,2.40,0.00,0.000,5126,0.000,0.044,2629,2144,1971,2000,1942,0,0,0,0,0,0,14.49,14.45,14.50,6.22,50.19
$GC,7665,0.68,178.2,2629,2145,2002,1942,98.8,14.6,491,7669,0.00,2.45,0.00,0.000,4612,0.000,0.069,2640,750,1969,1998,1941,0,0,0,0,0,0,14.76,14.50,14.75,6.22,50.66
$GC,7685,0.68,178.2,2641,750,2002,1940,96.1,13.6,495,7689,0.05,2.42,0.00,0.000,5126,0.307,0.057,2622,2152,1968,1997,1940,0,0,0,0,0,0,14.38,14.47,14.51,6.21,50.00
$GC,7810,0.68,178.2,2622,2154,1998,1940,80.0,12.8,520,7814,0.00,2.50,0.00,0.000,4356,0.000,0.085,2621,3556,1968,1996,1940,0,0,0,0,0,0,14.76,14.47,14.76,6.21,50.11
$GC,7855,0.68,178.2,2621,3557,1997,1942,74.3,12.1,529,7859,0.00,2.38,0.00,0.000,5126,0.000,0.044,2630,2148,1968,1996,1940,0,0,0,0,0,0,14.57,14.54,14.60,6.20,49.37
$GC,7981,0.68,178.2,2631,2148,1997,1939,59.0,12.0,554,7985,0.00,2.42,0.00,0.000,4612,0.000,0.069,2641,748,1968,1997,1940,0,0,0,0,0,0,14.77,14.53,14.77,6.20,48.89
$GC,8020,0.68,178.2,2637,749,1996,1941,54.2,11.6,562,8025,0.05,2.42,0.00,0.000,5126,0.304,0.056,2622,2156,1967,1996,1939,0,0,0,0,0,0,14.38,14.51,14.52,6.20,49.17
$GC,8145,0.68,178.2,2623,2157,1997,1939,41.1,10.2,587,8149,0.00,2.47,0.00,0.000,4356,0.000,0.083,2622,3552,1967,1996,1939,0,0,0,0,0,0,14.78,14.52,14.78,6.20,48.77
$GC,8156,0.68,178.2,2622,3554,1996,1940,40.0,10.5,589,8159,0.00,2.33,0.00,0.000,5126,0.000,0.047,2630,2147,1967,1996,1938,0,0,0,0,0,0,14.66,14.57,14.67,6.20,49.37
$GC,8280,0.68,178.2,2631,2147,1997,1940,26.5,11.1,614,8285,0.00,2.42,0.00,0.000,4612,0.000,0.069,2642,741,1967,1996,1939,0,0,0,0,0,0,14.78,14.54,14.78,6.19,48.93
$GC,8315,0.68,178.2,2642,742,1997,1938,22.7,11.0,621,8319,0.05,2.42,0.00,0.000,5126,0.309,0.055,2622,2152,1966,1995,1938,0,0,0,0,0,0,14.42,14.54,14.55,6.19,49.05
$GC,8440,0.68,178.2,2623,2152,1991,1937,8.2,12.3,646,8445,0.00,2.45,0.00,0.000,4356,0.000,0.084,2622,3553,1966,1995,1938,0,0,0,0,0,0,14.79,14.54,14.79,6.19,49.52
$GC,8475,0.68,178.2,2622,3556,1996,1939,3.7,13.5,653,8479,0.00,2.38,0.00,0.000,5126,0.000,0.047,2630,2145,1966,1995,1938,0,0,0,0,0,0,14.61,14.57,14.64,6.19,49.88
$STATE,8484,end climb,SURFACE_DEPTH_REACHED
$STATE,8484,begin surface coast
$STATE,8504,end surface coast,CONTROL_FINISHED_OK
$STATE,8504,begin surface
$SM_CCo,8515,34.58,0.253,0,0,1820,220.03
$SM_GC,1.36,5.40,0.05,34.58,0.044,0.210,0.253,254,2069,1820,-6.45,1.02,220.03,0,0,0,0,0,0,14.64,14.58,14.39
$IRIDIUM_FIX,-5941.93,4.27,291218,074157
$TT8_MAMPS,0.038199,0.362516
$HUMID,49.56
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,6
$SC_FREEKB,3853280
$24V_AH,13.29,30.266
$10V_AH,13.36,0.000
$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,12.975,87.800,290.400,34.575,0.000,31.004,37.292,135.742,1.500,0.000,17.357,0.000,6764.973,434.832,1580.327,93.478,0.000,1054.541,0.000,1101.541,0.000,0.539,0.000
$DEVICE_MAMPS,452.880,2268.990,1587.375,253.215,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4918.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.516,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,17315,659
$CAP_FILE_SIZE,94233,0
$CFSIZE,1023623168,1006501888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.048,132.44,1
$GPS,291218,123903,-5944.000,0.096,36,0.8,39,-19.7,0.0,135.6,10,9.7