version: 66.14
glider: 640
mission: 5
dive: 133
start: 12 29 118 12 44 3
data:
$ID,640
$MISSION,5
$DIVE,133
$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,62
$R_STBD_OVSHOOT,28
$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
$GPS1,291218,123903,-5944.0000,0.0956,36,0.8,39,-19.7,0.0,135.6,10,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-65.5
$GPS2,291218,124344,-5944.0181,0.1116,8,0.8,14,-19.7,0.5,347.7,11,8.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,208.2,66638,-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,-146.0,233,2068,1800,1822,0.0,0.0,0,100,0.00,0.00,-88.35,0.000,16386,0.000,0.000,232,2068,3170,3248,3093,0,0,0,0,0,0,14.62,28.83,14.63,6.17,50.07
$GC,101,-0.64,-146.0,233,2068,3250,3093,3.1,-5.3,18,120,6.10,2.80,-5.90,0.000,18692,0.375,2.274,2172,3500,3317,3411,3224,0,0,0,0,0,0,14.22,13.43,14.39,6.28,49.13
$GC,145,-0.64,-146.0,2172,3501,3415,3225,9.6,-14.0,27,149,0.05,2.35,0.00,0.000,3078,0.353,0.042,2188,2121,3316,3413,3220,0,0,0,0,0,0,14.22,14.38,14.36,6.30,48.54
$GC,270,-0.64,-146.0,2189,2120,3413,3225,29.0,-15.6,52,274,0.00,2.47,0.00,0.000,2564,0.000,0.066,2188,693,3318,3413,3224,0,0,0,0,0,0,14.63,14.41,14.64,6.30,48.89
$GC,365,-0.64,-146.0,2189,694,3415,3225,44.9,-16.4,71,369,0.00,2.45,0.00,0.000,3078,0.000,0.060,2179,2099,3320,3416,3225,0,0,0,0,0,0,14.48,14.39,14.50,6.30,48.42
$GC,490,-0.64,-146.0,2181,2100,3414,3225,62.9,-13.8,96,494,0.00,2.50,0.00,0.000,2308,0.000,0.083,2169,3505,3319,3413,3225,0,0,0,0,0,0,14.68,14.42,14.69,6.30,48.93
$GC,530,-0.64,-146.0,2169,3505,3414,3226,68.5,-13.6,104,534,0.05,2.38,0.00,0.000,3078,0.356,0.044,2186,2099,3318,3412,3224,0,0,0,0,0,0,14.31,14.47,14.45,6.30,49.09
$GC,655,-0.64,-146.0,2187,2098,3414,3225,85.6,-14.1,129,659,0.00,2.45,0.00,0.000,2564,0.000,0.066,2186,699,3319,3413,3225,0,0,0,0,0,0,14.71,14.47,14.71,6.30,48.46
$GC,705,-0.64,-146.0,2187,700,3414,3225,92.8,-13.8,139,709,0.05,2.42,0.00,0.000,3078,0.365,0.057,2194,2101,3319,3413,3225,0,0,0,0,0,0,14.32,14.48,14.47,6.29,48.74
$GC,845,-0.64,-146.0,2194,2102,3414,3225,110.9,-13.0,155,849,0.00,2.50,0.00,0.000,260,0.000,0.083,2184,3507,3319,3413,3225,0,0,0,0,0,0,14.73,14.47,14.73,6.29,48.50
$GC,870,-0.64,-146.0,2184,3508,3414,3225,113.4,-12.6,156,874,0.00,2.38,0.00,0.000,3078,0.000,0.044,2188,2101,3318,3411,3225,0,0,0,0,0,0,14.56,14.52,14.58,6.29,49.13
$GC,1185,-0.64,-146.0,2184,2101,3413,3226,155.0,-13.7,172,1190,0.00,2.45,0.00,0.000,2564,0.000,0.066,2183,696,3319,3413,3225,0,0,0,0,0,0,14.78,14.53,14.78,6.30,50.15
$GC,1265,-0.64,-146.0,2183,697,3414,3225,165.7,-13.4,176,1270,0.05,2.42,0.00,0.000,3078,0.359,0.057,2190,2104,3319,3413,3225,0,0,0,0,0,0,14.38,14.54,14.52,6.30,50.03
$GC,1585,-0.64,-146.0,2190,2104,3418,3225,207.1,-13.0,192,1589,0.00,2.47,0.00,0.000,2308,0.000,0.083,2179,3505,3319,3413,3225,0,0,0,0,0,0,14.81,14.54,14.81,6.32,50.90
$GC,1655,-0.64,-146.0,2180,3505,3414,3225,214.9,-13.1,195,1659,0.00,2.35,0.00,0.000,3078,0.000,0.042,2179,2101,3318,3413,3224,0,0,0,0,0,0,14.62,14.58,14.64,6.32,50.66
$GC,1965,-0.64,-146.0,2179,2101,3413,3226,256.5,-13.0,211,1969,0.00,2.45,0.00,0.000,2564,0.000,0.065,2179,690,3319,3413,3225,0,0,0,0,0,0,14.82,14.57,14.82,6.33,50.86
$GC,2060,-0.64,-146.0,2179,691,3413,3225,266.8,-12.9,215,2064,0.05,2.42,0.00,0.000,3078,0.359,0.057,2186,2101,3319,3413,3225,0,0,0,0,0,0,14.41,14.58,14.57,6.32,50.98
$GC,2365,-0.64,-146.0,2187,2101,3413,3223,305.6,-12.2,231,2369,0.00,2.47,0.00,0.000,2308,0.000,0.084,2176,3504,3318,3412,3224,0,0,0,0,0,0,14.83,14.58,14.83,6.33,51.29
$GC,2410,-0.64,-146.0,2176,3505,3413,3224,310.7,-12.4,233,2414,0.05,2.35,0.00,0.000,3078,0.359,0.042,2193,2095,3318,3412,3224,0,0,0,0,0,0,14.43,14.60,14.58,6.34,51.10
$GC,2725,-0.64,-146.0,2194,2094,3414,3224,348.0,-11.7,249,2730,0.00,2.42,0.00,0.000,2564,0.000,0.065,2193,701,3318,3412,3224,0,0,0,0,0,0,14.85,14.59,14.85,6.34,51.22
$STATE,2744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2744,begin apogee
$GC,2749,-0.15,0.0,2183,2151,3413,3225,350.4,-11.8,250,2881,0.47,0.00,128.23,1.610,10246,0.269,0.000,2353,2150,2716,2775,2657,0,0,0,0,0,0,14.47,13.90,13.33,6.34,51.06
$STATE,2882,end apogee,CONTROL_FINISHED_OK
$STATE,2882,begin loiter
$GC,3165,-0.15,0.0,2353,2151,2771,2644,345.6,3.4,271,3166,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2150,2707,2771,2643,0,0,0,0,0,0,14.54,14.55,14.55,6.28,50.47
$GC,3465,-0.15,0.0,2353,2151,2771,2641,335.7,3.2,286,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2150,2706,2771,2641,0,0,0,0,0,0,14.69,14.69,14.69,6.28,50.78
$GC,3765,-0.15,0.0,2353,2151,2771,2640,325.9,3.2,301,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2150,2704,2770,2639,0,0,0,0,0,0,14.78,14.78,14.78,6.28,51.65
$GC,4065,-0.15,0.0,2354,2151,2772,2638,316.5,3.1,316,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2150,2704,2771,2638,0,0,0,0,0,0,14.83,14.84,14.84,6.28,51.14
$GC,4365,-0.15,0.0,2354,2151,2771,2639,306.9,3.2,331,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2150,2704,2770,2638,0,0,0,0,0,0,14.88,14.88,14.88,6.28,51.02
$GC,4665,-0.15,0.0,2354,2151,2772,2637,297.4,3.1,346,4666,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2150,2703,2770,2637,0,0,0,0,0,0,14.92,14.92,14.92,6.29,50.90
$GC,4965,-0.15,0.0,2353,2151,2771,2638,288.0,3.2,361,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2149,2704,2771,2637,0,0,0,0,0,0,14.94,14.95,14.95,6.28,50.90
$GC,5265,-0.15,0.0,2353,2151,2771,2638,278.7,3.1,376,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2150,2704,2771,2637,0,0,0,0,0,0,14.96,14.97,14.97,6.28,51.77
$GC,5565,-0.15,0.0,2354,2152,2771,2638,269.0,3.3,391,5566,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2150,2703,2771,2636,0,0,0,0,0,0,14.98,14.98,14.98,6.28,51.37
$GC,5865,-0.15,0.0,2353,2151,2771,2638,259.4,3.2,406,5866,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2150,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.28,50.98
$GC,6165,-0.15,0.0,2353,2151,2771,2638,250.8,2.8,421,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2151,2704,2771,2637,0,0,0,0,0,0,15.01,15.01,15.01,6.28,51.06
$STATE,6464,end loiter,LOITER_COMPLETE
$STATE,6464,begin climb
$GC,6465,0.64,146.0,2354,2151,2772,2637,242.0,0.0,436,6605,0.60,2.55,130.65,1.430,11012,0.171,0.081,2597,3555,2114,2142,2087,0,0,0,0,0,0,14.70,13.90,13.44,6.27,51.22
$GC,6640,0.64,146.0,2597,3557,2142,2087,230.6,9.1,444,6645,0.00,2.42,0.00,0.000,5126,0.000,0.043,2607,2160,2113,2140,2086,0,0,0,0,0,0,14.14,14.10,14.16,6.24,49.01
$GC,6945,0.64,146.0,2608,2160,2133,2076,191.3,12.4,460,6949,0.00,2.53,0.00,0.000,4612,0.000,0.070,2618,746,2104,2132,2077,0,0,0,0,0,0,14.58,14.32,14.58,6.24,50.07
$GC,6965,0.64,146.0,2619,746,2131,2077,188.8,12.4,461,6969,0.00,2.45,0.00,0.000,5126,0.000,0.055,2619,2148,2103,2131,2076,0,0,0,0,0,0,14.39,14.34,14.40,6.24,50.00
$GC,7285,0.64,146.0,2619,2148,2130,2075,146.9,12.9,477,7290,0.00,2.53,0.00,0.000,4356,0.000,0.085,2619,3559,2101,2129,2074,0,0,0,0,0,0,14.69,14.41,14.69,6.23,50.47
$GC,7370,0.64,146.0,2618,3560,2130,2075,136.0,13.6,481,7375,0.08,2.40,0.00,0.000,5126,0.302,0.044,2602,2138,2101,2129,2074,0,0,0,0,0,0,14.34,14.48,14.47,6.23,50.98
$GC,7685,0.64,146.0,2602,2138,2129,2069,98.0,11.4,497,7690,0.00,2.45,0.00,0.000,516,0.000,0.069,2612,746,2099,2128,2071,0,0,0,0,0,0,14.75,14.49,14.76,6.22,50.11
$GC,7730,0.64,146.0,2612,746,2127,2072,93.1,10.8,506,7735,0.00,2.42,0.00,0.000,5126,0.000,0.054,2611,2158,2098,2126,2071,0,0,0,0,0,0,14.57,14.52,14.59,6.22,50.51
$GC,7856,0.64,146.0,2611,2159,2127,2081,78.1,12.4,531,7860,0.00,2.50,0.00,0.000,4356,0.000,0.086,2612,3578,2098,2126,2071,0,0,0,0,0,0,14.76,14.52,14.77,6.21,49.29
$GC,7905,0.64,146.0,2612,3579,2127,2074,71.7,12.4,541,7910,0.05,2.40,0.00,0.000,5126,0.334,0.044,2605,2153,2098,2126,2071,0,0,0,0,0,0,14.37,14.52,14.50,6.21,49.21
$GC,8030,0.64,146.0,2605,2154,2126,2071,56.9,12.3,566,8035,0.00,2.47,0.00,0.000,516,0.000,0.069,2613,748,2098,2126,2070,0,0,0,0,0,0,14.77,14.52,14.78,6.21,49.52
$GC,8075,0.64,146.0,2614,749,2126,2071,51.6,11.3,575,8080,0.00,2.40,0.00,0.000,5126,0.000,0.054,2614,2146,2097,2124,2070,0,0,0,0,0,0,14.57,14.52,14.59,6.21,49.48
$GC,8201,0.64,146.0,2614,2146,2126,2070,38.1,10.5,600,8205,0.00,2.47,0.00,0.000,4356,0.000,0.086,2613,3555,2098,2126,2070,0,0,0,0,0,0,14.75,14.53,14.79,6.20,48.50
$GC,8255,0.64,146.0,2613,3557,2126,2071,32.0,10.4,611,8260,0.05,2.38,0.00,0.000,5126,0.337,0.044,2606,2146,2097,2125,2070,0,0,0,0,0,0,14.38,14.54,14.52,6.21,49.44
$GC,8381,0.64,146.0,2606,2147,2123,2070,20.2,9.5,636,8385,0.00,2.42,0.00,0.000,516,0.000,0.069,2615,744,2097,2125,2070,0,0,0,0,0,0,14.78,14.55,14.78,6.20,49.60
$GC,8410,0.64,146.0,2616,745,2126,2069,17.3,9.8,642,8416,0.00,2.40,0.00,0.000,5126,0.000,0.055,2615,2149,2097,2125,2069,0,0,0,0,0,0,14.60,14.55,14.62,6.21,49.21
$GC,8536,0.64,146.0,2616,2150,2125,2070,4.4,10.8,667,8540,0.00,2.45,0.00,0.000,4356,0.000,0.085,2615,3555,2098,2125,2071,0,0,0,0,0,0,14.79,14.54,14.79,6.20,49.92
$STATE,8549,end climb,SURFACE_DEPTH_REACHED
$STATE,8549,begin surface coast
$STATE,8574,end surface coast,CONTROL_FINISHED_OK
$STATE,8574,begin surface
$SM_CCo,8588,65.80,0.248,0,0,1822,220.03
$SM_GC,1.11,5.53,2.47,65.80,0.084,0.043,0.248,286,2090,1822,-6.45,1.05,220.03,0,0,0,0,0,0,14.60,14.59,14.36
$IRIDIUM_FIX,-5943.02,0.00,291218,101137
$TT8_MAMPS,0.038199,0.226198
$HUMID,48.97
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,7
$SC_FREEKB,3852768
$24V_AH,13.33,30.441
$10V_AH,13.38,0.000
$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,13.175,93.175,258.875,65.800,0.000,23.841,17.864,125.308,1.750,0.000,16.741,0.000,6844.622,447.263,1557.427,90.969,0.000,1065.040,0.000,1112.570,0.000,0.540,0.000
$DEVICE_MAMPS,374.850,2274.345,1610.325,247.860,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4990.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.702,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17303,675
$CAP_FILE_SIZE,93846,0
$CFSIZE,1023623168,1006403584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.054,100.71,1
$GPS,291218,150921,-5944.509,0.662,40,0.8,42,-19.7,0.7,217.6,10,8.3