version: 66.14
glider: 640
mission: 5
dive: 139
start: 12 30 118 3 53 48
data:
$ID,640
$MISSION,5
$DIVE,139
$N_DIVES,300
$STOP_T,1031912
$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,48
$R_STBD_OVSHOOT,25
$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
$GPS1,301218,034851,-5946.7451,2.3610,39,0.7,41,-19.7,0.7,171.2,11,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-65.1
$GPS2,301218,035330,-5946.7544,2.4122,8,0.7,12,-19.7,0.4,147.6,11,9.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,214.6,61610,-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,-146.0,221,2081,1796,1823,0.0,0.0,0,100,0.00,0.00,-88.57,0.000,16386,0.000,0.000,220,2081,3198,3278,3119,0,0,0,0,0,0,14.61,28.83,14.61,6.17,49.52
$GC,101,-0.64,-146.0,221,2081,3279,3120,3.2,-5.9,18,119,6.07,2.65,-4.60,0.000,18948,0.363,2.260,2186,706,3316,3409,3224,0,0,0,0,0,0,14.22,13.45,14.38,6.29,48.74
$GC,160,-0.64,-146.0,2187,706,3410,3226,12.8,-15.4,30,164,0.05,2.42,0.00,0.000,3078,0.361,0.057,2198,2093,3317,3410,3225,0,0,0,0,0,0,14.20,14.35,14.35,6.30,48.07
$GC,286,-0.64,-146.0,2194,2094,3411,3226,32.9,-16.4,55,290,0.00,2.47,0.00,0.000,2308,0.000,0.083,2183,3508,3318,3411,3225,0,0,0,0,0,0,14.62,14.39,14.62,6.30,49.33
$GC,365,-0.64,-146.0,2184,3508,3410,3225,46.3,-16.8,71,370,0.00,2.35,0.00,0.000,3078,0.000,0.044,2183,2125,3317,3410,3225,0,0,0,0,0,0,14.48,14.44,14.50,6.30,48.74
$GC,490,-0.64,-146.0,2183,2124,3411,3225,67.3,-16.5,96,494,0.00,2.53,0.00,0.000,2564,0.000,0.067,2182,691,3317,3410,3225,0,0,0,0,0,0,14.68,14.43,14.68,6.30,49.40
$GC,540,-0.64,-146.0,2183,692,3412,3225,75.7,-16.5,106,544,0.05,2.45,0.00,0.000,3078,0.352,0.058,2189,2102,3317,3410,3225,0,0,0,0,0,0,14.28,14.45,14.44,6.30,49.33
$GC,665,-0.64,-146.0,2190,2102,3411,3225,94.3,-14.9,131,670,0.00,2.45,0.00,0.000,2308,0.000,0.085,2179,3506,3317,3410,3225,0,0,0,0,0,0,14.70,14.46,14.71,6.30,48.66
$GC,710,-0.64,-146.0,2180,3508,3410,3226,100.6,-16.2,139,714,0.00,2.40,0.00,0.000,3078,0.000,0.046,2179,2093,3317,3410,3225,0,0,0,0,0,0,14.54,14.48,14.55,6.30,48.46
$GC,1025,-0.64,-146.0,2179,2090,3411,3225,147.6,-14.0,155,1029,0.00,2.45,0.00,0.000,2564,0.000,0.067,2178,697,3317,3410,3225,0,0,0,0,0,0,14.76,14.51,14.76,6.30,49.96
$GC,1110,-0.64,-146.0,2179,698,3412,3224,158.3,-13.4,159,1115,0.08,2.42,0.00,0.000,3078,0.326,0.056,2194,2104,3317,3410,3225,0,0,0,0,0,0,14.38,14.52,14.52,6.31,49.68
$GC,1425,-0.64,-146.0,2194,2105,3411,3225,198.4,-13.1,175,1429,0.00,2.47,0.00,0.000,260,0.000,0.083,2184,3503,3317,3410,3225,0,0,0,0,0,0,14.78,14.54,14.79,6.32,50.39
$GC,1485,-0.64,-146.0,2185,3504,3411,3225,206.3,-13.1,178,1489,0.00,2.38,0.00,0.000,3078,0.000,0.044,2183,2091,3317,3410,3225,0,0,0,0,0,0,14.62,14.57,14.64,6.32,51.29
$GC,1805,-0.64,-146.0,2179,2090,3411,3226,248.9,-13.4,194,1809,0.00,2.42,0.00,0.000,2564,0.000,0.067,2180,699,3318,3412,3225,0,0,0,0,0,0,14.82,14.57,14.82,6.33,50.98
$GC,1885,-0.64,-146.0,2184,699,3411,3224,259.8,-13.6,198,1889,0.05,2.40,0.00,0.000,3078,0.356,0.057,2190,2098,3317,3410,3225,0,0,0,0,0,0,14.41,14.57,14.56,6.33,50.74
$GC,2205,-0.64,-146.0,2190,2098,3411,3225,301.3,-12.9,214,2210,0.00,2.47,0.00,0.000,2308,0.000,0.083,2180,3500,3317,3410,3225,0,0,0,0,0,0,14.83,14.57,14.83,6.33,50.94
$GC,2255,-0.64,-146.0,2180,3502,3410,3226,306.6,-13.1,216,2259,0.00,2.35,0.00,0.000,3078,0.000,0.044,2179,2098,3317,3410,3225,0,0,0,0,0,0,14.65,14.60,14.66,6.34,51.18
$GC,2565,-0.64,-146.0,2180,2097,3411,3225,348.6,-13.0,232,2569,0.00,2.42,0.00,0.000,2564,0.000,0.067,2179,703,3317,3410,3225,0,0,0,0,0,0,14.84,14.59,14.84,6.33,51.18
$STATE,2584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2584,begin apogee
$GC,2589,-0.15,0.0,2169,2162,3411,3225,351.2,-13.0,233,2720,0.50,0.00,127.62,1.623,10246,0.269,0.000,2347,2155,2718,2777,2659,0,0,0,0,0,0,14.47,13.91,13.31,6.33,50.98
$STATE,2721,end apogee,CONTROL_FINISHED_OK
$STATE,2721,begin loiter
$GC,3005,-0.15,0.0,2347,2155,2772,2643,348.2,3.2,254,3006,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2154,2707,2771,2643,0,0,0,0,0,0,14.55,14.55,14.55,6.29,50.19
$GC,3305,-0.15,0.0,2347,2155,2772,2641,338.8,3.0,269,3306,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2155,2705,2771,2640,0,0,0,0,0,0,14.70,14.70,14.70,6.28,51.26
$GC,3605,-0.15,0.0,2346,2155,2772,2640,329.8,2.9,284,3606,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2155,2705,2771,2639,0,0,0,0,0,0,14.78,14.79,14.78,6.28,50.74
$GC,3905,-0.15,0.0,2346,2155,2772,2640,321.0,3.0,299,3906,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2155,2705,2771,2639,0,0,0,0,0,0,14.85,14.85,14.85,6.29,50.86
$GC,4205,-0.15,0.0,2346,2155,2772,2639,311.9,3.1,314,4206,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2155,2704,2771,2638,0,0,0,0,0,0,14.89,14.89,14.89,6.28,51.10
$GC,4505,-0.15,0.0,2346,2155,2772,2639,302.9,3.0,329,4506,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2153,2704,2771,2638,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.61
$GC,4805,-0.15,0.0,2346,2155,2772,2639,293.7,3.1,344,4806,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2155,2704,2771,2638,0,0,0,0,0,0,14.95,14.95,14.95,6.29,50.98
$GC,5105,-0.15,0.0,2346,2155,2771,2638,284.9,2.8,359,5106,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2155,2704,2771,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.06
$GC,5405,-0.15,0.0,2346,2156,2772,2639,276.3,2.8,374,5406,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2155,2704,2771,2637,0,0,0,0,0,0,14.99,15.00,14.99,6.29,51.29
$GC,5705,-0.15,0.0,2346,2155,2772,2638,267.8,2.8,389,5706,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2155,2704,2771,2637,0,0,0,0,0,0,15.01,15.01,15.01,6.28,51.22
$GC,6005,-0.15,0.0,2346,2155,2771,2638,259.9,2.4,404,6006,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2154,2704,2771,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.37
$STATE,6304,end loiter,LOITER_COMPLETE
$STATE,6304,begin climb
$GC,6305,0.64,146.0,2346,2155,2771,2638,252.5,0.0,419,6445,0.62,2.55,130.35,1.447,11012,0.175,0.069,2608,746,2113,2133,2093,0,0,0,0,0,0,14.70,13.89,13.43,6.28,51.14
$GC,6525,0.64,146.0,2608,746,2136,2086,236.5,9.9,430,6529,0.00,2.47,0.00,0.000,5126,0.000,0.055,2609,2146,2109,2135,2084,0,0,0,0,0,0,14.19,14.14,14.21,6.24,49.17
$GC,6845,0.64,146.0,2609,2147,2132,2076,198.3,12.1,446,6850,0.00,2.53,0.00,0.000,4356,0.000,0.083,2608,3558,2103,2131,2076,0,0,0,0,0,0,14.61,14.33,14.61,6.25,50.00
$GC,6925,0.64,146.0,2609,3559,2131,2077,188.8,11.9,450,6930,0.00,2.40,0.00,0.000,5126,0.000,0.045,2619,2150,2103,2131,2076,0,0,0,0,0,0,14.42,14.38,14.45,6.23,50.90
$GC,7245,0.64,146.0,2619,2151,2129,2074,147.2,13.7,466,7249,0.00,2.47,0.00,0.000,4612,0.000,0.070,2630,751,2101,2129,2073,0,0,0,0,0,0,14.72,14.43,14.72,6.24,50.82
$GC,7290,0.64,146.0,2630,755,2127,2075,142.0,13.3,468,7295,0.08,2.42,0.00,0.000,5126,0.281,0.057,2602,2154,2100,2127,2073,0,0,0,0,0,0,14.37,14.48,14.50,6.24,50.66
$GC,7605,0.64,146.0,2602,2155,2127,2073,107.2,10.0,484,7609,0.00,2.50,0.00,0.000,260,0.000,0.084,2602,3557,2098,2126,2071,0,0,0,0,0,0,14.78,14.49,14.78,6.23,51.02
$GC,7620,0.64,146.0,2602,3558,2128,2072,107.2,10.0,484,7624,0.00,2.38,0.00,0.000,5126,0.000,0.046,2612,2152,2099,2126,2072,0,0,0,0,0,0,14.59,14.54,14.62,6.23,51.02
$GC,7925,0.64,146.0,2611,2152,2127,2072,73.5,10.8,536,7929,0.00,2.50,0.00,0.000,4612,0.000,0.070,2620,733,2101,2131,2071,0,0,0,0,0,0,14.80,14.51,14.80,6.21,49.80
$GC,7950,0.64,146.0,2622,734,2127,2071,70.9,10.4,541,7954,0.05,2.42,0.00,0.000,5126,0.310,0.057,2603,2145,2097,2125,2070,0,0,0,0,0,0,14.42,14.55,14.56,6.21,49.68
$GC,8075,0.64,146.0,2603,2146,2127,2070,56.7,12.3,566,8079,0.00,2.50,0.00,0.000,260,0.000,0.085,2602,3552,2098,2125,2071,0,0,0,0,0,0,14.80,14.51,14.80,6.20,49.13
$GC,8145,0.64,146.0,2603,3553,2126,2071,47.0,14.8,580,8149,0.00,2.38,0.00,0.000,5126,0.000,0.045,2612,2143,2098,2125,2071,0,0,0,0,0,0,14.59,14.55,14.62,6.21,48.85
$GC,8270,0.64,146.0,2612,2143,2126,2071,30.7,11.0,605,8274,0.00,2.47,0.00,0.000,4356,0.000,0.085,2612,3562,2097,2125,2070,0,0,0,0,0,0,14.81,14.55,14.80,6.20,49.09
$GC,8325,0.64,146.0,2612,3563,2126,2073,25.0,10.3,616,8329,0.05,2.38,0.00,0.000,5126,0.336,0.044,2605,2151,2097,2125,2070,0,0,0,0,0,0,14.40,14.56,14.53,6.20,49.09
$GC,8450,0.64,146.0,2605,2151,2126,2071,13.1,8.9,641,8451,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2150,2097,2125,2070,0,0,0,0,0,0,14.81,14.81,14.81,6.20,49.48
$STATE,8564,end climb,SURFACE_DEPTH_REACHED
$STATE,8564,begin surface coast
$STATE,8594,end surface coast,CONTROL_FINISHED_OK
$STATE,8594,begin surface
$SM_CCo,8605,65.93,0.251,0,0,1820,220.03
$SM_GC,1.36,5.35,0.08,65.93,0.043,0.166,0.251,236,2069,1820,-6.48,0.93,220.03,0,0,0,0,0,0,14.66,14.60,14.37
$IRIDIUM_FIX,-5947.83,0.00,301218,011829
$TT8_MAMPS,0.03745,0.263648
$HUMID,49.64
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,9
$SC_FREEKB,3849696
$24V_AH,13.31,31.506
$10V_AH,13.35,0.000
$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,12.950,78.500,257.975,65.925,0.000,24.278,38.354,106.780,2.250,0.000,14.137,0.000,6872.469,430.700,1562.632,89.728,0.000,1048.553,0.000,1126.968,0.000,0.540,0.000
$DEVICE_MAMPS,362.610,2259.810,1623.330,250.920,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5005.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.494,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17341,670
$CAP_FILE_SIZE,89392,0
$CFSIZE,1023623168,1005813760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.063,85.75,1
$GPS,301218,061922,-5947.140,3.011,22,0.8,40,-19.8,0.5,115.1,10,9.3