version: 66.14
glider: 640
mission: 5
dive: 140
start: 12 30 118 6 24 24
data:
$ID,640
$MISSION,5
$DIVE,140
$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,60
$R_STBD_OVSHOOT,26
$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
$GPS1,301218,061922,-5947.1401,3.0107,22,0.8,40,-19.8,0.5,115.1,10,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-67.9
$GPS2,301218,062406,-5947.1318,3.0982,8,0.8,12,-19.8,0.6,294.5,10,8.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,217.2,60938,-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,-146.0,231,2069,1795,1823,0.0,0.0,0,100,0.00,0.00,-88.57,0.000,16386,0.000,0.000,231,2068,3191,3272,3111,0,0,0,0,0,0,14.62,28.83,14.62,6.17,49.96
$GC,101,-0.64,-146.0,231,2070,3273,3114,3.2,-5.7,18,115,6.05,0.00,-4.82,0.000,18438,0.363,0.000,2188,2068,3315,3408,3223,0,0,0,0,0,0,14.21,13.81,14.38,6.29,49.29
$GC,236,-0.64,-146.0,2187,2069,3412,3225,26.5,-17.5,45,238,0.00,0.00,0.00,0.000,2054,0.000,0.000,2187,2068,3317,3411,3224,0,0,0,0,0,0,14.65,14.64,14.65,6.30,48.34
$GC,360,-0.64,-146.0,2187,2069,3412,3224,46.7,-14.5,70,364,0.00,2.58,0.00,0.000,2308,0.000,0.081,2176,3513,3317,3411,3224,0,0,0,0,0,0,14.68,14.42,14.68,6.30,48.89
$GC,410,-0.64,-146.0,2176,3514,3412,3224,52.9,-12.0,80,414,0.05,2.35,0.00,0.000,3078,0.373,0.043,2192,2122,3317,3411,3224,0,0,0,0,0,0,14.29,14.47,14.43,6.30,48.93
$GC,535,-0.64,-146.0,2193,2121,3412,3226,69.7,-14.2,105,539,0.00,2.42,0.00,0.000,2308,0.000,0.083,2182,3511,3317,3411,3224,0,0,0,0,0,0,14.71,14.47,14.71,6.30,49.37
$GC,565,-0.64,-146.0,2183,3511,3412,3224,74.2,-15.4,111,570,0.00,2.40,0.00,0.000,3078,0.000,0.046,2181,2098,3318,3411,3225,0,0,0,0,0,0,14.53,14.47,14.55,6.30,49.13
$GC,691,-0.64,-146.0,2183,2098,3412,3225,94.0,-16.1,136,694,0.00,2.42,0.00,0.000,2564,0.000,0.068,2183,690,3319,3414,3224,0,0,0,0,0,0,14.72,14.50,14.72,6.30,48.38
$GC,745,-0.64,-146.0,2183,691,3413,3223,100.4,-16.0,144,750,0.05,2.45,0.00,0.000,3078,0.363,0.057,2188,2103,3317,3411,3224,0,0,0,0,0,0,14.35,14.50,14.47,6.29,48.58
$GC,1050,-0.64,-146.0,2189,2104,3413,3224,149.8,-14.2,160,1055,0.00,2.47,0.00,0.000,2564,0.000,0.066,2188,690,3317,3411,3224,0,0,0,0,0,0,14.78,14.52,14.78,6.29,49.48
$GC,1110,-0.64,-146.0,2189,691,3412,3224,157.8,-13.5,163,1115,0.03,2.45,0.00,0.000,3078,0.461,0.057,2186,2106,3317,3411,3224,0,0,0,0,0,0,14.35,14.53,14.50,6.31,50.19
$GC,1430,-0.64,-146.0,2186,2106,3413,3224,200.1,-12.7,179,1434,0.00,2.47,0.00,0.000,2308,0.000,0.084,2175,3506,3315,3407,3224,0,0,0,0,0,0,14.81,14.53,14.81,6.31,50.94
$GC,1455,-0.64,-146.0,2176,3507,3411,3225,202.7,-12.6,180,1460,0.05,2.35,0.00,0.000,3078,0.365,0.045,2193,2105,3317,3411,3223,0,0,0,0,0,0,14.38,14.57,14.54,6.31,50.66
$GC,1770,-0.64,-146.0,2193,2105,3412,3225,241.4,-12.1,196,1774,0.00,2.45,0.00,0.000,2564,0.000,0.067,2192,696,3317,3411,3224,0,0,0,0,0,0,14.79,14.56,14.82,6.32,51.10
$GC,1850,-0.64,-146.0,2193,697,3412,3224,250.9,-11.9,200,1854,0.00,2.42,0.00,0.000,3078,0.000,0.057,2183,2108,3316,3411,3221,0,0,0,0,0,0,14.63,14.57,14.65,6.32,50.94
$GC,2170,-0.64,-146.0,2183,2108,3411,3224,290.6,-12.7,216,2174,0.00,2.40,0.00,0.000,2308,0.000,0.083,2173,3505,3317,3411,3224,0,0,0,0,0,0,14.83,14.59,14.83,6.32,51.57
$GC,2210,-0.64,-146.0,2173,3505,3412,3223,295.8,-12.7,218,2214,0.08,2.35,0.00,0.000,3078,0.322,0.044,2200,2101,3317,3411,3223,0,0,0,0,0,0,14.44,14.60,14.58,6.33,51.53
$GC,2530,-0.64,-146.0,2200,2100,3412,3224,332.8,-11.7,234,2535,0.00,2.45,0.00,0.000,4612,0.000,0.067,2200,694,3317,3411,3224,0,0,0,0,0,0,14.84,14.59,14.84,6.33,51.22
$GC,2620,-0.64,-146.0,2200,695,3412,3225,342.1,-11.5,238,2624,0.00,2.40,0.00,0.000,3078,0.000,0.056,2189,2096,3317,3411,3224,0,0,0,0,0,0,14.64,14.59,14.67,6.33,50.98
$STATE,2689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2689,begin apogee
$GC,2692,-0.15,0.0,2190,2167,3412,3224,351.0,-11.2,242,2823,0.45,0.00,127.55,1.613,10246,0.265,0.000,2351,2166,2720,2779,2661,0,0,0,0,0,0,14.47,13.90,13.29,6.33,50.98
$STATE,2824,end apogee,CONTROL_FINISHED_OK
$STATE,2824,begin loiter
$GC,3110,-0.15,0.0,2352,2167,2773,2645,347.0,3.1,263,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2708,2772,2644,0,0,0,0,0,0,14.55,14.56,14.56,6.29,50.39
$GC,3410,-0.15,0.0,2351,2167,2773,2644,338.0,2.9,278,3411,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2707,2772,2643,0,0,0,0,0,0,14.70,14.70,14.70,6.28,50.86
$GC,3710,-0.15,0.0,2351,2167,2773,2643,329.2,2.9,293,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2707,2772,2642,0,0,0,0,0,0,14.78,14.78,14.79,6.29,51.33
$GC,4010,-0.15,0.0,2352,2167,2773,2642,320.2,3.1,308,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2706,2772,2640,0,0,0,0,0,0,14.84,14.85,14.85,6.28,51.06
$GC,4310,-0.15,0.0,2352,2167,2773,2641,310.9,3.2,323,4311,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2706,2772,2640,0,0,0,0,0,0,14.89,14.89,14.89,6.28,50.98
$GC,4610,-0.15,0.0,2352,2167,2773,2640,301.6,3.1,338,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2706,2772,2640,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.06
$GC,4910,-0.15,0.0,2352,2166,2774,2640,292.7,3.0,353,4911,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2705,2772,2639,0,0,0,0,0,0,14.95,14.95,14.95,6.29,51.29
$GC,5210,-0.15,0.0,2351,2167,2773,2639,284.2,2.9,368,5211,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2706,2772,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.14
$GC,5510,-0.15,0.0,2352,2167,2773,2641,275.1,3.1,383,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2705,2772,2639,0,0,0,0,0,0,14.99,15.00,14.99,6.28,51.45
$GC,5810,-0.15,0.0,2352,2167,2773,2640,265.8,3.1,398,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2705,2772,2639,0,0,0,0,0,0,15.00,15.01,15.01,6.28,51.26
$GC,6110,-0.15,0.0,2353,2167,2772,2639,256.8,3.0,413,6111,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2705,2772,2639,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.14
$STATE,6409,end loiter,LOITER_COMPLETE
$STATE,6409,begin climb
$GC,6410,0.64,146.0,2352,2166,2773,2639,248.0,0.0,428,6551,0.60,2.62,130.95,1.436,10756,0.178,0.071,2603,747,2116,2141,2092,0,0,0,0,0,0,14.70,13.98,13.45,6.28,51.18
$GC,6585,0.64,146.0,2603,748,2138,2088,237.2,8.5,436,6590,0.00,2.45,0.00,0.000,1030,0.000,0.054,2604,2126,2111,2137,2086,0,0,0,0,0,0,14.14,14.09,14.16,6.25,49.01
$GC,6890,0.64,146.0,2604,2126,2133,2078,197.3,12.9,452,6895,0.00,2.58,0.00,0.000,260,0.000,0.083,2604,3554,2104,2132,2076,0,0,0,0,0,0,14.58,14.31,14.58,6.24,50.43
$GC,6975,0.64,146.0,2604,3554,2133,2075,187.1,12.7,456,6979,0.00,2.38,0.00,0.000,5126,0.000,0.044,2614,2152,2104,2132,2076,0,0,0,0,0,0,14.43,14.40,14.45,6.24,50.03
$GC,7290,0.64,146.0,2614,2153,2131,2075,143.8,13.7,472,7294,0.00,2.50,0.00,0.000,4612,0.000,0.070,2625,747,2102,2130,2074,0,0,0,0,0,0,14.71,14.44,14.71,6.23,51.14
$GC,7325,0.64,146.0,2626,747,2129,2074,141.1,13.6,473,7329,0.05,2.42,0.00,0.000,5126,0.308,0.056,2606,2147,2100,2127,2074,0,0,0,0,0,0,14.34,14.47,14.47,6.24,50.55
$GC,7630,0.64,146.0,2606,2148,2128,2072,101.9,11.4,489,7634,0.00,2.50,0.00,0.000,260,0.000,0.083,2606,3552,2099,2127,2072,0,0,0,0,0,0,14.76,14.48,14.76,6.23,51.06
$GC,7670,0.64,146.0,2606,3553,2128,2073,97.4,10.9,494,7674,0.00,2.35,0.00,0.000,5126,0.000,0.044,2615,2155,2099,2127,2072,0,0,0,0,0,0,14.57,14.52,14.59,6.23,50.23
$GC,7795,0.64,146.0,2615,2155,2126,2073,83.7,11.3,519,7799,0.00,2.45,0.00,0.000,4612,0.000,0.070,2626,741,2098,2126,2071,0,0,0,0,0,0,14.77,14.53,14.78,6.22,49.68
$GC,7840,0.64,146.0,2627,742,2127,2071,78.6,10.6,528,7845,0.05,2.42,0.00,0.000,5126,0.307,0.055,2608,2151,2098,2126,2071,0,0,0,0,0,0,14.38,14.51,14.52,6.22,49.68
$GC,7966,0.64,146.0,2607,2152,2127,2065,65.8,10.3,553,7969,0.00,2.45,0.00,0.000,4356,0.000,0.084,2607,3556,2098,2126,2071,0,0,0,0,0,0,14.78,14.53,14.78,6.22,49.21
$GC,8030,0.64,146.0,2607,3557,2126,2072,58.9,10.1,566,8034,0.00,2.38,0.00,0.000,5126,0.000,0.044,2616,2144,2098,2126,2071,0,0,0,0,0,0,14.57,14.54,14.60,6.21,48.93
$GC,8155,0.64,146.0,2616,2144,2127,2071,46.8,10.2,591,8159,0.00,2.40,0.00,0.000,4612,0.000,0.069,2626,747,2098,2126,2071,0,0,0,0,0,0,14.79,14.55,14.79,6.21,48.81
$GC,8255,0.64,146.0,2628,747,2127,2070,37.7,8.7,611,8259,0.05,2.40,0.00,0.000,5126,0.312,0.055,2607,2145,2097,2125,2070,0,0,0,0,0,0,14.42,14.55,14.55,6.21,49.21
$GC,8381,0.64,146.0,2607,2146,2126,2070,26.3,9.3,636,8385,0.00,2.47,0.00,0.000,4356,0.000,0.085,2607,3562,2097,2125,2070,0,0,0,0,0,0,14.80,14.54,14.80,6.20,49.37
$GC,8450,0.64,146.0,2608,3564,2127,2070,19.4,9.7,650,8454,0.00,2.38,0.00,0.000,5126,0.000,0.044,2616,2149,2097,2125,2070,0,0,0,0,0,0,14.60,14.55,14.62,6.20,49.29
$GC,8575,0.64,146.0,2616,2149,2126,2071,7.3,9.9,675,8579,0.00,2.45,0.00,0.000,4612,0.000,0.069,2627,750,2097,2125,2070,0,0,0,0,0,0,14.80,14.55,14.81,6.20,49.76
$STATE,8619,end climb,SURFACE_DEPTH_REACHED
$STATE,8619,begin surface coast
$STATE,8644,end surface coast,CONTROL_FINISHED_OK
$STATE,8644,begin surface
$SM_CCo,8658,65.88,0.249,0,0,1823,220.03
$SM_GC,1.32,5.62,2.38,65.88,0.098,0.065,0.249,249,2102,1823,-6.45,-0.90,220.03,0,0,0,0,0,0,14.62,14.58,14.37
$IRIDIUM_FIX,-5947.83,0.00,301218,035026
$TT8_MAMPS,0.039697,0.353528
$HUMID,49.05
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,3
$SC_FREEKB,3849184
$24V_AH,13.29,31.679
$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,13.125,82.900,258.500,65.875,0.000,27.863,37.705,110.644,0.750,0.000,14.147,0.000,6896.531,435.883,1587.629,92.738,0.000,1065.241,0.000,1140.599,0.000,0.540,0.000
$DEVICE_MAMPS,461.295,185.130,1613.385,249.390,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5053.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.745,0.000,0.000,0.000
$MEM,344104
$DATA_FILE_SIZE,17354,689
$CAP_FILE_SIZE,92443,0
$CFSIZE,1023623168,1005715456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.039,84.09,1
$GPS,301218,085058,-5947.504,3.432,45,0.8,48,-19.8,0.4,66.5,11,8.8