version: 66.14
glider: 640
mission: 5
dive: 141
start: 12 30 118 8 55 54
data:
$ID,640
$MISSION,5
$DIVE,141
$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,34
$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
$GPS1,301218,085058,-5947.5044,3.4320,45,0.8,48,-19.8,0.4,66.5,11,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-66.9
$GPS2,301218,085536,-5947.4717,3.4510,9,0.7,13,-19.8,0.8,349.4,12,9.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,211.8,60325,-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,-146.0,234,2103,1797,1823,0.0,0.0,0,101,0.00,0.00,-89.53,0.000,16386,0.000,0.000,234,2103,3218,3299,3138,0,0,0,0,0,0,14.61,28.83,14.62,6.17,50.15
$GC,103,-0.64,-146.0,234,2105,3300,3139,3.4,-7.1,18,121,6.00,2.70,-3.70,0.000,18692,0.365,2.269,2177,3506,3316,3409,3224,0,0,0,0,0,0,14.23,13.45,14.47,6.29,49.17
$GC,135,-0.64,-146.0,2177,3507,3410,3225,9.5,-15.2,25,140,0.03,2.40,0.00,0.000,3078,0.441,0.043,2186,2104,3317,3410,3224,0,0,0,0,0,0,14.17,14.35,14.33,6.30,48.58
$GC,261,-0.64,-146.0,2186,2103,3412,3225,29.5,-16.2,50,264,0.00,2.45,0.00,0.000,2564,0.000,0.065,2186,693,3317,3411,3223,0,0,0,0,0,0,14.61,14.39,14.61,6.30,48.18
$GC,305,-0.64,-146.0,2186,694,3411,3225,36.6,-15.0,59,309,0.05,2.45,0.00,0.000,3078,0.371,0.056,2192,2100,3317,3411,3224,0,0,0,0,0,0,14.23,14.39,14.38,6.30,48.38
$GC,431,-0.64,-146.0,2193,2101,3413,3224,56.2,-15.3,84,433,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2100,3317,3411,3224,0,0,0,0,0,0,14.66,14.66,14.66,6.30,48.93
$GC,555,-0.64,-146.0,2192,2101,3412,3225,73.9,-14.2,109,560,0.00,2.50,0.00,0.000,2308,0.000,0.082,2181,3508,3314,3404,3224,0,0,0,0,0,0,14.69,14.43,14.69,6.30,49.44
$GC,575,-0.64,-146.0,2183,3508,3412,3224,76.8,-14.2,113,580,0.00,2.40,0.00,0.000,3078,0.000,0.044,2182,2097,3317,3411,3224,0,0,0,0,0,0,14.51,14.46,14.52,6.30,48.85
$GC,701,-0.64,-146.0,2182,2096,3412,3225,95.6,-15.3,138,704,0.00,2.42,0.00,0.000,2564,0.000,0.067,2181,695,3317,3411,3224,0,0,0,0,0,0,14.70,14.47,14.70,6.30,48.18
$GC,775,-0.64,-146.0,2182,695,3412,3225,104.8,-15.1,146,780,0.05,2.45,0.00,0.000,3078,0.360,0.057,2188,2108,3318,3412,3225,0,0,0,0,0,0,14.31,14.47,14.47,6.30,48.22
$GC,1080,-0.64,-146.0,2188,2109,3411,3226,148.3,-12.6,162,1085,0.00,2.47,0.00,0.000,2564,0.000,0.066,2188,696,3317,3410,3224,0,0,0,0,0,0,14.76,14.52,14.76,6.30,49.37
$GC,1140,-0.64,-146.0,2188,697,3411,3225,155.9,-12.7,165,1145,0.03,2.42,0.00,0.000,3078,0.464,0.057,2186,2100,3317,3411,3224,0,0,0,0,0,0,14.35,14.52,14.50,6.30,50.47
$GC,1460,-0.64,-146.0,2186,2101,3411,3225,196.0,-12.8,181,1464,0.00,2.47,0.00,0.000,2308,0.000,0.083,2176,3503,3317,3411,3224,0,0,0,0,0,0,14.79,14.53,14.79,6.31,51.10
$GC,1480,-0.64,-146.0,2177,3504,3412,3225,198.6,-12.8,182,1484,0.05,2.38,0.00,0.000,3078,0.366,0.044,2193,2093,3317,3411,3224,0,0,0,0,0,0,14.38,14.57,14.53,6.31,51.45
$GC,1800,-0.64,-146.0,2194,2092,3413,3224,238.4,-12.5,198,1804,0.00,2.42,0.00,0.000,2564,0.000,0.066,2193,703,3317,3411,3224,0,0,0,0,0,0,14.81,14.57,14.82,6.32,50.94
$GC,1875,-0.64,-146.0,2193,704,3412,3225,246.1,-12.7,201,1879,0.00,2.40,0.00,0.000,3078,0.000,0.057,2183,2101,3317,3411,3224,0,0,0,0,0,0,14.63,14.57,14.64,6.32,50.86
$GC,2180,-0.64,-146.0,2184,2102,3412,3224,287.1,-13.0,217,2184,0.00,2.45,0.00,0.000,2308,0.000,0.082,2173,3496,3317,3411,3224,0,0,0,0,0,0,14.83,14.57,14.83,6.33,50.98
$GC,2215,-0.64,-146.0,2173,3496,3412,3224,289.7,-13.0,218,2220,0.05,2.35,0.00,0.000,3078,0.359,0.044,2190,2094,3317,3411,3224,0,0,0,0,0,0,14.42,14.64,14.59,6.33,51.73
$GC,2520,-0.64,-146.0,2190,2093,3411,3224,329.6,-12.4,234,2525,0.00,2.42,0.00,0.000,2564,0.000,0.066,2190,697,3317,3411,3224,0,0,0,0,0,0,14.84,14.59,14.83,6.33,51.10
$GC,2605,-0.64,-146.0,2190,698,3411,3225,339.4,-12.2,238,2609,0.00,2.40,0.00,0.000,3078,0.000,0.055,2180,2098,3317,3411,3224,0,0,0,0,0,0,14.65,14.59,14.66,6.34,51.65
$STATE,2699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2699,begin apogee
$GC,2702,-0.15,0.0,2181,2167,3412,3225,351.5,-12.3,243,2833,0.47,0.00,127.70,1.610,10246,0.269,0.000,2350,2167,2718,2778,2659,0,0,0,0,0,0,14.47,13.90,13.30,6.34,51.14
$STATE,2834,end apogee,CONTROL_FINISHED_OK
$STATE,2834,begin loiter
$GC,3120,-0.15,0.0,2351,2168,2773,2643,347.9,3.3,264,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2168,2707,2771,2643,0,0,0,0,0,0,14.55,14.56,14.56,6.28,50.31
$GC,3420,-0.15,0.0,2351,2168,2773,2642,337.5,3.6,279,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2706,2771,2641,0,0,0,0,0,0,14.70,14.70,14.70,6.28,50.98
$GC,3720,-0.15,0.0,2350,2167,2772,2640,326.8,3.6,294,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2168,2705,2771,2639,0,0,0,0,0,0,14.78,14.79,14.79,6.29,50.86
$GC,4020,-0.15,0.0,2351,2168,2773,2639,315.9,3.7,309,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2168,2705,2771,2639,0,0,0,0,0,0,14.84,14.85,14.85,6.28,50.70
$GC,4320,-0.15,0.0,2350,2168,2772,2640,305.1,3.5,324,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2168,2704,2771,2638,0,0,0,0,0,0,14.89,14.89,14.89,6.28,51.49
$GC,4620,-0.15,0.0,2351,2168,2773,2638,294.4,3.5,339,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2168,2704,2771,2638,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.57
$GC,4920,-0.15,0.0,2350,2168,2772,2639,284.5,3.2,354,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2704,2771,2638,0,0,0,0,0,0,14.95,14.95,14.95,6.28,50.98
$GC,5220,-0.15,0.0,2350,2168,2771,2639,274.9,3.1,369,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2704,2771,2638,0,0,0,0,0,0,14.97,14.97,14.97,6.28,50.94
$GC,5520,-0.15,0.0,2351,2168,2773,2638,265.5,3.1,384,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2168,2704,2771,2638,0,0,0,0,0,0,14.99,14.99,14.99,6.29,51.06
$GC,5820,-0.15,0.0,2350,2169,2772,2639,256.2,3.1,399,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2168,2704,2771,2638,0,0,0,0,0,0,15.00,15.01,15.01,6.28,51.29
$GC,6120,-0.15,0.0,2350,2168,2772,2639,246.8,3.1,414,6121,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2168,2704,2771,2638,0,0,0,0,0,0,15.02,15.02,15.02,6.28,50.90
$STATE,6419,end loiter,LOITER_COMPLETE
$STATE,6419,begin climb
$GC,6420,0.64,146.0,2351,2168,2773,2638,237.8,0.0,429,6558,0.60,2.55,130.35,1.421,10756,0.178,0.069,2601,754,2119,2145,2093,0,0,0,0,0,0,14.70,13.89,13.45,6.28,51.14
$GC,6571,0.69,187.7,2602,755,2141,2091,231.0,6.7,435,6616,0.00,2.45,40.05,1.362,11270,0.000,0.054,2602,2128,1957,1975,1940,0,0,0,0,0,0,14.10,14.04,13.40,6.24,49.60
$GC,6917,0.69,187.7,2603,2128,1964,1909,182.4,13.7,453,6920,0.00,2.55,0.00,0.000,2308,0.000,0.083,2602,3563,1936,1963,1909,0,0,0,0,0,0,14.52,14.28,14.52,6.22,50.15
$GC,7001,0.69,187.7,2602,3563,1963,1910,171.7,13.3,457,7006,0.00,2.40,0.00,0.000,3078,0.000,0.044,2613,2150,1935,1962,1908,0,0,0,0,0,0,14.39,14.34,14.41,6.22,50.07
$GC,7316,0.69,187.7,2613,2150,1962,1906,125.8,14.6,473,7320,0.00,2.47,0.00,0.000,2564,0.000,0.070,2624,755,1933,1961,1905,0,0,0,0,0,0,14.67,14.42,14.67,6.22,50.47
$GC,7341,0.69,187.7,2624,756,1960,1906,122.9,14.6,474,7345,0.00,2.42,0.00,0.000,5126,0.000,0.057,2624,2153,1932,1959,1905,0,0,0,0,0,0,14.49,14.44,14.51,6.23,50.43
$GC,7646,0.69,187.7,2624,2153,1963,1903,80.4,13.4,509,7651,0.00,2.50,0.00,0.000,4356,0.000,0.083,2624,3559,1930,1958,1903,0,0,0,0,0,0,14.72,14.46,14.73,6.21,49.33
$GC,7691,0.69,187.7,2624,3560,1959,1903,74.4,12.7,518,7696,0.00,2.38,0.00,0.000,5126,0.000,0.044,2635,2148,1930,1958,1903,0,0,0,0,0,0,14.56,14.50,14.58,6.21,49.01
$GC,7817,0.69,187.7,2635,2148,1958,1904,57.3,14.2,543,7821,0.00,2.42,0.00,0.000,4612,0.000,0.069,2645,748,1928,1957,1900,0,0,0,0,0,0,14.73,14.50,14.73,6.20,49.13
$GC,7886,0.69,187.7,2646,749,1958,1902,47.9,13.3,557,7892,0.05,2.40,0.00,0.000,5126,0.317,0.054,2626,2147,1929,1957,1902,0,0,0,0,0,0,14.38,14.51,14.52,6.19,48.93
$GC,8012,0.69,187.7,2626,2148,1958,1902,31.5,12.8,582,8016,0.00,2.45,0.00,0.000,4612,0.000,0.069,2634,757,1929,1957,1902,0,0,0,0,0,0,14.76,14.51,14.76,6.19,48.70
$GC,8046,0.69,187.7,2635,758,1957,1902,27.2,12.1,589,8052,0.03,2.40,0.00,0.000,5126,0.398,0.057,2625,2153,1929,1957,1901,0,0,0,0,0,0,14.37,14.52,14.51,6.19,48.85
$GC,8172,0.69,187.7,2626,2153,1958,1900,11.7,12.9,614,8176,0.00,2.47,0.00,0.000,4356,0.000,0.086,2625,3546,1929,1957,1901,0,0,0,0,0,0,14.76,14.50,14.77,6.19,49.09
$GC,8201,0.69,187.7,2625,3547,1957,1903,7.5,13.8,620,8206,0.03,2.38,0.00,0.000,5126,0.424,0.046,2625,2140,1928,1956,1900,0,0,0,0,0,0,14.37,14.54,14.52,6.19,49.84
$STATE,8240,end climb,SURFACE_DEPTH_REACHED
$STATE,8240,begin surface coast
$STATE,8260,end surface coast,CONTROL_FINISHED_OK
$STATE,8260,begin surface
$SM_CCo,8271,25.17,0.256,0,0,1823,220.03
$SM_GC,0.91,5.40,0.00,25.17,0.045,0.000,0.256,247,2139,1823,-6.45,1.10,220.03,0,0,0,0,0,0,14.63,14.77,14.40
$IRIDIUM_FIX,-5944.88,4.27,301218,062101
$TT8_MAMPS,0.03745,0.17976
$HUMID,49.17
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,5
$SC_FREEKB,3848672
$24V_AH,13.30,31.862
$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,12.825,78.300,298.100,25.175,0.000,25.442,38.881,103.829,1.250,0.000,14.169,0.000,6578.471,422.325,1487.689,91.507,0.000,1019.809,0.000,1057.705,0.000,0.540,0.000
$DEVICE_MAMPS,463.590,2268.990,1610.325,256.275,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4669.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.881,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,17353,632
$CAP_FILE_SIZE,87885,0
$CFSIZE,1023623168,1005617152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.017,97.66,1
$GPS,301218,111504,-5947.919,3.679,16,0.9,30,-19.8,0.8,257.1,10,8.2