version: 66.14
glider: 640
mission: 5
dive: 149
start: 12 31 118 4 59 32
data:
$ID,640
$MISSION,5
$DIVE,149
$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,59
$R_STBD_OVSHOOT,29
$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
$GPS1,311218,045449,-5950.9756,5.7084,13,1.0,42,-19.8,0.4,172.5,8,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-67.4
$GPS2,311218,045913,-5950.9775,5.7231,9,1.0,19,-19.8,0.0,193.3,8,9.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,209.9,54005,-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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,10,-0.64,-146.0,222,2071,1798,1822,0.0,0.0,0,95,0.00,0.00,-83.07,0.000,16386,0.000,0.000,222,2069,3126,3206,3046,0,0,0,0,0,0,14.62,28.83,14.63,6.17,50.15
$GC,96,-0.64,-146.0,223,2071,3207,3048,3.2,-4.5,17,115,6.03,2.78,-7.68,0.000,18692,0.357,2.273,2173,3506,3317,3413,3222,0,0,0,0,0,0,14.21,13.38,14.38,6.28,49.21
$GC,150,-0.64,-146.0,2173,3507,3414,3225,11.6,-17.2,28,154,0.05,2.35,0.00,0.000,3078,0.353,0.041,2190,2124,3318,3414,3223,0,0,0,0,0,0,14.22,14.40,14.38,6.30,49.17
$GC,276,-0.64,-146.0,2198,2123,3415,3224,31.8,-15.6,53,279,0.00,2.50,0.00,0.000,2564,0.000,0.064,2190,687,3319,3414,3224,0,0,0,0,0,0,14.65,14.42,14.65,6.30,48.62
$GC,315,-0.64,-146.0,2190,688,3415,3226,38.1,-15.5,61,319,0.00,2.45,0.00,0.000,3078,0.000,0.058,2180,2092,3319,3414,3225,0,0,0,0,0,0,14.47,14.41,14.49,6.29,49.09
$GC,440,-0.64,-146.0,2181,2093,3415,3224,57.4,-14.7,86,445,0.00,2.50,0.00,0.000,2308,0.000,0.083,2170,3498,3319,3414,3224,0,0,0,0,0,0,14.68,14.42,14.69,6.30,49.05
$GC,540,-0.64,-146.0,2171,3499,3415,3225,72.2,-14.0,106,545,0.05,2.38,0.00,0.000,3078,0.352,0.042,2189,2090,3319,3414,3224,0,0,0,0,0,0,14.31,14.47,14.45,6.29,49.21
$GC,666,-0.64,-146.0,2189,2090,3415,3224,89.8,-14.3,131,669,0.00,2.40,0.00,0.000,2564,0.000,0.066,2188,697,3319,3414,3224,0,0,0,0,0,0,14.71,14.48,14.71,6.29,48.70
$GC,725,-0.64,-146.0,2188,698,3415,3225,98.5,-14.3,143,729,0.00,2.42,0.00,0.000,3078,0.000,0.057,2179,2101,3319,3414,3225,0,0,0,0,0,0,14.54,14.47,14.56,6.29,48.66
$GC,860,-0.64,-146.0,2179,2100,3415,3223,118.3,-14.4,152,864,0.03,2.47,0.00,0.000,2308,0.629,0.081,2177,3499,3319,3414,3225,0,0,0,0,0,0,14.38,14.48,14.57,6.29,48.62
$GC,895,-0.64,-146.0,2177,3500,3415,3225,120.8,-13.8,153,899,0.03,2.35,0.00,0.000,3078,0.442,0.043,2185,2102,3319,3414,3225,0,0,0,0,0,0,14.33,14.51,14.47,6.29,49.09
$GC,1200,-0.64,-146.0,2185,2102,3415,3226,163.2,-13.5,169,1204,0.00,2.45,0.00,0.000,2564,0.000,0.066,2185,700,3319,3414,3225,0,0,0,0,0,0,14.78,14.52,14.78,6.30,50.82
$GC,1230,-0.64,-146.0,2186,701,3414,3225,166.0,-13.7,170,1234,0.05,2.40,0.00,0.000,3078,0.370,0.057,2192,2095,3319,3414,3225,0,0,0,0,0,0,14.35,14.54,14.51,6.31,50.23
$GC,1540,-0.64,-146.0,2192,2095,3414,3225,206.8,-12.6,186,1541,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2095,3319,3413,3225,0,0,0,0,0,0,14.80,14.81,14.81,6.31,51.14
$GC,1840,-0.64,-146.0,2193,2101,3415,3225,243.8,-12.3,201,1841,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2095,3319,3414,3224,0,0,0,0,0,0,14.82,14.83,14.82,6.32,51.33
$GC,2140,-0.64,-146.0,2189,2096,3415,3225,280.7,-12.4,216,2144,0.00,2.47,0.00,0.000,2308,0.000,0.082,2182,3505,3318,3413,3224,0,0,0,0,0,0,14.83,14.56,14.83,6.33,52.04
$GC,2175,-0.64,-146.0,2182,3507,3414,3225,283.2,-12.4,217,2179,0.00,2.35,0.00,0.000,3078,0.000,0.042,2182,2100,3318,3413,3224,0,0,0,0,0,0,14.65,14.61,14.66,6.33,51.29
$GC,2480,-0.64,-146.0,2182,2099,3414,3225,323.7,-12.6,233,2484,0.00,2.45,0.00,0.000,2564,0.000,0.065,2181,692,3318,3413,3224,0,0,0,0,0,0,14.84,14.59,14.84,6.33,51.77
$GC,2560,-0.64,-146.0,2181,692,3414,3225,333.7,-12.5,237,2564,0.05,2.42,0.00,0.000,3078,0.352,0.056,2189,2104,3318,3413,3224,0,0,0,0,0,0,14.42,14.59,14.58,6.33,51.10
$STATE,2699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2699,begin apogee
$GC,2702,-0.15,0.0,2189,2170,3414,3225,350.3,-12.0,244,2834,0.45,0.00,128.77,1.589,10246,0.262,0.000,2351,2171,2717,2776,2659,0,0,0,0,0,0,14.47,13.92,13.31,6.34,51.02
$STATE,2835,end apogee,CONTROL_FINISHED_OK
$STATE,2835,begin loiter
$GC,3120,-0.15,0.0,2352,2170,2771,2642,346.9,3.2,265,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2169,2706,2770,2643,0,0,0,0,0,0,14.55,14.56,14.56,6.29,50.70
$GC,3420,-0.15,0.0,2351,2170,2771,2641,337.0,3.3,280,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2169,2705,2770,2640,0,0,0,0,0,0,14.69,14.70,14.70,6.28,50.86
$GC,3720,-0.15,0.0,2352,2170,2771,2640,326.5,3.4,295,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2169,2704,2770,2639,0,0,0,0,0,0,14.78,14.79,14.79,6.29,51.18
$GC,4020,-0.15,0.0,2352,2170,2772,2638,316.4,3.3,310,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2169,2704,2770,2638,0,0,0,0,0,0,14.84,14.85,14.85,6.29,51.14
$GC,4320,-0.15,0.0,2351,2169,2771,2638,307.2,3.0,325,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2169,2704,2770,2638,0,0,0,0,0,0,14.89,14.89,14.90,6.29,50.98
$GC,4620,-0.15,0.0,2352,2169,2772,2638,298.9,2.7,340,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2169,2704,2770,2638,0,0,0,0,0,0,14.92,14.93,14.93,6.28,51.18
$GC,4920,-0.15,0.0,2351,2169,2772,2637,290.9,2.7,355,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2169,2704,2770,2638,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.77
$GC,5220,-0.15,0.0,2351,2170,2771,2638,282.5,2.9,370,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2169,2704,2771,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.89
$GC,5520,-0.15,0.0,2352,2170,2771,2637,273.3,3.1,385,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2169,2704,2771,2637,0,0,0,0,0,0,14.99,15.00,15.00,6.27,51.14
$GC,5820,-0.15,0.0,2352,2170,2772,2637,263.6,3.3,400,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2169,2703,2770,2637,0,0,0,0,0,0,15.01,15.01,15.01,6.28,51.89
$GC,6120,-0.15,0.0,2351,2170,2771,2638,253.4,3.3,415,6121,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2169,2703,2770,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.57
$STATE,6419,end loiter,LOITER_COMPLETE
$STATE,6419,begin climb
$GC,6420,0.64,146.0,2351,2170,2771,2638,243.1,0.0,430,6561,0.60,2.55,130.65,1.414,11012,0.173,0.082,2594,3544,2118,2144,2092,0,0,0,0,0,0,14.69,13.98,13.47,6.28,51.57
$GC,6575,0.65,153.4,2594,3545,2142,2091,234.0,8.0,437,6586,0.00,2.42,7.12,1.349,9222,0.000,0.042,2604,2151,2095,2121,2069,0,0,0,0,0,0,14.11,14.07,13.45,6.23,49.05
$GC,6896,0.65,153.4,2604,2152,2108,2051,192.8,12.3,454,6899,0.00,2.47,0.00,0.000,516,0.000,0.069,2615,747,2079,2107,2051,0,0,0,0,0,0,14.57,14.33,14.57,6.24,50.27
$GC,6915,0.65,153.4,2616,748,2106,2050,190.4,12.2,455,6919,0.00,2.42,0.00,0.000,5126,0.000,0.054,2615,2133,2078,2105,2051,0,0,0,0,0,0,14.40,14.35,14.42,6.24,50.63
$GC,7235,0.65,153.4,2616,2134,2105,2048,149.2,13.0,471,7239,0.00,2.55,0.00,0.000,4356,0.000,0.085,2615,3554,2076,2104,2048,0,0,0,0,0,0,14.69,14.42,14.66,6.23,50.43
$GC,7315,0.65,153.4,2616,3556,2105,2048,139.3,12.4,475,7319,0.05,2.38,0.00,0.000,5126,0.338,0.044,2607,2149,2075,2103,2048,0,0,0,0,0,0,14.31,14.47,14.45,6.23,51.14
$GC,7635,0.65,153.4,2608,2149,2103,2048,102.3,11.0,491,7639,0.00,2.47,0.00,0.000,516,0.000,0.069,2617,746,2074,2102,2047,0,0,0,0,0,0,14.76,14.49,14.76,6.23,50.51
$GC,7700,0.65,153.4,2618,746,2102,2046,95.3,10.2,498,7704,0.00,2.42,0.00,0.000,5126,0.000,0.054,2617,2158,2073,2101,2046,0,0,0,0,0,0,14.55,14.49,14.57,6.22,50.23
$GC,7826,0.65,153.4,2612,2157,2102,2046,82.1,11.1,523,7829,0.00,2.45,0.00,0.000,4356,0.000,0.085,2616,3556,2073,2101,2046,0,0,0,0,0,0,14.76,14.52,14.77,6.22,49.80
$GC,7865,0.65,153.4,2617,3557,2104,2047,77.5,11.0,531,7869,0.05,2.38,0.00,0.000,5126,0.330,0.044,2609,2148,2073,2101,2046,0,0,0,0,0,0,14.38,14.54,14.52,6.22,49.44
$GC,7991,0.65,153.4,2609,2149,2101,2046,65.0,9.8,556,7995,0.00,2.47,0.00,0.000,516,0.000,0.069,2619,722,2072,2100,2045,0,0,0,0,0,0,14.78,14.53,14.78,6.21,49.01
$GC,8000,0.65,153.4,2619,723,2101,2045,64.0,9.9,558,8004,0.00,2.45,0.00,0.000,5126,0.000,0.053,2619,2149,2072,2100,2045,0,0,0,0,0,0,14.57,14.51,14.59,6.21,48.77
$GC,8125,0.65,153.4,2619,2149,2101,2045,51.8,9.6,583,8129,0.00,2.45,0.00,0.000,4356,0.000,0.086,2619,3555,2073,2101,2045,0,0,0,0,0,0,14.78,14.53,14.78,6.20,48.85
$GC,8200,0.65,153.4,2619,3556,2102,2046,44.5,9.0,598,8204,0.05,2.38,0.00,0.000,5126,0.333,0.043,2610,2146,2072,2100,2045,0,0,0,0,0,0,14.38,14.53,14.51,6.20,48.89
$GC,8326,0.66,161.9,2611,2147,2101,2045,34.9,8.0,623,8335,0.00,2.42,4.75,1.219,8708,0.000,0.068,2620,740,2056,2083,2029,0,0,0,0,0,0,14.78,14.53,13.83,6.20,49.56
$GC,8390,0.66,163.9,2621,741,2084,2029,29.4,8.3,636,8395,0.00,2.42,0.00,0.000,5126,0.000,0.054,2620,2150,2056,2084,2028,0,0,0,0,0,0,14.56,14.51,14.58,6.20,49.01
$GC,8516,0.66,163.9,2620,2151,2083,2029,18.8,8.8,661,8519,0.00,2.47,0.00,0.000,4356,0.000,0.084,2620,3564,2055,2083,2028,0,0,0,0,0,0,14.77,14.52,14.77,6.20,49.40
$GC,8570,0.66,163.9,2620,3564,2084,2029,13.1,10.2,672,8575,0.05,2.38,0.00,0.000,5126,0.328,0.044,2612,2149,2055,2083,2028,0,0,0,0,0,0,14.36,14.53,14.50,6.20,50.31
$STATE,8674,end climb,SURFACE_DEPTH_REACHED
$STATE,8675,begin surface coast
$STATE,8704,end surface coast,CONTROL_FINISHED_OK
$STATE,8704,begin surface
$SM_CCo,8715,55.92,0.243,0,0,1823,220.03
$SM_GC,1.14,5.45,0.05,55.92,0.061,0.212,0.243,266,2081,1823,-6.48,1.19,220.03,0,0,0,0,0,0,14.61,14.57,14.36
$IRIDIUM_FIX,-5949.68,8.56,311218,022411
$TT8_MAMPS,0.038948,0.363265
$HUMID,49.72
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3844576
$24V_AH,13.31,33.258
$10V_AH,13.32,0.000
$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,12.975,83.250,271.300,55.925,0.000,23.851,19.931,103.995,0.000,0.000,21.846,0.000,6967.997,427.087,1547.167,98.089,0.000,1050.021,0.000,1119.656,0.000,0.539,0.000
$DEVICE_MAMPS,628.830,2272.815,1588.905,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5114.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.825,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17337,699
$CAP_FILE_SIZE,93502,0
$CFSIZE,1023623168,1004830720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.036,120.43,1
$GPS,311218,072631,-5951.543,5.848,14,0.7,25,-19.8,0.0,175.2,11,6.6