version: 66.14
glider: 640
mission: 5
dive: 129
start: 12 29 118 2 40 27
data:
$ID,640
$MISSION,5
$DIVE,129
$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,47
$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
$GPS1,291218,023531,-5942.5259,-0.7453,16,0.8,27,-19.7,0.6,339.6,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-67.2
$GPS2,291218,024009,-5942.5054,-0.6712,6,0.8,13,-19.7,0.5,342.8,10,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,218.9,69442,-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,-146.0,232,2079,1798,1821,0.0,0.0,0,100,0.00,0.00,-88.47,0.000,16386,0.000,0.000,231,2079,3164,3244,3085,0,0,0,0,0,0,14.59,28.83,14.58,6.17,49.76
$GC,101,-0.64,-146.0,231,2078,3245,3086,3.1,-6.5,18,120,6.07,2.65,-5.95,0.000,18948,0.366,2.255,2190,709,3317,3411,3223,0,0,0,0,0,0,14.20,13.40,14.36,6.28,49.21
$GC,135,-0.64,-146.0,2190,710,3413,3224,9.1,-15.7,25,139,0.00,2.42,0.00,0.000,3078,0.000,0.056,2180,2097,3317,3411,3224,0,0,0,0,0,0,14.40,14.34,14.42,6.30,48.50
$GC,260,-0.64,-146.0,2180,2098,3413,3224,29.3,-15.8,50,264,0.00,2.45,0.00,0.000,2564,0.000,0.065,2179,711,3319,3413,3225,0,0,0,0,0,0,14.62,14.38,14.62,6.30,48.34
$GC,285,-0.64,-146.0,2180,711,3413,3225,33.5,-16.1,55,290,0.08,2.42,0.00,0.000,3078,0.335,0.057,2194,2099,3318,3412,3225,0,0,0,0,0,0,14.23,14.38,14.38,6.30,48.46
$GC,410,-0.64,-146.0,2195,2100,3414,3225,51.4,-12.7,80,414,0.00,2.47,0.00,0.000,260,0.000,0.086,2185,3507,3318,3412,3225,0,0,0,0,0,0,14.64,14.42,14.64,6.30,49.05
$GC,485,-0.64,-146.0,2185,3507,3413,3224,60.6,-11.8,95,490,0.00,2.35,0.00,0.000,3078,0.000,0.043,2184,2125,3316,3412,3220,0,0,0,0,0,0,14.49,14.45,14.50,6.30,48.89
$GC,610,-0.64,-146.0,2184,2120,3413,3227,77.3,-14.1,120,614,0.00,2.47,0.00,0.000,2564,0.000,0.064,2184,683,3318,3412,3225,0,0,0,0,0,0,14.69,14.46,14.68,6.29,48.93
$GC,640,-0.64,-146.0,2184,684,3412,3227,81.6,-14.1,126,644,0.05,2.45,0.00,0.000,3078,0.369,0.059,2190,2093,3318,3412,3225,0,0,0,0,0,0,14.29,14.46,14.45,6.30,48.34
$GC,765,-0.64,-146.0,2190,2094,3413,3225,98.0,-12.8,151,770,0.00,2.47,0.00,0.000,2308,0.000,0.085,2180,3508,3318,3412,3225,0,0,0,0,0,0,14.70,14.47,14.71,6.30,48.50
$GC,815,-0.64,-146.0,2180,3510,3413,3226,103.1,-12.6,156,819,0.00,2.40,0.00,0.000,3078,0.000,0.044,2179,2091,3318,3412,3225,0,0,0,0,0,0,14.54,14.50,14.56,6.29,48.58
$GC,1125,-0.64,-146.0,2180,2089,3413,3224,143.1,-13.1,172,1129,0.00,2.45,0.00,0.000,2564,0.000,0.065,2179,693,3318,3412,3225,0,0,0,0,0,0,14.76,14.50,14.76,6.30,50.11
$GC,1256,-0.64,-146.0,2180,694,3414,3225,158.8,-12.9,178,1259,0.08,2.40,0.00,0.000,3078,0.389,0.058,2192,2108,3318,3412,3224,0,0,0,0,0,0,14.39,14.54,14.59,6.30,49.96
$GC,1565,-0.64,-146.0,2191,2108,3413,3226,200.1,-13.2,194,1569,0.00,2.45,0.00,0.000,2308,0.000,0.085,2182,3499,3318,3412,3225,0,0,0,0,0,0,14.78,14.52,14.79,6.32,50.74
$GC,1640,-0.64,-146.0,2183,3499,3413,3224,208.1,-13.3,197,1644,0.00,2.35,0.00,0.000,3078,0.000,0.043,2182,2096,3318,3412,3225,0,0,0,0,0,0,14.61,14.56,14.63,6.31,51.14
$GC,1945,-0.64,-146.0,2182,2096,3413,3224,251.1,-13.5,213,1949,0.00,2.42,0.00,0.000,2564,0.000,0.065,2182,702,3318,3412,3224,0,0,0,0,0,0,14.81,14.54,14.81,6.32,51.06
$GC,1985,-0.64,-146.0,2182,702,3413,3224,256.5,-13.5,215,1989,0.05,2.40,0.00,0.000,3078,0.362,0.057,2188,2099,3318,3412,3224,0,0,0,0,0,0,14.39,14.54,14.54,6.32,51.37
$GC,2305,-0.64,-146.0,2188,2100,3413,3225,297.3,-12.7,231,2310,0.00,2.47,0.00,0.000,2308,0.000,0.085,2178,3503,3318,3412,3224,0,0,0,0,0,0,14.82,14.54,14.82,6.33,51.14
$GC,2375,-0.64,-146.0,2178,3503,3413,3225,305.0,-12.9,234,2379,0.03,2.35,0.00,0.000,3078,0.453,0.042,2186,2094,3318,3412,3224,0,0,0,0,0,0,14.40,14.59,14.52,6.32,50.98
$GC,2685,-0.64,-146.0,2187,2093,3413,3224,345.4,-12.7,250,2689,0.00,2.42,0.00,0.000,2564,0.000,0.065,2186,699,3318,3412,3224,0,0,0,0,0,0,14.83,14.57,14.83,6.33,51.26
$STATE,2724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2724,begin apogee
$GC,2729,-0.15,0.0,2176,2150,3413,3225,350.5,-12.8,252,2861,0.50,0.00,128.45,1.586,10246,0.274,0.000,2354,2149,2716,2776,2657,0,0,0,0,0,0,14.46,13.90,13.28,6.33,51.41
$STATE,2862,end apogee,CONTROL_FINISHED_OK
$STATE,2862,begin loiter
$GC,3145,-0.15,0.0,2354,2150,2771,2643,348.6,2.8,273,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2149,2706,2770,2642,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.47
$GC,3445,-0.15,0.0,2354,2150,2771,2641,340.0,3.0,288,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2149,2705,2770,2640,0,0,0,0,0,0,14.69,14.69,14.69,6.28,50.98
$GC,3745,-0.15,0.0,2353,2150,2770,2639,331.2,2.9,303,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2149,2704,2770,2638,0,0,0,0,0,0,14.78,14.78,14.78,6.28,51.65
$GC,4046,-0.15,0.0,2354,2150,2771,2639,322.2,3.1,318,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2149,2704,2770,2638,0,0,0,0,0,0,14.83,14.84,14.83,6.28,50.82
$GC,4345,-0.15,0.0,2354,2149,2771,2636,312.9,3.2,333,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2149,2703,2770,2637,0,0,0,0,0,0,14.88,14.88,14.88,6.28,50.90
$GC,4645,-0.15,0.0,2354,2150,2771,2638,303.1,3.3,348,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2149,2703,2770,2637,0,0,0,0,0,0,14.91,14.92,14.92,6.28,51.41
$GC,4945,-0.15,0.0,2354,2150,2771,2638,292.6,3.5,363,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2149,2703,2770,2637,0,0,0,0,0,0,14.94,14.95,14.95,6.28,51.10
$GC,5245,-0.15,0.0,2354,2150,2771,2637,282.1,3.5,378,5246,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2149,2703,2770,2636,0,0,0,0,0,0,14.96,14.97,14.97,6.28,51.10
$GC,5545,-0.15,0.0,2354,2150,2771,2637,272.1,3.2,393,5546,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2148,2703,2770,2636,0,0,0,0,0,0,14.98,14.98,14.98,6.28,51.10
$GC,5845,-0.15,0.0,2354,2149,2772,2636,263.0,2.9,408,5846,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2149,2703,2770,2636,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.26
$GC,6145,-0.15,0.0,2354,2150,2772,2636,254.6,2.7,423,6146,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2149,2703,2770,2636,0,0,0,0,0,0,15.01,15.02,15.01,6.28,51.22
$STATE,6444,end loiter,LOITER_COMPLETE
$STATE,6444,begin climb
$GC,6445,0.64,146.0,2354,2149,2772,2636,245.9,0.0,438,6586,0.60,2.60,130.57,1.431,10500,0.177,0.084,2596,3551,2117,2142,2092,0,0,0,0,0,0,14.70,13.97,13.43,6.28,51.37
$GC,6600,0.65,159.7,2595,3553,2142,2090,237.3,7.8,445,6617,0.00,2.42,12.43,1.420,9222,0.000,0.043,2607,2161,2070,2095,2046,0,0,0,0,0,0,14.10,14.05,13.45,6.24,48.89
$GC,6921,0.65,159.7,2607,2162,2084,2023,194.9,13.0,462,6925,0.00,2.50,0.00,0.000,516,0.000,0.069,2618,744,2053,2083,2023,0,0,0,0,0,0,14.54,14.32,14.54,6.23,50.00
$GC,7000,0.65,159.7,2618,745,2081,2023,185.0,12.4,466,7005,0.00,2.45,0.00,0.000,5126,0.000,0.057,2618,2146,2051,2081,2022,0,0,0,0,0,0,14.40,14.35,14.43,6.23,50.66
$GC,7320,0.65,159.7,2618,2147,2080,2020,141.2,13.5,482,7325,0.00,2.53,0.00,0.000,4356,0.000,0.085,2617,3552,2049,2078,2020,0,0,0,0,0,0,14.69,14.42,14.71,6.23,50.51
$GC,7395,0.65,159.7,2618,3554,2080,2022,133.3,13.2,485,7400,0.05,2.38,0.00,0.000,5126,0.337,0.044,2611,2145,2050,2079,2021,0,0,0,0,0,0,14.30,14.45,14.43,6.23,50.23
$GC,7701,0.65,159.7,2611,2144,2080,2020,96.6,11.1,504,7706,0.00,2.42,0.00,0.000,516,0.000,0.068,2620,743,2048,2079,2018,0,0,0,0,0,0,14.71,14.51,14.75,6.22,50.39
$GC,7755,0.65,159.7,2625,744,2079,2019,90.6,10.4,515,7760,0.00,2.42,0.00,0.000,5126,0.000,0.055,2620,2155,2047,2077,2017,0,0,0,0,0,0,14.54,14.49,14.57,6.21,49.72
$GC,7881,0.65,159.7,2620,2156,2078,2018,76.0,12.1,540,7886,0.00,2.45,0.00,0.000,4356,0.000,0.087,2620,3555,2047,2078,2017,0,0,0,0,0,0,14.76,14.51,14.76,6.21,49.09
$GC,7945,0.65,159.7,2621,3555,2078,2018,68.1,11.4,553,7950,0.05,2.35,0.00,0.000,5126,0.331,0.044,2611,2154,2047,2077,2018,0,0,0,0,0,0,14.37,14.52,14.50,6.21,48.89
$GC,8070,0.65,159.7,2612,2154,2078,2017,54.5,11.1,578,8075,0.00,2.47,0.00,0.000,516,0.000,0.068,2621,745,2047,2077,2017,0,0,0,0,0,0,14.76,14.52,14.76,6.20,48.77
$GC,8121,0.65,159.7,2622,746,2078,2016,48.9,10.9,588,8126,0.00,2.40,0.00,0.000,5126,0.000,0.056,2621,2143,2046,2077,2016,0,0,0,0,0,0,14.59,14.53,14.62,6.20,48.70
$GC,8246,0.65,159.7,2622,2143,2077,2016,34.6,10.0,613,8250,0.00,2.47,0.00,0.000,4356,0.000,0.086,2621,3556,2046,2077,2015,0,0,0,0,0,0,14.77,14.53,14.78,6.20,48.77
$GC,8321,0.65,159.7,2622,3557,2077,2017,27.3,9.9,628,8326,0.05,2.38,0.00,0.000,5126,0.329,0.044,2613,2145,2046,2076,2016,0,0,0,0,0,0,14.40,14.56,14.54,6.20,49.21
$GC,8445,0.65,159.7,2614,2146,2077,2014,15.5,9.8,653,8450,0.00,2.47,0.00,0.000,4612,0.000,0.069,2622,741,2045,2076,2015,0,0,0,0,0,0,14.78,14.51,14.78,6.20,49.44
$GC,8480,0.65,159.7,2622,741,2076,2015,11.9,10.8,660,8486,0.00,2.42,0.00,0.000,5126,0.000,0.057,2622,2150,2044,2075,2014,0,0,0,0,0,0,14.60,14.54,14.62,6.19,49.29
$STATE,8565,end climb,SURFACE_DEPTH_REACHED
$STATE,8565,begin surface coast
$STATE,8590,end surface coast,CONTROL_FINISHED_OK
$STATE,8590,begin surface
$SM_CCo,8602,53.78,0.251,0,0,1823,220.03
$SM_GC,0.78,5.50,0.08,53.78,0.069,0.162,0.251,272,2071,1823,-6.46,0.99,220.03,0,0,0,0,0,0,14.64,14.58,14.38
$IRIDIUM_FIX,-5940.07,0.00,291218,000717
$TT8_MAMPS,0.038948,0.362516
$HUMID,49.17
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,5
$SC_FREEKB,3854816
$24V_AH,13.28,29.711
$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,13.100,88.050,271.450,53.775,0.000,25.176,15.529,129.343,1.250,0.000,14.166,0.000,6823.558,438.158,1584.658,92.283,0.000,1070.104,0.000,1142.379,0.000,0.539,0.000
$DEVICE_MAMPS,452.880,2255.220,1585.845,250.920,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5006.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.682,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,17367,682
$CAP_FILE_SIZE,94116,0
$CFSIZE,1023623168,1006796800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.070,61.28,1
$GPS,291218,050531,-5942.638,-0.268,15,1.0,26,-19.7,0.0,339.5,8,9.4