version: 66.14
glider: 640
mission: 5
dive: 130
start: 12 29 118 5 11 16
data:
$ID,640
$MISSION,5
$DIVE,130
$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,60
$R_STBD_OVSHOOT,27
$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
$GPS1,291218,050531,-5942.6382,-0.2676,15,1.0,26,-19.7,0.0,339.5,8,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-66.2
$GPS2,291218,051056,-5942.5952,-0.2483,5,1.0,18,-19.7,1.0,130.8,8,9.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,214.1,69274,-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,-146.0,235,2069,1800,1820,0.0,0.0,0,105,0.00,0.00,-93.75,0.000,16386,0.000,0.000,234,2070,3251,3331,3172,0,0,0,0,0,0,14.59,28.83,14.59,6.17,49.80
$GC,106,-0.64,-146.0,234,2071,3333,3173,3.4,-7.7,19,121,6.03,2.80,-2.38,0.000,18692,0.362,2.266,2178,3508,3317,3407,3228,0,0,0,0,0,0,14.20,13.40,14.37,6.28,48.93
$GC,150,-0.64,-146.0,2178,3509,3410,3228,12.0,-16.5,28,154,0.03,2.35,0.00,0.000,3078,0.442,0.042,2186,2133,3318,3409,3227,0,0,0,0,0,0,14.18,14.36,14.33,6.30,47.95
$GC,275,-0.64,-146.0,2187,2132,3410,3228,32.1,-15.8,53,280,0.00,2.50,0.00,0.000,2564,0.000,0.065,2186,689,3318,3410,3227,0,0,0,0,0,0,14.62,14.40,14.61,6.30,48.54
$GC,330,-0.64,-146.0,2185,690,3410,3228,40.8,-14.4,64,334,0.03,2.45,0.00,0.000,3078,0.455,0.057,2184,2096,3318,3410,3227,0,0,0,0,0,0,14.22,14.40,14.38,6.30,48.38
$GC,456,-0.64,-146.0,2185,2097,3404,3227,58.2,-14.4,89,459,0.00,0.00,0.00,0.000,2054,0.000,0.000,2184,2096,3318,3410,3227,0,0,0,0,0,0,14.66,14.66,14.66,6.30,48.66
$GC,580,-0.64,-146.0,2184,2097,3406,3229,76.1,-14.3,114,581,0.00,0.00,0.00,0.000,2054,0.000,0.000,2184,2096,3318,3409,3228,0,0,0,0,0,0,14.68,14.69,14.69,6.30,48.46
$GC,700,-0.64,-146.0,2185,2097,3412,3227,93.0,-14.0,138,701,0.00,0.00,0.00,0.000,2054,0.000,0.000,2185,2096,3318,3410,3227,0,0,0,0,0,0,14.74,14.70,14.70,6.29,48.46
$GC,830,-0.64,-146.0,2184,2097,3410,3229,111.6,-14.5,152,834,0.00,2.45,0.00,0.000,2564,0.000,0.066,2184,700,3318,3409,3228,0,0,0,0,0,0,14.72,14.48,14.72,6.29,48.66
$GC,890,-0.64,-146.0,2185,701,3411,3227,120.3,-14.5,155,894,0.08,2.42,0.00,0.000,3078,0.324,0.058,2200,2102,3318,3410,3227,0,0,0,0,0,0,14.34,14.49,14.48,6.29,48.81
$GC,1210,-0.64,-146.0,2201,2103,3410,3229,158.7,-12.0,171,1214,0.00,2.47,0.00,0.000,4356,0.000,0.085,2191,3499,3319,3410,3228,0,0,0,0,0,0,14.76,14.50,14.76,6.30,49.96
$GC,1265,-0.64,-146.0,2191,3500,3411,3227,163.5,-12.0,173,1269,0.00,2.35,0.00,0.000,3078,0.000,0.043,2190,2101,3318,3410,3227,0,0,0,0,0,0,14.59,14.54,14.59,6.31,50.31
$GC,1570,-0.64,-146.0,2191,2101,3409,3228,201.9,-12.2,189,1574,0.00,2.45,0.00,0.000,2564,0.000,0.066,2190,693,3318,3409,3227,0,0,0,0,0,0,14.78,14.54,14.79,6.32,50.82
$GC,1625,-0.64,-146.0,2190,694,3411,3235,206.9,-12.3,191,1630,0.00,2.42,0.00,0.000,3078,0.000,0.057,2180,2104,3318,3410,3227,0,0,0,0,0,0,14.59,14.54,14.62,6.32,50.86
$GC,1930,-0.64,-146.0,2180,2104,3410,3228,246.7,-12.7,207,1935,0.00,2.45,0.00,0.000,2308,0.000,0.083,2170,3496,3318,3410,3227,0,0,0,0,0,0,14.81,14.54,14.81,6.32,51.02
$GC,1955,-0.64,-146.0,2170,3496,3410,3222,249.3,-12.8,208,1959,0.05,2.35,0.00,0.000,3078,0.355,0.044,2187,2094,3318,3409,3227,0,0,0,0,0,0,14.41,14.58,14.55,6.32,50.78
$GC,2270,-0.64,-146.0,2187,2093,3410,3228,288.9,-12.3,224,2274,0.00,2.42,0.00,0.000,2564,0.000,0.065,2187,699,3318,3409,3227,0,0,0,0,0,0,14.81,14.57,14.82,6.34,51.02
$GC,2340,-0.64,-146.0,2188,699,3414,3227,296.3,-12.4,227,2344,0.00,2.40,0.00,0.000,3078,0.000,0.056,2178,2101,3318,3409,3227,0,0,0,0,0,0,14.63,14.57,14.65,6.33,51.18
$GC,2650,-0.64,-146.0,2178,2102,3410,3228,336.4,-12.7,243,2654,0.05,2.45,0.00,0.000,2308,0.469,0.083,2181,3496,3318,3410,3227,0,0,0,0,0,0,14.45,14.57,14.65,6.33,51.26
$GC,2695,-0.64,-146.0,2182,3497,3410,3227,341.4,-12.6,245,2699,0.00,2.33,0.00,0.000,3078,0.000,0.041,2181,2101,3318,3409,3227,0,0,0,0,0,0,14.64,14.60,14.66,6.33,51.33
$STATE,2769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2769,begin apogee
$GC,2772,-0.15,0.0,2182,2158,3411,3227,351.3,-12.3,249,2904,0.47,0.00,128.38,1.610,10246,0.269,0.000,2351,2158,2717,2776,2658,0,0,0,0,0,0,14.46,13.90,13.29,6.28,50.94
$STATE,2905,end apogee,CONTROL_FINISHED_OK
$STATE,2905,begin loiter
$GC,3190,-0.15,0.0,2351,2159,2772,2644,348.8,3.0,270,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2158,2707,2771,2643,0,0,0,0,0,0,14.54,14.55,14.55,6.28,50.55
$GC,3490,-0.15,0.0,2351,2158,2772,2642,339.9,3.1,285,3491,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2158,2706,2771,2642,0,0,0,0,0,0,14.69,14.70,14.70,6.28,50.94
$GC,3790,-0.15,0.0,2351,2158,2772,2640,330.5,3.2,300,3791,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2158,2706,2771,2641,0,0,0,0,0,0,14.78,14.78,14.78,6.28,51.45
$GC,4090,-0.15,0.0,2351,2159,2772,2641,320.9,3.3,315,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2158,2706,2771,2641,0,0,0,0,0,0,14.84,14.84,14.84,6.28,51.61
$GC,4390,-0.15,0.0,2352,2158,2772,2640,310.9,3.2,330,4391,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2158,2705,2771,2640,0,0,0,0,0,0,14.88,14.89,14.89,6.28,50.98
$GC,4690,-0.15,0.0,2352,2157,2772,2640,301.0,3.3,345,4691,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2158,2706,2772,2640,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.41
$GC,4990,-0.15,0.0,2352,2158,2773,2640,290.6,3.5,360,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2158,2705,2771,2640,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.14
$GC,5290,-0.15,0.0,2352,2158,2773,2640,280.7,3.3,375,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2158,2705,2771,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.22
$GC,5590,-0.15,0.0,2352,2158,2773,2640,271.0,3.3,390,5591,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2158,2705,2771,2640,0,0,0,0,0,0,14.98,14.99,14.99,6.28,51.06
$GC,5890,-0.15,0.0,2351,2159,2772,2641,261.8,2.9,405,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2158,2705,2771,2640,0,0,0,0,0,0,15.00,15.01,15.01,6.28,51.14
$GC,6190,-0.15,0.0,2351,2159,2772,2642,253.3,2.7,420,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2158,2705,2770,2641,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.22
$STATE,6489,end loiter,LOITER_COMPLETE
$STATE,6489,begin climb
$GC,6490,0.64,146.0,2353,2158,2773,2641,245.1,0.0,435,6631,0.60,2.58,131.05,1.439,11012,0.177,0.083,2593,3545,2118,2143,2093,0,0,0,0,0,0,14.70,13.97,13.45,6.28,51.89
$GC,6725,0.64,146.0,2593,3545,2141,2084,227.9,10.9,446,6730,0.00,2.40,0.00,0.000,1030,0.000,0.041,2603,2154,2111,2139,2083,0,0,0,0,0,0,14.23,14.19,14.25,6.24,48.81
$GC,7030,0.64,146.0,2603,2155,2135,2077,188.5,12.6,462,7035,0.00,2.50,0.00,0.000,516,0.000,0.068,2614,752,2104,2133,2076,0,0,0,0,0,0,14.60,14.34,14.61,6.24,50.00
$GC,7085,0.64,146.0,2614,751,2131,2076,183.6,12.4,464,7089,0.00,2.40,0.00,0.000,5126,0.000,0.056,2615,2131,2103,2131,2076,0,0,0,0,0,0,14.45,14.39,14.46,6.24,50.31
$GC,7390,0.64,146.0,2615,2132,2130,2075,141.2,13.7,480,7394,0.00,2.55,0.00,0.000,4356,0.000,0.085,2615,3557,2102,2130,2074,0,0,0,0,0,0,14.71,14.42,14.71,6.24,50.47
$GC,7495,0.64,146.0,2616,3557,2124,2074,127.7,13.2,485,7500,0.05,2.38,0.00,0.000,5126,0.338,0.044,2607,2153,2102,2131,2074,0,0,0,0,0,0,14.35,14.50,14.48,6.23,50.82
$GC,7800,0.64,146.0,2608,2153,2131,2073,90.6,11.2,511,7805,0.00,2.47,0.00,0.000,4612,0.000,0.067,2617,747,2100,2129,2072,0,0,0,0,0,0,14.77,14.49,14.77,6.22,49.84
$GC,7825,0.64,146.0,2617,748,2128,2073,88.0,10.2,516,7829,0.00,2.42,0.00,0.000,5126,0.000,0.055,2617,2155,2099,2127,2072,0,0,0,0,0,0,14.59,14.52,14.60,6.22,50.03
$GC,7951,0.64,146.0,2617,2155,2128,2072,74.0,10.9,541,7954,0.00,2.45,0.00,0.000,4356,0.000,0.086,2617,3555,2099,2127,2072,0,0,0,0,0,0,14.78,14.52,14.78,6.21,49.37
$GC,7990,0.64,146.0,2618,3555,2128,2072,69.6,10.8,549,7994,0.05,2.38,0.00,0.000,5126,0.333,0.044,2607,2145,2099,2127,2072,0,0,0,0,0,0,14.38,14.52,14.52,6.22,49.01
$GC,8115,0.64,146.0,2609,2146,2128,2082,57.5,9.7,574,8119,0.00,2.45,0.00,0.000,4612,0.000,0.067,2618,748,2099,2127,2072,0,0,0,0,0,0,14.78,14.52,14.78,6.21,48.89
$GC,8165,0.64,146.0,2619,749,2128,2071,52.8,8.8,584,8169,0.03,2.40,0.00,0.000,5126,0.410,0.055,2608,2148,2099,2127,2071,0,0,0,0,0,0,14.39,14.55,14.53,6.20,49.21
$GC,8290,0.64,146.0,2609,2148,2128,2071,40.9,9.3,609,8294,0.00,2.47,0.00,0.000,4612,0.000,0.069,2618,743,2099,2127,2071,0,0,0,0,0,0,14.79,14.52,14.79,6.20,48.74
$GC,8360,0.64,146.0,2619,743,2126,2071,34.7,8.7,623,8365,0.00,2.42,0.00,0.000,5126,0.000,0.055,2618,2151,2098,2126,2070,0,0,0,0,0,0,14.59,14.53,14.61,6.20,49.05
$GC,8485,0.64,146.0,2618,2151,2127,2071,23.3,9.4,648,8489,0.00,2.45,0.00,0.000,4356,0.000,0.087,2618,3555,2098,2126,2070,0,0,0,0,0,0,14.80,14.55,14.80,6.20,49.60
$GC,8525,0.64,151.2,2618,3556,2127,2072,19.5,8.1,656,8529,0.05,2.35,0.00,0.000,5126,0.337,0.043,2610,2153,2098,2126,2070,0,0,0,0,0,0,14.41,14.57,14.56,6.20,49.48
$GC,8651,0.64,151.2,2609,2153,2127,2071,7.2,9.8,681,8654,0.00,2.42,0.00,0.000,4612,0.000,0.068,2619,738,2098,2126,2070,0,0,0,0,0,0,14.80,14.57,14.81,6.20,49.60
$STATE,8694,end climb,SURFACE_DEPTH_REACHED
$STATE,8694,begin surface coast
$STATE,8699,end surface coast,CONTROL_FINISHED_OK
$STATE,8699,begin surface
$SM_CCo,8713,66.10,0.254,0,0,1822,220.03
$SM_GC,1.16,5.90,2.38,66.10,0.162,0.050,0.254,235,2109,1822,-6.46,-0.62,220.03,0,0,0,0,0,0,14.65,14.59,14.36
$IRIDIUM_FIX,-5944.88,0.00,291218,023707
$TT8_MAMPS,0.03745,0.313831
$HUMID,49.25
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,7
$SC_FREEKB,3854304
$24V_AH,13.29,29.892
$10V_AH,13.37,0.000
$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,13.400,83.025,259.425,66.100,0.000,24.412,47.096,136.273,1.750,0.000,20.994,0.000,6926.070,443.565,1648.582,92.358,0.000,1080.299,0.000,1156.722,0.000,0.540,0.000
$DEVICE_MAMPS,468.945,2265.930,1609.560,253.980,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5113.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.613,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17350,691
$CAP_FILE_SIZE,95059,0
$CFSIZE,1023623168,1006698496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.016,341.17,1
$GPS,291218,073831,-5942.907,-0.357,11,0.7,34,-19.7,0.8,351.1,12,4.6