version: 66.14
glider: 640
mission: 5
dive: 142
start: 12 30 118 11 19 39
data:
$ID,640
$MISSION,5
$DIVE,142
$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,33
$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
$GPS1,301218,111504,-5947.9194,3.6786,16,0.9,30,-19.8,0.8,257.1,10,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-68.0
$GPS2,301218,111920,-5947.8945,3.6643,9,1.0,17,-19.8,0.5,17.4,9,8.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,207.1,59554,-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,-146.0,218,2139,1805,1821,0.0,0.0,0,100,0.00,0.00,-88.55,0.000,16386,0.000,0.000,218,2139,3212,3293,3131,0,0,0,0,0,0,14.63,28.83,14.64,6.18,49.84
$GC,101,-0.64,-146.0,219,2140,3294,3132,3.5,-6.9,18,116,6.07,2.62,-3.95,0.000,18692,0.363,2.269,2176,3508,3316,3407,3226,0,0,0,0,0,0,14.22,13.47,14.39,6.29,49.05
$GC,135,-0.64,-146.0,2176,3509,3410,3227,9.6,-15.7,25,139,0.05,2.40,0.00,0.000,3078,0.355,0.045,2194,2091,3317,3409,3225,0,0,0,0,0,0,14.23,14.39,14.38,6.30,48.38
$GC,261,-0.64,-146.0,2195,2094,3412,3226,30.2,-17.6,50,264,0.00,2.42,0.00,0.000,516,0.000,0.067,2193,699,3318,3410,3226,0,0,0,0,0,0,14.64,14.42,14.65,6.30,48.26
$GC,320,-0.64,-146.0,2194,699,3411,3226,40.5,-16.7,62,324,0.00,2.42,0.00,0.000,3078,0.000,0.057,2184,2099,3318,3410,3226,0,0,0,0,0,0,14.49,14.42,14.51,6.30,49.17
$GC,445,-0.64,-146.0,2184,2100,3411,3227,59.9,-15.0,87,450,0.00,2.45,0.00,0.000,2564,0.000,0.066,2184,708,3318,3410,3226,0,0,0,0,0,0,14.69,14.45,14.69,6.30,49.09
$GC,475,-0.64,-146.0,2184,708,3412,3226,64.7,-16.0,93,479,0.05,2.42,0.00,0.000,3078,0.371,0.058,2190,2103,3318,3410,3226,0,0,0,0,0,0,14.32,14.46,14.43,6.30,48.62
$GC,601,-0.64,-146.0,2190,2104,3411,3227,84.0,-15.3,118,604,0.00,2.42,0.00,0.000,2564,0.000,0.066,2190,696,3318,3410,3226,0,0,0,0,0,0,14.71,14.48,14.71,6.30,48.38
$GC,630,-0.64,-146.0,2190,697,3411,3227,88.8,-16.0,124,634,0.00,2.45,0.00,0.000,3078,0.000,0.057,2180,2109,3318,3410,3226,0,0,0,0,0,0,14.54,14.47,14.55,6.30,48.74
$GC,765,-0.64,-146.0,2180,2110,3411,3227,110.3,-16.0,142,769,0.00,2.45,0.00,0.000,2308,0.000,0.083,2169,3497,3318,3410,3226,0,0,0,0,0,0,14.73,14.47,14.73,6.29,48.34
$GC,815,-0.64,-146.0,2169,3498,3411,3226,116.7,-15.8,144,819,0.08,2.33,0.00,0.000,3078,0.331,0.044,2195,2114,3318,3410,3226,0,0,0,0,0,0,14.35,14.52,14.49,6.29,48.38
$GC,1125,-0.64,-146.0,2195,2113,3411,3227,163.2,-14.0,160,1129,0.00,2.47,0.00,0.000,516,0.000,0.066,2195,697,3317,3410,3225,0,0,0,0,0,0,14.78,14.53,14.78,6.30,50.07
$GC,1200,-0.64,-146.0,2196,698,3412,3222,171.7,-14.2,163,1204,0.00,2.40,0.00,0.000,3078,0.000,0.056,2186,2098,3318,3410,3226,0,0,0,0,0,0,14.57,14.54,14.62,6.30,49.92
$GC,1505,-0.64,-146.0,2186,2099,3411,3225,215.4,-13.6,179,1509,0.00,2.47,0.00,0.000,2308,0.000,0.082,2175,3503,3318,3410,3226,0,0,0,0,0,0,14.81,14.54,14.81,6.32,50.78
$GC,1530,-0.64,-146.0,2175,3504,3410,3226,218.1,-13.7,180,1534,0.05,2.35,0.00,0.000,3078,0.353,0.044,2192,2101,3318,3410,3226,0,0,0,0,0,0,14.40,14.57,14.55,6.30,51.26
$GC,1845,-0.64,-146.0,2192,2100,3411,3225,259.5,-12.8,196,1850,0.00,2.45,0.00,0.000,2564,0.000,0.066,2192,696,3317,3410,3225,0,0,0,0,0,0,14.83,14.57,14.83,6.29,51.14
$GC,1940,-0.64,-146.0,2192,697,3411,3226,269.5,-12.6,200,1944,0.00,2.40,0.00,0.000,3078,0.000,0.055,2182,2101,3317,3410,3225,0,0,0,0,0,0,14.63,14.58,14.66,6.33,51.06
$GC,2245,-0.64,-146.0,2182,2102,3410,3226,310.0,-12.9,216,2249,0.00,2.45,0.00,0.000,2308,0.000,0.081,2171,3501,3317,3410,3225,0,0,0,0,0,0,14.84,14.57,14.84,6.34,51.02
$GC,2275,-0.64,-146.0,2172,3502,3411,3225,312.6,-12.9,217,2279,0.05,2.35,0.00,0.000,3078,0.347,0.044,2189,2095,3317,3410,3225,0,0,0,0,0,0,14.43,14.62,14.58,6.33,51.77
$STATE,2584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2584,begin apogee
$GC,2587,-0.15,0.0,2190,2164,3411,3227,352.2,-12.2,233,2718,0.45,0.00,127.55,1.587,10246,0.269,0.000,2351,2163,2718,2777,2659,0,0,0,0,0,0,14.47,13.91,13.31,6.34,51.18
$STATE,2719,end apogee,CONTROL_FINISHED_OK
$STATE,2719,begin loiter
$GC,3005,-0.15,0.0,2351,2164,2772,2644,347.5,3.4,254,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2163,2707,2771,2643,0,0,0,0,0,0,14.56,14.57,14.56,6.28,50.51
$GC,3305,-0.15,0.0,2351,2164,2771,2642,337.3,3.4,269,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2163,2706,2771,2641,0,0,0,0,0,0,14.70,14.71,14.71,6.28,50.51
$GC,3605,-0.15,0.0,2350,2164,2771,2640,327.1,3.3,284,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2163,2705,2771,2640,0,0,0,0,0,0,14.78,14.79,14.79,6.29,50.98
$GC,3905,-0.15,0.0,2352,2164,2772,2639,317.0,3.3,299,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2163,2705,2771,2639,0,0,0,0,0,0,14.84,14.85,14.85,6.28,51.06
$GC,4205,-0.15,0.0,2352,2164,2772,2638,307.4,3.2,314,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2163,2704,2771,2638,0,0,0,0,0,0,14.89,14.90,14.89,6.28,51.02
$GC,4505,-0.15,0.0,2351,2164,2772,2639,297.8,3.1,329,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2163,2704,2771,2638,0,0,0,0,0,0,14.92,14.93,14.92,6.28,51.02
$GC,4805,-0.15,0.0,2351,2163,2772,2638,288.7,3.0,344,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2163,2704,2771,2638,0,0,0,0,0,0,14.95,14.95,14.95,6.29,51.26
$GC,5105,-0.15,0.0,2352,2164,2772,2637,280.3,2.7,359,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2164,2704,2771,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.14
$GC,5405,-0.15,0.0,2352,2164,2772,2637,272.2,2.7,374,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2164,2704,2771,2637,0,0,0,0,0,0,14.99,15.00,15.00,6.28,51.18
$GC,5705,-0.15,0.0,2352,2164,2772,2637,264.0,2.9,389,5706,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2163,2704,2771,2637,0,0,0,0,0,0,15.00,15.01,15.01,6.28,51.33
$GC,6005,-0.15,0.0,2352,2164,2772,2637,255.0,3.2,404,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2163,2704,2771,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.18
$STATE,6304,end loiter,LOITER_COMPLETE
$STATE,6304,begin climb
$GC,6305,0.64,146.0,2352,2164,2772,2637,244.7,0.0,419,6445,0.60,2.55,130.50,1.421,10756,0.171,0.066,2605,752,2117,2141,2093,0,0,0,0,0,0,14.70,13.90,13.45,6.28,51.45
$GC,6520,0.64,146.0,2605,753,2136,2086,228.8,10.4,429,6525,0.00,2.45,0.00,0.000,1030,0.000,0.054,2605,2134,2109,2135,2084,0,0,0,0,0,0,14.21,14.16,14.23,6.24,49.09
$GC,6825,0.64,146.0,2606,2135,2133,2076,189.1,12.5,445,6830,0.00,2.55,0.00,0.000,260,0.000,0.083,2605,3552,2104,2132,2076,0,0,0,0,0,0,14.60,14.33,14.60,6.24,50.23
$GC,6910,0.64,146.0,2606,3552,2132,2076,179.1,12.4,449,6914,0.00,2.38,0.00,0.000,5126,0.000,0.044,2616,2152,2103,2131,2076,0,0,0,0,0,0,14.45,14.40,14.47,6.24,51.02
$GC,7225,0.64,146.0,2616,2151,2131,2073,138.4,12.9,465,7229,0.00,2.47,0.00,0.000,4612,0.000,0.069,2627,753,2101,2130,2073,0,0,0,0,0,0,14.71,14.42,14.71,6.23,50.55
$GC,7280,0.64,146.0,2628,753,2128,2070,133.5,12.5,467,7284,0.05,2.42,0.00,0.000,5126,0.308,0.057,2608,2156,2100,2127,2073,0,0,0,0,0,0,14.35,14.47,14.49,6.24,50.47
$GC,7585,0.64,146.0,2608,2157,2128,2072,97.9,11.0,483,7589,0.00,2.47,0.00,0.000,4356,0.000,0.084,2607,3549,2099,2127,2071,0,0,0,0,0,0,14.78,14.49,14.78,6.23,50.11
$GC,7645,0.64,146.0,2608,3549,2128,2071,91.0,11.5,495,7649,0.00,2.35,0.00,0.000,5126,0.000,0.044,2616,2150,2099,2127,2071,0,0,0,0,0,0,14.57,14.53,14.59,6.17,49.76
$GC,7771,0.64,146.0,2617,2150,2128,2070,77.3,10.9,520,7774,0.00,2.42,0.00,0.000,4612,0.000,0.069,2627,741,2098,2127,2070,0,0,0,0,0,0,14.78,14.54,14.78,6.21,49.44
$GC,7790,0.64,146.0,2628,741,2126,2071,75.2,10.6,524,7794,0.05,2.42,0.00,0.000,5126,0.303,0.057,2608,2152,2098,2126,2071,0,0,0,0,0,0,14.40,14.54,14.54,6.22,50.19
$GC,7916,0.64,146.0,2608,2153,2127,2072,61.7,11.0,549,7920,0.00,2.45,0.00,0.000,4356,0.000,0.086,2608,3556,2098,2125,2071,0,0,0,0,0,0,14.78,14.54,14.79,6.21,48.77
$GC,7965,0.64,146.0,2608,3557,2127,2071,56.0,11.1,559,7969,0.00,2.35,0.00,0.000,5126,0.000,0.044,2616,2154,2098,2126,2071,0,0,0,0,0,0,14.59,14.54,14.60,6.21,49.01
$GC,8090,0.64,146.0,2616,2156,2126,2072,43.0,10.1,584,8094,0.00,2.45,0.00,0.000,4612,0.000,0.068,2627,738,2097,2125,2070,0,0,0,0,0,0,14.79,14.56,14.80,6.21,48.85
$GC,8135,0.64,146.0,2627,739,2126,2071,38.5,9.4,593,8140,0.05,2.42,0.00,0.000,5126,0.310,0.056,2608,2154,2098,2125,2071,0,0,0,0,0,0,14.40,14.54,14.54,6.21,49.37
$GC,8260,0.64,146.0,2603,2155,2126,2070,27.6,8.8,618,8264,0.00,2.47,0.00,0.000,4356,0.000,0.084,2608,3554,2097,2125,2070,0,0,0,0,0,0,14.80,14.54,14.81,6.23,48.97
$GC,8285,0.64,146.0,2609,3554,2126,2072,25.1,9.4,623,8289,0.00,2.35,0.00,0.000,5126,0.000,0.044,2617,2155,2097,2125,2070,0,0,0,0,0,0,14.60,14.55,14.62,6.20,48.81
$GC,8411,0.64,146.0,2617,2156,2126,2071,13.4,10.1,648,8414,0.00,2.42,0.00,0.000,4612,0.000,0.067,2628,745,2097,2125,2070,0,0,0,0,0,0,14.80,14.57,14.81,6.20,49.44
$GC,8465,0.64,146.0,2629,745,2126,2070,7.8,10.0,659,8469,0.05,2.40,0.00,0.000,5126,0.305,0.056,2608,2144,2097,2125,2069,0,0,0,0,0,0,14.41,14.54,14.54,6.21,49.64
$STATE,8524,end climb,SURFACE_DEPTH_REACHED
$STATE,8524,begin surface coast
$STATE,8554,end surface coast,CONTROL_FINISHED_OK
$STATE,8554,begin surface
$SM_CCo,8566,65.65,0.244,0,0,1822,220.03
$SM_GC,1.29,5.55,0.05,65.65,0.089,0.209,0.244,266,2072,1822,-6.47,1.10,220.03,0,0,0,0,0,0,14.67,14.60,14.38
$IRIDIUM_FIX,-5947.83,0.00,301218,085235
$TT8_MAMPS,0.03745,0.363265
$HUMID,49.64
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,7
$SC_FREEKB,3848160
$24V_AH,13.31,32.033
$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,13.150,87.725,258.050,65.650,0.000,25.783,14.230,105.340,1.750,0.000,19.121,0.000,6830.335,433.673,1535.912,94.217,0.000,1053.470,0.000,1115.429,0.000,0.540,0.000
$DEVICE_MAMPS,371.025,2268.990,1586.610,244.035,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4964.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.539,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17343,677
$CAP_FILE_SIZE,92887,0
$CFSIZE,1023623168,1005518848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.028,124.56,1
$GPS,301218,134431,-5948.361,4.085,14,0.8,38,-19.8,0.4,248.1,11,8.0