version: 66.14
glider: 640
mission: 5
dive: 143
start: 12 30 118 13 49 10
data:
$ID,640
$MISSION,5
$DIVE,143
$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,60
$R_STBD_OVSHOOT,26
$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
$GPS1,301218,134431,-5948.3608,4.0851,14,0.8,38,-19.8,0.4,248.1,11,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-67.4
$GPS2,301218,134852,-5948.3516,4.0626,9,0.9,16,-19.8,0.4,281.8,10,9.7
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,209.1,58731,-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,-146.0,230,2073,1798,1823,0.0,0.0,0,101,0.00,0.00,-89.85,0.000,16386,0.000,0.000,229,2071,3228,3308,3149,0,0,0,0,0,0,14.62,28.83,14.63,6.17,50.03
$GC,103,-0.64,-146.0,230,2079,3311,3149,3.2,-6.0,18,120,6.03,2.58,-3.33,0.000,18948,0.364,2.254,2185,717,3316,3407,3226,0,0,0,0,0,0,14.23,13.47,14.47,6.31,49.21
$GC,160,-0.64,-146.0,2185,716,3409,3226,14.3,-17.2,30,164,0.05,2.42,0.00,0.000,3078,0.368,0.058,2191,2099,3317,3408,3226,0,0,0,0,0,0,14.19,14.35,14.35,6.29,48.85
$GC,286,-0.64,-146.0,2192,2099,3410,3226,35.1,-16.6,55,289,0.00,2.50,0.00,0.000,2308,0.000,0.086,2181,3522,3317,3409,3226,0,0,0,0,0,0,14.63,14.39,14.63,6.30,48.58
$GC,320,-0.64,-146.0,2181,3523,3409,3227,40.7,-15.9,62,324,0.00,2.38,0.00,0.000,3078,0.000,0.044,2180,2129,3317,3409,3226,0,0,0,0,0,0,14.45,14.42,14.49,6.30,48.66
$GC,445,-0.64,-146.0,2179,2127,3410,3236,58.5,-14.8,87,449,0.00,2.53,0.00,0.000,2564,0.000,0.064,2180,693,3317,3409,3226,0,0,0,0,0,0,14.66,14.43,14.67,6.30,49.37
$GC,555,-0.64,-146.0,2181,693,3410,3226,75.0,-14.8,109,560,0.05,2.45,0.00,0.000,3078,0.366,0.059,2186,2101,3317,3409,3225,0,0,0,0,0,0,14.29,14.45,14.44,6.29,48.54
$GC,681,-0.64,-146.0,2187,2102,3410,3227,94.9,-16.2,134,684,0.00,2.45,0.00,0.000,2308,0.000,0.086,2176,3506,3317,3409,3226,0,0,0,0,0,0,14.71,14.47,14.71,6.30,49.25
$GC,725,-0.64,-146.0,2177,3507,3410,3226,101.5,-16.3,142,729,0.05,2.38,0.00,0.000,3078,0.364,0.044,2192,2095,3317,3409,3226,0,0,0,0,0,0,14.31,14.50,14.45,6.30,48.50
$GC,1040,-0.64,-146.0,2194,2094,3411,3226,147.8,-14.0,158,1041,0.00,0.00,0.00,0.000,2054,0.000,0.000,2193,2094,3317,3409,3226,0,0,0,0,0,0,14.76,14.77,14.76,6.30,49.72
$GC,1340,-0.64,-146.0,2193,2095,3410,3227,189.3,-13.6,173,1344,0.00,2.42,0.00,0.000,2564,0.000,0.066,2192,705,3317,3409,3226,0,0,0,0,0,0,14.80,14.54,14.80,6.31,51.06
$GC,1415,-0.64,-146.0,2193,705,3411,3226,197.5,-13.7,176,1419,0.00,2.40,0.00,0.000,3078,0.000,0.058,2183,2101,3317,3409,3226,0,0,0,0,0,0,14.60,14.54,14.63,6.31,51.29
$GC,1720,-0.64,-146.0,2183,2101,3410,3227,240.5,-13.6,192,1721,0.00,0.00,0.00,0.000,2054,0.000,0.000,2183,2100,3317,3409,3226,0,0,0,0,0,0,14.81,14.82,14.82,6.32,51.37
$GC,2020,-0.64,-146.0,2183,2101,3409,3227,281.0,-13.3,207,2024,0.00,2.45,0.00,0.000,2564,0.000,0.065,2182,694,3317,3409,3226,0,0,0,0,0,0,14.83,14.59,14.83,6.33,51.14
$GC,2080,-0.64,-146.0,2183,695,3410,3226,289.1,-13.4,210,2084,0.05,2.42,0.00,0.000,3078,0.362,0.057,2188,2103,3316,3408,3225,0,0,0,0,0,0,14.41,14.59,14.57,6.34,51.26
$GC,2400,-0.64,-146.0,2188,2105,3410,3226,330.2,-12.8,226,2405,0.00,2.47,0.00,0.000,2308,0.000,0.084,2179,3506,3317,3409,3225,0,0,0,0,0,0,14.84,14.57,14.85,6.33,51.22
$GC,2435,-0.64,-146.0,2179,3502,3410,3226,332.8,-12.9,227,2439,0.03,2.35,0.00,0.000,3078,0.453,0.043,2187,2100,3317,3409,3226,0,0,0,0,0,0,14.42,14.61,14.57,6.34,51.65
$STATE,2559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2559,begin apogee
$GC,2562,-0.15,0.0,2188,2168,3410,3226,350.7,-12.7,234,2693,0.45,0.00,127.82,1.600,10246,0.272,0.000,2347,2168,2718,2778,2659,0,0,0,0,0,0,14.47,13.90,13.31,6.34,51.29
$STATE,2694,end apogee,CONTROL_FINISHED_OK
$STATE,2694,begin loiter
$GC,2980,-0.15,0.0,2348,2168,2772,2643,348.3,3.0,255,2981,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2168,2707,2771,2643,0,0,0,0,0,0,14.56,14.56,14.56,6.29,50.35
$GC,3280,-0.15,0.0,2348,2168,2771,2642,339.5,2.9,270,3281,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2168,2706,2771,2641,0,0,0,0,0,0,14.70,14.70,14.70,6.28,50.98
$GC,3580,-0.15,0.0,2348,2168,2772,2640,331.1,2.7,285,3581,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2168,2705,2771,2640,0,0,0,0,0,0,14.79,14.79,14.79,6.29,50.74
$GC,3880,-0.15,0.0,2348,2168,2772,2641,322.5,3.0,300,3881,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2168,2705,2771,2640,0,0,0,0,0,0,14.85,14.85,14.85,6.29,51.53
$GC,4180,-0.15,0.0,2348,2168,2772,2640,313.5,3.1,315,4181,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2168,2705,2771,2640,0,0,0,0,0,0,14.89,14.90,14.90,6.29,50.90
$GC,4480,-0.15,0.0,2348,2168,2772,2641,303.8,3.4,330,4481,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2167,2705,2771,2640,0,0,0,0,0,0,14.92,14.93,14.92,6.28,51.69
$GC,4780,-0.15,0.0,2348,2168,2772,2640,293.0,3.8,345,4781,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2168,2705,2771,2640,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.29
$GC,5080,-0.15,0.0,2348,2168,2771,2641,281.0,4.1,360,5081,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2167,2705,2771,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.28,50.94
$GC,5380,-0.15,0.0,2348,2167,2772,2641,268.3,4.3,375,5381,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2167,2706,2771,2641,0,0,0,0,0,0,14.99,15.00,15.00,6.28,51.53
$GC,5680,-0.15,0.0,2348,2168,2773,2641,255.3,4.3,390,5681,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2167,2706,2771,2641,0,0,0,0,0,0,15.01,15.01,15.01,6.29,51.26
$GC,5980,-0.15,0.0,2348,2168,2772,2642,242.6,4.2,405,5981,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2168,2706,2771,2642,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.37
$STATE,6279,end loiter,LOITER_COMPLETE
$STATE,6279,begin climb
$GC,6280,0.64,146.0,2348,2167,2772,2642,230.5,0.0,420,6421,0.62,2.58,130.75,1.408,10500,0.179,0.083,2604,3552,2118,2143,2093,0,0,0,0,0,0,14.70,13.98,13.47,6.28,51.45
$GC,6545,0.64,146.0,2598,3552,2139,2083,206.2,11.8,433,6549,0.00,2.40,0.00,0.000,5126,0.000,0.042,2608,2157,2111,2139,2083,0,0,0,0,0,0,14.27,14.23,14.29,6.23,48.93
$GC,6860,0.64,146.0,2609,2156,2134,2076,166.4,12.4,449,6865,0.00,2.53,0.00,0.000,4612,0.000,0.069,2619,742,2104,2132,2076,0,0,0,0,0,0,14.63,14.36,14.63,6.24,50.90
$GC,6915,0.64,146.0,2619,743,2131,2077,161.7,12.1,451,6919,0.03,2.42,0.00,0.000,5126,0.411,0.056,2610,2135,2103,2130,2076,0,0,0,0,0,0,14.25,14.41,14.39,6.24,50.27
$GC,7220,0.64,146.0,2610,2136,2131,2074,125.0,11.4,467,7224,0.00,2.55,0.00,0.000,4356,0.000,0.086,2609,3556,2102,2130,2074,0,0,0,0,0,0,14.72,14.43,14.72,6.23,50.47
$GC,7300,0.64,146.0,2610,3557,2131,2074,116.2,10.9,471,7304,0.00,2.38,0.00,0.000,5126,0.000,0.044,2618,2148,2101,2129,2074,0,0,0,0,0,0,14.53,14.47,14.54,6.23,50.27
$GC,7605,0.64,146.0,2618,2149,2128,2073,82.8,10.5,508,7609,0.00,2.47,0.00,0.000,4612,0.000,0.069,2629,745,2100,2128,2072,0,0,0,0,0,0,14.78,14.52,14.77,6.22,49.76
$GC,7660,0.64,146.0,2629,746,2127,2073,77.3,9.5,519,7664,0.05,2.42,0.00,0.000,5126,0.314,0.056,2609,2154,2098,2126,2071,0,0,0,0,0,0,14.38,14.51,14.52,6.22,49.76
$GC,7785,0.64,146.0,2610,2155,2127,2072,65.7,9.5,544,7789,0.00,2.47,0.00,0.000,4356,0.000,0.085,2610,3547,2099,2127,2072,0,0,0,0,0,0,14.78,14.51,14.78,6.22,49.52
$GC,7820,0.64,146.0,2609,3548,2127,2073,62.2,9.8,551,7824,0.00,2.35,0.00,0.000,5126,0.000,0.044,2618,2154,2099,2126,2072,0,0,0,0,0,0,14.58,14.53,14.61,6.21,49.17
$GC,7946,0.64,146.0,2618,2155,2126,2073,50.3,9.5,576,7949,0.03,2.45,0.00,0.000,4612,0.611,0.069,2618,736,2099,2126,2072,0,0,0,0,0,0,14.45,14.54,14.63,6.21,48.62
$GC,7970,0.64,146.0,2618,735,2126,2071,48.0,8.6,581,7975,0.00,2.42,0.00,0.000,5126,0.000,0.056,2618,2147,2098,2126,2070,0,0,0,0,0,0,14.58,14.52,14.60,6.20,49.09
$GC,8096,0.64,146.0,2618,2148,2126,2072,37.6,8.5,606,8099,0.03,2.45,0.00,0.000,4356,0.615,0.086,2608,3555,2098,2126,2071,0,0,0,0,0,0,14.47,14.54,14.64,6.19,48.97
$GC,8130,0.64,146.0,2609,3557,2127,2071,34.3,8.9,613,8135,0.00,2.35,0.00,0.000,5126,0.000,0.044,2617,2156,2098,2126,2071,0,0,0,0,0,0,14.59,14.55,14.62,6.20,48.93
$GC,8256,0.64,146.0,2618,2157,2128,2071,23.7,8.5,638,8259,0.00,2.42,0.00,0.000,4612,0.000,0.069,2628,744,2098,2126,2071,0,0,0,0,0,0,14.80,14.56,14.80,6.20,49.33
$GC,8310,0.64,146.0,2628,745,2126,2072,18.7,9.0,649,8315,0.05,2.42,0.00,0.000,5126,0.308,0.056,2607,2155,2097,2125,2070,0,0,0,0,0,0,14.43,14.54,14.54,6.19,49.68
$GC,8436,0.64,146.0,2608,2156,2127,2070,7.6,9.3,674,8439,0.00,2.45,0.00,0.000,4356,0.000,0.082,2608,3565,2097,2125,2070,0,0,0,0,0,0,14.81,14.55,14.81,6.20,49.92
$STATE,8489,end climb,SURFACE_DEPTH_REACHED
$STATE,8489,begin surface coast
$STATE,8519,end surface coast,CONTROL_FINISHED_OK
$STATE,8519,begin surface
$SM_CCo,8533,66.03,0.243,0,0,1822,220.03
$SM_GC,1.24,5.50,2.50,66.03,0.084,0.046,0.243,293,2104,1822,-6.45,0.99,220.03,0,0,0,0,0,0,14.59,14.58,14.37
$IRIDIUM_FIX,-5947.82,-8.55,301218,111640
$TT8_MAMPS,0.038948,0.308588
$HUMID,49.33
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,3
$SC_FREEKB,3847648
$24V_AH,13.31,32.204
$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,13.000,78.350,258.575,66.025,0.000,24.864,16.997,108.191,0.750,0.000,17.455,0.000,6795.497,431.085,1545.699,91.973,0.000,1049.623,0.000,1126.974,0.000,0.540,0.000
$DEVICE_MAMPS,615.060,2254.455,1599.615,242.505,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4928.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.639,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17342,691
$CAP_FILE_SIZE,90527,0
$CFSIZE,1023623168,1005420544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.020,76.98,1
$GPS,301218,161331,-5948.738,4.246,17,0.8,40,-19.8,0.4,199.9,10,6.5