version: 66.14
glider: 640
mission: 5
dive: 145
start: 12 30 118 18 49 6
data:
$ID,640
$MISSION,5
$DIVE,145
$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,34
$R_STBD_OVSHOOT,28
$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
$GPS1,301218,184403,-5949.1968,4.5400,35,0.8,37,-19.8,0.0,134.1,10,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-65.7
$GPS2,301218,184848,-5949.1963,4.5888,13,0.8,19,-19.8,0.5,354.3,11,9.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,209.5,57203,-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,-146.0,236,2143,1796,1823,0.0,0.0,0,101,0.00,0.00,-88.95,0.000,16386,0.000,0.000,235,2142,3226,3307,3146,0,0,0,0,0,0,14.62,28.83,14.62,6.17,49.68
$GC,102,-0.64,-146.0,235,2142,3308,3147,3.4,-7.0,18,115,6.03,0.00,-3.38,0.000,18694,0.368,0.000,2184,2142,3317,3409,3226,0,0,0,0,0,0,14.22,13.43,14.38,6.29,49.48
$GC,237,-0.64,-146.0,2183,2143,3413,3227,26.9,-17.3,45,240,0.00,2.50,0.00,0.000,2564,0.000,0.063,2183,695,3319,3413,3226,0,0,0,0,0,0,14.63,14.41,14.64,6.30,48.30
$GC,281,-0.64,-146.0,2183,695,3413,3226,34.5,-17.0,54,285,0.05,2.42,0.00,0.000,3078,0.361,0.057,2189,2092,3319,3412,3226,0,0,0,0,0,0,14.25,14.42,14.42,6.30,48.30
$GC,406,-0.64,-146.0,2189,2092,3413,3226,53.6,-14.6,79,411,0.00,2.47,0.00,0.000,2308,0.000,0.084,2179,3509,3318,3411,3226,0,0,0,0,0,0,14.67,14.43,14.68,6.30,48.85
$GC,491,-0.64,-146.0,2179,3510,3412,3227,66.5,-14.5,96,495,0.00,2.38,0.00,0.000,3078,0.000,0.042,2179,2104,3319,3412,3226,0,0,0,0,0,0,14.52,14.47,14.54,6.30,49.05
$GC,616,-0.64,-146.0,2179,2103,3413,3226,86.2,-15.9,121,617,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2103,3319,3412,3226,0,0,0,0,0,0,14.71,14.71,14.71,6.29,48.46
$GC,746,-0.64,-146.0,2179,2103,3414,3226,106.1,-14.9,141,750,0.03,2.47,0.00,0.000,2564,0.632,0.065,2189,690,3319,3412,3226,0,0,0,0,0,0,14.35,14.48,14.53,6.30,48.66
$GC,816,-0.64,-146.0,2189,691,3413,3226,114.8,-14.6,144,821,0.00,2.42,0.00,0.000,3078,0.000,0.057,2179,2096,3319,3412,3226,0,0,0,0,0,0,14.55,14.49,14.57,6.30,48.89
$GC,1126,-0.64,-146.0,2180,2097,3413,3226,156.2,-12.8,160,1130,0.00,2.45,0.00,0.000,2564,0.000,0.064,2179,695,3319,3412,3226,0,0,0,0,0,0,14.78,14.53,14.78,6.30,49.92
$GC,1176,-0.64,-146.0,2179,695,3413,3227,161.3,-12.8,162,1180,0.05,2.42,0.00,0.000,3078,0.363,0.057,2186,2100,3319,3412,3227,0,0,0,0,0,0,14.37,14.52,14.52,6.30,50.11
$GC,1486,-0.64,-146.0,2187,2100,3413,3226,201.2,-12.6,178,1491,0.00,2.45,0.00,0.000,2564,0.000,0.064,2186,693,3319,3412,3226,0,0,0,0,0,0,14.80,14.54,14.80,6.31,50.82
$GC,1506,-0.64,-146.0,2186,694,3413,3226,203.8,-12.7,179,1511,0.05,2.42,0.00,0.000,3078,0.369,0.057,2192,2099,3319,3412,3226,0,0,0,0,0,0,14.38,14.56,14.57,6.32,51.02
$GC,1826,-0.64,-146.0,2192,2099,3413,3226,243.7,-12.5,195,1830,0.00,2.47,0.00,0.000,2308,0.000,0.083,2182,3505,3319,3412,3226,0,0,0,0,0,0,14.79,14.55,14.82,6.32,51.26
$GC,1861,-0.64,-146.0,2182,3507,3413,3227,246.2,-12.6,196,1865,0.00,2.35,0.00,0.000,3078,0.000,0.043,2182,2101,3319,3412,3226,0,0,0,0,0,0,14.63,14.59,14.66,6.33,51.45
$GC,2166,-0.64,-146.0,2182,2100,3413,3226,287.8,-13.1,212,2170,0.00,2.45,0.00,0.000,2564,0.000,0.064,2182,690,3319,3412,3226,0,0,0,0,0,0,14.83,14.57,14.83,6.33,51.69
$GC,2256,-0.64,-146.0,2182,691,3413,3227,298.0,-12.8,216,2261,0.05,2.42,0.00,0.000,3078,0.360,0.057,2188,2102,3319,3412,3226,0,0,0,0,0,0,14.41,14.58,14.57,6.34,51.22
$GC,2566,-0.64,-146.0,2189,2102,3414,3226,338.0,-12.8,232,2570,0.00,2.47,0.00,0.000,2308,0.000,0.083,2178,3511,3319,3412,3226,0,0,0,0,0,0,14.83,14.57,14.84,6.33,51.06
$GC,2591,-0.64,-146.0,2178,3510,3413,3226,340.6,-12.9,233,2595,0.00,2.38,0.00,0.000,3078,0.000,0.043,2177,2091,3319,3412,3226,0,0,0,0,0,0,14.65,14.61,14.67,6.33,51.26
$STATE,2665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2665,begin apogee
$GC,2668,-0.15,0.0,2178,2161,3413,3226,351.1,-13.1,237,2799,0.47,0.00,127.28,1.594,10246,0.270,0.000,2347,2159,2717,2776,2658,0,0,0,0,0,0,14.46,13.90,13.31,6.34,51.22
$STATE,2800,end apogee,CONTROL_FINISHED_OK
$STATE,2800,begin loiter
$GC,3086,-0.15,0.0,2347,2161,2772,2645,349.6,2.7,258,3087,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2160,2707,2772,2643,0,0,0,0,0,0,14.56,14.56,14.56,6.29,50.47
$GC,3386,-0.15,0.0,2348,2161,2773,2642,341.6,2.7,273,3387,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2160,2707,2772,2642,0,0,0,0,0,0,14.70,14.71,14.71,6.28,50.86
$GC,3686,-0.15,0.0,2347,2161,2773,2640,333.4,2.8,288,3687,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2160,2705,2771,2640,0,0,0,0,0,0,14.79,14.79,14.79,6.29,50.82
$GC,3986,-0.15,0.0,2348,2161,2773,2640,324.3,3.1,303,3987,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2161,2705,2771,2640,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.06
$GC,4286,-0.15,0.0,2347,2161,2772,2640,314.6,3.2,318,4287,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2160,2705,2771,2639,0,0,0,0,0,0,14.89,14.90,14.90,6.28,51.06
$GC,4586,-0.15,0.0,2347,2161,2772,2640,304.7,3.2,333,4587,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2161,2705,2771,2639,0,0,0,0,0,0,14.92,14.92,14.93,6.28,51.10
$GC,4886,-0.15,0.0,2348,2161,2773,2639,294.9,3.3,348,4887,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2161,2704,2771,2638,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.29
$GC,5186,-0.15,0.0,2347,2161,2772,2640,285.1,3.3,363,5187,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2160,2704,2771,2638,0,0,0,0,0,0,14.97,14.98,14.98,6.28,51.02
$GC,5486,-0.15,0.0,2346,2161,2772,2640,274.7,3.6,378,5487,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2161,2704,2771,2638,0,0,0,0,0,0,14.99,15.00,15.00,6.28,51.29
$GC,5786,-0.15,0.0,2347,2161,2772,2640,263.8,3.8,393,5787,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2160,2704,2771,2638,0,0,0,0,0,0,15.01,15.01,15.01,6.28,50.98
$GC,6086,-0.15,0.0,2348,2161,2772,2639,252.5,3.7,408,6087,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2160,2704,2771,2638,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.73
$STATE,6385,end loiter,LOITER_COMPLETE
$STATE,6385,begin climb
$GC,6386,0.64,146.0,2348,2161,2772,2638,241.6,0.0,423,6526,0.62,2.60,130.70,1.418,10756,0.184,0.067,2607,748,2116,2141,2092,0,0,0,0,0,0,14.69,14.00,13.47,6.28,51.22
$GC,6576,0.64,146.0,2607,749,2137,2087,227.9,9.7,432,6580,0.00,2.45,0.00,0.000,5126,0.000,0.055,2607,2131,2110,2136,2085,0,0,0,0,0,0,14.15,14.12,14.16,6.24,48.89
$GC,6886,0.64,146.0,2607,2127,2132,2077,189.0,12.1,448,6891,0.00,2.58,0.00,0.000,4356,0.000,0.083,2607,3556,2104,2132,2077,0,0,0,0,0,0,14.59,14.31,14.59,6.24,50.19
$GC,6976,0.64,146.0,2608,3557,2132,2076,179.5,11.7,452,6980,0.00,2.38,0.00,0.000,5126,0.000,0.042,2617,2157,2103,2131,2076,0,0,0,0,0,0,14.42,14.38,14.44,6.23,50.11
$GC,7286,0.64,146.0,2618,2158,2131,2074,140.9,12.2,468,7290,0.00,2.50,0.00,0.000,4612,0.000,0.067,2629,746,2101,2129,2074,0,0,0,0,0,0,14.72,14.43,14.71,6.23,50.43
$GC,7321,0.64,146.0,2629,746,2127,2075,138.5,12.1,469,7326,0.05,2.42,0.00,0.000,5126,0.312,0.056,2609,2148,2100,2128,2073,0,0,0,0,0,0,14.34,14.47,14.47,6.24,50.70
$GC,7626,0.64,146.0,2610,2149,2128,2073,103.3,10.8,485,7630,0.00,2.50,0.00,0.000,4356,0.000,0.083,2609,3555,2099,2127,2072,0,0,0,0,0,0,14.77,14.48,14.77,6.22,50.82
$GC,7686,0.64,146.0,2609,3556,2128,2073,96.7,10.3,491,7690,0.00,2.35,0.00,0.000,5126,0.000,0.042,2618,2153,2099,2127,2072,0,0,0,0,0,0,14.56,14.52,14.59,6.23,50.03
$GC,7811,0.64,146.0,2618,2153,2128,2073,84.0,10.3,516,7815,0.00,2.42,0.00,0.000,4612,0.000,0.067,2628,744,2099,2127,2071,0,0,0,0,0,0,14.77,14.53,14.78,6.22,49.84
$GC,7876,0.64,146.0,2630,745,2126,2071,77.5,9.4,529,7881,0.05,2.42,0.00,0.000,5126,0.311,0.055,2608,2157,2095,2126,2064,0,0,0,0,0,0,14.38,14.52,14.52,6.22,49.52
$GC,8001,0.64,146.0,2609,2158,2127,2071,66.2,9.2,554,8005,0.00,2.47,0.00,0.000,4356,0.000,0.083,2609,3552,2098,2126,2071,0,0,0,0,0,0,14.78,14.52,14.78,6.21,49.01
$GC,8041,0.64,146.0,2609,3553,2125,2072,62.4,9.2,562,8045,0.00,2.35,0.00,0.000,5126,0.000,0.043,2617,2153,2098,2126,2071,0,0,0,0,0,0,14.60,14.56,14.62,6.21,49.44
$GC,8166,0.64,146.0,2617,2153,2127,2070,49.9,10.1,587,8169,0.00,0.00,0.00,0.000,4102,0.000,0.000,2617,2153,2098,2126,2071,0,0,0,0,0,0,14.79,14.79,14.79,6.20,48.89
$GC,8291,0.64,146.0,2617,2154,2126,2072,38.1,9.0,612,8295,0.00,2.47,0.00,0.000,4356,0.000,0.082,2617,3550,2098,2126,2070,0,0,0,0,0,0,14.80,14.53,14.80,6.20,49.21
$GC,8341,0.64,146.0,2619,3551,2127,2071,33.5,8.8,622,8345,0.05,2.35,0.00,0.000,5126,0.330,0.042,2609,2153,2098,2125,2071,0,0,0,0,0,0,14.41,14.57,14.55,6.20,49.72
$GC,8466,0.64,146.0,2610,2148,2126,2070,23.0,8.8,647,8470,0.00,2.47,0.00,0.000,4612,0.000,0.068,2619,739,2098,2126,2070,0,0,0,0,0,0,14.81,14.54,14.81,6.20,49.84
$GC,8506,0.64,146.1,2619,739,2126,2071,19.6,8.3,655,8510,0.03,2.42,0.00,0.000,5126,0.409,0.055,2609,2153,2097,2125,2070,0,0,0,0,0,0,14.38,14.53,14.54,6.20,50.03
$GC,8632,0.64,146.1,2609,2154,2127,2070,8.6,8.4,680,8635,0.00,2.45,0.00,0.000,4356,0.000,0.084,2609,3561,2097,2125,2070,0,0,0,0,0,0,14.80,14.55,14.81,6.20,49.76
$STATE,8690,end climb,SURFACE_DEPTH_REACHED
$STATE,8690,begin surface coast
$STATE,8720,end surface coast,CONTROL_FINISHED_OK
$STATE,8720,begin surface
$SM_CCo,8734,65.80,0.243,0,0,1823,220.03
$SM_GC,1.30,5.47,2.53,65.80,0.073,0.057,0.243,281,2108,1823,-6.46,0.96,220.03,0,0,0,0,0,0,14.62,14.57,14.38
$IRIDIUM_FIX,-5955.31,208.86,301218,161522
$TT8_MAMPS,0.038199,0.363265
$HUMID,49.33
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3846624
$24V_AH,13.31,32.549
$10V_AH,13.63,0.000
$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,13.000,83.225,257.975,65.800,0.000,26.756,40.487,104.321,0.000,0.000,20.368,0.000,6956.759,437.443,1601.013,94.950,0.000,1068.883,0.000,1149.503,0.000,0.540,0.000
$DEVICE_MAMPS,631.890,139.230,1594.260,242.505,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5129.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.856,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17331,698
$CAP_FILE_SIZE,93826,0
$CFSIZE,1023623168,1005223936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.044,108.08,1
$GPS,301218,211649,-5949.702,5.063,17,0.8,40,-19.8,1.6,30.3,10,5.2