version: 66.14
glider: 640
mission: 5
dive: 150
start: 12 31 118 7 31 16
data:
$ID,640
$MISSION,5
$DIVE,150
$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,53
$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
$GPS1,311218,072631,-5951.5435,5.8476,14,0.7,25,-19.8,0.0,175.2,11,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.0
$GPS2,311218,073058,-5951.5425,5.8868,9,0.7,15,-19.8,0.0,120.5,11,9.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,213.4,52978,-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,-146.0,234,2080,1799,1822,0.0,0.0,0,96,0.00,0.00,-84.68,0.000,16386,0.000,0.000,233,2080,3165,3244,3086,0,0,0,0,0,0,14.62,28.83,14.62,6.16,50.07
$GC,98,-0.64,-146.0,234,2080,3247,3088,3.2,-4.8,17,116,6.00,2.78,-5.85,0.000,18692,0.364,2.269,2184,3497,3317,3411,3224,0,0,0,0,0,0,14.21,13.38,14.47,6.28,49.44
$GC,125,-0.64,-146.0,2184,3498,3413,3225,8.0,-14.9,23,129,0.00,2.35,0.00,0.000,3078,0.000,0.043,2185,2126,3318,3413,3224,0,0,0,0,0,0,14.42,14.38,14.43,6.30,48.77
$GC,250,-0.64,-146.0,2184,2125,3414,3224,28.6,-17.1,48,255,0.00,2.55,0.00,0.000,2564,0.000,0.067,2183,687,3318,3413,3224,0,0,0,0,0,0,14.62,14.38,14.62,6.29,48.42
$GC,305,-0.64,-146.0,2184,688,3414,3225,37.8,-16.0,59,309,0.05,2.45,0.00,0.000,3078,0.361,0.056,2189,2095,3319,3413,3225,0,0,0,0,0,0,14.24,14.40,14.40,6.30,48.30
$GC,431,-0.64,-146.0,2198,2095,3414,3225,57.5,-15.0,84,435,0.00,2.47,0.00,0.000,2308,0.000,0.083,2179,3512,3316,3413,3219,0,0,0,0,0,0,14.66,14.42,14.66,6.30,49.01
$GC,455,-0.64,-146.0,2180,3512,3414,3225,61.3,-14.6,89,459,0.00,2.42,0.00,0.000,3078,0.000,0.044,2178,2090,3319,3413,3225,0,0,0,0,0,0,14.49,14.45,14.52,6.30,49.05
$GC,581,-0.64,-146.0,2179,2090,3412,3226,79.9,-14.4,114,583,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2088,3319,3413,3225,0,0,0,0,0,0,14.69,14.69,14.69,6.30,48.77
$GC,705,-0.64,-146.0,2179,2089,3414,3225,98.3,-14.5,139,709,0.00,2.53,0.00,0.000,2308,0.000,0.081,2169,3507,3319,3413,3225,0,0,0,0,0,0,14.71,14.45,14.71,6.29,48.38
$GC,755,-0.64,-146.0,2168,3508,3413,3226,104.1,-14.4,144,759,0.08,2.38,0.00,0.000,3078,0.324,0.044,2195,2103,3319,3413,3225,0,0,0,0,0,0,14.33,14.49,14.47,6.30,49.40
$GC,1065,-0.64,-146.0,2195,2102,3414,3225,146.1,-13.0,160,1069,0.00,2.47,0.00,0.000,516,0.000,0.067,2195,696,3319,3413,3225,0,0,0,0,0,0,14.76,14.51,14.76,6.30,49.72
$GC,1160,-0.64,-146.0,2195,695,3414,3225,156.4,-12.9,164,1164,0.00,2.42,0.00,0.000,3078,0.000,0.056,2185,2102,3319,3413,3225,0,0,0,0,0,0,14.58,14.52,14.60,6.30,50.90
$GC,1465,-0.64,-146.0,2186,2102,3414,3224,198.8,-13.5,180,1469,0.00,2.47,0.00,0.000,2308,0.000,0.082,2175,3504,3318,3413,3224,0,0,0,0,0,0,14.80,14.53,14.80,6.32,51.37
$GC,1505,-0.64,-146.0,2175,3507,3413,3225,204.2,-13.4,182,1509,0.05,2.35,0.00,0.000,3078,0.353,0.044,2192,2101,3318,3412,3224,0,0,0,0,0,0,14.38,14.57,14.53,6.32,51.33
$GC,1825,-0.64,-146.0,2192,2100,3413,3226,244.5,-12.4,198,1830,0.00,2.45,0.00,0.000,2564,0.000,0.067,2192,698,3318,3412,3224,0,0,0,0,0,0,14.83,14.55,14.81,6.33,51.81
$GC,1920,-0.64,-146.0,2192,698,3414,3224,254.3,-12.3,202,1924,0.00,2.40,0.00,0.000,3078,0.000,0.055,2182,2100,3318,3413,3224,0,0,0,0,0,0,14.62,14.57,14.64,6.33,51.26
$GC,2225,-0.64,-146.0,2182,2101,3413,3226,294.1,-12.6,218,2229,0.00,2.50,0.00,0.000,2308,0.000,0.083,2172,3507,3318,3412,3224,0,0,0,0,0,0,14.83,14.56,14.83,6.33,51.73
$GC,2270,-0.64,-146.0,2172,3508,3413,3225,299.2,-12.7,220,2275,0.05,2.35,0.00,0.000,3078,0.343,0.043,2189,2101,3318,3412,3224,0,0,0,0,0,0,14.42,14.60,14.57,6.33,51.06
$GC,2585,-0.64,-146.0,2190,2100,3413,3224,338.4,-12.1,236,2589,0.00,2.45,0.00,0.000,2564,0.000,0.066,2189,695,3318,3412,3224,0,0,0,0,0,0,14.83,14.58,14.84,6.33,51.29
$GC,2675,-0.64,-146.0,2184,695,3411,3226,348.3,-12.3,240,2680,0.00,2.40,0.00,0.000,3078,0.000,0.055,2180,2098,3318,3413,3224,0,0,0,0,0,0,14.64,14.59,14.66,6.34,51.10
$STATE,2684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2684,begin apogee
$GC,2687,-0.15,0.0,2180,2163,3413,3224,350.5,-12.0,241,2819,0.47,0.00,127.85,1.568,10246,0.269,0.000,2349,2163,2716,2777,2656,0,0,0,0,0,0,14.45,13.92,13.31,6.34,50.98
$STATE,2820,end apogee,CONTROL_FINISHED_OK
$STATE,2820,begin loiter
$GC,3105,-0.15,0.0,2349,2164,2772,2644,346.4,3.2,262,3106,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2706,2770,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.55
$GC,3405,-0.15,0.0,2349,2164,2772,2640,336.6,3.2,277,3406,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2705,2771,2640,0,0,0,0,0,0,14.70,14.71,14.71,6.29,50.70
$GC,3705,-0.15,0.0,2349,2164,2772,2639,327.0,3.2,292,3706,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2163,2705,2771,2639,0,0,0,0,0,0,14.79,14.79,14.79,6.28,50.98
$GC,4005,-0.15,0.0,2349,2164,2771,2640,317.4,3.3,307,4006,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2704,2771,2638,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.14
$GC,4305,-0.15,0.0,2349,2164,2772,2638,307.6,3.3,322,4306,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2162,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.45
$GC,4605,-0.15,0.0,2349,2163,2771,2639,297.5,3.2,337,4606,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2704,2771,2638,0,0,0,0,0,0,14.92,14.93,14.93,6.28,51.26
$GC,4905,-0.15,0.0,2349,2164,2771,2639,287.8,3.1,352,4906,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2704,2770,2638,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.22
$GC,5205,-0.15,0.0,2350,2164,2772,2638,278.8,2.8,367,5206,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2704,2771,2638,0,0,0,0,0,0,14.98,14.98,14.97,6.28,51.57
$GC,5505,-0.15,0.0,2349,2163,2771,2638,270.0,2.9,382,5506,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2163,2704,2771,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.22
$GC,5805,-0.15,0.0,2349,2164,2771,2639,261.2,3.0,397,5806,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2704,2771,2638,0,0,0,0,0,0,15.01,15.02,15.01,6.28,51.33
$GC,6105,-0.15,0.0,2349,2164,2772,2639,252.4,3.0,412,6106,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2704,2771,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.29
$STATE,6404,end loiter,LOITER_COMPLETE
$STATE,6404,begin climb
$GC,6405,0.64,146.0,2349,2164,2772,2637,243.2,0.0,427,6545,0.62,2.50,130.40,1.424,10500,0.171,0.080,2602,3542,2117,2141,2093,0,0,0,0,0,0,14.70,13.89,13.45,6.28,51.10
$GC,6655,0.64,146.0,2602,3543,2138,2085,222.3,11.6,439,6659,0.00,2.40,0.00,0.000,5126,0.000,0.043,2612,2152,2110,2138,2083,0,0,0,0,0,0,14.23,14.19,14.25,6.24,48.81
$GC,6965,0.64,146.0,2613,2153,2133,2076,182.5,12.6,455,6970,0.00,2.53,0.00,0.000,4612,0.000,0.070,2624,742,2104,2132,2076,0,0,0,0,0,0,14.62,14.35,14.62,6.24,50.19
$GC,6990,0.64,146.0,2623,743,2131,2077,180.1,12.6,456,6994,0.05,2.42,0.00,0.000,5126,0.306,0.054,2605,2133,2103,2130,2076,0,0,0,0,0,0,14.26,14.40,14.39,6.24,50.59
$GC,7305,0.64,146.0,2605,2135,2129,2075,142.6,11.5,472,7309,0.00,2.55,0.00,0.000,260,0.000,0.084,2605,3559,2104,2135,2074,0,0,0,0,0,0,14.71,14.42,14.71,6.22,51.22
$GC,7410,0.64,146.0,2605,3560,2129,2074,131.1,11.2,477,7415,0.00,2.38,0.00,0.000,5126,0.000,0.044,2613,2154,2101,2128,2074,0,0,0,0,0,0,14.54,14.49,14.55,6.23,50.39
$GC,7715,0.64,146.0,2614,2155,2128,2073,95.1,11.6,497,7719,0.00,2.50,0.00,0.000,4612,0.000,0.071,2624,738,2099,2127,2072,0,0,0,0,0,0,14.77,14.48,14.77,6.23,50.31
$GC,7750,0.64,146.0,2624,739,2127,2078,91.4,10.7,504,7754,0.05,2.42,0.00,0.000,5126,0.304,0.055,2605,2149,2098,2126,2071,0,0,0,0,0,0,14.39,14.53,14.53,6.23,50.31
$GC,7875,0.64,146.0,2605,2149,2127,2071,77.8,11.0,529,7879,0.00,2.50,0.00,0.000,260,0.000,0.084,2605,3555,2098,2125,2072,0,0,0,0,0,0,14.78,14.49,14.78,6.22,49.52
$GC,7930,0.64,146.0,2605,3555,2127,2071,71.7,10.9,540,7934,0.00,2.38,0.00,0.000,5126,0.000,0.045,2614,2152,2098,2125,2072,0,0,0,0,0,0,14.60,14.55,14.62,6.22,48.93
$GC,8056,0.64,146.0,2614,2153,2126,2072,57.9,11.1,565,8059,0.00,2.45,0.00,0.000,4612,0.000,0.072,2625,743,2098,2125,2071,0,0,0,0,0,0,14.78,14.57,14.78,6.21,49.09
$GC,8100,0.64,146.0,2621,743,2126,2072,53.3,10.3,574,8104,0.05,2.42,0.00,0.000,5126,0.304,0.055,2605,2156,2098,2125,2071,0,0,0,0,0,0,14.41,14.55,14.55,6.21,49.37
$GC,8226,0.64,146.0,2605,2157,2126,2071,41.7,9.2,599,8230,0.00,2.45,0.00,0.000,260,0.000,0.083,2605,3560,2098,2125,2071,0,0,0,0,0,0,14.79,14.54,14.79,6.21,48.66
$GC,8305,0.64,146.0,2606,3561,2126,2071,33.6,10.0,615,8310,0.00,2.38,0.00,0.000,5126,0.000,0.045,2614,2151,2098,2126,2070,0,0,0,0,0,0,14.59,14.54,14.61,6.20,49.13
$GC,8431,0.64,146.0,2615,2151,2126,2070,21.4,10.4,640,8434,0.00,2.45,0.00,0.000,4612,0.000,0.070,2626,736,2097,2125,2070,0,0,0,0,0,0,14.80,14.55,14.80,6.19,49.48
$GC,8465,0.64,146.0,2625,735,2125,2071,17.6,10.6,647,8470,0.05,2.42,0.00,0.000,5126,0.302,0.054,2606,2149,2097,2124,2070,0,0,0,0,0,0,14.40,14.54,14.53,6.20,50.03
$GC,8591,0.64,146.0,2606,2149,2125,2070,5.9,8.8,672,8594,0.00,2.47,0.00,0.000,260,0.000,0.083,2606,3560,2097,2124,2070,0,0,0,0,0,0,14.80,14.55,14.80,6.20,49.72
$STATE,8619,end climb,SURFACE_DEPTH_REACHED
$STATE,8619,begin surface coast
$STATE,8634,end surface coast,CONTROL_FINISHED_OK
$STATE,8634,begin surface
$SM_CCo,8648,65.60,0.243,0,0,1822,220.03
$SM_GC,1.33,5.43,2.53,65.60,0.057,0.050,0.243,276,2083,1822,-6.45,0.71,220.03,0,0,0,0,0,0,14.62,14.60,14.39
$IRIDIUM_FIX,-5949.49,55.65,311218,045628
$TT8_MAMPS,0.038948,0.334054
$HUMID,49.25
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3844064
$24V_AH,13.31,33.431
$10V_AH,13.32,0.000
$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,12.950,88.425,258.250,65.600,0.000,28.414,23.002,104.329,0.000,0.000,16.167,0.000,6858.012,437.436,1591.423,98.540,0.000,1077.472,0.000,1159.570,0.000,0.539,0.000
$DEVICE_MAMPS,364.140,2268.990,1568.250,242.505,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5045.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.867,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,17349,681
$CAP_FILE_SIZE,94268,0
$CFSIZE,1023623168,1004732416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,9094.90,0x214648,7,24
$CURRENT,0.048,119.65,1
$GPS,311218,095731,-5952.045,6.333,16,0.7,39,-19.8,0.3,107.5,11,4.8