version: 66.14
glider: 640
mission: 5
dive: 151
start: 12 31 118 10 2 15
data:
$ID,640
$MISSION,5
$DIVE,151
$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,38
$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
$GPS1,311218,095731,-5952.0449,6.3330,16,0.7,39,-19.8,0.3,107.5,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.1
$GPS2,311218,100157,-5952.0273,6.3897,9,0.7,14,-19.8,0.4,1.2,12,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,216.6,52135,-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,-146.0,236,2082,1799,1830,0.0,0.0,0,101,0.00,0.00,-89.68,0.000,16386,0.000,0.000,235,2081,3251,3332,3171,0,0,0,0,0,0,14.62,28.83,14.62,6.17,50.03
$GC,103,-0.64,-146.0,235,2082,3332,3173,3.5,-6.4,18,116,6.03,2.62,-2.40,0.000,18948,0.367,2.251,2197,699,3317,3407,3227,0,0,0,0,0,0,14.21,13.43,14.47,6.29,49.13
$GC,135,-0.64,-146.0,2198,700,3410,3227,10.8,-19.0,25,140,0.00,2.45,0.00,0.000,3078,0.000,0.055,2187,2106,3318,3409,3227,0,0,0,0,0,0,14.44,14.38,14.45,6.30,48.77
$GC,260,-0.64,-146.0,2188,2106,3410,3229,31.9,-17.2,50,261,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2106,3318,3409,3227,0,0,0,0,0,0,14.64,14.65,14.64,6.30,49.09
$GC,380,-0.64,-146.0,2187,2106,3410,3229,51.7,-15.2,74,384,0.00,2.50,0.00,0.000,2308,0.000,0.083,2177,3507,3318,3409,3227,0,0,0,0,0,0,14.68,14.40,14.65,6.30,48.93
$GC,420,-0.64,-146.0,2177,3508,3411,3227,57.9,-15.5,82,424,0.03,2.38,0.00,0.000,3078,0.453,0.044,2185,2106,3318,3410,3227,0,0,0,0,0,0,14.27,14.45,14.42,6.30,49.21
$GC,546,-0.64,-146.0,2185,2105,3410,3228,77.3,-15.3,107,549,0.00,2.45,0.00,0.000,2564,0.000,0.068,2185,695,3318,3410,3227,0,0,0,0,0,0,14.69,14.47,14.70,6.30,48.89
$GC,595,-0.64,-146.0,2185,695,3410,3228,85.0,-14.8,117,600,0.05,2.42,0.00,0.000,3078,0.367,0.056,2192,2096,3318,3410,3227,0,0,0,0,0,0,14.29,14.47,14.45,6.30,49.05
$GC,726,-0.64,-146.0,2192,2097,3410,3228,103.2,-13.8,140,729,0.00,2.45,0.00,0.000,2308,0.000,0.082,2181,3506,3318,3410,3227,0,0,0,0,0,0,14.72,14.48,14.72,6.31,48.18
$GC,780,-0.64,-146.0,2183,3506,3411,3227,108.8,-14.0,142,784,0.00,2.38,0.00,0.000,3078,0.000,0.044,2181,2101,3318,3410,3227,0,0,0,0,0,0,14.55,14.50,14.57,6.30,48.50
$GC,1085,-0.64,-146.0,2181,2101,3410,3228,149.7,-12.4,158,1089,0.00,2.45,0.00,0.000,2564,0.000,0.067,2180,696,3318,3410,3227,0,0,0,0,0,0,14.77,14.52,14.77,6.30,49.96
$GC,1125,-0.64,-146.0,2181,696,3411,3227,154.7,-12.5,160,1129,0.05,2.42,0.00,0.000,3078,0.357,0.054,2188,2106,3318,3409,3227,0,0,0,0,0,0,14.35,14.53,14.51,6.31,49.92
$GC,1445,-0.64,-146.0,2188,2107,3411,3227,193.5,-12.0,176,1449,0.00,2.45,0.00,0.000,2308,0.000,0.084,2177,3524,3318,3409,3227,0,0,0,0,0,0,14.80,14.54,14.80,6.31,51.41
$GC,1535,-0.64,-146.0,2178,3520,3410,3228,203.4,-12.3,180,1540,0.05,2.40,0.00,0.000,3078,0.363,0.043,2194,2089,3318,3410,3227,0,0,0,0,0,0,14.38,14.57,14.53,6.32,51.14
$GC,1845,-0.64,-146.0,2195,2089,3411,3227,240.4,-11.5,196,1850,0.00,2.50,0.00,0.000,260,0.000,0.083,2184,3501,3318,3409,3227,0,0,0,0,0,0,14.81,14.54,14.82,6.32,51.33
$GC,1895,-0.64,-146.0,2185,3502,3410,3227,245.3,-11.9,198,1899,0.00,2.35,0.00,0.000,3078,0.000,0.043,2184,2100,3318,3409,3227,0,0,0,0,0,0,14.64,14.59,14.65,6.33,51.61
$GC,2205,-0.64,-146.0,2184,2100,3410,3226,283.8,-12.0,214,2209,0.00,2.47,0.00,0.000,2308,0.000,0.081,2173,3502,3317,3409,3226,0,0,0,0,0,0,14.83,14.56,14.83,6.33,51.14
$GC,2240,-0.64,-146.0,2174,3503,3410,3228,286.3,-12.1,215,2244,0.05,2.35,0.00,0.000,3078,0.354,0.044,2190,2102,3318,3409,3227,0,0,0,0,0,0,14.40,14.59,14.57,6.33,51.18
$GC,2545,-0.64,-146.0,2190,2101,3410,3226,323.9,-11.8,231,2546,0.00,0.00,0.00,0.000,2054,0.000,0.000,2191,2101,3317,3409,3226,0,0,0,0,0,0,14.84,14.84,14.84,6.33,51.22
$STATE,2784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2784,begin apogee
$GC,2787,-0.15,0.0,2191,2158,3411,3226,352.2,-11.7,243,2918,0.45,0.00,127.93,1.599,10246,0.268,0.000,2347,2157,2719,2778,2660,0,0,0,0,0,0,14.47,13.91,13.31,6.34,51.41
$STATE,2919,end apogee,CONTROL_FINISHED_OK
$STATE,2919,begin loiter
$GC,3205,-0.15,0.0,2353,2158,2771,2644,347.3,3.3,264,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2157,2707,2771,2643,0,0,0,0,0,0,14.56,14.57,14.56,6.29,50.47
$GC,3505,-0.15,0.0,2353,2158,2771,2642,337.4,3.2,279,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2157,2706,2771,2641,0,0,0,0,0,0,14.70,14.71,14.71,6.29,50.74
$GC,3805,-0.15,0.0,2352,2158,2770,2641,327.8,3.2,294,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2158,2705,2770,2640,0,0,0,0,0,0,14.78,14.79,14.79,6.29,50.98
$GC,4105,-0.15,0.0,2353,2158,2771,2641,318.4,3.2,309,4106,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2158,2705,2771,2639,0,0,0,0,0,0,14.85,14.85,14.85,6.29,50.90
$GC,4405,-0.15,0.0,2353,2158,2772,2639,309.3,3.0,324,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2158,2705,2771,2640,0,0,0,0,0,0,14.89,14.90,14.90,6.28,51.37
$GC,4705,-0.15,0.0,2353,2158,2771,2641,300.8,2.7,339,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2157,2705,2771,2640,0,0,0,0,0,0,14.92,14.93,14.92,6.28,51.33
$GC,5005,-0.15,0.0,2352,2158,2771,2640,293.0,2.5,354,5006,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2157,2705,2771,2640,0,0,0,0,0,0,14.95,14.95,14.96,6.28,51.18
$GC,5305,-0.15,0.0,2353,2158,2771,2641,286.2,2.2,369,5306,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2158,2705,2771,2640,0,0,0,0,0,0,14.97,14.98,14.98,6.29,51.02
$GC,5605,-0.15,0.0,2353,2158,2771,2641,280.0,2.1,384,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2157,2705,2771,2640,0,0,0,0,0,0,14.99,15.00,15.00,6.28,51.22
$GC,5905,-0.15,0.0,2353,2158,2772,2640,273.4,2.3,399,5906,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2157,2705,2771,2640,0,0,0,0,0,0,15.01,15.01,15.01,6.28,51.26
$GC,6205,-0.15,0.0,2352,2158,2771,2641,265.8,2.6,414,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2158,2705,2771,2640,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.02
$STATE,6504,end loiter,LOITER_COMPLETE
$STATE,6504,begin climb
$GC,6505,0.64,146.0,2353,2158,2772,2640,257.2,0.0,429,6646,0.60,2.60,130.68,1.437,11012,0.181,0.070,2603,753,2116,2141,2092,0,0,0,0,0,0,14.69,13.98,13.46,6.28,52.04
$GC,6685,0.64,146.0,2605,752,2138,2087,244.3,9.3,438,6689,0.00,2.45,0.00,0.000,1030,0.000,0.054,2604,2135,2111,2136,2086,0,0,0,0,0,0,14.13,14.09,14.16,6.25,48.93
$GC,7005,0.64,146.0,2604,2136,2132,2078,205.3,12.3,454,7010,0.00,2.58,0.00,0.000,260,0.000,0.083,2604,3559,2104,2131,2077,0,0,0,0,0,0,14.59,14.31,14.59,6.24,50.51
$GC,7085,0.64,146.0,2605,3560,2133,2076,195.8,11.9,458,7090,0.00,2.40,0.00,0.000,5126,0.000,0.044,2615,2151,2103,2131,2076,0,0,0,0,0,0,14.42,14.38,14.45,6.23,50.15
$GC,7405,0.64,146.0,2613,2152,2130,2075,156.5,12.1,474,7409,0.00,2.50,0.00,0.000,4612,0.000,0.071,2626,715,2101,2128,2074,0,0,0,0,0,0,14.71,14.45,14.71,6.24,51.22
$GC,7450,0.64,146.0,2627,715,2128,2073,151.9,11.8,476,7455,0.05,2.47,0.00,0.000,5126,0.311,0.056,2607,2150,2100,2127,2073,0,0,0,0,0,0,14.33,14.47,14.48,6.23,50.90
$GC,7765,0.64,146.0,2608,2151,2129,2072,116.3,11.0,492,7769,0.00,2.50,0.00,0.000,4356,0.000,0.083,2607,3559,2099,2127,2072,0,0,0,0,0,0,14.76,14.48,14.77,6.23,50.43
$GC,7810,0.64,146.0,2608,3559,2128,2072,111.6,11.6,494,7814,0.00,2.38,0.00,0.000,5126,0.000,0.044,2616,2154,2099,2127,2072,0,0,0,0,0,0,14.58,14.53,14.60,6.23,50.31
$GC,8115,0.64,146.0,2617,2154,2128,2071,75.1,11.7,541,8120,0.00,2.47,0.00,0.000,4612,0.000,0.070,2627,751,2099,2127,2071,0,0,0,0,0,0,14.79,14.51,14.79,6.22,49.88
$GC,8200,0.64,146.0,2627,752,2126,2072,65.6,11.0,558,8204,0.05,2.40,0.00,0.000,5126,0.313,0.054,2608,2156,2098,2125,2071,0,0,0,0,0,0,14.41,14.56,14.55,6.21,49.44
$GC,8325,0.64,146.0,2608,2155,2127,2069,51.8,11.2,583,8329,0.00,2.47,0.00,0.000,4356,0.000,0.084,2608,3552,2101,2125,2078,0,0,0,0,0,0,14.80,14.50,14.80,6.21,48.85
$GC,8370,0.64,146.0,2608,3554,2126,2072,46.6,11.5,592,8374,0.00,2.38,0.00,0.000,5126,0.000,0.045,2617,2145,2098,2126,2071,0,0,0,0,0,0,14.62,14.57,14.63,6.21,48.81
$GC,8496,0.64,146.0,2618,2145,2126,2072,33.2,10.4,617,8500,0.00,2.42,0.00,0.000,4612,0.000,0.070,2628,744,2098,2126,2071,0,0,0,0,0,0,14.81,14.57,14.81,6.20,49.01
$GC,8540,0.64,146.0,2628,745,2126,2068,28.7,10.3,626,8544,0.05,2.42,0.00,0.000,5126,0.312,0.056,2608,2153,2097,2125,2070,0,0,0,0,0,0,14.45,14.57,14.56,6.20,49.37
$GC,8665,0.64,146.0,2608,2154,2125,2071,16.6,10.1,651,8669,0.00,2.47,0.00,0.000,4356,0.000,0.083,2608,3548,2097,2125,2070,0,0,0,0,0,0,14.81,14.51,14.78,6.20,49.64
$GC,8695,0.64,146.0,2602,3550,2126,2071,13.6,10.3,657,8700,0.00,2.35,0.00,0.000,5126,0.000,0.046,2617,2150,2097,2125,2070,0,0,0,0,0,0,14.60,14.55,14.62,6.20,49.96
$STATE,8799,end climb,SURFACE_DEPTH_REACHED
$STATE,8799,begin surface coast
$STATE,8824,end surface coast,CONTROL_FINISHED_OK
$STATE,8824,begin surface
$SM_CCo,8835,66.05,0.244,0,0,1821,220.03
$SM_GC,1.40,5.47,0.08,66.05,0.069,0.161,0.244,267,2070,1821,-6.45,0.90,220.03,0,0,0,0,0,0,14.66,14.60,14.38
$IRIDIUM_FIX,-5952.63,4.29,311218,072820
$TT8_MAMPS,0.038199,0.353528
$HUMID,49.92
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3843552
$24V_AH,13.31,33.606
$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,12.925,78.475,258.600,66.050,0.000,26.292,20.916,105.257,0.000,0.000,15.168,0.000,7091.049,429.361,1555.112,95.818,0.000,1051.183,0.000,1132.368,0.000,0.540,0.000
$DEVICE_MAMPS,452.880,2250.630,1598.850,244.035,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5234.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.830,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17330,683
$CAP_FILE_SIZE,90965,0
$CFSIZE,1023623168,1004634112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.053,124.55,1
$GPS,311218,123134,-5952.556,6.593,32,0.7,35,-19.8,0.6,232.0,12,9.4