version: 66.14
glider: 640
mission: 5
dive: 152
start: 12 31 118 12 36 18
data:
$ID,640
$MISSION,5
$DIVE,152
$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,57
$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
$GPS1,311218,123134,-5952.5557,6.5928,32,0.7,35,-19.8,0.6,232.0,12,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-66.3
$GPS2,311218,123559,-5952.5303,6.6107,9,0.8,18,-19.8,0.4,291.6,11,9.7
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,217.7,51234,-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,-146.0,235,2071,1799,1821,0.0,0.0,0,95,0.00,0.00,-83.20,0.000,16386,0.000,0.000,233,2070,3142,3223,3062,0,0,0,0,0,0,14.63,28.83,14.63,6.17,50.15
$GC,97,-0.64,-146.0,235,2071,3225,3062,3.2,-5.3,17,115,6.03,2.80,-6.70,0.000,18692,0.362,2.271,2177,3501,3318,3413,3223,0,0,0,0,0,0,14.21,13.38,14.38,6.28,49.96
$GC,150,-0.64,-146.0,2177,3501,3412,3225,12.3,-16.0,28,154,0.03,2.35,0.00,0.000,3078,0.448,0.043,2185,2128,3319,3413,3225,0,0,0,0,0,0,14.21,14.40,14.35,6.30,48.66
$GC,276,-0.64,-146.0,2186,2127,3413,3225,32.7,-16.4,53,280,0.00,2.53,0.00,0.000,2564,0.000,0.067,2185,686,3318,3413,3224,0,0,0,0,0,0,14.64,14.42,14.64,6.30,48.89
$GC,360,-0.64,-146.0,2186,686,3414,3225,46.5,-15.0,70,364,0.05,2.45,0.00,0.000,3078,0.372,0.056,2192,2096,3318,3413,3224,0,0,0,0,0,0,14.26,14.43,14.40,6.30,48.62
$GC,486,-0.64,-146.0,2192,2097,3414,3225,64.8,-15.3,95,488,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2096,3318,3413,3224,0,0,0,0,0,0,14.69,14.69,14.69,6.30,49.09
$GC,610,-0.64,-146.0,2192,2097,3414,3225,83.1,-14.3,120,611,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2096,3318,3413,3224,0,0,0,0,0,0,14.71,14.71,14.71,6.30,48.74
$GC,730,-0.64,-146.0,2192,2097,3413,3226,100.2,-14.1,144,731,0.00,0.00,0.00,0.000,2054,0.000,0.000,2187,2096,3317,3410,3224,0,0,0,0,0,0,14.73,14.73,14.73,6.29,48.74
$GC,1030,-0.64,-146.0,2193,2096,3414,3224,140.6,-13.5,159,1034,0.00,2.47,0.00,0.000,2308,0.000,0.081,2182,3500,3317,3413,3222,0,0,0,0,0,0,14.77,14.50,14.77,6.30,49.68
$GC,1065,-0.64,-146.0,2182,3499,3414,3224,143.5,-13.6,160,1069,0.00,2.38,0.00,0.000,3078,0.000,0.044,2182,2092,3318,3413,3224,0,0,0,0,0,0,14.59,14.54,14.61,6.30,49.68
$GC,1370,-0.64,-146.0,2182,2092,3413,3225,188.1,-14.3,176,1374,0.00,2.45,0.00,0.000,2564,0.000,0.067,2181,692,3318,3413,3224,0,0,0,0,0,0,14.80,14.54,14.80,6.31,51.29
$GC,1425,-0.64,-146.0,2182,692,3413,3225,193.9,-14.4,178,1430,0.05,2.42,0.00,0.000,3078,0.355,0.057,2188,2100,3318,3413,3224,0,0,0,0,0,0,14.41,14.55,14.54,6.32,51.29
$GC,1730,-0.64,-146.0,2188,2101,3414,3224,237.3,-13.5,194,1735,0.00,2.47,0.00,0.000,2308,0.000,0.083,2177,3504,3318,3412,3224,0,0,0,0,0,0,14.82,14.54,14.82,6.32,51.41
$GC,1780,-0.64,-146.0,2178,3505,3414,3224,242.8,-13.6,196,1784,0.00,2.35,0.00,0.000,3078,0.000,0.044,2177,2104,3318,3413,3224,0,0,0,0,0,0,14.63,14.59,14.65,6.32,51.85
$GC,2090,-0.64,-146.0,2177,2104,3413,3225,286.2,-13.5,212,2094,0.05,2.45,0.00,0.000,2564,0.472,0.066,2191,702,3318,3413,3223,0,0,0,0,0,0,14.43,14.57,14.64,6.32,51.65
$GC,2155,-0.64,-146.0,2190,703,3413,3225,294.2,-13.3,215,2160,0.00,2.40,0.00,0.000,3078,0.000,0.057,2181,2098,3318,3413,3224,0,0,0,0,0,0,14.64,14.57,14.65,6.33,51.89
$GC,2470,-0.64,-146.0,2181,2099,3414,3224,336.1,-13.2,231,2474,0.00,2.47,0.00,0.000,2308,0.000,0.082,2170,3506,3318,3413,3224,0,0,0,0,0,0,14.84,14.57,14.84,6.33,51.61
$GC,2505,-0.64,-146.0,2170,3507,3413,3225,338.8,-13.2,232,2509,0.05,2.35,0.00,0.000,3078,0.359,0.044,2188,2098,3318,3412,3224,0,0,0,0,0,0,14.42,14.61,14.57,6.34,51.29
$STATE,2589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2589,begin apogee
$GC,2593,-0.15,0.0,2188,2167,3414,3225,351.8,-12.8,237,2724,0.45,0.00,128.40,1.593,10246,0.263,0.000,2350,2167,2721,2775,2667,0,0,0,0,0,0,14.46,13.92,13.32,6.34,50.94
$STATE,2725,end apogee,CONTROL_FINISHED_OK
$STATE,2725,begin loiter
$GC,3010,-0.15,0.0,2350,2168,2770,2644,350.4,2.6,258,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2706,2770,2643,0,0,0,0,0,0,14.56,14.56,14.56,6.28,51.10
$GC,3310,-0.15,0.0,2350,2168,2770,2641,342.0,2.9,273,3311,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2167,2704,2769,2640,0,0,0,0,0,0,14.70,14.71,14.71,6.28,51.18
$GC,3610,-0.15,0.0,2350,2169,2770,2640,333.9,2.8,288,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2704,2769,2639,0,0,0,0,0,0,14.79,14.79,14.79,6.29,51.77
$GC,3910,-0.15,0.0,2350,2168,2770,2639,325.1,2.9,303,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2703,2769,2638,0,0,0,0,0,0,14.84,14.85,14.85,6.29,51.10
$GC,4210,-0.15,0.0,2350,2168,2771,2637,315.3,3.5,318,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2703,2769,2638,0,0,0,0,0,0,14.89,14.90,14.90,6.29,51.14
$GC,4510,-0.15,0.0,2351,2168,2771,2637,304.4,3.7,333,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2703,2769,2637,0,0,0,0,0,0,14.92,14.93,14.92,6.28,51.18
$GC,4810,-0.15,0.0,2351,2168,2771,2637,292.6,4.0,348,4811,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2703,2769,2637,0,0,0,0,0,0,14.95,14.96,14.95,6.29,51.14
$GC,5110,-0.15,0.0,2350,2168,2770,2637,280.9,3.8,363,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2703,2770,2637,0,0,0,0,0,0,14.97,14.98,14.98,6.28,51.14
$GC,5410,-0.15,0.0,2350,2168,2770,2637,270.5,3.3,378,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2703,2769,2637,0,0,0,0,0,0,14.98,15.00,15.00,6.28,51.41
$GC,5710,-0.15,0.0,2350,2168,2770,2638,260.9,3.1,393,5711,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2702,2769,2636,0,0,0,0,0,0,15.01,15.01,15.01,6.28,51.02
$GC,6010,-0.15,0.0,2350,2168,2771,2637,251.4,3.2,408,6011,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2168,2703,2769,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.45
$STATE,6309,end loiter,LOITER_COMPLETE
$STATE,6309,begin climb
$GC,6310,0.64,146.0,2350,2168,2771,2638,241.7,0.0,423,6450,0.62,2.62,130.48,1.421,10756,0.181,0.069,2611,747,2116,2140,2092,0,0,0,0,0,0,14.69,14.00,13.46,6.29,51.49
$GC,6505,0.64,146.0,2611,748,2135,2086,228.0,10.0,432,6510,0.00,2.47,0.00,0.000,5126,0.000,0.054,2611,2141,2110,2135,2085,0,0,0,0,0,0,14.19,14.13,14.21,6.26,49.01
$GC,6810,0.64,146.0,2612,2142,2132,2076,187.4,12.8,448,6815,0.00,2.53,0.00,0.000,4356,0.000,0.083,2611,3570,2103,2131,2076,0,0,0,0,0,0,14.59,14.33,14.59,6.23,50.78
$GC,6890,0.64,146.0,2611,3569,2131,2077,177.2,12.7,452,6895,0.05,2.40,0.00,0.000,5126,0.337,0.044,2604,2157,2103,2131,2076,0,0,0,0,0,0,14.24,14.38,14.36,6.24,50.27
$GC,7210,0.64,146.0,2604,2156,2129,2073,138.0,12.2,468,7214,0.00,2.50,0.00,0.000,516,0.000,0.070,2613,744,2100,2128,2073,0,0,0,0,0,0,14.71,14.42,14.71,6.23,51.18
$GC,7250,0.64,146.0,2613,745,2127,2074,133.4,12.0,470,7254,0.00,2.42,0.00,0.000,5126,0.000,0.054,2613,2150,2099,2126,2072,0,0,0,0,0,0,14.50,14.45,14.52,6.23,50.82
$GC,7555,0.64,146.0,2614,2150,2127,2071,97.0,11.5,489,7559,0.00,2.50,0.00,0.000,4356,0.000,0.083,2613,3555,2099,2126,2072,0,0,0,0,0,0,14.76,14.49,14.76,6.23,50.78
$GC,7670,0.64,146.0,2613,3556,2127,2073,83.8,10.8,512,7675,0.05,2.38,0.00,0.000,5126,0.336,0.044,2605,2144,2099,2126,2072,0,0,0,0,0,0,14.36,14.52,14.50,6.22,49.29
$GC,7795,0.64,146.0,2605,2145,2127,2072,71.0,10.7,537,7799,0.00,2.45,0.00,0.000,516,0.000,0.070,2614,754,2098,2126,2071,0,0,0,0,0,0,14.77,14.52,14.78,6.21,49.56
$GC,7835,0.64,146.0,2614,754,2126,2070,66.9,10.0,545,7839,0.00,2.40,0.00,0.000,5126,0.000,0.055,2613,2153,2098,2125,2071,0,0,0,0,0,0,14.59,14.54,14.61,6.20,49.29
$GC,7961,0.64,146.0,2614,2154,2126,2072,53.5,11.0,570,7964,0.00,2.45,0.00,0.000,4356,0.000,0.085,2614,3557,2097,2125,2070,0,0,0,0,0,0,14.78,14.54,14.79,6.20,48.97
$GC,8010,0.64,146.0,2615,3558,2126,2071,48.0,10.7,580,8015,0.05,2.35,0.00,0.000,5126,0.332,0.044,2606,2157,2098,2125,2071,0,0,0,0,0,0,14.37,14.53,14.52,6.20,48.81
$GC,8135,0.64,146.0,2607,2158,2126,2071,36.8,9.4,605,8139,0.00,2.50,0.00,0.000,516,0.000,0.070,2616,742,2097,2125,2070,0,0,0,0,0,0,14.79,14.53,14.80,6.19,49.01
$GC,8225,0.64,146.0,2616,743,2119,2071,28.7,8.9,623,8229,0.00,2.40,0.00,0.000,5126,0.000,0.054,2615,2143,2097,2125,2070,0,0,0,0,0,0,14.62,14.56,14.63,6.20,49.25
$GC,8351,0.64,146.0,2616,2143,2125,2070,16.5,10.6,648,8355,0.00,2.47,0.00,0.000,4356,0.000,0.085,2616,3556,2096,2124,2069,0,0,0,0,0,0,14.79,14.55,14.80,6.20,49.44
$GC,8395,0.64,146.0,2616,3556,2125,2070,12.0,10.1,657,8399,0.05,2.38,0.00,0.000,5126,0.337,0.045,2608,2144,2093,2117,2070,0,0,0,0,0,0,14.40,14.57,14.55,6.20,49.68
$STATE,8489,end climb,SURFACE_DEPTH_REACHED
$STATE,8489,begin surface coast
$STATE,8514,end surface coast,CONTROL_FINISHED_OK
$STATE,8514,begin surface
$SM_CCo,8525,65.75,0.243,0,0,1823,220.03
$SM_GC,1.47,5.47,0.03,65.75,0.066,0.320,0.243,252,2079,1823,-6.50,1.16,220.03,0,0,0,0,0,0,14.66,14.59,14.37
$IRIDIUM_FIX,-5949.69,4.28,311218,095911
$TT8_MAMPS,0.038948,0.340795
$HUMID,49.33
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3843040
$24V_AH,13.32,33.778
$10V_AH,13.31,0.000
$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,13.000,73.700,258.875,65.750,0.000,22.990,20.551,104.473,0.000,0.000,19.360,0.000,6811.640,426.612,1527.292,95.120,0.000,1036.025,0.000,1108.531,0.000,0.539,0.000
$DEVICE_MAMPS,472.005,2271.285,1592.730,242.505,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4924.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.810,0.000,0.000,0.000
$MEM,344104
$DATA_FILE_SIZE,17327,681
$CAP_FILE_SIZE,89485,0
$CFSIZE,1023623168,1004535808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.028,114.53,1
$GPS,311218,150034,-5952.970,6.731,17,0.8,43,-19.8,0.4,53.5,10,8.7