version: 66.14
glider: 640
mission: 5
dive: 154
start: 12 31 118 17 39 49
data:
$ID,640
$MISSION,5
$DIVE,154
$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,35
$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
$GPS1,311218,173419,-5953.4614,6.7353,16,1.9,57,-19.8,0.5,333.6,4,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-64.5
$GPS2,311218,173931,-5953.4487,6.7526,10,1.0,38,-19.8,0.4,207.4,8,6.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,208.6,49561,-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,-146.0,235,2097,1797,1823,0.0,0.0,0,95,0.00,0.00,-82.97,0.000,16386,0.000,0.000,234,2096,3142,3224,3061,0,0,0,0,0,0,14.62,28.83,14.62,6.17,50.23
$GC,96,-0.64,-146.0,234,2097,3224,3062,3.1,-4.6,17,112,6.03,0.00,-7.00,0.000,18694,0.365,0.000,2185,2096,3318,3413,3223,0,0,0,0,0,0,14.21,13.41,14.38,6.28,49.33
$GC,231,-0.64,-146.0,2186,2097,3416,3224,25.1,-17.5,44,235,0.00,2.50,0.00,0.000,2308,0.000,0.077,2174,3502,3319,3414,3224,0,0,0,0,0,0,14.66,14.40,14.66,6.30,48.42
$GC,245,-0.64,-146.0,2175,3502,3415,3226,27.6,-16.2,47,250,0.05,2.38,0.00,0.000,3078,0.363,0.042,2191,2103,3319,3414,3224,0,0,0,0,0,0,14.25,14.44,14.41,6.30,48.93
$GC,371,-0.64,-146.0,2192,2102,3415,3225,48.2,-16.0,72,375,0.00,2.42,0.00,0.000,2564,0.000,0.067,2191,695,3319,3414,3225,0,0,0,0,0,0,14.67,14.45,14.67,6.30,49.40
$GC,465,-0.64,-146.0,2191,696,3415,3226,63.6,-15.0,91,470,0.00,2.45,0.00,0.000,3078,0.000,0.057,2182,2106,3319,3414,3224,0,0,0,0,0,0,14.50,14.45,14.52,6.30,49.09
$GC,590,-0.64,-146.0,2182,2107,3415,3226,83.1,-15.7,116,591,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2106,3319,3414,3225,0,0,0,0,0,0,14.71,14.71,14.71,6.30,48.70
$GC,715,-0.64,-146.0,2183,2107,3416,3225,103.3,-15.6,138,719,0.00,2.47,0.00,0.000,2308,0.000,0.082,2171,3503,3318,3414,3223,0,0,0,0,0,0,14.73,14.45,14.73,6.30,48.34
$GC,751,-0.64,-146.0,2172,3504,3414,3225,106.5,-15.8,139,756,0.05,2.38,0.00,0.000,3078,0.353,0.044,2189,2101,3319,3414,3225,0,0,0,0,0,0,14.33,14.50,14.47,6.30,48.93
$GC,1056,-0.64,-146.0,2189,2100,3415,3224,148.9,-12.5,155,1060,0.00,2.47,0.00,0.000,2564,0.000,0.067,2189,689,3319,3414,3225,0,0,0,0,0,0,14.76,14.52,14.77,6.30,49.84
$GC,1080,-0.64,-146.0,2189,689,3416,3224,151.5,-12.5,156,1084,0.00,2.42,0.00,0.000,3078,0.000,0.055,2180,2096,3319,3414,3225,0,0,0,0,0,0,14.59,14.53,14.59,6.30,49.56
$GC,1395,-0.64,-146.0,2181,2097,3416,3225,193.0,-13.1,172,1396,0.00,0.00,0.00,0.000,2054,0.000,0.000,2180,2096,3319,3414,3225,0,0,0,0,0,0,14.79,14.80,14.80,6.31,50.74
$GC,1695,-0.64,-146.0,2181,2097,3415,3224,231.9,-12.8,187,1696,0.00,0.00,0.00,0.000,2054,0.000,0.000,2180,2096,3319,3414,3225,0,0,0,0,0,0,14.81,14.81,14.82,6.32,51.14
$GC,1995,-0.64,-146.0,2180,2097,3416,3224,270.1,-12.5,202,1999,0.00,2.45,0.00,0.000,2564,0.000,0.065,2180,689,3319,3414,3224,0,0,0,0,0,0,14.83,14.57,14.83,6.33,51.33
$GC,2025,-0.64,-146.0,2180,690,3415,3226,272.7,-12.6,203,2030,0.05,2.42,0.00,0.000,3078,0.366,0.055,2187,2101,3319,3414,3225,0,0,0,0,0,0,14.40,14.58,14.56,6.33,51.14
$GC,2335,-0.64,-146.0,2187,2101,3415,3225,312.0,-12.3,219,2340,0.00,2.50,0.00,0.000,2308,0.000,0.081,2176,3509,3319,3414,3225,0,0,0,0,0,0,14.84,14.57,14.84,6.33,50.98
$GC,2365,-0.64,-146.0,2176,3510,3415,3226,314.5,-12.3,220,2370,0.05,2.38,0.00,0.000,3078,0.359,0.044,2193,2092,3319,3414,3224,0,0,0,0,0,0,14.40,14.60,14.57,6.33,50.94
$STATE,2674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2674,begin apogee
$GC,2678,-0.15,0.0,2194,2163,3415,3224,352.0,-11.7,236,2808,0.45,0.00,127.50,1.594,10246,0.270,0.000,2355,2162,2720,2780,2661,0,0,0,0,0,0,14.46,13.91,13.32,6.33,51.10
$STATE,2809,end apogee,CONTROL_FINISHED_OK
$STATE,2809,begin loiter
$GC,3095,-0.15,0.0,2355,2162,2775,2645,348.0,3.2,257,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2162,2709,2773,2645,0,0,0,0,0,0,14.56,14.56,14.56,6.28,50.43
$GC,3395,-0.15,0.0,2355,2163,2774,2644,338.6,3.1,272,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2162,2708,2773,2643,0,0,0,0,0,0,14.70,14.70,14.70,6.29,50.90
$GC,3695,-0.15,0.0,2355,2162,2775,2642,329.3,3.2,287,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2162,2707,2773,2642,0,0,0,0,0,0,14.78,14.78,14.79,6.28,50.78
$GC,3996,-0.15,0.0,2355,2162,2774,2642,320.1,3.1,302,3996,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2162,2707,2772,2642,0,0,0,0,0,0,14.84,14.85,14.84,6.28,50.86
$GC,4295,-0.15,0.0,2355,2162,2775,2642,310.6,3.2,317,4296,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2162,2707,2773,2641,0,0,0,0,0,0,14.89,14.89,14.89,6.29,50.98
$GC,4595,-0.15,0.0,2355,2162,2774,2641,301.1,3.2,332,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2162,2707,2773,2641,0,0,0,0,0,0,14.92,14.92,14.92,6.29,50.82
$GC,4895,-0.15,0.0,2354,2163,2774,2642,292.0,3.0,347,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2162,2707,2773,2641,0,0,0,0,0,0,14.94,14.95,14.95,6.28,51.02
$GC,5195,-0.15,0.0,2355,2163,2774,2641,283.6,2.7,362,5196,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2162,2706,2773,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.28,50.94
$GC,5496,-0.15,0.0,2355,2162,2774,2640,275.9,2.4,377,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2162,2706,2772,2640,0,0,0,0,0,0,14.98,14.99,14.99,6.28,51.14
$GC,5795,-0.15,0.0,2355,2162,2774,2641,268.8,2.4,392,5796,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2162,2706,2773,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.29,50.90
$GC,6095,-0.15,0.0,2355,2163,2774,2640,261.2,2.6,407,6096,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2162,2706,2773,2640,0,0,0,0,0,0,15.01,15.02,15.02,6.28,51.14
$STATE,6394,end loiter,LOITER_COMPLETE
$STATE,6394,begin climb
$GC,6395,0.64,146.0,2355,2163,2774,2642,253.1,0.0,422,6536,0.60,2.58,131.05,1.431,10500,0.168,0.080,2598,3547,2116,2139,2093,0,0,0,0,0,0,14.70,13.98,13.45,6.28,51.10
$GC,6550,0.66,163.3,2599,3549,2143,2094,244.5,7.7,429,6571,0.00,2.45,16.02,1.402,9222,0.000,0.044,2609,2152,2056,2081,2032,0,0,0,0,0,0,14.11,14.06,13.45,6.25,49.52
$GC,6871,0.66,163.3,2610,2153,2068,2013,201.8,12.8,445,6874,0.00,2.50,0.00,0.000,516,0.000,0.070,2620,738,2039,2067,2012,0,0,0,0,0,0,14.54,14.32,14.54,6.24,49.96
$GC,6910,0.66,163.3,2621,739,2067,2011,197.0,12.5,447,6914,0.00,2.45,0.00,0.000,5126,0.000,0.054,2621,2138,2038,2066,2011,0,0,0,0,0,0,14.39,14.33,14.41,6.24,50.00
$GC,7230,0.66,163.3,2620,2139,2065,2009,154.5,13.4,463,7235,0.00,2.53,0.00,0.000,4356,0.000,0.083,2621,3550,2036,2065,2008,0,0,0,0,0,0,14.68,14.42,14.68,6.23,50.35
$GC,7320,0.66,163.3,2621,3551,2066,2008,143.6,13.5,467,7326,0.05,2.38,0.00,0.000,5126,0.330,0.045,2613,2148,2036,2065,2008,0,0,0,0,0,0,14.31,14.46,14.45,6.23,50.43
$GC,7630,0.66,163.3,2613,2149,2066,2007,103.0,12.5,483,7634,0.00,2.47,0.00,0.000,516,0.000,0.070,2622,749,2035,2064,2006,0,0,0,0,0,0,14.75,14.50,14.76,6.23,50.19
$GC,7680,0.66,163.3,2618,749,2063,2007,97.1,11.8,487,7685,0.00,2.42,0.00,0.000,5126,0.000,0.054,2622,2156,2034,2063,2005,0,0,0,0,0,0,14.57,14.51,14.58,6.22,50.00
$GC,7806,0.66,163.3,2623,2158,2064,2006,81.2,12.9,512,7810,0.00,2.45,0.00,0.000,4356,0.000,0.084,2622,3559,2034,2063,2005,0,0,0,0,0,0,14.76,14.51,14.76,6.22,49.29
$GC,7855,0.66,163.3,2622,3560,2062,2006,74.9,11.8,522,7860,0.05,2.38,0.00,0.000,5126,0.336,0.044,2615,2152,2034,2063,2006,0,0,0,0,0,0,14.34,14.50,14.50,6.21,48.85
$GC,7980,0.66,163.3,2615,2152,2064,2005,60.6,11.0,547,7985,0.00,2.50,0.00,0.000,4612,0.000,0.070,2624,735,2034,2063,2005,0,0,0,0,0,0,14.77,14.51,14.77,6.21,48.93
$GC,8010,0.66,163.3,2624,736,2063,2006,57.3,11.4,553,8015,0.00,2.42,0.00,0.000,5126,0.000,0.054,2624,2147,2033,2062,2005,0,0,0,0,0,0,14.59,14.53,14.61,6.20,49.01
$GC,8136,0.66,163.3,2624,2148,2062,2006,41.9,11.8,578,8140,0.00,2.45,0.00,0.000,4356,0.000,0.084,2624,3555,2033,2061,2005,0,0,0,0,0,0,14.78,14.52,14.78,6.20,49.29
$GC,8175,0.66,163.3,2625,3555,2063,2005,37.4,10.4,586,8180,0.05,2.38,0.00,0.000,5126,0.333,0.044,2616,2148,2033,2061,2005,0,0,0,0,0,0,14.37,14.52,14.51,6.20,48.62
$GC,8301,0.66,163.3,2616,2149,2062,2005,26.0,9.8,611,8305,0.00,2.45,0.00,0.000,4612,0.000,0.070,2625,738,2032,2061,2004,0,0,0,0,0,0,14.78,14.54,14.78,6.19,49.52
$GC,8365,0.72,216.2,2625,739,2062,2003,20.7,6.3,624,8420,0.00,2.42,45.22,1.215,11270,0.000,0.054,2625,2149,1838,1855,1822,0,0,0,0,1,0,14.57,14.52,13.77,6.20,49.09
$STATE,8509,end climb,SURFACE_DEPTH_REACHED
$STATE,8509,begin surface coast
$STATE,8529,end surface coast,CONTROL_FINISHED_OK
$STATE,8529,begin surface
$SM_CCo,8541,0.43,0.507,0,0,1822,220.03
$SM_GC,1.26,5.50,0.08,0.43,0.043,0.155,0.507,261,2067,1822,-6.48,0.96,220.03,0,0,0,0,0,0,14.45,14.38,14.21
$IRIDIUM_FIX,-5954.50,0.00,311218,150211
$TT8_MAMPS,0.039697,0.343042
$HUMID,48.85
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3842016
$24V_AH,13.32,34.144
$10V_AH,13.33,0.000
$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,12.925,68.650,319.800,0.425,0.000,25.246,42.717,107.396,0.000,0.000,39.156,0.000,6853.142,398.104,1510.616,95.818,0.000,992.660,0.000,1052.767,0.000,0.539,0.000
$DEVICE_MAMPS,365.670,155.295,1594.260,507.195,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4939.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.809,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17342,657
$CAP_FILE_SIZE,86387,0
$CFSIZE,1023623168,1004339200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.046,176.90,1
$GPS,311218,200303,-5954.099,6.804,16,1.1,29,-19.8,0.0,73.8,8,9.5