version: 66.14
glider: 640
mission: 5
dive: 156
start: 12 31 118 22 38 8
data:
$ID,640
$MISSION,5
$DIVE,156
$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,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
$GPS1,311218,223301,-5954.7666,6.9822,18,0.9,51,-19.8,0.9,256.1,9,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-62.1
$GPS2,311218,223749,-5954.7671,7.0060,5,0.9,18,-19.8,0.8,241.6,9,8.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,212.9,47170,-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,-146.0,234,2072,1799,1822,0.0,0.0,0,95,0.00,0.00,-83.20,0.000,16386,0.000,0.000,234,2071,3143,3221,3065,0,0,0,0,0,0,14.62,28.83,14.62,6.17,50.03
$GC,97,-0.64,-146.0,235,2072,3224,3066,3.1,-4.6,17,112,6.05,0.00,-7.07,0.000,19206,0.369,0.000,2182,2070,3317,3412,3222,0,0,0,0,0,0,14.19,13.41,14.37,6.28,50.07
$GC,231,-0.64,-146.0,2182,2071,3414,3225,24.5,-20.2,44,231,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2070,3318,3413,3224,0,0,0,0,0,0,14.65,14.65,14.65,6.30,48.74
$GC,350,-0.64,-146.0,2182,2071,3415,3224,45.0,-17.2,68,351,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2070,3318,3413,3224,0,0,0,0,0,0,14.68,14.68,14.68,6.30,49.05
$GC,470,-0.64,-146.0,2182,2070,3414,3225,63.1,-14.0,92,475,0.00,2.55,0.00,0.000,2308,0.000,0.081,2171,3502,3318,3413,3224,0,0,0,0,0,0,14.70,14.43,14.70,6.30,49.25
$GC,510,-0.64,-146.0,2171,3502,3414,3225,68.7,-13.6,100,515,0.05,2.33,0.00,0.000,3078,0.356,0.043,2188,2128,3318,3413,3224,0,0,0,0,0,0,14.30,14.48,14.45,6.30,49.13
$GC,636,-0.64,-146.0,2189,2127,3414,3225,85.9,-14.0,125,640,0.00,2.47,0.00,0.000,2564,0.000,0.067,2188,694,3318,3413,3224,0,0,0,0,0,0,14.71,14.48,14.69,6.30,48.74
$GC,675,-0.64,-146.0,2188,694,3414,3226,91.2,-13.1,133,680,0.00,2.42,0.00,0.000,3078,0.000,0.058,2179,2096,3318,3413,3224,0,0,0,0,0,0,14.54,14.47,14.55,6.29,48.46
$GC,805,-0.64,-146.0,2179,2097,3414,3223,108.8,-14.0,150,809,0.00,2.50,0.00,0.000,2308,0.000,0.084,2168,3504,3318,3413,3224,0,0,0,0,0,0,14.73,14.47,14.74,6.29,48.14
$GC,855,-0.64,-146.0,2169,3506,3413,3226,114.4,-14.1,152,860,0.08,2.38,0.00,0.000,3078,0.324,0.044,2195,2098,3318,3413,3224,0,0,0,0,0,0,14.35,14.52,14.48,6.30,48.66
$GC,1165,-0.64,-146.0,2195,2097,3414,3224,156.0,-13.3,168,1169,0.00,2.47,0.00,0.000,516,0.000,0.068,2194,692,3318,3413,3224,0,0,0,0,0,0,14.78,14.52,14.78,6.30,50.03
$GC,1245,-0.64,-146.0,2195,693,3414,3222,166.7,-13.3,172,1249,0.00,2.42,0.00,0.000,3078,0.000,0.057,2185,2097,3320,3413,3227,0,0,0,0,0,0,14.59,14.52,14.61,6.31,50.00
$GC,1565,-0.64,-146.0,2186,2096,3414,3224,209.0,-13.3,188,1569,0.00,2.47,0.00,0.000,2308,0.000,0.083,2175,3502,3318,3413,3224,0,0,0,0,0,0,14.81,14.53,14.81,6.32,51.26
$GC,1635,-0.64,-146.0,2175,3503,3414,3225,217.2,-13.6,191,1640,0.05,2.35,0.00,0.000,3078,0.353,0.044,2192,2102,3318,3413,3224,0,0,0,0,0,0,14.38,14.57,14.54,6.32,51.06
$GC,1945,-0.64,-146.0,2192,2102,3414,3225,258.6,-12.8,207,1950,0.00,2.45,0.00,0.000,2564,0.000,0.067,2192,699,3318,3413,3223,0,0,0,0,0,0,14.82,14.56,14.82,6.33,51.06
$GC,2005,-0.64,-146.0,2192,699,3412,3224,266.2,-12.8,210,2010,0.00,2.40,0.00,0.000,3078,0.000,0.057,2182,2100,3318,3413,3224,0,0,0,0,0,0,14.63,14.57,14.64,6.32,50.90
$GC,2325,-0.64,-146.0,2183,2097,3417,3224,307.7,-12.9,226,2330,0.00,2.47,0.00,0.000,2308,0.000,0.082,2172,3503,3318,3413,3223,0,0,0,0,0,0,14.83,14.56,14.83,6.33,51.37
$GC,2405,-0.64,-146.0,2172,3504,3414,3225,318.2,-13.1,230,2410,0.05,2.35,0.00,0.000,3078,0.344,0.043,2189,2101,3319,3413,3225,0,0,0,0,0,0,14.40,14.60,14.57,6.34,50.82
$STATE,2664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2664,begin apogee
$GC,2668,-0.15,0.0,2190,2157,3413,3225,350.4,-12.3,243,2798,0.45,0.00,127.80,1.592,10246,0.270,0.000,2351,2156,2718,2777,2659,0,0,0,0,0,0,14.45,13.91,13.31,6.33,50.98
$STATE,2799,end apogee,CONTROL_FINISHED_OK
$STATE,2799,begin loiter
$GC,3085,-0.15,0.0,2351,2157,2771,2644,347.7,2.9,264,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2156,2707,2771,2643,0,0,0,0,0,0,14.56,14.56,14.56,6.29,50.03
$GC,3385,-0.15,0.0,2352,2157,2773,2641,339.2,2.9,279,3386,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2156,2705,2770,2641,0,0,0,0,0,0,14.70,14.70,14.70,6.29,50.70
$GC,3685,-0.15,0.0,2351,2157,2771,2641,330.5,2.9,294,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2156,2705,2771,2639,0,0,0,0,0,0,14.78,14.79,14.78,6.28,50.94
$GC,3986,-0.15,0.0,2352,2157,2772,2638,321.8,2.9,309,3986,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2156,2705,2771,2639,0,0,0,0,0,0,14.84,14.85,14.85,6.29,50.82
$GC,4285,-0.15,0.0,2352,2157,2772,2638,312.6,3.1,324,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2156,2704,2771,2638,0,0,0,0,0,0,14.89,14.89,14.89,6.27,51.10
$GC,4585,-0.15,0.0,2351,2157,2771,2639,303.4,3.1,339,4586,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2156,2704,2771,2638,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.33
$GC,4885,-0.15,0.0,2352,2157,2772,2638,294.5,3.0,354,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2156,2704,2771,2638,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.26
$GC,5185,-0.15,0.0,2351,2157,2771,2639,286.1,2.7,369,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2156,2704,2771,2638,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.02
$GC,5486,-0.15,0.0,2351,2157,2772,2639,278.3,2.6,384,5486,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2156,2704,2771,2637,0,0,0,0,0,0,14.98,14.99,14.99,6.28,51.57
$GC,5785,-0.15,0.0,2352,2157,2771,2639,270.3,2.7,399,5786,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2156,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.06
$GC,6085,-0.15,0.0,2351,2157,2771,2638,262.3,2.7,414,6086,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2156,2703,2770,2637,0,0,0,0,0,0,15.01,15.02,15.02,6.28,51.57
$STATE,6384,end loiter,LOITER_COMPLETE
$STATE,6384,begin climb
$GC,6385,0.64,146.0,2351,2157,2771,2637,254.2,0.0,429,6522,0.60,2.55,129.73,1.430,10756,0.176,0.069,2603,749,2120,2146,2094,0,0,0,0,0,0,14.69,13.90,13.45,6.28,51.02
$GC,6551,0.66,168.3,2604,751,2141,2093,244.7,7.5,436,6577,0.00,2.47,21.33,1.399,11270,0.000,0.053,2604,2140,2034,2057,2011,0,0,0,0,0,0,14.12,14.08,13.46,6.24,49.33
$GC,6877,0.66,168.3,2604,2140,2047,1992,204.5,12.4,452,6880,0.00,2.53,0.00,0.000,2308,0.000,0.083,2604,3562,2019,2046,1992,0,0,0,0,0,0,14.54,14.31,14.54,6.23,50.19
$GC,6946,0.66,168.3,2604,3563,2047,1994,197.1,12.4,455,6951,0.00,2.42,0.00,0.000,1030,0.000,0.045,2614,2147,2018,2045,1992,0,0,0,0,0,0,14.40,14.35,14.42,6.23,49.84
$GC,7257,0.66,168.3,2615,2147,2044,1989,157.5,12.3,471,7260,0.00,2.50,0.00,0.000,516,0.000,0.071,2626,744,2015,2042,1988,0,0,0,0,0,0,14.68,14.42,14.68,6.23,50.55
$GC,7301,0.66,168.3,2626,743,2042,1988,152.9,11.9,473,7305,0.00,2.42,0.00,0.000,5126,0.000,0.055,2625,2149,2014,2041,1988,0,0,0,0,0,0,14.50,14.45,14.52,6.23,50.94
$GC,7616,0.66,168.3,2626,2148,2041,1987,114.0,12.3,489,7621,0.00,2.50,0.00,0.000,4356,0.000,0.084,2626,3548,2013,2041,1986,0,0,0,0,0,0,14.71,14.48,14.75,6.22,50.23
$GC,7676,0.66,168.3,2626,3550,2041,1987,106.8,12.1,492,7682,0.05,2.35,0.00,0.000,5126,0.336,0.044,2618,2150,2013,2041,1986,0,0,0,0,0,0,14.36,14.52,14.51,6.22,49.88
$GC,7981,0.66,168.3,2618,2150,2041,1985,72.4,11.7,541,7986,0.00,2.45,0.00,0.000,4612,0.000,0.070,2627,759,2009,2040,1979,0,0,0,0,0,0,14.77,14.52,14.78,6.21,49.17
$GC,8057,0.66,168.3,2628,758,2040,1985,64.2,10.6,556,8061,0.00,2.40,0.00,0.000,5126,0.000,0.054,2626,2157,2011,2039,1984,0,0,0,0,0,0,14.59,14.54,14.62,6.21,49.40
$GC,8182,0.66,168.3,2628,2158,2040,1984,49.7,12.0,581,8186,0.00,2.42,0.00,0.000,4356,0.000,0.085,2627,3554,2011,2039,1984,0,0,0,0,0,0,14.78,14.53,14.78,6.20,48.77
$GC,8236,0.66,168.3,2626,3555,2040,1986,42.6,12.4,592,8241,0.05,2.35,0.00,0.000,5126,0.334,0.044,2619,2158,2011,2039,1984,0,0,0,0,0,0,14.39,14.55,14.54,6.19,48.58
$GC,8361,0.66,168.3,2620,2159,2040,1984,28.5,11.3,617,8366,0.00,2.50,0.00,0.000,4612,0.000,0.070,2632,743,2011,2039,1984,0,0,0,0,0,0,14.78,14.52,14.78,6.19,48.74
$GC,8381,0.66,168.3,2629,744,2039,1985,26.4,10.5,621,8387,0.03,2.40,0.00,0.000,5126,0.397,0.054,2617,2143,2011,2038,1984,0,0,0,0,0,0,14.38,14.54,14.53,6.20,49.72
$GC,8507,0.66,168.3,2617,2144,2033,1985,12.9,10.9,646,8513,0.00,2.45,0.00,0.000,4356,0.000,0.084,2617,3558,2011,2038,1984,0,0,0,0,0,0,14.78,14.54,14.79,6.20,49.88
$GC,8552,0.66,168.3,2616,3558,2039,1985,7.5,11.9,655,8556,0.00,2.38,0.00,0.000,5126,0.000,0.045,2626,2144,2011,2038,1984,0,0,0,0,0,0,14.60,14.55,14.62,6.20,49.80
$STATE,8590,end climb,SURFACE_DEPTH_REACHED
$STATE,8590,begin surface coast
$STATE,8610,end surface coast,CONTROL_FINISHED_OK
$STATE,8610,begin surface
$SM_CCo,8621,45.15,0.246,0,0,1821,220.03
$SM_GC,1.62,5.55,0.00,45.15,0.074,0.000,0.246,259,2143,1821,-6.49,1.19,220.03,0,0,0,0,0,0,14.64,14.79,14.38
$IRIDIUM_FIX,-5954.50,0.00,311218,200440
$TT8_MAMPS,0.03745,0.24717
$HUMID,49.56
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3840992
$24V_AH,13.31,34.496
$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,13.000,73.225,278.850,45.150,0.000,26.188,23.974,123.090,0.000,0.000,19.509,0.000,6871.131,416.505,1574.138,99.051,0.000,1038.781,0.000,1130.407,0.000,0.539,0.000
$DEVICE_MAMPS,397.035,170.595,1591.965,246.330,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5020.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.936,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,17316,667
$CAP_FILE_SIZE,90140,0
$CFSIZE,1023623168,1004142592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,8507.81,0x235722,1,24
$CURRENT,0.072,156.13,1
$GPS,010119,010331,-5955.427,7.197,11,0.7,34,-19.8,0.6,342.9,12,8.5