version: 66.14
glider: 640
mission: 5
dive: 324
start: 1 18 119 18 10 42
data:
$ID,640
$MISSION,5
$DIVE,324
$N_DIVES,500
$STOP_T,1241912
$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,31
$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
$GPS1,180119,180448,-5944.9243,5.5237,15,1.0,56,-19.8,0.6,91.9,7,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-67.8
$GPS2,180119,181023,-5944.9551,5.5710,9,0.8,20,-19.8,0.7,177.0,10,9.7
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,210.6,65104,-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,-146.0,210,2075,1796,1825,0.0,0.0,0,101,0.00,0.00,-88.12,0.000,16386,0.000,0.000,209,2076,3248,3330,3166,0,0,0,0,0,0,14.60,28.83,14.60,6.21,50.94
$GC,103,-0.64,-146.0,210,2076,3330,3168,3.6,-7.9,18,117,6.12,2.78,-2.45,0.000,18692,0.350,2.239,2175,3508,3316,3407,3226,0,0,0,0,0,0,14.07,13.11,14.39,6.31,49.68
$GC,226,-0.64,-146.0,2175,3509,3411,3226,25.7,-16.7,43,232,0.05,2.35,0.00,0.000,3078,0.348,0.042,2192,2128,3317,3409,3226,0,0,0,0,0,0,14.10,14.36,14.28,6.32,48.89
$GC,353,-0.64,-146.0,2193,2127,3411,3226,47.8,-17.2,68,355,0.00,0.00,0.00,0.000,2054,0.000,0.000,2191,2127,3318,3410,3226,0,0,0,0,0,0,14.65,14.66,14.65,6.35,49.01
$GC,476,-0.64,-146.0,2192,2128,3411,3226,66.8,-14.8,93,479,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2127,3318,3410,3226,0,0,0,0,0,0,14.69,14.69,14.69,6.32,49.68
$GC,601,-0.64,-146.0,2191,2126,3410,3226,85.5,-14.5,118,605,0.00,2.50,0.00,0.000,2564,0.000,0.064,2192,687,3318,3410,3226,0,0,0,0,0,0,14.71,14.42,14.71,6.32,49.09
$GC,651,-0.64,-146.0,2192,688,3411,3227,92.9,-13.8,128,655,0.00,2.40,0.00,0.000,3078,0.000,0.054,2182,2100,3318,3410,3226,0,0,0,0,0,0,14.56,14.44,14.57,6.31,48.46
$GC,786,-0.64,-146.0,2183,2100,3411,3226,111.9,-14.2,143,791,0.00,2.47,0.00,0.000,2308,0.000,0.081,2171,3506,3318,3410,3226,0,0,0,0,0,0,14.73,14.42,14.73,6.32,48.77
$GC,846,-0.64,-146.0,2172,3507,3411,3227,120.4,-14.3,146,851,0.08,2.35,0.00,0.000,3078,0.361,0.043,2197,2095,3318,3410,3226,0,0,0,0,0,0,14.23,14.47,14.48,6.32,49.01
$GC,1167,-0.64,-146.0,2197,2089,3411,3226,162.7,-13.2,162,1170,0.00,2.40,0.00,0.000,516,0.000,0.064,2197,693,3318,3410,3226,0,0,0,0,0,0,14.77,14.47,14.77,6.32,50.31
$GC,1241,-0.64,-146.0,2197,693,3411,3227,172.7,-13.3,166,1245,0.00,2.38,0.00,0.000,3078,0.000,0.054,2187,2100,3323,3410,3236,0,0,0,0,0,0,14.61,14.48,14.63,6.32,50.35
$GC,1562,-0.64,-146.0,2187,2101,3411,3227,215.3,-13.3,182,1565,0.00,2.45,0.00,0.000,2308,0.000,0.081,2177,3503,3318,3410,3226,0,0,0,0,0,0,14.81,14.47,14.80,6.33,50.51
$GC,1606,-0.64,-146.0,2177,3503,3411,3226,219.9,-13.2,184,1610,0.05,2.33,0.00,0.000,3078,0.431,0.043,2193,2095,3317,3409,3226,0,0,0,0,0,0,14.27,14.53,14.53,6.28,51.10
$GC,1916,-0.64,-146.0,2191,2094,3411,3227,260.2,-12.4,200,1920,0.00,2.40,0.00,0.000,2564,0.000,0.064,2192,693,3318,3410,3226,0,0,0,0,0,0,14.82,14.50,14.82,6.33,50.90
$GC,1996,-0.64,-146.0,2193,694,3412,3226,270.0,-12.2,204,2000,0.00,2.42,0.00,0.000,3078,0.000,0.054,2182,2101,3318,3410,3226,0,0,0,0,0,0,14.54,14.48,14.58,6.34,50.94
$GC,2316,-0.64,-146.0,2183,2102,3412,3226,310.9,-13.0,220,2320,0.00,2.42,0.00,0.000,2308,0.000,0.080,2171,3506,3318,3410,3226,0,0,0,0,0,0,14.83,14.49,14.83,6.34,50.94
$GC,2361,-0.64,-146.0,2172,3506,3411,3228,316.2,-13.1,222,2365,0.05,2.35,0.00,0.000,3078,0.332,0.043,2201,2105,3318,3410,3226,0,0,0,0,0,0,14.28,14.52,14.55,6.34,50.78
$STATE,2655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2655,begin apogee
$GC,2659,-0.15,0.0,2202,2161,3411,3228,352.1,-11.9,237,2787,0.43,0.00,124.75,1.574,10246,0.253,0.000,2353,2160,2720,2780,2660,0,0,0,0,0,0,14.31,13.94,13.32,6.34,51.22
$STATE,2788,end apogee,CONTROL_FINISHED_OK
$STATE,2788,begin loiter
$GC,3076,-0.15,0.0,2354,2161,2773,2644,349.5,3.0,258,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2707,2772,2643,0,0,0,0,0,0,14.57,14.58,14.58,6.29,50.98
$GC,3376,-0.15,0.0,2354,2160,2773,2640,340.6,2.9,273,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2706,2772,2640,0,0,0,0,0,0,14.72,14.73,14.73,6.29,51.14
$GC,3676,-0.15,0.0,2354,2161,2773,2640,331.7,3.0,288,3677,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2705,2772,2639,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.10
$GC,3977,-0.15,0.0,2354,2160,2773,2638,323.4,2.7,303,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2160,2705,2772,2638,0,0,0,0,0,0,14.87,14.87,14.87,6.29,51.18
$GC,4277,-0.15,0.0,2354,2161,2772,2638,315.6,2.7,318,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2160,2705,2772,2638,0,0,0,0,0,0,14.91,14.91,14.91,6.28,51.10
$GC,4576,-0.15,0.0,2353,2161,2773,2638,307.5,2.6,333,4577,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2705,2772,2638,0,0,0,0,0,0,14.94,14.95,14.95,6.29,51.29
$GC,4876,-0.15,0.0,2354,2161,2773,2639,298.8,2.9,348,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2704,2772,2637,0,0,0,0,0,0,14.96,14.97,14.97,6.29,51.69
$GC,5176,-0.15,0.0,2354,2160,2773,2637,290.1,2.9,363,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2160,2704,2772,2637,0,0,0,0,0,0,14.98,14.99,14.99,6.28,51.65
$GC,5477,-0.15,0.0,2353,2161,2773,2638,281.2,2.8,378,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2704,2772,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.49
$GC,5777,-0.15,0.0,2355,2160,2773,2637,272.5,2.9,393,5777,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2704,2772,2637,0,0,0,0,0,0,15.01,15.02,15.02,6.29,51.41
$GC,6077,-0.15,0.0,2354,2161,2773,2638,263.7,2.8,408,6077,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2704,2772,2637,0,0,0,0,0,0,15.02,15.03,15.03,6.29,51.61
$STATE,6375,end loiter,LOITER_COMPLETE
$STATE,6375,begin climb
$GC,6377,0.64,146.0,2354,2160,2773,2636,255.1,0.0,423,6514,0.60,2.55,129.60,1.418,11012,0.171,0.063,2603,748,2120,2145,2096,0,0,0,0,0,0,14.57,13.90,13.44,6.28,51.57
$GC,6543,0.66,166.7,2604,749,2139,2094,245.3,7.5,430,6567,0.00,2.42,19.98,1.401,11270,0.000,0.052,2604,2140,2039,2061,2017,0,0,0,0,0,0,14.20,14.10,13.45,6.25,49.37
$GC,6869,0.66,166.7,2604,2141,2049,2000,205.7,12.0,446,6873,0.00,2.53,0.00,0.000,2308,0.000,0.081,2604,3559,2023,2049,1998,0,0,0,0,0,0,14.54,14.25,14.54,6.23,50.55
$GC,6958,0.66,166.7,2604,3561,2049,1999,196.7,11.9,450,6962,0.00,2.38,0.00,0.000,1030,0.000,0.043,2614,2150,2023,2048,1998,0,0,0,0,0,0,14.45,14.34,14.45,6.24,50.43
$GC,7263,0.66,166.7,2615,2151,2047,1996,155.8,13.4,466,7267,0.00,2.47,0.00,0.000,516,0.000,0.067,2625,736,2020,2046,1995,0,0,0,0,0,0,14.69,14.38,14.69,6.23,51.26
$GC,7313,0.66,166.7,2626,737,2046,1995,150.7,13.2,468,7317,0.00,2.40,0.00,0.000,5126,0.000,0.054,2625,2151,2019,2044,1994,0,0,0,0,0,0,14.54,14.42,14.56,6.23,50.78
$GC,7623,0.66,166.7,2626,2152,2046,1993,106.2,14.3,484,7628,0.00,2.47,0.00,0.000,4356,0.000,0.081,2626,3562,2018,2044,1993,0,0,0,0,0,0,14.75,14.43,14.76,6.22,50.82
$GC,7713,0.66,166.7,2625,3563,2044,1995,93.5,13.9,493,7717,0.08,2.40,0.00,0.000,5126,0.350,0.044,2610,2113,2018,2044,1993,0,0,0,0,0,0,14.27,14.48,14.53,6.23,50.78
$GC,7838,0.66,166.7,2610,2113,2044,1993,77.4,12.1,518,7842,0.00,2.42,0.00,0.000,516,0.000,0.067,2619,747,2018,2043,1993,0,0,0,0,0,0,14.76,14.43,14.76,6.23,50.07
$GC,7883,0.66,166.7,2619,748,2042,1994,72.3,10.7,527,7888,0.00,2.42,0.00,0.000,5126,0.000,0.053,2620,2153,2017,2042,1993,0,0,0,0,0,0,14.51,14.44,14.56,6.22,50.94
$GC,8009,0.66,166.7,2620,2153,2042,1992,58.2,11.1,552,8013,0.00,2.45,0.00,0.000,4356,0.000,0.083,2620,3555,2017,2042,1993,0,0,0,0,0,0,14.76,14.44,14.76,6.22,49.56
$GC,8063,0.66,166.7,2620,3555,2043,1993,52.0,10.9,563,8068,0.05,2.38,0.00,0.000,5126,0.407,0.043,2613,2152,2017,2042,1993,0,0,0,0,0,0,14.28,14.47,14.54,6.22,49.29
$GC,8188,0.66,166.7,2614,2152,2043,1992,39.7,10.0,588,8192,0.00,2.45,0.00,0.000,516,0.000,0.068,2622,742,2017,2042,1993,0,0,0,0,0,0,14.76,14.46,14.76,6.21,49.21
$GC,8253,0.66,166.7,2623,742,2042,1992,33.3,9.9,601,8257,0.00,2.40,0.00,0.000,5126,0.000,0.054,2623,2159,2016,2042,1991,0,0,0,0,0,0,14.62,14.48,14.64,6.21,49.17
$GC,8380,0.66,166.7,2623,2162,2042,1993,21.7,10.1,626,8383,0.00,2.45,0.00,0.000,4356,0.000,0.082,2623,3555,2016,2041,1991,0,0,0,0,0,0,14.77,14.45,14.77,6.21,49.96
$GC,8428,0.66,166.7,2624,3556,2042,1992,16.3,10.4,636,8432,0.08,2.33,0.00,0.000,5126,0.339,0.041,2607,2150,2016,2041,1991,0,0,0,0,0,0,14.30,14.53,14.55,6.21,50.63
$GC,8554,0.66,166.7,2607,2145,2042,1991,3.6,8.9,661,8558,0.00,2.42,0.00,0.000,2564,0.000,0.063,2617,747,2015,2041,1990,0,0,0,0,0,0,14.77,14.47,14.77,6.21,50.31
$STATE,8561,end climb,SURFACE_DEPTH_REACHED
$STATE,8561,begin surface coast
$STATE,8576,end surface coast,CONTROL_FINISHED_OK
$STATE,8576,begin surface
$SM_CCo,8592,46.00,0.245,0,0,1821,220.03
$SM_GC,1.15,5.72,2.35,46.00,0.115,0.047,0.245,216,2105,1821,-6.45,-0.96,220.03,0,0,0,0,0,0,14.62,14.52,14.26
$IRIDIUM_FIX,-5947.83,0.00,180119,153324
$TT8_MAMPS,0.038199,0.364014
$HUMID,50.55
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3754976
$24V_AH,13.11,64.199
$10V_AH,13.63,0.000
$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,13.300,77.775,274.325,46.000,0.000,25.740,15.947,138.341,0.000,0.000,21.503,0.000,6831.008,406.530,1571.251,167.568,0.000,1024.632,0.000,1116.231,0.000,0.540,0.000
$DEVICE_MAMPS,430.695,2239.155,1574.370,244.800,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4992.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.720,0.000,0.000,0.000
$MEM,344104
$DATA_FILE_SIZE,17305,666
$CAP_FILE_SIZE,90385,0
$CFSIZE,1023623168,987627520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.034,112.76,1
$GPS,180119,203531,-5945.398,5.991,13,0.8,25,-19.8,0.8,87.1,9,8.1