version: 66.14
glider: 640
mission: 5
dive: 329
start: 1 19 119 7 6 9
data:
$ID,640
$MISSION,5
$DIVE,329
$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,40
$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
$GPS1,190119,065718,-5947.8408,6.6995,12,2.3,53,-19.8,0.0,209.0,4,8.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-67.4
$GPS2,190119,070549,-5947.8882,6.9203,13,0.8,43,-19.8,1.3,171.5,10,7.7
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,217.5,59808,-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,11,-0.64,-146.0,232,2084,1698,1725,0.0,0.0,0,111,0.00,0.00,-97.72,0.000,16386,0.000,0.000,232,2084,3269,3349,3190,0,0,0,0,0,0,14.59,28.83,14.59,6.19,50.90
$GC,113,-0.64,-146.0,232,2084,3350,3192,3.5,-8.8,20,126,6.03,2.75,-1.77,0.000,19204,0.350,2.232,2173,3503,3317,3405,3230,0,0,0,0,0,0,14.03,13.09,14.39,6.31,49.25
$GC,247,-0.64,-146.0,2172,3503,3410,3228,23.0,-11.9,47,251,0.08,2.35,0.00,0.000,3078,0.356,0.042,2197,2101,3319,3409,3229,0,0,0,0,0,0,14.17,14.39,14.40,6.32,48.54
$GC,373,-0.64,-146.0,2198,2101,3411,3229,38.2,-9.3,72,376,0.00,2.47,0.00,0.000,260,0.000,0.082,2187,3508,3319,3410,3228,0,0,0,0,0,0,14.64,14.35,14.65,6.32,49.29
$GC,417,-0.64,-146.0,2188,3508,3410,3228,41.9,-8.2,81,421,0.00,2.35,0.00,0.000,3078,0.000,0.041,2187,2094,3319,3410,3228,0,0,0,0,0,0,14.52,14.43,14.54,6.33,49.44
$GC,542,-0.64,-146.0,2187,2094,3411,3228,51.2,-8.4,106,545,0.00,2.47,0.00,0.000,2308,0.000,0.080,2176,3505,3319,3410,3228,0,0,0,0,0,0,14.69,14.39,14.69,6.32,49.68
$GC,587,-0.64,-146.0,2176,3506,3411,3228,54.8,-7.8,115,591,0.05,2.35,0.00,0.000,3078,0.440,0.042,2191,2097,3319,3410,3229,0,0,0,0,0,0,14.20,14.45,14.45,6.32,49.33
$GC,713,-0.64,-146.0,2192,2097,3410,3230,64.2,-7.9,140,716,0.00,2.42,0.00,0.000,2564,0.000,0.063,2191,692,3318,3409,3228,0,0,0,0,0,0,14.70,14.41,14.70,6.32,48.77
$GC,766,-0.64,-146.0,2191,692,3411,3229,69.1,-8.9,151,770,0.00,2.40,0.00,0.000,3078,0.000,0.055,2181,2103,3319,3410,3228,0,0,0,0,0,0,14.57,14.45,14.58,6.32,48.34
$GC,892,-0.64,-146.0,2181,2103,3410,3228,84.5,-14.5,176,895,0.00,2.45,0.00,0.000,2308,0.000,0.080,2171,3504,3319,3410,3228,0,0,0,0,0,0,14.73,14.42,14.73,6.31,48.62
$GC,906,-0.64,-146.0,2171,3505,3409,3230,86.7,-14.8,179,910,0.08,2.38,0.00,0.000,3078,0.368,0.044,2195,2081,3319,3410,3228,0,0,0,0,0,0,14.23,14.47,14.49,6.31,48.54
$GC,1043,-0.64,-146.0,2196,2081,3411,3228,106.0,-13.6,200,1046,0.00,2.50,0.00,0.000,260,0.000,0.080,2185,3506,3319,3410,3229,0,0,0,0,0,0,14.73,14.41,14.74,6.31,48.93
$GC,1081,-0.64,-146.0,2185,3506,3411,3228,110.5,-13.3,202,1085,0.00,2.35,0.00,0.000,3078,0.000,0.042,2184,2090,3318,3410,3227,0,0,0,0,0,0,14.60,14.48,14.61,6.32,49.01
$GC,1397,-0.64,-146.0,2184,2090,3410,3229,146.3,-10.3,218,1400,0.00,2.40,0.00,0.000,2564,0.000,0.063,2184,696,3319,3410,3228,0,0,0,0,0,0,14.78,14.46,14.78,6.32,50.23
$GC,1517,-0.64,-146.0,2184,696,3411,3229,157.5,-9.0,224,1521,0.08,2.38,0.00,0.000,3078,0.379,0.054,2197,2100,3319,3410,3228,0,0,0,0,0,0,14.26,14.50,14.52,6.32,50.31
$GC,1837,-0.64,-146.0,2198,2096,3411,3228,187.7,-10.5,240,1841,0.00,2.42,0.00,0.000,260,0.000,0.081,2188,3504,3319,3410,3228,0,0,0,0,0,0,14.81,14.48,14.81,6.32,50.74
$GC,1882,-0.64,-146.0,2188,3503,3411,3228,192.1,-10.8,242,1885,0.00,2.33,0.00,0.000,3078,0.000,0.042,2187,2092,3319,3410,3228,0,0,0,0,0,0,14.65,14.54,14.66,6.33,51.37
$GC,2196,-0.64,-146.0,2189,2091,3411,3228,228.0,-11.4,258,2200,0.00,2.40,0.00,0.000,2564,0.000,0.063,2187,691,3318,3410,3227,0,0,0,0,0,0,14.82,14.52,14.83,6.33,50.98
$GC,2272,-0.64,-146.0,2187,692,3410,3229,235.0,-11.6,261,2276,0.05,2.38,0.00,0.000,3078,0.441,0.055,2192,2101,3319,3410,3228,0,0,0,0,0,0,14.28,14.53,14.55,6.33,50.86
$GC,2576,-0.64,-146.0,2192,2102,3410,3229,272.1,-12.0,277,2580,0.00,2.45,0.00,0.000,2308,0.000,0.081,2181,3512,3319,3410,3228,0,0,0,0,0,0,14.83,14.50,14.83,6.34,51.14
$GC,2621,-0.64,-146.0,2180,3512,3410,3228,277.1,-12.3,279,2625,0.00,2.33,0.00,0.000,3078,0.000,0.042,2180,2103,3318,3410,3227,0,0,0,0,0,0,14.67,14.57,14.69,6.33,51.57
$GC,2937,-0.64,-146.0,2181,2103,3410,3229,318.1,-13.0,295,2940,0.00,2.42,0.00,0.000,2564,0.000,0.063,2181,686,3319,3410,3228,0,0,0,0,0,0,14.84,14.53,14.84,6.34,51.18
$GC,3026,-0.64,-146.0,2181,686,3411,3228,327.8,-12.9,299,3031,0.08,2.40,0.00,0.000,3078,0.369,0.055,2188,2105,3319,3410,3228,0,0,0,0,0,0,14.29,14.53,14.56,6.34,51.41
$STATE,3210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3210,begin apogee
$GC,3215,-0.15,0.0,2194,2165,3410,3229,351.6,-12.1,309,3342,0.45,0.00,124.68,1.573,10246,0.263,0.000,2354,2164,2722,2783,2661,0,0,0,0,0,0,14.31,13.95,13.33,6.34,51.69
$STATE,3343,end apogee,CONTROL_FINISHED_OK
$STATE,3343,begin loiter
$GC,3631,-0.15,0.0,2354,2165,2778,2645,349.0,2.8,330,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2164,2710,2777,2644,0,0,0,0,0,0,14.57,14.58,14.58,6.29,50.43
$GC,3932,-0.15,0.0,2354,2165,2777,2643,341.0,2.6,345,3932,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2164,2709,2776,2642,0,0,0,0,0,0,14.73,14.73,14.73,6.30,50.98
$GC,4231,-0.15,0.0,2354,2165,2778,2641,333.8,2.4,360,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2164,2709,2777,2641,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.26
$GC,4532,-0.15,0.0,2354,2165,2777,2640,326.8,2.4,375,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2164,2708,2776,2640,0,0,0,0,0,0,14.87,14.87,14.87,6.29,51.29
$GC,4831,-0.15,0.0,2354,2165,2777,2640,319.3,2.6,390,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2164,2708,2776,2640,0,0,0,0,0,0,14.91,14.91,14.91,6.29,51.26
$GC,5132,-0.15,0.0,2354,2165,2777,2640,311.4,2.6,405,5132,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2164,2708,2776,2640,0,0,0,0,0,0,14.94,14.95,14.95,6.29,51.22
$GC,5432,-0.15,0.0,2354,2165,2777,2639,303.5,2.6,420,5432,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2164,2707,2776,2639,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.96
$GC,5731,-0.15,0.0,2354,2165,2777,2640,295.4,2.6,435,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2164,2707,2776,2639,0,0,0,0,0,0,14.98,14.99,14.99,6.29,51.57
$GC,6032,-0.15,0.0,2354,2165,2777,2640,287.5,2.5,450,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2164,2707,2776,2639,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.22
$GC,6332,-0.15,0.0,2354,2165,2777,2640,279.7,2.6,465,6332,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2163,2707,2776,2638,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.37
$GC,6632,-0.15,0.0,2354,2165,2777,2638,271.9,2.7,480,6632,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2164,2707,2776,2638,0,0,0,0,0,0,15.02,15.03,15.03,6.29,51.53
$STATE,6930,end loiter,LOITER_COMPLETE
$STATE,6930,begin climb
$GC,6932,0.64,146.0,2353,2165,2776,2639,263.8,0.0,495,7072,0.60,2.55,130.10,1.432,11012,0.173,0.083,2594,3540,2118,2145,2092,0,0,0,0,0,0,14.57,13.99,13.44,6.29,51.26
$GC,7172,0.64,146.0,2594,3541,2142,2086,244.6,11.0,507,7175,0.00,2.38,0.00,0.000,1030,0.000,0.041,2604,2146,2113,2140,2087,0,0,0,0,0,0,14.27,14.18,14.28,6.25,49.05
$GC,7492,0.64,146.0,2604,2147,2135,2078,205.9,12.3,523,7496,0.00,2.47,0.00,0.000,516,0.000,0.067,2615,737,2106,2135,2077,0,0,0,0,0,0,14.63,14.32,14.62,6.24,50.90
$GC,7522,0.64,146.0,2615,737,2130,2078,203.5,12.2,524,7525,0.00,2.42,0.00,0.000,5126,0.000,0.054,2616,2124,2104,2131,2077,0,0,0,0,0,0,14.39,14.33,14.41,6.25,50.66
$GC,7832,0.64,146.0,2616,2125,2132,2076,163.3,12.6,540,7835,0.00,2.55,0.00,0.000,4356,0.000,0.085,2616,3563,2103,2130,2076,0,0,0,0,0,0,14.71,14.39,14.71,6.24,51.18
$GC,7932,0.64,146.0,2616,3565,2131,2077,151.3,12.5,545,7935,0.08,2.38,0.00,0.000,5126,0.356,0.044,2601,2146,2103,2130,2076,0,0,0,0,0,0,14.25,14.47,14.50,6.24,51.22
$GC,8247,0.64,146.0,2602,2145,2130,2074,111.4,13.4,561,8250,0.00,2.45,0.00,0.000,516,0.000,0.068,2610,741,2101,2129,2074,0,0,0,0,0,0,14.78,14.46,14.78,6.24,51.10
$GC,8312,0.64,146.0,2611,742,2128,2073,103.2,13.8,564,8315,0.00,2.40,0.00,0.000,5126,0.000,0.054,2611,2163,2099,2126,2073,0,0,0,0,0,0,14.62,14.47,14.64,6.23,50.90
$GC,8616,0.64,146.0,2611,2164,2127,2073,59.4,12.2,620,8621,0.00,2.47,0.00,0.000,4356,0.000,0.084,2611,3549,2099,2127,2072,0,0,0,0,0,0,14.80,14.44,14.80,6.23,50.15
$GC,8686,0.64,146.0,2612,3550,2127,2073,51.5,11.4,634,8691,0.05,2.35,0.00,0.000,5126,0.416,0.044,2601,2134,2099,2127,2072,0,0,0,0,0,0,14.30,14.52,14.57,6.22,49.88
$GC,8813,0.64,146.0,2603,2134,2127,2072,39.2,9.0,659,8816,0.00,2.45,0.00,0.000,516,0.000,0.068,2614,735,2099,2126,2072,0,0,0,0,0,0,14.80,14.49,14.80,6.22,49.84
$GC,8943,0.72,215.2,2614,736,2126,2073,29.8,5.7,685,9010,0.00,2.40,62.08,1.246,11270,0.000,0.054,2614,2154,1838,1854,1823,0,0,0,0,0,0,14.64,14.52,13.69,6.21,50.35
$GC,9132,0.72,215.2,2614,2153,1851,1814,12.2,12.7,723,9135,0.00,2.50,0.00,0.000,2308,0.000,0.087,2614,3552,1831,1849,1814,0,0,0,0,0,0,14.55,14.26,14.55,6.19,50.03
$GC,9191,0.72,215.2,2614,3552,1849,1814,5.4,8.5,735,9195,0.00,2.38,0.00,0.000,3078,0.000,0.046,2624,2141,1831,1849,1814,0,0,0,0,0,0,14.42,14.30,14.45,6.19,49.96
$STATE,9225,end climb,SURFACE_DEPTH_REACHED
$STATE,9225,begin surface coast
$STATE,9255,end surface coast,CONTROL_FINISHED_OK
$STATE,9255,begin surface
$SM_CCo,9268,0.95,0.356,0,0,1821,220.03
$SM_GC,0.70,5.50,0.00,0.95,0.050,0.000,0.356,299,2138,1821,-6.44,1.10,220.03,0,0,0,0,0,0,14.38,14.60,14.18
$IRIDIUM_FIX,-5949.69,0.00,190119,065929
$TT8_MAMPS,0.040446,0.355775
$HUMID,50.27
$INTERNAL_PRESSURE,6.14803
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3752416
$24V_AH,13.09,65.154
$10V_AH,13.17,0.000
$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,13.100,87.350,316.850,0.950,0.000,49.616,61.112,158.685,0.000,0.000,44.184,0.000,7347.875,394.632,1859.282,181.979,0.000,1099.382,0.000,1274.755,0.000,0.539,0.000
$DEVICE_MAMPS,440.640,2232.270,1572.840,355.725,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5669.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.909,0.000,0.000,0.000
$MEM,344128
$DATA_FILE_SIZE,20765,748
$CAP_FILE_SIZE,99703,0
$CFSIZE,1023623168,987119616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.080,98.71,1
$GPS,190119,094135,-5948.283,7.672,24,0.8,31,-19.8,1.4,66.6,10,9.6