version: 66.14
glider: 640
mission: 5
dive: 331
start: 1 19 119 12 27 1
data:
$ID,640
$MISSION,5
$DIVE,331
$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,42
$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
$GPS1,190119,121706,-5948.4312,8.0331,19,1.0,35,-19.8,0.7,319.5,9,9.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-61.4
$GPS2,190119,122641,-5948.4150,8.0541,9,0.9,20,-19.8,1.1,297.3,9,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,215.4,58959,-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,-146.0,220,2139,1732,1760,0.0,0.0,0,106,0.00,0.00,-92.70,0.000,16386,0.000,0.000,221,2139,3235,3317,3153,0,0,0,0,0,0,14.59,28.83,14.59,6.19,51.69
$GC,108,-0.64,-146.0,221,2139,3317,3154,3.5,-8.5,19,122,6.22,2.62,-2.95,0.000,18692,0.371,2.238,2175,3505,3318,3410,3226,0,0,0,0,0,0,14.04,13.10,14.39,6.30,49.76
$GC,208,-0.64,-146.0,2176,3504,3413,3226,21.3,-15.8,39,212,0.05,2.35,0.00,0.000,3078,0.440,0.041,2190,2102,3319,3412,3226,0,0,0,0,0,0,14.12,14.38,14.42,6.32,49.40
$GC,333,-0.64,-146.0,2189,2101,3414,3226,45.3,-19.9,64,336,0.00,0.00,0.00,0.000,2054,0.000,0.000,2190,2100,3319,3413,3226,0,0,0,0,0,0,14.64,14.64,14.64,6.32,49.84
$GC,457,-0.64,-146.0,2191,2098,3413,3226,67.6,-16.2,89,460,0.00,2.45,0.00,0.000,2564,0.000,0.064,2189,689,3319,3413,3226,0,0,0,0,0,0,14.68,14.39,14.68,6.32,49.37
$GC,521,-0.64,-146.0,2190,689,3414,3226,78.3,-15.4,102,525,0.00,2.40,0.00,0.000,3078,0.000,0.055,2180,2101,3319,3413,3226,0,0,0,0,0,0,14.54,14.41,14.55,6.32,49.13
$GC,647,-0.64,-146.0,2180,2102,3414,3227,97.7,-14.3,127,649,0.00,0.00,0.00,0.000,2054,0.000,0.000,2180,2101,3319,3412,3226,0,0,0,0,0,0,14.71,14.71,14.71,6.27,48.85
$GC,787,-0.64,-146.0,2181,2102,3415,3226,117.5,-14.0,137,788,0.00,0.00,0.00,0.000,2054,0.000,0.000,2174,2101,3319,3413,3226,0,0,0,0,0,0,14.73,14.73,14.73,6.32,49.37
$GC,1087,-0.64,-146.0,2186,2102,3413,3227,157.8,-13.5,152,1091,0.00,2.42,0.00,0.000,2564,0.000,0.063,2180,692,3319,3413,3226,0,0,0,0,0,0,14.78,14.47,14.77,6.32,50.00
$GC,1141,-0.64,-146.0,2180,693,3413,3228,163.5,-14.1,154,1146,0.08,2.40,0.00,0.000,3078,0.378,0.055,2192,2107,3319,3412,3226,0,0,0,0,0,0,14.23,14.48,14.50,6.33,50.86
$GC,1446,-0.64,-146.0,2192,2107,3413,3227,204.1,-12.5,170,1450,0.00,2.42,0.00,0.000,2308,0.000,0.083,2182,3503,3319,3412,3226,0,0,0,0,0,0,14.80,14.47,14.81,6.33,50.66
$GC,1477,-0.64,-146.0,2183,3504,3413,3227,206.6,-12.5,171,1480,0.00,2.33,0.00,0.000,3078,0.000,0.043,2181,2099,3319,3412,3226,0,0,0,0,0,0,14.64,14.53,14.65,6.33,50.70
$GC,1786,-0.64,-146.0,2182,2098,3414,3226,246.7,-12.4,187,1790,0.00,2.40,0.00,0.000,2564,0.000,0.063,2181,694,3319,3412,3226,0,0,0,0,0,0,14.82,14.50,14.82,6.34,51.45
$GC,1856,-0.64,-146.0,2182,695,3414,3226,254.3,-12.6,190,1861,0.08,2.38,0.00,0.000,3078,0.377,0.054,2194,2103,3319,3413,3226,0,0,0,0,0,0,14.26,14.51,14.54,6.34,51.02
$GC,2167,-0.64,-146.0,2194,2104,3413,3226,291.6,-11.8,206,2170,0.00,2.45,0.00,0.000,260,0.000,0.082,2183,3506,3319,3412,3226,0,0,0,0,0,0,14.83,14.49,14.83,6.34,51.06
$GC,2201,-0.64,-146.0,2183,3507,3413,3227,294.0,-11.9,207,2206,0.00,2.35,0.00,0.000,3078,0.000,0.043,2183,2086,3319,3412,3226,0,0,0,0,0,0,14.66,14.54,14.67,6.34,51.18
$GC,2506,-0.64,-146.0,2183,2085,3414,3226,333.9,-12.7,223,2511,0.00,2.38,0.00,0.000,2564,0.000,0.063,2183,697,3319,3412,3226,0,0,0,0,0,0,14.83,14.52,14.83,6.34,51.14
$GC,2582,-0.64,-146.0,2183,698,3413,3227,341.5,-12.7,226,2586,0.08,2.38,0.00,0.000,3078,0.372,0.055,2196,2107,3319,3412,3226,0,0,0,0,0,0,14.28,14.53,14.54,6.34,51.18
$STATE,2645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2645,begin apogee
$GC,2649,-0.15,0.0,2196,2156,3413,3227,350.9,-11.7,230,2778,0.43,0.00,124.95,1.577,10246,0.264,0.000,2347,2156,2715,2775,2655,0,0,0,0,0,0,14.29,13.93,13.31,6.34,50.98
$STATE,2779,end apogee,CONTROL_FINISHED_OK
$STATE,2779,begin loiter
$GC,3066,-0.15,0.0,2347,2156,2773,2642,347.4,3.2,251,3067,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2707,2772,2642,0,0,0,0,0,0,14.58,14.58,14.57,6.30,50.94
$GC,3367,-0.15,0.0,2346,2157,2773,2641,338.4,3.0,266,3367,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2705,2772,2639,0,0,0,0,0,0,14.73,14.73,14.73,6.29,50.98
$GC,3667,-0.15,0.0,2346,2157,2772,2639,329.9,2.9,281,3667,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2705,2772,2638,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.10
$GC,3967,-0.15,0.0,2347,2156,2773,2637,321.2,2.9,296,3968,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2705,2772,2638,0,0,0,0,0,0,14.87,14.87,14.87,6.29,51.77
$GC,4266,-0.15,0.0,2347,2156,2773,2637,312.2,3.0,311,4267,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2704,2772,2637,0,0,0,0,0,0,14.91,14.91,14.92,6.29,51.73
$GC,4566,-0.15,0.0,2347,2156,2773,2637,303.6,2.7,326,4567,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2704,2772,2637,0,0,0,0,0,0,14.95,14.95,14.95,6.29,51.10
$GC,4867,-0.15,0.0,2347,2157,2772,2637,295.9,2.5,341,4867,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2704,2772,2636,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.29
$GC,5167,-0.15,0.0,2347,2157,2772,2637,288.9,2.2,356,5167,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2704,2772,2636,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.65
$GC,5467,-0.15,0.0,2347,2157,2773,2637,282.1,2.3,371,5468,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2703,2771,2636,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.33
$GC,5767,-0.15,0.0,2346,2157,2772,2636,274.5,2.7,386,5767,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2703,2772,2635,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.37
$GC,6067,-0.15,0.0,2347,2157,2771,2637,265.4,3.2,401,6067,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2704,2772,2636,0,0,0,0,0,0,15.02,15.03,15.03,6.29,51.49
$STATE,6365,end loiter,LOITER_COMPLETE
$STATE,6365,begin climb
$GC,6367,0.64,146.0,2347,2156,2773,2635,254.8,0.0,416,6504,0.62,2.53,129.27,1.427,11012,0.175,0.081,2595,3544,2118,2144,2093,0,0,0,0,0,0,14.55,13.90,13.43,6.27,51.45
$GC,6613,0.64,146.0,2595,3545,2140,2086,234.4,11.5,427,6617,0.00,2.38,0.00,0.000,1030,0.000,0.041,2605,2147,2111,2139,2084,0,0,0,0,0,0,14.29,14.21,14.31,6.25,49.40
$GC,6923,0.64,146.0,2605,2148,2135,2078,195.2,12.3,443,6927,0.00,2.47,0.00,0.000,516,0.000,0.067,2617,745,2105,2133,2077,0,0,0,0,0,0,14.61,14.32,14.62,6.24,50.82
$GC,6983,0.64,146.0,2617,746,2130,2078,188.3,11.7,446,6987,0.00,2.42,0.00,0.000,5126,0.000,0.054,2616,2134,2103,2129,2077,0,0,0,0,0,0,14.40,14.33,14.42,6.24,50.82
$GC,7303,0.64,146.0,2617,2134,2129,2076,148.6,12.2,462,7307,0.00,2.53,0.00,0.000,4356,0.000,0.084,2617,3562,2102,2128,2076,0,0,0,0,0,0,14.71,14.39,14.71,6.24,51.26
$GC,7393,0.64,146.0,2615,3563,2128,2077,139.1,11.9,466,7398,0.08,2.38,0.00,0.000,5126,0.348,0.043,2602,2140,2102,2128,2076,0,0,0,0,0,0,14.22,14.47,14.50,6.24,50.74
$GC,7703,0.64,146.0,2602,2141,2128,2075,106.8,9.1,482,7707,0.00,2.42,0.00,0.000,516,0.000,0.067,2611,744,2100,2126,2074,0,0,0,0,0,0,14.77,14.46,14.77,6.24,51.14
$GC,7768,0.65,155.0,2612,745,2126,2075,102.2,8.0,485,7777,0.00,2.38,4.85,1.216,13318,0.000,0.052,2611,2154,2088,2115,2062,0,0,0,0,0,0,14.61,14.49,13.73,6.24,50.70
$GC,8080,0.72,211.7,2612,2154,2110,2058,80.2,6.2,542,8142,0.00,2.53,56.42,1.242,10500,0.000,0.082,2612,3546,1850,1866,1835,0,0,0,0,0,0,14.76,14.20,13.68,6.23,50.27
$GC,8223,0.72,211.7,2612,3546,1866,1832,66.2,11.6,571,8227,0.00,2.40,0.00,0.000,3078,0.000,0.043,2622,2128,1847,1866,1829,0,0,0,0,0,0,14.39,14.29,14.41,6.19,49.01
$GC,8349,0.72,211.7,2623,2128,1863,1827,51.5,12.4,596,8353,0.00,2.45,0.00,0.000,2564,0.000,0.069,2633,738,1845,1864,1826,0,0,0,0,0,0,14.57,14.30,14.57,6.19,48.70
$GC,8408,0.72,211.7,2634,738,1861,1826,43.9,13.0,608,8412,0.00,2.45,0.00,0.000,5126,0.000,0.054,2633,2143,1843,1860,1827,0,0,0,0,0,0,14.39,14.33,14.47,6.19,48.81
$GC,8534,0.72,211.7,2633,2149,1861,1826,26.2,13.8,633,8538,0.00,2.50,0.00,0.000,4356,0.000,0.082,2633,3556,1842,1860,1825,0,0,0,0,0,0,14.64,14.34,14.64,6.19,49.17
$GC,8593,0.72,211.7,2634,3558,1861,1825,18.1,11.5,645,8598,0.00,2.38,0.00,0.000,5126,0.000,0.044,2644,2135,1842,1860,1825,0,0,0,0,0,0,14.51,14.40,14.53,6.19,49.64
$STATE,8718,end climb,SURFACE_DEPTH_REACHED
$STATE,8718,begin surface coast
$STATE,8731,end surface coast,CONTROL_FINISHED_OK
$STATE,8731,begin surface
$SM_CCo,8745,3.78,0.276,0,0,1822,220.03
$SM_GC,1.69,5.53,0.00,3.78,0.052,0.000,0.276,277,2133,1822,-6.44,0.93,220.03,0,0,0,0,0,0,14.53,14.68,14.21
$IRIDIUM_FIX,-5949.68,8.56,190119,122124
$TT8_MAMPS,0.039697,0.257656
$HUMID,49.88
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3751392
$24V_AH,13.10,65.529
$10V_AH,13.59,0.000
$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,13.150,67.975,315.500,3.775,0.000,73.114,96.013,131.576,0.000,0.000,21.264,0.000,7065.627,385.463,1706.625,170.369,0.000,1019.875,0.000,1135.442,0.000,0.539,0.000
$DEVICE_MAMPS,439.875,2238.390,1577.430,276.165,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5147.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.707,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17365,673
$CAP_FILE_SIZE,89802,0
$CFSIZE,1023623168,986939392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,2646.88,0x214648,2,24
$CURRENT,0.020,210.16,1
$GPS,190119,145409,-5948.848,7.908,23,0.9,54,-19.8,0.4,185.0,8,9.1