version: 66.14
glider: 640
mission: 5
dive: 335
start: 1 19 119 22 44 26
data:
$ID,640
$MISSION,5
$DIVE,335
$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,44
$R_STBD_OVSHOOT,29
$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
$GPS1,190119,223358,-5950.6675,8.1715,39,0.9,42,-19.8,0.7,352.0,9,9.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-65.3
$GPS2,190119,224406,-5950.6548,8.2894,9,0.9,16,-19.8,0.0,61.6,10,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,216.0,54876,-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,-146.0,224,2084,1797,1823,0.0,0.0,0,86,0.00,0.00,-73.30,0.000,16386,0.000,0.000,224,2084,3004,3084,2924,0,0,0,0,0,0,14.56,28.83,14.57,6.19,51.06
$GC,88,-0.64,-146.0,224,2084,3086,2924,3.2,-5.9,15,111,6.10,2.62,-11.77,0.000,18948,0.348,2.225,2176,708,3316,3415,3218,0,0,0,0,0,0,14.06,13.05,14.38,6.29,50.82
$GC,246,-0.64,-146.0,2178,708,3418,3221,24.6,-15.7,47,250,0.08,2.38,0.00,0.000,3078,0.369,0.054,2190,2100,3318,3416,3221,0,0,0,0,0,0,14.13,14.35,14.38,6.32,48.58
$GC,373,-0.64,-146.0,2191,2100,3418,3221,44.8,-16.9,72,376,0.00,2.47,0.00,0.000,2308,0.000,0.087,2180,3506,3315,3409,3221,0,0,0,0,0,0,14.64,14.32,14.64,6.32,49.21
$GC,416,-0.64,-146.0,2181,3507,3417,3221,51.4,-13.5,81,421,0.00,2.35,0.00,0.000,3078,0.000,0.042,2180,2094,3318,3416,3221,0,0,0,0,0,0,14.51,14.40,14.52,6.33,49.48
$GC,542,-0.64,-146.0,2180,2090,3417,3222,69.4,-15.3,106,545,0.00,2.42,0.00,0.000,2564,0.000,0.064,2180,692,3318,3416,3221,0,0,0,0,0,0,14.69,14.39,14.69,6.32,49.64
$GC,617,-0.64,-146.0,2180,692,3418,3222,80.3,-13.4,121,622,0.08,2.40,0.00,0.000,3078,0.376,0.054,2192,2104,3317,3416,3219,0,0,0,0,0,0,14.18,14.42,14.45,6.32,49.13
$GC,743,-0.64,-146.0,2192,2104,3417,3222,97.5,-14.9,146,747,0.00,2.45,0.00,0.000,2308,0.000,0.083,2181,3508,3318,3416,3221,0,0,0,0,0,0,14.70,14.35,14.71,6.32,48.62
$GC,766,-0.64,-146.0,2182,3507,3417,3222,100.5,-14.8,150,770,0.00,2.35,0.00,0.000,3078,0.000,0.044,2181,2087,3319,3416,3222,0,0,0,0,0,0,14.57,14.45,14.57,6.32,48.66
$GC,1077,-0.64,-146.0,2181,2087,3417,3222,147.5,-15.1,166,1080,0.00,2.40,0.00,0.000,2564,0.000,0.062,2181,690,3319,3416,3222,0,0,0,0,0,0,14.76,14.46,14.76,6.32,49.84
$GC,1147,-0.64,-146.0,2180,690,3417,3222,156.3,-14.8,169,1151,0.08,2.40,0.00,0.000,3078,0.373,0.055,2192,2108,3319,3416,3222,0,0,0,0,0,0,14.23,14.47,14.50,6.32,49.60
$GC,1452,-0.64,-146.0,2193,2109,3417,3222,195.8,-12.0,184,1455,0.00,2.42,0.00,0.000,2308,0.000,0.083,2182,3504,3318,3416,3221,0,0,0,0,0,0,14.79,14.46,14.79,6.33,50.39
$GC,1506,-0.64,-146.0,2183,3505,3417,3221,200.7,-12.0,186,1511,0.00,2.35,0.00,0.000,3078,0.000,0.042,2182,2080,3318,3416,3221,0,0,0,0,0,0,14.63,14.52,14.64,6.33,50.51
$GC,1812,-0.64,-146.0,2182,2078,3417,3222,241.0,-12.8,202,1816,0.00,2.38,0.00,0.000,2564,0.000,0.063,2181,691,3319,3416,3222,0,0,0,0,0,0,14.81,14.50,14.81,6.34,50.82
$GC,1892,-0.64,-146.0,2182,691,3417,3221,251.2,-12.8,206,1896,0.08,2.40,0.00,0.000,3078,0.367,0.055,2195,2110,3319,3417,3221,0,0,0,0,0,0,14.27,14.51,14.53,6.33,50.70
$GC,2212,-0.64,-146.0,2195,2110,3417,3223,290.7,-12.5,222,2215,0.00,2.42,0.00,0.000,260,0.000,0.082,2185,3508,3318,3416,3221,0,0,0,0,0,0,14.82,14.48,14.83,6.34,51.22
$GC,2277,-0.64,-146.0,2186,3509,3417,3221,298.2,-12.6,225,2281,0.00,2.33,0.00,0.000,3078,0.000,0.042,2185,2091,3319,3416,3223,0,0,0,0,0,0,14.66,14.55,14.67,6.34,50.82
$GC,2592,-0.64,-146.0,2185,2090,3417,3221,339.1,-12.9,241,2595,0.00,2.38,0.00,0.000,2564,0.000,0.063,2184,699,3318,3416,3221,0,0,0,0,0,0,14.83,14.52,14.83,6.34,51.02
$GC,2651,-0.64,-146.0,2184,700,3417,3223,346.8,-12.9,244,2655,0.08,2.35,0.00,0.000,3078,0.377,0.054,2198,2102,3318,3416,3221,0,0,0,0,0,0,14.27,14.52,14.54,6.34,50.94
$STATE,2690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2690,begin apogee
$GC,2695,-0.15,0.0,2199,2168,3417,3221,351.5,-12.2,246,2823,0.43,0.00,125.22,1.564,10246,0.261,0.000,2349,2167,2717,2778,2657,0,0,0,0,0,0,14.28,13.93,13.31,6.34,51.22
$STATE,2824,end apogee,CONTROL_FINISHED_OK
$STATE,2824,begin loiter
$GC,3111,-0.15,0.0,2348,2168,2774,2645,348.0,3.4,267,3112,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2708,2773,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.51
$GC,3411,-0.15,0.0,2349,2168,2774,2642,337.9,3.5,282,3412,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2707,2773,2641,0,0,0,0,0,0,14.72,14.73,14.72,6.29,50.82
$GC,3711,-0.15,0.0,2349,2168,2773,2641,327.5,3.5,297,3712,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2706,2773,2640,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.22
$GC,4012,-0.15,0.0,2349,2168,2774,2640,317.7,3.2,312,4013,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2706,2773,2640,0,0,0,0,0,0,14.87,14.87,14.87,6.29,51.06
$GC,4312,-0.15,0.0,2350,2168,2774,2640,308.7,2.9,327,4312,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2706,2773,2640,0,0,0,0,0,0,14.91,14.91,14.91,6.29,51.26
$GC,4612,-0.15,0.0,2349,2168,2774,2640,300.9,2.5,342,4612,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2706,2773,2640,0,0,0,0,0,0,14.94,14.94,14.94,6.29,50.98
$GC,4911,-0.15,0.0,2349,2168,2774,2641,293.7,2.3,357,4912,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2706,2773,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.30,51.85
$GC,5212,-0.15,0.0,2350,2168,2774,2640,286.7,2.4,372,5212,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2168,2706,2773,2640,0,0,0,0,0,0,14.98,14.99,14.99,6.29,51.37
$GC,5512,-0.15,0.0,2349,2167,2774,2640,279.3,2.6,387,5513,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2706,2773,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.49
$GC,5811,-0.15,0.0,2350,2168,2774,2640,271.3,2.7,402,5812,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2706,2773,2640,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.33
$GC,6112,-0.15,0.0,2349,2167,2774,2640,261.8,3.4,417,6112,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2706,2773,2640,0,0,0,0,0,0,15.02,15.03,15.03,6.29,51.96
$STATE,6410,end loiter,LOITER_COMPLETE
$STATE,6410,begin climb
$GC,6412,0.64,146.0,2349,2168,2774,2642,252.0,0.0,432,6552,0.62,2.60,130.43,1.422,11012,0.178,0.064,2607,751,2117,2141,2093,0,0,0,0,0,0,14.54,14.00,13.45,6.28,51.69
$GC,6576,0.64,146.0,2608,752,2137,2091,241.3,8.4,440,6580,0.00,2.42,0.00,0.000,5126,0.000,0.053,2608,2139,2113,2136,2090,0,0,0,0,0,0,14.19,14.09,14.20,6.25,49.44
$GC,6892,0.64,146.0,2608,2141,2132,2079,204.0,11.7,456,6895,0.00,2.53,0.00,0.000,4356,0.000,0.081,2608,3561,2104,2131,2078,0,0,0,0,0,0,14.59,14.28,14.59,6.23,50.39
$GC,6972,0.64,146.0,2608,3562,2132,2080,195.2,11.7,460,6975,0.00,2.35,0.00,0.000,5126,0.000,0.043,2618,2159,2104,2131,2078,0,0,0,0,0,0,14.46,14.36,14.47,6.24,50.43
$GC,7287,0.64,146.0,2619,2159,2130,2077,156.0,12.5,476,7290,0.00,2.47,0.00,0.000,4612,0.000,0.067,2629,741,2102,2129,2076,0,0,0,0,0,0,14.71,14.40,14.71,6.24,51.06
$GC,7367,0.64,146.0,2630,742,2126,2077,146.6,11.7,480,7371,0.08,2.40,0.00,0.000,5126,0.324,0.054,2603,2154,2101,2126,2076,0,0,0,0,0,0,14.26,14.44,14.50,6.23,51.49
$GC,7683,0.64,146.0,2603,2155,2129,2076,112.0,11.2,496,7686,0.00,2.45,0.00,0.000,260,0.000,0.082,2603,3553,2100,2125,2075,0,0,0,0,0,0,14.76,14.44,14.76,6.23,50.98
$GC,7726,0.64,146.0,2604,3553,2127,2075,108.0,11.3,498,7730,0.00,2.38,0.00,0.000,5126,0.000,0.043,2612,2127,2100,2125,2075,0,0,0,0,0,0,14.62,14.50,14.63,6.23,50.98
$GC,8031,0.64,146.0,2612,2126,2126,2075,72.7,10.2,549,8035,0.00,2.40,0.00,0.000,4612,0.000,0.067,2623,742,2099,2125,2074,0,0,0,0,0,0,14.79,14.47,14.80,6.22,50.78
$GC,8121,0.64,146.0,2623,743,2125,2075,64.4,8.8,567,8126,0.05,2.38,0.00,0.000,5126,0.386,0.051,2605,2152,2098,2124,2073,0,0,0,0,0,0,14.31,14.47,14.56,6.22,50.03
$GC,8247,0.64,146.0,2605,2152,2124,2073,53.0,9.6,592,8250,0.00,2.45,0.00,0.000,260,0.000,0.083,2605,3552,2098,2123,2073,0,0,0,0,0,0,14.79,14.46,14.80,6.22,49.60
$GC,8272,0.64,146.0,2605,3552,2125,2074,50.3,10.4,597,8275,0.00,2.33,0.00,0.000,5126,0.000,0.044,2614,2145,2098,2123,2073,0,0,0,0,0,0,14.64,14.54,14.65,6.21,49.80
$GC,8398,0.64,150.4,2614,2145,2124,2074,39.6,8.2,622,8401,0.00,2.42,0.00,0.000,4612,0.000,0.067,2625,742,2098,2124,2073,0,0,0,0,0,0,14.79,14.48,14.80,6.20,49.37
$GC,8491,0.64,150.4,2626,743,2125,2072,30.7,9.7,641,8496,0.05,2.38,0.00,0.000,5126,0.384,0.053,2606,2148,2097,2122,2072,0,0,0,0,0,0,14.31,14.48,14.56,6.21,49.72
$GC,8617,0.76,247.4,2607,2148,2124,2071,21.2,4.6,666,8716,0.08,2.58,91.78,1.195,10500,0.225,0.082,2672,3553,1704,1710,1699,0,0,0,0,0,0,14.50,14.09,13.59,6.21,50.51
$STATE,8755,end climb,SURFACE_DEPTH_REACHED
$STATE,8755,begin surface coast
$STATE,8765,end surface coast,CONTROL_FINISHED_OK
$STATE,8765,begin surface
$SM_CCo,8842,0.00,0.000,0,0,1697,250.69
$SM_GC,1.06,5.80,2.55,0.00,0.073,0.041,0.000,231,2081,1697,-6.44,0.88,250.69,0,0,0,0,0,0,14.29,14.23,14.32
$IRIDIUM_FIX,-5949.68,8.56,190119,223814
$TT8_MAMPS,0.038948,0.35952
$HUMID,49.52
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3749344
$24V_AH,13.05,66.312
$10V_AH,13.14,0.000
$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,13.575,82.425,347.425,0.000,0.000,74.827,129.505,133.854,0.000,0.000,17.360,0.000,7088.714,412.341,1776.454,173.683,0.000,1063.409,0.000,1165.995,0.000,0.540,0.000
$DEVICE_MAMPS,385.560,2224.620,1563.660,0.000,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5181.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.674,0.000,0.000,0.000
$MEM,344104
$DATA_FILE_SIZE,17332,696
$CAP_FILE_SIZE,93230,0
$CFSIZE,1023623168,986546176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.029,25.19,1
$GPS,200119,011255,-5950.897,8.354,16,0.7,45,-19.8,0.7,2.7,10,7.3