version: 66.14
glider: 640
mission: 5
dive: 337
start: 1 20 119 4 4 18
data:
$ID,640
$MISSION,5
$DIVE,337
$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,54
$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
$GPS1,200119,035733,-5951.2871,8.2123,42,1.1,58,-19.8,0.4,296.8,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-70.3
$GPS2,200119,040359,-5951.3086,8.1802,9,1.2,49,-19.8,0.9,7.3,7,4.7
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,201.3,53663,-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,-146.0,223,2079,1800,1828,0.0,0.0,0,102,0.00,0.00,-89.20,0.000,16386,0.000,0.000,222,2078,3248,3330,3166,0,0,0,0,0,0,14.58,28.83,14.58,6.19,50.66
$GC,104,-0.64,-146.0,223,2078,3330,3168,3.6,-8.4,18,118,6.18,2.60,-2.33,0.000,18948,0.367,2.224,2183,718,3316,3406,3227,0,0,0,0,0,0,14.04,13.33,14.37,6.31,50.51
$GC,252,-0.64,-146.0,2183,719,3410,3228,30.0,-15.1,48,256,0.08,2.38,0.00,0.000,3078,0.376,0.055,2197,2106,3318,3409,3227,0,0,0,0,0,0,14.14,14.35,14.39,6.31,48.50
$GC,379,-0.64,-146.0,2197,2106,3410,3228,49.3,-15.4,73,382,0.00,2.42,0.00,0.000,516,0.000,0.065,2196,716,3318,3409,3227,0,0,0,0,0,0,14.64,14.32,14.64,6.31,49.25
$GC,407,-0.64,-146.0,2197,717,3410,3227,53.8,-15.8,79,411,0.00,2.35,0.00,0.000,3078,0.000,0.056,2187,2098,3317,3409,3226,0,0,0,0,0,0,14.50,14.38,14.52,6.32,50.07
$GC,532,-0.64,-146.0,2188,2099,3410,3227,71.8,-14.9,104,536,0.00,2.47,0.00,0.000,2308,0.000,0.081,2177,3509,3318,3409,3227,0,0,0,0,0,0,14.67,14.37,14.67,6.32,49.52
$GC,582,-0.64,-146.0,2177,3509,3410,3227,79.5,-15.3,114,586,0.05,2.33,0.00,0.000,3078,0.438,0.043,2192,2111,3318,3409,3227,0,0,0,0,0,0,14.19,14.44,14.44,6.32,49.09
$GC,709,-0.64,-146.0,2192,2110,3410,3228,98.4,-15.6,139,712,0.00,2.45,0.00,0.000,516,0.000,0.063,2191,697,3318,3409,3227,0,0,0,0,0,0,14.69,14.36,14.69,6.35,49.21
$GC,762,-0.64,-146.0,2191,697,3410,3228,106.7,-15.0,144,766,0.00,2.40,0.00,0.000,3078,0.000,0.055,2181,2107,3318,3409,3227,0,0,0,0,0,0,14.55,14.43,14.57,6.31,48.30
$GC,1082,-0.64,-146.0,2182,2109,3410,3227,152.8,-14.3,160,1086,0.00,2.45,0.00,0.000,2564,0.000,0.063,2181,688,3318,3409,3227,0,0,0,0,0,0,14.75,14.46,14.75,6.31,49.60
$GC,1187,-0.64,-146.0,2181,689,3410,3228,167.5,-14.4,165,1191,0.08,2.40,0.00,0.000,3078,0.373,0.056,2194,2101,3318,3409,3227,0,0,0,0,0,0,14.23,14.47,14.50,6.32,49.84
$GC,1502,-0.64,-146.0,2194,2102,3410,3228,208.1,-11.9,181,1506,0.00,2.47,0.00,0.000,260,0.000,0.083,2184,3514,3318,3409,3227,0,0,0,0,0,0,14.78,14.45,14.78,6.33,50.63
$GC,1547,-0.64,-146.0,2184,3514,3409,3228,213.0,-12.0,183,1552,0.00,2.38,0.00,0.000,3078,0.000,0.043,2182,2105,3318,3409,3227,0,0,0,0,0,0,14.54,14.50,14.55,6.32,51.33
$GC,1863,-0.64,-146.0,2182,2104,3410,3228,252.2,-12.2,199,1866,0.00,2.42,0.00,0.000,2564,0.000,0.063,2182,690,3318,3409,3227,0,0,0,0,0,0,14.80,14.50,14.80,6.33,51.57
$GC,1922,-0.64,-146.0,2183,690,3410,3227,259.0,-12.3,202,1926,0.08,2.40,0.00,0.000,3078,0.367,0.057,2197,2109,3318,3409,3227,0,0,0,0,0,0,14.27,14.50,14.53,6.33,50.90
$GC,2237,-0.64,-146.0,2198,2109,3410,3227,295.2,-11.5,218,2241,0.00,2.42,0.00,0.000,260,0.000,0.083,2187,3508,3318,3409,3227,0,0,0,0,0,0,14.81,14.48,14.81,6.33,51.06
$GC,2267,-0.64,-146.0,2187,3508,3410,3229,297.5,-11.6,219,2271,0.00,2.33,0.00,0.000,3078,0.000,0.043,2187,2096,3318,3409,3227,0,0,0,0,0,0,14.65,14.53,14.67,6.34,51.61
$GC,2577,-0.64,-146.0,2187,2096,3411,3228,336.2,-12.1,235,2581,0.00,2.40,0.00,0.000,2564,0.000,0.063,2187,691,3318,3409,3227,0,0,0,0,0,0,14.82,14.51,14.82,6.34,51.53
$GC,2642,-0.64,-146.0,2187,692,3410,3226,343.5,-12.2,238,2647,0.03,2.42,0.00,0.000,3078,0.438,0.055,2185,2101,3318,3409,3227,0,0,0,0,0,0,14.26,14.48,14.40,6.34,51.41
$STATE,2696,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2696,begin apogee
$GC,2700,-0.15,0.0,2186,2166,3410,3228,350.4,-11.6,241,2829,0.47,0.00,126.60,1.565,10246,0.261,0.000,2353,2165,2719,2779,2659,0,0,0,0,0,0,14.24,13.93,13.31,6.34,51.57
$STATE,2830,end apogee,CONTROL_FINISHED_OK
$STATE,2830,begin loiter
$GC,3117,-0.15,0.0,2353,2166,2772,2643,344.4,3.8,262,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2165,2706,2771,2642,0,0,0,0,0,0,14.55,14.56,14.56,6.29,50.23
$GC,3417,-0.15,0.0,2353,2166,2772,2639,332.5,4.0,277,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2165,2705,2771,2639,0,0,0,0,0,0,14.71,14.71,14.71,6.29,50.78
$GC,3717,-0.15,0.0,2353,2166,2772,2639,320.4,3.9,292,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2165,2704,2771,2638,0,0,0,0,0,0,14.79,14.80,14.80,6.29,51.02
$GC,4018,-0.15,0.0,2354,2166,2772,2637,309.4,3.4,307,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2704,2771,2637,0,0,0,0,0,0,14.85,14.85,14.85,6.29,50.86
$GC,4317,-0.15,0.0,2353,2166,2772,2637,300.4,2.8,322,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2165,2703,2771,2636,0,0,0,0,0,0,14.89,14.90,14.90,6.29,51.14
$GC,4617,-0.15,0.0,2353,2166,2771,2638,293.1,2.4,337,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2165,2703,2771,2636,0,0,0,0,0,0,14.92,14.92,14.92,6.29,51.92
$GC,4917,-0.15,0.0,2353,2166,2771,2637,286.5,2.4,352,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2165,2703,2771,2636,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.37
$GC,5217,-0.15,0.0,2353,2165,2772,2636,278.3,3.2,367,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2165,2703,2771,2635,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.33
$GC,5518,-0.15,0.0,2353,2166,2772,2637,267.7,3.9,382,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2165,2703,2771,2635,0,0,0,0,0,0,14.98,14.99,14.99,6.29,51.29
$GC,5817,-0.15,0.0,2353,2166,2772,2636,255.9,3.8,397,5818,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2165,2703,2771,2635,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.69
$GC,6117,-0.15,0.0,2353,2166,2772,2635,245.5,3.3,412,6118,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2165,2703,2771,2635,0,0,0,0,0,0,15.01,15.01,15.01,6.29,51.45
$STATE,6415,end loiter,LOITER_COMPLETE
$STATE,6415,begin climb
$GC,6417,0.64,146.0,2353,2165,2771,2635,236.7,0.0,427,6557,0.60,2.55,130.27,1.404,11012,0.174,0.063,2603,748,2116,2141,2092,0,0,0,0,0,0,14.54,13.91,13.45,6.29,51.69
$GC,6597,0.64,146.0,2603,749,2146,2089,224.4,8.9,436,6601,0.00,2.42,0.00,0.000,1030,0.000,0.054,2604,2139,2111,2136,2087,0,0,0,0,0,0,14.20,14.10,14.21,6.24,49.48
$GC,6918,0.64,146.0,2603,2140,2132,2079,185.9,12.0,452,6921,0.00,2.53,0.00,0.000,260,0.000,0.084,2604,3556,2104,2131,2078,0,0,0,0,0,0,14.63,14.28,14.57,6.24,50.39
$GC,6992,0.64,146.0,2604,3557,2132,2079,177.1,11.8,456,6997,0.00,2.35,0.00,0.000,5126,0.000,0.043,2614,2153,2104,2131,2078,0,0,0,0,0,0,14.47,14.35,14.48,6.24,50.78
$GC,7313,0.64,146.0,2615,2154,2130,2075,137.4,12.6,472,7316,0.00,2.45,0.00,0.000,4612,0.000,0.067,2625,746,2101,2128,2075,0,0,0,0,0,0,14.70,14.40,14.71,6.24,51.22
$GC,7367,0.64,146.0,2625,746,2127,2077,130.6,12.5,475,7371,0.08,2.40,0.00,0.000,5126,0.322,0.054,2599,2158,2100,2126,2075,0,0,0,0,0,0,14.26,14.40,14.49,6.24,50.39
$GC,7672,0.64,146.0,2599,2159,2137,2074,93.6,13.2,497,7676,0.00,2.45,0.00,0.000,2308,0.000,0.083,2599,3554,2100,2126,2074,0,0,0,0,0,0,14.75,14.42,14.76,6.23,50.66
$GC,7703,0.64,146.0,2599,3555,2126,2075,89.6,13.2,503,7706,0.00,2.33,0.00,0.000,5126,0.000,0.044,2611,2150,2100,2126,2074,0,0,0,0,0,0,14.60,14.50,14.62,6.23,51.10
$GC,7829,0.64,146.0,2608,2150,2126,2074,75.5,10.0,528,7832,0.00,2.45,0.00,0.000,4612,0.000,0.066,2619,738,2100,2126,2074,0,0,0,0,0,0,14.75,14.45,14.76,6.22,50.59
$GC,7872,0.64,146.0,2620,737,2127,2073,71.3,9.5,537,7876,0.00,2.40,0.00,0.000,5126,0.000,0.054,2618,2152,2099,2125,2073,0,0,0,0,0,0,14.60,14.47,14.62,6.22,50.03
$GC,7999,0.64,146.0,2620,2153,2126,2073,58.7,10.4,562,8003,0.00,2.47,0.00,0.000,4356,0.000,0.085,2616,3559,2098,2125,2072,0,0,0,0,0,0,14.76,14.43,14.76,6.22,49.52
$GC,8037,0.64,146.0,2619,3560,2126,2074,54.4,10.4,570,8042,0.08,2.38,0.00,0.000,5126,0.350,0.044,2604,2134,2099,2125,2073,0,0,0,0,0,0,14.27,14.46,14.53,6.22,49.17
$GC,8164,0.64,146.0,2605,2135,2125,2072,43.1,8.6,595,8167,0.00,2.40,0.00,0.000,516,0.000,0.066,2614,745,2098,2125,2072,0,0,0,0,0,0,14.76,14.46,14.76,6.21,49.17
$GC,8193,0.65,156.4,2614,746,2126,2072,40.6,7.9,601,8202,0.00,2.38,5.68,1.258,13318,0.000,0.054,2614,2151,2082,2107,2057,0,0,0,0,0,0,14.61,14.49,13.76,6.21,49.05
$GC,8323,0.65,157.2,2614,2152,2104,2054,30.0,8.3,627,8326,0.00,2.47,0.00,0.000,4356,0.000,0.087,2614,3561,2078,2103,2053,0,0,0,0,0,0,14.73,14.42,14.73,6.21,49.17
$GC,8352,0.65,157.2,2615,3561,2104,2054,26.9,10.7,633,8356,0.03,2.40,0.00,0.000,5126,0.429,0.045,2614,2148,2078,2103,2054,0,0,0,0,0,0,14.23,14.46,14.38,6.21,49.64
$GC,8479,0.73,220.3,2615,2148,2104,2055,16.7,5.9,658,8546,0.00,2.47,61.53,0.311,10756,0.000,0.064,2625,748,1815,1829,1802,0,0,0,0,0,0,14.74,14.35,14.17,6.21,49.92
$GC,8567,0.73,220.3,2625,748,1827,1801,6.8,11.6,676,8571,0.00,2.40,0.00,0.000,3078,0.000,0.054,2625,2155,1813,1826,1801,0,0,0,0,0,0,14.51,14.38,14.53,6.19,49.40
$STATE,8595,end climb,SURFACE_DEPTH_REACHED
$STATE,8595,begin surface coast
$STATE,8615,end surface coast,CONTROL_FINISHED_OK
$STATE,8615,begin surface
$SM_CCo,8689,0.00,0.000,0,0,1809,223.46
$SM_GC,1.02,5.47,0.10,0.00,0.052,0.128,0.000,271,2063,1809,-6.44,0.76,223.46,0,0,0,0,0,0,14.53,14.44,14.55
$IRIDIUM_FIX,-5949.68,8.56,200119,011510
$TT8_MAMPS,0.039697,0.328062
$HUMID,49.68
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3748320
$24V_AH,13.31,66.691
$10V_AH,13.45,0.000
$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,13.200,87.375,324.075,0.000,0.000,27.130,39.747,134.372,0.000,0.000,50.637,0.000,6840.913,401.550,1654.039,175.997,0.000,1046.514,0.000,1144.916,0.000,0.540,0.000
$DEVICE_MAMPS,438.345,2223.855,1565.190,0.000,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5033.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.784,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17350,686
$CAP_FILE_SIZE,93729,0
$CFSIZE,1023623168,986349568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.052,229.29,1
$GPS,200119,063002,-5951.928,8.019,15,0.8,33,-19.8,0.7,222.9,8,8.1