version: 66.14
glider: 640
mission: 5
dive: 338
start: 1 20 119 6 35 41
data:
$ID,640
$MISSION,5
$DIVE,338
$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,60
$R_STBD_OVSHOOT,49
$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
$GPS1,200119,063002,-5951.9282,8.0192,15,0.8,33,-19.8,0.7,222.9,8,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-62.9
$GPS2,200119,063522,-5951.9619,8.0084,9,0.8,17,-19.8,0.4,279.0,11,9.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,199.8,52443,-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,-146.0,221,2122,1792,1811,0.0,0.0,0,96,0.00,0.00,-82.90,0.000,16386,0.000,0.000,220,2123,3135,3217,3053,0,0,0,0,0,0,14.59,28.83,14.59,6.19,50.78
$GC,98,-0.64,-146.0,220,2123,3218,3057,3.4,-6.6,17,116,6.18,2.70,-6.68,0.000,18948,0.363,2.225,2188,723,3318,3413,3223,0,0,0,0,0,0,14.07,13.05,14.40,6.30,49.80
$GC,282,-0.64,-146.0,2189,724,3415,3226,35.9,-17.4,54,285,0.00,2.30,0.00,0.000,3078,0.000,0.054,2179,2078,3319,3414,3225,0,0,0,0,0,0,14.50,14.37,14.51,6.31,48.93
$GC,407,-0.64,-146.0,2179,2079,3415,3226,61.1,-19.0,79,410,0.00,2.50,0.00,0.000,2308,0.000,0.081,2168,3507,3319,3414,3225,0,0,0,0,0,0,14.66,14.35,14.67,6.32,50.03
$GC,451,-0.64,-146.0,2168,3508,3415,3226,69.7,-19.0,88,456,0.08,2.35,0.00,0.000,3078,0.364,0.044,2192,2096,3319,3414,3225,0,0,0,0,0,0,14.18,14.42,14.43,6.32,49.56
$GC,578,-0.64,-146.0,2193,2096,3415,3226,91.6,-17.3,113,582,0.00,2.42,0.00,0.000,2564,0.000,0.063,2192,689,3319,3414,3225,0,0,0,0,0,0,14.69,14.38,14.69,6.32,48.70
$GC,626,-0.64,-146.0,2192,688,3414,3220,100.2,-16.6,123,630,0.00,2.42,0.00,0.000,3078,0.000,0.057,2182,2112,3319,3414,3225,0,0,0,0,0,0,14.55,14.42,14.57,6.31,48.38
$GC,937,-0.64,-146.0,2183,2112,3414,3225,145.1,-11.8,139,940,0.00,2.42,0.00,0.000,2308,0.000,0.082,2172,3505,3319,3414,3225,0,0,0,0,0,0,14.76,14.42,14.76,6.31,49.76
$GC,987,-0.64,-146.0,2172,3507,3415,3226,149.9,-12.0,141,990,0.08,2.33,0.00,0.000,3078,0.363,0.042,2197,2095,3319,3414,3225,0,0,0,0,0,0,14.23,14.50,14.49,6.31,49.84
$GC,1297,-0.64,-146.0,2197,2094,3415,3226,189.3,-13.0,157,1300,0.00,2.40,0.00,0.000,516,0.000,0.063,2197,699,3320,3414,3226,0,0,0,0,0,0,14.78,14.47,14.79,6.32,50.74
$GC,1356,-0.64,-146.0,2197,704,3415,3227,197.3,-13.3,160,1360,0.00,2.40,0.00,0.000,3078,0.000,0.056,2187,2096,3319,3414,3225,0,0,0,0,0,0,14.52,14.45,14.55,6.33,51.02
$GC,1677,-0.64,-146.0,2187,2096,3414,3226,240.3,-13.1,176,1680,0.00,2.45,0.00,0.000,2308,0.000,0.082,2176,3506,3319,3414,3225,0,0,0,0,0,0,14.81,14.47,14.81,6.33,51.10
$GC,1726,-0.64,-146.0,2175,3507,3415,3225,245.6,-13.2,178,1730,0.05,2.35,0.00,0.000,3078,0.438,0.043,2192,2080,3319,3414,3225,0,0,0,0,0,0,14.26,14.52,14.53,6.33,50.94
$GC,2037,-0.64,-146.0,2192,2081,3415,3226,285.2,-12.2,194,2041,0.00,2.38,0.00,0.000,2564,0.000,0.063,2191,694,3319,3414,3225,0,0,0,0,0,0,14.83,14.50,14.82,6.34,51.14
$GC,2122,-0.64,-146.0,2192,695,3415,3226,294.8,-12.1,198,2125,0.00,2.38,0.00,0.000,3078,0.000,0.054,2181,2104,3319,3414,3225,0,0,0,0,0,0,14.64,14.52,14.66,6.34,51.49
$GC,2437,-0.64,-146.0,2182,2104,3415,3224,335.2,-12.9,214,2440,0.00,2.42,0.00,0.000,2308,0.000,0.083,2171,3503,3319,3414,3225,0,0,0,0,0,0,14.83,14.48,14.83,6.34,51.10
$GC,2487,-0.64,-146.0,2171,3504,3414,3226,339.9,-13.1,216,2491,0.08,2.30,0.00,0.000,3078,0.360,0.042,2196,2103,3319,3414,3225,0,0,0,0,0,0,14.28,14.55,14.54,6.34,51.41
$STATE,2570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2570,begin apogee
$GC,2575,-0.15,0.0,2197,2156,3415,3226,352.4,-12.3,221,2704,0.43,0.00,126.18,1.567,10246,0.264,0.000,2346,2155,2718,2779,2658,0,0,0,0,0,0,14.28,13.94,13.31,6.34,51.06
$STATE,2705,end apogee,CONTROL_FINISHED_OK
$STATE,2705,begin loiter
$GC,2991,-0.15,0.0,2347,2157,2774,2644,351.1,2.5,242,2992,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2155,2708,2773,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.47
$GC,3292,-0.15,0.0,2347,2156,2774,2641,343.6,2.5,257,3292,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2156,2707,2773,2641,0,0,0,0,0,0,14.72,14.72,14.72,6.29,51.10
$GC,3592,-0.15,0.0,2347,2156,2773,2641,335.4,2.8,272,3592,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2706,2773,2640,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.26
$GC,3892,-0.15,0.0,2347,2156,2773,2640,325.9,3.4,287,3893,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2156,2705,2772,2639,0,0,0,0,0,0,14.86,14.87,14.87,6.29,50.94
$GC,4192,-0.15,0.0,2347,2156,2774,2639,315.8,3.3,302,4192,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2156,2706,2773,2639,0,0,0,0,0,0,14.90,14.91,14.91,6.29,51.10
$GC,4492,-0.15,0.0,2347,2156,2773,2640,306.0,3.2,317,4492,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2705,2773,2638,0,0,0,0,0,0,14.94,14.94,14.94,6.29,51.73
$GC,4792,-0.15,0.0,2347,2156,2774,2638,296.4,3.2,332,4792,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2155,2705,2773,2638,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.26
$GC,5092,-0.15,0.0,2346,2156,2774,2639,286.4,3.4,347,5092,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2156,2705,2773,2637,0,0,0,0,0,0,14.98,14.99,14.98,6.29,51.85
$GC,5392,-0.15,0.0,2347,2156,2774,2638,276.0,3.5,362,5393,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2156,2705,2773,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.57
$GC,5692,-0.15,0.0,2346,2156,2774,2639,265.8,3.1,377,5692,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2155,2706,2774,2638,0,0,0,0,0,0,15.01,15.02,15.02,6.29,51.49
$GC,5992,-0.15,0.0,2347,2157,2774,2638,257.1,2.8,392,5992,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2156,2705,2773,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.45
$STATE,6290,end loiter,LOITER_COMPLETE
$STATE,6290,begin climb
$GC,6292,0.64,146.0,2346,2156,2774,2639,249.8,0.0,407,6433,0.62,2.58,130.60,1.415,10756,0.177,0.064,2604,749,2116,2141,2092,0,0,0,0,0,0,14.54,14.00,13.44,6.29,51.45
$GC,6507,0.64,146.0,2605,750,2136,2086,236.8,8.7,417,6512,0.00,2.42,0.00,0.000,1030,0.000,0.053,2605,2148,2110,2135,2085,0,0,0,0,0,0,14.24,14.16,14.26,6.24,49.21
$GC,6812,0.64,146.0,2605,2149,2132,2078,200.1,11.9,433,6816,0.00,2.53,0.00,0.000,260,0.000,0.083,2605,3561,2104,2131,2078,0,0,0,0,0,0,14.59,14.28,14.59,6.24,50.47
$GC,6877,0.64,146.0,2605,3561,2132,2078,192.9,12.1,436,6881,0.00,2.35,0.00,0.000,5126,0.000,0.042,2615,2155,2104,2131,2078,0,0,0,0,0,0,14.47,14.37,14.48,6.24,50.59
$GC,7192,0.64,146.0,2615,2156,2129,2077,152.1,13.0,452,7196,0.00,2.47,0.00,0.000,4612,0.000,0.067,2626,742,2102,2128,2076,0,0,0,0,0,0,14.71,14.40,14.71,6.24,51.65
$GC,7252,0.64,146.0,2627,743,2127,2076,144.3,13.0,455,7256,0.08,2.40,0.00,0.000,5126,0.322,0.054,2600,2153,2100,2126,2075,0,0,0,0,0,0,14.25,14.42,14.49,6.24,50.59
$GC,7572,0.64,146.0,2600,2153,2126,2075,101.0,13.3,471,7576,0.00,2.47,0.00,0.000,2308,0.000,0.083,2598,3559,2100,2126,2074,0,0,0,0,0,0,14.76,14.42,14.76,6.23,50.70
$GC,7637,0.64,146.0,2600,3560,2127,2075,93.1,11.4,481,7641,0.00,2.33,0.00,0.000,5126,0.000,0.043,2608,2150,2100,2126,2074,0,0,0,0,0,0,14.64,14.51,14.63,6.23,50.55
$GC,7764,0.64,146.0,2610,2150,2127,2074,79.4,10.6,506,7767,0.00,2.42,0.00,0.000,4612,0.000,0.067,2620,743,2100,2126,2074,0,0,0,0,0,0,14.76,14.45,14.76,6.23,49.88
$GC,7817,0.64,146.0,2621,744,2126,2073,74.3,8.7,517,7821,0.05,2.38,0.00,0.000,5126,0.385,0.053,2602,2151,2099,2125,2073,0,0,0,0,0,0,14.28,14.47,14.54,6.22,50.66
$GC,7944,0.65,159.0,2602,2152,2125,2075,64.2,7.8,542,7957,0.00,2.45,8.43,1.317,10500,0.000,0.084,2602,3557,2065,2090,2041,0,0,0,0,0,0,14.76,14.46,13.78,6.22,49.68
$GC,7992,0.66,161.3,2602,3557,2091,2041,60.1,8.2,552,7996,0.00,2.35,0.00,0.000,1030,0.000,0.044,2611,2150,2065,2090,2041,0,0,0,0,0,0,14.57,14.49,14.59,6.22,49.09
$GC,8119,0.73,220.7,2611,2150,2090,2041,52.3,6.1,577,8187,0.00,2.58,60.88,1.219,11012,0.000,0.080,2611,3555,1815,1829,1802,0,0,0,0,0,0,14.72,14.15,13.64,6.21,49.37
$GC,8197,0.73,220.7,2611,3556,1829,1801,45.3,11.1,593,8201,0.00,2.40,0.00,0.000,3078,0.000,0.044,2621,2143,1814,1829,1799,0,0,0,0,0,0,14.31,14.22,14.32,6.19,48.30
$GC,8324,0.73,220.7,2622,2143,1828,1793,31.2,12.2,618,8327,0.00,2.47,0.00,0.000,2564,0.000,0.068,2632,737,1810,1827,1793,0,0,0,0,0,0,14.52,14.26,14.51,6.19,48.97
$GC,8352,0.73,220.7,2634,738,1824,1793,27.5,12.0,624,8356,0.00,2.42,0.00,0.000,1030,0.000,0.054,2632,2147,1808,1823,1793,0,0,0,0,0,0,14.39,14.29,14.41,6.18,48.77
$GC,8479,0.73,220.7,2632,2147,1824,1792,11.9,13.2,649,8482,0.00,2.50,0.00,0.000,260,0.000,0.082,2632,3555,1809,1824,1794,0,0,0,0,0,0,14.58,14.30,14.59,6.19,49.72
$GC,8527,0.73,220.7,2632,3555,1824,1792,4.7,14.0,659,8531,0.00,2.35,0.00,0.000,5126,0.000,0.042,2643,2149,1807,1823,1791,0,0,0,0,0,0,14.47,14.38,14.49,6.19,49.88
$STATE,8540,end climb,SURFACE_DEPTH_REACHED
$STATE,8540,begin surface coast
$STATE,8560,end surface coast,CONTROL_FINISHED_OK
$STATE,8560,begin surface
$SM_CCo,8635,0.00,0.000,0,0,1803,224.69
$SM_GC,1.25,5.57,0.08,0.00,0.057,0.161,0.000,232,2069,1803,-6.44,0.85,224.69,0,0,0,0,0,0,14.48,14.39,14.50
$IRIDIUM_FIX,-5952.63,8.57,200119,035951
$TT8_MAMPS,0.03745,0.250915
$HUMID,50.55
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3747808
$24V_AH,13.05,66.883
$10V_AH,13.61,0.000
$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,13.200,82.600,326.075,0.000,0.000,26.261,15.355,125.459,0.000,0.000,19.016,0.000,6840.001,393.207,1550.157,170.989,0.000,1024.477,0.000,1112.681,0.000,0.539,0.000
$DEVICE_MAMPS,437.580,2224.620,1566.720,0.000,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4978.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.646,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17365,666
$CAP_FILE_SIZE,90474,0
$CFSIZE,1023623168,986251264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.046,169.74,1
$GPS,200119,090031,-5952.564,8.244,14,0.7,32,-19.8,1.3,158.8,12,6.6