version: 66.14
glider: 640
mission: 5
dive: 340
start: 1 20 119 11 40 12
data:
$ID,640
$MISSION,5
$DIVE,340
$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,70
$R_STBD_OVSHOOT,76
$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
$GPS1,200119,113401,-5952.9990,8.8300,14,0.7,38,-19.8,0.4,80.3,11,5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-65.8
$GPS2,200119,113953,-5953.0083,8.9626,6,0.9,21,-19.8,0.9,104.2,10,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,225.3,50659,-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,-146.0,233,2151,1794,1825,0.0,0.0,0,102,0.00,0.00,-88.82,0.000,16386,0.000,0.000,232,2150,3230,3310,3151,0,0,0,0,0,0,14.57,28.83,14.58,6.19,50.94
$GC,104,-0.64,-146.0,233,2150,3311,3152,3.4,-7.6,18,122,6.10,2.72,-3.08,0.000,18948,0.354,2.220,2190,727,3318,3410,3226,0,0,0,0,0,0,14.05,13.33,14.37,6.30,49.64
$GC,236,-0.64,-146.0,2191,729,3413,3228,28.0,-15.9,45,241,0.00,2.30,0.00,0.000,3078,0.000,0.055,2180,2042,3319,3412,3227,0,0,0,0,0,0,14.37,14.30,14.39,6.31,48.54
$GC,362,-0.64,-146.0,2181,2049,3413,3228,50.5,-17.6,70,365,0.00,2.47,0.00,0.000,2308,0.000,0.080,2170,3458,3319,3412,3226,0,0,0,0,0,0,14.63,14.33,14.63,6.32,49.60
$GC,442,-0.64,-146.0,2171,3459,3412,3227,62.9,-14.1,86,446,0.05,2.22,0.00,0.000,3078,0.351,0.043,2187,2139,3319,3412,3226,0,0,0,0,0,0,14.12,14.38,14.29,6.32,50.19
$GC,568,-0.64,-146.0,2187,2138,3413,3228,77.4,-9.8,111,571,0.00,2.50,0.00,0.000,2564,0.000,0.064,2186,691,3319,3412,3227,0,0,0,0,0,0,14.67,14.39,14.67,6.32,49.40
$GC,637,-0.64,-146.0,2187,692,3413,3228,84.0,-8.3,125,641,0.03,2.35,0.00,0.000,3078,0.446,0.056,2185,2047,3319,3412,3226,0,0,0,0,0,0,14.17,14.39,14.32,6.31,48.89
$GC,763,-0.64,-146.0,2186,2048,3413,3227,95.7,-10.8,150,767,0.00,2.47,0.00,0.000,2308,0.000,0.082,2175,3463,3316,3412,3220,0,0,0,0,0,0,14.69,14.37,14.70,6.31,48.30
$GC,826,-0.64,-146.0,2176,3463,3414,3227,102.1,-11.7,159,831,0.05,2.30,0.00,0.000,3078,0.347,0.043,2192,2106,3319,3412,3227,0,0,0,0,0,0,14.16,14.42,14.33,6.31,48.42
$GC,1137,-0.64,-146.0,2193,2099,3413,3228,143.1,-12.8,175,1140,0.00,2.42,0.00,0.000,2564,0.000,0.064,2192,688,3318,3412,3225,0,0,0,0,0,0,14.76,14.45,14.76,6.31,49.92
$GC,1181,-0.64,-146.0,2193,689,3413,3227,147.5,-12.4,177,1186,0.00,2.33,0.00,0.000,3078,0.000,0.056,2183,2060,3320,3413,3227,0,0,0,0,0,0,14.60,14.47,14.62,6.31,50.51
$GC,1492,-0.64,-146.0,2183,2062,3413,3228,185.0,-11.4,193,1495,0.00,2.53,0.00,0.000,2308,0.000,0.083,2172,3515,3319,3412,3227,0,0,0,0,0,0,14.78,14.45,14.79,6.32,51.10
$GC,1517,-0.64,-146.0,2171,3516,3413,3225,186.8,-11.6,194,1521,0.08,2.35,0.00,0.000,3078,0.360,0.044,2197,2092,3319,3412,3226,0,0,0,0,0,0,14.26,14.52,14.52,6.32,50.55
$GC,1822,-0.64,-146.0,2197,2090,3414,3226,222.1,-11.2,209,1825,0.00,2.40,0.00,0.000,516,0.000,0.064,2197,693,3319,3412,3227,0,0,0,0,0,0,14.81,14.50,14.82,6.33,51.14
$GC,1887,-0.64,-146.0,2198,693,3414,3226,228.3,-11.3,212,1890,0.00,2.38,0.00,0.000,3078,0.000,0.055,2187,2103,3319,3412,3226,0,0,0,0,0,0,14.64,14.51,14.65,6.33,50.94
$GC,2197,-0.64,-146.0,2187,2105,3413,3227,266.4,-12.2,228,2201,0.00,2.45,0.00,0.000,2308,0.000,0.082,2176,3513,3319,3412,3227,0,0,0,0,0,0,14.82,14.47,14.82,6.34,51.18
$GC,2256,-0.64,-146.0,2177,3514,3414,3227,273.9,-12.5,231,2261,0.03,2.38,0.00,0.000,3078,0.435,0.043,2185,2098,3319,3412,3226,0,0,0,0,0,0,14.26,14.51,14.40,6.34,51.10
$GC,2577,-0.64,-146.0,2185,2097,3413,3228,312.8,-12.2,247,2580,0.00,2.40,0.00,0.000,2564,0.000,0.063,2185,697,3319,3412,3227,0,0,0,0,0,0,14.83,14.51,14.83,6.33,51.41
$GC,2636,-0.64,-146.0,2185,699,3413,3228,320.3,-12.4,250,2640,0.05,2.35,0.00,0.000,3078,0.440,0.054,2189,2101,3319,3412,3226,0,0,0,0,0,0,14.27,14.52,14.54,6.34,51.06
$STATE,2895,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2895,begin apogee
$GC,2900,-0.15,0.0,2186,2166,3413,3226,351.3,-12.0,263,3030,0.45,0.00,126.93,1.567,10246,0.262,0.000,2348,2166,2716,2777,2656,0,0,0,0,0,0,14.28,13.94,13.31,6.34,51.26
$STATE,3031,end apogee,CONTROL_FINISHED_OK
$STATE,3031,begin loiter
$GC,3317,-0.15,0.0,2348,2166,2772,2644,346.4,3.7,284,3317,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2707,2772,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.35
$GC,3617,-0.15,0.0,2348,2166,2772,2641,335.8,3.6,299,3617,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2706,2772,2641,0,0,0,0,0,0,14.72,14.72,14.72,6.29,51.14
$GC,3917,-0.15,0.0,2348,2166,2773,2640,325.5,3.4,314,3917,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2705,2771,2640,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.57
$GC,4217,-0.15,0.0,2348,2167,2772,2640,315.8,3.2,329,4218,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2705,2771,2639,0,0,0,0,0,0,14.86,14.87,14.86,6.29,51.85
$GC,4517,-0.15,0.0,2348,2166,2772,2640,306.5,3.0,344,4517,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2705,2771,2639,0,0,0,0,0,0,14.91,14.91,14.91,6.29,51.29
$GC,4816,-0.15,0.0,2349,2166,2772,2639,297.3,3.0,359,4817,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2705,2771,2639,0,0,0,0,0,0,14.94,14.94,14.94,6.29,52.12
$GC,5117,-0.15,0.0,2348,2167,2772,2641,288.5,3.0,374,5117,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2705,2771,2639,0,0,0,0,0,0,14.96,14.97,14.97,6.29,51.26
$GC,5417,-0.15,0.0,2348,2166,2772,2640,280.2,2.8,389,5417,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2705,2771,2640,0,0,0,0,0,0,14.98,14.99,14.98,6.28,52.04
$GC,5717,-0.15,0.0,2348,2166,2773,2640,272.3,2.6,404,5718,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2705,2771,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.29,52.04
$GC,6016,-0.15,0.0,2349,2167,2772,2641,264.6,2.5,419,6017,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2705,2771,2640,0,0,0,0,0,0,15.01,15.02,15.02,6.28,51.85
$GC,6317,-0.15,0.0,2348,2166,2773,2640,257.1,2.5,434,6317,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2705,2771,2640,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.45
$STATE,6615,end loiter,LOITER_COMPLETE
$STATE,6615,begin climb
$GC,6617,0.64,146.0,2348,2166,2772,2641,248.7,0.0,449,6755,0.62,2.55,130.82,1.411,11012,0.178,0.080,2595,3543,2120,2146,2095,0,0,0,0,0,0,14.53,13.99,13.45,6.29,51.41
$GC,6811,0.64,146.0,2595,3544,2143,2090,235.4,9.7,458,6815,0.00,2.40,0.00,0.000,1030,0.000,0.041,2605,2158,2115,2142,2088,0,0,0,0,0,0,14.18,14.12,14.19,6.24,49.01
$GC,7117,0.64,146.0,2606,2157,2136,2081,195.2,12.8,474,7120,0.00,2.50,0.00,0.000,516,0.000,0.067,2617,744,2107,2134,2081,0,0,0,0,0,0,14.59,14.28,14.59,6.24,50.82
$GC,7162,0.64,146.0,2617,744,2132,2082,190.3,12.6,476,7165,0.00,2.42,0.00,0.000,5126,0.000,0.054,2616,2129,2106,2131,2081,0,0,0,0,0,0,14.38,14.32,14.40,6.24,50.74
$GC,7477,0.64,146.0,2617,2130,2131,2078,148.7,12.7,492,7480,0.00,2.53,0.00,0.000,4356,0.000,0.085,2620,3558,2101,2124,2078,0,0,0,0,0,0,14.71,14.37,14.71,6.24,51.22
$GC,7541,0.64,146.0,2617,3558,2132,2078,141.9,12.3,495,7545,0.08,2.35,0.00,0.000,5126,0.352,0.043,2602,2143,2104,2131,2078,0,0,0,0,0,0,14.22,14.46,14.52,6.24,51.06
$GC,7852,0.64,146.0,2602,2144,2130,2078,106.0,11.6,511,7855,0.00,2.42,0.00,0.000,516,0.000,0.067,2612,744,2102,2129,2076,0,0,0,0,0,0,14.77,14.45,14.77,6.23,50.74
$GC,7931,0.64,146.0,2612,743,2128,2075,98.0,9.4,518,7935,0.00,2.38,0.00,0.000,5126,0.000,0.053,2612,2155,2101,2127,2076,0,0,0,0,0,0,14.60,14.47,14.62,6.23,50.94
$GC,8058,0.64,146.0,2612,2156,2128,2077,85.5,9.6,543,8062,0.00,2.45,0.00,0.000,4356,0.000,0.086,2612,3553,2101,2127,2076,0,0,0,0,0,0,14.77,14.44,14.77,6.23,50.94
$GC,8102,0.64,146.0,2612,3554,2127,2077,81.3,9.5,552,8106,0.05,2.33,0.00,0.000,5126,0.418,0.044,2605,2152,2101,2126,2076,0,0,0,0,0,0,14.27,14.51,14.54,6.22,49.84
$GC,8227,0.64,146.0,2606,2153,2128,2076,69.0,10.0,577,8230,0.00,2.45,0.00,0.000,516,0.000,0.067,2615,743,2105,2135,2076,0,0,0,0,0,0,14.78,14.46,14.78,6.22,50.00
$GC,8282,0.64,146.0,2615,743,2127,2077,63.8,9.4,588,8285,0.00,2.38,0.00,0.000,5126,0.000,0.053,2615,2151,2100,2126,2075,0,0,0,0,0,0,14.62,14.49,14.64,6.22,49.88
$GC,8408,0.64,146.0,2616,2151,2127,2077,51.3,10.4,613,8412,0.00,2.47,0.00,0.000,4356,0.000,0.086,2615,3556,2100,2126,2075,0,0,0,0,0,0,14.78,14.48,14.78,6.18,49.44
$GC,8456,0.64,146.0,2616,3556,2127,2075,46.4,10.7,623,8462,0.08,2.33,0.00,0.000,5126,0.351,0.044,2600,2148,2101,2126,2076,0,0,0,0,0,0,14.28,14.49,14.54,6.21,49.33
$GC,8583,0.67,176.8,2600,2148,2128,2075,36.0,7.2,648,8616,0.00,2.47,26.55,1.257,10756,0.000,0.067,2609,745,1996,2018,1974,0,0,0,0,0,0,14.78,14.38,13.82,6.20,50.11
$GC,8678,0.69,189.9,2609,746,2011,1971,28.5,7.8,667,8695,0.00,2.38,12.05,1.236,11270,0.000,0.052,2609,2150,1939,1958,1921,0,0,0,0,0,0,14.50,14.40,13.76,6.20,49.44
$GC,8817,0.69,189.9,2610,2150,1957,1914,15.6,9.6,695,8821,0.00,2.47,0.00,0.000,2308,0.000,0.082,2609,3553,1936,1956,1916,0,0,0,0,0,0,14.63,14.33,14.63,6.19,50.00
$GC,8862,0.69,189.9,2609,3554,1957,1917,11.6,9.2,704,8865,0.00,2.35,0.00,0.000,1030,0.000,0.045,2619,2141,1936,1956,1916,0,0,0,0,0,0,14.49,14.39,14.51,6.19,50.00
$STATE,8945,end climb,SURFACE_DEPTH_REACHED
$STATE,8945,begin surface coast
$STATE,8971,end surface coast,CONTROL_FINISHED_OK
$STATE,8971,begin surface
$SM_CCo,8985,26.67,0.246,0,0,1822,220.03
$SM_GC,0.79,5.65,0.00,26.67,0.079,0.000,0.246,242,2139,1822,-6.49,1.07,220.03,0,0,0,0,0,0,14.47,14.66,14.19
$IRIDIUM_FIX,-5952.63,8.57,200119,090243
$TT8_MAMPS,0.03745,0.290612
$HUMID,50.43
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3746784
$24V_AH,13.31,67.252
$10V_AH,13.33,0.000
$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,13.300,87.100,296.350,26.675,0.000,25.445,43.109,128.755,0.000,0.000,22.139,0.000,7099.166,421.794,1664.198,181.069,0.000,1074.861,0.000,1181.336,0.000,0.540,0.000
$DEVICE_MAMPS,445.995,2220.030,1567.485,245.565,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5388.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.833,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,20763,726
$CAP_FILE_SIZE,96335,0
$CFSIZE,1023623168,986054656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.047,88.16,1
$GPS,200119,141126,-5953.357,8.935,21,0.8,37,-19.8,0.8,311.8,10,8.5