version: 66.14
glider: 640
mission: 5
dive: 344
start: 1 20 119 21 57 23
data:
$ID,640
$MISSION,5
$DIVE,344
$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,50
$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
$GPS1,200119,215154,-5954.8936,7.9791,35,0.9,41,-19.8,0.2,301.3,10,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-68.2
$GPS2,200119,215704,-5954.9341,8.0211,8,0.8,13,-19.8,0.6,82.6,11,9.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,209.2,47000,-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,10,-0.64,-146.0,233,2082,1792,1825,0.0,0.0,0,101,0.00,0.00,-88.10,0.000,16386,0.000,0.000,232,2081,3216,3296,3136,0,0,0,0,0,0,14.59,28.83,14.60,6.19,51.45
$GC,103,-0.64,-146.0,232,2081,3298,3137,3.4,-7.0,18,117,6.05,2.78,-3.60,0.000,18692,0.349,2.236,2170,3510,3316,3408,3224,0,0,0,0,0,0,14.04,13.33,14.39,6.30,50.15
$GC,237,-0.64,-146.0,2179,3512,3412,3224,26.4,-15.5,45,241,0.08,2.35,0.00,0.000,3078,0.368,0.042,2195,2112,3317,3410,3224,0,0,0,0,0,0,14.14,14.39,14.39,6.32,49.21
$GC,363,-0.64,-146.0,2195,2112,3412,3226,48.8,-20.8,70,367,0.00,2.47,0.00,0.000,516,0.000,0.063,2195,693,3317,3411,3224,0,0,0,0,0,0,14.65,14.32,14.66,6.32,49.64
$GC,382,-0.64,-146.0,2196,694,3411,3225,53.4,-22.7,74,385,0.00,2.42,0.00,0.000,3078,0.000,0.060,2185,2101,3317,3410,3224,0,0,0,0,0,0,14.51,14.38,14.52,6.32,49.68
$GC,507,-0.64,-146.0,2185,2102,3412,3224,76.1,-15.8,99,510,0.00,2.47,0.00,0.000,2308,0.000,0.083,2175,3509,3317,3411,3224,0,0,0,0,0,0,14.69,14.35,14.69,6.31,49.68
$GC,532,-0.64,-146.0,2175,3510,3411,3223,80.0,-15.5,104,537,0.05,2.38,0.00,0.000,3078,0.434,0.045,2190,2090,3317,3411,3224,0,0,0,0,0,0,14.16,14.42,14.42,6.32,49.44
$GC,658,-0.64,-146.0,2190,2089,3412,3224,98.4,-14.2,129,662,0.00,2.42,0.00,0.000,2564,0.000,0.065,2190,688,3318,3412,3224,0,0,0,0,0,0,14.69,14.35,14.69,6.31,48.62
$GC,717,-0.64,-146.0,2190,689,3412,3225,106.0,-13.7,134,720,0.00,2.45,0.00,0.000,3078,0.000,0.057,2180,2100,3317,3411,3224,0,0,0,0,0,0,14.55,14.39,14.57,6.31,48.14
$GC,1032,-0.64,-146.0,2180,2100,3412,3224,147.6,-12.4,150,1036,0.00,2.47,0.00,0.000,2308,0.000,0.082,2169,3506,3317,3411,3224,0,0,0,0,0,0,14.76,14.42,14.76,6.31,49.48
$GC,1112,-0.64,-146.0,2170,3507,3421,3224,157.1,-12.8,154,1116,0.08,2.35,0.00,0.000,3078,0.369,0.043,2194,2090,3317,3411,3224,0,0,0,0,0,0,14.22,14.47,14.48,6.32,49.88
$GC,1427,-0.64,-146.0,2195,2089,3412,3224,196.5,-12.6,170,1430,0.00,2.42,0.00,0.000,516,0.000,0.064,2193,692,3317,3411,3224,0,0,0,0,0,0,14.78,14.46,14.78,6.32,50.82
$GC,1487,-0.64,-146.0,2193,692,3414,3225,204.1,-12.7,173,1490,0.00,2.40,0.00,0.000,3078,0.000,0.056,2184,2104,3317,3411,3224,0,0,0,0,0,0,14.62,14.47,14.63,6.33,51.53
$GC,1807,-0.64,-146.0,2185,2104,3412,3224,247.2,-13.8,189,1811,0.00,2.45,0.00,0.000,2308,0.000,0.083,2174,3515,3317,3411,3224,0,0,0,0,0,0,14.81,14.45,14.81,6.34,51.14
$GC,1857,-0.64,-146.0,2174,3516,3412,3225,252.8,-14.0,191,1861,0.08,2.35,0.00,0.000,3078,0.364,0.043,2200,2091,3317,3411,3224,0,0,0,0,0,0,14.25,14.52,14.51,6.34,51.18
$GC,2167,-0.64,-146.0,2201,2090,3413,3224,293.5,-12.5,207,2170,0.00,2.40,0.00,0.000,4612,0.000,0.063,2199,690,3317,3411,3224,0,0,0,0,0,0,14.81,14.49,14.82,6.34,51.14
$GC,2237,-0.64,-146.0,2199,690,3412,3223,301.0,-12.6,210,2241,0.00,2.40,0.00,0.000,3078,0.000,0.055,2190,2107,3318,3412,3224,0,0,0,0,0,0,14.64,14.51,14.65,6.34,51.29
$GC,2542,-0.64,-146.0,2190,2107,3411,3224,339.5,-12.1,225,2546,0.00,2.42,0.00,0.000,2308,0.000,0.083,2179,3507,3317,3410,3224,0,0,0,0,0,0,14.83,14.47,14.83,6.34,51.89
$GC,2587,-0.64,-146.0,2179,3509,3412,3225,343.8,-12.1,227,2591,0.05,2.33,0.00,0.000,3078,0.433,0.043,2195,2092,3317,3411,3224,0,0,0,0,0,0,14.26,14.52,14.52,6.34,51.14
$STATE,2635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2635,begin apogee
$GC,2640,-0.15,0.0,2195,2164,3412,3225,350.8,-11.7,230,2769,0.45,0.00,126.78,1.567,10246,0.259,0.000,2354,2163,2718,2779,2658,0,0,0,0,0,0,14.23,13.93,13.30,6.34,51.22
$STATE,2770,end apogee,CONTROL_FINISHED_OK
$STATE,2770,begin loiter
$GC,3057,-0.15,0.0,2355,2163,2772,2642,344.2,4.0,251,3057,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2163,2706,2771,2642,0,0,0,0,0,0,14.56,14.57,14.57,6.29,51.26
$GC,3357,-0.15,0.0,2354,2164,2771,2640,332.2,4.0,266,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2162,2704,2770,2639,0,0,0,0,0,0,14.71,14.72,14.71,6.29,51.06
$GC,3657,-0.15,0.0,2354,2164,2771,2639,320.7,3.7,281,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2163,2704,2770,2638,0,0,0,0,0,0,14.80,14.81,14.80,6.29,50.86
$GC,3957,-0.15,0.0,2354,2164,2772,2637,310.0,3.4,296,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2163,2703,2770,2637,0,0,0,0,0,0,14.85,14.86,14.86,6.29,51.10
$GC,4257,-0.15,0.0,2354,2164,2771,2638,300.3,3.2,311,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2164,2703,2770,2637,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.22
$GC,4557,-0.15,0.0,2354,2164,2771,2638,291.8,2.6,326,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2163,2703,2770,2636,0,0,0,0,0,0,14.93,14.93,14.93,6.29,51.14
$GC,4857,-0.15,0.0,2355,2163,2771,2636,284.2,2.5,341,4858,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2163,2703,2770,2636,0,0,0,0,0,0,14.95,14.96,14.96,6.29,51.57
$GC,5157,-0.15,0.0,2354,2162,2771,2636,276.1,2.7,356,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2163,2703,2770,2636,0,0,0,0,0,0,14.97,14.98,14.97,6.29,51.57
$GC,5457,-0.15,0.0,2354,2164,2771,2637,267.9,2.8,371,5458,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2162,2703,2770,2636,0,0,0,0,0,0,14.99,15.00,15.00,6.29,51.37
$GC,5757,-0.15,0.0,2354,2163,2771,2636,258.8,3.2,386,5758,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2163,2703,2770,2636,0,0,0,0,0,0,15.00,15.01,15.01,6.29,51.45
$GC,6057,-0.15,0.0,2354,2164,2771,2636,248.7,3.4,401,6058,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2163,2702,2770,2635,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.49
$STATE,6355,end loiter,LOITER_COMPLETE
$STATE,6355,begin climb
$GC,6357,0.64,146.0,2355,2163,2771,2636,239.3,0.0,416,6498,0.60,2.58,129.95,1.407,10500,0.175,0.081,2592,3547,2119,2144,2094,0,0,0,0,0,0,14.52,14.00,13.45,6.29,51.49
$GC,6582,0.64,146.0,2593,3548,2141,2086,223.3,9.9,427,6586,0.00,2.38,0.00,0.000,1030,0.000,0.042,2603,2150,2113,2140,2086,0,0,0,0,0,0,14.26,14.18,14.28,6.24,49.21
$GC,6897,0.64,146.0,2604,2149,2130,2078,188.4,11.1,443,6901,0.00,2.47,0.00,0.000,516,0.000,0.067,2614,745,2105,2132,2078,0,0,0,0,0,0,14.60,14.30,14.60,6.24,50.47
$GC,6947,0.64,146.0,2614,745,2130,2079,184.1,10.9,445,6951,0.00,2.38,0.00,0.000,5126,0.000,0.053,2614,2138,2103,2129,2078,0,0,0,0,0,0,14.46,14.34,14.48,6.24,50.78
$GC,7257,0.64,146.0,2615,2138,2130,2076,147.8,11.0,461,7261,0.00,2.53,0.00,0.000,4356,0.000,0.084,2615,3562,2102,2128,2076,0,0,0,0,0,0,14.71,14.37,14.71,6.25,51.14
$GC,7342,0.64,146.0,2614,3563,2129,2078,140.2,10.2,465,7347,0.08,2.35,0.00,0.000,5126,0.355,0.044,2594,2150,2102,2128,2076,0,0,0,0,0,0,14.21,14.43,14.47,6.24,50.86
$GC,7652,0.64,146.2,2600,2151,2129,2075,114.2,8.3,481,7656,0.00,2.45,0.00,0.000,2564,0.000,0.067,2608,740,2101,2128,2075,0,0,0,0,0,0,14.76,14.44,14.77,6.24,51.14
$GC,7702,0.64,146.2,2609,740,2127,2074,111.0,8.7,483,7706,0.00,2.40,0.00,0.000,5126,0.000,0.052,2609,2161,2100,2127,2074,0,0,0,0,0,0,14.59,14.46,14.62,6.23,51.02
$GC,8007,0.64,146.2,2608,2162,2126,2074,76.8,11.2,529,8011,0.00,2.45,0.00,0.000,4356,0.000,0.084,2609,3558,2100,2126,2074,0,0,0,0,0,0,14.78,14.44,14.78,6.22,50.03
$GC,8072,0.64,146.2,2609,3558,2127,2074,69.4,11.3,542,8076,0.00,2.35,0.00,0.000,5126,0.000,0.043,2619,2143,2100,2126,2074,0,0,0,0,0,0,14.62,14.51,14.64,6.22,49.84
$GC,8198,0.64,146.2,2620,2144,2127,2074,55.2,11.2,567,8202,0.00,2.50,0.00,0.000,4356,0.000,0.080,2619,3558,2100,2126,2074,0,0,0,0,0,0,14.78,14.44,14.78,6.22,49.44
$GC,8242,0.64,146.2,2620,3559,2127,2074,50.4,10.8,576,8247,0.08,2.35,0.00,0.000,5126,0.342,0.044,2603,2142,2100,2126,2074,0,0,0,0,0,0,14.28,14.51,14.54,6.21,49.60
$GC,8367,0.64,148.0,2603,2138,2126,2074,40.0,8.3,601,8371,0.00,2.42,0.00,0.000,516,0.000,0.067,2613,750,2099,2126,2073,0,0,0,0,0,0,14.78,14.47,14.78,6.21,49.76
$GC,8407,0.64,148.0,2613,750,2125,2072,36.7,8.4,609,8411,0.00,2.38,0.00,0.000,5126,0.000,0.053,2613,2157,2098,2125,2072,0,0,0,0,0,0,14.62,14.49,14.64,6.21,49.52
$GC,8533,0.64,148.0,2613,2158,2126,2072,25.8,9.5,634,8537,0.00,2.47,0.00,0.000,4356,0.000,0.086,2613,3558,2098,2125,2072,0,0,0,0,0,0,14.78,14.44,14.78,6.21,50.70
$GC,8577,0.64,148.0,2613,3558,2126,2073,21.3,9.7,643,8581,0.05,2.35,0.00,0.000,5126,0.415,0.044,2606,2146,2098,2124,2072,0,0,0,0,0,0,14.26,14.51,14.54,6.21,50.11
$GC,8702,0.64,148.0,2605,2144,2126,2072,12.1,8.5,668,8706,0.00,2.42,0.00,0.000,516,0.000,0.069,2615,750,2098,2125,2072,0,0,0,0,0,0,14.78,14.46,14.78,6.21,50.63
$GC,8737,0.64,148.0,2616,749,2124,2073,8.5,10.2,675,8741,0.00,2.38,0.00,0.000,5126,0.000,0.055,2616,2151,2097,2123,2072,0,0,0,0,0,0,14.62,14.48,14.64,6.22,51.06
$STATE,8810,end climb,SURFACE_DEPTH_REACHED
$STATE,8810,begin surface coast
$STATE,8841,end surface coast,CONTROL_FINISHED_OK
$STATE,8841,begin surface
$SM_CCo,8855,66.40,0.244,0,0,1823,220.03
$SM_GC,1.26,5.50,0.08,66.40,0.060,0.167,0.244,256,2085,1823,-6.49,1.02,220.03,0,0,0,0,0,0,14.62,14.52,14.23
$IRIDIUM_FIX,-5954.49,8.58,200119,192114
$TT8_MAMPS,0.03745,0.349783
$HUMID,49.88
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3744736
$24V_AH,13.30,67.969
$10V_AH,13.42,0.000
$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,13.125,87.525,256.725,66.400,0.000,24.927,15.516,123.964,0.000,0.000,14.376,0.000,7021.470,415.062,1616.848,180.791,0.000,1064.318,0.000,1178.868,0.000,0.541,0.000
$DEVICE_MAMPS,433.755,2236.095,1567.485,244.035,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5258.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.692,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17313,696
$CAP_FILE_SIZE,95902,0
$CFSIZE,1023623168,985661440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.034,135.68,1
$GPS,210119,002719,-5955.419,8.227,13,0.7,48,-19.8,0.9,17.5,11,4.9