version: 66.14
glider: 640
mission: 5
dive: 345
start: 1 21 119 0 32 57
data:
$ID,640
$MISSION,5
$DIVE,345
$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,48
$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
$GPS1,210119,002719,-5955.4194,8.2273,13,0.7,48,-19.8,0.9,17.5,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-66.5
$GPS2,210119,003237,-5955.4229,8.3232,8,0.8,15,-19.8,1.1,128.1,10,8.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,215.6,46152,-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,-146.0,213,2083,1793,1824,0.0,0.0,0,101,0.00,0.00,-87.90,0.000,16386,0.000,0.000,212,2083,3203,3285,3122,0,0,0,0,0,0,14.59,28.83,14.59,6.19,51.02
$GC,103,-0.64,-146.0,212,2084,3286,3123,3.2,-6.1,18,121,6.07,2.78,-4.28,0.000,18692,0.347,2.241,2165,3503,3317,3410,3224,0,0,0,0,0,0,14.05,13.34,14.39,6.30,50.39
$GC,232,-0.64,-146.0,2166,3504,3411,3225,25.5,-16.3,44,236,0.08,2.38,0.00,0.000,3078,0.304,0.043,2206,2111,3318,3412,3224,0,0,0,0,0,0,14.13,14.33,14.37,6.32,49.60
$GC,358,-0.64,-146.0,2207,2110,3413,3224,44.7,-15.0,69,361,0.00,2.45,0.00,0.000,4612,0.000,0.065,2207,700,3318,3412,3224,0,0,0,0,0,0,14.64,14.30,14.64,6.32,49.33
$GC,407,-0.64,-146.0,2207,700,3413,3224,51.7,-12.2,79,410,0.00,2.40,0.00,0.000,1030,0.000,0.056,2198,2106,3318,3412,3224,0,0,0,0,0,0,14.49,14.38,14.50,6.32,49.52
$GC,532,-0.64,-146.0,2198,2102,3412,3225,67.0,-13.7,104,535,0.00,2.47,0.00,0.000,260,0.000,0.083,2187,3508,3318,3412,3224,0,0,0,0,0,0,14.68,14.36,14.69,6.32,49.96
$GC,612,-0.64,-146.0,2187,3508,3413,3225,77.3,-11.7,120,616,0.00,2.35,0.00,0.000,3078,0.000,0.042,2186,2097,3318,3413,3224,0,0,0,0,0,0,14.54,14.43,14.55,6.31,49.21
$GC,738,-0.64,-146.0,2187,2095,3413,3224,93.2,-12.6,145,741,0.00,2.42,0.00,0.000,2564,0.000,0.062,2186,694,3318,3412,3224,0,0,0,0,0,0,14.70,14.35,14.70,6.31,49.13
$GC,761,-0.64,-146.0,2186,695,3413,3225,96.4,-12.6,150,767,0.05,2.40,0.00,0.000,3078,0.450,0.056,2190,2106,3318,3412,3224,0,0,0,0,0,0,14.14,14.42,14.44,6.31,48.62
$GC,897,-0.64,-146.0,2191,2107,3413,3225,113.0,-12.4,162,901,0.00,2.45,0.00,0.000,2308,0.000,0.082,2181,3506,3318,3412,3224,0,0,0,0,0,0,14.73,14.40,14.73,6.31,48.42
$GC,966,-0.64,-146.0,2181,3506,3413,3224,120.7,-12.6,165,970,0.00,2.35,0.00,0.000,3078,0.000,0.044,2180,2094,3318,3412,3224,0,0,0,0,0,0,14.57,14.45,14.59,6.31,48.74
$GC,1277,-0.64,-146.0,2180,2093,3412,3224,162.1,-13.3,181,1280,0.00,2.42,0.00,0.000,2564,0.000,0.064,2179,690,3318,3412,3224,0,0,0,0,0,0,14.77,14.45,14.78,6.32,50.39
$GC,1356,-0.64,-146.0,2180,690,3414,3225,172.0,-13.2,185,1360,0.08,2.40,0.00,0.000,3078,0.374,0.056,2193,2103,3318,3412,3224,0,0,0,0,0,0,14.21,14.47,14.49,6.32,50.43
$GC,1672,-0.64,-146.0,2193,2104,3413,3226,212.2,-12.6,201,1675,0.00,2.45,0.00,0.000,2308,0.000,0.083,2182,3506,3317,3412,3223,0,0,0,0,0,0,14.80,14.45,14.80,6.33,50.82
$GC,1722,-0.64,-146.0,2182,3507,3412,3225,217.2,-12.6,203,1725,0.00,2.33,0.00,0.000,3078,0.000,0.043,2181,2098,3318,3412,3225,0,0,0,0,0,0,14.62,14.52,14.65,6.33,50.98
$GC,2032,-0.64,-146.0,2182,2097,3414,3224,258.5,-13.2,219,2036,0.00,2.40,0.00,0.000,2564,0.000,0.063,2181,697,3318,3412,3224,0,0,0,0,0,0,14.81,14.49,14.82,6.33,51.06
$GC,2102,-0.64,-146.0,2182,698,3413,3224,266.6,-13.4,222,2106,0.08,2.38,0.00,0.000,3078,0.366,0.055,2194,2101,3318,3412,3224,0,0,0,0,0,0,14.25,14.50,14.52,6.33,51.10
$GC,2407,-0.64,-146.0,2195,2102,3413,3224,306.1,-12.6,237,2410,0.00,2.45,0.00,0.000,4356,0.000,0.083,2185,3502,3318,3412,3224,0,0,0,0,0,0,14.82,14.46,14.83,6.28,50.94
$GC,2466,-0.64,-146.0,2185,3505,3413,3224,313.8,-12.8,240,2470,0.00,2.33,0.00,0.000,3078,0.000,0.042,2184,2095,3317,3412,3223,0,0,0,0,0,0,14.64,14.53,14.66,6.33,51.41
$STATE,2745,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2745,begin apogee
$GC,2750,-0.15,0.0,2184,2165,3409,3225,350.6,-13.2,254,2879,0.47,0.00,126.20,1.565,10246,0.259,0.000,2352,2164,2716,2776,2656,0,0,0,0,0,0,14.23,13.94,13.30,6.33,51.73
$STATE,2880,end apogee,CONTROL_FINISHED_OK
$STATE,2880,begin loiter
$GC,3167,-0.15,0.0,2352,2165,2772,2642,350.7,2.5,275,3167,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2164,2706,2771,2642,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.78
$GC,3467,-0.15,0.0,2352,2165,2772,2640,343.4,2.4,290,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2705,2771,2640,0,0,0,0,0,0,14.71,14.72,14.71,6.29,51.02
$GC,3767,-0.15,0.0,2352,2165,2771,2640,335.7,2.6,305,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2704,2771,2638,0,0,0,0,0,0,14.81,14.80,14.81,6.29,51.29
$GC,4067,-0.15,0.0,2352,2165,2771,2639,326.9,3.1,320,4068,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2704,2770,2638,0,0,0,0,0,0,14.85,14.86,14.86,6.29,51.14
$GC,4367,-0.15,0.0,2352,2165,2772,2639,316.4,3.8,335,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2704,2771,2637,0,0,0,0,0,0,14.90,14.91,14.91,6.29,51.29
$GC,4667,-0.15,0.0,2352,2165,2771,2637,304.1,4.2,350,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2703,2770,2637,0,0,0,0,0,0,14.93,14.94,14.94,6.29,51.26
$GC,4967,-0.15,0.0,2352,2165,2772,2637,291.9,3.9,365,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2703,2770,2637,0,0,0,0,0,0,14.96,14.96,14.96,6.29,51.37
$GC,5267,-0.15,0.0,2352,2165,2772,2637,281.2,3.4,380,5267,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2164,2704,2771,2637,0,0,0,0,0,0,14.98,14.98,14.98,6.29,51.96
$GC,5567,-0.15,0.0,2352,2164,2772,2636,272.0,3.0,395,5568,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2703,2770,2636,0,0,0,0,0,0,14.99,15.00,15.00,6.29,51.41
$GC,5867,-0.15,0.0,2352,2165,2772,2636,263.4,2.7,410,5867,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2703,2771,2636,0,0,0,0,0,0,15.01,15.02,15.01,6.29,51.37
$GC,6167,-0.15,0.0,2352,2165,2771,2637,256.0,2.2,425,6167,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2703,2771,2636,0,0,0,0,0,0,15.02,15.02,15.02,6.29,52.12
$GC,6467,-0.15,0.0,2352,2165,2772,2635,250.2,1.9,440,6467,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2703,2771,2636,0,0,0,0,0,0,15.03,15.04,15.04,6.28,52.16
$STATE,6485,end loiter,LOITER_COMPLETE
$STATE,6485,begin climb
$GC,6487,0.64,146.0,2352,2165,2772,2636,249.8,0.0,441,6627,0.62,2.55,130.02,1.411,10500,0.174,0.080,2600,3544,2118,2142,2094,0,0,0,0,0,0,14.53,13.99,13.44,6.28,51.57
$GC,6697,0.64,146.0,2600,3545,2140,2088,236.7,9.5,451,6700,0.00,2.38,0.00,0.000,5126,0.000,0.041,2610,2155,2113,2140,2086,0,0,0,0,0,0,14.26,14.17,14.27,6.22,49.29
$GC,7007,0.64,146.0,2611,2155,2133,2078,201.9,11.0,467,7011,0.00,2.50,0.00,0.000,4612,0.000,0.067,2621,738,2105,2132,2078,0,0,0,0,0,0,14.60,14.29,14.60,6.24,50.43
$GC,7062,0.64,146.0,2622,738,2129,2078,197.7,10.7,469,7066,0.05,2.40,0.00,0.000,5126,0.392,0.053,2605,2145,2103,2128,2078,0,0,0,0,0,0,14.14,14.33,14.39,6.24,50.90
$GC,7367,0.64,146.0,2605,2146,2128,2076,164.1,11.0,485,7370,0.00,2.50,0.00,0.000,260,0.000,0.082,2605,3555,2101,2127,2076,0,0,0,0,0,0,14.71,14.37,14.71,6.24,51.53
$GC,7437,0.64,146.0,2604,3556,2128,2076,157.3,11.3,488,7440,0.00,2.35,0.00,0.000,5126,0.000,0.043,2613,2149,2106,2127,2086,0,0,0,0,0,0,14.55,14.45,14.57,6.24,50.98
$GC,7747,0.64,146.0,2614,2149,2127,2075,117.6,13.5,504,7750,0.03,2.45,0.00,0.000,4612,0.597,0.067,2615,744,2100,2127,2074,0,0,0,0,0,0,14.44,14.44,14.54,6.23,51.10
$GC,7792,0.64,146.0,2615,745,2126,2074,112.4,13.3,506,7795,0.00,2.38,0.00,0.000,5126,0.000,0.053,2615,2151,2099,2125,2074,0,0,0,0,0,0,14.59,14.46,14.62,6.24,51.45
$GC,8097,0.64,146.0,2615,2152,2126,2075,74.5,10.4,553,8101,0.00,2.47,0.00,0.000,4356,0.000,0.083,2615,3557,2099,2125,2073,0,0,0,0,0,0,14.79,14.44,14.79,6.22,50.23
$GC,8172,0.64,146.0,2615,3557,2126,2075,66.9,9.8,568,8176,0.08,2.35,0.00,0.000,5126,0.352,0.043,2600,2145,2099,2125,2074,0,0,0,0,0,0,14.27,14.51,14.54,6.22,49.52
$GC,8298,0.66,162.2,2600,2145,2126,2074,56.3,7.7,593,8315,0.00,2.47,11.38,1.314,10756,0.000,0.067,2603,742,2052,2076,2029,0,0,0,0,0,0,14.78,14.47,13.84,6.21,49.37
$GC,8402,0.66,167.8,2610,743,2077,2026,48.0,8.1,614,8412,0.00,2.38,6.05,1.235,11270,0.000,0.052,2609,2152,2034,2057,2011,0,0,0,0,0,0,14.57,14.45,13.75,6.21,49.64
$GC,8532,0.66,167.8,2610,2153,2053,2006,35.5,10.1,640,8535,0.00,2.47,0.00,0.000,2308,0.000,0.084,2609,3562,2029,2052,2007,0,0,0,0,0,0,14.71,14.39,14.71,6.21,49.52
$GC,8562,0.66,167.8,2610,3563,2053,2007,32.3,11.0,646,8565,0.00,2.40,0.00,0.000,5126,0.000,0.045,2620,2155,2029,2052,2007,0,0,0,0,0,0,14.49,14.43,14.51,6.21,49.60
$GC,8688,0.66,167.8,2619,2155,2053,2007,19.4,9.9,671,8692,0.00,2.45,0.00,0.000,4612,0.000,0.067,2631,741,2029,2052,2006,0,0,0,0,0,0,14.72,14.42,14.72,6.21,50.31
$GC,8732,0.66,167.8,2631,742,2052,2007,15.5,8.4,680,8736,0.05,2.40,0.00,0.000,5126,0.387,0.054,2613,2155,2029,2052,2006,0,0,0,0,0,0,14.26,14.45,14.49,6.21,50.19
$GC,8858,0.66,167.8,2613,2156,2052,2005,3.7,9.5,705,8862,0.00,2.47,0.00,0.000,260,0.000,0.082,2613,3558,2028,2052,2005,0,0,0,0,0,0,14.73,14.41,14.74,6.21,50.47
$STATE,8864,end climb,SURFACE_DEPTH_REACHED
$STATE,8864,begin surface coast
$STATE,8895,end surface coast,CONTROL_FINISHED_OK
$STATE,8895,begin surface
$SM_CCo,8911,49.58,0.243,0,0,1822,220.03
$SM_GC,1.00,5.57,2.53,49.58,0.081,0.045,0.243,257,2074,1822,-6.46,0.71,220.03,0,0,0,0,0,0,14.54,14.45,14.23
$IRIDIUM_FIX,-5957.44,4.30,200119,215407
$TT8_MAMPS,0.038199,0.350532
$HUMID,50.82
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3744224
$24V_AH,13.30,68.150
$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,13.225,87.600,273.650,49.575,0.000,24.746,17.944,126.548,0.000,0.000,16.627,0.000,7050.918,410.084,1637.358,183.499,0.000,1071.420,0.000,1190.299,0.000,0.539,0.000
$DEVICE_MAMPS,597.465,2241.450,1565.190,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5293.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.696,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,17357,713
$CAP_FILE_SIZE,96481,0
$CFSIZE,1023623168,985563136
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,63.00,0x235722,0,24
$INTR,1,8298.79,0x235722,1,24
$CURRENT,0.012,153.44,1
$GPS,210119,030319,-5955.819,8.308,13,0.8,36,-19.8,0.2,108.1,10,6.7