version: 66.14
glider: 640
mission: 5
dive: 346
start: 1 21 119 3 9 46
data:
$ID,640
$MISSION,5
$DIVE,346
$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,47
$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
$GPS1,210119,030319,-5955.8193,8.3077,13,0.8,36,-19.8,0.2,108.1,10,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-65.9
$GPS2,210119,030927,-5955.7974,8.3519,8,0.8,18,-19.8,0.8,54.5,10,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,211.3,45472,-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,-146.0,237,2073,1793,1828,0.0,0.0,0,96,0.00,0.00,-82.70,0.000,16386,0.000,0.000,233,2072,3119,3201,3038,0,0,0,0,0,0,14.57,28.83,14.57,6.19,51.37
$GC,98,-0.64,-146.0,234,2073,3202,3039,3.0,-4.9,17,116,6.07,2.62,-7.60,0.000,18948,0.350,2.231,2194,712,3313,3414,3213,0,0,0,0,0,0,14.04,13.05,14.38,6.30,50.03
$GC,242,-0.64,-146.0,2195,712,3415,3222,23.8,-14.0,46,245,0.00,2.40,0.00,0.000,3078,0.000,0.057,2185,2106,3318,3414,3222,0,0,0,0,0,0,14.47,14.35,14.49,6.32,48.74
$GC,367,-0.64,-146.0,2186,2106,3415,3223,44.5,-17.2,71,369,0.00,0.00,0.00,0.000,2054,0.000,0.000,2185,2106,3318,3414,3223,0,0,0,0,0,0,14.66,14.65,14.65,6.32,49.68
$GC,492,-0.64,-146.0,2185,2107,3415,3224,62.5,-14.3,96,495,0.00,2.42,0.00,0.000,2564,0.000,0.061,2185,708,3318,3414,3222,0,0,0,0,0,0,14.68,14.38,14.68,6.32,49.68
$GC,516,-0.64,-146.0,2185,708,3415,3223,66.0,-13.9,101,522,0.05,2.40,0.00,0.000,3078,0.440,0.057,2189,2109,3318,3414,3223,0,0,0,0,0,0,14.16,14.40,14.43,6.32,50.11
$GC,643,-0.64,-146.0,2189,2109,3416,3223,83.9,-15.4,126,647,0.00,2.45,0.00,0.000,2308,0.000,0.083,2178,3505,3318,3414,3223,0,0,0,0,0,0,14.69,14.35,14.69,6.31,48.77
$GC,686,-0.64,-146.0,2179,3505,3415,3224,90.9,-15.4,135,691,0.05,2.33,0.00,0.000,3078,0.438,0.044,2194,2111,3318,3414,3222,0,0,0,0,0,0,14.18,14.43,14.44,6.32,48.93
$GC,812,-0.64,-146.0,2195,2110,3415,3223,109.6,-14.9,151,815,0.00,2.45,0.00,0.000,516,0.000,0.064,2194,694,3318,3414,3223,0,0,0,0,0,0,14.73,14.42,14.73,6.30,48.34
$GC,847,-0.64,-146.0,2194,695,3415,3223,112.7,-15.0,152,850,0.00,2.40,0.00,0.000,3078,0.000,0.056,2184,2104,3318,3414,3223,0,0,0,0,0,0,14.57,14.44,14.58,6.31,48.30
$GC,1152,-0.64,-146.0,2184,2105,3415,3224,159.7,-14.6,168,1155,0.00,2.45,0.00,0.000,2308,0.000,0.083,2173,3507,3318,3414,3223,0,0,0,0,0,0,14.76,14.42,14.77,6.31,50.03
$GC,1232,-0.64,-146.0,2174,3508,3415,3223,170.9,-14.1,172,1236,0.08,2.35,0.00,0.000,3078,0.369,0.043,2198,2088,3318,3414,3223,0,0,0,0,0,0,14.22,14.50,14.49,6.32,50.15
$GC,1548,-0.64,-146.0,2198,2088,3416,3224,212.4,-13.1,188,1551,0.00,2.40,0.00,0.000,516,0.000,0.063,2198,698,3318,3414,3223,0,0,0,0,0,0,14.78,14.47,14.78,6.32,51.41
$GC,1632,-0.64,-146.0,2199,698,3415,3223,222.1,-13.0,192,1636,0.00,2.38,0.00,0.000,3078,0.000,0.055,2188,2103,3318,3414,3223,0,0,0,0,0,0,14.62,14.49,14.64,6.33,51.49
$GC,1942,-0.64,-146.0,2188,2104,3415,3224,263.1,-12.8,208,1945,0.00,2.45,0.00,0.000,2308,0.000,0.083,2177,3509,3318,3414,3223,0,0,0,0,0,0,14.81,14.46,14.81,6.34,51.33
$GC,1986,-0.64,-146.0,2178,3509,3415,3223,268.3,-12.9,210,1990,0.05,2.33,0.00,0.000,3078,0.436,0.043,2193,2099,3318,3414,3223,0,0,0,0,0,0,14.25,14.52,14.52,6.33,51.65
$GC,2302,-0.64,-146.0,2193,2098,3415,3224,308.6,-12.6,226,2306,0.00,2.40,0.00,0.000,2564,0.000,0.063,2193,697,3318,3414,3223,0,0,0,0,0,0,14.82,14.50,14.82,6.34,51.14
$GC,2377,-0.64,-146.0,2193,698,3415,3224,316.2,-12.7,229,2380,0.00,2.38,0.00,0.000,3078,0.000,0.054,2182,2103,3318,3414,3223,0,0,0,0,0,0,14.64,14.48,14.66,6.34,51.14
$STATE,2640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2640,begin apogee
$GC,2645,-0.15,0.0,2183,2168,3415,3224,351.5,-12.6,243,2774,0.47,0.00,126.07,1.569,10246,0.265,0.000,2349,2167,2719,2780,2659,0,0,0,0,0,0,14.26,13.94,13.30,6.34,51.37
$STATE,2775,end apogee,CONTROL_FINISHED_OK
$STATE,2775,begin loiter
$GC,3062,-0.15,0.0,2349,2168,2773,2645,347.1,3.4,264,3062,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2708,2773,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.29,51.10
$GC,3362,-0.15,0.0,2349,2168,2773,2641,336.6,3.4,279,3362,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2706,2771,2641,0,0,0,0,0,0,14.72,14.72,14.72,6.29,51.57
$GC,3662,-0.15,0.0,2349,2168,2774,2640,327.0,3.0,294,3662,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2706,2772,2641,0,0,0,0,0,0,14.81,14.81,14.81,6.29,50.94
$GC,3962,-0.15,0.0,2350,2168,2773,2640,318.2,2.7,309,3963,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2706,2772,2640,0,0,0,0,0,0,14.86,14.86,14.86,6.29,51.45
$GC,4262,-0.15,0.0,2348,2168,2772,2641,310.1,2.7,324,4262,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2168,2705,2772,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.22
$GC,4562,-0.15,0.0,2349,2168,2773,2640,302.0,2.9,339,4562,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2705,2772,2639,0,0,0,0,0,0,14.94,14.94,14.94,6.28,51.96
$GC,4862,-0.15,0.0,2349,2168,2773,2640,292.8,3.2,354,4862,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2705,2772,2639,0,0,0,0,0,0,14.96,14.96,14.97,6.28,51.18
$GC,5162,-0.15,0.0,2349,2168,2773,2639,283.1,3.3,369,5162,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2168,2705,2772,2639,0,0,0,0,0,0,14.98,14.98,14.98,6.29,51.22
$GC,5462,-0.15,0.0,2349,2168,2773,2640,273.4,3.1,384,5463,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2167,2705,2772,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.33
$GC,5762,-0.15,0.0,2349,2168,2775,2638,264.6,2.8,399,5762,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2705,2772,2639,0,0,0,0,0,0,15.01,15.02,15.02,6.28,51.69
$GC,6062,-0.15,0.0,2349,2168,2773,2638,255.8,2.9,414,6062,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2168,2705,2773,2638,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.57
$STATE,6360,end loiter,LOITER_COMPLETE
$STATE,6360,begin climb
$GC,6362,0.64,146.0,2349,2168,2773,2638,246.7,0.0,429,6503,0.62,2.62,130.57,1.413,11012,0.171,0.067,2609,744,2116,2140,2093,0,0,0,0,0,0,14.54,14.00,13.44,6.29,51.29
$GC,6577,0.64,146.0,2609,744,2135,2088,231.3,10.1,439,6582,0.00,2.42,0.00,0.000,5126,0.000,0.052,2610,2139,2109,2133,2086,0,0,0,0,0,0,14.26,14.15,14.27,6.25,49.52
$GC,6882,0.64,146.0,2610,2140,2131,2079,192.2,12.3,455,6887,0.00,2.53,0.00,0.000,4356,0.000,0.081,2610,3558,2104,2130,2078,0,0,0,0,0,0,14.59,14.28,14.59,6.24,50.39
$GC,6952,0.64,146.0,2610,3558,2131,2080,184.7,12.5,458,6956,0.05,2.38,0.00,0.000,5126,0.415,0.043,2604,2149,2104,2130,2078,0,0,0,0,0,0,14.13,14.35,14.39,6.24,50.63
$GC,7263,0.64,146.0,2603,2149,2128,2076,148.2,11.0,474,7266,0.00,2.47,0.00,0.000,516,0.000,0.067,2613,734,2101,2127,2076,0,0,0,0,0,0,14.72,14.38,14.71,6.24,50.82
$GC,7323,0.64,146.0,2614,734,2126,2077,142.0,10.5,477,7326,0.00,2.42,0.00,0.000,5126,0.000,0.052,2614,2154,2101,2126,2076,0,0,0,0,0,0,14.54,14.40,14.57,6.24,51.37
$GC,7642,0.64,146.0,2614,2151,2126,2075,110.1,8.9,493,7646,0.00,2.45,0.00,0.000,4356,0.000,0.083,2613,3553,2100,2125,2075,0,0,0,0,0,0,14.76,14.42,14.76,6.23,50.82
$GC,7702,0.64,146.0,2614,3554,2126,2075,104.8,8.9,496,7706,0.05,2.35,0.00,0.000,5126,0.420,0.043,2607,2144,2100,2126,2075,0,0,0,0,0,0,14.26,14.50,14.52,6.22,50.78
$GC,8008,0.64,146.0,2607,2145,2126,2074,81.5,8.7,545,8011,0.00,2.45,0.00,0.000,4612,0.000,0.067,2617,733,2098,2124,2073,0,0,0,0,0,0,14.77,14.45,14.77,6.24,50.15
$GC,8113,0.64,149.5,2617,734,2124,2073,72.5,8.2,566,8116,0.00,2.40,0.00,0.000,5126,0.000,0.052,2617,2150,2097,2122,2073,0,0,0,0,0,0,14.61,14.48,14.63,6.22,49.44
$GC,8239,0.64,149.5,2618,2152,2123,2073,61.5,9.3,591,8243,0.00,2.47,0.00,0.000,4356,0.000,0.084,2617,3553,2097,2122,2073,0,0,0,0,0,0,14.77,14.43,14.76,6.21,48.93
$GC,8283,0.64,149.5,2617,3554,2123,2074,57.0,9.8,600,8287,0.08,2.35,0.00,0.000,5126,0.342,0.044,2601,2145,2097,2122,2073,0,0,0,0,0,0,14.27,14.51,14.53,6.20,48.93
$GC,8409,0.64,149.5,2602,2145,2124,2072,46.7,8.5,625,8413,0.00,2.45,0.00,0.000,2564,0.000,0.067,2611,734,2097,2122,2072,0,0,0,0,0,0,14.76,14.45,14.76,6.21,49.21
$GC,8468,0.64,149.5,2611,733,2123,2071,41.6,8.3,637,8472,0.00,2.45,0.00,0.000,5126,0.000,0.054,2611,2152,2096,2122,2071,0,0,0,0,0,0,14.61,14.45,14.63,6.22,49.52
$GC,8594,0.64,149.5,2611,2154,2122,2072,30.3,9.9,662,8597,0.00,2.47,0.00,0.000,4356,0.000,0.085,2611,3558,2096,2122,2071,0,0,0,0,0,0,14.76,14.42,14.76,6.21,49.76
$GC,8647,0.64,149.5,2611,3558,2123,2071,24.5,10.9,673,8651,0.00,2.35,0.00,0.000,5126,0.000,0.042,2622,2144,2096,2122,2070,0,0,0,0,0,0,14.62,14.51,14.63,6.22,50.27
$GC,8774,0.64,149.5,2621,2145,2122,2072,12.1,10.4,698,8778,0.00,2.42,0.00,0.000,4612,0.000,0.067,2632,747,2096,2122,2071,0,0,0,0,0,0,14.76,14.46,14.76,6.22,50.27
$GC,8803,0.64,149.5,2633,746,2122,2070,9.3,9.5,704,8807,0.08,2.40,0.00,0.000,5126,0.326,0.054,2606,2153,2096,2121,2071,0,0,0,0,0,0,14.27,14.47,14.53,6.22,50.27
$STATE,8871,end climb,SURFACE_DEPTH_REACHED
$STATE,8871,begin surface coast
$STATE,8902,end surface coast,CONTROL_FINISHED_OK
$STATE,8902,begin surface
$SM_CCo,8916,66.00,0.241,0,0,1822,220.03
$SM_GC,1.30,5.50,0.08,66.00,0.070,0.162,0.241,274,2080,1822,-6.45,1.16,220.03,0,0,0,0,0,0,14.59,14.52,14.21
$IRIDIUM_FIX,-5954.50,0.00,210119,002931
$TT8_MAMPS,0.035952,0.286118
$HUMID,49.84
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3743712
$24V_AH,13.05,68.329
$10V_AH,13.62,0.000
$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,13.150,82.625,256.650,66.000,0.000,23.428,55.746,135.755,0.000,0.000,19.468,0.000,7056.135,410.535,1704.362,180.853,0.000,1070.625,0.000,1208.424,0.000,0.539,0.000
$DEVICE_MAMPS,439.875,2230.740,1569.015,240.975,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5321.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.644,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,20766,724
$CAP_FILE_SIZE,95426,0
$CFSIZE,1023623168,985464832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.034,251.25,1
$GPS,210119,054040,-5956.150,7.903,15,0.7,47,-19.8,0.4,348.2,10,5.5