version: 66.14
glider: 640
mission: 5
dive: 347
start: 1 21 119 5 46 45
data:
$ID,640
$MISSION,5
$DIVE,347
$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,53
$R_STBD_OVSHOOT,27
$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
$GPS1,210119,054040,-5956.1499,7.9026,15,0.7,47,-19.8,0.4,348.2,10,5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-65.4
$GPS2,210119,054625,-5956.1465,7.8814,8,0.8,16,-19.8,0.5,350.1,10,9.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,201.9,44763,-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,-146.0,233,2078,1791,1829,0.0,0.0,0,101,0.00,0.00,-88.07,0.000,16386,0.000,0.000,233,2078,3217,3296,3138,0,0,0,0,0,0,14.58,28.83,14.59,6.18,50.74
$GC,103,-0.64,-146.0,234,2078,3298,3139,3.7,-8.9,18,117,6.15,2.62,-3.53,0.000,18948,0.362,2.224,2188,710,3317,3409,3225,0,0,0,0,0,0,14.04,13.32,14.38,6.31,49.64
$GC,272,-0.64,-146.0,2189,711,3413,3225,33.5,-16.2,52,277,0.05,2.40,0.00,0.000,3078,0.441,0.057,2193,2106,3318,3412,3225,0,0,0,0,0,0,14.12,14.35,14.38,6.32,49.44
$GC,398,-0.64,-146.0,2192,2106,3412,3226,54.9,-14.9,77,402,0.00,2.42,0.00,0.000,2564,0.000,0.063,2192,706,3318,3412,3225,0,0,0,0,0,0,14.66,14.31,14.66,6.32,49.25
$GC,427,-0.64,-146.0,2193,707,3412,3226,59.3,-14.6,83,431,0.00,2.42,0.00,0.000,3078,0.000,0.057,2182,2097,3318,3412,3225,0,0,0,0,0,0,14.41,14.34,14.45,6.32,50.07
$GC,552,-0.64,-146.0,2183,2097,3413,3225,77.7,-14.9,108,556,0.00,2.47,0.00,0.000,2308,0.000,0.081,2172,3509,3318,3412,3225,0,0,0,0,0,0,14.69,14.35,14.69,6.32,49.05
$GC,572,-0.64,-146.0,2172,3509,3413,3225,80.7,-15.0,112,577,0.05,2.35,0.00,0.000,3078,0.354,0.044,2188,2127,3318,3412,3225,0,0,0,0,0,0,14.11,14.39,14.30,6.32,49.44
$GC,698,-0.64,-146.0,2183,2126,3412,3226,98.1,-12.9,137,702,0.00,2.47,0.00,0.000,2564,0.000,0.063,2188,693,3318,3412,3225,0,0,0,0,0,0,14.69,14.34,14.70,6.31,48.26
$GC,767,-0.64,-146.0,2188,694,3412,3226,105.7,-14.1,142,771,0.05,2.40,0.00,0.000,3078,0.443,0.056,2193,2103,3318,3412,3225,0,0,0,0,0,0,14.16,14.42,14.43,6.31,48.14
$GC,1072,-0.64,-146.0,2193,2104,3412,3226,147.8,-13.7,158,1075,0.00,2.45,0.00,0.000,2308,0.000,0.082,2182,3502,3318,3412,3225,0,0,0,0,0,0,14.76,14.41,14.76,6.32,49.44
$GC,1203,-0.64,-146.0,2183,3503,3412,3225,164.0,-13.2,164,1207,0.00,2.35,0.00,0.000,3078,0.000,0.042,2182,2086,3318,3412,3225,0,0,0,0,0,0,14.54,14.43,14.55,6.31,50.15
$GC,1507,-0.64,-146.0,2182,2085,3412,3226,206.4,-13.5,179,1510,0.00,2.38,0.00,0.000,2564,0.000,0.063,2182,699,3318,3412,3225,0,0,0,0,0,0,14.78,14.46,14.79,6.33,50.47
$GC,1587,-0.64,-146.0,2182,699,3412,3226,217.2,-13.5,183,1590,0.08,2.38,0.00,0.000,3078,0.366,0.055,2195,2104,3318,3411,3225,0,0,0,0,0,0,14.23,14.48,14.50,6.33,50.82
$GC,1907,-0.64,-146.0,2195,2105,3413,3226,256.9,-12.5,199,1911,0.00,2.45,0.00,0.000,260,0.000,0.083,2185,3506,3319,3413,3225,0,0,0,0,0,0,14.81,14.45,14.81,6.33,51.29
$GC,1947,-0.64,-146.0,2185,3507,3412,3226,262.1,-12.7,201,1951,0.00,2.33,0.00,0.000,3078,0.000,0.043,2183,2099,3318,3412,3225,0,0,0,0,0,0,14.63,14.52,14.65,6.33,51.77
$GC,2267,-0.64,-146.0,2184,2098,3413,3224,303.6,-13.1,217,2270,0.00,2.40,0.00,0.000,2564,0.000,0.063,2184,699,3318,3412,3225,0,0,0,0,0,0,14.82,14.48,14.82,6.34,51.49
$GC,2352,-0.64,-146.0,2185,699,3413,3225,314.1,-13.1,221,2356,0.05,2.38,0.00,0.000,3078,0.432,0.054,2189,2103,3318,3411,3225,0,0,0,0,0,0,14.25,14.50,14.51,6.34,50.98
$STATE,2645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2645,begin apogee
$GC,2650,-0.15,0.0,2189,2169,3412,3226,351.7,-12.5,236,2778,0.45,0.00,125.65,1.562,10246,0.262,0.000,2346,2169,2721,2781,2661,0,0,0,0,0,0,14.23,13.94,13.31,6.34,51.06
$STATE,2779,end apogee,CONTROL_FINISHED_OK
$STATE,2779,begin loiter
$GC,3067,-0.15,0.0,2347,2169,2773,2645,348.6,3.1,257,3067,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2168,2708,2773,2644,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.31
$GC,3367,-0.15,0.0,2346,2169,2773,2644,338.9,3.3,272,3368,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2169,2707,2772,2642,0,0,0,0,0,0,14.71,14.72,14.71,6.29,50.94
$GC,3667,-0.15,0.0,2347,2169,2773,2643,329.7,3.1,287,3667,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2707,2772,2642,0,0,0,0,0,0,14.81,14.81,14.81,6.29,50.98
$GC,3967,-0.15,0.0,2347,2169,2773,2641,320.8,3.0,302,3968,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2169,2706,2772,2641,0,0,0,0,0,0,14.86,14.86,14.86,6.29,51.49
$GC,4267,-0.15,0.0,2347,2169,2772,2641,311.4,3.2,317,4267,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2167,2706,2772,2640,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.10
$GC,4567,-0.15,0.0,2347,2169,2773,2642,300.6,3.9,332,4567,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2169,2706,2772,2640,0,0,0,0,0,0,14.94,14.94,14.94,6.29,51.37
$GC,4867,-0.15,0.0,2347,2169,2773,2640,289.9,3.5,347,4867,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2169,2706,2772,2640,0,0,0,0,0,0,14.96,14.96,14.96,6.29,51.81
$GC,5167,-0.15,0.0,2347,2169,2774,2640,280.3,3.0,362,5168,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2169,2706,2772,2640,0,0,0,0,0,0,14.98,14.98,14.98,6.28,51.77
$GC,5467,-0.15,0.0,2347,2170,2773,2641,271.9,2.7,377,5468,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2169,2706,2772,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.49
$GC,5767,-0.15,0.0,2347,2169,2773,2639,262.4,3.4,392,5767,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2170,2706,2772,2640,0,0,0,0,0,0,15.01,15.01,15.01,6.29,51.53
$GC,6067,-0.15,0.0,2347,2169,2773,2639,251.2,3.8,407,6067,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2706,2772,2640,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.77
$GC,6367,-0.15,0.0,2347,2169,2773,2639,240.9,3.1,422,6367,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2169,2705,2772,2639,0,0,0,0,0,0,15.03,15.03,15.03,6.29,51.53
$STATE,6385,end loiter,LOITER_COMPLETE
$STATE,6385,begin climb
$GC,6387,0.64,146.0,2346,2169,2773,2641,240.3,0.0,423,6528,0.62,2.62,130.52,1.402,11012,0.178,0.066,2605,746,2116,2140,2093,0,0,0,0,0,0,14.52,14.00,13.44,6.28,51.53
$GC,6593,0.64,146.0,2605,746,2136,2087,227.0,8.7,433,6596,0.00,2.40,0.00,0.000,1030,0.000,0.052,2605,2131,2111,2135,2087,0,0,0,0,0,0,14.23,14.15,14.25,6.25,49.33
$GC,6907,0.64,146.0,2605,2139,2131,2080,193.5,10.6,449,6912,0.00,2.55,0.00,0.000,4356,0.000,0.083,2605,3561,2104,2130,2079,0,0,0,0,0,0,14.59,14.27,14.59,6.24,50.23
$GC,6982,0.64,146.0,2605,3562,2131,2078,186.9,10.9,452,6986,0.00,2.40,0.00,0.000,5126,0.000,0.042,2615,2159,2104,2130,2078,0,0,0,0,0,0,14.38,14.33,14.41,6.24,50.66
$GC,7288,0.64,146.0,2615,2160,2128,2077,151.9,11.0,468,7291,0.00,2.50,0.00,0.000,4612,0.000,0.067,2627,736,2101,2127,2076,0,0,0,0,0,0,14.70,14.38,14.70,6.24,50.70
$GC,7338,0.64,146.0,2627,737,2126,2076,147.7,10.8,470,7342,0.08,2.42,0.00,0.000,5126,0.323,0.054,2600,2157,2100,2125,2076,0,0,0,0,0,0,14.23,14.42,14.47,6.24,50.55
$GC,7642,0.64,146.0,2601,2157,2126,2076,118.6,8.9,485,7646,0.00,2.45,0.00,0.000,2308,0.000,0.082,2600,3553,2100,2125,2075,0,0,0,0,0,0,14.76,14.42,14.76,6.24,50.86
$GC,7717,0.64,146.0,2601,3553,2126,2075,112.8,9.6,488,7722,0.00,2.35,0.00,0.000,5126,0.000,0.042,2609,2145,2100,2125,2075,0,0,0,0,0,0,14.59,14.48,14.61,6.23,50.47
$GC,8022,0.64,146.0,2610,2145,2126,2074,78.4,11.9,531,8026,0.00,2.45,0.00,0.000,4612,0.000,0.066,2620,735,2099,2125,2074,0,0,0,0,0,0,14.77,14.45,14.77,6.22,49.68
$GC,8107,0.64,146.0,2621,734,2124,2074,68.6,11.1,548,8112,0.05,2.40,0.00,0.000,5126,0.394,0.052,2602,2151,2098,2123,2074,0,0,0,0,0,0,14.27,14.47,14.54,6.21,49.60
$GC,8234,0.64,146.0,2603,2151,2123,2075,54.4,11.6,573,8237,0.00,2.47,0.00,0.000,260,0.000,0.082,2602,3562,2098,2122,2074,0,0,0,0,0,0,14.77,14.43,14.76,6.21,49.72
$GC,8247,0.64,146.0,2603,3563,2124,2074,52.5,11.9,576,8252,0.00,2.35,0.00,0.000,5126,0.000,0.044,2612,2151,2098,2122,2074,0,0,0,0,0,0,14.62,14.50,14.63,6.21,49.01
$GC,8374,0.64,146.0,2612,2151,2122,2075,39.0,10.1,601,8377,0.00,2.45,0.00,0.000,4612,0.000,0.066,2622,737,2098,2122,2074,0,0,0,0,0,0,14.77,14.45,14.77,6.20,49.25
$GC,8398,0.64,146.0,2623,737,2123,2072,36.7,9.6,606,8401,0.05,2.40,0.00,0.000,5126,0.380,0.053,2605,2154,2098,2122,2074,0,0,0,0,0,0,14.28,14.47,14.53,6.21,49.05
$GC,8524,0.64,146.0,2605,2154,2123,2073,25.9,8.3,631,8527,0.00,2.47,0.00,0.000,260,0.000,0.083,2605,3562,2097,2121,2073,0,0,0,0,0,0,14.77,14.43,14.77,6.21,50.15
$GC,8572,0.64,146.0,2605,3563,2124,2073,21.2,9.2,641,8576,0.00,2.35,0.00,0.000,5126,0.000,0.043,2614,2148,2097,2122,2073,0,0,0,0,0,0,14.62,14.51,14.63,6.21,49.88
$GC,8699,0.64,146.0,2614,2149,2122,2074,10.0,9.0,666,8703,0.00,2.42,0.00,0.000,4612,0.000,0.065,2625,745,2097,2121,2073,0,0,0,0,0,0,14.76,14.45,14.76,6.21,50.39
$GC,8738,0.64,146.0,2625,746,2121,2073,6.1,9.7,674,8741,0.08,2.40,0.00,0.000,5126,0.326,0.054,2598,2158,2092,2113,2072,0,0,0,0,0,0,14.28,14.47,14.53,6.19,50.27
$STATE,8776,end climb,SURFACE_DEPTH_REACHED
$STATE,8776,begin surface coast
$STATE,8811,end surface coast,CONTROL_FINISHED_OK
$STATE,8811,begin surface
$SM_CCo,8825,65.95,0.242,0,0,1823,220.03
$SM_GC,1.27,5.40,0.10,65.95,0.044,0.133,0.242,240,2057,1823,-6.49,0.82,220.03,0,0,0,0,0,0,14.62,14.52,14.21
$IRIDIUM_FIX,-6001.88,-117.53,210119,030545
$TT8_MAMPS,0.038199,0.289863
$HUMID,49.76
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3743200
$24V_AH,13.31,68.505
$10V_AH,13.44,0.000
$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,13.150,82.725,256.175,65.950,0.000,25.266,38.811,128.083,0.000,0.000,17.628,0.000,7000.421,413.760,1643.665,181.204,0.000,1058.619,0.000,1174.269,0.000,0.539,0.000
$DEVICE_MAMPS,442.935,2223.855,1562.130,241.740,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5208.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.730,0.000,0.000,0.000
$MEM,344104
$DATA_FILE_SIZE,17300,689
$CAP_FILE_SIZE,94497,0
$CFSIZE,1023623168,985366528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.035,225.09,1
$GPS,210119,081601,-5956.597,7.675,18,0.7,40,-19.8,0.0,303.3,12,7.7