version: 66.14
glider: 640
mission: 5
dive: 351
start: 1 21 119 16 7 13
data:
$ID,640
$MISSION,5
$DIVE,351
$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,52
$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
$GPS1,210119,160131,-5958.0649,8.2597,14,0.8,37,-19.8,0.7,16.5,10,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-71.1
$GPS2,210119,160654,-5958.0405,8.3036,9,0.8,14,-19.8,0.0,305.1,10,9.7
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,214.8,41375,-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,-146.0,230,2077,1791,1830,0.0,0.0,0,101,0.00,0.00,-88.07,0.000,16386,0.000,0.000,230,2077,3236,3317,3156,0,0,0,0,0,0,14.59,28.83,14.59,6.19,51.10
$GC,103,-0.64,-146.0,230,2077,3319,3156,3.7,-8.4,18,117,6.12,2.60,-2.85,0.000,18948,0.355,2.228,2184,715,3318,3409,3227,0,0,0,0,0,0,14.06,13.09,14.39,6.31,50.00
$GC,292,-0.64,-146.0,2185,715,3413,3228,37.4,-16.8,56,296,0.05,2.38,0.00,0.000,3078,0.432,0.054,2189,2107,3319,3412,3227,0,0,0,0,0,0,14.13,14.36,14.38,6.32,49.56
$GC,418,-0.64,-146.0,2189,2107,3413,3228,58.1,-15.9,81,422,0.00,2.45,0.00,0.000,2308,0.000,0.081,2179,3505,3316,3405,3227,0,0,0,0,0,0,14.66,14.30,14.67,6.31,49.76
$GC,446,-0.64,-146.0,2179,3505,3412,3229,62.8,-15.8,87,450,0.00,2.30,0.00,0.000,3078,0.000,0.042,2178,2119,3319,3412,3227,0,0,0,0,0,0,14.52,14.40,14.51,6.32,49.80
$GC,573,-0.64,-146.0,2178,2118,3413,3228,82.6,-16.0,112,577,0.03,2.47,0.00,0.000,2564,0.624,0.062,2189,695,3319,3412,3227,0,0,0,0,0,0,14.27,14.33,14.43,6.32,49.56
$GC,627,-0.64,-146.0,2190,696,3413,3226,91.4,-16.1,123,630,0.00,2.40,0.00,0.000,3078,0.000,0.056,2179,2106,3319,3412,3227,0,0,0,0,0,0,14.54,14.38,14.55,6.32,49.37
$GC,767,-0.64,-146.0,2179,2106,3413,3228,113.5,-15.9,139,770,0.00,2.45,0.00,0.000,2308,0.000,0.082,2169,3504,3319,3412,3227,0,0,0,0,0,0,14.73,14.38,14.73,6.31,48.58
$GC,807,-0.64,-146.0,2170,3505,3414,3227,119.8,-15.7,141,810,0.08,2.35,0.00,0.000,3078,0.365,0.043,2194,2090,3319,3412,3227,0,0,0,0,0,0,14.19,14.46,14.45,6.31,49.13
$GC,1127,-0.64,-146.0,2194,2090,3413,3235,164.0,-12.8,157,1130,0.00,2.40,0.00,0.000,516,0.000,0.063,2194,696,3319,3412,3227,0,0,0,0,0,0,14.77,14.45,14.76,6.31,50.19
$GC,1207,-0.64,-146.0,2196,697,3414,3227,173.8,-12.3,161,1210,0.00,2.38,0.00,0.000,3078,0.000,0.054,2185,2101,3320,3413,3227,0,0,0,0,0,0,14.59,14.46,14.61,6.32,50.35
$GC,1527,-0.64,-146.0,2185,2102,3414,3227,212.4,-11.9,177,1528,0.00,0.00,0.00,0.000,2054,0.000,0.000,2184,2101,3319,3412,3227,0,0,0,0,0,0,14.79,14.80,14.80,6.32,51.53
$GC,1827,-0.64,-146.0,2184,2102,3415,3228,247.7,-11.8,192,1827,0.00,0.00,0.00,0.000,2054,0.000,0.000,2184,2101,3319,3412,3227,0,0,0,0,0,0,14.81,14.81,14.81,6.34,51.02
$GC,2127,-0.64,-146.0,2185,2102,3414,3227,284.0,-12.3,207,2130,0.00,2.42,0.00,0.000,2564,0.000,0.062,2184,688,3319,3412,3227,0,0,0,0,0,0,14.83,14.49,14.83,6.34,50.98
$GC,2162,-0.64,-146.0,2185,688,3413,3228,288.5,-12.5,209,2165,0.05,2.42,0.00,0.000,3078,0.347,0.055,2190,2098,3319,3412,3227,0,0,0,0,0,0,14.21,14.47,14.38,6.34,51.81
$GC,2482,-0.64,-146.0,2190,2099,3413,3229,327.1,-12.1,225,2485,0.00,2.45,0.00,0.000,2308,0.000,0.082,2180,3507,3319,3412,3227,0,0,0,0,0,0,14.83,14.46,14.83,6.34,51.18
$GC,2517,-0.64,-146.0,2180,3508,3413,3227,331.5,-12.3,227,2521,0.00,2.33,0.00,0.000,3078,0.000,0.042,2179,2098,3319,3412,3227,0,0,0,0,0,0,14.65,14.54,14.66,6.34,51.18
$STATE,2675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2675,begin apogee
$GC,2680,-0.15,0.0,2180,2168,3413,3228,351.9,-12.9,235,2809,0.47,0.00,125.85,1.568,10246,0.263,0.000,2346,2168,2716,2776,2656,0,0,0,0,0,0,14.22,13.94,13.29,6.35,51.33
$STATE,2810,end apogee,CONTROL_FINISHED_OK
$STATE,2810,begin loiter
$GC,3097,-0.15,0.0,2346,2168,2773,2644,348.9,3.1,256,3097,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2167,2707,2771,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.51
$GC,3397,-0.15,0.0,2346,2168,2772,2642,340.1,2.9,271,3397,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2167,2706,2772,2641,0,0,0,0,0,0,14.72,14.72,14.72,6.29,51.45
$GC,3697,-0.15,0.0,2346,2167,2773,2640,331.4,2.7,286,3697,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2705,2771,2640,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.45
$GC,3997,-0.15,0.0,2346,2166,2773,2638,322.9,2.8,301,3998,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2167,2705,2771,2639,0,0,0,0,0,0,14.86,14.86,14.86,6.29,51.02
$GC,4297,-0.15,0.0,2346,2168,2772,2640,314.6,2.7,316,4297,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2167,2705,2771,2639,0,0,0,0,0,0,14.90,14.90,14.91,6.29,51.14
$GC,4597,-0.15,0.0,2346,2168,2773,2638,306.6,2.6,331,4597,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2167,2705,2772,2638,0,0,0,0,0,0,14.94,14.94,14.93,6.29,51.49
$GC,4897,-0.15,0.0,2346,2168,2773,2638,298.1,2.9,346,4897,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2167,2704,2771,2638,0,0,0,0,0,0,14.96,14.97,14.96,6.29,51.53
$GC,5197,-0.15,0.0,2347,2167,2773,2638,288.9,3.2,361,5198,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2167,2704,2771,2638,0,0,0,0,0,0,14.97,14.97,14.98,6.29,51.26
$GC,5497,-0.15,0.0,2346,2168,2773,2637,279.3,3.3,376,5498,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2167,2704,2771,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.37
$GC,5797,-0.15,0.0,2346,2168,2772,2639,269.5,3.3,391,5797,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2167,2704,2771,2637,0,0,0,0,0,0,15.01,15.01,15.01,6.29,51.53
$GC,6097,-0.15,0.0,2346,2168,2772,2639,259.9,3.2,406,6098,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2167,2704,2771,2638,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.41
$STATE,6395,end loiter,LOITER_COMPLETE
$STATE,6395,begin climb
$GC,6397,0.64,146.0,2346,2168,2773,2638,249.8,0.0,421,6537,0.62,2.58,129.77,1.418,11012,0.174,0.064,2604,752,2118,2142,2094,0,0,0,0,0,0,14.51,13.89,13.43,6.28,51.37
$GC,6586,0.64,146.0,2604,753,2136,2091,236.5,9.5,430,6590,0.00,2.42,0.00,0.000,1030,0.000,0.052,2604,2143,2112,2135,2089,0,0,0,0,0,0,14.21,14.12,14.23,6.24,49.88
$GC,6897,0.64,146.0,2605,2144,2133,2081,196.9,12.4,446,6901,0.00,2.53,0.00,0.000,260,0.000,0.081,2604,3561,2106,2131,2081,0,0,0,0,0,0,14.59,14.26,14.59,6.24,50.47
$GC,6967,0.64,146.0,2605,3561,2131,2081,189.4,12.6,449,6970,0.00,2.35,0.00,0.000,5126,0.000,0.042,2614,2156,2106,2131,2081,0,0,0,0,0,0,14.46,14.36,14.47,6.24,50.66
$GC,7277,0.64,146.0,2615,2157,2130,2079,148.8,12.6,465,7280,0.00,2.45,0.00,0.000,4612,0.000,0.066,2626,744,2103,2129,2077,0,0,0,0,0,0,14.71,14.38,14.71,6.24,50.82
$GC,7317,0.64,146.0,2626,745,2127,2079,144.0,12.4,467,7320,0.08,2.40,0.00,0.000,5126,0.321,0.054,2600,2152,2101,2126,2077,0,0,0,0,0,0,14.23,14.40,14.47,6.24,50.86
$GC,7637,0.64,146.0,2600,2153,2127,2077,106.5,11.5,483,7640,0.00,2.47,0.00,0.000,2308,0.000,0.082,2599,3561,2101,2126,2077,0,0,0,0,0,0,14.76,14.40,14.77,6.23,50.86
$GC,7717,0.64,146.0,2600,3561,2128,2076,97.9,10.6,488,7720,0.00,2.35,0.00,0.000,5126,0.000,0.041,2608,2144,2101,2126,2076,0,0,0,0,0,0,14.59,14.47,14.62,6.23,50.66
$GC,7843,0.64,146.0,2609,2143,2127,2076,85.2,10.6,513,7846,0.00,2.45,0.00,0.000,4612,0.000,0.066,2619,737,2101,2126,2076,0,0,0,0,0,0,14.77,14.45,14.77,6.23,50.78
$GC,7892,0.64,146.0,2620,737,2126,2076,80.2,9.7,523,7895,0.00,2.40,0.00,0.000,5126,0.000,0.053,2620,2155,2101,2126,2076,0,0,0,0,0,0,14.60,14.47,14.62,6.23,50.27
$GC,8018,0.64,146.0,2620,2156,2125,2077,67.7,10.2,548,8022,0.03,2.45,0.00,0.000,4356,0.602,0.082,2607,3553,2100,2125,2076,0,0,0,0,0,0,14.33,14.43,14.47,6.22,50.07
$GC,8077,0.64,146.0,2608,3555,2125,2077,61.4,10.2,560,8080,0.00,2.35,0.00,0.000,5126,0.000,0.042,2616,2143,2100,2125,2076,0,0,0,0,0,0,14.61,14.49,14.62,6.21,49.33
$GC,8203,0.64,146.0,2617,2143,2127,2077,49.7,9.5,585,8207,0.00,2.42,0.00,0.000,4612,0.000,0.065,2627,740,2100,2124,2076,0,0,0,0,0,0,14.78,14.46,14.78,6.21,49.76
$GC,8287,0.64,146.0,2627,739,2125,2077,41.5,9.4,602,8291,0.08,2.38,0.00,0.000,5126,0.323,0.052,2601,2151,2100,2125,2075,0,0,0,0,0,0,14.28,14.48,14.54,6.21,49.60
$GC,8413,0.64,146.0,2595,2151,2124,2075,30.6,8.7,627,8417,0.00,2.47,0.00,0.000,2308,0.000,0.083,2600,3561,2099,2124,2075,0,0,0,0,0,0,14.78,14.43,14.78,6.21,50.27
$GC,8462,0.64,146.0,2601,3561,2133,2075,26.0,9.1,637,8465,0.00,2.33,0.00,0.000,5126,0.000,0.042,2609,2147,2099,2124,2075,0,0,0,0,0,0,14.62,14.52,14.64,6.21,50.39
$GC,8588,0.64,146.0,2610,2148,2126,2075,14.8,9.2,662,8592,0.00,2.42,0.00,0.000,4612,0.000,0.065,2620,747,2099,2124,2075,0,0,0,0,0,0,14.78,14.47,14.79,6.22,51.10
$GC,8657,0.64,146.0,2621,747,2124,2074,8.7,8.4,676,8661,0.05,2.38,0.00,0.000,5126,0.391,0.054,2603,2151,2098,2122,2074,0,0,0,0,0,0,14.28,14.47,14.54,6.22,50.66
$STATE,8725,end climb,SURFACE_DEPTH_REACHED
$STATE,8725,begin surface coast
$STATE,8761,end surface coast,CONTROL_FINISHED_OK
$STATE,8761,begin surface
$SM_CCo,8776,66.22,0.242,0,0,1823,220.03
$SM_GC,1.23,5.55,0.08,66.22,0.080,0.168,0.242,219,2082,1823,-6.46,0.99,220.03,0,0,0,0,0,0,14.64,14.53,14.23
$IRIDIUM_FIX,-5955.57,8.58,210119,132550
$TT8_MAMPS,0.039697,0.362516
$HUMID,50.23
$INTERNAL_PRESSURE,6.14803
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3741152
$24V_AH,13.09,69.222
$10V_AH,13.61,0.000
$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,13.200,77.575,255.625,66.225,0.000,23.851,24.286,125.338,0.000,0.000,15.152,0.000,6997.494,408.752,1579.878,181.156,0.000,1035.318,0.000,1138.992,0.000,0.539,0.000
$DEVICE_MAMPS,624.240,2228.445,1568.250,241.740,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5179.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.707,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,17307,697
$CAP_FILE_SIZE,92078,0
$CFSIZE,1023623168,984973312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.039,272.75,1
$GPS,210119,183532,-5958.442,7.928,14,0.8,32,-19.8,0.0,335.6,10,9.6