version: 66.14
glider: 640
mission: 5
dive: 354
start: 1 21 119 23 46 47
data:
$ID,640
$MISSION,5
$DIVE,354
$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,68
$R_STBD_OVSHOOT,50
$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
$GPS1,210119,234101,-5959.5220,7.5026,18,0.7,41,-19.8,0.4,187.5,11,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-71.4
$GPS2,210119,234628,-5959.5562,7.4934,9,0.8,17,-19.8,0.5,90.7,10,9.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,207.6,38480,-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,-146.0,228,2121,1792,1828,0.0,0.0,0,96,0.00,0.00,-82.53,0.000,16386,0.000,0.000,227,2120,3132,3213,3051,0,0,0,0,0,0,14.58,28.83,14.59,6.19,50.39
$GC,98,-0.64,-146.0,227,2120,3214,3053,3.0,-5.3,17,116,6.15,2.67,-7.07,0.000,18948,0.356,2.227,2195,732,3318,3415,3222,0,0,0,0,0,0,14.04,13.06,14.38,6.30,49.52
$GC,257,-0.64,-146.0,2193,732,3415,3226,28.8,-15.6,49,260,0.00,2.30,0.00,0.000,3078,0.000,0.054,2182,2077,3319,3415,3224,0,0,0,0,0,0,14.47,14.34,14.49,6.32,48.89
$GC,382,-0.64,-146.0,2183,2079,3416,3224,50.0,-18.0,74,385,0.00,2.53,0.00,0.000,2308,0.000,0.080,2171,3510,3324,3424,3225,0,0,0,0,0,0,14.66,14.33,14.66,6.32,49.72
$GC,452,-0.64,-146.0,2172,3512,3416,3224,62.7,-17.1,88,456,0.08,2.30,0.00,0.000,3078,0.369,0.043,2197,2134,3320,3415,3225,0,0,0,0,0,0,14.14,14.42,14.40,6.33,49.60
$GC,578,-0.64,-146.0,2197,2133,3416,3225,81.9,-14.7,113,582,0.00,2.53,0.00,0.000,516,0.000,0.064,2197,683,3319,3414,3225,0,0,0,0,0,0,14.69,14.35,14.69,6.32,49.09
$GC,667,-0.64,-146.0,2198,684,3416,3225,94.7,-12.8,131,671,0.00,2.42,0.00,0.000,3078,0.000,0.056,2187,2106,3319,3414,3225,0,0,0,0,0,0,14.51,14.40,14.56,6.32,48.58
$GC,792,-0.64,-146.0,2187,2107,3416,3226,111.7,-13.9,144,795,0.00,2.47,0.00,0.000,2308,0.000,0.082,2176,3510,3320,3415,3225,0,0,0,0,0,0,14.73,14.38,14.73,6.31,48.62
$GC,821,-0.64,-146.0,2176,3511,3415,3226,114.5,-14.0,145,825,0.05,2.35,0.00,0.000,3078,0.443,0.043,2191,2096,3319,3414,3225,0,0,0,0,0,0,14.17,14.45,14.44,6.31,48.54
$GC,1132,-0.64,-146.0,2191,2095,3415,3226,155.3,-12.5,161,1136,0.00,2.42,0.00,0.000,2564,0.000,0.064,2190,692,3320,3415,3225,0,0,0,0,0,0,14.77,14.43,14.76,6.32,49.72
$GC,1242,-0.64,-146.0,2190,697,3415,3225,167.2,-11.7,166,1245,0.00,2.40,0.00,0.000,3078,0.000,0.055,2180,2107,3319,3413,3225,0,0,0,0,0,0,14.59,14.46,14.62,6.32,49.88
$GC,1552,-0.64,-146.0,2181,2108,3415,3227,207.0,-13.0,182,1555,0.00,2.42,0.00,0.000,2308,0.000,0.081,2169,3503,3319,3414,3225,0,0,0,0,0,0,14.79,14.43,14.79,6.32,50.86
$GC,1602,-0.64,-146.0,2170,3504,3415,3226,212.4,-13.2,184,1605,0.08,2.33,0.00,0.000,3078,0.366,0.042,2195,2096,3319,3414,3225,0,0,0,0,0,0,14.22,14.51,14.49,6.33,50.82
$GC,1912,-0.64,-146.0,2192,2096,3415,3226,253.6,-13.1,200,1915,0.00,2.42,0.00,0.000,516,0.000,0.064,2194,685,3319,3414,3225,0,0,0,0,0,0,14.81,14.47,14.81,6.33,51.73
$GC,2007,-0.64,-146.0,2195,691,3416,3225,264.2,-13.2,204,2010,0.00,2.40,0.00,0.000,3078,0.000,0.055,2184,2108,3320,3415,3225,0,0,0,0,0,0,14.62,14.49,14.64,6.34,50.74
$GC,2312,-0.64,-146.0,2184,2105,3416,3224,305.8,-12.9,220,2315,0.00,2.42,0.00,0.000,2308,0.000,0.082,2176,3503,3319,3414,3225,0,0,0,0,0,0,14.82,14.45,14.82,6.34,51.10
$GC,2352,-0.64,-146.0,2175,3503,3416,3225,310.3,-12.9,222,2355,0.08,2.33,0.00,0.000,3078,0.363,0.042,2200,2095,3319,3414,3225,0,0,0,0,0,0,14.24,14.52,14.51,6.34,51.10
$GC,2667,-0.64,-146.0,2200,2094,3416,3225,348.0,-11.6,238,2670,0.00,2.40,0.00,0.000,4612,0.000,0.063,2199,699,3320,3415,3225,0,0,0,0,0,0,14.83,14.48,14.83,6.34,51.14
$STATE,2685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2685,begin apogee
$GC,2692,-0.15,0.0,2184,2157,3415,3226,350.4,-11.7,239,2821,0.45,0.00,126.15,1.570,10246,0.258,0.000,2348,2157,2719,2779,2660,0,0,0,0,0,0,14.25,13.94,13.29,6.34,51.18
$STATE,2822,end apogee,CONTROL_FINISHED_OK
$STATE,2822,begin loiter
$GC,3107,-0.15,0.0,2348,2157,2774,2643,346.1,3.6,260,3107,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2157,2707,2772,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.51
$GC,3407,-0.15,0.0,2348,2157,2772,2642,336.2,3.3,275,3407,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2156,2706,2772,2641,0,0,0,0,0,0,14.72,14.72,14.72,6.29,50.63
$GC,3707,-0.15,0.0,2348,2157,2773,2639,326.8,3.1,290,3707,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2157,2706,2772,2640,0,0,0,0,0,0,14.81,14.81,14.81,6.29,50.90
$GC,4007,-0.15,0.0,2348,2157,2773,2639,317.7,3.0,305,4008,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2156,2705,2772,2639,0,0,0,0,0,0,14.86,14.86,14.86,6.29,51.26
$GC,4307,-0.15,0.0,2347,2157,2773,2640,308.9,2.9,320,4307,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2156,2705,2772,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.45
$GC,4607,-0.15,0.0,2348,2157,2772,2640,299.3,3.3,335,4607,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2705,2772,2638,0,0,0,0,0,0,14.93,14.94,14.94,6.29,51.53
$GC,4907,-0.15,0.0,2348,2157,2772,2639,288.6,3.7,350,4907,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2157,2705,2772,2638,0,0,0,0,0,0,14.96,14.96,14.96,6.28,51.69
$GC,5207,-0.15,0.0,2349,2157,2773,2638,277.9,3.4,365,5207,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2157,2705,2772,2638,0,0,0,0,0,0,14.98,14.98,14.98,6.28,51.85
$GC,5507,-0.15,0.0,2348,2157,2773,2638,268.7,2.9,380,5508,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2156,2704,2772,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.41
$GC,5807,-0.15,0.0,2348,2157,2773,2638,260.0,2.9,395,5807,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2156,2705,2772,2638,0,0,0,0,0,0,15.02,15.02,15.01,6.28,51.33
$GC,6107,-0.15,0.0,2348,2157,2772,2639,251.5,2.8,410,6107,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2704,2772,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.65
$STATE,6405,end loiter,LOITER_COMPLETE
$STATE,6405,begin climb
$GC,6407,0.64,146.0,2348,2157,2772,2638,243.6,0.0,425,6547,0.62,2.60,129.93,1.418,10500,0.176,0.080,2594,3561,2119,2144,2095,0,0,0,0,0,0,14.50,13.99,13.43,6.29,51.65
$GC,6612,0.64,146.0,2595,3561,2141,2089,229.6,9.7,435,6615,0.00,2.38,0.00,0.000,1030,0.000,0.041,2605,2157,2114,2141,2087,0,0,0,0,0,0,14.23,14.16,14.26,6.24,48.89
$GC,6927,0.64,146.0,2605,2157,2135,2081,193.1,11.8,451,6931,0.00,2.50,0.00,0.000,516,0.000,0.067,2617,738,2103,2126,2080,0,0,0,0,0,0,14.59,14.28,14.59,6.24,50.82
$GC,6982,0.64,146.0,2617,739,2131,2081,188.5,11.8,453,6986,0.00,2.42,0.00,0.000,5126,0.000,0.053,2617,2154,2104,2130,2079,0,0,0,0,0,0,14.45,14.32,14.47,6.24,51.22
$GC,7287,0.64,146.0,2617,2155,2129,2078,146.0,13.8,469,7291,0.00,2.47,0.00,0.000,4356,0.000,0.083,2616,3556,2103,2129,2077,0,0,0,0,0,0,14.70,14.35,14.71,6.24,50.74
$GC,7372,0.64,146.0,2617,3557,2129,2079,135.8,13.7,473,7377,0.08,2.35,0.00,0.000,5126,0.349,0.042,2602,2147,2103,2128,2078,0,0,0,0,0,0,14.20,14.43,14.50,6.24,51.10
$GC,7678,0.64,146.0,2602,2148,2129,2075,96.7,11.0,491,7682,0.00,2.45,0.00,0.000,516,0.000,0.067,2612,742,2102,2128,2076,0,0,0,0,0,0,14.75,14.42,14.75,6.23,50.94
$GC,7757,0.64,146.0,2612,743,2127,2077,89.3,8.6,507,7761,0.00,2.40,0.00,0.000,5126,0.000,0.053,2612,2155,2100,2125,2076,0,0,0,0,0,0,14.59,14.46,14.61,6.22,50.51
$GC,7883,0.64,146.0,2612,2156,2126,2076,78.1,9.2,532,7887,0.00,2.47,0.00,0.000,4356,0.000,0.085,2612,3561,2100,2125,2076,0,0,0,0,0,0,14.76,14.42,14.76,6.22,50.00
$GC,7902,0.64,146.0,2612,3561,2126,2076,76.2,9.7,536,7907,0.05,2.35,0.00,0.000,5126,0.415,0.044,2605,2149,2100,2125,2076,0,0,0,0,0,0,14.24,14.48,14.52,6.22,50.51
$GC,8027,0.64,146.0,2606,2149,2127,2075,65.1,9.0,561,8029,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2149,2101,2127,2075,0,0,0,0,0,0,14.76,14.77,14.77,6.22,49.60
$GC,8152,0.64,146.0,2606,2150,2127,2076,53.9,9.1,586,8155,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2148,2100,2125,2075,0,0,0,0,0,0,14.77,14.78,14.78,6.22,49.05
$GC,8277,0.65,155.1,2606,2149,2127,2075,43.0,8.0,611,8287,0.00,2.45,5.05,1.232,8452,0.000,0.080,2605,3559,2083,2108,2059,0,0,0,0,0,0,14.78,14.49,13.74,6.21,49.40
$GC,8352,0.65,155.1,2606,3560,2109,2060,36.7,8.4,626,8356,0.00,2.35,0.00,0.000,5126,0.000,0.043,2614,2140,2084,2108,2060,0,0,0,0,0,0,14.61,14.50,14.62,6.21,49.56
$GC,8478,0.65,155.1,2615,2141,2108,2060,26.1,8.6,651,8482,0.00,2.42,0.00,0.000,4612,0.000,0.067,2625,735,2083,2108,2059,0,0,0,0,0,0,14.76,14.45,14.76,6.21,49.76
$GC,8532,0.66,161.5,2625,734,2108,2060,21.6,8.1,662,8541,0.05,2.40,5.07,1.143,13318,0.386,0.054,2608,2154,2060,2083,2037,0,0,0,0,0,0,14.27,14.47,13.75,6.20,50.59
$GC,8662,0.66,161.5,2608,2154,2080,2033,10.9,8.6,688,8666,0.00,2.45,0.00,0.000,260,0.000,0.083,2608,3553,2056,2080,2033,0,0,0,0,0,0,14.74,14.41,14.75,6.21,50.98
$GC,8707,0.66,161.5,2608,3554,2077,2033,6.5,9.3,697,8711,0.00,2.35,0.00,0.000,5126,0.000,0.044,2617,2141,2056,2080,2033,0,0,0,0,0,0,14.59,14.48,14.60,6.22,50.59
$STATE,8745,end climb,SURFACE_DEPTH_REACHED
$STATE,8745,begin surface coast
$STATE,8775,end surface coast,CONTROL_FINISHED_OK
$STATE,8775,begin surface
$SM_CCo,8789,56.05,0.243,0,0,1822,220.03
$SM_GC,1.21,5.55,0.00,56.05,0.070,0.000,0.243,217,2139,1822,-6.46,1.05,220.03,0,0,0,0,0,0,14.60,14.75,14.22
$IRIDIUM_FIX,-5959.31,0.00,210119,210737
$TT8_MAMPS,0.038948,0.339297
$HUMID,50.07
$INTERNAL_PRESSURE,6.14803
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3739616
$24V_AH,13.06,69.748
$10V_AH,13.18,0.000
$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,13.225,82.550,266.200,56.050,0.000,26.167,14.955,132.891,0.000,0.000,18.263,0.000,6955.840,409.791,1628.127,180.631,0.000,1058.441,0.000,1177.562,0.000,0.539,0.000
$DEVICE_MAMPS,442.935,2226.915,1569.780,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5195.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.709,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,17333,711
$CAP_FILE_SIZE,94534,0
$CFSIZE,1023623168,984678400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.022,208.63,1
$GPS,220119,021519,-6000.053,7.553,41,0.7,42,-19.8,0.6,116.6,11,9.4