version: 66.14
glider: 640
mission: 5
dive: 362
start: 1 22 119 20 37 7
data:
$ID,640
$MISSION,5
$DIVE,362
$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,26
$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
$GPS1,220119,203101,-6003.4097,6.4410,18,0.8,34,-19.8,0.0,294.2,11,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-65.5
$GPS2,220119,203648,-6003.3613,6.4248,9,1.1,19,-19.8,0.9,0.6,10,9.7
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,201.8,31372,-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,-146.0,217,2075,1796,1826,0.0,0.0,0,102,0.00,0.00,-88.88,0.000,16386,0.000,0.000,216,2075,3257,3340,3174,0,0,0,0,0,0,14.57,28.83,14.62,6.19,51.89
$GC,104,-0.64,-146.0,216,2076,3341,3176,3.4,-6.9,18,121,6.15,2.80,-2.08,0.000,18692,0.353,2.235,2166,3510,3316,3407,3225,0,0,0,0,0,0,14.00,13.31,14.32,6.31,50.31
$GC,172,-0.64,-146.0,2167,3511,3409,3227,17.1,-16.2,32,176,0.08,2.35,0.00,0.000,3078,0.363,0.041,2191,2114,3317,3409,3225,0,0,0,0,0,0,14.10,14.33,14.34,6.32,49.29
$GC,298,-0.64,-146.0,2199,2114,3410,3225,37.1,-16.8,57,302,0.00,2.47,0.00,0.000,2564,0.000,0.063,2191,689,3317,3408,3226,0,0,0,0,0,0,14.60,14.27,14.60,6.32,49.25
$GC,397,-0.64,-146.0,2192,692,3409,3226,52.6,-13.9,77,401,0.00,2.42,0.00,0.000,3078,0.000,0.056,2182,2108,3317,3409,3226,0,0,0,0,0,0,14.48,14.35,14.50,6.32,49.88
$GC,522,-0.64,-146.0,2183,2109,3410,3226,70.1,-14.2,102,524,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2108,3317,3409,3225,0,0,0,0,0,0,14.66,14.66,14.66,6.32,50.27
$GC,647,-0.64,-146.0,2183,2109,3411,3225,88.4,-15.0,127,650,0.00,2.45,0.00,0.000,2564,0.000,0.062,2182,693,3314,3409,3219,0,0,0,0,0,0,14.69,14.38,14.69,6.31,48.89
$GC,682,-0.64,-146.0,2182,694,3410,3227,93.7,-14.7,134,686,0.08,2.40,0.00,0.000,3078,0.371,0.055,2194,2101,3317,3409,3225,0,0,0,0,0,0,14.15,14.40,14.42,6.32,48.46
$GC,807,-0.64,-146.0,2195,2101,3411,3225,111.4,-14.0,147,811,0.00,2.47,0.00,0.000,260,0.000,0.084,2184,3509,3318,3410,3226,0,0,0,0,0,0,14.71,14.37,14.71,6.31,48.50
$GC,892,-0.64,-146.0,2185,3509,3410,3227,121.8,-14.0,151,895,0.00,2.35,0.00,0.000,3078,0.000,0.041,2184,2090,3317,3410,3225,0,0,0,0,0,0,14.56,14.45,14.57,6.31,48.77
$GC,1202,-0.64,-146.0,2185,2089,3411,3226,164.9,-13.2,167,1206,0.00,2.40,0.00,0.000,2564,0.000,0.063,2184,695,3318,3410,3226,0,0,0,0,0,0,14.76,14.44,14.76,6.31,50.07
$GC,1317,-0.64,-146.0,2184,696,3410,3226,177.9,-12.8,172,1321,0.08,2.40,0.00,0.000,3078,0.373,0.055,2197,2113,3317,3410,3225,0,0,0,0,0,0,14.19,14.46,14.47,6.32,50.19
$GC,1622,-0.64,-146.0,2198,2113,3411,3226,216.4,-12.2,188,1625,0.00,2.42,0.00,0.000,260,0.000,0.083,2188,3504,3318,3410,3226,0,0,0,0,0,0,14.79,14.43,14.79,6.33,51.02
$GC,1657,-0.64,-146.0,2187,3504,3411,3225,218.9,-12.3,189,1660,0.00,2.33,0.00,0.000,3078,0.000,0.041,2187,2090,3317,3410,3225,0,0,0,0,0,0,14.62,14.51,14.63,6.33,50.78
$GC,1962,-0.64,-146.0,2182,2089,3410,3227,259.1,-12.4,205,1965,0.00,2.40,0.00,0.000,2564,0.000,0.062,2187,690,3317,3409,3225,0,0,0,0,0,0,14.81,14.47,14.81,6.33,51.14
$GC,2042,-0.64,-146.0,2188,690,3410,3227,269.2,-12.6,209,2045,0.05,2.40,0.00,0.000,3078,0.438,0.055,2192,2105,3317,3410,3225,0,0,0,0,0,0,14.23,14.49,14.50,6.33,51.02
$GC,2362,-0.64,-146.0,2193,2106,3411,3225,307.1,-11.9,225,2365,0.00,2.45,0.00,0.000,2308,0.000,0.083,2182,3511,3317,3409,3225,0,0,0,0,0,0,14.82,14.45,14.81,6.34,50.98
$GC,2412,-0.64,-146.0,2182,3511,3411,3225,311.3,-12.0,227,2415,0.00,2.33,0.00,0.000,3078,0.000,0.042,2181,2097,3317,3409,3225,0,0,0,0,0,0,14.64,14.52,14.65,6.34,51.29
$STATE,2715,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2715,begin apogee
$GC,2720,-0.15,0.0,2182,2156,3406,3227,350.4,-12.3,243,2849,0.47,0.00,125.88,1.562,10246,0.260,0.000,2349,2155,2716,2777,2656,0,0,0,0,0,0,14.21,13.94,13.28,6.34,51.77
$STATE,2850,end apogee,CONTROL_FINISHED_OK
$STATE,2850,begin loiter
$GC,3137,-0.15,0.0,2348,2156,2772,2644,345.5,3.6,264,3137,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2155,2706,2771,2642,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.70
$GC,3437,-0.15,0.0,2348,2156,2771,2641,335.0,3.5,279,3437,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2155,2705,2771,2640,0,0,0,0,0,0,14.72,14.72,14.71,6.29,51.22
$GC,3737,-0.15,0.0,2349,2156,2772,2639,324.5,3.5,294,3737,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2155,2705,2771,2639,0,0,0,0,0,0,14.81,14.81,14.81,6.30,51.14
$GC,4037,-0.15,0.0,2348,2155,2771,2639,314.1,3.5,309,4038,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2155,2704,2771,2638,0,0,0,0,0,0,14.86,14.86,14.86,6.29,51.61
$GC,4337,-0.15,0.0,2349,2155,2771,2638,304.0,3.4,324,4337,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2155,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.33
$GC,4637,-0.15,0.0,2349,2156,2772,2637,293.8,3.4,339,4637,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2155,2704,2770,2638,0,0,0,0,0,0,14.94,14.94,14.94,6.29,51.33
$GC,4937,-0.15,0.0,2348,2156,2771,2638,283.8,3.4,354,4937,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2155,2703,2770,2637,0,0,0,0,0,0,14.96,14.96,14.96,6.29,51.29
$GC,5237,-0.15,0.0,2348,2156,2772,2636,274.4,3.1,369,5237,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2155,2704,2771,2637,0,0,0,0,0,0,14.98,14.98,14.98,6.28,51.81
$GC,5537,-0.15,0.0,2348,2156,2771,2638,265.9,2.6,384,5538,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2155,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.28,52.20
$GC,5837,-0.15,0.0,2348,2156,2772,2637,258.8,2.3,399,5837,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2155,2703,2770,2636,0,0,0,0,0,0,15.01,15.01,15.01,6.28,51.69
$GC,6137,-0.15,0.0,2349,2156,2772,2637,251.8,2.3,414,6137,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2155,2704,2771,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.61
$STATE,6435,end loiter,LOITER_COMPLETE
$STATE,6435,begin climb
$GC,6437,0.64,146.0,2348,2156,2771,2638,243.1,0.0,429,6572,0.62,0.00,129.85,1.410,10758,0.168,0.000,2597,2156,2123,2147,2100,0,0,0,0,0,0,14.51,14.00,13.40,6.28,51.41
$GC,6857,0.64,146.0,2597,2156,2134,2080,201.2,12.1,450,6861,0.00,2.47,0.00,0.000,2308,0.000,0.080,2597,3546,2106,2132,2080,0,0,0,0,0,0,14.55,14.23,14.55,6.24,50.59
$GC,6902,0.64,146.0,2598,3546,2134,2080,196.3,12.2,452,6905,0.00,2.35,0.00,0.000,5126,0.000,0.041,2608,2151,2106,2133,2080,0,0,0,0,0,0,14.41,14.32,14.43,6.24,50.63
$GC,7217,0.64,146.0,2608,2151,2131,2078,156.7,12.3,468,7220,0.00,2.47,0.00,0.000,4612,0.000,0.067,2620,741,2103,2131,2076,0,0,0,0,0,0,14.69,14.35,14.69,6.24,50.78
$GC,7267,0.64,146.0,2619,741,2128,2078,152.0,12.0,470,7271,0.05,2.40,0.00,0.000,5126,0.389,0.052,2602,2149,2102,2127,2077,0,0,0,0,0,0,14.19,14.39,14.45,6.24,51.06
$GC,7572,0.64,146.0,2602,2150,2135,2076,115.5,11.4,485,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2150,2101,2127,2076,0,0,0,0,0,0,14.75,14.75,14.75,6.23,51.33
$GC,7872,0.64,146.0,2602,2151,2125,2076,81.2,11.3,524,7876,0.00,2.47,0.00,0.000,260,0.000,0.082,2602,3559,2100,2125,2075,0,0,0,0,0,0,14.78,14.42,14.78,6.22,50.43
$GC,7922,0.64,146.0,2603,3560,2127,2075,75.4,11.2,534,7925,0.00,2.35,0.00,0.000,5126,0.000,0.044,2610,2144,2100,2126,2075,0,0,0,0,0,0,14.61,14.50,14.62,6.24,50.03
$GC,8048,0.64,146.0,2611,2145,2126,2076,61.8,11.2,559,8052,0.00,2.45,0.00,0.000,4612,0.000,0.068,2622,743,2100,2126,2075,0,0,0,0,0,0,14.77,14.44,14.78,6.22,50.27
$GC,8107,0.64,146.0,2622,743,2126,2074,55.6,9.8,571,8111,0.05,2.40,0.00,0.000,5126,0.383,0.053,2604,2158,2099,2124,2075,0,0,0,0,0,0,14.27,14.44,14.52,6.21,49.92
$GC,8232,0.64,146.0,2604,2159,2125,2076,43.9,9.3,596,8237,0.00,2.47,0.00,0.000,516,0.000,0.067,2614,744,2098,2122,2075,0,0,0,0,0,0,14.78,14.44,14.79,6.21,49.48
$GC,8287,0.64,146.0,2613,745,2123,2075,38.9,8.7,607,8290,0.00,2.38,0.00,0.000,5126,0.000,0.052,2613,2149,2099,2124,2074,0,0,0,0,0,0,14.59,14.45,14.62,6.21,50.31
$GC,8413,0.64,146.0,2613,2151,2124,2075,28.7,8.5,632,8417,0.00,2.47,0.00,0.000,4356,0.000,0.084,2613,3558,2099,2124,2074,0,0,0,0,0,0,14.78,14.42,14.78,6.20,50.11
$GC,8462,0.64,146.0,2614,3558,2125,2074,24.1,9.4,642,8466,0.05,2.35,0.00,0.000,5126,0.415,0.044,2606,2142,2099,2124,2074,0,0,0,0,0,0,14.25,14.51,14.52,6.20,50.39
$GC,8588,0.64,146.4,2607,2143,2125,2074,13.6,8.3,667,8592,0.00,2.42,0.00,0.000,516,0.000,0.067,2617,743,2098,2123,2074,0,0,0,0,0,0,14.78,14.45,14.78,6.21,50.70
$GC,8657,0.64,152.1,2617,743,2122,2074,7.9,8.1,681,8660,0.00,2.40,0.00,0.000,5126,0.000,0.054,2617,2156,2097,2122,2073,0,0,0,0,0,0,14.62,14.47,14.63,6.21,50.55
$STATE,8715,end climb,SURFACE_DEPTH_REACHED
$STATE,8715,begin surface coast
$STATE,8745,end surface coast,CONTROL_FINISHED_OK
$STATE,8745,begin surface
$SM_CCo,8759,66.20,0.239,0,0,1822,220.03
$SM_GC,1.30,5.45,0.10,66.20,0.043,0.134,0.239,252,2060,1822,-6.50,0.79,220.03,0,0,0,0,0,0,14.57,14.52,14.21
$IRIDIUM_FIX,-6002.25,0.00,220119,175719
$TT8_MAMPS,0.03745,0.350532
$HUMID,50.94
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3735520
$24V_AH,13.28,71.191
$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,13.125,72.900,255.725,66.200,0.000,25.053,37.603,128.937,0.000,0.000,20.342,0.000,6989.141,410.002,1595.734,179.540,0.000,1031.459,0.000,1134.749,0.000,0.539,0.000
$DEVICE_MAMPS,438.345,2235.330,1562.130,239.445,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5163.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.752,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17322,699
$CAP_FILE_SIZE,90838,0
$CFSIZE,1023623168,983891968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.048,259.44,1
$GPS,220119,230521,-6003.868,6.208,40,0.7,43,-19.8,0.6,56.0,11,9.5