version: 66.14
glider: 640
mission: 5
dive: 364
start: 1 23 119 1 44 50
data:
$ID,640
$MISSION,5
$DIVE,364
$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,59
$R_STBD_OVSHOOT,31
$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
$GPS1,230119,013901,-6004.3711,6.0646,15,0.7,32,-19.8,0.4,276.6,12,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-65.8
$GPS2,230119,014431,-6004.3931,6.0366,9,0.7,14,-19.8,0.6,173.6,12,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,205.5,29429,-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,-146.0,211,2068,1793,1825,0.0,0.0,0,102,0.00,0.00,-89.05,0.000,16386,0.000,0.000,211,2068,3266,3349,3183,0,0,0,0,0,0,14.58,28.83,14.59,6.19,51.61
$GC,104,-0.64,-146.0,212,2068,3350,3184,3.4,-6.8,18,118,6.22,2.78,-1.80,0.000,18692,0.361,2.234,2173,3506,3316,3407,3225,0,0,0,0,0,0,13.96,13.31,14.32,6.31,50.07
$GC,157,-0.64,-146.0,2173,3506,3410,3225,13.8,-17.2,29,162,0.08,2.30,0.00,0.000,3078,0.369,0.042,2198,2129,3316,3409,3224,0,0,0,0,0,0,14.10,14.35,14.35,6.32,49.29
$GC,284,-0.64,-146.0,2199,2129,3421,3224,35.5,-17.1,54,288,0.00,2.53,0.00,0.000,516,0.000,0.065,2198,689,3317,3410,3224,0,0,0,0,0,0,14.61,14.32,14.62,6.32,49.96
$GC,357,-0.64,-146.0,2199,689,3411,3225,47.8,-16.6,69,362,0.00,2.42,0.00,0.000,3078,0.000,0.057,2188,2103,3317,3410,3224,0,0,0,0,0,0,14.48,14.35,14.50,6.32,49.60
$GC,483,-0.64,-146.0,2189,2104,3411,3225,70.8,-17.1,94,486,0.00,2.47,0.00,0.000,2308,0.000,0.082,2178,3509,3317,3410,3224,0,0,0,0,0,0,14.66,14.30,14.66,6.32,49.76
$GC,567,-0.64,-146.0,2178,3510,3411,3225,84.6,-15.2,111,571,0.05,2.38,0.00,0.000,3078,0.435,0.043,2193,2086,3317,3410,3225,0,0,0,0,0,0,14.14,14.41,14.40,6.32,49.25
$GC,699,-0.64,-146.0,2194,2085,3422,3224,103.6,-14.9,134,702,0.00,2.42,0.00,0.000,2564,0.000,0.065,2192,693,3317,3410,3225,0,0,0,0,0,0,14.69,14.36,14.66,6.32,48.74
$GC,782,-0.64,-146.0,2193,694,3411,3226,114.2,-14.3,138,786,0.00,2.40,0.00,0.000,3078,0.000,0.054,2182,2103,3317,3410,3225,0,0,0,0,0,0,14.54,14.40,14.55,6.32,47.91
$GC,1092,-0.64,-146.0,2183,2103,3410,3226,156.0,-12.9,154,1096,0.00,2.42,0.00,0.000,2564,0.000,0.062,2183,696,3317,3410,3225,0,0,0,0,0,0,14.75,14.42,14.75,6.31,49.52
$GC,1132,-0.64,-146.0,2182,696,3411,3224,161.3,-13.2,156,1136,0.08,2.38,0.00,0.000,3078,0.369,0.055,2196,2100,3317,3410,3225,0,0,0,0,0,0,14.17,14.43,14.45,6.31,49.37
$GC,1453,-0.64,-146.0,2197,2100,3410,3225,199.5,-11.9,172,1456,0.00,2.45,0.00,0.000,260,0.000,0.082,2186,3503,3317,3410,3225,0,0,0,0,0,0,14.77,14.38,14.77,6.32,50.51
$GC,1522,-0.64,-146.0,2186,3503,3411,3226,206.2,-12.1,175,1527,0.00,2.33,0.00,0.000,3078,0.000,0.042,2185,2091,3317,3410,3225,0,0,0,0,0,0,14.60,14.49,14.62,6.32,50.94
$GC,1827,-0.64,-146.0,2185,2091,3411,3225,245.6,-12.6,191,1832,0.00,2.40,0.00,0.000,2564,0.000,0.063,2185,691,3314,3410,3218,0,0,0,0,0,0,14.80,14.45,14.79,6.33,50.94
$GC,1902,-0.64,-146.0,2186,700,3412,3224,253.3,-12.7,194,1906,0.05,2.40,0.00,0.000,3078,0.441,0.055,2190,2104,3317,3410,3225,0,0,0,0,0,0,14.18,14.47,14.47,6.33,50.82
$GC,2207,-0.64,-146.0,2190,2105,3411,3225,291.8,-12.4,210,2211,0.00,2.45,0.00,0.000,2308,0.000,0.083,2179,3505,3317,3410,3225,0,0,0,0,0,0,14.81,14.38,14.81,6.33,51.02
$GC,2262,-0.64,-146.0,2180,3501,3411,3225,298.7,-12.6,213,2266,0.00,2.33,0.00,0.000,3078,0.000,0.042,2179,2094,3317,3410,3225,0,0,0,0,0,0,14.62,14.51,14.64,6.33,50.78
$GC,2582,-0.64,-146.0,2179,2093,3411,3224,339.9,-12.9,229,2586,0.03,2.40,0.00,0.000,2564,0.620,0.063,2189,697,3315,3410,3220,0,0,0,0,0,0,14.34,14.44,14.51,6.34,51.22
$GC,2662,-0.64,-146.0,2190,698,3411,3224,349.3,-12.5,233,2666,0.00,2.38,0.00,0.000,3078,0.000,0.054,2179,2106,3317,3410,3224,0,0,0,0,0,0,14.62,14.48,14.64,6.34,50.98
$STATE,2675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2675,begin apogee
$GC,2680,-0.15,0.0,2180,2157,3411,3225,351.6,-12.2,234,2809,0.50,0.00,125.62,1.572,10246,0.262,0.000,2354,2157,2714,2774,2655,0,0,0,0,0,0,14.16,13.93,13.28,6.34,51.02
$STATE,2810,end apogee,CONTROL_FINISHED_OK
$STATE,2810,begin loiter
$GC,3097,-0.15,0.0,2354,2157,2773,2642,347.1,3.5,255,3098,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2157,2706,2771,2642,0,0,0,0,0,0,14.55,14.55,14.55,6.29,50.43
$GC,3397,-0.15,0.0,2354,2157,2773,2639,337.1,3.2,270,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2157,2705,2771,2639,0,0,0,0,0,0,14.71,14.71,14.71,6.29,51.29
$GC,3697,-0.15,0.0,2354,2158,2771,2639,327.5,3.2,285,3698,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2157,2703,2770,2637,0,0,0,0,0,0,14.79,14.80,14.80,6.29,50.86
$GC,3998,-0.15,0.0,2354,2157,2772,2637,318.2,3.1,300,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2157,2704,2771,2638,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.14
$GC,4297,-0.15,0.0,2354,2157,2772,2637,308.5,3.3,315,4298,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2157,2704,2771,2637,0,0,0,0,0,0,14.89,14.90,14.90,6.29,51.73
$GC,4597,-0.15,0.0,2354,2158,2772,2638,299.2,3.0,330,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2157,2704,2771,2637,0,0,0,0,0,0,14.92,14.92,14.92,6.29,51.69
$GC,4897,-0.15,0.0,2354,2157,2772,2636,289.9,3.0,345,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2157,2703,2769,2637,0,0,0,0,0,0,14.95,14.95,14.95,6.29,51.37
$GC,5197,-0.15,0.0,2354,2157,2772,2637,280.8,3.1,360,5198,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2157,2703,2771,2636,0,0,0,0,0,0,14.97,14.97,14.96,6.28,51.41
$GC,5498,-0.15,0.0,2354,2157,2772,2636,272.2,2.8,375,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2157,2704,2771,2637,0,0,0,0,0,0,14.97,14.98,14.98,6.29,51.33
$GC,5797,-0.15,0.0,2354,2158,2772,2637,264.8,2.2,390,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2157,2703,2771,2636,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.41
$GC,6098,-0.15,0.0,2354,2157,2772,2637,257.7,2.4,405,6098,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2156,2703,2771,2636,0,0,0,0,0,0,15.00,15.01,15.00,6.28,51.49
$STATE,6395,end loiter,LOITER_COMPLETE
$STATE,6395,begin climb
$GC,6398,0.64,146.0,2354,2157,2772,2637,249.9,0.0,420,6535,0.60,2.53,129.70,1.419,10756,0.169,0.063,2603,750,2120,2144,2096,0,0,0,0,0,0,14.50,13.88,13.40,6.29,51.53
$GC,6599,0.64,146.0,2603,750,2136,2089,236.2,8.9,429,6604,0.00,2.42,0.00,0.000,1030,0.000,0.053,2603,2146,2112,2135,2089,0,0,0,0,0,0,14.22,14.13,14.24,6.24,49.88
$GC,6914,0.64,146.0,2603,2147,2132,2083,198.6,12.1,445,6918,0.00,2.50,0.00,0.000,260,0.000,0.081,2603,3553,2106,2131,2082,0,0,0,0,0,0,14.58,14.26,14.58,6.25,50.51
$GC,6984,0.64,146.0,2600,3553,2132,2082,191.3,12.2,448,6989,0.00,2.35,0.00,0.000,5126,0.000,0.043,2613,2150,2106,2131,2082,0,0,0,0,0,0,14.45,14.34,14.47,6.24,50.74
$GC,7294,0.64,146.0,2614,2150,2131,2078,151.7,12.5,464,7298,0.00,2.45,0.00,0.000,4612,0.000,0.067,2625,743,2104,2130,2078,0,0,0,0,0,0,14.69,14.37,14.70,6.24,50.94
$GC,7344,0.64,146.0,2625,744,2129,2077,147.6,12.1,466,7349,0.08,2.40,0.00,0.000,5126,0.317,0.054,2598,2155,2102,2128,2077,0,0,0,0,0,0,14.21,14.40,14.46,6.23,51.18
$GC,7649,0.64,146.0,2599,2156,2127,2077,114.0,10.0,482,7653,0.00,2.45,0.00,0.000,2308,0.000,0.082,2607,3554,2103,2130,2076,0,0,0,0,0,0,14.76,14.39,14.76,6.23,50.86
$GC,7704,0.64,146.0,2597,3554,2128,2077,109.9,10.2,484,7708,0.00,2.33,0.00,0.000,5126,0.000,0.044,2607,2149,2101,2127,2076,0,0,0,0,0,0,14.59,14.47,14.60,6.23,51.41
$GC,8010,0.64,146.0,2608,2148,2125,2076,80.6,10.0,530,8014,0.00,2.45,0.00,0.000,4612,0.000,0.067,2618,741,2101,2127,2076,0,0,0,0,0,0,14.77,14.43,14.77,6.23,50.07
$GC,8044,0.64,146.0,2619,741,2127,2076,77.2,9.7,537,8048,0.03,2.42,0.00,0.000,5126,0.377,0.053,2608,2147,2100,2126,2075,0,0,0,0,0,0,14.24,14.44,14.37,6.21,50.70
$GC,8171,0.64,146.0,2609,2148,2127,2075,65.4,9.4,562,8174,0.00,2.47,0.00,0.000,4356,0.000,0.083,2608,3556,2101,2126,2076,0,0,0,0,0,0,14.76,14.41,14.76,6.22,49.37
$GC,8229,0.64,146.0,2608,3557,2125,2077,59.7,9.1,574,8234,0.00,2.35,0.00,0.000,5126,0.000,0.043,2616,2145,2100,2126,2075,0,0,0,0,0,0,14.60,14.50,14.62,6.22,49.21
$GC,8356,0.64,146.0,2617,2145,2126,2077,48.6,9.1,599,8360,0.00,2.47,0.00,0.000,4356,0.000,0.080,2617,3554,2100,2125,2076,0,0,0,0,0,0,14.76,14.36,14.76,6.21,49.44
$GC,8374,0.64,146.0,2617,3555,2127,2077,46.6,10.1,603,8378,0.08,2.33,0.00,0.000,5126,0.337,0.044,2601,2151,2101,2126,2076,0,0,0,0,0,0,14.25,14.49,14.52,6.21,49.21
$GC,8501,0.64,146.0,2601,2150,2127,2076,34.9,9.1,628,8504,0.00,2.45,0.00,0.000,516,0.000,0.067,2610,740,2100,2126,2075,0,0,0,0,0,0,14.76,14.43,14.76,6.20,50.31
$GC,8534,0.64,146.0,2610,741,2126,2076,31.8,8.7,635,8538,0.00,2.42,0.00,0.000,5126,0.000,0.053,2610,2145,2100,2125,2075,0,0,0,0,0,0,14.60,14.44,14.62,6.21,50.11
$GC,8661,0.64,146.0,2609,2145,2126,2074,21.0,8.4,660,8664,0.00,2.47,0.00,0.000,4356,0.000,0.084,2610,3554,2100,2125,2075,0,0,0,0,0,0,14.77,14.42,14.77,6.21,50.19
$GC,8699,0.64,146.0,2611,3554,2125,2077,17.4,9.5,668,8703,0.05,2.35,0.00,0.000,5126,0.410,0.044,2604,2141,2100,2125,2075,0,0,0,0,0,0,14.25,14.50,14.51,6.21,50.74
$GC,8826,0.69,190.3,2604,2140,2126,2076,6.0,6.6,693,8863,0.00,0.00,35.72,0.259,10754,0.000,0.000,2604,2140,1949,1967,1931,0,0,0,0,0,0,14.76,28.83,14.76,6.21,51.10
$STATE,8864,end climb,SURFACE_DEPTH_REACHED
$STATE,8864,begin surface coast
$STATE,8902,end surface coast,CONTROL_FINISHED_OK
$STATE,8902,begin surface
$SM_CCo,8916,29.10,0.243,0,0,1820,220.03
$SM_GC,1.19,5.43,0.00,29.10,0.046,0.000,0.243,255,2139,1820,-6.46,1.10,220.03,0,0,0,0,0,0,14.54,14.71,14.20
$IRIDIUM_FIX,-6002.25,8.62,220119,230736
$TT8_MAMPS,0.038948,0.35203
$HUMID,50.00
$INTERNAL_PRESSURE,6.14803
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3734496
$24V_AH,13.28,71.543
$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,13.250,87.300,291.050,29.100,0.000,25.246,17.964,135.244,0.000,0.000,15.350,0.000,7028.710,410.984,1648.423,189.306,0.000,1068.101,0.000,1191.754,0.000,0.539,0.000
$DEVICE_MAMPS,620.415,2233.800,1572.075,242.505,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,12.626,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,20777,709
$CAP_FILE_SIZE,96542,0
$CFSIZE,1023623168,983695360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.031,234.39,1
$GPS,230119,041503,-6004.938,5.773,16,0.8,42,-19.8,0.6,174.6,10,8.7