version: 66.14
glider: 640
mission: 5
dive: 372
start: 1 23 119 22 18 42
data:
$ID,640
$MISSION,5
$DIVE,372
$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,32
$R_STBD_OVSHOOT,30
$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
$GPS1,230119,221251,-6008.9390,4.5410,67,0.7,69,-19.7,0.4,147.7,11,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-64.4
$GPS2,230119,221823,-6008.9253,4.5946,8,0.8,13,-19.7,0.5,10.8,11,10.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,206.7,20938,-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,-146.0,224,2109,1792,1829,0.0,0.0,0,91,0.00,0.00,-77.93,0.000,16386,0.000,0.000,224,2107,3078,3159,2998,0,0,0,0,0,0,14.58,28.83,14.58,6.19,51.10
$GC,93,-0.64,-146.0,225,2107,3161,2999,3.2,-4.9,16,116,6.15,2.75,-9.15,0.000,19204,0.351,2.227,2194,695,3316,3414,3219,0,0,0,0,0,0,14.03,13.31,14.36,6.29,50.27
$GC,267,-0.64,-146.0,2194,695,3415,3222,30.2,-15.0,51,270,0.00,2.42,0.00,0.000,3078,0.000,0.057,2183,2100,3318,3414,3222,0,0,0,0,0,0,14.45,14.32,14.47,6.32,49.76
$GC,392,-0.64,-146.0,2184,2100,3414,3223,50.7,-15.1,76,394,0.00,0.00,0.00,0.000,2054,0.000,0.000,2183,2100,3318,3415,3222,0,0,0,0,0,0,14.65,14.65,14.65,6.32,49.96
$GC,517,-0.64,-146.0,2183,2101,3415,3223,67.9,-14.0,101,521,0.00,2.47,0.00,0.000,2308,0.000,0.082,2173,3506,3318,3414,3222,0,0,0,0,0,0,14.67,14.33,14.68,6.32,49.84
$GC,562,-0.64,-146.0,2173,3507,3415,3223,74.2,-13.5,110,566,0.08,2.35,0.00,0.000,3078,0.360,0.043,2198,2098,3318,3414,3222,0,0,0,0,0,0,14.13,14.41,14.40,6.32,49.68
$GC,688,-0.64,-146.0,2198,2097,3415,3223,91.2,-14.5,135,692,0.00,2.45,0.00,0.000,516,0.000,0.064,2198,691,3318,3414,3222,0,0,0,0,0,0,14.69,14.31,14.69,6.31,48.81
$GC,727,-0.64,-146.0,2198,692,3421,3223,97.2,-14.8,143,730,0.00,2.40,0.00,0.000,3078,0.000,0.057,2188,2098,3318,3414,3222,0,0,0,0,0,0,14.53,14.39,14.54,6.31,49.29
$GC,867,-0.64,-146.0,2188,2099,3414,3224,118.4,-15.2,153,871,0.00,2.47,0.00,0.000,2308,0.000,0.083,2177,3505,3318,3414,3222,0,0,0,0,0,0,14.73,14.36,14.73,6.31,48.14
$GC,922,-0.64,-146.0,2177,3505,3414,3223,124.3,-14.9,155,926,0.05,2.35,0.00,0.000,3078,0.437,0.043,2193,2093,3318,3414,3222,0,0,0,0,0,0,14.16,14.45,14.42,6.39,48.58
$GC,1227,-0.64,-146.0,2193,2092,3415,3223,168.3,-13.5,171,1230,0.00,2.42,0.00,0.000,2564,0.000,0.063,2193,690,3318,3414,3222,0,0,0,0,0,0,14.76,14.42,14.77,6.32,50.66
$GC,1312,-0.64,-146.0,2193,691,3415,3222,179.0,-13.3,175,1316,0.00,2.40,0.00,0.000,3078,0.000,0.057,2182,2102,3318,3414,3222,0,0,0,0,0,0,14.58,14.45,14.59,6.32,50.27
$GC,1627,-0.64,-146.0,2182,2104,3414,3224,221.7,-13.2,191,1630,0.00,2.45,0.00,0.000,2308,0.000,0.082,2171,3505,3318,3414,3222,0,0,0,0,0,0,14.79,14.41,14.79,6.41,50.98
$GC,1677,-0.64,-146.0,2170,3506,3414,3223,226.4,-13.4,193,1681,0.08,2.33,0.00,0.000,3078,0.355,0.043,2196,2102,3318,3414,3222,0,0,0,0,0,0,14.21,14.49,14.47,6.33,50.98
$GC,1982,-0.64,-146.0,2197,2100,3414,3223,266.0,-12.1,209,1986,0.00,2.42,0.00,0.000,516,0.000,0.064,2196,694,3318,3414,3222,0,0,0,0,0,0,14.81,14.45,14.81,6.33,51.92
$GC,2072,-0.64,-146.0,2197,695,3415,3222,275.8,-12.2,213,2075,0.00,2.40,0.00,0.000,3078,0.000,0.056,2186,2106,3318,3414,3222,0,0,0,0,0,0,14.62,14.47,14.63,6.33,50.66
$GC,2382,-0.64,-146.0,2186,2107,3415,3223,316.0,-12.8,229,2385,0.00,2.45,0.00,0.000,2308,0.000,0.083,2176,3509,3318,3414,3222,0,0,0,0,0,0,14.82,14.41,14.82,6.33,51.14
$GC,2412,-0.64,-146.0,2175,3510,3414,3223,317.9,-12.7,230,2416,0.05,2.35,0.00,0.000,3078,0.431,0.043,2191,2097,3318,3414,3222,0,0,0,0,0,0,14.22,14.51,14.49,6.34,51.10
$STATE,2655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2655,begin apogee
$GC,2660,-0.15,0.0,2192,2163,3415,3222,350.5,-12.5,243,2790,0.45,0.00,126.60,1.555,10246,0.259,0.000,2349,2163,2716,2776,2656,0,0,0,0,0,0,14.16,13.93,13.28,6.34,51.18
$STATE,2791,end apogee,CONTROL_FINISHED_OK
$STATE,2791,begin loiter
$GC,3077,-0.15,0.0,2350,2163,2772,2643,348.3,3.0,264,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2163,2706,2771,2642,0,0,0,0,0,0,14.56,14.57,14.57,6.29,50.51
$GC,3377,-0.15,0.0,2349,2163,2773,2640,339.4,2.9,279,3378,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.29,51.41
$GC,3677,-0.15,0.0,2349,2163,2772,2640,330.5,3.0,294,3677,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2163,2705,2771,2639,0,0,0,0,0,0,14.81,14.81,14.81,6.29,50.94
$GC,3977,-0.15,0.0,2349,2164,2772,2639,321.6,3.2,309,3978,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2705,2772,2638,0,0,0,0,0,0,14.86,14.85,14.86,6.29,51.06
$GC,4277,-0.15,0.0,2350,2163,2772,2638,312.4,3.2,324,4277,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.18
$GC,4577,-0.15,0.0,2349,2164,2771,2639,302.5,3.2,339,4577,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2704,2771,2638,0,0,0,0,0,0,14.93,14.94,14.94,6.28,51.53
$GC,4877,-0.15,0.0,2349,2163,2772,2638,292.3,3.4,354,4877,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2704,2771,2637,0,0,0,0,0,0,14.96,14.96,14.96,6.29,51.37
$GC,5177,-0.15,0.0,2351,2163,2772,2637,282.0,3.3,369,5177,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2704,2771,2637,0,0,0,0,0,0,14.97,14.98,14.98,6.29,51.53
$GC,5477,-0.15,0.0,2350,2163,2773,2637,272.4,3.2,384,5478,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2704,2771,2637,0,0,0,0,0,0,14.99,15.00,14.99,6.28,52.04
$GC,5777,-0.15,0.0,2349,2163,2772,2638,263.4,2.9,399,5777,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2704,2771,2637,0,0,0,0,0,0,15.00,15.01,15.01,6.28,51.77
$GC,6077,-0.15,0.0,2350,2164,2772,2638,254.8,2.9,414,6077,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2704,2771,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.57
$STATE,6375,end loiter,LOITER_COMPLETE
$STATE,6375,begin climb
$GC,6377,0.64,146.0,2349,2163,2772,2638,247.0,0.0,429,6517,0.62,2.58,130.02,1.405,11012,0.169,0.085,2596,3543,2120,2144,2097,0,0,0,0,0,0,14.49,13.98,13.43,6.28,52.04
$GC,6592,0.64,146.0,2597,3543,2142,2088,233.0,9.6,439,6597,0.00,2.38,0.00,0.000,5126,0.000,0.042,2606,2150,2114,2141,2088,0,0,0,0,0,0,14.25,14.16,14.23,6.24,49.17
$GC,6897,0.64,146.0,2607,2150,2134,2082,198.3,10.7,455,6901,0.00,2.47,0.00,0.000,4612,0.000,0.067,2618,745,2107,2133,2082,0,0,0,0,0,0,14.59,14.26,14.59,6.24,50.78
$GC,6937,0.64,146.0,2619,746,2132,2082,194.3,10.3,457,6941,0.00,2.40,0.00,0.000,5126,0.000,0.054,2618,2144,2106,2130,2082,0,0,0,0,0,0,14.43,14.31,14.45,6.24,50.82
$GC,7257,0.64,146.0,2618,2144,2130,2079,159.5,11.2,473,7261,0.00,2.53,0.00,0.000,4356,0.000,0.085,2618,3561,2103,2129,2078,0,0,0,0,0,0,14.70,14.33,14.70,6.24,50.86
$GC,7332,0.64,146.0,2618,3562,2130,2079,151.0,11.3,477,7336,0.08,2.35,0.00,0.000,5126,0.347,0.044,2604,2152,2103,2129,2078,0,0,0,0,0,0,14.17,14.42,14.45,6.24,51.10
$GC,7648,0.64,146.0,2604,2151,2129,2077,117.7,11.0,493,7652,0.00,2.45,0.00,0.000,516,0.000,0.067,2613,743,2102,2128,2076,0,0,0,0,0,0,14.74,14.40,14.75,6.23,50.66
$GC,7717,0.64,146.0,2613,743,2127,2075,111.3,10.8,496,7721,0.00,2.40,0.00,0.000,5126,0.000,0.054,2613,2156,2101,2126,2077,0,0,0,0,0,0,14.58,14.44,14.60,6.23,50.63
$GC,8022,0.64,146.0,2614,2157,2127,2076,77.4,10.3,541,8026,0.00,2.47,0.00,0.000,4356,0.000,0.086,2613,3555,2101,2126,2076,0,0,0,0,0,0,14.78,14.40,14.78,6.22,50.35
$GC,8092,0.64,146.0,2613,3556,2126,2077,70.1,10.1,555,8096,0.05,2.35,0.00,0.000,5126,0.410,0.044,2606,2141,2101,2126,2076,0,0,0,0,0,0,14.23,14.50,14.50,6.21,49.48
$GC,8218,0.64,146.0,2607,2141,2127,2076,58.4,9.6,580,8222,0.00,2.42,0.00,0.000,516,0.000,0.067,2615,743,2100,2125,2076,0,0,0,0,0,0,14.77,14.43,14.77,6.21,49.17
$GC,8262,0.64,146.0,2616,743,2126,2077,54.0,9.9,589,8267,0.00,2.38,0.00,0.000,5126,0.000,0.054,2615,2149,2100,2125,2076,0,0,0,0,0,0,14.59,14.46,14.62,6.21,49.52
$GC,8389,0.64,146.0,2616,2150,2126,2076,40.8,9.7,614,8392,0.00,2.45,0.00,0.000,4612,0.000,0.069,2626,743,2100,2125,2076,0,0,0,0,0,0,14.77,14.42,14.77,6.20,49.44
$GC,8427,0.64,146.0,2626,743,2125,2076,37.0,9.5,622,8431,0.08,2.40,0.00,0.000,5126,0.314,0.055,2599,2152,2100,2125,2075,0,0,0,0,0,0,14.26,14.45,14.52,6.20,49.37
$GC,8553,0.64,146.0,2600,2153,2127,2075,26.8,9.6,647,8557,0.00,2.47,0.00,0.000,2308,0.000,0.084,2599,3556,2100,2125,2075,0,0,0,0,0,0,14.78,14.40,14.78,6.20,50.07
$GC,8592,0.64,146.0,2599,3555,2126,2075,23.0,9.6,655,8596,0.00,2.35,0.00,0.000,5126,0.000,0.044,2608,2144,2100,2125,2075,0,0,0,0,0,0,14.64,14.49,14.62,6.20,50.27
$GC,8719,0.64,146.0,2608,2145,2125,2076,11.8,8.7,680,8721,0.00,0.00,0.00,0.000,4102,0.000,0.000,2608,2144,2099,2124,2075,0,0,0,0,0,0,14.77,14.77,14.78,6.23,51.14
$STATE,8825,end climb,SURFACE_DEPTH_REACHED
$STATE,8825,begin surface coast
$STATE,8880,end surface coast,CONTROL_FINISHED_OK
$STATE,8881,begin surface
$SM_CCo,8895,67.03,0.241,0,0,1820,220.03
$SM_GC,1.23,5.47,0.05,67.03,0.068,0.213,0.241,281,2085,1820,-6.44,1.02,220.03,0,0,0,0,0,0,14.55,14.53,14.20
$IRIDIUM_FIX,-6007.06,4.32,230119,194012
$TT8_MAMPS,0.03745,0.347536
$HUMID,50.35
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3730400
$24V_AH,13.28,72.984
$10V_AH,13.39,0.000
$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,13.150,77.900,256.625,67.025,0.000,29.031,17.986,128.667,0.000,0.000,14.384,0.000,7056.290,413.122,1635.455,190.949,0.000,1061.067,0.000,1185.383,0.000,0.539,0.000
$DEVICE_MAMPS,436.815,2226.915,1555.245,240.975,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5301.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.569,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,20779,713
$CAP_FILE_SIZE,93485,0
$CFSIZE,1023623168,982908928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.022,204.25,1
$GPS,240119,004901,-6009.410,4.644,13,0.9,31,-19.7,0.0,36.8,9,8.5