version: 66.14
glider: 640
mission: 5
dive: 378
start: 1 24 119 16 20 54
data:
$ID,640
$MISSION,5
$DIVE,378
$N_DIVES,600
$STOP_T,2051912
$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,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
$GPS1,240119,161528,-6011.7056,1.7609,5,1.0,14,-19.7,0.5,271.3,8,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-67.5
$GPS2,240119,162035,-6011.7163,1.6713,6,1.0,13,-19.7,0.4,255.9,8,9.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,199.3,15418,-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,-146.0,209,2081,1781,1821,0.0,0.0,0,96,0.00,0.00,-82.38,0.000,16386,0.000,0.000,209,2081,3172,3254,3090,0,0,0,0,0,0,14.68,28.83,14.69,6.21,49.88
$GC,98,-0.64,-146.0,209,2082,3255,3093,3.5,-6.3,17,116,6.15,2.78,-5.22,0.000,19204,0.347,2.241,2167,3493,3318,3414,3223,0,0,0,0,0,0,14.05,13.05,14.41,6.32,48.74
$GC,237,-0.64,-146.0,2167,3492,3416,3224,27.1,-16.8,45,241,0.08,2.30,0.00,0.000,3078,0.361,0.040,2191,2108,3319,3414,3224,0,0,0,0,0,0,14.11,14.40,14.38,6.33,47.95
$GC,363,-0.64,-146.0,2192,2107,3415,3224,47.3,-14.9,70,367,0.00,2.45,0.00,0.000,2564,0.000,0.062,2191,690,3319,3414,3224,0,0,0,0,0,0,14.69,14.32,14.69,6.33,48.46
$GC,482,-0.64,-146.0,2191,691,3411,3225,64.1,-14.3,94,486,0.00,2.40,0.00,0.000,3078,0.000,0.054,2182,2098,3319,3414,3224,0,0,0,0,0,0,14.52,14.38,14.54,6.33,48.38
$GC,608,-0.64,-146.0,2182,2099,3416,3224,82.5,-15.4,119,612,0.00,2.42,0.00,0.000,2564,0.000,0.063,2181,691,3319,3414,3224,0,0,0,0,0,0,14.72,14.34,14.72,6.33,47.99
$GC,642,-0.64,-146.0,2181,694,3415,3226,88.2,-16.6,126,646,0.08,2.40,0.00,0.000,3078,0.366,0.054,2194,2101,3319,3414,3225,0,0,0,0,0,0,14.13,14.40,14.40,6.33,47.40
$GC,782,-0.64,-146.0,2195,2101,3415,3224,110.4,-16.1,145,786,0.00,2.45,0.00,0.000,260,0.000,0.081,2184,3504,3319,3414,3225,0,0,0,0,0,0,14.75,14.36,14.75,6.32,47.87
$GC,812,-0.64,-146.0,2184,3506,3416,3226,113.4,-15.9,146,815,0.00,2.33,0.00,0.000,3078,0.000,0.042,2184,2101,3319,3414,3225,0,0,0,0,0,0,14.57,14.45,14.58,6.32,47.44
$GC,1122,-0.64,-146.0,2183,2100,3415,3225,162.1,-15.0,162,1122,0.00,0.00,0.00,0.000,2054,0.000,0.000,2184,2099,3319,3414,3225,0,0,0,0,0,0,14.78,14.78,14.78,6.32,49.09
$GC,1422,-0.64,-146.0,2184,2100,3416,3224,206.4,-14.5,177,1425,0.00,2.42,0.00,0.000,2564,0.000,0.063,2183,693,3319,3414,3225,0,0,0,0,0,0,14.80,14.43,14.81,6.33,50.00
$GC,1477,-0.64,-146.0,2184,693,3416,3224,214.4,-14.6,180,1481,0.08,2.40,0.00,0.000,3078,0.370,0.054,2197,2107,3319,3414,3225,0,0,0,0,0,0,14.16,14.46,14.45,6.35,50.31
$GC,1792,-0.64,-146.0,2197,2107,3416,3224,255.7,-12.9,196,1795,0.00,2.45,0.00,0.000,2308,0.000,0.083,2188,3514,3319,3414,3225,0,0,0,0,0,0,14.82,14.41,14.82,6.34,51.06
$GC,1827,-0.64,-146.0,2189,3513,3415,3225,260.2,-12.9,198,1830,0.00,2.33,0.00,0.000,3078,0.000,0.042,2187,2100,3319,3414,3225,0,0,0,0,0,0,14.62,14.50,14.64,6.34,50.35
$GC,2147,-0.64,-146.0,2187,2100,3416,3224,302.4,-13.2,214,2150,0.00,2.40,0.00,0.000,2564,0.000,0.063,2187,697,3319,3414,3225,0,0,0,0,0,0,14.83,14.45,14.83,6.34,50.66
$GC,2222,-0.64,-146.0,2187,697,3415,3224,312.2,-13.1,218,2226,0.05,2.38,0.00,0.000,3078,0.438,0.054,2192,2103,3319,3414,3224,0,0,0,0,0,0,14.19,14.47,14.47,6.34,50.55
$STATE,2540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2541,begin apogee
$GC,2546,-0.15,0.0,2193,2159,3415,3225,351.8,-12.2,234,2672,0.45,0.00,123.55,1.646,10246,0.262,0.000,2348,2160,2719,2779,2659,0,0,0,0,0,0,14.18,13.90,13.25,6.34,50.70
$STATE,2673,end apogee,CONTROL_FINISHED_OK
$STATE,2673,begin loiter
$GC,2962,-0.15,0.0,2349,2161,2772,2642,347.5,3.7,255,2962,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2159,2706,2771,2642,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.11
$GC,3262,-0.15,0.0,2349,2161,2772,2641,336.5,3.7,270,3262,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2160,2705,2772,2639,0,0,0,0,0,0,14.72,14.72,14.72,6.29,50.43
$GC,3562,-0.15,0.0,2349,2161,2772,2639,325.7,3.6,285,3562,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2160,2704,2771,2638,0,0,0,0,0,0,14.81,14.81,14.81,6.29,50.63
$GC,3862,-0.15,0.0,2349,2160,2772,2638,315.9,3.3,300,3863,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2160,2704,2771,2638,0,0,0,0,0,0,14.86,14.87,14.86,6.29,50.82
$GC,4162,-0.15,0.0,2349,2160,2772,2637,306.6,3.1,315,4162,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2704,2771,2637,0,0,0,0,0,0,14.91,14.91,14.91,6.29,50.94
$GC,4462,-0.15,0.0,2349,2160,2772,2637,297.4,3.1,330,4463,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2160,2704,2771,2637,0,0,0,0,0,0,14.94,14.94,14.94,6.29,50.98
$GC,4762,-0.15,0.0,2349,2160,2771,2637,288.5,2.9,345,4763,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2160,2703,2770,2636,0,0,0,0,0,0,14.96,14.97,14.96,6.29,51.14
$GC,5062,-0.15,0.0,2349,2161,2772,2637,279.2,3.3,360,5063,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2160,2703,2771,2636,0,0,0,0,0,0,14.98,14.98,14.98,6.29,51.18
$GC,5362,-0.15,0.0,2350,2160,2772,2636,268.4,3.8,375,5363,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2160,2703,2770,2636,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.45
$GC,5662,-0.15,0.0,2349,2160,2772,2635,257.3,3.5,390,5662,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2160,2703,2771,2636,0,0,0,0,0,0,15.01,15.02,15.02,6.28,51.14
$GC,5962,-0.15,0.0,2349,2161,2771,2636,247.2,3.2,405,5962,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2160,2703,2771,2635,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.10
$STATE,6260,end loiter,LOITER_COMPLETE
$STATE,6260,begin climb
$GC,6262,0.64,146.0,2349,2160,2772,2635,237.9,0.0,420,6398,0.62,2.55,127.90,1.408,11012,0.176,0.067,2604,744,2117,2138,2097,0,0,0,0,0,0,14.44,14.00,13.42,6.28,51.49
$GC,6467,0.64,146.0,2605,745,2132,2091,223.7,9.2,429,6471,0.00,2.42,0.00,0.000,1030,0.000,0.053,2605,2136,2110,2131,2089,0,0,0,0,0,0,14.23,14.13,14.25,6.24,49.37
$GC,6778,0.64,146.0,2605,2137,2128,2082,186.0,12.0,445,6781,0.00,2.53,0.00,0.000,260,0.000,0.082,2605,3561,2104,2127,2082,0,0,0,0,0,0,14.59,14.23,14.60,6.24,50.59
$GC,6858,0.64,146.0,2606,3557,2128,2082,177.0,11.9,449,6861,0.00,2.35,0.00,0.000,5126,0.000,0.043,2615,2156,2104,2127,2082,0,0,0,0,0,0,14.45,14.34,14.47,6.24,50.43
$GC,7168,0.64,146.0,2615,2156,2125,2080,138.3,13.0,465,7172,0.00,2.47,0.00,0.000,4612,0.000,0.067,2632,737,2101,2123,2079,0,0,0,0,0,0,14.70,14.35,14.71,6.24,51.22
$GC,7217,0.64,146.0,2627,738,2123,2078,133.2,12.9,467,7221,0.08,2.40,0.00,0.000,5126,0.318,0.054,2600,2152,2099,2121,2078,0,0,0,0,0,0,14.22,14.39,14.44,6.23,50.78
$GC,7524,0.64,146.0,2598,2152,2122,2078,97.3,10.5,485,7528,0.00,2.47,0.00,0.000,260,0.000,0.083,2600,3558,2099,2121,2077,0,0,0,0,0,0,14.73,14.37,14.73,6.23,50.15
$GC,7623,0.64,146.0,2600,3558,2122,2078,87.2,9.7,505,7626,0.00,2.35,0.00,0.000,5126,0.000,0.043,2609,2144,2099,2121,2077,0,0,0,0,0,0,14.58,14.47,14.59,6.22,49.92
$GC,7749,0.64,146.0,2610,2145,2122,2077,74.8,10.1,530,7753,0.00,2.42,0.00,0.000,4612,0.000,0.067,2620,751,2099,2121,2077,0,0,0,0,0,0,14.74,14.40,14.74,6.22,49.76
$GC,7793,0.64,146.0,2616,746,2121,2076,70.2,10.0,539,7796,0.00,2.40,0.00,0.000,5126,0.000,0.053,2620,2157,2098,2120,2076,0,0,0,0,0,0,14.57,14.43,14.59,6.22,49.92
$GC,7919,0.64,146.0,2620,2157,2121,2078,57.2,10.1,564,7923,0.05,0.00,0.00,0.000,4102,0.415,0.000,2603,2157,2098,2120,2077,0,0,0,0,0,0,14.28,14.50,14.45,6.22,49.33
$GC,8044,0.64,146.0,2605,2155,2121,2075,46.8,8.4,589,8048,0.00,2.45,0.00,0.000,260,0.000,0.082,2604,3552,2098,2120,2076,0,0,0,0,0,0,14.75,14.38,14.76,6.21,49.40
$GC,8068,0.64,146.0,2604,3549,2121,2078,44.5,9.3,594,8071,0.00,2.33,0.00,0.000,5126,0.000,0.044,2614,2146,2098,2120,2076,0,0,0,0,0,0,14.59,14.47,14.60,6.21,49.48
$GC,8194,0.64,146.0,2615,2146,2121,2076,32.9,9.6,619,8198,0.00,2.42,0.00,0.000,4612,0.000,0.067,2625,745,2098,2120,2076,0,0,0,0,0,0,14.76,14.42,14.76,6.21,49.60
$GC,8248,0.64,146.0,2625,746,2121,2077,28.0,8.7,630,8252,0.08,2.40,0.00,0.000,5126,0.318,0.054,2597,2160,2098,2120,2076,0,0,0,0,0,0,14.23,14.44,14.49,6.21,49.56
$GC,8374,0.64,146.0,2599,2160,2121,2076,17.0,9.1,655,8378,0.00,2.45,0.00,0.000,2308,0.000,0.080,2598,3561,2098,2120,2076,0,0,0,0,0,0,14.76,14.38,14.76,6.21,49.72
$GC,8428,0.64,146.0,2598,3562,2119,2076,12.3,8.7,666,8431,0.00,2.38,0.00,0.000,5126,0.000,0.044,2607,2154,2098,2120,2076,0,0,0,0,0,0,14.50,14.45,14.51,6.22,50.03
$STATE,8552,end climb,SURFACE_DEPTH_REACHED
$STATE,8552,begin surface coast
$STATE,8581,end surface coast,CONTROL_FINISHED_OK
$STATE,8581,begin surface
$SM_CCo,8595,65.50,0.239,0,0,1822,220.03
$SM_GC,1.24,5.45,0.10,65.50,0.055,0.122,0.239,281,2042,1822,-6.44,0.59,220.03,0,0,0,0,0,0,14.54,14.52,14.18
$IRIDIUM_FIX,-6009.38,-139.43,240119,161101
$TT8_MAMPS,0.038948,0.249417
$HUMID,49.37
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,4
$SC_FREEKB,3727328
$24V_AH,13.05,74.179
$10V_AH,13.57,0.000
$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,13.150,72.850,251.450,65.500,0.000,0.000,0.000,0.000,1.000,0.000,14.139,0.000,6839.281,395.297,1378.022,109.874,0.000,1011.382,0.000,1125.092,0.000,0.539,0.000
$DEVICE_MAMPS,437.580,2241.450,1646.280,238.680,0.000,0.000,0.000,0.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4974.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.513,0.000,0.000,0.000
$MEM,344100
$DATA_FILE_SIZE,17318,697
$CAP_FILE_SIZE,151466,0
$CFSIZE,1023623168,982253568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.075,224.73,1
$GPS,240119,184625,-6012.339,1.261,38,0.9,44,-19.7,0.8,272.5,9,9.5