version: 66.14
glider: 640
mission: 5
dive: 381
start: 1 25 119 0 4 3
data:
$ID,640
$MISSION,5
$DIVE,381
$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,56
$R_STBD_OVSHOOT,29
$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
$GPS1,240119,235755,-6013.8325,1.0815,11,0.8,40,-19.7,0.8,58.0,10,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-62.7
$GPS2,250119,000344,-6013.8262,1.1838,8,0.8,15,-19.7,0.0,52.4,10,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,196.5,11485,-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,-146.0,210,2065,1793,1828,0.0,0.0,0,96,0.00,0.00,-82.55,0.000,16386,0.000,0.000,208,2065,3136,3217,3056,0,0,0,0,0,0,14.56,28.83,14.57,6.18,51.49
$GC,98,-0.64,-146.0,209,2065,3218,3057,3.2,-5.3,17,116,6.20,2.60,-6.82,0.000,19204,0.353,2.223,2179,716,3317,3413,3222,0,0,0,0,0,0,13.99,13.02,14.35,6.29,50.94
$GC,272,-0.64,-146.0,2179,717,3414,3224,31.9,-15.4,52,276,0.08,2.38,0.00,0.000,3078,0.371,0.055,2192,2104,3319,3414,3224,0,0,0,0,0,0,14.07,14.33,14.37,6.31,49.60
$GC,398,-0.64,-146.0,2193,2105,3415,3224,48.9,-13.0,77,402,0.00,2.47,0.00,0.000,2308,0.000,0.082,2182,3510,3319,3414,3225,0,0,0,0,0,0,14.65,14.24,14.65,6.31,50.00
$GC,447,-0.64,-146.0,2182,3512,3415,3225,55.2,-12.9,87,450,0.00,2.33,0.00,0.000,3078,0.000,0.042,2182,2117,3319,3414,3224,0,0,0,0,0,0,14.50,14.39,14.51,6.32,49.96
$GC,573,-0.64,-146.0,2182,2116,3414,3225,73.7,-15.2,112,577,0.00,2.47,0.00,0.000,2564,0.000,0.064,2181,690,3319,3414,3224,0,0,0,0,0,0,14.68,14.29,14.68,6.32,49.84
$GC,612,-0.64,-146.0,2182,691,3415,3225,79.9,-15.4,120,616,0.08,2.42,0.00,0.000,3078,0.371,0.057,2193,2107,3319,3414,3225,0,0,0,0,0,0,14.11,14.38,14.39,6.32,49.13
$GC,739,-0.64,-146.0,2194,2107,3414,3225,98.4,-14.8,145,742,0.00,2.47,0.00,0.000,2308,0.000,0.082,2183,3510,3318,3414,3223,0,0,0,0,0,0,14.69,14.28,14.69,6.31,48.58
$GC,802,-0.64,-146.0,2184,3511,3415,3225,107.4,-15.1,151,805,0.00,2.35,0.00,0.000,3078,0.000,0.044,2179,2098,3323,3421,3225,0,0,0,0,0,0,14.54,14.42,14.55,6.31,48.62
$GC,1117,-0.64,-146.0,2183,2098,3415,3225,154.4,-14.2,167,1120,0.00,2.42,0.00,0.000,2564,0.000,0.065,2182,694,3319,3414,3225,0,0,0,0,0,0,14.76,14.40,14.76,6.30,49.76
$GC,1232,-0.64,-146.0,2183,695,3415,3226,168.6,-14.0,172,1236,0.03,2.42,0.00,0.000,3078,0.248,0.055,2193,2093,3319,3413,3225,0,0,0,0,0,0,14.13,14.38,14.43,6.31,49.80
$GC,1537,-0.64,-146.0,2194,2093,3415,3225,212.3,-13.5,188,1541,0.00,2.47,0.00,0.000,2308,0.000,0.082,2182,3506,3319,3414,3225,0,0,0,0,0,0,14.78,14.40,14.79,6.32,50.86
$GC,1577,-0.64,-146.0,2182,3508,3414,3225,217.1,-13.5,190,1581,0.00,2.33,0.00,0.000,3078,0.000,0.044,2182,2099,3319,3414,3225,0,0,0,0,0,0,14.59,14.47,14.61,6.32,50.82
$GC,1887,-0.64,-146.0,2182,2098,3414,3226,260.4,-13.7,206,1890,0.00,2.42,0.00,0.000,2564,0.000,0.064,2182,692,3319,3414,3225,0,0,0,0,0,0,14.81,14.44,14.81,6.33,51.22
$GC,1982,-0.64,-146.0,2182,692,3414,3224,271.4,-13.6,210,1986,0.08,2.40,0.00,0.000,3078,0.368,0.056,2195,2109,3319,3414,3225,0,0,0,0,0,0,14.18,14.46,14.46,6.34,51.10
$GC,2287,-0.64,-146.0,2196,2109,3415,3225,311.0,-12.2,226,2291,0.00,2.42,0.00,0.000,260,0.000,0.082,2185,3505,3319,3414,3225,0,0,0,0,0,0,14.81,14.42,14.81,6.33,51.26
$GC,2312,-0.64,-146.0,2186,3506,3414,3226,312.8,-12.2,227,2315,0.00,2.38,0.00,0.000,3078,0.000,0.044,2185,2095,3319,3414,3225,0,0,0,0,0,0,14.51,14.46,14.65,6.33,51.41
$STATE,2600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2600,begin apogee
$GC,2605,-0.15,0.0,2185,2167,3414,3226,350.4,-12.4,242,2735,0.47,0.00,126.82,1.574,10246,0.262,0.000,2351,2166,2716,2776,2656,0,0,0,0,0,0,14.13,13.93,13.27,6.33,51.26
$STATE,2736,end apogee,CONTROL_FINISHED_OK
$STATE,2736,begin loiter
$GC,3022,-0.15,0.0,2351,2166,2772,2642,345.8,3.8,263,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2706,2771,2642,0,0,0,0,0,0,14.55,14.55,14.56,6.29,50.94
$GC,3322,-0.15,0.0,2352,2166,2772,2639,333.9,4.1,278,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.29,51.02
$GC,3622,-0.15,0.0,2352,2166,2772,2639,321.5,4.2,293,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2705,2771,2639,0,0,0,0,0,0,14.79,14.80,14.80,6.28,51.26
$GC,3922,-0.15,0.0,2352,2166,2773,2639,309.0,4.2,308,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2705,2771,2639,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.45
$GC,4222,-0.15,0.0,2352,2166,2772,2638,296.4,4.2,323,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.14
$GC,4522,-0.15,0.0,2352,2166,2772,2639,284.0,4.1,338,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2705,2771,2639,0,0,0,0,0,0,14.92,14.93,14.92,6.29,51.41
$GC,4822,-0.15,0.0,2351,2166,2772,2640,271.4,4.1,353,4823,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2705,2771,2639,0,0,0,0,0,0,14.95,14.95,14.95,6.28,52.08
$GC,5122,-0.15,0.0,2351,2167,2770,2640,259.3,4.0,368,5123,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2705,2771,2639,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.73
$GC,5422,-0.15,0.0,2351,2167,2772,2640,248.3,3.5,383,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2705,2771,2639,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.41
$GC,5722,-0.15,0.0,2352,2166,2773,2639,239.0,2.9,398,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2705,2771,2639,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.33
$GC,6022,-0.15,0.0,2351,2167,2772,2641,231.0,2.6,413,6023,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2705,2771,2640,0,0,0,0,0,0,15.01,15.02,15.02,6.28,51.49
$GC,6322,-0.15,0.0,2351,2167,2771,2641,223.5,2.4,428,6323,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2705,2771,2640,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.22
$STATE,6340,end loiter,LOITER_COMPLETE
$STATE,6340,begin climb
$GC,6342,0.64,146.0,2352,2166,2773,2640,223.1,0.0,429,6483,0.62,2.58,130.55,1.392,11012,0.175,0.083,2597,3550,2118,2141,2095,0,0,0,0,0,0,14.45,13.98,13.43,6.28,51.41
$GC,6548,0.64,146.0,2600,3551,2140,2088,209.0,9.7,439,6551,0.00,2.38,0.00,0.000,5126,0.000,0.042,2608,2155,2113,2139,2088,0,0,0,0,0,0,14.23,14.15,14.25,6.27,49.17
$GC,6858,0.64,146.0,2609,2155,2130,2081,173.6,11.2,455,6861,0.00,2.47,0.00,0.000,4612,0.000,0.067,2619,744,2105,2130,2081,0,0,0,0,0,0,14.59,14.26,14.59,6.24,50.98
$GC,6908,0.64,146.0,2619,744,2129,2081,169.8,11.0,457,6911,0.00,2.40,0.00,0.000,5126,0.000,0.052,2619,2142,2103,2127,2080,0,0,0,0,0,0,14.43,14.30,14.45,6.24,50.86
$GC,7213,0.64,146.0,2620,2142,2127,2077,132.6,11.6,473,7216,0.00,2.50,0.00,0.000,4356,0.000,0.083,2619,3555,2102,2126,2078,0,0,0,0,0,0,14.70,14.33,14.71,6.24,50.78
$GC,7268,0.64,146.0,2619,3557,2127,2079,126.0,12.1,476,7272,0.08,2.35,0.00,0.000,5126,0.347,0.043,2604,2148,2102,2126,2078,0,0,0,0,0,0,14.16,14.42,14.44,6.24,50.98
$GC,7574,0.64,146.0,2604,2149,2127,2078,96.3,9.5,495,7578,0.00,2.45,0.00,0.000,516,0.000,0.067,2614,738,2101,2126,2076,0,0,0,0,0,0,14.74,14.40,14.74,6.22,50.59
$GC,7608,0.64,146.0,2614,738,2125,2077,93.0,9.4,502,7611,0.00,2.40,0.00,0.000,5126,0.000,0.053,2616,2153,2101,2125,2077,0,0,0,0,0,0,14.57,14.43,14.59,6.22,50.47
$GC,7734,0.64,146.0,2614,2153,2126,2076,80.3,10.4,527,7738,0.00,2.47,0.00,0.000,4356,0.000,0.085,2614,3556,2100,2124,2076,0,0,0,0,0,0,14.76,14.38,14.76,6.21,50.31
$GC,7788,0.64,146.0,2614,3557,2126,2077,74.3,10.8,538,7792,0.08,2.35,0.00,0.000,5126,0.347,0.044,2598,2146,2100,2124,2077,0,0,0,0,0,0,14.21,14.47,14.48,6.22,49.48
$GC,7914,0.64,146.0,2598,2146,2125,2077,62.7,9.0,563,7918,0.00,2.45,0.00,0.000,2564,0.000,0.067,2607,734,2100,2124,2076,0,0,0,0,0,0,14.76,14.41,14.76,6.21,49.37
$GC,7973,0.64,151.5,2608,736,2124,2076,57.5,8.1,575,7976,0.00,2.42,0.00,0.000,1030,0.000,0.054,2608,2169,2099,2123,2076,0,0,0,0,0,0,14.57,14.48,14.59,6.21,49.84
$GC,8099,0.65,152.8,2607,2165,2123,2077,46.8,8.3,600,8103,0.00,2.45,0.00,0.000,260,0.000,0.084,2607,3553,2097,2119,2075,0,0,0,0,0,0,14.75,14.39,14.76,6.20,49.96
$GC,8239,0.66,164.7,2608,3555,2124,2076,35.5,7.9,628,8257,0.00,2.35,13.95,1.313,13318,0.000,0.043,2618,2141,2047,2068,2026,0,0,0,0,0,0,14.60,14.49,13.81,6.20,50.39
$GC,8378,0.69,185.8,2619,2142,2065,2021,23.9,7.5,656,8401,0.00,0.00,19.33,1.255,8198,0.000,0.000,2618,2141,1957,1974,1940,0,0,0,0,0,0,14.75,14.39,13.76,6.20,50.35
$GC,8524,0.72,216.7,2618,2142,1972,1935,10.4,7.1,685,8556,0.00,0.00,28.98,0.288,10502,0.000,0.000,2618,2140,1830,1842,1819,0,0,0,0,0,0,14.63,14.25,14.08,6.20,50.82
$STATE,8606,end climb,SURFACE_DEPTH_REACHED
$STATE,8606,begin surface coast
$STATE,8632,end surface coast,CONTROL_FINISHED_OK
$STATE,8632,begin surface
$SM_CCo,8647,0.47,0.474,0,0,1822,220.03
$SM_GC,1.49,5.60,0.05,0.47,0.071,0.224,0.474,227,2097,1822,-6.44,0.93,220.03,0,0,0,0,0,0,14.44,14.38,14.11
$IRIDIUM_FIX,-6014.82,0.00,240119,212603
$TT8_MAMPS,0.036701,0.168525
$HUMID,50.59
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,2
$SC_FREEKB,3725792
$24V_AH,13.02,74.715
$10V_AH,13.20,0.000
$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,13.300,72.950,319.625,0.475,0.000,24.042,36.008,133.194,0.500,0.000,16.330,0.000,6803.342,379.972,1619.190,196.126,0.000,1026.615,0.000,1157.361,0.000,0.539,0.000
$DEVICE_MAMPS,371.025,2223.090,1573.605,473.535,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5032.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.519,0.000,0.000,0.000
$MEM,344076
$DATA_FILE_SIZE,17329,707
$CAP_FILE_SIZE,91637,0
$CFSIZE,1023623168,982007808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.032,244.87,1
$GPS,250119,022927,-6014.276,1.262,44,0.9,50,-19.7,1.2,230.8,9,8.6