version: 66.14
glider: 640
mission: 5
dive: 382
start: 1 25 119 2 35 46
data:
$ID,640
$MISSION,5
$DIVE,382
$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,33
$R_STBD_OVSHOOT,35
$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
$GPS1,250119,022927,-6014.2759,1.2624,44,0.9,50,-19.7,1.2,230.8,9,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-65.8
$GPS2,250119,023527,-6014.2554,1.2863,8,0.9,22,-19.7,0.5,146.9,9,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,199.5,10704,-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,-146.0,228,2096,1807,1827,0.0,0.0,0,96,0.00,0.00,-82.50,0.000,16386,0.000,0.000,227,2097,3132,3213,3051,0,0,0,0,0,0,14.55,28.83,14.55,6.18,51.49
$GC,98,-0.64,-146.0,227,2097,3213,3050,3.3,-6.2,17,116,6.20,2.70,-6.70,0.000,18948,0.362,2.225,2186,699,3317,3413,3222,0,0,0,0,0,0,13.97,13.00,14.34,6.28,50.23
$GC,247,-0.64,-146.0,2186,699,3415,3225,30.1,-13.7,47,251,0.05,2.40,0.00,0.000,3078,0.451,0.053,2190,2104,3321,3414,3228,0,0,0,0,0,0,14.07,14.33,14.34,6.32,49.33
$GC,373,-0.64,-146.0,2190,2105,3415,3224,48.7,-14.3,72,376,0.00,0.00,0.00,0.000,2054,0.000,0.000,2190,2104,3318,3413,3224,0,0,0,0,0,0,14.63,14.64,14.63,6.32,49.68
$GC,497,-0.64,-146.0,2190,2105,3415,3225,65.2,-13.6,97,500,0.00,2.45,0.00,0.000,2564,0.000,0.063,2190,690,3319,3414,3224,0,0,0,0,0,0,14.67,14.35,14.67,6.32,50.03
$GC,537,-0.64,-146.0,2190,691,3415,3225,71.1,-14.7,105,540,0.00,2.40,0.00,0.000,3078,0.000,0.055,2180,2098,3319,3414,3224,0,0,0,0,0,0,14.51,14.38,14.52,6.32,49.60
$GC,663,-0.64,-146.0,2180,2099,3415,3224,90.2,-15.3,130,667,0.00,2.47,0.00,0.000,2308,0.000,0.082,2169,3509,3319,3414,3224,0,0,0,0,0,0,14.69,14.29,14.69,6.31,48.97
$GC,702,-0.64,-146.0,2170,3509,3415,3224,96.3,-15.1,138,706,0.08,2.35,0.00,0.000,3078,0.379,0.044,2193,2097,3319,3414,3224,0,0,0,0,0,0,14.13,14.42,14.40,6.31,48.62
$GC,832,-0.64,-146.0,2194,2097,3415,3225,114.6,-13.9,149,835,0.00,2.42,0.00,0.000,516,0.000,0.064,2193,693,3319,3414,3224,0,0,0,0,0,0,14.72,14.39,14.72,6.30,48.34
$GC,852,-0.64,-146.0,2193,694,3415,3224,116.6,-13.8,150,855,0.00,2.40,0.00,0.000,3078,0.000,0.055,2182,2106,3319,3414,3224,0,0,0,0,0,0,14.54,14.41,14.56,6.29,48.34
$GC,1167,-0.64,-146.0,2183,2106,3415,3224,159.3,-13.7,166,1171,0.00,2.45,0.00,0.000,2564,0.000,0.063,2182,693,3319,3414,3224,0,0,0,0,0,0,14.76,14.42,14.76,6.31,50.31
$GC,1192,-0.64,-146.0,2190,694,3415,3224,161.9,-13.5,167,1196,0.08,2.40,0.00,0.000,3078,0.375,0.054,2195,2109,3319,3414,3224,0,0,0,0,0,0,14.16,14.44,14.45,6.31,49.84
$GC,1502,-0.64,-146.0,2195,2109,3415,3224,200.8,-12.3,183,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2108,3319,3414,3224,0,0,0,0,0,0,14.78,14.78,14.78,6.32,51.14
$GC,1802,-0.64,-146.0,2196,2109,3415,3224,238.1,-12.6,198,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2109,3319,3414,3224,0,0,0,0,0,0,14.81,14.81,14.81,6.32,51.02
$GC,2102,-0.64,-146.0,2195,2109,3415,3224,276.3,-12.8,213,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2107,3319,3414,3224,0,0,0,0,0,0,14.82,14.83,14.82,6.33,51.26
$GC,2402,-0.64,-146.0,2195,2109,3415,3225,315.2,-13.1,228,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2108,3319,3414,3224,0,0,0,0,0,0,14.83,14.83,14.83,6.34,51.53
$STATE,2680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2680,begin apogee
$GC,2685,-0.15,0.0,2196,2153,3415,3225,351.5,-12.9,242,2814,0.45,0.00,126.35,1.567,10246,0.260,0.000,2353,2153,2719,2780,2659,0,0,0,0,0,0,14.18,13.93,13.28,6.34,51.85
$STATE,2815,end apogee,CONTROL_FINISHED_OK
$STATE,2815,begin loiter
$GC,3102,-0.15,0.0,2354,2153,2773,2642,352.2,2.2,263,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2152,2707,2772,2643,0,0,0,0,0,0,14.56,14.56,14.56,6.29,50.66
$GC,3402,-0.15,0.0,2353,2153,2772,2641,345.6,2.3,278,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2152,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.29,50.98
$GC,3702,-0.15,0.0,2354,2153,2773,2639,338.5,2.3,293,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2153,2705,2771,2639,0,0,0,0,0,0,14.80,14.81,14.81,6.29,51.49
$GC,4002,-0.15,0.0,2354,2153,2772,2639,331.5,2.3,308,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2152,2704,2771,2638,0,0,0,0,0,0,14.85,14.86,14.86,6.29,51.14
$GC,4302,-0.15,0.0,2353,2153,2772,2639,324.5,2.4,323,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2152,2705,2772,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.61
$GC,4602,-0.15,0.0,2354,2153,2773,2637,317.2,2.4,338,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2152,2704,2771,2638,0,0,0,0,0,0,14.93,14.93,14.93,6.28,51.53
$GC,4902,-0.15,0.0,2353,2153,2772,2639,309.9,2.4,353,4902,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2152,2704,2771,2637,0,0,0,0,0,0,14.95,14.96,14.96,6.29,51.65
$GC,5202,-0.15,0.0,2354,2153,2773,2637,302.2,2.6,368,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2152,2705,2772,2638,0,0,0,0,0,0,14.97,14.98,14.97,6.28,51.26
$GC,5502,-0.15,0.0,2354,2153,2773,2637,293.5,3.1,383,5503,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2152,2704,2772,2637,0,0,0,0,0,0,14.99,15.00,14.99,6.29,51.45
$GC,5802,-0.15,0.0,2353,2153,2772,2637,283.9,3.4,398,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2152,2704,2772,2637,0,0,0,0,0,0,15.00,15.01,15.01,6.28,51.89
$GC,6102,-0.15,0.0,2353,2153,2772,2638,273.8,3.5,413,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2153,2704,2772,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.28,52.04
$STATE,6400,end loiter,LOITER_COMPLETE
$STATE,6400,begin climb
$GC,6402,0.64,146.0,2353,2153,2772,2638,263.8,0.0,428,6542,0.62,2.60,129.70,1.434,10500,0.172,0.080,2600,3555,2119,2142,2097,0,0,0,0,0,0,14.47,13.97,13.39,6.28,51.41
$GC,6622,0.64,146.0,2601,3555,2141,2088,246.1,10.9,439,6625,0.00,2.40,0.00,0.000,5126,0.000,0.042,2611,2149,2114,2140,2088,0,0,0,0,0,0,14.25,14.16,14.26,6.24,49.72
$GC,6942,0.64,146.0,2612,2148,2133,2082,208.9,11.7,455,6946,0.00,2.50,0.00,0.000,4612,0.000,0.068,2621,734,2107,2132,2082,0,0,0,0,0,0,14.60,14.26,14.60,6.24,50.59
$GC,6972,0.64,146.0,2622,735,2132,2083,206.6,11.7,456,6976,0.05,2.42,0.00,0.000,5126,0.379,0.053,2604,2146,2108,2136,2081,0,0,0,0,0,0,14.11,14.31,14.36,6.24,50.78
$GC,7282,0.64,146.0,2605,2147,2129,2078,170.7,11.3,472,7285,0.00,2.50,0.00,0.000,260,0.000,0.082,2603,3554,2103,2129,2078,0,0,0,0,0,0,14.70,14.33,14.71,6.24,51.53
$GC,7382,0.64,146.0,2605,3554,2129,2078,160.0,11.1,477,7385,0.00,2.35,0.00,0.000,5126,0.000,0.043,2613,2148,2103,2129,2078,0,0,0,0,0,0,14.54,14.42,14.56,6.23,51.10
$GC,7697,0.64,146.0,2614,2148,2129,2077,122.9,11.4,493,7700,0.00,2.47,0.00,0.000,4356,0.000,0.080,2613,3554,2102,2128,2077,0,0,0,0,0,0,14.77,14.39,14.76,6.23,50.66
$GC,7717,0.64,146.0,2614,3555,2129,2077,121.1,11.5,494,7721,0.05,2.35,0.00,0.000,5126,0.416,0.044,2607,2146,2102,2127,2077,0,0,0,0,0,0,14.21,14.47,14.48,6.23,50.82
$GC,8022,0.64,146.0,2607,2146,2128,2077,88.8,9.5,524,8025,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2146,2101,2127,2076,0,0,0,0,0,0,14.78,14.79,14.79,6.22,50.19
$GC,8147,0.64,146.0,2607,2147,2128,2077,77.5,8.8,549,8150,0.00,2.45,0.00,0.000,4612,0.000,0.067,2617,734,2101,2127,2076,0,0,0,0,0,0,14.79,14.43,14.79,6.21,50.00
$GC,8172,0.64,146.0,2617,734,2126,2077,75.2,8.7,554,8175,0.00,2.40,0.00,0.000,5126,0.000,0.050,2617,2151,2101,2126,2076,0,0,0,0,0,0,14.60,14.47,14.62,6.21,49.64
$GC,8298,0.64,146.0,2617,2151,2127,2076,63.5,9.8,579,8302,0.00,2.47,0.00,0.000,4356,0.000,0.086,2617,3556,2101,2126,2076,0,0,0,0,0,0,14.78,14.40,14.78,6.20,49.29
$GC,8337,0.64,146.0,2617,3557,2126,2077,59.3,10.2,587,8341,0.08,2.35,0.00,0.000,5126,0.344,0.044,2600,2144,2101,2126,2076,0,0,0,0,0,0,14.23,14.50,14.51,6.21,49.33
$GC,8464,0.64,146.0,2601,2143,2127,2076,49.2,8.6,612,8467,0.00,2.42,0.00,0.000,516,0.000,0.067,2610,742,2101,2126,2076,0,0,0,0,0,0,14.78,14.43,14.78,6.20,49.25
$GC,8537,0.64,146.0,2611,742,2126,2077,42.6,8.7,627,8540,0.00,2.38,0.00,0.000,5126,0.000,0.051,2610,2151,2100,2125,2076,0,0,0,0,0,0,14.60,14.47,14.62,6.20,50.39
$GC,8664,0.64,146.8,2611,2152,2126,2077,32.4,8.3,652,8668,0.00,2.47,0.00,0.000,4356,0.000,0.087,2610,3552,2100,2125,2075,0,0,0,0,0,0,14.78,14.40,14.78,6.20,50.19
$GC,8717,0.64,150.3,2611,3553,2127,2077,27.9,8.2,663,8721,0.00,2.33,0.00,0.000,5126,0.000,0.043,2620,2146,2100,2125,2076,0,0,0,0,0,0,14.62,14.50,14.62,6.21,50.43
$GC,8844,0.75,238.6,2621,2146,2126,2075,18.5,4.9,688,8935,0.00,2.50,84.57,0.313,11012,0.000,0.067,2632,742,1742,1748,1736,0,0,0,0,0,0,14.78,14.36,14.14,6.21,50.90
$GC,8959,0.75,238.6,2633,743,1748,1735,5.7,14.9,711,8962,0.00,2.40,0.00,0.000,3078,0.000,0.050,2632,2155,1740,1747,1734,0,0,0,0,0,0,14.50,14.38,14.52,6.18,49.80
$STATE,8975,end climb,SURFACE_DEPTH_REACHED
$STATE,8975,begin surface coast
$STATE,8995,end surface coast,CONTROL_FINISHED_OK
$STATE,8995,begin surface
$SM_CCo,9069,0.00,0.000,0,0,1736,241.13
$SM_GC,1.06,5.50,0.10,0.00,0.046,0.145,0.000,272,2075,1736,-6.44,0.79,241.13,0,0,0,0,0,0,14.52,14.40,14.54
$IRIDIUM_FIX,-6016.69,0.00,250119,000014
$TT8_MAMPS,0.038948,0.292859
$HUMID,49.88
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,1
$SC_FREEKB,3725280
$24V_AH,13.00,74.893
$10V_AH,13.60,0.000
$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,13.150,68.375,340.625,0.000,0.000,31.905,30.215,129.779,0.250,0.000,23.380,0.000,7243.003,394.564,1598.389,191.691,0.000,1031.761,0.000,1129.868,0.000,0.539,0.000
$DEVICE_MAMPS,451.350,2224.620,1566.720,0.000,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5414.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.511,0.000,0.000,0.000
$MEM,344072
$DATA_FILE_SIZE,20750,719
$CAP_FILE_SIZE,90007,0
$CFSIZE,1023623168,981909504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.055,279.11,1
$GPS,250119,050755,-6014.772,0.913,17,0.8,37,-19.7,0.8,301.4,10,8.2