version: 66.14
glider: 640
mission: 5
dive: 387
start: 1 25 119 15 20 35
data:
$ID,640
$MISSION,5
$DIVE,387
$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,40
$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
$GPS1,250119,151401,-6016.9204,0.5675,20,0.8,38,-19.7,1.6,181.8,9,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-65.5
$GPS2,250119,152016,-6016.9048,0.6238,9,0.7,23,-19.7,1.0,73.1,11,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,202.4,5761,-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,-146.0,234,2139,1792,1828,0.0,0.0,0,96,0.00,0.00,-82.45,0.000,16386,0.000,0.000,233,2139,3099,3180,3019,0,0,0,0,0,0,14.56,28.83,14.56,6.19,51.14
$GC,98,-0.64,-146.0,233,2140,3181,3020,3.1,-6.7,17,120,6.15,2.78,-8.25,0.000,18948,0.355,2.222,2193,703,3315,3412,3218,0,0,0,0,0,0,13.98,13.28,14.34,6.29,50.15
$GC,257,-0.64,-146.0,2194,709,3414,3220,27.0,-15.3,49,260,0.00,2.40,0.00,0.000,3078,0.000,0.057,2182,2098,3316,3413,3220,0,0,0,0,0,0,14.44,14.31,14.46,6.31,48.85
$GC,382,-0.64,-146.0,2182,2099,3414,3221,49.5,-18.9,74,386,0.00,2.47,0.00,0.000,2308,0.000,0.081,2172,3502,3316,3413,3220,0,0,0,0,0,0,14.64,14.29,14.64,6.31,49.72
$GC,432,-0.64,-146.0,2172,3507,3414,3221,58.3,-15.4,84,436,0.08,2.35,0.00,0.000,3078,0.364,0.042,2197,2096,3316,3413,3220,0,0,0,0,0,0,14.09,14.38,14.36,6.32,50.74
$GC,558,-0.64,-146.0,2198,2095,3414,3220,75.6,-14.1,109,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2094,3316,3413,3220,0,0,0,0,0,0,14.66,14.66,14.66,6.32,49.72
$GC,682,-0.64,-146.0,2198,2095,3414,3220,93.0,-13.4,134,686,0.00,2.42,0.00,0.000,516,0.000,0.063,2197,697,3316,3413,3220,0,0,0,0,0,0,14.69,14.37,14.69,6.31,48.89
$GC,707,-0.64,-146.0,2197,698,3414,3221,96.5,-14.1,139,710,0.00,2.40,0.00,0.000,3078,0.000,0.055,2186,2101,3316,3412,3221,0,0,0,0,0,0,14.52,14.38,14.54,6.31,48.62
$GC,837,-0.64,-146.0,2187,2102,3414,3222,114.7,-13.8,150,841,0.00,2.42,0.00,0.000,2564,0.000,0.063,2180,697,3318,3416,3220,0,0,0,0,0,0,14.72,14.38,14.72,6.31,48.42
$GC,872,-0.64,-146.0,2186,697,3415,3221,117.6,-13.9,151,876,0.05,2.40,0.00,0.000,3078,0.443,0.056,2190,2103,3317,3413,3221,0,0,0,0,0,0,14.14,14.40,14.41,6.31,48.85
$GC,1177,-0.64,-146.0,2191,2102,3413,3221,161.6,-13.8,167,1180,0.00,2.45,0.00,0.000,2308,0.000,0.081,2180,3503,3317,3413,3221,0,0,0,0,0,0,14.76,14.38,14.76,6.31,49.76
$GC,1257,-0.64,-146.0,2180,3504,3414,3223,172.0,-13.9,171,1261,0.00,2.33,0.00,0.000,3078,0.000,0.042,2179,2096,3317,3413,3222,0,0,0,0,0,0,14.58,14.47,14.60,6.31,49.84
$GC,1567,-0.64,-146.0,2180,2096,3414,3222,216.4,-14.4,187,1571,0.00,2.40,0.00,0.000,2564,0.000,0.063,2179,694,3317,3413,3221,0,0,0,0,0,0,14.79,14.44,14.79,6.31,50.94
$GC,1652,-0.64,-146.0,2178,700,3413,3223,227.7,-14.1,191,1656,0.08,2.40,0.00,0.000,3078,0.371,0.055,2192,2106,3317,3413,3221,0,0,0,0,0,0,14.17,14.44,14.45,6.32,50.82
$GC,1967,-0.64,-146.0,2193,2106,3414,3221,269.9,-13.2,207,1971,0.00,2.45,0.00,0.000,2308,0.000,0.082,2182,3512,3317,3413,3221,0,0,0,0,0,0,14.81,14.42,14.81,6.33,50.78
$GC,2007,-0.64,-146.0,2182,3513,3413,3222,274.6,-13.3,209,2010,0.00,2.33,0.00,0.000,3078,0.000,0.042,2181,2099,3317,3413,3221,0,0,0,0,0,0,14.62,14.50,14.63,6.33,50.82
$GC,2317,-0.64,-146.0,2181,2098,3414,3222,317.1,-13.3,225,2321,0.00,2.40,0.00,0.000,2564,0.000,0.063,2181,698,3317,3414,3221,0,0,0,0,0,0,14.82,14.45,14.82,6.33,51.37
$GC,2392,-0.64,-146.0,2182,698,3415,3221,325.1,-13.3,228,2396,0.08,2.38,0.00,0.000,3078,0.369,0.054,2194,2101,3316,3412,3221,0,0,0,0,0,0,14.19,14.47,14.47,6.33,51.18
$STATE,2595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2595,begin apogee
$GC,2600,-0.15,0.0,2195,2167,3414,3217,352.1,-12.4,239,2729,0.45,0.00,125.25,1.577,10246,0.259,0.000,2352,2166,2715,2776,2654,0,0,0,0,0,0,14.16,13.90,13.26,6.33,50.90
$STATE,2730,end apogee,CONTROL_FINISHED_OK
$STATE,2730,begin loiter
$GC,3017,-0.15,0.0,2353,2166,2773,2642,350.6,2.9,260,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2707,2772,2642,0,0,0,0,0,0,14.56,14.56,14.57,6.29,50.55
$GC,3317,-0.15,0.0,2353,2166,2773,2639,342.0,2.8,275,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.28,51.26
$GC,3617,-0.15,0.0,2352,2166,2773,2638,333.9,2.6,290,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2704,2771,2638,0,0,0,0,0,0,14.80,14.81,14.80,6.28,51.89
$GC,3917,-0.15,0.0,2352,2166,2772,2639,326.7,2.4,305,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2704,2771,2637,0,0,0,0,0,0,14.85,14.86,14.85,6.28,51.29
$GC,4217,-0.15,0.0,2352,2167,2772,2639,319.9,2.2,320,4217,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2704,2771,2637,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.26
$GC,4517,-0.15,0.0,2352,2166,2772,2637,313.0,2.5,335,4517,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2704,2771,2637,0,0,0,0,0,0,14.93,14.93,14.93,6.28,51.45
$GC,4817,-0.15,0.0,2352,2166,2772,2637,305.2,2.7,350,4817,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2704,2771,2637,0,0,0,0,0,0,14.95,14.96,14.95,6.28,51.92
$GC,5117,-0.15,0.0,2352,2166,2773,2637,296.7,2.9,365,5117,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2704,2771,2637,0,0,0,0,0,0,14.97,14.98,14.97,6.28,51.73
$GC,5417,-0.15,0.0,2352,2167,2772,2638,288.2,2.8,380,5418,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2703,2771,2636,0,0,0,0,0,0,14.99,15.00,14.99,6.28,51.45
$GC,5717,-0.15,0.0,2352,2166,2771,2638,279.7,2.8,395,5718,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2704,2771,2637,0,0,0,0,0,0,15.00,15.01,15.01,6.28,51.49
$GC,6017,-0.15,0.0,2351,2166,2771,2637,271.2,2.8,410,6017,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2703,2771,2636,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.89
$STATE,6315,end loiter,LOITER_COMPLETE
$STATE,6315,begin climb
$GC,6317,0.64,146.0,2352,2166,2772,2637,262.4,0.0,425,6454,0.62,2.55,129.50,1.431,10756,0.173,0.066,2610,751,2118,2141,2096,0,0,0,0,0,0,14.46,13.88,13.38,6.28,51.77
$GC,6479,0.65,153.7,2610,752,2136,2101,252.1,8.0,432,6492,0.00,2.42,7.10,1.381,13318,0.000,0.052,2610,2139,2088,2110,2067,0,0,0,0,0,0,14.16,14.07,13.35,6.24,49.56
$GC,6794,0.65,153.7,2610,2140,2106,2057,212.9,12.4,448,6798,0.00,2.53,0.00,0.000,4356,0.000,0.081,2610,3555,2080,2105,2056,0,0,0,0,0,0,14.54,14.21,14.55,6.24,50.39
$GC,6874,0.65,153.7,2610,3555,2106,2058,203.9,12.0,452,6877,0.00,2.33,0.00,0.000,5126,0.000,0.042,2620,2158,2080,2105,2056,0,0,0,0,0,0,14.42,14.32,14.44,6.23,50.78
$GC,7189,0.65,153.7,2621,2158,2103,2052,161.8,13.6,468,7193,0.00,2.47,0.00,0.000,4612,0.000,0.067,2630,739,2077,2102,2053,0,0,0,0,0,0,14.69,14.34,14.69,6.23,50.90
$GC,7244,0.65,153.7,2632,740,2101,2054,154.6,13.3,471,7249,0.08,2.40,0.00,0.000,5126,0.317,0.054,2605,2150,2076,2101,2052,0,0,0,0,0,0,14.18,14.37,14.43,6.23,51.22
$GC,7564,0.65,153.7,2605,2150,2102,2051,116.3,11.9,487,7568,0.00,2.47,0.00,0.000,260,0.000,0.082,2605,3552,2075,2100,2051,0,0,0,0,0,0,14.74,14.38,14.75,6.23,50.98
$GC,7639,0.65,153.7,2605,3557,2103,2053,107.3,12.0,491,7642,0.00,2.35,0.00,0.000,5126,0.000,0.042,2614,2141,2075,2100,2051,0,0,0,0,0,0,14.57,14.47,14.59,6.23,50.98
$GC,7944,0.65,153.7,2614,2141,2100,2051,73.8,11.7,540,7947,0.00,2.42,0.00,0.000,4612,0.000,0.067,2625,741,2075,2100,2050,0,0,0,0,0,0,14.77,14.42,14.77,6.21,49.80
$GC,7974,0.65,153.7,2625,741,2099,2051,70.2,12.0,546,7979,0.05,2.38,0.00,0.000,5126,0.381,0.052,2607,2151,2078,2099,2058,0,0,0,0,0,0,14.23,14.45,14.50,6.21,49.80
$GC,8101,0.66,163.0,2607,2151,2099,2049,58.2,8.0,571,8113,0.00,2.50,6.18,1.264,10756,0.000,0.066,2616,735,2052,2075,2029,0,0,0,0,0,0,14.77,14.48,13.73,6.20,49.33
$GC,8184,0.66,163.0,2616,735,2076,2028,51.3,8.4,588,8188,0.00,2.40,0.00,0.000,5126,0.000,0.054,2616,2151,2051,2075,2028,0,0,0,0,0,0,14.57,14.45,14.59,6.20,49.44
$GC,8311,0.66,163.0,2616,2152,2076,2029,40.4,9.0,613,8314,0.00,2.45,0.00,0.000,4356,0.000,0.083,2616,3555,2051,2075,2028,0,0,0,0,0,0,14.74,14.40,14.74,6.20,50.51
$GC,8354,0.66,163.0,2616,3555,2076,2028,36.1,9.6,622,8359,0.00,2.33,0.00,0.000,5126,0.000,0.044,2626,2146,2051,2074,2028,0,0,0,0,0,0,14.58,14.47,14.60,6.21,50.07
$GC,8481,0.75,237.9,2626,2145,2075,2028,28.0,5.5,647,8559,0.00,2.53,72.62,1.203,11012,0.000,0.086,2626,3552,1744,1751,1738,0,0,0,0,0,0,14.76,14.14,13.61,6.21,50.70
$GC,8564,0.75,237.9,2626,3553,1752,1739,17.6,16.8,664,8568,0.00,2.38,0.00,0.000,1030,0.000,0.044,2631,2155,1744,1751,1737,0,0,0,0,0,0,14.26,14.19,14.28,6.23,50.27
$STATE,8667,end climb,SURFACE_DEPTH_REACHED
$STATE,8667,begin surface coast
$STATE,8687,end surface coast,CONTROL_FINISHED_OK
$STATE,8687,begin surface
$SM_CCo,8762,0.00,0.000,0,0,1736,241.37
$SM_GC,1.18,5.78,0.10,0.00,0.080,0.127,0.000,230,2048,1736,-6.50,0.62,241.37,0,0,0,0,0,0,14.33,14.28,14.38
$IRIDIUM_FIX,-6014.82,0.00,250119,124255
$TT8_MAMPS,0.039697,0.289863
$HUMID,50.43
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3722720
$24V_AH,13.26,75.821
$10V_AH,13.34,0.000
$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,13.400,77.850,340.650,0.000,0.000,25.330,47.427,136.536,0.000,0.000,24.099,0.000,6905.595,403.476,1635.860,190.626,0.000,1052.678,0.000,1152.007,0.000,0.539,0.000
$DEVICE_MAMPS,442.935,2221.560,1576.665,0.000,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5105.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.507,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17306,689
$CAP_FILE_SIZE,91223,0
$CFSIZE,1023623168,981417984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.027,274.88,1
$GPS,250119,174731,-6017.301,0.340,14,0.8,31,-19.7,0.8,183.7,9,6.4