version: 66.14
glider: 640
mission: 5
dive: 390
start: 1 25 119 23 1 29
data:
$ID,640
$MISSION,5
$DIVE,390
$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,70
$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
$GPS1,250119,225532,-6018.1968,0.2260,15,0.8,31,-19.7,1.9,146.9,11,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-61.8
$GPS2,250119,230110,-6018.2041,0.2989,9,0.8,14,-19.7,1.9,104.1,12,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,195.8,3337,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.64,-146.0,233,2108,1805,1824,0.0,0.0,0,91,0.00,0.00,-77.30,0.000,16386,0.000,0.000,232,2107,3044,3124,2965,0,0,0,0,0,0,14.54,28.83,14.54,6.18,51.02
$GC,93,-0.64,-146.0,233,2108,3125,2966,3.3,-7.9,16,116,6.15,2.78,-9.73,0.000,18692,0.357,2.235,2181,3500,3316,3415,3217,0,0,0,0,0,0,14.00,12.98,14.34,6.28,50.59
$GC,198,-0.64,-146.0,2182,3501,3416,3220,19.4,-18.3,37,202,0.03,2.30,0.00,0.000,3078,0.601,0.042,2189,2131,3317,3414,3220,0,0,0,0,0,0,14.09,14.32,14.30,6.31,49.80
$GC,323,-0.64,-146.0,2189,2130,3415,3221,38.7,-15.6,62,327,0.00,2.50,0.00,0.000,2564,0.000,0.061,2189,688,3317,3415,3220,0,0,0,0,0,0,14.61,14.28,14.61,6.32,49.56
$GC,347,-0.64,-146.0,2190,687,3415,3220,43.0,-17.3,67,350,0.00,2.42,0.00,0.000,3078,0.000,0.058,2179,2097,3317,3414,3220,0,0,0,0,0,0,14.46,14.33,14.47,6.31,49.72
$GC,472,-0.64,-146.0,2179,2098,3415,3222,62.9,-16.2,92,475,0.00,2.47,0.00,0.000,2308,0.000,0.081,2169,3509,3317,3415,3220,0,0,0,0,0,0,14.65,14.31,14.65,6.32,50.00
$GC,547,-0.64,-146.0,2169,3509,3416,3220,73.7,-13.5,107,551,0.08,2.35,0.00,0.000,3078,0.366,0.042,2193,2095,3317,3414,3220,0,0,0,0,0,0,14.12,14.40,14.38,6.32,50.11
$GC,672,-0.64,-146.0,2193,2094,3415,3222,90.3,-13.1,132,675,0.00,2.42,0.00,0.000,2564,0.000,0.063,2192,690,3317,3414,3221,0,0,0,0,0,0,14.68,14.37,14.68,6.31,49.17
$GC,717,-0.64,-146.0,2193,690,3414,3222,96.3,-13.0,141,720,0.00,2.40,0.00,0.000,3078,0.000,0.054,2182,2102,3317,3413,3221,0,0,0,0,0,0,14.52,14.39,14.54,6.31,49.05
$GC,847,-0.64,-146.0,2183,2103,3416,3221,113.6,-13.5,152,851,0.00,2.47,0.00,0.000,2308,0.000,0.082,2172,3507,3317,3414,3221,0,0,0,0,0,0,14.72,14.36,14.72,6.31,48.50
$GC,917,-0.64,-146.0,2172,3504,3416,3221,121.4,-14.1,155,921,0.08,2.33,0.00,0.000,3078,0.360,0.042,2197,2099,3317,3414,3221,0,0,0,0,0,0,14.16,14.45,14.42,6.30,49.33
$GC,1222,-0.64,-146.0,2198,2098,3416,3222,162.6,-12.9,171,1226,0.00,2.42,0.00,0.000,516,0.000,0.064,2196,693,3317,3414,3221,0,0,0,0,0,0,14.76,14.42,14.76,6.30,50.19
$GC,1292,-0.64,-146.0,2197,693,3415,3222,170.1,-12.6,174,1296,0.00,2.38,0.00,0.000,3078,0.000,0.053,2186,2099,3318,3414,3222,0,0,0,0,0,0,14.58,14.45,14.59,6.31,49.88
$GC,1597,-0.64,-146.0,2186,2101,3414,3222,211.3,-13.1,189,1601,0.00,2.47,0.00,0.000,2308,0.000,0.081,2176,3512,3317,3414,3221,0,0,0,0,0,0,14.79,14.42,14.78,6.32,50.70
$GC,1642,-0.64,-146.0,2176,3512,3416,3221,216.0,-13.2,191,1645,0.00,2.35,0.00,0.000,3078,0.000,0.042,2175,2092,3317,3414,3221,0,0,0,0,0,0,14.61,14.50,14.62,6.32,50.78
$GC,1952,-0.64,-146.0,2176,2091,3416,3221,257.1,-12.7,207,1956,0.08,2.40,0.00,0.000,2564,0.395,0.063,2197,696,3317,3414,3221,0,0,0,0,0,0,14.21,14.45,14.48,6.33,51.53
$GC,2027,-0.64,-146.0,2198,696,3416,3222,264.2,-12.1,210,2031,0.00,2.40,0.00,0.000,3078,0.000,0.054,2187,2110,3317,3414,3221,0,0,0,0,0,0,14.61,14.45,14.63,6.32,51.10
$GC,2332,-0.64,-146.0,2188,2110,3416,3221,301.8,-11.8,226,2336,0.00,2.42,0.00,0.000,2308,0.000,0.081,2177,3503,3317,3414,3221,0,0,0,0,0,0,14.82,14.43,14.81,6.33,51.10
$GC,2377,-0.64,-146.0,2177,3504,3415,3222,306.1,-12.0,228,2381,0.05,2.33,0.00,0.000,3078,0.435,0.042,2193,2091,3317,3414,3221,0,0,0,0,0,0,14.21,14.51,14.49,6.33,51.33
$GC,2687,-0.64,-146.0,2194,2090,3416,3222,342.8,-11.5,244,2690,0.00,2.38,0.00,0.000,2564,0.000,0.063,2192,701,3317,3414,3221,0,0,0,0,0,0,14.83,14.47,14.83,6.30,51.61
$GC,2757,-0.64,-146.0,2192,701,3410,3222,349.1,-11.6,247,2760,0.00,2.38,0.00,0.000,3078,0.000,0.054,2182,2108,3317,3414,3221,0,0,0,0,0,0,14.62,14.48,14.64,6.34,51.57
$STATE,2780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2780,begin apogee
$GC,2785,-0.15,0.0,2183,2109,3416,3221,353.4,-11.1,249,2914,0.47,0.00,126.15,1.566,10246,0.263,0.000,2349,2108,2717,2777,2657,0,0,0,0,0,0,14.20,13.93,13.27,6.34,51.33
$STATE,2915,end apogee,CONTROL_FINISHED_OK
$STATE,2915,begin loiter
$GC,3202,-0.15,0.0,2348,2109,2772,2643,347.9,3.5,270,3202,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2108,2706,2771,2642,0,0,0,0,0,0,14.56,14.56,14.56,6.29,51.02
$GC,3502,-0.15,0.0,2349,2109,2772,2639,337.4,3.3,285,3503,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2108,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.28,51.29
$GC,3802,-0.15,0.0,2349,2109,2771,2640,327.7,3.2,300,3803,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2108,2705,2771,2639,0,0,0,0,0,0,14.80,14.81,14.81,6.28,51.45
$GC,4102,-0.15,0.0,2349,2109,2772,2638,318.5,3.0,315,4103,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2108,2704,2771,2638,0,0,0,0,0,0,14.85,14.85,14.86,6.29,51.37
$GC,4402,-0.15,0.0,2349,2109,2770,2638,309.2,3.0,330,4403,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2108,2704,2771,2637,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.77
$GC,4702,-0.15,0.0,2349,2109,2772,2637,300.0,3.0,345,4703,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2108,2704,2771,2637,0,0,0,0,0,0,14.93,14.93,14.93,6.28,51.61
$GC,5002,-0.15,0.0,2348,2109,2772,2638,290.7,3.0,360,5003,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2108,2704,2771,2637,0,0,0,0,0,0,14.96,14.96,14.96,6.28,51.45
$GC,5302,-0.15,0.0,2348,2109,2773,2638,282.0,2.9,375,5303,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2108,2704,2771,2637,0,0,0,0,0,0,14.97,14.98,14.98,6.28,52.16
$GC,5602,-0.15,0.0,2349,2109,2772,2636,273.5,2.9,390,5603,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2108,2703,2771,2635,0,0,0,0,0,0,15.00,15.00,14.99,6.29,51.37
$GC,5902,-0.15,0.0,2349,2108,2772,2637,263.7,3.3,405,5903,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2108,2703,2771,2636,0,0,0,0,0,0,15.00,15.01,15.01,6.28,51.33
$GC,6202,-0.15,0.0,2348,2109,2772,2637,253.0,3.5,420,6203,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2108,2703,2771,2636,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.37
$STATE,6500,end loiter,LOITER_COMPLETE
$STATE,6500,begin climb
$GC,6502,0.64,146.0,2349,2108,2772,2636,242.9,0.0,435,6643,0.62,2.67,130.05,1.405,10500,0.179,0.083,2593,3553,2117,2141,2094,0,0,0,0,0,0,14.45,13.98,13.41,6.28,51.53
$GC,6687,0.64,146.0,2593,3554,2141,2091,230.9,8.6,444,6691,0.00,2.38,0.00,0.000,1030,0.000,0.041,2604,2158,2114,2140,2088,0,0,0,0,0,0,14.20,14.12,14.21,6.24,49.01
$GC,7003,0.64,146.0,2604,2153,2133,2081,196.9,10.5,460,7007,0.00,2.50,0.00,0.000,516,0.000,0.066,2612,747,2105,2131,2080,0,0,0,0,0,0,14.57,14.26,14.58,6.24,50.78
$GC,7057,0.64,146.0,2615,746,2129,2080,192.9,10.3,462,7061,0.00,2.40,0.00,0.000,5126,0.000,0.052,2614,2150,2103,2128,2079,0,0,0,0,0,0,14.43,14.30,14.45,6.24,50.23
$GC,7362,0.64,146.0,2615,2151,2128,2079,158.1,11.4,478,7366,0.00,2.47,0.00,0.000,4356,0.000,0.082,2615,3555,2102,2127,2077,0,0,0,0,0,0,14.69,14.33,14.69,6.23,50.90
$GC,7432,0.64,146.0,2616,3555,2127,2078,151.5,12.0,481,7436,0.08,2.35,0.00,0.000,5126,0.349,0.043,2600,2150,2102,2127,2077,0,0,0,0,0,0,14.16,14.42,14.43,6.23,50.70
$GC,7738,0.64,146.0,2600,2151,2126,2077,117.0,10.9,497,7741,0.00,2.45,0.00,0.000,516,0.000,0.066,2610,742,2101,2126,2076,0,0,0,0,0,0,14.75,14.40,14.75,6.23,50.31
$GC,7832,0.64,146.0,2611,742,2127,2076,106.8,10.7,502,7837,0.00,2.38,0.00,0.000,5126,0.000,0.050,2610,2152,2100,2125,2076,0,0,0,0,0,0,14.57,14.44,14.59,6.23,50.51
$GC,8137,0.64,146.0,2611,2153,2126,2076,73.0,11.1,551,8142,0.00,2.47,0.00,0.000,4356,0.000,0.083,2610,3558,2100,2124,2076,0,0,0,0,0,0,14.77,14.39,14.77,6.21,49.56
$GC,8203,0.64,146.0,2611,3558,2124,2076,66.3,9.2,564,8207,0.05,2.35,0.00,0.000,5126,0.405,0.042,2603,2147,2100,2124,2076,0,0,0,0,0,0,14.22,14.48,14.50,6.20,49.05
$GC,8328,0.65,153.8,2604,2148,2126,2075,54.5,8.0,589,8331,0.00,2.47,0.00,0.000,2308,0.000,0.080,2603,3558,2099,2124,2075,0,0,0,0,0,0,14.75,14.40,14.75,6.20,49.29
$GC,8338,0.66,165.6,2604,3559,2125,2075,53.7,7.9,591,8356,0.00,2.35,14.77,1.322,9222,0.000,0.046,2612,2146,2044,2066,2023,0,0,0,0,0,0,14.57,14.45,13.80,6.20,49.05
$GC,8478,0.66,165.6,2613,2144,2062,2014,39.3,12.0,619,8482,0.00,2.42,0.00,0.000,516,0.000,0.063,2624,745,2037,2060,2014,0,0,0,0,0,0,14.69,14.38,14.69,6.20,49.48
$GC,8502,0.66,165.6,2625,746,2061,2014,36.7,10.1,624,8506,0.00,2.40,0.00,0.000,5126,0.000,0.051,2624,2156,2036,2059,2014,0,0,0,0,0,0,14.53,14.40,14.54,6.15,49.56
$GC,8629,0.67,173.2,2624,2157,2060,2015,24.1,8.0,649,8641,0.00,2.50,5.30,1.185,12548,0.000,0.080,2623,3561,2010,2029,1991,0,0,0,0,0,0,14.70,14.42,13.66,6.20,50.03
$GC,8703,0.71,204.1,2625,3560,2031,1992,18.4,7.1,664,8736,0.00,2.33,29.23,0.337,13318,0.000,0.043,2634,2152,1890,1906,1874,0,0,0,0,0,0,14.53,14.45,14.09,6.20,50.35
$STATE,8830,end climb,SURFACE_DEPTH_REACHED
$STATE,8830,begin surface coast
$STATE,8845,end surface coast,CONTROL_FINISHED_OK
$STATE,8845,begin surface
$SM_CCo,8860,13.90,0.256,0,0,1821,220.03
$SM_GC,2.17,5.43,0.08,13.90,0.031,0.154,0.256,258,2064,1821,-6.45,0.99,220.03,0,0,0,0,0,0,14.51,14.42,14.15
$IRIDIUM_FIX,-6017.76,0.00,250119,202340
$TT8_MAMPS,0.03745,0.275632
$HUMID,50.47
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,3
$SC_FREEKB,3721184
$24V_AH,12.98,76.374
$10V_AH,13.59,0.000
$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,13.100,87.400,305.500,13.900,0.000,27.542,14.891,136.716,0.750,0.000,15.375,0.000,6990.206,396.164,1628.451,199.157,0.000,1052.827,0.000,1172.105,0.000,0.540,0.000
$DEVICE_MAMPS,600.525,2234.565,1565.955,255.510,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5264.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.574,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17355,693
$CAP_FILE_SIZE,95732,0
$CFSIZE,1023623168,981123072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.029,287.20,1
$GPS,260119,013031,-6018.576,0.218,12,0.7,41,-19.7,0.6,147.1,12,5.6