version: 66.14
glider: 640
mission: 5
dive: 356
start: 1 22 119 4 56 7
data:
$ID,640
$MISSION,5
$DIVE,356
$N_DIVES,500
$STOP_T,1241912
$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,35
$R_STBD_OVSHOOT,28
$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
$GPS1,220119,045003,-6000.5894,7.6170,21,0.8,41,-19.8,0.0,137.6,10,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-69.0
$GPS2,220119,045548,-6000.5508,7.6864,9,0.8,13,-19.8,0.8,65.1,10,9.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,209.6,36703,-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,-146.0,217,2091,1792,1826,0.0,0.0,0,96,0.00,0.00,-83.00,0.000,16386,0.000,0.000,217,2090,3135,3218,3053,0,0,0,0,0,0,14.57,28.83,14.57,6.19,50.78
$GC,98,-0.64,-146.0,217,2092,3219,3055,3.0,-5.9,17,116,6.18,2.78,-6.82,0.000,18692,0.356,2.241,2179,3509,3317,3413,3221,0,0,0,0,0,0,14.04,13.04,14.37,6.30,49.84
$GC,137,-0.64,-146.0,2180,3509,3414,3223,9.7,-15.4,25,141,0.00,2.38,0.00,0.000,3078,0.000,0.043,2179,2095,3317,3413,3222,0,0,0,0,0,0,14.45,14.35,14.46,6.32,49.33
$GC,262,-0.64,-146.0,2179,2093,3415,3222,31.6,-17.6,50,265,0.00,2.45,0.00,0.000,2564,0.000,0.063,2178,687,3318,3414,3223,0,0,0,0,0,0,14.62,14.33,14.62,6.32,49.09
$GC,297,-0.64,-146.0,2178,688,3413,3225,37.8,-17.6,57,302,0.08,2.42,0.00,0.000,3078,0.376,0.057,2191,2101,3318,3413,3223,0,0,0,0,0,0,14.11,14.35,14.37,6.31,49.29
$GC,423,-0.64,-146.0,2193,2102,3415,3223,56.9,-14.0,82,427,0.00,2.47,0.00,0.000,2308,0.000,0.079,2180,3512,3318,3413,3223,0,0,0,0,0,0,14.65,14.28,14.65,6.32,49.60
$GC,452,-0.64,-146.0,2181,3513,3414,3224,60.8,-12.6,88,455,0.00,2.42,0.00,0.000,3078,0.000,0.044,2179,2089,3318,3413,3223,0,0,0,0,0,0,14.43,14.38,14.45,6.32,49.56
$GC,578,-0.64,-146.0,2178,2089,3414,3224,78.0,-13.7,113,582,0.00,2.50,0.00,0.000,2308,0.000,0.080,2169,3509,3318,3413,3224,0,0,0,0,0,0,14.68,14.31,14.68,6.31,49.80
$GC,612,-0.64,-146.0,2169,3510,3414,3225,82.9,-13.9,120,616,0.08,2.35,0.00,0.000,3078,0.374,0.044,2193,2102,3318,3413,3224,0,0,0,0,0,0,14.15,14.42,14.42,6.31,48.93
$GC,738,-0.64,-146.0,2194,2101,3415,3224,99.9,-14.2,145,742,0.00,2.45,0.00,0.000,516,0.000,0.063,2193,693,3318,3414,3223,0,0,0,0,0,0,14.69,14.34,14.70,6.31,48.50
$GC,797,-0.64,-146.0,2193,692,3414,3225,108.4,-14.2,149,801,0.00,2.45,0.00,0.000,3078,0.000,0.056,2183,2103,3318,3413,3224,0,0,0,0,0,0,14.45,14.39,14.49,6.31,48.07
$GC,1117,-0.64,-146.0,2184,2103,3415,3224,153.5,-13.5,165,1120,0.00,2.45,0.00,0.000,2308,0.000,0.080,2173,3506,3318,3413,3224,0,0,0,0,0,0,14.76,14.41,14.76,6.32,49.76
$GC,1167,-0.64,-146.0,2173,3507,3414,3225,158.9,-13.3,167,1170,0.08,2.33,0.00,0.000,3078,0.366,0.043,2198,2098,3317,3413,3222,0,0,0,0,0,0,14.20,14.49,14.47,6.32,50.00
$GC,1477,-0.64,-146.0,2198,2097,3414,3225,198.9,-12.7,183,1480,0.00,2.40,0.00,0.000,516,0.000,0.063,2198,697,3318,3413,3223,0,0,0,0,0,0,14.78,14.46,14.79,6.33,50.47
$GC,1557,-0.64,-146.0,2198,696,3414,3224,208.9,-12.5,187,1560,0.00,2.38,0.00,0.000,3078,0.000,0.054,2187,2102,3318,3413,3224,0,0,0,0,0,0,14.61,14.47,14.63,6.33,50.82
$GC,1877,-0.64,-146.0,2188,2102,3413,3225,250.9,-13.4,203,1880,0.00,2.45,0.00,0.000,2308,0.000,0.081,2177,3509,3318,3413,3224,0,0,0,0,0,0,14.81,14.45,14.81,6.34,51.22
$GC,1922,-0.64,-146.0,2177,3510,3414,3225,255.7,-13.5,205,1925,0.05,2.35,0.00,0.000,3078,0.436,0.043,2192,2096,3318,3413,3224,0,0,0,0,0,0,14.23,14.52,14.50,6.33,51.02
$GC,2232,-0.64,-146.0,2192,2088,3414,3225,297.8,-13.0,221,2235,0.00,2.40,0.00,0.000,2564,0.000,0.063,2192,690,3318,3413,3224,0,0,0,0,0,0,14.82,14.48,14.82,6.34,51.57
$GC,2312,-0.64,-146.0,2192,690,3413,3225,308.1,-12.9,225,2315,0.00,2.40,0.00,0.000,3078,0.000,0.054,2182,2106,3318,3413,3224,0,0,0,0,0,0,14.63,14.50,14.65,6.34,50.98
$STATE,2630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2630,begin apogee
$GC,2635,-0.15,0.0,2181,2158,3414,3225,350.6,-13.4,241,2764,0.47,0.00,126.12,1.568,10246,0.263,0.000,2348,2157,2717,2777,2657,0,0,0,0,0,0,14.21,13.94,13.30,6.34,51.14
$STATE,2765,end apogee,CONTROL_FINISHED_OK
$STATE,2765,begin loiter
$GC,3052,-0.15,0.0,2348,2158,2772,2643,349.1,2.9,262,3052,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2157,2706,2771,2642,0,0,0,0,0,0,14.57,14.57,14.57,6.29,51.10
$GC,3352,-0.15,0.0,2348,2158,2773,2641,340.0,3.0,277,3352,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2157,2705,2771,2640,0,0,0,0,0,0,14.71,14.72,14.72,6.28,50.90
$GC,3652,-0.15,0.0,2348,2157,2773,2639,330.4,3.3,292,3652,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2157,2705,2771,2639,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.37
$GC,3952,-0.15,0.0,2347,2158,2773,2638,320.4,3.4,307,3953,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2157,2704,2771,2638,0,0,0,0,0,0,14.86,14.86,14.86,6.29,51.02
$GC,4252,-0.15,0.0,2348,2158,2772,2639,310.5,3.1,322,4252,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2704,2771,2638,0,0,0,0,0,0,14.90,14.91,14.90,6.29,51.29
$GC,4552,-0.15,0.0,2348,2157,2772,2637,301.3,2.9,337,4552,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2157,2705,2772,2638,0,0,0,0,0,0,14.94,14.94,14.94,6.29,51.33
$GC,4852,-0.15,0.0,2348,2158,2772,2638,292.6,2.8,352,4852,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2157,2704,2771,2637,0,0,0,0,0,0,14.96,14.96,14.96,6.29,51.26
$GC,5152,-0.15,0.0,2348,2158,2772,2638,284.6,2.6,367,5152,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2157,2704,2771,2637,0,0,0,0,0,0,14.98,14.98,14.98,6.28,51.10
$GC,5452,-0.15,0.0,2346,2157,2772,2636,277.1,2.4,382,5453,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2704,2772,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.37
$GC,5752,-0.15,0.0,2349,2158,2773,2637,270.1,2.3,397,5752,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2157,2703,2771,2636,0,0,0,0,0,0,15.01,15.01,15.01,6.29,51.26
$GC,6052,-0.15,0.0,2348,2158,2771,2638,262.6,2.5,412,6052,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2157,2704,2771,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.29,52.12
$STATE,6350,end loiter,LOITER_COMPLETE
$STATE,6350,begin climb
$GC,6352,0.64,146.0,2348,2158,2772,2637,255.0,0.0,427,6492,0.62,2.60,129.88,1.427,11012,0.177,0.065,2605,744,2117,2141,2094,0,0,0,0,0,0,14.50,13.99,13.43,6.29,51.61
$GC,6552,0.64,146.0,2605,744,2135,2088,241.5,8.9,437,6556,0.00,2.42,0.00,0.000,1030,0.000,0.051,2605,2139,2111,2135,2088,0,0,0,0,0,0,14.22,14.14,14.24,6.25,49.13
$GC,6867,0.64,146.0,2605,2140,2132,2081,205.0,12.2,453,6870,0.00,2.53,0.00,0.000,260,0.000,0.082,2605,3554,2105,2131,2080,0,0,0,0,0,0,14.59,14.26,14.59,6.24,50.55
$GC,6937,0.64,146.0,2605,3556,2132,2081,197.6,12.4,456,6940,0.00,2.35,0.00,0.000,5126,0.000,0.042,2616,2148,2105,2131,2080,0,0,0,0,0,0,14.46,14.36,14.47,6.24,50.66
$GC,7247,0.64,146.0,2616,2148,2130,2076,158.5,11.6,472,7251,0.00,2.45,0.00,0.000,4612,0.000,0.067,2627,741,2102,2128,2077,0,0,0,0,0,0,14.71,14.38,14.71,6.24,50.63
$GC,7297,0.64,146.0,2627,741,2126,2077,154.4,11.6,474,7302,0.08,2.40,0.00,0.000,5126,0.321,0.054,2601,2152,2101,2126,2076,0,0,0,0,0,0,14.22,14.40,14.47,6.24,50.90
$GC,7602,0.65,159.1,2601,2153,2127,2076,126.2,7.8,490,7616,0.00,2.50,9.02,1.373,10500,0.000,0.083,2601,3553,2066,2089,2043,0,0,0,0,0,0,14.76,14.40,13.75,6.24,50.63
$GC,7637,0.67,168.9,2601,3554,2090,2043,124.5,8.0,491,7651,0.00,2.33,10.52,1.319,11270,0.000,0.043,2609,2150,2031,2052,2011,0,0,0,0,0,0,14.57,14.47,13.77,6.24,50.82
$GC,7952,0.67,168.9,2610,2151,2046,2001,89.1,10.8,522,7957,0.00,2.50,0.00,0.000,516,0.000,0.067,2620,745,2023,2046,2001,0,0,0,0,0,0,14.71,14.35,14.71,6.22,50.39
$GC,7997,0.67,168.9,2621,746,2046,2001,84.6,9.7,531,8001,0.00,2.42,0.00,0.000,5126,0.000,0.053,2620,2150,2022,2045,2000,0,0,0,0,0,0,14.45,14.41,14.48,6.21,50.00
$GC,8123,0.67,168.9,2621,2149,2045,2000,72.0,10.3,556,8127,0.00,2.47,0.00,0.000,4356,0.000,0.083,2621,3555,2022,2045,2000,0,0,0,0,0,0,14.72,14.39,14.72,6.21,49.21
$GC,8182,0.67,168.9,2621,3555,2046,2000,65.7,9.8,568,8186,0.05,2.35,0.00,0.000,5126,0.409,0.043,2614,2144,2022,2045,2000,0,0,0,0,0,0,14.23,14.46,14.50,6.21,50.00
$GC,8307,0.67,174.6,2614,2141,2046,1999,54.9,8.1,593,8317,0.00,2.42,4.70,1.189,8708,0.000,0.066,2624,737,2007,2028,1986,0,0,0,0,0,0,14.73,14.46,13.70,6.20,49.68
$GC,8403,0.72,213.0,2624,738,2029,1987,48.4,6.9,612,8457,0.00,2.40,40.80,1.216,11270,0.000,0.053,2624,2151,1847,1861,1833,0,0,0,0,1,0,14.57,14.45,13.70,6.21,49.44
$GC,8577,0.72,213.0,2624,2152,1859,1829,30.5,11.6,647,8581,0.00,2.50,0.00,0.000,2308,0.000,0.083,2624,3555,1840,1858,1822,0,0,0,0,0,0,14.57,14.27,14.57,6.19,49.05
$GC,8617,0.72,213.0,2624,3555,1858,1829,25.7,11.7,655,8621,0.00,2.38,0.00,0.000,5126,0.000,0.044,2634,2141,1842,1858,1827,0,0,0,0,0,0,14.45,14.34,14.46,6.19,49.68
$GC,8743,0.72,213.0,2635,2141,1858,1825,10.1,12.8,680,8747,0.00,2.45,0.00,0.000,4612,0.000,0.067,2645,742,1840,1857,1824,0,0,0,0,0,0,14.62,14.33,14.62,6.19,50.15
$STATE,8800,end climb,SURFACE_DEPTH_REACHED
$STATE,8800,begin surface coast
$STATE,8820,end surface coast,CONTROL_FINISHED_OK
$STATE,8820,begin surface
$SM_CCo,8836,3.33,0.279,0,0,1822,220.03
$SM_GC,1.89,5.65,2.40,3.33,0.069,0.053,0.279,222,2103,1822,-6.46,-0.74,220.03,0,0,0,0,0,0,14.48,14.37,14.16
$IRIDIUM_FIX,-5959.31,4.30,220119,021734
$TT8_MAMPS,0.038948,0.280126
$HUMID,50.47
$INTERNAL_PRESSURE,6.14803
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3738592
$24V_AH,13.04,70.123
$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,13.325,87.750,321.050,3.325,0.000,23.698,40.286,129.439,0.000,0.000,14.339,0.000,6969.781,402.783,1628.354,186.083,0.000,1058.575,0.000,1160.590,0.000,0.539,0.000
$DEVICE_MAMPS,436.050,2241.450,1568.250,279.225,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5238.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.650,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17333,696
$CAP_FILE_SIZE,94263,0
$CFSIZE,1023623168,984481792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.042,253.73,1
$GPS,220119,072434,-6001.008,7.098,37,0.7,41,-19.8,0.5,210.9,11,9.0