version: 66.14
glider: 640
mission: 5
dive: 322
start: 1 18 119 13 3 28
data:
$ID,640
$MISSION,5
$DIVE,322
$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,30
$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
$GPS1,180119,125801,-5943.6919,4.9478,15,1.0,32,-19.8,0.7,245.1,10,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-65.7
$GPS2,180119,130309,-5943.6948,4.9588,9,1.0,16,-19.8,0.0,18.4,10,9.7
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,206.8,67390,-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,10,-0.64,-146.0,221,2123,1798,1824,0.0,0.0,0,102,0.00,0.00,-89.53,0.000,16386,0.000,0.000,221,2122,3272,3355,3190,0,0,0,0,0,0,14.62,28.83,14.62,6.19,50.82
$GC,104,-0.64,-146.0,221,2123,3355,3192,3.4,-7.2,18,117,6.15,2.65,-1.60,0.000,19204,0.359,2.237,2180,3510,3317,3406,3228,0,0,0,0,0,0,14.05,13.14,14.38,6.31,50.47
$GC,242,-0.64,-146.0,2180,3512,3410,3228,28.3,-18.0,46,245,0.00,2.38,0.00,0.000,3078,0.000,0.043,2179,2091,3318,3409,3227,0,0,0,0,0,0,14.50,14.40,14.52,6.32,49.21
$GC,366,-0.64,-146.0,2180,2090,3410,3227,51.5,-19.4,71,370,0.00,2.42,0.00,0.000,2564,0.000,0.067,2179,694,3318,3409,3227,0,0,0,0,0,0,14.68,14.39,14.67,6.32,49.88
$GC,446,-0.64,-146.0,2179,695,3410,3228,66.7,-17.8,87,451,0.08,2.42,0.00,0.000,3078,0.373,0.055,2190,2115,3318,3409,3228,0,0,0,0,0,0,14.19,14.40,14.45,6.32,49.40
$GC,573,-0.64,-146.0,2192,2115,3410,3228,86.9,-15.8,112,576,0.00,2.47,0.00,0.000,2564,0.000,0.065,2192,687,3318,3409,3228,0,0,0,0,0,0,14.70,14.38,14.70,6.32,49.80
$GC,621,-0.64,-146.0,2192,688,3411,3228,94.5,-14.7,122,625,0.00,2.40,0.00,0.000,3078,0.000,0.056,2182,2100,3318,3409,3227,0,0,0,0,0,0,14.56,14.43,14.57,6.32,48.62
$GC,761,-0.64,-146.0,2182,2101,3410,3229,114.8,-14.6,135,765,0.00,2.47,0.00,0.000,2308,0.000,0.082,2171,3509,3318,3409,3228,0,0,0,0,0,0,14.74,14.42,14.74,6.32,49.01
$GC,797,-0.64,-146.0,2176,3509,3410,3228,117.8,-14.7,136,801,0.08,2.35,0.00,0.000,3078,0.366,0.044,2196,2096,3318,3410,3227,0,0,0,0,0,0,14.23,14.48,14.49,6.31,49.05
$GC,1102,-0.64,-146.0,2197,2095,3411,3227,162.1,-12.9,152,1105,0.00,2.42,0.00,0.000,516,0.000,0.065,2196,691,3318,3409,3228,0,0,0,0,0,0,14.78,14.47,14.78,6.32,50.55
$GC,1197,-0.64,-146.0,2197,691,3410,3227,172.0,-12.4,156,1201,0.00,2.38,0.00,0.000,3078,0.000,0.055,2186,2102,3318,3410,3227,0,0,0,0,0,0,14.62,14.49,14.63,6.33,50.31
$GC,1502,-0.64,-146.0,2186,2103,3410,3229,211.4,-12.5,172,1506,0.00,2.42,0.00,0.000,2308,0.000,0.080,2175,3502,3318,3410,3227,0,0,0,0,0,0,14.81,14.47,14.81,6.33,50.63
$GC,1547,-0.64,-146.0,2176,3504,3410,3227,216.5,-12.8,174,1550,0.05,2.33,0.00,0.000,3078,0.425,0.042,2191,2096,3318,3409,3227,0,0,0,0,0,0,14.28,14.54,14.53,6.33,51.02
$GC,1861,-0.64,-146.0,2190,2095,3410,3229,257.4,-12.8,190,1865,0.00,2.40,0.00,0.000,2564,0.000,0.064,2190,697,3318,3409,3227,0,0,0,0,0,0,14.82,14.50,14.83,6.34,51.06
$GC,1942,-0.64,-146.0,2190,698,3410,3227,267.5,-12.5,194,1945,0.00,2.38,0.00,0.000,3078,0.000,0.054,2181,2109,3318,3409,3227,0,0,0,0,0,0,14.65,14.52,14.66,6.34,51.18
$GC,2261,-0.64,-146.0,2181,2109,3410,3228,308.2,-12.8,210,2265,0.00,2.42,0.00,0.000,2308,0.000,0.081,2170,3505,3319,3409,3230,0,0,0,0,0,0,14.83,14.50,14.83,6.33,51.26
$GC,2296,-0.64,-146.0,2170,3507,3410,3228,310.9,-12.9,211,2300,0.08,2.33,0.00,0.000,3078,0.355,0.043,2196,2092,3315,3403,3227,0,0,0,0,0,0,14.30,14.54,14.56,6.34,50.98
$GC,2602,-0.64,-146.0,2196,2092,3410,3229,349.6,-12.2,227,2605,0.00,2.40,0.00,0.000,516,0.000,0.064,2196,691,3318,3409,3227,0,0,0,0,0,0,14.84,14.52,14.84,6.34,51.10
$STATE,2620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2620,begin apogee
$GC,2627,-0.15,0.0,2186,2153,3411,3227,352.2,-12.3,228,2755,0.45,0.00,125.35,1.576,10246,0.256,0.000,2346,2153,2719,2779,2659,0,0,0,0,0,0,14.31,13.95,13.31,6.34,51.77
$STATE,2756,end apogee,CONTROL_FINISHED_OK
$STATE,2756,begin loiter
$GC,3041,-0.15,0.0,2346,2153,2774,2643,350.6,2.9,249,3042,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2153,2708,2773,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.70
$GC,3341,-0.15,0.0,2346,2153,2773,2640,341.8,2.9,264,3342,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2153,2706,2772,2640,0,0,0,0,0,0,14.73,14.73,14.72,6.29,50.78
$GC,3641,-0.15,0.0,2346,2153,2774,2639,332.9,2.9,279,3642,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2152,2705,2772,2639,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.45
$GC,3942,-0.15,0.0,2346,2153,2773,2639,324.3,2.8,294,3943,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2153,2705,2772,2638,0,0,0,0,0,0,14.86,14.87,14.87,6.29,50.90
$GC,4241,-0.15,0.0,2346,2153,2773,2638,316.2,2.6,309,4242,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2152,2705,2773,2638,0,0,0,0,0,0,14.91,14.91,14.91,6.29,51.18
$GC,4541,-0.15,0.0,2346,2153,2774,2638,308.8,2.4,324,4542,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2153,2705,2773,2637,0,0,0,0,0,0,14.94,14.95,14.95,6.29,51.41
$GC,4841,-0.15,0.0,2346,2153,2773,2637,301.0,2.8,339,4842,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2153,2705,2773,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.73
$GC,5141,-0.15,0.0,2344,2153,2773,2639,291.6,3.3,354,5142,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2152,2705,2773,2637,0,0,0,0,0,0,14.99,14.99,14.99,6.29,51.92
$GC,5442,-0.15,0.0,2346,2153,2773,2638,281.4,3.5,369,5443,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2153,2704,2772,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.65
$GC,5742,-0.15,0.0,2346,2153,2774,2637,270.9,3.6,384,5742,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2152,2705,2773,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.49
$GC,6041,-0.15,0.0,2346,2153,2773,2638,260.2,3.6,399,6042,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2153,2705,2773,2637,0,0,0,0,0,0,15.03,15.03,15.03,6.28,51.96
$GC,6341,-0.15,0.0,2346,2153,2774,2637,249.4,3.5,414,6342,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2153,2704,2772,2636,0,0,0,0,0,0,15.04,15.04,15.04,6.28,51.65
$STATE,6360,end loiter,LOITER_COMPLETE
$STATE,6360,begin climb
$GC,6361,0.64,146.0,2346,2153,2773,2638,248.7,0.0,415,6499,0.62,2.55,129.85,1.414,10756,0.177,0.065,2603,745,2117,2142,2093,0,0,0,0,0,0,14.55,13.91,13.44,6.28,51.69
$GC,6584,0.64,146.0,2603,746,2135,2088,231.4,10.2,425,6587,0.00,2.45,0.00,0.000,1030,0.000,0.052,2605,2157,2110,2134,2086,0,0,0,0,0,0,14.26,14.17,14.28,6.24,49.60
$GC,6898,0.64,146.0,2605,2157,2132,2073,193.3,11.7,441,6902,0.00,2.47,0.00,0.000,260,0.000,0.081,2604,3553,2104,2131,2078,0,0,0,0,0,0,14.64,14.31,14.61,6.24,50.43
$GC,6969,0.64,146.0,2605,3554,2132,2078,186.1,11.9,444,6972,0.00,2.35,0.00,0.000,5126,0.000,0.044,2615,2155,2104,2130,2078,0,0,0,0,0,0,14.49,14.39,14.50,6.24,50.78
$GC,7279,0.64,146.0,2615,2155,2128,2077,146.9,12.3,460,7282,0.00,2.47,0.00,0.000,4612,0.000,0.068,2626,737,2102,2128,2076,0,0,0,0,0,0,14.71,14.41,14.72,6.24,50.98
$GC,7338,0.64,146.0,2626,737,2127,2076,140.1,11.6,463,7342,0.08,2.40,0.00,0.000,5126,0.321,0.054,2599,2153,2101,2126,2076,0,0,0,0,0,0,14.28,14.44,14.51,6.24,50.86
$GC,7659,0.64,146.0,2600,2152,2126,2074,106.2,10.3,479,7662,0.00,2.47,0.00,0.000,2308,0.000,0.083,2599,3558,2100,2125,2075,0,0,0,0,0,0,14.78,14.44,14.78,6.24,50.98
$GC,7738,0.64,146.0,2600,3558,2126,2075,97.8,10.4,486,7742,0.00,2.35,0.00,0.000,5126,0.000,0.044,2608,2144,2100,2125,2075,0,0,0,0,0,0,14.62,14.52,14.64,6.24,50.66
$GC,7865,0.64,146.0,2609,2145,2126,2075,83.9,11.1,511,7868,0.00,2.45,0.00,0.000,4612,0.000,0.067,2619,735,2099,2125,2074,0,0,0,0,0,0,14.78,14.47,14.78,6.23,50.43
$GC,7893,0.64,146.0,2620,737,2125,2074,80.7,10.8,517,7898,0.00,2.40,0.00,0.000,5126,0.000,0.053,2619,2152,2099,2124,2074,0,0,0,0,0,0,14.62,14.50,14.64,6.21,50.31
$GC,8020,0.64,146.0,2619,2153,2124,2075,66.6,11.4,542,8024,0.00,2.45,0.00,0.000,4356,0.000,0.084,2620,3553,2099,2124,2074,0,0,0,0,0,0,14.78,14.42,14.78,6.23,50.19
$GC,8073,0.64,146.0,2620,3554,2136,2074,60.2,11.0,553,8078,0.08,2.38,0.00,0.000,5126,0.347,0.044,2604,2151,2095,2117,2074,0,0,0,0,0,0,14.31,14.50,14.56,6.22,49.92
$GC,8200,0.64,146.0,2604,2152,2124,2075,48.4,8.8,578,8203,0.00,2.45,0.00,0.000,516,0.000,0.068,2616,737,2099,2124,2074,0,0,0,0,0,0,14.78,14.48,14.78,6.22,49.64
$GC,8259,0.64,147.2,2614,738,2124,2074,43.4,8.3,590,8263,0.00,2.40,0.00,0.000,5126,0.000,0.053,2615,2152,2098,2123,2073,0,0,0,0,0,0,14.64,14.51,14.66,6.22,49.80
$GC,8385,0.65,159.1,2614,2153,2124,2073,32.8,7.9,615,8394,0.00,0.00,7.78,1.278,12294,0.000,0.000,2617,2153,2071,2094,2048,0,0,0,0,0,0,14.79,14.51,13.82,6.21,50.11
$GC,8515,0.65,159.1,2615,2153,2091,2042,20.9,10.6,641,8519,0.00,0.00,0.00,0.000,4102,0.000,0.000,2614,2153,2066,2090,2042,0,0,0,0,0,0,14.76,14.76,14.76,6.21,49.68
$GC,8639,0.65,159.1,2615,2154,2091,2042,8.4,11.6,666,8642,0.00,2.45,0.00,0.000,4356,0.000,0.080,2615,3562,2065,2090,2041,0,0,0,0,0,0,14.77,14.46,14.77,6.21,50.35
$GC,8683,0.65,159.1,2615,3562,2091,2041,3.3,10.5,675,8688,0.05,2.38,0.00,0.000,5126,0.415,0.043,2607,2141,2066,2090,2042,0,0,0,0,0,0,14.28,14.49,14.53,6.21,50.82
$STATE,8692,end climb,SURFACE_DEPTH_REACHED
$STATE,8692,begin surface coast
$STATE,8717,end surface coast,CONTROL_FINISHED_OK
$STATE,8717,begin surface
$SM_CCo,8730,58.40,0.242,0,0,1822,220.03
$SM_GC,1.34,5.43,0.00,58.40,0.044,0.000,0.242,231,2140,1822,-6.51,1.13,220.03,0,0,0,0,0,0,14.64,14.77,14.26
$IRIDIUM_FIX,-5944.88,0.00,180119,102647
$TT8_MAMPS,0.03745,0.262899
$HUMID,50.19
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3756000
$24V_AH,13.14,63.844
$10V_AH,13.62,0.000
$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,13.125,82.475,262.975,58.400,0.000,24.589,15.575,122.047,0.000,0.000,17.451,0.000,6936.993,408.084,1584.621,168.977,0.000,1043.077,0.000,1148.088,0.000,0.539,0.000
$DEVICE_MAMPS,425.340,2236.860,1575.900,241.740,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5115.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.652,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,17301,682
$CAP_FILE_SIZE,93876,0
$CFSIZE,1023623168,987824128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.056,164.97,1
$GPS,180119,153113,-5944.342,5.322,18,0.8,52,-19.8,0.3,262.7,8,4.6