version: 66.14
glider: 640
mission: 5
dive: 328
start: 1 19 119 4 27 33
data:
$ID,640
$MISSION,5
$DIVE,328
$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,39
$R_STBD_OVSHOOT,25
$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
$GPS1,190119,042125,-5947.0352,6.2050,38,0.9,72,-19.8,0.7,60.3,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-56.8
$GPS2,190119,042714,-5947.1055,6.2605,9,0.9,16,-19.8,0.8,141.6,9,9.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,205.2,61190,-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,-146.0,232,2096,1809,1822,0.0,0.0,0,86,0.00,0.00,-72.80,0.000,16386,0.000,0.000,233,2095,2989,3071,2907,0,0,0,0,0,0,14.57,28.83,14.57,6.19,50.66
$GC,88,-0.64,-146.0,233,2096,3068,2909,3.0,-6.0,15,112,6.07,2.80,-12.38,0.000,19204,0.354,2.258,2177,3510,3316,3415,3218,0,0,0,0,0,0,14.09,13.07,14.39,6.29,49.96
$GC,222,-0.64,-146.0,2177,3510,3416,3222,21.8,-14.6,42,226,0.03,2.40,0.00,0.000,3078,0.441,0.041,2185,2106,3318,3415,3222,0,0,0,0,0,0,14.12,14.35,14.28,6.32,48.97
$GC,348,-0.64,-146.0,2186,2104,3417,3222,42.0,-17.4,67,351,0.00,2.47,0.00,0.000,2308,0.000,0.081,2174,3510,3318,3415,3222,0,0,0,0,0,0,14.64,14.35,14.64,6.33,49.72
$GC,416,-0.64,-146.0,2175,3511,3416,3223,53.2,-15.8,81,422,0.05,2.38,0.00,0.000,3078,0.432,0.042,2191,2083,3318,3414,3222,0,0,0,0,0,0,14.17,14.40,14.43,6.32,50.27
$GC,543,-0.64,-146.0,2191,2082,3417,3223,71.4,-13.0,106,547,0.00,2.40,0.00,0.000,2564,0.000,0.063,2190,695,3318,3415,3222,0,0,0,0,0,0,14.68,14.40,14.68,6.32,49.52
$GC,591,-0.64,-146.0,2190,695,3416,3223,77.5,-11.1,116,595,0.00,2.42,0.00,0.000,3078,0.000,0.056,2180,2112,3318,3415,3222,0,0,0,0,0,0,14.54,14.42,14.56,6.32,48.89
$GC,718,-0.64,-146.0,2180,2112,3416,3223,92.7,-13.1,141,722,0.00,2.42,0.00,0.000,2308,0.000,0.081,2169,3504,3318,3414,3222,0,0,0,0,0,0,14.70,14.40,14.70,6.32,48.50
$GC,796,-0.64,-146.0,2170,3505,3416,3221,103.9,-14.0,154,801,0.08,2.38,0.00,0.000,3078,0.363,0.042,2195,2078,3318,3415,3222,0,0,0,0,0,0,14.23,14.47,14.48,6.32,48.70
$GC,1116,-0.64,-146.0,2194,2078,3416,3223,145.1,-13.5,170,1120,0.00,2.40,0.00,0.000,516,0.000,0.063,2195,692,3318,3415,3222,0,0,0,0,0,0,14.76,14.47,14.77,6.32,50.35
$GC,1207,-0.64,-146.0,2195,692,3416,3223,156.0,-13.7,174,1210,0.00,2.40,0.00,0.000,3078,0.000,0.055,2185,2107,3318,3415,3222,0,0,0,0,0,0,14.61,14.49,14.63,6.32,49.88
$GC,1516,-0.64,-146.0,2185,2107,3416,3222,199.0,-13.2,190,1520,0.00,2.42,0.00,0.000,2308,0.000,0.082,2174,3505,3318,3415,3222,0,0,0,0,0,0,14.80,14.47,14.80,6.33,50.51
$GC,1566,-0.64,-146.0,2174,3506,3416,3223,204.3,-13.1,192,1571,0.05,2.38,0.00,0.000,3078,0.427,0.041,2191,2070,3318,3415,3222,0,0,0,0,0,0,14.28,14.53,14.54,6.33,51.37
$GC,1877,-0.64,-146.0,2190,2070,3416,3222,243.2,-12.0,208,1880,0.00,2.38,0.00,0.000,2564,0.000,0.063,2190,689,3318,3415,3222,0,0,0,0,0,0,14.81,14.51,14.82,6.34,51.02
$GC,1947,-0.64,-146.0,2191,690,3416,3223,250.4,-12.0,211,1950,0.00,2.40,0.00,0.000,3078,0.000,0.057,2181,2107,3318,3413,3223,0,0,0,0,0,0,14.70,14.52,14.66,6.34,50.63
$GC,2252,-0.64,-146.0,2183,2107,3416,3223,287.8,-12.0,226,2255,0.00,2.42,0.00,0.000,2308,0.000,0.082,2171,3505,3318,3415,3222,0,0,0,0,0,0,14.83,14.50,14.83,6.34,51.45
$GC,2302,-0.64,-146.0,2170,3505,3415,3223,292.2,-12.2,228,2306,0.08,2.33,0.00,0.000,3078,0.353,0.042,2199,2098,3318,3415,3222,0,0,0,0,0,0,14.31,14.56,14.56,6.34,51.18
$GC,2607,-0.64,-146.0,2197,2095,3416,3222,328.3,-11.1,244,2610,0.00,2.40,0.00,0.000,516,0.000,0.063,2196,698,3318,3415,3222,0,0,0,0,0,0,14.83,14.52,14.83,6.34,51.06
$GC,2686,-0.64,-146.0,2196,698,3415,3223,337.1,-11.0,248,2690,0.00,2.40,0.00,0.000,3078,0.000,0.055,2186,2095,3318,3415,3222,0,0,0,0,0,0,14.57,14.51,14.60,6.34,50.94
$STATE,2805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2805,begin apogee
$GC,2810,-0.15,0.0,2186,2172,3415,3222,350.6,-11.5,254,2938,0.47,0.00,125.12,1.564,10246,0.259,0.000,2354,2170,2716,2777,2656,0,0,0,0,0,0,14.30,13.94,13.33,6.34,51.10
$STATE,2939,end apogee,CONTROL_FINISHED_OK
$STATE,2939,begin loiter
$GC,3226,-0.15,0.0,2354,2170,2773,2641,344.3,4.0,275,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2170,2706,2772,2641,0,0,0,0,0,0,14.58,14.58,14.58,6.29,50.27
$GC,3527,-0.15,0.0,2355,2170,2773,2639,332.7,3.8,290,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2170,2705,2772,2639,0,0,0,0,0,0,14.73,14.73,14.73,6.29,50.70
$GC,3826,-0.15,0.0,2355,2171,2773,2638,321.2,3.8,305,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2170,2704,2771,2638,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.18
$GC,4127,-0.15,0.0,2355,2171,2772,2637,309.7,3.8,320,4127,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2170,2704,2772,2637,0,0,0,0,0,0,14.87,14.87,14.87,6.29,51.14
$GC,4426,-0.15,0.0,2355,2171,2771,2637,299.0,3.5,335,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2170,2704,2772,2636,0,0,0,0,0,0,14.91,14.92,14.91,6.29,51.26
$GC,4727,-0.15,0.0,2354,2171,2773,2636,289.0,3.1,350,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2170,2704,2772,2636,0,0,0,0,0,0,14.94,14.95,14.95,6.29,51.85
$GC,5027,-0.15,0.0,2354,2171,2772,2637,280.2,2.7,365,5027,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2170,2703,2771,2635,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.22
$GC,5326,-0.15,0.0,2354,2171,2772,2636,273.7,1.8,380,5327,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2170,2703,2772,2635,0,0,0,0,0,0,14.98,14.99,14.99,6.29,51.26
$GC,5627,-0.15,0.0,2355,2171,2772,2634,269.9,1.1,395,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2170,2703,2771,2635,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.53
$GC,5927,-0.15,0.0,2354,2171,2772,2636,265.9,1.7,410,5927,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2170,2703,2772,2635,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.69
$GC,6226,-0.15,0.0,2354,2171,2772,2636,257.6,3.5,425,6227,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2170,2702,2771,2634,0,0,0,0,0,0,15.03,15.03,15.03,6.29,51.33
$STATE,6525,end loiter,LOITER_COMPLETE
$STATE,6525,begin climb
$GC,6527,0.64,146.0,2354,2171,2772,2636,245.1,0.0,440,6663,0.60,2.47,129.48,1.405,11012,0.171,0.078,2595,3535,2121,2146,2096,0,0,0,0,0,0,14.57,13.92,13.43,6.29,51.26
$GC,6723,0.64,146.0,2595,3535,2144,2089,228.4,10.7,449,6726,0.00,2.35,0.00,0.000,1030,0.000,0.041,2605,2150,2115,2143,2088,0,0,0,0,0,0,14.24,14.17,14.26,6.25,49.09
$GC,7043,0.64,146.0,2605,2151,2135,2082,188.1,12.7,465,7046,0.00,2.47,0.00,0.000,516,0.000,0.065,2616,741,2107,2134,2081,0,0,0,0,0,0,14.64,14.31,14.60,6.25,50.94
$GC,7083,0.64,146.0,2617,741,2129,2081,183.2,12.5,467,7086,0.00,2.38,0.00,0.000,5126,0.000,0.054,2616,2128,2105,2130,2081,0,0,0,0,0,0,14.47,14.35,14.49,6.24,50.55
$GC,7403,0.64,146.0,2617,2129,2132,2078,142.5,12.1,483,7407,0.00,2.53,0.00,0.000,4356,0.000,0.083,2617,3558,2104,2130,2078,0,0,0,0,0,0,14.71,14.39,14.71,6.24,51.26
$GC,7513,0.64,146.0,2617,3559,2131,2079,131.3,10.9,488,7517,0.08,2.38,0.00,0.000,5126,0.355,0.042,2602,2128,2104,2130,2078,0,0,0,0,0,0,14.23,14.46,14.50,6.24,51.14
$GC,7823,0.64,146.0,2602,2129,2130,2077,100.3,9.3,504,7826,0.00,2.40,0.00,0.000,516,0.000,0.065,2612,745,2102,2129,2075,0,0,0,0,0,0,14.77,14.47,14.77,6.22,50.90
$GC,7873,0.64,146.0,2613,746,2128,2077,96.0,8.4,511,7877,0.00,2.38,0.00,0.000,5126,0.000,0.053,2612,2152,2106,2137,2076,0,0,0,0,0,0,14.62,14.49,14.63,6.24,51.18
$GC,7999,0.64,146.0,2612,2153,2128,2076,83.3,10.5,536,8003,0.00,2.45,0.00,0.000,4356,0.000,0.084,2612,3553,2101,2126,2076,0,0,0,0,0,0,14.77,14.45,14.77,6.23,50.82
$GC,8033,0.64,146.0,2612,3554,2127,2077,79.4,10.9,543,8037,0.05,2.33,0.00,0.000,5126,0.417,0.043,2605,2149,2101,2126,2076,0,0,0,0,0,0,14.28,14.52,14.55,6.23,51.02
$GC,8159,0.64,149.5,2606,2151,2128,2076,68.1,8.2,568,8163,0.00,2.42,0.00,0.000,516,0.000,0.066,2615,742,2101,2127,2076,0,0,0,0,0,0,14.77,14.47,14.81,6.24,50.47
$GC,8178,0.66,166.0,2614,742,2125,2077,66.5,7.7,572,8197,0.00,2.40,15.50,1.320,13318,0.000,0.054,2615,2155,2041,2061,2021,0,0,0,0,0,0,14.62,14.50,13.85,6.23,50.51
$GC,8318,0.73,223.5,2624,2156,2061,2014,56.5,6.1,600,8382,0.00,2.58,56.88,1.216,10500,0.000,0.083,2615,3561,1802,1813,1791,0,0,0,0,0,0,14.71,14.14,13.64,6.22,49.88
$GC,8429,0.75,241.2,2614,3562,1813,1789,48.4,7.7,622,8453,0.00,2.40,17.17,1.215,11270,0.000,0.043,2626,2143,1729,1735,1723,0,0,0,0,0,0,14.34,14.26,13.61,6.20,48.30
$GC,8573,0.75,241.2,2626,2144,1736,1715,34.2,9.9,651,8576,0.00,2.53,0.00,0.000,2308,0.000,0.080,2625,3556,1724,1734,1714,0,0,0,0,0,0,14.50,14.23,14.50,6.20,48.46
$GC,8608,0.75,241.2,2626,3557,1736,1714,30.0,12.2,658,8612,0.00,2.38,0.00,0.000,3078,0.000,0.044,2636,2146,1724,1735,1713,0,0,0,0,0,0,14.40,14.30,14.41,6.19,48.50
$GC,8734,0.75,241.2,2637,2145,1736,1709,11.6,14.6,683,8738,0.00,2.47,0.00,0.000,2564,0.000,0.071,2647,744,1721,1734,1708,0,0,0,0,0,0,14.58,14.31,14.58,6.19,48.85
$GC,8753,0.75,241.2,2648,745,1732,1709,9.4,11.2,687,8757,0.00,2.40,0.00,0.000,5126,0.000,0.049,2647,2157,1720,1731,1709,0,0,0,0,0,0,14.45,14.33,14.47,6.19,48.85
$STATE,8816,end climb,SURFACE_DEPTH_REACHED
$STATE,8816,begin surface coast
$STATE,8836,end surface coast,CONTROL_FINISHED_OK
$STATE,8836,begin surface
$SM_CCo,8910,0.00,0.000,0,0,1718,245.79
$SM_GC,1.01,5.62,0.10,0.00,0.067,0.136,0.000,235,2086,1718,-6.44,0.82,245.79,0,0,0,0,0,0,14.46,14.40,14.50
$IRIDIUM_FIX,-5947.83,0.00,190119,014723
$TT8_MAMPS,0.038948,0.202979
$HUMID,49.52
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3752928
$24V_AH,13.07,64.952
$10V_AH,13.11,0.000
$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,13.175,87.475,344.150,0.000,0.000,26.056,41.679,131.775,0.000,0.000,18.063,0.000,7011.323,420.163,1654.033,173.468,0.000,1074.459,0.000,1173.010,0.000,0.540,0.000
$DEVICE_MAMPS,440.640,2258.280,1563.660,0.000,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5251.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.793,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,17338,704
$CAP_FILE_SIZE,95315,0
$CFSIZE,1023623168,987234304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.085,151.04,1
$GPS,190119,065718,-5947.841,6.700,12,2.3,53,-19.8,0.0,209.0,4,8.1