version: 66.14
glider: 640
mission: 5
dive: 343
start: 1 20 119 19 24 39
data:
$ID,640
$MISSION,5
$DIVE,343
$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,58
$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
$GPS1,200119,191902,-5954.2759,8.0879,17,0.9,35,-19.8,0.5,231.1,9,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-68.2
$GPS2,200119,192420,-5954.3027,8.0568,8,0.9,13,-19.8,0.6,126.3,9,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,199.7,48161,-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,-146.0,233,2065,1794,1827,0.0,0.0,0,96,0.00,0.00,-83.18,0.000,16386,0.000,0.000,232,2065,3143,3223,3063,0,0,0,0,0,0,14.60,28.83,14.60,6.19,50.47
$GC,98,-0.64,-146.0,232,2065,3226,3065,3.4,-6.7,17,116,6.20,2.85,-6.35,0.000,18692,0.369,2.248,2178,3504,3317,3412,3222,0,0,0,0,0,0,14.08,13.08,14.40,6.30,49.68
$GC,227,-0.64,-146.0,2178,3505,3414,3225,24.3,-15.4,43,231,0.03,2.35,0.00,0.000,3078,0.444,0.041,2186,2120,3318,3413,3224,0,0,0,0,0,0,14.12,14.36,14.28,6.32,48.85
$GC,353,-0.64,-146.0,2186,2119,3414,3225,43.7,-16.1,68,356,0.00,2.47,0.00,0.000,2564,0.000,0.064,2186,694,3318,3413,3224,0,0,0,0,0,0,14.65,14.32,14.65,6.36,49.60
$GC,471,-0.64,-146.0,2186,695,3414,3225,61.5,-14.0,92,476,0.05,2.40,0.00,0.000,3078,0.448,0.055,2190,2106,3318,3413,3224,0,0,0,0,0,0,14.15,14.40,14.42,6.32,49.80
$GC,598,-0.64,-146.0,2190,2107,3414,3225,80.4,-16.0,117,602,0.00,2.45,0.00,0.000,2308,0.000,0.081,2180,3506,3318,3413,3224,0,0,0,0,0,0,14.69,14.33,14.69,6.32,48.77
$GC,647,-0.64,-146.0,2181,3507,3413,3225,88.5,-16.0,127,650,0.00,2.35,0.00,0.000,3078,0.000,0.043,2180,2091,3318,3413,3224,0,0,0,0,0,0,14.55,14.45,14.57,6.31,48.89
$GC,777,-0.64,-146.0,2181,2090,3413,3224,109.9,-15.8,144,780,0.00,2.40,0.00,0.000,2564,0.000,0.063,2179,697,3318,3413,3224,0,0,0,0,0,0,14.73,14.42,14.73,6.31,48.54
$GC,846,-0.64,-146.0,2179,696,3414,3226,118.8,-16.2,147,851,0.08,2.38,0.00,0.000,3078,0.366,0.054,2192,2101,3318,3413,3224,0,0,0,0,0,0,14.21,14.44,14.46,6.31,48.66
$GC,1152,-0.64,-146.0,2193,2102,3415,3224,167.6,-15.1,163,1156,0.00,2.45,0.00,0.000,2308,0.000,0.082,2182,3505,3318,3413,3224,0,0,0,0,0,0,14.78,14.43,14.77,6.32,50.19
$GC,1217,-0.64,-146.0,2183,3505,3414,3224,176.2,-14.4,166,1220,0.00,2.33,0.00,0.000,3078,0.000,0.042,2181,2098,3318,3413,3224,0,0,0,0,0,0,14.61,14.50,14.62,6.32,50.27
$GC,1527,-0.64,-146.0,2182,2097,3413,3222,220.1,-13.7,182,1530,0.00,2.40,0.00,0.000,2564,0.000,0.063,2181,697,3318,3413,3224,0,0,0,0,0,0,14.79,14.47,14.80,6.33,51.65
$GC,1602,-0.64,-146.0,2181,698,3414,3225,228.2,-13.6,185,1606,0.08,2.38,0.00,0.000,3078,0.371,0.055,2193,2101,3318,3413,3224,0,0,0,0,0,0,14.24,14.49,14.51,6.33,50.70
$GC,1907,-0.64,-146.0,2194,2102,3415,3225,267.8,-12.4,201,1910,0.00,2.45,0.00,0.000,260,0.000,0.082,2183,3509,3318,3413,3224,0,0,0,0,0,0,14.81,14.46,14.81,6.33,51.02
$GC,1942,-0.64,-146.0,2183,3509,3414,3225,270.3,-12.4,202,1946,0.00,2.33,0.00,0.000,3078,0.000,0.043,2182,2102,3318,3413,3224,0,0,0,0,0,0,14.64,14.53,14.66,6.34,51.22
$GC,2247,-0.64,-146.0,2183,2101,3415,3224,311.6,-13.0,218,2251,0.00,2.42,0.00,0.000,2564,0.000,0.063,2182,688,3318,3413,3224,0,0,0,0,0,0,14.83,14.50,14.83,6.34,51.26
$GC,2317,-0.64,-146.0,2183,688,3414,3224,319.6,-13.2,221,2321,0.08,2.40,0.00,0.000,3078,0.366,0.055,2195,2107,3318,3413,3224,0,0,0,0,0,0,14.26,14.52,14.52,6.34,50.86
$STATE,2560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2560,begin apogee
$GC,2565,-0.15,0.0,2196,2157,3414,3224,350.9,-12.3,233,2694,0.43,0.00,125.62,1.567,10246,0.263,0.000,2345,2157,2718,2778,2658,0,0,0,0,0,0,14.25,13.94,13.31,6.34,51.29
$STATE,2695,end apogee,CONTROL_FINISHED_OK
$STATE,2695,begin loiter
$GC,2981,-0.15,0.0,2347,2158,2774,2645,349.0,2.9,254,2982,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2708,2773,2644,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.70
$GC,3282,-0.15,0.0,2346,2158,2774,2642,340.2,3.0,269,3282,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2707,2773,2642,0,0,0,0,0,0,14.72,14.72,14.72,6.29,51.02
$GC,3582,-0.15,0.0,2346,2157,2774,2641,330.8,3.2,284,3582,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2707,2773,2641,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.10
$GC,3882,-0.15,0.0,2346,2157,2774,2641,320.5,3.5,299,3883,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2706,2773,2640,0,0,0,0,0,0,14.86,14.86,14.86,6.29,51.18
$GC,4182,-0.15,0.0,2346,2157,2774,2640,309.5,3.8,314,4182,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2706,2773,2640,0,0,0,0,0,0,14.90,14.90,14.91,6.29,51.22
$GC,4482,-0.15,0.0,2346,2158,2773,2641,297.7,3.9,329,4482,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2706,2773,2639,0,0,0,0,0,0,14.94,14.95,14.94,6.29,51.45
$GC,4782,-0.15,0.0,2346,2158,2773,2640,286.7,3.6,344,4782,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2706,2773,2639,0,0,0,0,0,0,14.96,14.97,14.96,6.29,51.49
$GC,5082,-0.15,0.0,2347,2158,2774,2639,276.9,3.2,359,5082,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2706,2773,2639,0,0,0,0,0,0,14.98,14.98,14.98,6.29,51.45
$GC,5382,-0.15,0.0,2346,2157,2774,2639,267.4,3.3,374,5383,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2706,2773,2639,0,0,0,0,0,0,15.00,15.00,15.00,6.28,52.16
$GC,5682,-0.15,0.0,2346,2158,2773,2640,256.4,4.0,389,5682,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2706,2773,2639,0,0,0,0,0,0,15.01,15.02,15.02,6.28,51.65
$GC,5982,-0.15,0.0,2346,2158,2774,2638,244.7,3.8,404,5982,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2705,2773,2638,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.57
$STATE,6280,end loiter,LOITER_COMPLETE
$STATE,6280,begin climb
$GC,6282,0.64,146.0,2346,2158,2773,2640,234.9,0.0,419,6422,0.62,2.58,130.70,1.400,11012,0.181,0.080,2592,3550,2118,2143,2093,0,0,0,0,0,0,14.52,14.00,13.45,6.29,51.26
$GC,6471,0.64,146.0,2592,3551,2142,2087,223.1,8.6,428,6476,0.00,2.38,0.00,0.000,1030,0.000,0.041,2602,2153,2113,2140,2087,0,0,0,0,0,0,14.21,14.13,14.23,6.24,49.40
$GC,6782,0.64,146.0,2603,2154,2133,2079,189.3,10.4,444,6785,0.00,2.47,0.00,0.000,516,0.000,0.067,2614,746,2105,2133,2078,0,0,0,0,0,0,14.59,14.29,14.59,6.24,51.10
$GC,6847,0.64,146.0,2614,746,2129,2079,183.4,9.9,447,6850,0.00,2.40,0.00,0.000,5126,0.000,0.053,2614,2148,2103,2128,2078,0,0,0,0,0,0,14.46,14.34,14.47,6.25,50.51
$GC,7162,0.64,146.0,2614,2148,2128,2076,149.3,10.9,463,7166,0.00,2.50,0.00,0.000,4356,0.000,0.082,2614,3562,2101,2127,2076,0,0,0,0,0,0,14.71,14.38,14.71,6.24,51.18
$GC,7242,0.64,146.0,2614,3563,2128,2079,140.5,11.0,467,7246,0.08,2.35,0.00,0.000,5126,0.355,0.044,2600,2150,2101,2127,2076,0,0,0,0,0,0,14.22,14.45,14.48,6.24,51.26
$GC,7562,0.64,146.0,2600,2151,2128,2074,103.2,12.6,483,7565,0.00,2.45,0.00,0.000,2564,0.000,0.067,2609,742,2100,2127,2074,0,0,0,0,0,0,14.77,14.45,14.78,6.23,50.66
$GC,7626,0.64,146.0,2609,743,2126,2074,96.6,9.6,490,7631,0.00,2.38,0.00,0.000,5126,0.000,0.052,2609,2151,2099,2125,2073,0,0,0,0,0,0,14.60,14.47,14.62,6.24,50.59
$GC,7753,0.64,146.0,2609,2152,2126,2074,84.8,9.6,515,7757,0.00,2.47,0.00,0.000,4356,0.000,0.083,2609,3558,2099,2125,2073,0,0,0,0,0,0,14.77,14.43,14.77,6.22,50.74
$GC,7776,0.64,146.0,2609,3560,2126,2074,82.3,10.4,520,7781,0.03,2.40,0.00,0.000,5126,0.418,0.046,2609,2149,2099,2125,2073,0,0,0,0,0,0,14.24,14.46,14.39,6.23,50.07
$GC,7901,0.64,146.0,2609,2149,2126,2074,70.7,9.4,545,7905,0.00,2.45,0.00,0.000,4612,0.000,0.067,2619,742,2099,2125,2073,0,0,0,0,0,0,14.78,14.45,14.78,6.22,50.00
$GC,7927,0.64,146.0,2619,738,2126,2071,68.5,8.7,550,7931,0.00,2.40,0.00,0.000,5126,0.000,0.053,2619,2160,2098,2125,2072,0,0,0,0,0,0,14.61,14.48,14.63,6.22,49.72
$GC,8053,0.64,146.0,2619,2160,2126,2072,56.1,9.7,575,8056,0.00,2.45,0.00,0.000,4356,0.000,0.084,2619,3553,2098,2124,2072,0,0,0,0,0,0,14.78,14.45,14.78,6.21,49.44
$GC,8086,0.64,146.0,2619,3554,2124,2074,52.9,9.5,582,8091,0.08,2.35,0.00,0.000,5126,0.349,0.044,2604,2140,2098,2125,2072,0,0,0,0,0,0,14.28,14.52,14.54,6.21,49.37
$GC,8213,0.65,154.8,2604,2141,2126,2072,42.9,8.0,607,8221,0.00,2.47,3.83,1.114,10500,0.000,0.079,2603,3556,2087,2112,2062,0,0,0,0,0,0,14.78,14.32,13.65,6.21,49.29
$GC,8232,0.65,154.8,2603,3557,2114,2063,41.1,8.7,611,8235,0.00,2.35,0.00,0.000,5126,0.000,0.045,2613,2145,2087,2112,2063,0,0,0,0,0,0,14.62,14.52,14.64,6.21,50.07
$GC,8358,0.65,154.8,2614,2147,2113,2064,29.4,9.5,636,8361,0.00,2.42,0.00,0.000,4612,0.000,0.067,2625,741,2087,2112,2062,0,0,0,0,0,0,14.77,14.46,14.77,6.21,49.96
$GC,8381,0.65,154.8,2625,737,2113,2064,27.0,9.4,641,8386,0.05,2.38,0.00,0.000,5126,0.380,0.053,2606,2148,2087,2112,2063,0,0,0,0,0,0,14.27,14.47,14.52,6.20,50.07
$GC,8507,0.65,154.8,2606,2149,2106,2063,16.8,8.8,666,8511,0.00,2.47,0.00,0.000,260,0.000,0.083,2606,3559,2087,2112,2062,0,0,0,0,0,0,14.78,14.44,14.78,6.21,50.27
$GC,8562,0.65,154.8,2607,3560,2114,2063,11.3,9.2,677,8565,0.00,2.35,0.00,0.000,5126,0.000,0.044,2615,2147,2087,2112,2063,0,0,0,0,0,0,14.62,14.51,14.64,6.21,50.74
$STATE,8655,end climb,SURFACE_DEPTH_REACHED
$STATE,8655,begin surface coast
$STATE,8690,end surface coast,CONTROL_FINISHED_OK
$STATE,8690,begin surface
$SM_CCo,8705,63.60,0.241,0,0,1822,220.03
$SM_GC,1.21,5.62,0.05,63.60,0.091,0.203,0.241,264,2081,1822,-6.46,1.07,220.03,0,0,0,0,0,0,14.55,14.54,14.24
$IRIDIUM_FIX,-5954.50,4.29,200119,164914
$TT8_MAMPS,0.038199,0.275632
$HUMID,50.51
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3745248
$24V_AH,13.08,67.793
$10V_AH,13.61,0.000
$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,13.400,87.375,260.150,63.600,0.000,24.181,20.983,124.261,0.000,0.000,14.348,0.000,6877.930,422.224,1607.266,181.946,0.000,1062.277,0.000,1161.780,0.000,0.539,0.000
$DEVICE_MAMPS,447.525,2247.570,1566.720,240.975,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5108.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.696,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17322,703
$CAP_FILE_SIZE,95575,0
$CFSIZE,1023623168,985759744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.040,186.38,1
$GPS,200119,215154,-5954.894,7.979,35,0.9,41,-19.8,0.2,301.3,10,9.2