version: 66.14
glider: 640
mission: 5
dive: 349
start: 1 21 119 10 57 5
data:
$ID,640
$MISSION,5
$DIVE,349
$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,36
$R_STBD_OVSHOOT,31
$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
$GPS1,210119,105103,-5957.1514,7.9576,28,0.8,30,-19.8,0.4,147.2,11,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-65.4
$GPS2,210119,105646,-5957.2007,8.0340,12,0.8,16,-19.8,0.7,122.6,10,9.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,216.7,42861,-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,-146.0,224,2138,1792,1827,0.0,0.0,0,102,0.00,0.00,-89.25,0.000,16386,0.000,0.000,223,2138,3250,3334,3167,0,0,0,0,0,0,14.57,28.83,14.57,6.19,50.51
$GC,104,-0.64,-146.0,223,2138,3334,3180,3.7,-8.3,18,118,6.12,2.65,-2.22,0.000,18692,0.352,2.236,2170,3503,3315,3406,3225,0,0,0,0,0,0,14.03,13.31,14.33,6.31,50.03
$GC,242,-0.64,-146.0,2170,3503,3410,3224,29.4,-16.8,46,246,0.08,2.35,0.00,0.000,3078,0.360,0.041,2194,2104,3317,3409,3226,0,0,0,0,0,0,14.12,14.36,14.36,6.32,48.77
$GC,369,-0.64,-146.0,2195,2103,3410,3224,50.4,-16.8,71,372,0.00,2.45,0.00,0.000,516,0.000,0.062,2194,694,3316,3409,3224,0,0,0,0,0,0,14.63,14.34,14.63,6.32,49.33
$GC,382,-0.64,-146.0,2195,694,3410,3225,53.0,-17.2,74,386,0.00,2.40,0.00,0.000,3078,0.000,0.056,2184,2098,3316,3409,3224,0,0,0,0,0,0,14.50,14.36,14.51,6.32,49.72
$GC,507,-0.64,-146.0,2185,2099,3410,3224,73.1,-15.2,99,511,0.00,2.47,0.00,0.000,2308,0.000,0.082,2174,3508,3316,3409,3224,0,0,0,0,0,0,14.66,14.33,14.66,6.32,48.97
$GC,592,-0.64,-146.0,2174,3508,3410,3225,86.2,-14.6,116,596,0.08,2.35,0.00,0.000,3078,0.365,0.042,2200,2095,3317,3409,3225,0,0,0,0,0,0,14.16,14.42,14.40,6.31,48.66
$GC,734,-0.64,-146.0,2200,2094,3410,3224,106.2,-14.8,138,737,0.00,2.42,0.00,0.000,4612,0.000,0.064,2200,696,3317,3409,3225,0,0,0,0,0,0,14.69,14.40,14.69,6.31,48.42
$GC,832,-0.64,-146.0,2200,696,3411,3225,121.0,-15.4,143,836,0.00,2.40,0.00,0.000,3078,0.000,0.055,2189,2102,3317,3409,3225,0,0,0,0,0,0,14.54,14.42,14.56,6.31,47.79
$GC,1147,-0.64,-146.0,2190,2102,3411,3224,166.0,-14.1,159,1151,0.00,2.45,0.00,0.000,2308,0.000,0.081,2179,3504,3317,3409,3225,0,0,0,0,0,0,14.76,14.39,14.75,6.31,49.72
$GC,1192,-0.64,-146.0,2179,3505,3410,3226,171.7,-14.1,161,1197,0.05,2.33,0.00,0.000,3078,0.440,0.042,2195,2101,3316,3409,3224,0,0,0,0,0,0,14.20,14.47,14.47,6.32,49.84
$GC,1507,-0.64,-146.0,2195,2099,3410,3223,212.9,-12.2,177,1511,0.00,2.45,0.00,0.000,516,0.000,0.063,2194,690,3317,3410,3224,0,0,0,0,0,0,14.78,14.43,14.78,6.33,50.43
$GC,1572,-0.64,-146.0,2202,691,3410,3226,220.2,-12.1,180,1576,0.00,2.40,0.00,0.000,3078,0.000,0.054,2183,2105,3317,3410,3225,0,0,0,0,0,0,14.61,14.47,14.62,6.33,50.86
$GC,1887,-0.64,-146.0,2184,2107,3410,3225,257.7,-11.7,196,1891,0.00,2.42,0.00,0.000,2308,0.000,0.082,2173,3503,3316,3409,3224,0,0,0,0,0,0,14.80,14.42,14.79,6.33,50.98
$GC,1942,-0.64,-146.0,2173,3503,3410,3235,262.5,-11.8,198,1947,0.08,2.33,0.00,0.000,3078,0.360,0.042,2199,2096,3317,3410,3224,0,0,0,0,0,0,14.23,14.52,14.48,6.33,51.02
$GC,2247,-0.64,-146.0,2199,2095,3409,3224,298.1,-11.1,214,2251,0.00,2.40,0.00,0.000,516,0.000,0.063,2198,697,3317,3410,3224,0,0,0,0,0,0,14.81,14.46,14.81,6.34,51.06
$GC,2332,-0.64,-146.0,2198,697,3410,3225,306.9,-11.1,218,2336,0.00,2.38,0.00,0.000,3078,0.000,0.054,2188,2103,3316,3408,3224,0,0,0,0,0,0,14.63,14.50,14.64,6.43,50.78
$GC,2647,-0.64,-146.0,2188,2104,3411,3225,344.8,-12.3,234,2651,0.00,2.42,0.00,0.000,2308,0.000,0.081,2178,3503,3316,3409,3224,0,0,0,0,0,0,14.81,14.43,14.82,6.34,51.14
$GC,2692,-0.64,-146.0,2178,3502,3410,3224,349.8,-12.4,236,2697,0.05,2.33,0.00,0.000,3078,0.431,0.041,2192,2090,3317,3410,3224,0,0,0,0,0,0,14.25,14.52,14.51,6.34,51.06
$STATE,2705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2705,begin apogee
$GC,2710,-0.15,0.0,2194,2160,3410,3225,352.3,-12.5,237,2839,0.45,0.00,125.85,1.577,10246,0.257,0.000,2351,2160,2715,2775,2656,0,0,0,0,0,0,14.20,13.93,13.30,6.35,51.73
$STATE,2841,end apogee,CONTROL_FINISHED_OK
$STATE,2841,begin loiter
$GC,3127,-0.15,0.0,2353,2161,2772,2642,348.3,3.3,258,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2160,2707,2771,2643,0,0,0,0,0,0,14.55,14.55,14.55,6.29,50.11
$GC,3427,-0.15,0.0,2352,2161,2772,2642,338.2,3.3,273,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2160,2706,2771,2641,0,0,0,0,0,0,14.70,14.71,14.71,6.29,50.55
$GC,3727,-0.15,0.0,2352,2161,2772,2641,328.5,3.2,288,3728,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2160,2706,2772,2640,0,0,0,0,0,0,14.79,14.79,14.79,6.29,51.14
$GC,4028,-0.15,0.0,2352,2159,2773,2639,319.0,3.2,303,4028,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2160,2705,2772,2639,0,0,0,0,0,0,14.85,14.85,14.85,6.29,51.49
$GC,4327,-0.15,0.0,2352,2161,2772,2639,309.7,3.1,318,4328,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2705,2771,2639,0,0,0,0,0,0,14.89,14.90,14.90,6.29,51.18
$GC,4627,-0.15,0.0,2352,2160,2772,2638,300.4,3.2,333,4628,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2160,2704,2771,2638,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.18
$GC,4927,-0.15,0.0,2352,2161,2773,2639,291.7,2.8,348,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2160,2704,2771,2638,0,0,0,0,0,0,14.95,14.95,14.95,6.29,50.98
$GC,5227,-0.15,0.0,2352,2161,2772,2639,284.6,2.3,363,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2160,2704,2771,2638,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.57
$GC,5528,-0.15,0.0,2352,2160,2772,2638,278.2,2.1,378,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2160,2704,2771,2638,0,0,0,0,0,0,14.98,14.98,14.98,6.29,51.37
$GC,5827,-0.15,0.0,2352,2160,2773,2638,271.8,2.1,393,5828,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2159,2704,2771,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.33
$GC,6127,-0.15,0.0,2352,2161,2772,2639,264.4,2.6,408,6128,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2160,2704,2771,2638,0,0,0,0,0,0,15.01,15.01,15.01,6.29,51.69
$STATE,6425,end loiter,LOITER_COMPLETE
$STATE,6425,begin climb
$GC,6428,0.64,146.0,2352,2161,2773,2638,254.9,0.0,423,6568,0.62,2.58,130.45,1.418,11012,0.174,0.080,2600,3548,2118,2142,2094,0,0,0,0,0,0,14.52,13.98,13.42,6.29,51.22
$GC,6602,0.64,146.0,2600,3548,2141,2084,242.6,9.6,431,6606,0.00,2.38,0.00,0.000,5126,0.000,0.041,2610,2153,2114,2141,2088,0,0,0,0,0,0,14.20,14.12,14.21,6.25,48.97
$GC,6907,0.64,146.0,2610,2154,2133,2079,200.3,13.7,447,6911,0.00,2.47,0.00,0.000,4612,0.000,0.066,2620,749,2105,2132,2079,0,0,0,0,0,0,14.57,14.27,14.57,6.25,50.43
$GC,6962,0.64,146.0,2621,750,2130,2080,193.1,13.1,450,6967,0.05,2.38,0.00,0.000,5126,0.382,0.053,2604,2139,2103,2129,2078,0,0,0,0,0,0,14.13,14.31,14.37,6.25,50.27
$GC,7283,0.64,146.0,2603,2140,2128,2077,149.0,14.2,466,7286,0.00,2.50,0.00,0.000,260,0.000,0.081,2604,3555,2102,2127,2077,0,0,0,0,0,0,14.69,14.35,14.69,6.24,50.55
$GC,7362,0.64,146.0,2603,3556,2128,2078,138.4,14.1,470,7366,0.00,2.35,0.00,0.000,5126,0.000,0.042,2612,2144,2102,2127,2077,0,0,0,0,0,0,14.54,14.43,14.56,6.24,51.37
$GC,7667,0.64,146.0,2613,2144,2128,2075,97.1,12.3,487,7671,0.00,2.45,0.00,0.000,4612,0.000,0.067,2624,744,2100,2126,2075,0,0,0,0,0,0,14.75,14.42,14.78,6.23,50.66
$GC,7722,0.64,146.0,2625,743,2126,2077,90.9,11.1,498,7726,0.05,2.40,0.00,0.000,5126,0.382,0.052,2606,2163,2100,2125,2075,0,0,0,0,0,0,14.26,14.45,14.52,6.23,50.43
$GC,7847,0.64,146.0,2606,2163,2126,2075,78.4,9.4,523,7851,0.00,2.42,0.00,0.000,260,0.000,0.081,2606,3550,2096,2117,2075,0,0,0,0,0,0,14.74,14.42,14.75,6.22,49.88
$GC,7872,0.64,146.0,2607,3551,2125,2076,76.0,9.8,528,7876,0.00,2.33,0.00,0.000,5126,0.000,0.044,2614,2151,2100,2125,2075,0,0,0,0,0,0,14.59,14.47,14.62,6.23,49.88
$GC,7999,0.64,146.0,2615,2151,2126,2075,63.3,10.3,553,8002,0.00,2.45,0.00,0.000,4612,0.000,0.067,2626,741,2099,2124,2075,0,0,0,0,0,0,14.75,14.44,14.75,6.22,49.60
$GC,8042,0.64,146.0,2626,741,2124,2076,59.1,9.6,562,8046,0.08,2.38,0.00,0.000,5126,0.321,0.053,2599,2147,2099,2124,2075,0,0,0,0,0,0,14.26,14.47,14.56,6.22,49.29
$GC,8168,0.65,153.2,2600,2147,2124,2075,48.1,8.1,587,8171,0.00,2.47,0.00,0.000,2308,0.000,0.083,2599,3562,2099,2123,2075,0,0,0,0,0,0,14.76,14.42,14.76,6.21,49.09
$GC,8232,0.65,158.8,2599,3563,2124,2076,42.9,8.1,600,8246,0.00,2.35,7.78,1.289,9222,0.000,0.042,2608,2146,2069,2092,2047,0,0,0,0,0,0,14.59,14.50,13.78,6.21,49.01
$GC,8368,0.66,165.7,2608,2147,2093,2047,32.0,8.1,627,8382,0.00,2.50,7.72,1.271,10756,0.000,0.066,2619,735,2039,2061,2017,0,0,0,0,0,0,14.73,14.44,13.77,6.20,49.05
$GC,8402,0.69,190.9,2619,736,2062,2016,29.4,7.4,634,8431,0.00,2.40,24.88,1.229,9222,0.000,0.054,2619,2150,1941,1960,1923,0,0,0,0,0,0,14.54,14.43,13.74,6.20,49.05
$GC,8553,0.69,190.9,2620,2150,1953,1911,14.4,10.6,664,8556,0.00,2.50,0.00,0.000,260,0.000,0.083,2620,3556,1927,1951,1903,0,0,0,0,0,0,14.59,14.30,14.59,6.20,49.17
$GC,8602,0.69,190.9,2620,3557,1953,1911,8.8,10.8,674,8606,0.00,2.38,0.00,0.000,5126,0.000,0.044,2629,2137,1931,1952,1911,0,0,0,0,0,0,14.47,14.37,14.47,6.20,49.72
$STATE,8655,end climb,SURFACE_DEPTH_REACHED
$STATE,8655,begin surface coast
$STATE,8680,end surface coast,CONTROL_FINISHED_OK
$STATE,8681,begin surface
$SM_CCo,8694,25.52,0.249,0,0,1821,220.03
$SM_GC,0.85,5.53,0.00,25.52,0.053,0.000,0.249,277,2136,1821,-6.44,0.99,220.03,0,0,0,0,0,0,14.50,14.64,14.17
$IRIDIUM_FIX,-5955.58,4.29,210119,081816
$TT8_MAMPS,0.039697,0.366261
$HUMID,50.39
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3742176
$24V_AH,13.30,68.871
$10V_AH,13.42,0.000
$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,13.225,87.175,296.675,25.525,0.000,27.075,34.916,126.406,0.000,0.000,17.141,0.000,6851.731,409.284,1622.130,181.479,0.000,1052.888,0.000,1154.747,0.000,0.539,0.000
$DEVICE_MAMPS,439.875,2236.095,1576.665,248.625,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5099.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.787,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17329,690
$CAP_FILE_SIZE,95181,0
$CFSIZE,1023623168,985169920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.060,110.91,1
$GPS,210119,132331,-5957.654,8.305,12,0.8,41,-19.8,0.6,95.1,10,6.5