version: 66.14
glider: 640
mission: 5
dive: 352
start: 1 21 119 18 41 20
data:
$ID,640
$MISSION,5
$DIVE,352
$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,50
$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
$GPS1,210119,183532,-5958.4419,7.9281,14,0.8,32,-19.8,0.0,335.6,10,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.7
$GPS2,210119,184101,-5958.4160,7.8758,9,0.9,19,-19.8,0.0,57.0,9,10.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,200.9,40620,-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,-146.0,220,2081,1791,1828,0.0,0.0,0,101,0.00,0.00,-87.82,0.000,16386,0.000,0.000,219,2081,3213,3295,3132,0,0,0,0,0,0,14.59,28.83,14.60,6.19,51.61
$GC,103,-0.64,-146.0,220,2081,3297,3133,3.3,-7.2,18,120,6.18,2.62,-3.70,0.000,19204,0.356,2.225,2184,712,3316,3409,3223,0,0,0,0,0,0,14.00,13.33,14.38,6.31,49.96
$GC,277,-0.64,-146.0,2185,713,3411,3224,32.8,-16.4,53,281,0.08,2.38,0.00,0.000,3078,0.379,0.056,2197,2100,3317,3410,3224,0,0,0,0,0,0,14.11,14.35,14.38,6.32,49.09
$GC,403,-0.64,-146.0,2198,2100,3411,3225,54.0,-16.2,78,407,0.00,2.42,0.00,0.000,516,0.000,0.063,2198,704,3317,3410,3224,0,0,0,0,0,0,14.65,14.31,14.65,6.33,49.72
$GC,446,-0.64,-146.0,2198,705,3410,3225,60.8,-14.6,87,451,0.00,2.40,0.00,0.000,3078,0.000,0.057,2188,2107,3317,3410,3224,0,0,0,0,0,0,14.51,14.38,14.52,6.32,49.88
$GC,572,-0.64,-146.0,2188,2108,3410,3225,79.8,-15.5,112,575,0.00,2.45,0.00,0.000,2308,0.000,0.083,2177,3505,3317,3410,3224,0,0,0,0,0,0,14.69,14.36,14.69,6.32,49.37
$GC,612,-0.64,-146.0,2178,3505,3411,3225,86.4,-16.7,120,616,0.05,2.30,0.00,0.000,3078,0.442,0.042,2193,2116,3317,3410,3224,0,0,0,0,0,0,14.16,14.43,14.42,6.32,49.25
$GC,738,-0.64,-146.0,2193,2116,3411,3225,106.7,-15.5,139,742,0.00,2.45,0.00,0.000,2564,0.000,0.063,2192,696,3317,3410,3224,0,0,0,0,0,0,14.71,14.38,14.71,6.31,48.58
$GC,767,-0.64,-146.0,2193,696,3411,3225,109.9,-15.6,140,770,0.00,2.40,0.00,0.000,3078,0.000,0.056,2182,2105,3317,3410,3224,0,0,0,0,0,0,14.55,14.42,14.57,6.31,48.42
$GC,1077,-0.64,-146.0,2181,2105,3410,3225,160.2,-15.3,156,1080,0.00,2.45,0.00,0.000,2308,0.000,0.081,2171,3504,3317,3410,3224,0,0,0,0,0,0,14.76,14.41,14.76,6.32,49.76
$GC,1097,-0.64,-146.0,2172,3504,3412,3224,163.2,-15.2,157,1100,0.08,2.35,0.00,0.000,3078,0.373,0.043,2196,2087,3317,3410,3224,0,0,0,0,0,0,14.20,14.48,14.47,6.32,50.19
$GC,1417,-0.64,-146.0,2196,2087,3411,3225,205.0,-12.4,173,1420,0.00,2.40,0.00,0.000,516,0.000,0.063,2195,696,3317,3410,3224,0,0,0,0,0,0,14.78,14.46,14.79,6.33,50.86
$GC,1517,-0.64,-146.0,2196,697,3411,3225,217.1,-11.9,178,1520,0.00,2.38,0.00,0.000,3078,0.000,0.054,2185,2101,3317,3410,3224,0,0,0,0,0,0,14.62,14.48,14.63,6.33,50.74
$GC,1837,-0.64,-146.0,2186,2103,3411,3224,257.1,-12.5,194,1837,0.00,0.00,0.00,0.000,2054,0.000,0.000,2185,2103,3317,3410,3224,0,0,0,0,0,0,14.81,14.81,14.81,6.34,51.29
$GC,2137,-0.64,-146.0,2186,2103,3411,3224,294.3,-12.3,209,2141,0.00,2.42,0.00,0.000,2564,0.000,0.062,2185,692,3317,3410,3224,0,0,0,0,0,0,14.82,14.49,14.83,6.34,51.14
$GC,2166,-0.64,-146.0,2185,692,3411,3225,296.8,-12.4,210,2170,0.05,2.40,0.00,0.000,3078,0.443,0.055,2189,2107,3317,3410,3224,0,0,0,0,0,0,14.24,14.50,14.51,6.34,51.37
$GC,2477,-0.64,-146.0,2190,2108,3411,3224,335.9,-12.3,226,2480,0.00,2.42,0.00,0.000,2308,0.000,0.082,2179,3505,3317,3410,3224,0,0,0,0,0,0,14.83,14.46,14.83,6.36,51.14
$GC,2512,-0.64,-146.0,2180,3505,3411,3224,338.3,-12.3,227,2515,0.00,2.33,0.00,0.000,3078,0.000,0.042,2179,2093,3317,3410,3224,0,0,0,0,0,0,14.65,14.54,14.66,6.34,51.10
$STATE,2595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2595,begin apogee
$GC,2600,-0.15,0.0,2180,2162,3411,3224,350.9,-12.6,232,2728,0.47,0.00,125.50,1.571,10246,0.266,0.000,2345,2161,2718,2778,2658,0,0,0,0,0,0,14.25,13.92,13.28,6.34,51.33
$STATE,2729,end apogee,CONTROL_FINISHED_OK
$STATE,2729,begin loiter
$GC,3017,-0.15,0.0,2346,2162,2772,2644,347.5,3.3,253,3017,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2161,2706,2771,2642,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.66
$GC,3317,-0.15,0.0,2345,2162,2772,2641,337.7,3.3,268,3317,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2162,2704,2770,2639,0,0,0,0,0,0,14.72,14.72,14.72,6.30,51.33
$GC,3617,-0.15,0.0,2346,2162,2772,2639,328.1,3.2,283,3617,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2161,2705,2771,2639,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.18
$GC,3917,-0.15,0.0,2346,2162,2772,2638,318.8,3.1,298,3918,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2162,2704,2771,2638,0,0,0,0,0,0,14.86,14.87,14.86,6.29,51.45
$GC,4217,-0.15,0.0,2346,2162,2772,2639,309.8,2.9,313,4217,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2161,2704,2771,2638,0,0,0,0,0,0,14.90,14.91,14.91,6.29,51.57
$GC,4517,-0.15,0.0,2346,2162,2772,2639,301.1,2.9,328,4517,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2161,2704,2771,2638,0,0,0,0,0,0,14.94,14.94,14.94,6.28,51.45
$GC,4817,-0.15,0.0,2345,2162,2771,2639,291.7,3.3,343,4817,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2161,2703,2770,2637,0,0,0,0,0,0,14.96,14.97,14.97,6.29,51.57
$GC,5117,-0.15,0.0,2345,2162,2772,2638,281.5,3.5,358,5117,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2161,2704,2771,2637,0,0,0,0,0,0,14.98,14.98,14.98,6.29,51.96
$GC,5417,-0.15,0.0,2346,2162,2772,2637,270.8,3.6,373,5418,0.00,0.00,0.00,0.000,2054,0.000,0.000,2344,2161,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.49
$GC,5717,-0.15,0.0,2346,2162,2772,2637,260.1,3.5,388,5717,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2161,2704,2771,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.49
$GC,6017,-0.15,0.0,2346,2162,2772,2638,249.6,3.4,403,6017,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2162,2703,2770,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.28,52.04
$STATE,6315,end loiter,LOITER_COMPLETE
$STATE,6315,begin climb
$GC,6317,0.64,146.0,2345,2162,2772,2638,239.4,0.0,418,6457,0.62,2.58,129.93,1.405,10500,0.180,0.080,2591,3552,2117,2142,2093,0,0,0,0,0,0,14.50,14.00,13.44,6.29,51.33
$GC,6567,0.64,146.0,2591,3552,2140,2085,218.6,11.6,430,6570,0.00,2.38,0.00,0.000,1030,0.000,0.041,2601,2151,2112,2139,2085,0,0,0,0,0,0,14.28,14.21,14.30,6.24,49.40
$GC,6877,0.64,146.0,2602,2151,2133,2078,177.4,13.1,446,6881,0.00,2.50,0.00,0.000,516,0.000,0.067,2612,739,2104,2131,2078,0,0,0,0,0,0,14.61,14.30,14.62,6.25,50.51
$GC,6927,0.64,146.0,2613,736,2129,2078,172.5,12.7,448,6930,0.00,2.40,0.00,0.000,5126,0.000,0.052,2613,2139,2103,2128,2078,0,0,0,0,0,0,14.47,14.34,14.48,6.24,50.86
$GC,7237,0.64,146.0,2620,2141,2128,2076,130.5,13.5,464,7240,0.00,2.50,0.00,0.000,4356,0.000,0.083,2613,3557,2101,2127,2076,0,0,0,0,0,0,14.71,14.37,14.71,6.25,50.78
$GC,7312,0.64,146.0,2614,3558,2128,2076,122.2,13.8,467,7316,0.05,2.35,0.00,0.000,5126,0.419,0.044,2606,2146,2101,2127,2076,0,0,0,0,0,0,14.20,14.45,14.47,6.24,50.98
$GC,7617,0.64,146.0,2607,2146,2128,2076,83.4,11.2,501,7621,0.00,2.45,0.00,0.000,4612,0.000,0.068,2616,741,2100,2126,2075,0,0,0,0,0,0,14.76,14.43,14.76,6.23,50.70
$GC,7672,0.64,146.0,2617,742,2126,2075,77.8,10.1,512,7675,0.00,2.40,0.00,0.000,5126,0.000,0.051,2616,2161,2100,2125,2075,0,0,0,0,0,0,14.59,14.46,14.59,6.23,50.43
$GC,7798,0.64,146.0,2617,2162,2126,2080,63.6,11.8,537,7802,0.00,2.45,0.00,0.000,4356,0.000,0.083,2617,3554,2100,2125,2075,0,0,0,0,0,0,14.76,14.42,14.76,6.22,49.68
$GC,7837,0.64,146.0,2617,3556,2126,2076,58.7,12.0,545,7842,0.08,2.35,0.00,0.000,5126,0.345,0.044,2601,2147,2100,2125,2075,0,0,0,0,0,0,14.26,14.50,14.52,6.22,49.64
$GC,7963,0.64,146.0,2601,2147,2126,2076,47.0,8.5,570,7967,0.00,2.45,0.00,0.000,516,0.000,0.067,2608,734,2100,2125,2075,0,0,0,0,0,0,14.76,14.45,14.78,6.22,49.37
$GC,8017,0.64,146.0,2611,734,2125,2074,42.2,8.5,581,8021,0.00,2.40,0.00,0.000,5126,0.000,0.052,2610,2151,2098,2123,2074,0,0,0,0,0,0,14.60,14.47,14.62,6.21,49.56
$GC,8143,0.64,146.0,2610,2152,2124,2075,31.5,8.7,606,8147,0.00,2.47,0.00,0.000,4356,0.000,0.084,2610,3559,2099,2124,2074,0,0,0,0,0,0,14.77,14.42,14.77,6.21,49.56
$GC,8187,0.64,146.0,2611,3560,2125,2074,27.1,9.2,615,8191,0.05,2.35,0.00,0.000,5126,0.411,0.044,2603,2146,2099,2124,2074,0,0,0,0,0,0,14.26,14.50,14.52,6.24,49.56
$GC,8312,0.64,146.0,2604,2146,2125,2074,16.9,8.4,640,8315,0.00,2.45,0.00,0.000,516,0.000,0.067,2613,738,2099,2124,2074,0,0,0,0,0,0,14.77,14.45,14.78,6.22,50.31
$GC,8347,0.64,149.5,2614,733,2123,2074,13.9,8.2,647,8351,0.00,2.40,0.00,0.000,5126,0.000,0.053,2614,2158,2097,2122,2073,0,0,0,0,0,0,14.61,14.48,14.63,6.21,50.47
$STATE,8471,end climb,SURFACE_DEPTH_REACHED
$STATE,8471,begin surface coast
$STATE,8500,end surface coast,CONTROL_FINISHED_OK
$STATE,8500,begin surface
$SM_CCo,8515,65.88,0.242,0,0,1821,220.03
$SM_GC,1.18,5.57,0.10,65.88,0.075,0.135,0.242,243,2062,1821,-6.48,0.82,220.03,0,0,0,0,0,0,14.58,14.52,14.22
$IRIDIUM_FIX,-5957.44,8.59,210119,160346
$TT8_MAMPS,0.038948,0.276381
$HUMID,50.63
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3740640
$24V_AH,13.28,69.394
$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,13.275,77.650,255.425,65.875,0.000,25.473,20.957,125.143,0.000,0.000,20.939,0.000,6767.201,410.719,1554.518,179.687,0.000,1024.990,0.000,1112.143,0.000,0.539,0.000
$DEVICE_MAMPS,442.935,2225.385,1571.310,241.740,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4917.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.722,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17310,678
$CAP_FILE_SIZE,90022,0
$CFSIZE,1023623168,984875008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.051,257.53,1
$GPS,210119,210525,-5958.896,7.501,16,0.9,39,-19.8,0.7,83.0,9,7.9