version: 66.14
glider: 640
mission: 5
dive: 357
start: 1 22 119 7 30 41
data:
$ID,640
$MISSION,5
$DIVE,357
$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,33
$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
$GPS1,220119,072434,-6001.0078,7.0982,37,0.7,41,-19.8,0.5,210.9,11,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-68.9
$GPS2,220119,073022,-6000.9697,7.0473,9,0.7,15,-19.8,0.0,330.4,11,9.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,201.4,35831,-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,-146.0,223,2105,1807,1828,0.0,0.0,0,101,0.00,0.00,-87.97,0.000,16386,0.000,0.000,223,2104,3241,3323,3160,0,0,0,0,0,0,14.56,28.83,14.56,6.19,51.45
$GC,103,-0.64,-146.0,223,2105,3324,3161,3.7,-8.4,18,117,6.18,2.70,-2.65,0.000,18692,0.360,2.235,2171,3508,3313,3401,3226,0,0,0,0,0,0,14.02,13.05,14.36,6.31,50.11
$GC,137,-0.64,-146.0,2172,3509,3411,3226,11.1,-18.9,25,141,0.08,2.38,0.00,0.000,3078,0.363,0.044,2196,2096,3318,3410,3226,0,0,0,0,0,0,14.13,14.34,14.35,6.32,49.80
$GC,263,-0.64,-146.0,2196,2095,3413,3226,32.4,-17.2,50,266,0.00,2.45,0.00,0.000,516,0.000,0.064,2196,694,3318,3411,3226,0,0,0,0,0,0,14.60,14.28,14.61,6.32,49.21
$GC,332,-0.64,-146.0,2196,693,3412,3227,44.3,-16.1,64,335,0.00,2.42,0.00,0.000,3078,0.000,0.057,2186,2106,3319,3411,3227,0,0,0,0,0,0,14.48,14.35,14.50,6.32,50.00
$GC,457,-0.64,-146.0,2186,2106,3412,3226,64.5,-15.1,89,459,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2106,3319,3412,3226,0,0,0,0,0,0,14.66,14.66,14.66,6.32,49.56
$GC,582,-0.64,-146.0,2187,2106,3413,3226,83.6,-15.2,114,585,0.00,2.45,0.00,0.000,2564,0.000,0.062,2185,691,3319,3412,3227,0,0,0,0,0,0,14.69,14.39,14.70,6.32,49.33
$GC,607,-0.64,-146.0,2186,692,3412,3228,87.6,-15.8,119,611,0.05,2.40,0.00,0.000,3078,0.444,0.055,2190,2102,3319,3412,3226,0,0,0,0,0,0,14.16,14.40,14.42,6.32,49.48
$GC,733,-0.64,-146.0,2190,2102,3413,3227,105.9,-14.6,138,737,0.00,2.47,0.00,0.000,2308,0.000,0.082,2179,3505,3319,3412,3227,0,0,0,0,0,0,14.70,14.33,14.70,6.32,48.54
$GC,772,-0.64,-146.0,2180,3505,3412,3227,110.7,-14.1,140,775,0.05,2.35,0.00,0.000,3078,0.444,0.043,2195,2093,3319,3412,3226,0,0,0,0,0,0,14.18,14.45,14.45,6.32,48.54
$GC,1087,-0.64,-146.0,2194,2091,3412,3228,151.1,-11.9,156,1090,0.00,2.40,0.00,0.000,516,0.000,0.063,2194,696,3319,3412,3226,0,0,0,0,0,0,14.76,14.45,14.76,6.31,49.52
$GC,1157,-0.64,-146.0,2194,697,3412,3227,158.2,-12.0,159,1160,0.00,2.38,0.00,0.000,3078,0.000,0.055,2183,2100,3319,3412,3226,0,0,0,0,0,0,14.59,14.47,14.61,6.32,50.11
$GC,1462,-0.64,-146.0,2184,2101,3413,3227,196.8,-12.5,174,1463,0.00,0.00,0.00,0.000,2054,0.000,0.000,2183,2100,3319,3412,3227,0,0,0,0,0,0,14.79,14.79,14.79,6.32,51.02
$GC,1762,-0.64,-146.0,2184,2101,3413,3228,234.9,-12.9,189,1765,0.00,2.47,0.00,0.000,2308,0.000,0.083,2173,3503,3318,3411,3226,0,0,0,0,0,0,14.81,14.45,14.81,6.33,50.74
$GC,1787,-0.64,-146.0,2173,3504,3413,3227,237.5,-13.0,190,1790,0.08,2.33,0.00,0.000,3078,0.368,0.043,2199,2099,3319,3412,3227,0,0,0,0,0,0,14.25,14.52,14.52,6.33,50.98
$GC,2102,-0.64,-146.0,2199,2098,3413,3226,276.5,-12.1,206,2105,0.00,2.42,0.00,0.000,516,0.000,0.063,2198,696,3319,3412,3226,0,0,0,0,0,0,14.81,14.49,14.82,6.34,50.94
$GC,2187,-0.64,-146.0,2199,697,3412,3228,286.2,-12.1,210,2190,0.00,2.38,0.00,0.000,3078,0.000,0.054,2188,2101,3318,3411,3226,0,0,0,0,0,0,14.64,14.51,14.66,6.33,51.73
$GC,2502,-0.64,-146.0,2189,2102,3412,3226,326.2,-12.7,226,2506,0.00,2.45,0.00,0.000,2308,0.000,0.081,2177,3506,3319,3412,3226,0,0,0,0,0,0,14.83,14.47,14.83,6.34,51.29
$GC,2547,-0.64,-146.0,2177,3507,3412,3228,331.4,-12.9,228,2550,0.05,2.33,0.00,0.000,3078,0.433,0.043,2193,2095,3319,3412,3226,0,0,0,0,0,0,14.26,14.54,14.52,6.34,51.89
$STATE,2700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2700,begin apogee
$GC,2705,-0.15,0.0,2193,2165,3412,3227,351.2,-12.4,236,2834,0.45,0.00,125.68,1.563,10246,0.260,0.000,2351,2164,2717,2777,2658,0,0,0,0,0,0,14.23,13.94,13.30,6.34,51.18
$STATE,2835,end apogee,CONTROL_FINISHED_OK
$STATE,2835,begin loiter
$GC,3122,-0.15,0.0,2352,2165,2774,2645,349.2,2.8,257,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2708,2773,2644,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.78
$GC,3422,-0.15,0.0,2352,2165,2774,2643,341.1,2.7,272,3423,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2708,2773,2643,0,0,0,0,0,0,14.71,14.72,14.72,6.29,51.02
$GC,3722,-0.15,0.0,2352,2165,2775,2642,332.9,2.7,287,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2707,2773,2642,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.18
$GC,4022,-0.15,0.0,2352,2165,2774,2642,324.6,2.8,302,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2707,2773,2642,0,0,0,0,0,0,14.86,14.86,14.86,6.29,51.49
$GC,4322,-0.15,0.0,2352,2165,2774,2643,315.6,3.2,317,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2707,2773,2642,0,0,0,0,0,0,14.90,14.90,14.91,6.29,50.98
$GC,4622,-0.15,0.0,2352,2165,2774,2642,306.0,3.2,332,4622,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2707,2773,2642,0,0,0,0,0,0,14.92,14.94,14.94,6.28,51.29
$GC,4922,-0.15,0.0,2352,2165,2774,2642,297.1,2.9,347,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2708,2774,2642,0,0,0,0,0,0,14.96,14.96,14.96,6.29,51.49
$GC,5222,-0.15,0.0,2352,2165,2774,2642,289.5,2.4,362,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2707,2773,2642,0,0,0,0,0,0,14.97,14.98,14.98,6.29,52.08
$GC,5522,-0.15,0.0,2352,2165,2774,2643,282.9,2.2,377,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2707,2773,2642,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.49
$GC,5822,-0.15,0.0,2352,2165,2774,2643,276.1,2.3,392,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2707,2773,2642,0,0,0,0,0,0,15.01,15.02,15.02,6.29,51.57
$GC,6122,-0.15,0.0,2352,2165,2774,2643,268.4,2.5,407,6122,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2707,2773,2642,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.61
$STATE,6420,end loiter,LOITER_COMPLETE
$STATE,6420,begin climb
$GC,6422,0.64,146.0,2352,2165,2774,2643,260.1,0.0,422,6562,0.62,2.58,131.75,1.431,10756,0.168,0.064,2611,757,2116,2139,2093,0,0,0,0,0,0,14.54,13.97,13.42,6.29,51.22
$GC,6592,0.64,146.0,2611,758,2135,2090,249.2,8.7,430,6596,0.00,2.42,0.00,0.000,5126,0.000,0.052,2612,2145,2112,2135,2089,0,0,0,0,0,0,14.18,14.09,14.20,6.25,49.88
$GC,6902,0.64,146.0,2612,2146,2131,2078,209.8,12.8,446,6907,0.00,2.53,0.00,0.000,4356,0.000,0.083,2612,3557,2104,2130,2079,0,0,0,0,0,0,14.57,14.24,14.57,6.24,50.47
$GC,6962,0.64,146.0,2612,3557,2131,2080,202.1,12.9,449,6967,0.05,2.40,0.00,0.000,5126,0.327,0.043,2604,2157,2104,2130,2078,0,0,0,0,0,0,14.07,14.31,14.25,6.24,50.82
$GC,7283,0.64,146.0,2604,2157,2128,2077,164.2,11.7,465,7286,0.00,2.47,0.00,0.000,516,0.000,0.066,2614,745,2101,2127,2076,0,0,0,0,0,0,14.69,14.38,14.69,6.24,51.37
$GC,7352,0.64,146.0,2614,745,2127,2076,158.1,11.2,468,7356,0.00,2.40,0.00,0.000,5126,0.000,0.053,2613,2150,2100,2125,2076,0,0,0,0,0,0,14.53,14.40,14.55,6.24,50.90
$GC,7658,0.64,146.0,2615,2150,2126,2075,119.4,12.0,484,7661,0.00,2.47,0.00,0.000,4356,0.000,0.083,2614,3553,2100,2125,2075,0,0,0,0,0,0,14.75,14.40,14.75,6.24,51.37
$GC,7697,0.64,146.0,2614,3554,2126,2076,114.6,12.0,486,7701,0.08,2.33,0.00,0.000,5126,0.355,0.043,2599,2151,2100,2125,2075,0,0,0,0,0,0,14.24,14.49,14.50,6.24,50.98
$GC,8002,0.64,146.0,2599,2151,2124,2076,82.0,9.7,526,8007,0.00,2.45,0.00,0.000,2564,0.000,0.066,2608,739,2099,2125,2074,0,0,0,0,0,0,14.77,14.45,14.77,6.23,50.19
$GC,8058,0.64,146.0,2608,740,2123,2075,76.7,9.5,537,8061,0.00,2.40,0.00,0.000,5126,0.000,0.053,2608,2150,2098,2122,2074,0,0,0,0,0,0,14.60,14.46,14.62,6.23,49.68
$GC,8184,0.64,146.0,2609,2149,2124,2074,64.5,9.4,562,8188,0.00,2.47,0.00,0.000,4356,0.000,0.084,2608,3556,2098,2122,2074,0,0,0,0,0,0,14.76,14.42,14.76,6.22,49.21
$GC,8217,0.64,146.0,2608,3557,2125,2075,61.0,10.1,569,8221,0.00,2.35,0.00,0.000,5126,0.000,0.043,2619,2145,2098,2122,2074,0,0,0,0,0,0,14.61,14.50,14.63,6.21,49.44
$GC,8344,0.64,146.0,2619,2146,2124,2074,49.3,9.0,594,8348,0.00,2.45,0.00,0.000,4612,0.000,0.065,2628,731,2098,2122,2074,0,0,0,0,0,0,14.76,14.45,14.76,6.21,49.09
$GC,8423,0.64,150.6,2630,730,2122,2075,42.4,8.2,610,8427,0.08,2.42,0.00,0.000,5126,0.322,0.054,2603,2157,2097,2121,2073,0,0,0,0,0,0,14.28,14.47,14.53,6.21,49.21
$GC,8549,0.65,155.1,2603,2158,2122,2073,32.5,8.2,635,8557,0.00,2.45,3.25,1.009,10500,0.000,0.083,2603,3559,2087,2112,2062,0,0,0,0,0,0,14.76,14.47,13.60,6.21,49.56
$GC,8572,0.65,155.1,2603,3560,2113,2066,30.3,9.3,640,8576,0.00,2.38,0.00,0.000,5126,0.000,0.044,2612,2138,2088,2112,2065,0,0,0,0,0,0,14.61,14.50,14.62,6.21,49.72
$GC,8699,0.65,155.1,2613,2137,2114,2064,19.3,8.9,665,8701,0.00,0.00,0.00,0.000,4102,0.000,0.000,2612,2137,2088,2112,2064,0,0,0,0,0,0,14.75,14.76,14.76,6.21,50.23
$GC,8822,0.65,155.1,2612,2138,2113,2064,7.8,9.2,690,8827,0.00,2.45,0.00,0.000,4612,0.000,0.066,2622,729,2088,2112,2064,0,0,0,0,0,0,14.77,14.42,14.77,6.22,50.27
$STATE,8875,end climb,SURFACE_DEPTH_REACHED
$STATE,8876,begin surface coast
$STATE,8906,end surface coast,CONTROL_FINISHED_OK
$STATE,8906,begin surface
$SM_CCo,8922,63.80,0.243,0,0,1822,220.03
$SM_GC,1.39,5.62,2.40,63.80,0.083,0.057,0.243,252,2101,1822,-6.46,-0.99,220.03,0,0,0,0,0,0,14.55,14.48,14.21
$IRIDIUM_FIX,-6000.38,8.61,220119,045217
$TT8_MAMPS,0.03745,0.14231
$HUMID,49.72
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3738080
$24V_AH,13.05,70.301
$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,13.375,82.700,260.675,63.800,0.000,24.853,39.476,129.677,0.000,0.000,16.357,0.000,7103.951,432.105,1615.955,183.306,0.000,1057.658,0.000,1146.424,0.000,0.539,0.000
$DEVICE_MAMPS,443.700,2234.565,1562.895,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5324.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.597,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,17327,707
$CAP_FILE_SIZE,94074,0
$CFSIZE,1023623168,984383488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.039,250.54,1
$GPS,220119,100131,-6001.521,6.802,16,0.8,39,-19.8,0.4,290.7,11,8.9