version: 66.14
glider: 640
mission: 5
dive: 367
start: 1 23 119 9 27 26
data:
$ID,640
$MISSION,5
$DIVE,367
$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,60
$R_STBD_OVSHOOT,55
$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
$GPS1,230119,092125,-6006.1265,5.4652,14,0.8,37,-19.8,0.3,358.1,9,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-66.9
$GPS2,230119,092706,-6006.0889,5.4973,8,0.8,17,-19.8,0.9,117.3,9,10.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,208.1,26251,-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,-146.0,221,2125,1795,1829,0.0,0.0,0,96,0.00,0.00,-82.57,0.000,16386,0.000,0.000,220,2127,3160,3239,3082,0,0,0,0,0,0,14.59,28.83,14.59,6.19,51.18
$GC,98,-0.64,-146.0,221,2127,3241,3084,3.3,-6.4,17,116,6.15,2.67,-5.78,0.000,18692,0.353,2.245,2179,3473,3318,3413,3223,0,0,0,0,0,0,14.03,13.06,14.38,6.30,50.35
$GC,177,-0.64,-146.0,2179,3474,3415,3224,17.5,-16.3,33,181,0.08,2.28,0.00,0.000,3078,0.368,0.043,2204,2120,3319,3414,3224,0,0,0,0,0,0,14.09,14.35,14.35,6.32,49.64
$GC,303,-0.64,-146.0,2203,2119,3415,3225,37.0,-14.9,58,307,0.00,2.50,0.00,0.000,4612,0.000,0.067,2203,690,3319,3414,3224,0,0,0,0,0,0,14.62,14.28,14.62,6.32,49.56
$GC,382,-0.64,-146.0,2204,690,3418,3224,49.7,-14.6,74,385,0.00,2.38,0.00,0.000,1030,0.000,0.055,2194,2076,3319,3414,3224,0,0,0,0,0,0,14.48,14.37,14.50,6.32,50.15
$GC,507,-0.64,-146.0,2194,2076,3414,3225,66.9,-14.3,99,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2076,3319,3415,3224,0,0,0,0,0,0,14.68,14.68,14.67,6.32,50.07
$GC,632,-0.64,-146.0,2194,2077,3415,3226,85.2,-14.3,124,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2076,3319,3414,3224,0,0,0,0,0,0,14.69,14.69,14.69,6.31,49.05
$GC,757,-0.64,-146.0,2194,2076,3415,3223,102.8,-14.0,146,760,0.00,2.53,0.00,0.000,260,0.000,0.083,2182,3505,3319,3414,3225,0,0,0,0,0,0,14.71,14.36,14.72,6.31,48.89
$GC,787,-0.64,-146.0,2183,3505,3415,3225,105.7,-14.1,147,790,0.00,2.35,0.00,0.000,3078,0.000,0.044,2182,2097,3319,3414,3225,0,0,0,0,0,0,14.55,14.43,14.56,6.31,48.54
$GC,1097,-0.64,-146.0,2183,2096,3416,3225,149.6,-13.0,163,1101,0.00,2.42,0.00,0.000,2564,0.000,0.067,2182,694,3319,3414,3225,0,0,0,0,0,0,14.76,14.42,14.76,6.31,49.48
$GC,1177,-0.64,-146.0,2182,695,3415,3226,159.6,-12.5,167,1181,0.08,2.40,0.00,0.000,3078,0.369,0.055,2194,2109,3319,3414,3225,0,0,0,0,0,0,14.18,14.45,14.45,6.31,49.68
$GC,1497,-0.64,-146.0,2195,2109,3415,3226,197.6,-11.7,183,1500,0.00,2.45,0.00,0.000,260,0.000,0.082,2184,3508,3319,3414,3225,0,0,0,0,0,0,14.78,14.42,14.78,6.32,50.70
$GC,1522,-0.64,-146.0,2185,3508,3415,3226,200.0,-11.8,184,1526,0.00,2.35,0.00,0.000,3078,0.000,0.045,2184,2092,3319,3414,3225,0,0,0,0,0,0,14.60,14.49,14.62,6.32,50.90
$GC,1837,-0.64,-146.0,2184,2091,3415,3225,239.1,-12.2,200,1840,0.00,2.40,0.00,0.000,2564,0.000,0.066,2184,694,3319,3414,3224,0,0,0,0,0,0,14.81,14.46,14.81,6.33,51.33
$GC,1942,-0.64,-146.0,2184,695,3415,3226,251.3,-12.1,205,1945,0.08,2.40,0.00,0.000,3078,0.373,0.054,2197,2107,3319,3413,3225,0,0,0,0,0,0,14.20,14.47,14.47,6.32,51.10
$GC,2257,-0.64,-146.0,2197,2108,3415,3226,288.9,-11.8,221,2260,0.00,2.45,0.00,0.000,260,0.000,0.083,2188,3507,3319,3414,3225,0,0,0,0,0,0,14.81,14.43,14.82,6.33,50.98
$GC,2282,-0.64,-146.0,2196,3507,3415,3225,291.3,-11.9,222,2285,0.00,2.33,0.00,0.000,3078,0.000,0.044,2187,2100,3319,3414,3225,0,0,0,0,0,0,14.63,14.54,14.64,6.34,51.29
$GC,2597,-0.64,-146.0,2187,2100,3415,3226,330.1,-12.0,238,2601,0.00,2.42,0.00,0.000,2564,0.000,0.065,2187,694,3319,3414,3225,0,0,0,0,0,0,14.82,14.47,14.83,6.34,51.45
$GC,2672,-0.64,-146.0,2187,695,3415,3226,337.4,-12.1,241,2676,0.05,2.38,0.00,0.000,3078,0.438,0.054,2192,2102,3319,3414,3225,0,0,0,0,0,0,14.22,14.48,14.49,6.34,51.29
$STATE,2775,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2775,begin apogee
$GC,2780,-0.15,0.0,2193,2166,3415,3225,351.0,-11.3,247,2909,0.45,0.00,125.68,1.555,10246,0.259,0.000,2344,2165,2719,2779,2659,0,0,0,0,0,0,14.22,13.92,13.28,6.34,51.14
$STATE,2910,end apogee,CONTROL_FINISHED_OK
$STATE,2910,begin loiter
$GC,3197,-0.15,0.0,2351,2166,2775,2644,345.0,3.7,268,3197,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2709,2774,2644,0,0,0,0,0,0,14.56,14.57,14.57,6.29,50.86
$GC,3497,-0.15,0.0,2350,2166,2775,2643,333.9,3.6,283,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2708,2774,2642,0,0,0,0,0,0,14.71,14.72,14.72,6.29,51.02
$GC,3797,-0.15,0.0,2351,2165,2775,2642,323.1,3.5,298,3797,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2708,2774,2642,0,0,0,0,0,0,14.80,14.81,14.81,6.29,51.37
$GC,4097,-0.15,0.0,2351,2166,2776,2641,312.4,3.6,313,4098,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2707,2773,2641,0,0,0,0,0,0,14.85,14.87,14.86,6.28,51.10
$GC,4397,-0.15,0.0,2351,2166,2775,2640,301.9,3.5,328,4397,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2707,2774,2641,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.22
$GC,4697,-0.15,0.0,2351,2167,2775,2640,291.9,3.3,343,4697,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2707,2774,2640,0,0,0,0,0,0,14.93,14.93,14.94,6.29,51.18
$GC,4997,-0.15,0.0,2351,2166,2775,2640,282.2,3.2,358,4997,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2706,2773,2640,0,0,0,0,0,0,14.95,14.96,14.96,6.29,51.49
$GC,5297,-0.15,0.0,2350,2167,2774,2642,273.1,3.2,373,5297,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2707,2774,2640,0,0,0,0,0,0,14.97,14.98,14.98,6.28,51.49
$GC,5597,-0.15,0.0,2351,2166,2775,2639,264.1,3.0,388,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2707,2774,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.57
$GC,5897,-0.15,0.0,2350,2166,2774,2641,255.3,3.0,403,5897,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2706,2773,2640,0,0,0,0,0,0,15.01,15.01,15.01,6.28,51.41
$GC,6197,-0.15,0.0,2351,2166,2775,2639,246.8,2.8,418,6197,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2707,2774,2640,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.65
$STATE,6495,end loiter,LOITER_COMPLETE
$STATE,6495,begin climb
$GC,6497,0.64,146.0,2351,2166,2775,2639,237.6,0.0,433,6632,0.62,0.00,130.25,1.401,10502,0.173,0.000,2597,2165,2125,2149,2102,0,0,0,0,0,0,14.49,14.02,13.43,6.29,51.81
$GC,6932,0.64,146.0,2597,2166,2135,2084,196.0,11.3,454,6935,0.00,2.45,0.00,0.000,2308,0.000,0.081,2597,3538,2105,2128,2082,0,0,0,0,0,0,14.56,14.23,14.55,6.23,50.27
$GC,6952,0.64,146.0,2597,3540,2135,2084,193.6,11.5,455,6955,0.00,2.35,0.00,0.000,5126,0.000,0.045,2608,2151,2108,2134,2082,0,0,0,0,0,0,14.40,14.29,14.42,6.24,50.78
$GC,7272,0.64,146.0,2608,2152,2132,2079,154.3,12.3,471,7275,0.00,2.47,0.00,0.000,4612,0.000,0.070,2619,740,2104,2132,2077,0,0,0,0,0,0,14.68,14.34,14.68,6.24,51.41
$GC,7327,0.64,146.0,2620,740,2130,2078,147.8,12.0,474,7330,0.00,2.38,0.00,0.000,5126,0.000,0.053,2619,2133,2103,2129,2078,0,0,0,0,0,0,14.52,14.38,14.53,6.24,50.90
$GC,7647,0.64,146.0,2619,2134,2129,2078,110.2,11.6,490,7651,0.00,2.53,0.00,0.000,4356,0.000,0.083,2619,3564,2102,2129,2076,0,0,0,0,0,0,14.75,14.38,14.75,6.23,50.94
$GC,7722,0.64,146.0,2620,3566,2130,2077,103.7,11.0,493,7726,0.08,2.38,0.00,0.000,5126,0.347,0.045,2605,2143,2102,2128,2077,0,0,0,0,0,0,14.21,14.46,14.50,6.23,50.74
$GC,8027,0.64,146.0,2605,2143,2128,2077,74.0,9.3,551,8030,0.00,2.45,0.00,0.000,516,0.000,0.070,2614,741,2102,2128,2076,0,0,0,0,0,0,14.77,14.42,14.76,6.22,49.84
$GC,8077,0.64,146.0,2615,742,2128,2076,69.4,8.8,561,8080,0.00,2.40,0.00,0.000,5126,0.000,0.053,2615,2155,2101,2126,2076,0,0,0,0,0,0,14.59,14.49,14.62,6.22,49.92
$GC,8203,0.64,146.0,2615,2156,2126,2077,57.4,9.7,586,8207,0.00,2.47,0.00,0.000,4356,0.000,0.084,2614,3561,2101,2126,2076,0,0,0,0,0,0,14.77,14.41,14.77,6.21,49.92
$GC,8227,0.64,146.0,2615,3561,2127,2076,54.6,10.6,591,8231,0.00,2.40,0.00,0.000,5126,0.000,0.047,2625,2154,2101,2126,2076,0,0,0,0,0,0,14.60,14.44,14.62,6.21,49.40
$GC,8353,0.64,146.0,2625,2155,2127,2076,43.5,8.5,616,8357,0.08,2.47,0.00,0.000,4612,0.357,0.068,2609,735,2101,2126,2076,0,0,0,0,0,0,14.26,14.44,14.44,6.20,49.52
$GC,8427,0.66,163.1,2609,736,2126,2077,37.4,7.7,631,8446,0.00,2.42,12.93,1.295,9222,0.000,0.054,2609,2158,2048,2071,2026,0,0,0,0,0,0,14.59,14.46,13.81,6.21,50.23
$GC,8567,0.66,163.1,2604,2158,2072,2023,25.3,8.9,659,8570,0.00,2.47,0.00,0.000,260,0.000,0.084,2609,3555,2047,2071,2023,0,0,0,0,0,0,14.72,14.38,14.72,6.20,49.92
$GC,8617,0.66,163.1,2611,3556,2072,2024,20.3,10.5,669,8620,0.00,2.38,0.00,0.000,5126,0.000,0.044,2620,2140,2047,2071,2023,0,0,0,0,0,0,14.56,14.45,14.58,6.21,50.23
$GC,8743,0.66,163.1,2622,2139,2071,2024,7.4,10.4,694,8747,0.00,2.42,0.00,0.000,4612,0.000,0.067,2631,744,2046,2071,2022,0,0,0,0,0,0,14.73,14.40,14.73,6.21,50.82
$GC,8767,0.66,163.1,2631,744,2070,2022,4.6,10.8,699,8771,0.05,2.40,0.00,0.000,5126,0.389,0.055,2612,2150,2046,2070,2022,0,0,0,0,0,0,14.23,14.43,14.49,6.21,51.41
$STATE,8780,end climb,SURFACE_DEPTH_REACHED
$STATE,8780,begin surface coast
$STATE,8805,end surface coast,CONTROL_FINISHED_OK
$STATE,8805,begin surface
$SM_CCo,8820,54.22,0.243,0,0,1822,220.03
$SM_GC,1.16,5.62,0.08,54.22,0.089,0.160,0.243,220,2076,1822,-6.45,0.99,220.03,0,0,0,0,0,0,14.58,14.49,14.20
$IRIDIUM_FIX,-6007.06,0.00,230119,065151
$TT8_MAMPS,0.03745,0.343791
$HUMID,50.35
$INTERNAL_PRESSURE,6.14803
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3732960
$24V_AH,13.06,72.081
$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,13.325,77.725,268.850,54.225,0.000,24.884,37.942,124.326,0.000,0.000,18.157,0.000,6998.625,404.355,1629.623,184.534,0.000,1049.659,0.000,1168.979,0.000,0.539,0.000
$DEVICE_MAMPS,438.345,2245.275,1555.245,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5223.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.802,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17370,707
$CAP_FILE_SIZE,93835,0
$CFSIZE,1023623168,983400448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.006,350.72,1
$GPS,230119,115625,-6006.561,5.528,15,0.9,39,-19.8,0.5,230.8,10,7.7