version: 66.14
glider: 640
mission: 5
dive: 389
start: 1 25 119 20 27 19
data:
$ID,640
$MISSION,5
$DIVE,389
$N_DIVES,600
$STOP_T,2051912
$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,38
$R_STBD_OVSHOOT,26
$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
$GPS1,250119,201922,-6017.7363,0.1784,14,0.8,40,-19.7,0.0,352.3,11,8.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-62.9
$GPS2,250119,202659,-6017.7280,0.2487,9,0.7,20,-19.7,0.0,184.6,11,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,194.0,4214,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.64,-146.0,233,2139,1799,1819,0.0,0.0,0,106,0.00,0.00,-92.12,0.000,16386,0.000,0.000,232,2139,3267,3349,3185,0,0,0,0,0,0,14.57,28.83,14.57,6.19,51.22
$GC,108,-0.64,-146.0,233,2140,3344,3185,3.8,-9.3,19,121,6.12,2.65,-1.75,0.000,18692,0.356,2.222,2171,3513,3316,3406,3227,0,0,0,0,0,0,14.03,13.05,14.36,6.30,49.88
$GC,247,-0.64,-146.0,2171,3515,3410,3227,28.4,-15.0,47,251,0.08,2.35,0.00,0.000,3078,0.361,0.041,2196,2102,3317,3409,3226,0,0,0,0,0,0,14.09,14.36,14.35,6.31,48.97
$GC,373,-0.64,-146.0,2196,2101,3410,3228,48.5,-15.4,72,377,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2101,3318,3410,3227,0,0,0,0,0,0,14.64,14.64,14.64,6.31,49.96
$GC,497,-0.64,-146.0,2196,2101,3410,3228,67.2,-13.5,97,500,0.00,2.45,0.00,0.000,516,0.000,0.063,2194,694,3318,3410,3227,0,0,0,0,0,0,14.68,14.35,14.68,6.32,49.60
$GC,572,-0.64,-146.0,2196,695,3411,3228,77.5,-13.3,112,576,0.00,2.40,0.00,0.000,3078,0.000,0.054,2186,2104,3318,3410,3226,0,0,0,0,0,0,14.52,14.38,14.53,6.31,49.17
$GC,698,-0.64,-146.0,2186,2105,3411,3226,95.1,-14.1,137,702,0.00,2.47,0.00,0.000,2308,0.000,0.080,2175,3510,3318,3410,3226,0,0,0,0,0,0,14.69,14.29,14.69,6.31,49.29
$GC,737,-0.64,-146.0,2175,3511,3410,3227,100.0,-14.1,144,741,0.05,2.35,0.00,0.000,3078,0.437,0.044,2190,2100,3318,3410,3226,0,0,0,0,0,0,14.14,14.41,14.40,6.30,48.58
$GC,1052,-0.64,-146.0,2191,2100,3412,3227,145.2,-12.9,160,1055,0.00,2.42,0.00,0.000,2564,0.000,0.063,2190,696,3318,3410,3227,0,0,0,0,0,0,14.76,14.41,14.76,6.31,50.03
$GC,1142,-0.64,-146.0,2190,696,3405,3228,154.3,-12.2,164,1145,0.00,2.40,0.00,0.000,3078,0.000,0.054,2180,2104,3318,3410,3227,0,0,0,0,0,0,14.57,14.42,14.59,6.31,49.40
$GC,1447,-0.64,-146.0,2181,2105,3411,3227,194.7,-13.2,180,1451,0.00,2.45,0.00,0.000,2308,0.000,0.080,2169,3510,3318,3410,3227,0,0,0,0,0,0,14.78,14.40,14.79,6.31,50.43
$GC,1497,-0.64,-146.0,2170,3511,3411,3226,199.5,-13.5,182,1501,0.08,2.33,0.00,0.000,3078,0.366,0.043,2194,2098,3318,3410,3227,0,0,0,0,0,0,14.18,14.49,14.45,6.32,50.90
$GC,1802,-0.64,-146.0,2194,2096,3411,3227,241.1,-13.0,198,1805,0.00,2.42,0.00,0.000,516,0.000,0.064,2194,692,3318,3410,3227,0,0,0,0,0,0,14.81,14.44,14.81,6.32,51.14
$GC,1867,-0.64,-146.0,2194,692,3411,3228,249.1,-13.3,201,1871,0.00,2.40,0.00,0.000,3078,0.000,0.054,2185,2108,3318,3410,3227,0,0,0,0,0,0,14.60,14.47,14.62,6.32,50.74
$GC,2182,-0.64,-146.0,2180,2109,3411,3226,292.1,-13.3,217,2185,0.00,2.45,0.00,0.000,2308,0.000,0.081,2174,3510,3318,3410,3226,0,0,0,0,0,0,14.82,14.42,14.81,6.33,51.29
$GC,2242,-0.64,-146.0,2175,3511,3411,3227,300.2,-13.6,220,2245,0.08,2.33,0.00,0.000,3078,0.360,0.043,2201,2095,3317,3408,3226,0,0,0,0,0,0,14.20,14.50,14.47,6.33,51.96
$GC,2562,-0.64,-146.0,2200,2094,3414,3228,340.4,-12.5,236,2565,0.00,2.40,0.00,0.000,4612,0.000,0.064,2200,699,3318,3410,3226,0,0,0,0,0,0,14.83,14.45,14.83,6.34,51.10
$GC,2627,-0.64,-146.0,2200,700,3411,3227,347.4,-12.6,239,2630,0.00,2.40,0.00,0.000,3078,0.000,0.054,2189,2111,3318,3410,3226,0,0,0,0,0,0,14.62,14.45,14.63,6.34,51.26
$STATE,2655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2655,begin apogee
$GC,2660,-0.15,0.0,2190,2112,3410,3228,352.2,-12.2,241,2789,0.47,0.03,126.28,1.569,10246,0.256,0.317,2357,2149,2716,2776,2656,0,0,0,0,0,0,14.20,13.83,13.27,6.34,51.26
$STATE,2790,end apogee,CONTROL_FINISHED_OK
$STATE,2790,begin loiter
$GC,3077,-0.15,0.0,2358,2150,2772,2642,351.3,2.5,262,3077,0.00,0.00,0.00,0.000,4102,0.000,0.000,2357,2149,2706,2771,2642,0,0,0,0,0,0,14.56,14.56,14.56,6.29,50.47
$GC,3377,-0.15,0.0,2357,2150,2772,2640,343.1,2.9,277,3378,0.00,0.00,0.00,0.000,4102,0.000,0.000,2357,2150,2705,2771,2639,0,0,0,0,0,0,14.71,14.71,14.71,6.29,51.02
$GC,3677,-0.15,0.0,2357,2150,2772,2639,334.0,3.2,292,3678,0.00,0.00,0.00,0.000,4102,0.000,0.000,2357,2149,2704,2771,2638,0,0,0,0,0,0,14.81,14.81,14.81,6.28,51.02
$GC,3977,-0.15,0.0,2357,2150,2772,2638,324.5,3.0,307,3978,0.00,0.00,0.00,0.000,4102,0.000,0.000,2357,2150,2704,2771,2637,0,0,0,0,0,0,14.85,14.85,14.85,6.29,51.49
$GC,4277,-0.15,0.0,2358,2150,2772,2637,315.3,3.0,322,4277,0.00,0.00,0.00,0.000,4102,0.000,0.000,2357,2150,2703,2771,2636,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.22
$GC,4577,-0.15,0.0,2358,2150,2772,2636,306.8,2.7,337,4578,0.00,0.00,0.00,0.000,4102,0.000,0.000,2357,2150,2703,2771,2636,0,0,0,0,0,0,14.93,14.93,14.93,6.29,51.69
$GC,4877,-0.15,0.0,2358,2150,2772,2636,298.3,2.9,352,4878,0.00,0.00,0.00,0.000,4102,0.000,0.000,2357,2149,2703,2771,2636,0,0,0,0,0,0,14.95,14.96,14.95,6.29,51.26
$GC,5177,-0.15,0.0,2357,2150,2771,2637,289.1,3.1,367,5178,0.00,0.00,0.00,0.000,4102,0.000,0.000,2357,2149,2703,2771,2636,0,0,0,0,0,0,14.97,14.98,14.97,6.28,51.57
$GC,5477,-0.15,0.0,2358,2150,2772,2636,280.3,2.9,382,5478,0.00,0.00,0.00,0.000,4102,0.000,0.000,2357,2149,2703,2771,2636,0,0,0,0,0,0,14.99,14.99,14.99,6.29,51.65
$GC,5777,-0.15,0.0,2357,2150,2772,2637,272.6,2.3,397,5778,0.00,0.00,0.00,0.000,4102,0.000,0.000,2358,2149,2703,2771,2636,0,0,0,0,0,0,15.00,15.01,15.00,6.28,51.29
$GC,6077,-0.15,0.0,2358,2150,2772,2635,265.8,2.2,412,6077,0.00,0.00,0.00,0.000,4102,0.000,0.000,2357,2149,2703,2771,2635,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.65
$STATE,6375,end loiter,LOITER_COMPLETE
$STATE,6375,begin climb
$GC,6377,0.64,146.0,2357,2150,2772,2636,258.4,0.0,427,6517,0.60,2.58,129.73,1.428,10756,0.170,0.066,2605,752,2117,2140,2094,0,0,0,0,0,0,14.46,13.98,13.39,6.29,51.45
$GC,6547,0.64,148.0,2605,752,2136,2092,248.1,8.3,435,6551,0.00,2.45,0.00,0.000,1030,0.000,0.052,2605,2154,2113,2136,2090,0,0,0,0,0,0,14.17,14.08,14.18,6.24,50.19
$GC,6852,0.64,148.0,2605,2154,2132,2081,209.9,12.6,450,6856,0.00,2.50,0.00,0.000,260,0.000,0.081,2605,3556,2106,2131,2081,0,0,0,0,0,0,14.57,14.23,14.57,6.24,50.39
$GC,6922,0.64,148.0,2606,3557,2132,2081,202.8,12.9,453,6926,0.00,2.35,0.00,0.000,5126,0.000,0.043,2616,2154,2106,2131,2081,0,0,0,0,0,0,14.42,14.32,14.45,6.24,50.59
$GC,7228,0.64,148.0,2617,2155,2130,2077,159.7,13.6,469,7231,0.00,2.47,0.00,0.000,4612,0.000,0.067,2627,736,2103,2129,2077,0,0,0,0,0,0,14.69,14.35,14.69,6.23,50.94
$GC,7287,0.64,148.0,2628,737,2127,2076,153.1,12.4,472,7291,0.08,2.40,0.00,0.000,5126,0.320,0.053,2601,2148,2101,2126,2076,0,0,0,0,0,0,14.18,14.38,14.44,6.23,50.82
$GC,7597,0.64,148.0,2601,2150,2126,2076,118.2,10.2,488,7601,0.00,2.47,0.00,0.000,2308,0.000,0.082,2601,3555,2101,2126,2076,0,0,0,0,0,0,14.76,14.38,14.76,6.23,50.74
$GC,7662,0.64,148.0,2602,3555,2127,2075,112.8,9.8,491,7666,0.00,2.33,0.00,0.000,5126,0.000,0.042,2609,2147,2101,2126,2076,0,0,0,0,0,0,14.58,14.47,14.59,6.23,50.70
$GC,7967,0.64,149.4,2611,2148,2127,2075,86.3,8.3,530,7971,0.00,2.45,0.00,0.000,4612,0.000,0.066,2621,738,2100,2126,2075,0,0,0,0,0,0,14.78,14.42,14.78,6.21,50.39
$GC,8032,0.67,170.1,2621,738,2126,2074,81.3,7.5,543,8057,0.00,2.38,19.45,1.294,13318,0.000,0.052,2621,2152,2022,2041,2003,0,0,0,0,0,0,14.59,14.45,13.79,6.21,49.96
$GC,8177,0.67,170.1,2621,2152,2040,1997,68.2,9.0,572,8181,0.00,2.47,0.00,0.000,4356,0.000,0.083,2621,3552,2018,2039,1997,0,0,0,0,0,0,14.68,14.35,14.69,6.20,49.25
$GC,8232,0.67,170.1,2621,3552,2041,1996,63.2,9.0,583,8237,0.05,2.33,0.00,0.000,5126,0.407,0.043,2615,2149,2018,2039,1997,0,0,0,0,0,0,14.18,14.42,14.45,6.20,49.72
$GC,8359,0.67,170.1,2615,2149,2038,1996,50.6,10.5,608,8362,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2149,2017,2039,1995,0,0,0,0,0,0,14.69,14.70,14.69,6.20,49.44
$GC,8482,0.67,170.1,2616,2148,2040,1994,37.4,10.4,633,8486,0.00,2.45,0.00,0.000,516,0.000,0.067,2625,745,2016,2039,1994,0,0,0,0,0,0,14.72,14.38,14.73,6.19,50.07
$GC,8507,0.67,170.1,2626,746,2039,1995,34.3,12.1,638,8511,0.00,2.38,0.00,0.000,5126,0.000,0.050,2625,2150,2016,2038,1994,0,0,0,0,0,0,14.55,14.42,14.57,6.19,50.43
$GC,8634,0.71,205.0,2625,2152,2038,1995,21.4,7.0,663,8671,0.00,2.55,31.98,1.227,8452,0.000,0.085,2625,3551,1878,1894,1862,0,0,0,0,0,0,14.73,14.28,13.71,6.20,50.51
$GC,8744,0.72,214.1,2626,3552,1894,1860,8.9,8.0,685,8757,0.00,2.35,6.95,0.296,13318,0.000,0.041,2637,2147,1842,1856,1829,0,0,0,0,0,0,14.45,14.35,14.08,6.19,50.43
$STATE,8795,end climb,SURFACE_DEPTH_REACHED
$STATE,8795,begin surface coast
$STATE,8815,end surface coast,CONTROL_FINISHED_OK
$STATE,8815,begin surface
$SM_CCo,8832,3.62,0.273,0,0,1822,220.03
$SM_GC,1.67,5.60,0.05,3.62,0.055,0.207,0.273,238,2062,1822,-6.48,1.13,220.03,0,0,0,0,0,0,14.42,14.35,14.12
$IRIDIUM_FIX,-6017.76,-4.34,250119,174956
$TT8_MAMPS,0.039697,0.312333
$HUMID,50.66
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,3
$SC_FREEKB,3721696
$24V_AH,13.05,76.193
$10V_AH,13.58,0.000
$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,13.200,77.650,314.375,3.625,0.000,51.486,48.517,134.467,0.750,0.000,21.154,0.000,7028.478,390.244,1679.946,196.979,0.000,1044.865,0.000,1167.864,0.000,0.540,0.000
$DEVICE_MAMPS,436.815,2221.560,1569.015,273.105,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5236.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.546,0.000,0.000,0.000
$MEM,344112
$DATA_FILE_SIZE,17286,700
$CAP_FILE_SIZE,93767,0
$CFSIZE,1023623168,981221376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.040,252.82,1
$GPS,250119,225532,-6018.197,0.226,15,0.8,31,-19.7,1.9,146.9,11,9.3