version: 66.14
glider: 640
mission: 5
dive: 244
start: 1 10 119 5 22 47
data:
$ID,640
$MISSION,5
$DIVE,244
$N_DIVES,500
$STOP_T,1171912
$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,67
$R_STBD_OVSHOOT,54
$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
$GPS1,100119,051729,-6000.7759,-2.7505,37,0.9,41,-19.7,0.9,96.2,9,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-67.1
$GPS2,100119,052228,-6000.7617,-2.6810,8,0.8,11,-19.7,0.5,65.0,10,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,24.1,38532,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-0.64,-146.0,233,2127,1797,1825,0.0,0.0,0,95,0.00,0.00,-82.93,0.000,16386,0.000,0.000,232,2127,3129,3210,3048,0,0,0,0,0,0,14.62,28.83,14.62,6.17,50.51
$GC,97,-0.64,-146.0,233,2127,3211,3048,3.3,-5.7,17,115,6.03,2.72,-7.20,0.000,18948,0.356,2.246,2187,730,3318,3414,3223,0,0,0,0,0,0,14.16,13.21,14.45,6.28,50.47
$GC,215,-0.64,-146.0,2187,731,3415,3226,22.6,-16.2,41,219,0.03,2.35,0.00,0.000,3078,0.458,0.057,2185,2071,3319,3414,3225,0,0,0,0,0,0,14.17,14.38,14.33,6.31,48.74
$GC,341,-0.64,-146.0,2186,2072,3414,3225,44.1,-17.7,66,344,0.00,0.00,0.00,0.000,2054,0.000,0.000,2185,2071,3319,3414,3225,0,0,0,0,0,0,14.66,14.66,14.66,6.31,49.88
$GC,465,-0.64,-146.0,2185,2072,3415,3226,63.0,-14.4,91,470,0.00,2.38,0.00,0.000,2564,0.000,0.063,2184,727,3319,3414,3225,0,0,0,0,0,0,14.69,14.42,14.69,6.30,49.40
$GC,510,-0.64,-146.0,2185,728,3415,3225,69.8,-14.8,100,514,0.05,2.40,0.00,0.000,3078,0.364,0.057,2191,2105,3319,3414,3225,0,0,0,0,0,0,14.21,14.42,14.40,6.30,49.72
$GC,637,-0.64,-146.0,2192,2105,3416,3225,87.5,-14.3,125,639,0.00,0.00,0.00,0.000,2054,0.000,0.000,2191,2105,3320,3415,3225,0,0,0,0,0,0,14.71,14.71,14.71,6.30,49.44
$GC,765,-0.64,-146.0,2193,2105,3416,3225,106.5,-14.6,145,766,0.00,0.00,0.00,0.000,2054,0.000,0.000,2191,2105,3319,3414,3225,0,0,0,0,0,0,14.73,14.74,14.74,6.30,48.85
$GC,1065,-0.64,-146.0,2191,2106,3415,3226,149.8,-14.7,160,1069,0.00,2.40,0.00,0.000,2564,0.000,0.062,2191,736,3319,3414,3225,0,0,0,0,0,0,14.78,14.48,14.78,6.30,49.76
$GC,1140,-0.64,-146.0,2191,736,3416,3225,158.6,-14.8,163,1145,0.00,2.35,0.00,0.000,3078,0.000,0.056,2181,2097,3319,3414,3225,0,0,0,0,0,0,14.56,14.50,14.59,6.30,50.03
$GC,1445,-0.64,-146.0,2181,2098,3426,3226,203.7,-14.2,179,1450,0.00,2.47,0.00,0.000,2308,0.000,0.080,2171,3497,3319,3414,3225,0,0,0,0,0,0,14.81,14.50,14.81,6.29,50.82
$GC,1465,-0.64,-146.0,2171,3498,3415,3226,206.6,-14.1,180,1470,0.05,2.30,0.00,0.000,3078,0.359,0.042,2188,2127,3319,3414,3225,0,0,0,0,0,0,14.32,14.55,14.49,6.31,51.10
$GC,1785,-0.64,-146.0,2189,2126,3416,3225,248.0,-12.8,196,1789,0.00,2.45,0.00,0.000,2564,0.000,0.062,2188,696,3319,3414,3225,0,0,0,0,0,0,14.82,14.56,14.82,6.32,50.94
$GC,1860,-0.64,-146.0,2189,696,3415,3226,255.8,-13.0,199,1864,0.00,2.42,0.00,0.000,3078,0.000,0.056,2178,2104,3319,3414,3225,0,0,0,0,0,0,14.59,14.54,14.62,6.33,51.10
$GC,2165,-0.64,-146.0,2178,2105,3415,3226,297.4,-13.0,215,2166,0.03,0.00,0.00,0.000,2054,0.624,0.000,2189,2105,3319,3414,3225,0,0,0,0,0,0,14.40,14.63,14.59,6.33,51.22
$GC,2465,-0.64,-146.0,2190,2105,3415,3225,335.0,-12.7,230,2469,0.00,2.45,0.00,0.000,2564,0.000,0.061,2189,675,3319,3414,3225,0,0,0,0,0,0,14.85,14.57,14.84,6.34,52.00
$GC,2490,-0.64,-146.0,2190,674,3415,3225,337.7,-12.7,231,2494,0.00,2.45,0.00,0.000,3078,0.000,0.055,2179,2099,3319,3414,3225,0,0,0,0,0,0,14.62,14.56,14.64,6.34,51.65
$STATE,2584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2584,begin apogee
$GC,2588,-0.15,0.0,2179,2165,3415,3226,350.7,-13.1,236,2719,0.47,0.00,127.57,1.554,10246,0.270,0.000,2346,2164,2720,2780,2661,0,0,0,0,0,0,14.40,13.95,13.35,6.34,51.06
$STATE,2720,end apogee,CONTROL_FINISHED_OK
$STATE,2720,begin loiter
$GC,3005,-0.15,0.0,2347,2165,2774,2645,350.5,2.5,257,3006,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2164,2708,2773,2644,0,0,0,0,0,0,14.57,14.57,14.57,6.28,50.78
$GC,3305,-0.15,0.0,2347,2165,2774,2644,343.4,2.4,272,3306,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2164,2708,2773,2643,0,0,0,0,0,0,14.71,14.72,14.72,6.29,50.98
$GC,3605,-0.15,0.0,2347,2165,2774,2643,335.6,2.6,287,3606,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2164,2707,2773,2642,0,0,0,0,0,0,14.81,14.81,14.81,6.28,50.98
$GC,3905,-0.15,0.0,2347,2165,2774,2642,327.5,2.7,302,3906,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2164,2707,2773,2641,0,0,0,0,0,0,14.86,14.86,14.86,6.29,51.22
$GC,4205,-0.15,0.0,2348,2164,2774,2640,319.5,2.6,317,4206,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2164,2706,2773,2640,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.41
$GC,4505,-0.15,0.0,2347,2164,2774,2641,311.4,2.7,332,4506,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2164,2706,2773,2640,0,0,0,0,0,0,14.94,14.94,14.94,6.28,51.18
$GC,4805,-0.15,0.0,2347,2165,2774,2641,303.4,2.7,347,4806,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2164,2706,2773,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.26
$GC,5105,-0.15,0.0,2347,2165,2774,2641,295.2,2.8,362,5106,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2164,2706,2773,2640,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.53
$GC,5405,-0.15,0.0,2347,2165,2775,2641,286.6,2.8,377,5406,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2163,2706,2773,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.26
$GC,5705,-0.15,0.0,2347,2164,2775,2640,278.3,2.8,392,5706,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2164,2706,2773,2640,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.49
$GC,6005,-0.15,0.0,2347,2165,2774,2641,270.0,2.8,407,6006,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2164,2706,2773,2640,0,0,0,0,0,0,15.03,15.03,15.03,6.28,51.61
$GC,6305,-0.15,0.0,2347,2165,2775,2641,260.8,3.1,422,6306,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2164,2707,2773,2641,0,0,0,0,0,0,15.04,15.04,15.04,6.28,51.14
$STATE,6324,end loiter,LOITER_COMPLETE
$STATE,6324,begin climb
$GC,6325,0.64,146.0,2347,2164,2774,2640,260.2,0.0,423,6467,0.62,2.60,131.52,1.425,10756,0.179,0.066,2606,751,2117,2142,2093,0,0,0,0,0,0,14.64,13.99,13.47,6.28,51.41
$GC,6521,0.64,146.0,2607,752,2136,2087,247.0,9.4,432,6526,0.00,2.45,0.00,0.000,5126,0.000,0.052,2607,2132,2111,2135,2087,0,0,0,0,0,0,14.19,14.14,14.21,6.24,49.17
$GC,6826,0.64,146.0,2607,2133,2132,2078,206.6,13.0,448,6830,0.00,2.53,0.00,0.000,4356,0.000,0.083,2607,3560,2104,2131,2078,0,0,0,0,0,0,14.59,14.33,14.59,6.23,50.03
$GC,6931,0.64,146.0,2607,3561,2131,2079,193.6,12.8,453,6934,0.00,2.40,0.00,0.000,5126,0.000,0.042,2617,2154,2104,2131,2078,0,0,0,0,0,0,14.44,14.39,14.46,6.24,50.74
$GC,7246,0.64,146.0,2618,2158,2130,2076,151.0,13.1,469,7249,0.00,2.50,0.00,0.000,4612,0.000,0.067,2628,744,2102,2129,2075,0,0,0,0,0,0,14.72,14.43,14.72,6.23,50.39
$GC,7311,0.64,146.0,2629,745,2128,2075,143.4,12.8,472,7316,0.05,2.42,0.00,0.000,5126,0.301,0.054,2608,2153,2100,2126,2075,0,0,0,0,0,0,14.30,14.46,14.45,6.23,50.51
$GC,7626,0.64,146.0,2608,2155,2127,2075,105.7,11.0,488,7630,0.00,2.50,0.00,0.000,4356,0.000,0.083,2608,3556,2100,2126,2074,0,0,0,0,0,0,14.78,14.47,14.78,6.23,50.63
$GC,7691,0.64,146.0,2608,3557,2128,2074,98.6,10.9,492,7695,0.00,2.38,0.00,0.000,5126,0.000,0.041,2617,2146,2099,2126,2073,0,0,0,0,0,0,14.58,14.53,14.60,6.23,49.96
$GC,7816,0.64,146.0,2618,2147,2127,2073,85.3,10.9,517,7820,0.00,2.45,0.00,0.000,4612,0.000,0.066,2628,751,2100,2127,2073,0,0,0,0,0,0,14.78,14.50,14.78,6.22,50.31
$GC,7861,0.64,146.0,2629,752,2126,2073,80.6,10.0,526,7865,0.05,2.40,0.00,0.000,5126,0.299,0.054,2608,2147,2097,2125,2069,0,0,0,0,0,0,14.35,14.51,14.50,6.21,49.72
$GC,7987,0.64,146.0,2609,2148,2126,2073,68.4,9.8,551,7991,0.00,2.45,0.00,0.000,4356,0.000,0.083,2608,3552,2099,2125,2073,0,0,0,0,0,0,14.78,14.51,14.78,6.22,49.09
$GC,8016,0.64,146.0,2608,3552,2127,2066,65.4,10.1,557,8021,0.00,2.38,0.00,0.000,5126,0.000,0.043,2618,2150,2099,2125,2073,0,0,0,0,0,0,14.58,14.54,14.61,6.20,48.97
$GC,8142,0.64,146.0,2617,2150,2126,2074,53.0,10.0,582,8145,0.00,2.42,0.00,0.000,4612,0.000,0.067,2628,742,2099,2125,2073,0,0,0,0,0,0,14.78,14.52,14.78,6.20,49.05
$GC,8186,0.64,146.0,2634,743,2125,2073,48.8,9.0,591,8190,0.05,2.42,0.00,0.000,5126,0.305,0.053,2607,2154,2098,2125,2072,0,0,0,0,0,0,14.35,14.52,14.50,6.20,49.72
$GC,8312,0.64,146.0,2608,2155,2125,2073,37.8,8.8,616,8315,0.00,2.45,0.00,0.000,4356,0.000,0.083,2608,3558,2098,2125,2072,0,0,0,0,0,0,14.78,14.51,14.79,6.20,49.17
$GC,8356,0.64,146.0,2608,3558,2126,2072,33.6,9.1,625,8361,0.00,2.38,0.00,0.000,5126,0.000,0.043,2617,2150,2098,2124,2072,0,0,0,0,0,0,14.66,14.54,14.68,6.20,49.21
$GC,8482,0.64,146.0,2618,2153,2125,2072,22.7,8.9,650,8486,0.00,2.42,0.00,0.000,4612,0.000,0.067,2629,746,2097,2124,2071,0,0,0,0,0,0,14.79,14.52,14.79,6.20,49.80
$GC,8526,0.64,146.0,2629,746,2125,2071,18.5,9.2,659,8530,0.05,2.42,0.00,0.000,5126,0.302,0.054,2608,2154,2094,2124,2065,0,0,0,0,0,0,14.33,14.52,14.54,6.20,49.44
$GC,8652,0.64,146.0,2608,2155,2125,2071,7.4,9.7,684,8655,0.00,2.45,0.00,0.000,4356,0.000,0.085,2608,3555,2097,2123,2071,0,0,0,0,0,0,14.79,14.51,14.80,6.20,49.96
$STATE,8694,end climb,SURFACE_DEPTH_REACHED
$STATE,8694,begin surface coast
$STATE,8724,end surface coast,CONTROL_FINISHED_OK
$STATE,8724,begin surface
$SM_CCo,8739,66.65,0.244,0,0,1821,220.03
$SM_GC,1.30,5.50,2.47,66.65,0.076,0.041,0.244,279,2096,1821,-6.44,1.10,220.03,0,0,0,0,0,0,14.65,14.58,14.32
$IRIDIUM_FIX,-6002.25,-4.31,100119,024520
$TT8_MAMPS,0.038948,0.336301
$HUMID,49.72
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3795936
$24V_AH,13.21,50.055
$10V_AH,13.66,0.000
$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,12.975,78.175,259.100,66.650,0.000,26.507,15.914,125.776,0.000,0.000,13.140,0.000,6958.485,424.319,1587.804,137.906,0.000,1056.395,0.000,1146.007,0.000,0.540,0.000
$DEVICE_MAMPS,624.240,2246.040,1554.480,244.035,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5118.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.712,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17318,699
$CAP_FILE_SIZE,93353,0
$CFSIZE,1023623168,995491840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.023,269.76,1
$GPS,100119,075031,-6000.203,-2.894,12,0.8,35,-19.7,0.5,113.7,11,7.9