version: 66.14
glider: 640
mission: 5
dive: 253
start: 1 11 119 4 20 57
data:
$ID,640
$MISSION,5
$DIVE,253
$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,50
$R_STBD_OVSHOOT,19
$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
$GPS1,110119,041537,-5956.5205,-2.1152,21,1.2,61,-19.7,0.3,60.7,7,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-67.4
$GPS2,110119,042039,-5956.5220,-2.1056,10,1.0,21,-19.7,0.0,0.0,8,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,17.9,30662,-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,-146.0,233,2082,1798,1824,0.0,0.0,0,101,0.00,0.00,-87.78,0.000,16386,0.000,0.000,232,2081,3190,3270,3110,0,0,0,0,0,0,14.62,28.83,14.63,6.18,50.66
$GC,103,-0.64,-146.0,233,2082,3272,3111,3.3,-7.3,18,121,6.05,2.62,-4.70,0.000,18948,0.358,2.240,2192,710,3316,3410,3222,0,0,0,0,0,0,14.16,13.40,14.45,6.29,49.52
$GC,207,-0.64,-146.0,2192,710,3412,3224,20.7,-15.7,39,211,0.00,2.40,0.00,0.000,3078,0.000,0.057,2182,2109,3317,3411,3224,0,0,0,0,0,0,14.50,14.38,14.50,6.31,48.70
$GC,331,-0.64,-146.0,2182,2110,3411,3224,42.4,-16.2,64,335,0.00,2.45,0.00,0.000,2308,0.000,0.082,2171,3508,3317,3411,3224,0,0,0,0,0,0,14.65,14.39,14.66,6.31,49.48
$GC,386,-0.64,-146.0,2172,3508,3412,3224,50.8,-14.2,75,391,0.05,2.38,0.00,0.000,3078,0.353,0.041,2188,2108,3320,3410,3230,0,0,0,0,0,0,14.21,14.42,14.37,6.31,49.48
$GC,512,-0.64,-146.0,2189,2105,3412,3224,67.8,-14.2,100,515,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2105,3316,3410,3223,0,0,0,0,0,0,14.69,14.69,14.69,6.31,49.29
$GC,636,-0.64,-146.0,2189,2105,3412,3224,84.9,-13.7,125,640,0.00,2.42,0.00,0.000,2564,0.000,0.063,2188,697,3317,3411,3224,0,0,0,0,0,0,14.71,14.46,14.71,6.31,48.77
$GC,681,-0.64,-146.0,2189,698,3412,3225,91.2,-13.9,134,685,0.00,2.42,0.00,0.000,3078,0.000,0.055,2179,2100,3317,3410,3224,0,0,0,0,0,0,14.51,14.44,14.53,6.30,48.50
$GC,806,-0.64,-146.0,2180,2101,3412,3224,108.6,-14.1,150,807,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2100,3317,3411,3224,0,0,0,0,0,0,14.73,14.73,14.74,6.30,48.62
$GC,1106,-0.64,-146.0,2179,2101,3411,3225,151.0,-14.5,165,1110,0.00,2.45,0.00,0.000,2564,0.000,0.062,2179,698,3317,3411,3224,0,0,0,0,0,0,14.78,14.49,14.78,6.30,49.84
$GC,1126,-0.64,-146.0,2180,698,3412,3224,154.0,-14.6,166,1130,0.08,2.42,0.00,0.000,3078,0.324,0.055,2194,2106,3317,3410,3224,0,0,0,0,0,0,14.31,14.50,14.47,6.31,49.96
$GC,1446,-0.64,-146.0,2195,2105,3411,3222,196.3,-13.1,182,1450,0.00,2.47,0.00,0.000,260,0.000,0.083,2184,3500,3317,3411,3224,0,0,0,0,0,0,14.80,14.49,14.81,6.32,50.70
$GC,1476,-0.64,-146.0,2184,3501,3412,3225,199.0,-13.1,183,1480,0.00,2.35,0.00,0.000,3078,0.000,0.042,2183,2102,3317,3410,3224,0,0,0,0,0,0,14.59,14.54,14.59,6.32,50.94
$GC,1786,-0.64,-146.0,2184,2101,3411,3225,241.5,-13.3,199,1791,0.00,2.42,0.00,0.000,2564,0.000,0.062,2183,683,3317,3411,3224,0,0,0,0,0,0,14.82,14.55,14.82,6.32,51.22
$GC,1851,-0.64,-146.0,2183,685,3412,3225,249.5,-13.3,202,1855,0.08,2.40,0.00,0.000,3078,0.373,0.056,2197,2105,3317,3411,3224,0,0,0,0,0,0,14.36,14.57,14.60,6.32,50.98
$GC,2166,-0.64,-146.0,2197,2106,3411,3229,288.7,-12.3,218,2170,0.00,2.47,0.00,0.000,260,0.000,0.083,2187,3535,3317,3411,3223,0,0,0,0,0,0,14.83,14.54,14.83,6.33,51.18
$GC,2191,-0.64,-146.0,2188,3531,3410,3225,291.2,-12.4,219,2196,0.00,2.38,0.00,0.000,3078,0.000,0.041,2187,2094,3317,3410,3224,0,0,0,0,0,0,14.69,14.59,14.71,6.34,51.26
$GC,2506,-0.64,-146.0,2187,2093,3411,3225,332.2,-12.8,235,2510,0.00,2.42,0.00,0.000,2564,0.000,0.061,2182,696,3317,3411,3224,0,0,0,0,0,0,14.84,14.54,14.83,6.34,51.41
$GC,2556,-0.64,-146.0,2187,697,3411,3224,337.4,-13.0,237,2561,0.05,2.40,0.00,0.000,3078,0.353,0.054,2194,2096,3317,3411,3224,0,0,0,0,0,0,14.33,14.54,14.51,6.34,51.85
$STATE,2665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2665,begin apogee
$GC,2669,-0.15,0.0,2195,2170,3419,3225,352.1,-12.2,243,2799,0.43,0.00,127.05,1.574,10246,0.261,0.000,2346,2169,2719,2778,2660,0,0,0,0,0,0,14.40,13.95,13.33,6.34,51.02
$STATE,2800,end apogee,CONTROL_FINISHED_OK
$STATE,2800,begin loiter
$GC,3086,-0.15,0.0,2346,2170,2772,2643,349.4,2.9,264,3087,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2706,2771,2642,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.47
$GC,3386,-0.15,0.0,2346,2169,2773,2640,340.1,3.0,279,3387,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2705,2771,2640,0,0,0,0,0,0,14.72,14.72,14.72,6.29,50.98
$GC,3686,-0.15,0.0,2346,2169,2772,2638,331.3,3.0,294,3687,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2704,2771,2638,0,0,0,0,0,0,14.81,14.81,14.81,6.29,50.82
$GC,3986,-0.15,0.0,2346,2169,2772,2637,322.7,2.9,309,3987,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2704,2771,2637,0,0,0,0,0,0,14.86,14.86,14.86,6.28,51.10
$GC,4286,-0.15,0.0,2346,2169,2773,2637,314.0,3.0,324,4287,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2704,2771,2637,0,0,0,0,0,0,14.91,14.91,14.91,6.29,51.02
$GC,4586,-0.15,0.0,2346,2169,2773,2637,304.9,3.1,339,4587,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2704,2771,2637,0,0,0,0,0,0,14.94,14.94,14.94,6.29,51.49
$GC,4886,-0.15,0.0,2346,2170,2772,2638,295.9,2.9,354,4887,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2704,2771,2637,0,0,0,0,0,0,14.96,14.97,14.97,6.28,51.33
$GC,5186,-0.15,0.0,2347,2169,2773,2636,287.3,2.7,369,5187,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2169,2703,2771,2636,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.33
$GC,5486,-0.15,0.0,2346,2170,2772,2637,279.4,2.6,384,5487,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2703,2771,2636,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.10
$GC,5786,-0.15,0.0,2346,2169,2772,2637,271.2,2.7,399,5787,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2703,2771,2636,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.18
$GC,6086,-0.15,0.0,2346,2169,2772,2636,261.8,3.4,414,6087,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2703,2771,2636,0,0,0,0,0,0,15.03,15.03,15.03,6.28,51.41
$STATE,6385,end loiter,LOITER_COMPLETE
$STATE,6385,begin climb
$GC,6386,0.64,146.0,2347,2169,2772,2637,250.9,0.0,429,6527,0.62,2.62,130.50,1.418,10756,0.177,0.063,2606,739,2117,2141,2093,0,0,0,0,0,0,14.64,14.01,13.47,6.28,51.29
$GC,6647,0.64,146.0,2607,740,2135,2085,228.5,10.7,442,6650,0.00,2.40,0.00,0.000,5126,0.000,0.051,2607,2131,2109,2133,2085,0,0,0,0,0,0,14.33,14.23,14.34,6.24,49.52
$GC,6966,0.64,146.0,2607,2132,2132,2079,189.5,12.1,458,6971,0.00,2.53,0.00,0.000,4356,0.000,0.081,2607,3562,2103,2130,2077,0,0,0,0,0,0,14.63,14.35,14.64,6.24,50.19
$GC,7056,0.64,146.0,2607,3563,2132,2077,179.9,12.0,462,7060,0.00,2.40,0.00,0.000,5126,0.000,0.041,2617,2151,2103,2130,2077,0,0,0,0,0,0,14.42,14.38,14.45,6.24,50.31
$GC,7367,0.64,146.0,2617,2152,2128,2076,142.1,11.8,478,7370,0.00,2.42,0.00,0.000,4612,0.000,0.065,2628,747,2101,2128,2075,0,0,0,0,0,0,14.73,14.47,14.73,6.24,50.51
$GC,7416,0.64,146.0,2629,748,2128,2075,137.6,11.5,480,7420,0.05,2.42,0.00,0.000,5126,0.303,0.054,2609,2151,2100,2126,2075,0,0,0,0,0,0,14.29,14.43,14.44,6.23,50.70
$GC,7726,0.64,146.0,2609,2152,2127,2074,105.5,9.8,496,7730,0.00,2.47,0.00,0.000,4356,0.000,0.081,2609,3571,2099,2126,2073,0,0,0,0,0,0,14.78,14.49,14.79,6.23,50.51
$GC,7771,0.64,146.0,2609,3572,2126,2074,101.5,9.9,498,7775,0.00,2.40,0.00,0.000,5126,0.000,0.042,2618,2148,2100,2126,2074,0,0,0,0,0,0,14.58,14.52,14.59,6.22,50.70
$GC,8076,0.64,146.0,2618,2148,2127,2073,70.4,10.9,557,8081,0.00,2.42,0.00,0.000,4612,0.000,0.065,2629,741,2099,2126,2072,0,0,0,0,0,0,14.80,14.52,14.80,6.21,49.48
$GC,8131,0.64,146.0,2629,742,2127,2072,64.6,10.7,568,8136,0.05,2.42,0.00,0.000,5126,0.299,0.052,2608,2157,2098,2125,2072,0,0,0,0,0,0,14.35,14.52,14.51,6.21,49.76
$GC,8258,0.64,146.0,2608,2158,2126,2073,51.6,10.2,593,8262,0.00,2.42,0.00,0.000,4356,0.000,0.083,2608,3558,2098,2125,2072,0,0,0,0,0,0,14.80,14.49,14.80,6.20,49.96
$GC,8306,0.64,146.0,2608,3559,2126,2073,46.6,9.7,603,8310,0.00,2.38,0.00,0.000,5126,0.000,0.042,2617,2147,2099,2126,2072,0,0,0,0,0,0,14.55,14.52,14.57,6.15,49.09
$GC,8433,0.64,146.0,2619,2148,2126,2072,35.1,9.6,628,8436,0.00,2.42,0.00,0.000,4612,0.000,0.066,2629,741,2098,2124,2072,0,0,0,0,0,0,14.80,14.54,14.81,6.20,49.21
$GC,8558,0.64,146.0,2629,741,2126,2071,22.9,9.2,653,8562,0.08,2.38,0.00,0.000,5126,0.330,0.052,2602,2152,2098,2125,2071,0,0,0,0,0,0,14.40,14.56,14.62,6.21,49.64
$GC,8681,0.64,146.0,2602,2153,2125,2072,12.2,8.8,678,8685,0.00,2.50,0.00,0.000,260,0.000,0.083,2602,3582,2098,2125,2071,0,0,0,0,0,0,14.81,14.51,14.81,6.20,49.72
$GC,8752,0.64,146.0,2602,3582,2125,2073,5.7,9.1,692,8755,0.00,2.40,0.00,0.000,5126,0.000,0.041,2611,2133,2097,2124,2071,0,0,0,0,0,0,14.68,14.58,14.72,6.20,49.88
$STATE,8785,end climb,SURFACE_DEPTH_REACHED
$STATE,8785,begin surface coast
$STATE,8820,end surface coast,CONTROL_FINISHED_OK
$STATE,8820,begin surface
$SM_CCo,8833,66.45,0.243,0,0,1821,220.03
$SM_GC,1.28,5.53,0.00,66.45,0.080,0.000,0.243,275,2132,1821,-6.44,0.90,220.03,0,0,0,0,0,0,14.64,14.81,14.32
$IRIDIUM_FIX,-6001.95,108.92,110119,014127
$TT8_MAMPS,0.038199,0.356524
$HUMID,49.64
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3791328
$24V_AH,13.33,51.632
$10V_AH,13.57,0.000
$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,13.050,78.000,257.550,66.450,0.000,23.350,20.138,119.161,0.000,0.000,22.648,0.000,7035.699,419.273,1611.373,138.176,0.000,1060.223,0.000,1168.867,0.000,0.540,0.000
$DEVICE_MAMPS,372.555,2239.920,1573.605,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5233.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.753,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17333,706
$CAP_FILE_SIZE,92104,0
$CFSIZE,1023623168,994607104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.011,126.44,1
$GPS,110119,065019,-5956.013,-2.012,16,0.8,39,-19.7,0.3,86.0,10,5.8