version: 66.14
glider: 640
mission: 5
dive: 261
start: 1 12 119 1 7 48
data:
$ID,640
$MISSION,5
$DIVE,261
$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,29
$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
$GPS1,120119,010231,-5953.4370,-0.2292,15,0.9,32,-19.7,0.0,122.2,9,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.5
$GPS2,120119,010730,-5953.4404,-0.1875,6,0.9,18,-19.7,0.0,54.8,9,9.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,10.8,24892,-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,-146.0,224,2102,1797,1825,0.0,0.0,0,101,0.00,0.00,-87.85,0.000,16386,0.000,0.000,223,2102,3179,3260,3099,0,0,0,0,0,0,14.62,28.83,14.63,6.18,50.66
$GC,103,-0.64,-146.0,228,2103,3260,3101,3.1,-6.9,18,121,6.05,2.75,-5.18,0.000,18948,0.353,2.241,2186,693,3317,3411,3224,0,0,0,0,0,0,14.16,13.20,14.45,6.29,49.60
$GC,207,-0.64,-146.0,2185,694,3412,3226,20.5,-15.0,39,211,0.08,2.42,0.00,0.000,3078,0.386,0.057,2199,2107,3319,3412,3226,0,0,0,0,0,0,14.19,14.38,14.42,6.31,48.77
$GC,332,-0.64,-146.0,2199,2108,3413,3227,38.9,-13.7,64,336,0.00,2.47,0.00,0.000,4356,0.000,0.086,2190,3513,3319,3412,3226,0,0,0,0,0,0,14.65,14.38,14.65,6.31,49.13
$GC,361,-0.64,-146.0,2191,3514,3412,3226,43.1,-14.1,70,365,0.00,2.42,0.00,0.000,3078,0.000,0.045,2189,2093,3318,3411,3226,0,0,0,0,0,0,14.46,14.41,14.48,6.31,49.60
$GC,486,-0.64,-146.0,2190,2092,3413,3226,60.9,-13.9,95,491,0.00,2.42,0.00,0.000,2564,0.000,0.063,2189,687,3319,3412,3226,0,0,0,0,0,0,14.69,14.43,14.69,6.31,49.56
$GC,581,-0.64,-146.0,2189,688,3413,3227,74.1,-13.3,114,585,0.00,2.42,0.00,0.000,3078,0.000,0.057,2179,2105,3319,3412,3226,0,0,0,0,0,0,14.57,14.45,14.58,6.30,48.93
$GC,706,-0.64,-146.0,2180,2106,3413,3226,92.0,-14.0,139,711,0.00,2.45,0.00,0.000,2308,0.000,0.083,2168,3506,3319,3412,3226,0,0,0,0,0,0,14.72,14.43,14.72,6.30,49.01
$GC,726,-0.64,-146.0,2169,3507,3413,3226,94.9,-14.6,143,731,0.08,2.35,0.00,0.000,3078,0.372,0.045,2193,2095,3319,3412,3226,0,0,0,0,0,0,14.28,14.49,14.52,6.30,48.81
$GC,866,-0.64,-146.0,2194,2095,3413,3226,114.7,-14.2,156,870,0.00,2.42,0.00,0.000,516,0.000,0.066,2193,695,3319,3412,3226,0,0,0,0,0,0,14.74,14.48,14.74,6.29,48.34
$GC,946,-0.64,-146.0,2194,695,3414,3226,126.0,-14.2,160,950,0.00,2.42,0.00,0.000,3078,0.000,0.057,2184,2097,3324,3422,3227,0,0,0,0,0,0,14.53,14.47,14.55,6.30,49.13
$GC,1266,-0.64,-146.0,2184,2098,3413,3227,167.7,-13.2,176,1271,0.00,2.45,0.00,0.000,2564,0.000,0.063,2184,675,3319,3412,3226,0,0,0,0,0,0,14.78,14.52,14.79,6.31,50.27
$GC,1342,-0.64,-146.0,2184,676,3416,3226,175.7,-13.3,179,1346,0.08,2.42,0.00,0.000,3078,0.373,0.056,2197,2107,3319,3412,3226,0,0,0,0,0,0,14.33,14.53,14.57,6.32,50.15
$GC,1646,-0.64,-146.0,2198,2107,3413,3226,215.1,-12.3,195,1650,0.00,2.45,0.00,0.000,260,0.000,0.084,2188,3516,3316,3406,3226,0,0,0,0,0,0,14.81,14.51,14.81,6.32,51.02
$GC,1681,-0.64,-146.0,2194,3517,3413,3225,217.6,-12.3,196,1685,0.00,2.40,0.00,0.000,3078,0.000,0.044,2187,2093,3319,3412,3226,0,0,0,0,0,0,14.59,14.54,14.61,6.32,51.22
$GC,1986,-0.64,-146.0,2188,2092,3414,3226,258.8,-12.9,212,1990,0.00,2.42,0.00,0.000,2564,0.000,0.063,2187,674,3319,3412,3226,0,0,0,0,0,0,14.83,14.55,14.86,6.31,51.61
$GC,2051,-0.64,-146.0,2186,675,3413,3226,266.7,-13.1,215,2055,0.05,2.45,0.00,0.000,3078,0.356,0.056,2194,2096,3319,3412,3226,0,0,0,0,0,0,14.31,14.53,14.49,6.33,51.53
$GC,2366,-0.64,-146.0,2194,2096,3406,3226,306.8,-12.6,231,2370,0.00,2.50,0.00,0.000,260,0.000,0.084,2183,3504,3318,3412,3225,0,0,0,0,0,0,14.83,14.52,14.83,6.33,51.65
$GC,2411,-0.64,-146.0,2183,3505,3413,3227,312.0,-12.8,233,2415,0.00,2.38,0.00,0.000,3078,0.000,0.043,2183,2097,3319,3412,3226,0,0,0,0,0,0,14.62,14.57,14.64,6.33,51.14
$STATE,2705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2705,begin apogee
$GC,2709,-0.15,0.0,2184,2157,3413,3226,350.5,-12.9,248,2840,0.47,0.00,127.32,1.559,10246,0.263,0.000,2352,2157,2715,2775,2655,0,0,0,0,0,0,14.38,13.95,13.35,6.34,51.69
$STATE,2841,end apogee,CONTROL_FINISHED_OK
$STATE,2841,begin loiter
$GC,3126,-0.15,0.0,2351,2156,2772,2643,348.6,2.7,269,3127,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2706,2771,2641,0,0,0,0,0,0,14.57,14.58,14.57,6.29,50.74
$GC,3426,-0.15,0.0,2352,2157,2772,2639,340.5,2.7,284,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2705,2771,2639,0,0,0,0,0,0,14.72,14.72,14.72,6.29,51.10
$GC,3726,-0.15,0.0,2353,2157,2772,2638,332.1,2.7,299,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2704,2771,2638,0,0,0,0,0,0,14.81,14.81,14.81,6.29,50.90
$GC,4027,-0.15,0.0,2352,2156,2772,2638,323.9,2.8,314,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2704,2771,2637,0,0,0,0,0,0,14.86,14.86,14.87,6.29,51.10
$GC,4326,-0.15,0.0,2352,2157,2772,2636,315.6,2.7,329,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2703,2771,2636,0,0,0,0,0,0,14.90,14.91,14.91,6.29,51.29
$GC,4626,-0.15,0.0,2353,2157,2771,2636,307.9,2.5,344,4627,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2703,2771,2636,0,0,0,0,0,0,14.94,14.94,14.94,6.29,51.49
$GC,4926,-0.15,0.0,2352,2158,2771,2637,300.7,2.2,359,4927,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2703,2771,2636,0,0,0,0,0,0,14.96,14.97,14.97,6.28,51.96
$GC,5226,-0.15,0.0,2353,2157,2773,2636,294.4,2.0,374,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2703,2771,2636,0,0,0,0,0,0,14.98,14.99,14.99,6.28,51.26
$GC,5526,-0.15,0.0,2352,2157,2772,2637,288.6,1.9,389,5527,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2703,2771,2636,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.53
$GC,5826,-0.15,0.0,2352,2158,2772,2637,282.5,2.2,404,5827,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2703,2771,2635,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.49
$GC,6126,-0.15,0.0,2352,2157,2772,2635,275.2,2.8,419,6127,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2703,2771,2635,0,0,0,0,0,0,15.02,15.03,15.03,6.29,51.26
$STATE,6425,end loiter,LOITER_COMPLETE
$STATE,6425,begin climb
$GC,6426,0.64,146.0,2352,2158,2771,2637,266.4,0.0,434,6567,0.60,2.60,130.12,1.428,10500,0.173,0.084,2593,3552,2118,2144,2093,0,0,0,0,0,0,14.64,14.00,13.46,6.28,51.92
$GC,6606,0.64,146.0,2593,3553,2143,2098,253.3,9.6,443,6610,0.00,2.45,0.00,0.000,1030,0.000,0.042,2603,2148,2114,2141,2087,0,0,0,0,0,0,14.14,14.10,14.16,6.24,49.17
$GC,6926,0.64,146.0,2604,2148,2135,2079,215.8,11.3,459,6931,0.00,2.47,0.00,0.000,516,0.000,0.067,2615,742,2106,2134,2078,0,0,0,0,0,0,14.59,14.34,14.60,6.24,50.15
$GC,6991,0.64,146.0,2615,743,2131,2079,209.7,10.5,462,6995,0.00,2.45,0.00,0.000,5126,0.000,0.054,2615,2148,2104,2130,2078,0,0,0,0,0,0,14.41,14.35,14.43,6.23,50.55
$GC,7306,0.64,146.0,2615,2148,2130,2078,174.4,11.0,478,7310,0.00,2.47,0.00,0.000,4356,0.000,0.084,2615,3556,2102,2129,2075,0,0,0,0,0,0,14.72,14.42,14.72,6.24,50.70
$GC,7391,0.64,146.0,2616,3557,2129,2076,165.7,10.8,482,7396,0.05,2.40,0.00,0.000,5126,0.333,0.043,2607,2146,2102,2129,2076,0,0,0,0,0,0,14.26,14.47,14.42,6.24,50.94
$GC,7706,0.64,146.0,2607,2147,2128,2076,133.2,10.7,498,7710,0.00,2.45,0.00,0.000,4612,0.000,0.066,2617,734,2101,2128,2075,0,0,0,0,0,0,14.78,14.46,14.78,6.23,50.82
$GC,7843,0.64,146.0,2626,735,2127,2075,119.3,11.5,504,7846,0.00,2.40,0.00,0.000,5126,0.000,0.054,2617,2152,2100,2127,2074,0,0,0,0,0,0,14.65,14.53,14.66,6.23,50.55
$GC,8146,0.64,146.0,2617,2153,2126,2075,77.6,13.3,545,8151,0.00,2.45,0.00,0.000,4356,0.000,0.083,2617,3555,2104,2135,2074,0,0,0,0,0,0,14.81,14.48,14.81,6.21,49.92
$GC,8196,0.64,146.0,2616,3556,2126,2076,70.8,13.3,555,8200,0.05,2.38,0.00,0.000,5126,0.320,0.042,2608,2146,2100,2126,2074,0,0,0,0,0,0,14.31,14.51,14.47,6.21,50.00
$GC,8322,0.64,146.0,2609,2147,2126,2075,55.7,11.7,580,8326,0.00,2.42,0.00,0.000,4612,0.000,0.067,2619,738,2100,2126,2074,0,0,0,0,0,0,14.81,14.54,14.81,6.20,49.21
$GC,8376,0.64,146.0,2620,739,2126,2072,49.5,10.6,591,8381,0.03,2.42,0.00,0.000,5126,0.398,0.054,2608,2148,2099,2125,2073,0,0,0,0,0,0,14.31,14.50,14.45,6.21,49.72
$GC,8503,0.64,146.0,2609,2149,2127,2073,37.1,9.4,616,8506,0.00,2.45,0.00,0.000,4356,0.000,0.084,2608,3556,2099,2125,2073,0,0,0,0,0,0,14.81,14.52,14.81,6.20,48.93
$GC,8536,0.64,146.0,2609,3557,2126,2074,33.5,9.9,623,8540,0.00,2.35,0.00,0.000,5126,0.000,0.044,2618,2137,2098,2124,2073,0,0,0,0,0,0,14.66,14.54,14.68,6.20,49.72
$GC,8661,0.64,146.0,2618,2138,2126,2071,22.8,9.0,648,8665,0.00,2.40,0.00,0.000,4612,0.000,0.067,2629,745,2099,2125,2073,0,0,0,0,0,0,14.81,14.54,14.82,6.20,49.76
$GC,8726,0.64,146.0,2634,746,2125,2074,16.9,9.0,661,8731,0.05,2.42,0.00,0.000,5126,0.302,0.054,2608,2154,2098,2125,2072,0,0,0,0,0,0,14.32,14.48,14.48,6.20,50.15
$GC,8853,0.64,146.0,2608,2155,2125,2073,5.8,9.2,686,8856,0.00,2.45,0.00,0.000,4356,0.000,0.086,2608,3553,2098,2124,2072,0,0,0,0,0,0,14.82,14.52,14.82,6.20,50.23
$STATE,8885,end climb,SURFACE_DEPTH_REACHED
$STATE,8885,begin surface coast
$STATE,8895,end surface coast,CONTROL_FINISHED_OK
$STATE,8895,begin surface
$SM_CCo,8911,66.53,0.242,0,0,1820,220.03
$SM_GC,1.20,5.85,2.50,66.53,0.145,0.044,0.242,218,2083,1820,-6.46,0.79,220.03,0,0,0,0,0,0,14.67,14.57,14.33
$IRIDIUM_FIX,-5954.50,0.00,110119,222707
$TT8_MAMPS,0.038199,0.335552
$HUMID,50.00
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3787232
$24V_AH,13.20,53.047
$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,13.425,88.100,257.450,66.525,0.000,27.211,15.900,119.442,0.000,0.000,19.639,0.000,7086.591,426.744,1622.879,142.286,0.000,1075.921,0.000,1181.890,0.000,0.540,0.000
$DEVICE_MAMPS,397.800,2241.450,1559.070,241.740,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5309.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.635,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,17312,695
$CAP_FILE_SIZE,94287,0
$CFSIZE,1023623168,993820672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.043,99.97,1
$GPS,120119,033830,-5952.996,0.013,36,1.1,41,-19.7,0.3,79.8,8,9.8