version: 66.14
glider: 640
mission: 5
dive: 264
start: 1 12 119 8 51 3
data:
$ID,640
$MISSION,5
$DIVE,264
$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,44
$R_STBD_OVSHOOT,28
$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
$GPS1,120119,084531,-5952.1235,-0.2874,17,0.8,33,-19.7,0.4,167.0,10,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-67.9
$GPS2,120119,085045,-5952.1372,-0.2805,8,0.7,12,-19.7,0.0,78.0,11,9.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,20.9,22480,-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,-146.0,219,2081,1795,1825,0.0,0.0,0,101,0.00,0.00,-87.75,0.000,16386,0.000,0.000,218,2080,3210,3291,3129,0,0,0,0,0,0,14.61,28.83,14.62,6.17,50.98
$GC,103,-0.64,-146.0,219,2081,3292,3130,3.7,-8.8,18,118,6.07,2.62,-3.72,0.000,18948,0.357,2.235,2180,706,3315,3406,3224,0,0,0,0,0,0,14.14,13.40,14.44,6.29,49.84
$GC,237,-0.64,-146.0,2180,707,3410,3226,29.9,-18.3,45,241,0.08,2.40,0.00,0.000,3078,0.373,0.057,2194,2103,3317,3409,3225,0,0,0,0,0,0,14.21,14.38,14.43,6.30,48.97
$GC,363,-0.64,-146.0,2193,2104,3410,3226,51.5,-16.8,70,366,0.00,0.00,0.00,0.000,2054,0.000,0.000,2194,2104,3317,3409,3225,0,0,0,0,0,0,14.65,14.65,14.65,6.31,49.48
$GC,487,-0.64,-146.0,2194,2104,3411,3226,71.3,-14.9,95,492,0.00,2.50,0.00,0.000,260,0.000,0.082,2178,3527,3317,3410,3225,0,0,0,0,0,0,14.67,14.40,14.68,6.31,49.48
$GC,512,-0.64,-146.0,2185,3527,3411,3225,75.0,-15.3,100,516,0.00,2.42,0.00,0.000,3078,0.000,0.043,2183,2105,3317,3409,3225,0,0,0,0,0,0,14.49,14.44,14.50,6.31,48.93
$GC,637,-0.64,-146.0,2184,2104,3411,3224,93.8,-15.0,125,641,0.00,2.45,0.00,0.000,2564,0.000,0.063,2183,687,3317,3409,3225,0,0,0,0,0,0,14.69,14.44,14.70,6.30,48.38
$GC,652,-0.64,-146.0,2184,688,3411,3225,96.1,-15.0,128,656,0.05,2.45,0.00,0.000,3078,0.353,0.057,2189,2104,3317,3409,3225,0,0,0,0,0,0,14.22,14.42,14.39,6.30,48.42
$GC,782,-0.64,-146.0,2190,2099,3411,3225,115.0,-15.0,139,783,0.00,0.00,0.00,0.000,2054,0.000,0.000,2190,2098,3316,3409,3224,0,0,0,0,0,0,14.72,14.73,14.72,6.30,48.26
$GC,1082,-0.64,-146.0,2189,2099,3410,3226,156.4,-14.8,154,1086,0.00,2.42,0.00,0.000,2564,0.000,0.062,2189,685,3317,3409,3225,0,0,0,0,0,0,14.77,14.50,14.76,6.30,50.15
$GC,1132,-0.64,-146.0,2190,685,3411,3225,162.2,-14.5,156,1136,0.00,2.45,0.00,0.000,3078,0.000,0.057,2179,2099,3317,3410,3225,0,0,0,0,0,0,14.54,14.47,14.57,6.30,49.68
$GC,1442,-0.64,-146.0,2179,2099,3403,3226,205.6,-13.3,172,1446,0.00,2.45,0.00,0.000,2308,0.000,0.083,2169,3508,3317,3410,3225,0,0,0,0,0,0,14.79,14.50,14.79,6.31,50.31
$GC,1487,-0.64,-146.0,2169,3509,3410,3224,210.9,-13.3,174,1491,0.05,2.38,0.00,0.000,3078,0.357,0.043,2197,2096,3317,3409,3225,0,0,0,0,0,0,14.33,14.51,14.57,6.32,51.14
$GC,1802,-0.64,-146.0,2197,2096,3410,3226,249.4,-11.8,190,1806,0.00,2.45,0.00,0.000,516,0.000,0.063,2197,697,3322,3410,3235,0,0,0,0,0,0,14.81,14.51,14.81,6.33,51.41
$GC,1862,-0.64,-146.0,2197,697,3410,3225,256.5,-11.9,193,1866,0.00,2.42,0.00,0.000,3078,0.000,0.056,2186,2106,3317,3409,3225,0,0,0,0,0,0,14.58,14.52,14.61,6.32,50.82
$GC,2182,-0.64,-146.0,2187,2106,3410,3225,295.6,-12.4,209,2186,0.00,2.45,0.00,0.000,2308,0.000,0.083,2176,3529,3317,3409,3225,0,0,0,0,0,0,14.82,14.52,14.82,6.33,51.10
$GC,2207,-0.64,-146.0,2176,3521,3410,3225,298.2,-12.4,210,2211,0.05,2.38,0.00,0.000,3078,0.434,0.043,2192,2081,3317,3409,3225,0,0,0,0,0,0,14.35,14.57,14.59,6.32,50.94
$GC,2522,-0.64,-146.0,2192,2081,3410,3225,335.9,-11.6,226,2526,0.00,2.42,0.00,0.000,2564,0.000,0.063,2192,667,3316,3409,3224,0,0,0,0,0,0,14.83,14.55,14.83,6.34,51.89
$GC,2572,-0.64,-146.0,2191,667,3410,3226,340.5,-11.6,228,2576,0.00,2.45,0.00,0.000,3078,0.000,0.056,2182,2091,3317,3409,3225,0,0,0,0,0,0,14.59,14.54,14.66,6.33,51.26
$STATE,2660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2660,begin apogee
$GC,2665,-0.15,0.0,2183,2177,3410,3225,352.0,-11.7,233,2794,0.47,0.00,127.00,1.554,10246,0.264,0.000,2350,2177,2717,2778,2657,0,0,0,0,0,0,14.37,13.95,13.34,6.33,51.02
$STATE,2796,end apogee,CONTROL_FINISHED_OK
$STATE,2796,begin loiter
$GC,3082,-0.15,0.0,2350,2177,2772,2643,347.3,3.4,254,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2177,2706,2771,2642,0,0,0,0,0,0,14.57,14.57,14.57,6.28,50.59
$GC,3382,-0.15,0.0,2350,2177,2772,2640,337.8,3.1,269,3383,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2177,2705,2771,2639,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.82
$GC,3682,-0.15,0.0,2350,2178,2772,2639,329.0,2.8,284,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2177,2704,2771,2638,0,0,0,0,0,0,14.80,14.80,14.80,6.28,50.86
$GC,3982,-0.15,0.0,2350,2177,2772,2637,320.0,3.1,299,3983,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2177,2704,2771,2638,0,0,0,0,0,0,14.85,14.85,14.85,6.28,50.94
$GC,4282,-0.15,0.0,2350,2177,2772,2636,309.8,3.5,314,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2177,2704,2771,2637,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.18
$GC,4582,-0.15,0.0,2350,2178,2773,2637,298.3,3.9,329,4583,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2177,2703,2771,2636,0,0,0,0,0,0,14.92,14.93,14.93,6.28,51.22
$GC,4882,-0.15,0.0,2350,2177,2772,2636,286.8,3.7,344,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2177,2703,2771,2636,0,0,0,0,0,0,14.95,14.96,14.95,6.28,51.22
$GC,5182,-0.15,0.0,2350,2178,2772,2637,276.8,3.0,359,5183,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2177,2703,2771,2636,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.26
$GC,5482,-0.15,0.0,2350,2177,2772,2635,269.1,2.4,374,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2177,2703,2771,2636,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.77
$GC,5782,-0.15,0.0,2350,2177,2773,2636,262.6,2.1,389,5783,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2177,2703,2771,2636,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.41
$GC,6082,-0.15,0.0,2350,2177,2772,2637,255.7,2.5,404,6083,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2177,2703,2771,2636,0,0,0,0,0,0,15.01,15.02,15.02,6.29,51.10
$GC,6382,-0.15,0.0,2350,2178,2772,2636,247.5,2.9,419,6383,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2177,2703,2771,2635,0,0,0,0,0,0,15.02,15.03,15.02,6.28,51.26
$STATE,6400,end loiter,LOITER_COMPLETE
$STATE,6400,begin climb
$GC,6402,0.64,146.0,2350,2177,2772,2635,246.9,0.0,420,6543,0.62,2.62,130.62,1.417,10756,0.168,0.064,2612,751,2117,2141,2093,0,0,0,0,0,0,14.64,14.00,13.47,6.28,51.26
$GC,6603,0.64,146.0,2613,752,2135,2086,232.0,10.0,430,6606,0.00,2.40,0.00,0.000,5126,0.000,0.053,2612,2129,2110,2135,2086,0,0,0,0,0,0,14.26,14.16,14.26,6.24,49.05
$GC,6922,0.64,146.0,2613,2130,2131,2077,193.9,12.0,446,6927,0.00,2.53,0.00,0.000,4356,0.000,0.082,2612,3557,2104,2131,2077,0,0,0,0,0,0,14.61,14.33,14.60,6.24,50.47
$GC,7017,0.64,146.0,2613,3557,2125,2077,184.5,11.7,450,7022,0.05,2.38,0.00,0.000,5126,0.326,0.042,2605,2160,2103,2130,2077,0,0,0,0,0,0,14.19,14.38,14.35,6.24,50.43
$GC,7322,0.64,146.0,2605,2160,2129,2076,147.2,12.2,466,7326,0.00,2.47,0.00,0.000,516,0.000,0.065,2614,737,2101,2128,2074,0,0,0,0,0,0,14.72,14.45,14.73,6.23,51.10
$GC,7362,0.64,146.0,2615,738,2127,2074,142.7,11.8,468,7366,0.00,2.45,0.00,0.000,5126,0.000,0.054,2615,2151,2099,2125,2074,0,0,0,0,0,0,14.50,14.45,14.53,6.24,50.66
$GC,7682,0.64,146.0,2615,2152,2126,2074,105.3,11.7,484,7683,0.00,0.00,0.00,0.000,4102,0.000,0.000,2615,2151,2099,2125,2073,0,0,0,0,0,0,14.78,14.78,14.78,6.23,50.70
$GC,7983,0.64,146.0,2615,2152,2126,2073,71.0,11.3,535,7986,0.00,2.45,0.00,0.000,4356,0.000,0.082,2615,3557,2099,2126,2072,0,0,0,0,0,0,14.80,14.51,14.80,6.21,49.60
$GC,8047,0.64,146.0,2615,3558,2127,2072,63.6,11.0,548,8051,0.05,2.38,0.00,0.000,5126,0.321,0.042,2606,2146,2099,2125,2073,0,0,0,0,0,0,14.33,14.53,14.49,6.20,49.44
$GC,8173,0.64,146.0,2607,2147,2127,2072,51.4,9.5,573,8177,0.00,2.42,0.00,0.000,516,0.000,0.067,2617,745,2098,2125,2072,0,0,0,0,0,0,14.80,14.52,14.80,6.20,49.48
$GC,8272,0.66,163.9,2617,746,2125,2071,42.8,7.6,593,8291,0.00,2.40,12.98,1.297,13318,0.000,0.053,2617,2145,2046,2070,2023,0,0,0,0,0,0,14.58,14.52,13.90,6.20,49.60
$GC,8413,0.66,163.9,2617,2146,2069,2021,29.7,10.1,621,8416,0.00,2.47,0.00,0.000,4356,0.000,0.083,2616,3558,2045,2070,2021,0,0,0,0,0,0,14.74,14.46,14.74,6.19,49.25
$GC,8467,0.66,163.9,2617,3558,2071,2021,24.1,10.0,632,8472,0.03,2.38,0.00,0.000,5126,0.426,0.042,2618,2155,2045,2069,2021,0,0,0,0,0,0,14.29,14.50,14.43,6.20,49.96
$GC,8593,0.66,163.9,2618,2156,2069,2021,11.6,10.7,657,8597,0.00,2.45,0.00,0.000,4612,0.000,0.067,2627,737,2044,2068,2020,0,0,0,0,0,0,14.76,14.49,14.76,6.19,50.70
$GC,8647,0.66,163.9,2628,737,2068,2020,6.2,10.1,668,8651,0.05,2.42,0.00,0.000,5126,0.283,0.054,2607,2144,2043,2067,2019,0,0,0,0,0,0,14.32,14.49,14.47,6.20,50.43
$STATE,8686,end climb,SURFACE_DEPTH_REACHED
$STATE,8686,begin surface coast
$STATE,8721,end surface coast,CONTROL_FINISHED_OK
$STATE,8721,begin surface
$SM_CCo,8735,53.42,0.243,0,0,1820,220.03
$SM_GC,1.11,5.45,0.05,53.42,0.063,0.231,0.243,264,2097,1820,-6.46,1.10,220.03,0,0,0,0,0,0,14.57,14.52,14.30
$IRIDIUM_FIX,-5952.63,4.29,120119,061533
$TT8_MAMPS,0.039697,0.31458
$HUMID,49.88
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3785696
$24V_AH,13.34,53.573
$10V_AH,13.56,0.000
$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,13.025,73.500,270.600,53.425,0.000,25.560,36.667,121.135,0.000,0.000,13.355,0.000,6987.700,408.544,1568.098,141.587,0.000,1028.540,0.000,1119.625,0.000,0.539,0.000
$DEVICE_MAMPS,433.755,2234.565,1553.715,242.505,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5115.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.709,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,17347,683
$CAP_FILE_SIZE,90689,0
$CFSIZE,1023623168,993525760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.071,154.80,1
$GPS,120119,111831,-5951.881,0.025,12,0.8,35,-19.7,0.5,186.9,11,7.0