version: 66.14
glider: 640
mission: 5
dive: 267
start: 1 12 119 16 30 11
data:
$ID,640
$MISSION,5
$DIVE,267
$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,52
$R_STBD_OVSHOOT,27
$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
$GPS1,120119,162431,-5951.0552,0.7270,15,0.7,39,-19.7,0.0,158.6,10,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-66.2
$GPS2,120119,162953,-5951.0166,0.7589,8,0.7,17,-19.7,0.0,33.5,10,9.7
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,9.1,20415,-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,-146.0,231,2076,1804,1825,0.0,0.0,0,102,0.00,0.00,-88.25,0.000,16386,0.000,0.000,231,2075,3202,3283,3122,0,0,0,0,0,0,14.61,28.83,14.61,6.18,50.31
$GC,104,-0.64,-146.0,232,2076,3285,3123,3.2,-7.0,18,119,6.07,2.62,-4.28,0.000,18948,0.360,2.236,2193,710,3318,3409,3228,0,0,0,0,0,0,14.14,13.39,14.43,6.29,49.80
$GC,199,-0.64,-146.0,2193,709,3411,3227,19.8,-17.2,37,203,0.00,2.40,0.00,0.000,3078,0.000,0.057,2184,2104,3317,3410,3225,0,0,0,0,0,0,14.47,14.36,14.47,6.30,48.46
$GC,323,-0.64,-146.0,2184,2106,3412,3226,41.2,-16.9,62,325,0.00,0.00,0.00,0.000,2054,0.000,0.000,2184,2105,3318,3412,3225,0,0,0,0,0,0,14.65,14.66,14.66,6.30,49.37
$GC,448,-0.64,-146.0,2185,2106,3412,3225,61.8,-16.7,87,452,0.00,2.45,0.00,0.000,2308,0.000,0.082,2173,3508,3318,3411,3226,0,0,0,0,0,0,14.68,14.40,14.68,6.30,49.68
$GC,528,-0.64,-146.0,2174,3508,3413,3225,74.2,-14.5,103,532,0.05,2.35,0.00,0.000,3078,0.353,0.041,2190,2116,3318,3411,3225,0,0,0,0,0,0,14.20,14.44,14.38,6.31,49.72
$GC,654,-0.64,-146.0,2191,2115,3413,3225,91.4,-13.5,128,658,0.00,2.45,0.00,0.000,2564,0.000,0.063,2190,693,3318,3411,3225,0,0,0,0,0,0,14.70,14.41,14.71,6.30,48.30
$GC,703,-0.64,-146.0,2190,694,3412,3227,98.2,-13.2,138,707,0.00,2.45,0.00,0.000,3078,0.000,0.057,2180,2103,3318,3411,3225,0,0,0,0,0,0,14.50,14.43,14.52,6.31,48.07
$GC,838,-0.64,-146.0,2181,2104,3413,3226,116.1,-13.4,147,842,0.00,2.45,0.00,0.000,2308,0.000,0.081,2170,3510,3318,3411,3225,0,0,0,0,0,0,14.73,14.44,14.73,6.30,48.70
$GC,913,-0.64,-146.0,2169,3512,3412,3225,124.4,-13.7,150,917,0.08,2.35,0.00,0.000,3078,0.362,0.042,2195,2096,3317,3410,3225,0,0,0,0,0,0,14.29,14.51,14.52,6.30,48.62
$GC,1218,-0.64,-146.0,2195,2095,3412,3226,164.9,-11.9,166,1222,0.00,2.42,0.00,0.000,516,0.000,0.063,2195,689,3318,3412,3225,0,0,0,0,0,0,14.78,14.51,14.78,6.31,50.74
$GC,1293,-0.64,-146.0,2195,690,3413,3227,172.3,-12.2,169,1297,0.00,2.45,0.00,0.000,3078,0.000,0.057,2187,2106,3318,3411,3225,0,0,0,0,0,0,14.54,14.49,14.57,6.31,50.86
$GC,1598,-0.64,-146.0,2185,2107,3412,3226,212.0,-12.6,185,1602,0.00,2.42,0.00,0.000,2564,0.000,0.062,2185,692,3318,3411,3225,0,0,0,0,0,0,14.80,14.53,14.81,6.32,50.70
$GC,1618,-0.64,-146.0,2186,693,3413,3226,214.6,-12.7,186,1622,0.05,2.42,0.00,0.000,3078,0.361,0.056,2191,2097,3318,3411,3225,0,0,0,0,0,0,14.28,14.51,14.62,6.32,50.70
$GC,1938,-0.64,-146.0,2191,2098,3412,3226,255.0,-12.5,202,1942,0.00,2.45,0.00,0.000,2308,0.000,0.081,2181,3510,3318,3411,3225,0,0,0,0,0,0,14.81,14.52,14.82,6.33,50.94
$GC,1988,-0.64,-146.0,2181,3518,3412,3226,260.1,-12.6,204,1991,0.00,2.38,0.00,0.000,3078,0.000,0.041,2180,2095,3318,3411,3225,0,0,0,0,0,0,14.59,14.54,14.62,6.32,50.98
$GC,2298,-0.64,-146.0,2180,2092,3412,3225,301.1,-12.9,220,2302,0.00,2.42,0.00,0.000,2564,0.000,0.062,2180,676,3318,3411,3225,0,0,0,0,0,0,14.83,14.54,14.83,6.33,50.94
$GC,2333,-0.64,-146.0,2180,677,3412,3226,303.8,-13.0,221,2337,0.08,2.45,0.00,0.000,3078,0.375,0.056,2193,2124,3318,3411,3225,0,0,0,0,0,0,14.35,14.56,14.59,6.33,50.98
$GC,2638,-0.64,-146.0,2194,2124,3413,3225,342.8,-12.3,237,2642,0.00,2.40,0.00,0.000,2308,0.000,0.082,2183,3512,3318,3411,3225,0,0,0,0,0,0,14.83,14.53,14.84,6.34,51.37
$GC,2663,-0.64,-146.0,2183,3513,3412,3226,345.3,-12.4,238,2667,0.00,2.38,0.00,0.000,3078,0.000,0.042,2183,2097,3318,3411,3225,0,0,0,0,0,0,14.61,14.56,14.63,6.34,51.10
$STATE,2696,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2696,begin apogee
$GC,2701,-0.15,0.0,2183,2168,3412,3226,350.5,-12.7,240,2829,0.47,0.00,126.18,1.568,10246,0.261,0.000,2352,2167,2720,2780,2660,0,0,0,0,0,0,14.37,13.95,13.33,6.34,51.02
$STATE,2831,end apogee,CONTROL_FINISHED_OK
$STATE,2831,begin loiter
$GC,3118,-0.15,0.0,2353,2168,2773,2644,348.5,2.8,261,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2167,2707,2772,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.55
$GC,3418,-0.15,0.0,2352,2168,2773,2642,339.7,3.0,276,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2167,2706,2772,2641,0,0,0,0,0,0,14.71,14.72,14.71,6.29,51.06
$GC,3718,-0.15,0.0,2352,2168,2774,2639,330.5,3.1,291,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2167,2706,2772,2640,0,0,0,0,0,0,14.80,14.79,14.80,6.29,50.78
$GC,4018,-0.15,0.0,2352,2168,2773,2640,321.1,3.1,306,4019,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2167,2705,2772,2639,0,0,0,0,0,0,14.85,14.85,14.85,6.29,51.53
$GC,4318,-0.15,0.0,2352,2168,2773,2640,312.1,2.9,321,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2167,2705,2772,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.14
$GC,4618,-0.15,0.0,2352,2168,2773,2639,303.4,2.9,336,4619,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2167,2705,2772,2638,0,0,0,0,0,0,14.93,14.93,14.93,6.29,51.49
$GC,4918,-0.15,0.0,2352,2168,2773,2639,294.6,3.0,351,4919,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2167,2705,2772,2638,0,0,0,0,0,0,14.95,14.96,14.96,6.28,51.14
$GC,5218,-0.15,0.0,2352,2168,2773,2639,285.7,2.9,366,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2167,2705,2772,2638,0,0,0,0,0,0,14.97,14.98,14.98,6.29,51.41
$GC,5518,-0.15,0.0,2352,2168,2773,2639,277.2,2.8,381,5519,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2167,2705,2772,2638,0,0,0,0,0,0,14.99,15.00,15.00,6.28,51.57
$GC,5818,-0.15,0.0,2353,2168,2774,2638,268.9,2.7,396,5819,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2167,2705,2772,2638,0,0,0,0,0,0,15.01,15.01,15.01,6.29,51.06
$GC,6118,-0.15,0.0,2352,2168,2773,2639,260.6,2.9,411,6119,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2167,2704,2772,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.26
$STATE,6416,end loiter,LOITER_COMPLETE
$STATE,6416,begin climb
$GC,6418,0.64,146.0,2352,2168,2773,2638,251.4,0.0,426,6553,0.60,0.00,130.30,1.421,10502,0.168,0.000,2594,2167,2124,2149,2099,0,0,0,0,0,0,14.63,14.03,13.47,6.28,51.33
$GC,6858,0.64,146.0,2595,2167,2135,2078,208.7,11.3,448,6859,0.00,0.00,0.00,0.000,2054,0.000,0.000,2594,2167,2106,2134,2078,0,0,0,0,0,0,14.57,14.57,14.57,6.27,50.07
$GC,7158,0.64,146.0,2595,2168,2132,2076,174.5,11.3,463,7159,0.00,0.00,0.00,0.000,2054,0.000,0.000,2594,2167,2101,2127,2076,0,0,0,0,0,0,14.69,14.69,14.69,6.24,50.59
$GC,7458,0.64,146.0,2593,2168,2130,2076,142.3,10.5,478,7462,0.00,2.47,0.00,0.000,2564,0.000,0.067,2605,750,2102,2130,2075,0,0,0,0,0,0,14.74,14.44,14.75,6.24,50.78
$GC,7488,0.64,146.0,2605,750,2128,2076,140.2,10.4,479,7493,0.00,2.35,0.00,0.000,1030,0.000,0.052,2605,2140,2100,2127,2074,0,0,0,0,0,0,14.57,14.46,14.57,6.23,50.74
$GC,7798,0.64,146.0,2606,2141,2128,2073,106.5,10.5,495,7802,0.00,2.47,0.00,0.000,260,0.000,0.081,2605,3558,2100,2127,2073,0,0,0,0,0,0,14.79,14.47,14.79,6.23,50.43
$GC,7883,0.64,146.0,2606,3558,2128,2073,97.5,10.5,503,7887,0.00,2.38,0.00,0.000,5126,0.000,0.042,2616,2137,2100,2127,2073,0,0,0,0,0,0,14.66,14.55,14.67,6.22,50.07
$GC,8009,0.64,146.0,2616,2129,2128,2073,83.6,11.5,528,8012,0.00,2.42,0.00,0.000,4612,0.000,0.067,2627,734,2099,2127,2072,0,0,0,0,0,0,14.78,14.52,14.79,6.21,49.64
$GC,8053,0.64,146.0,2627,734,2126,2074,78.7,10.9,537,8058,0.05,2.45,0.00,0.000,5126,0.299,0.053,2608,2154,2098,2125,2072,0,0,0,0,0,0,14.33,14.49,14.49,6.21,49.84
$GC,8179,0.64,146.0,2607,2153,2127,2072,65.2,10.5,562,8183,0.00,2.45,0.00,0.000,4356,0.000,0.083,2608,3551,2098,2125,2072,0,0,0,0,0,0,14.79,14.50,14.78,6.21,49.76
$GC,8233,0.64,146.0,2607,3553,2126,2073,59.5,10.2,573,8238,0.00,2.38,0.00,0.000,5126,0.000,0.043,2616,2145,2099,2126,2072,0,0,0,0,0,0,14.59,14.54,14.60,6.20,49.13
$GC,8359,0.64,146.0,2616,2145,2136,2073,46.8,9.9,598,8363,0.00,2.42,0.00,0.000,4612,0.000,0.066,2627,741,2098,2125,2072,0,0,0,0,0,0,14.79,14.52,14.79,6.20,48.93
$GC,8378,0.64,146.0,2628,740,2126,2074,44.9,9.4,602,8382,0.05,2.40,0.00,0.000,5126,0.294,0.053,2608,2135,2098,2125,2072,0,0,0,0,0,0,14.31,14.47,14.45,6.21,48.93
$GC,8504,0.64,146.0,2607,2136,2126,2073,33.8,8.9,627,8508,0.00,2.47,0.00,0.000,260,0.000,0.083,2608,3554,2098,2125,2072,0,0,0,0,0,0,14.79,14.51,14.80,6.20,48.97
$GC,8618,0.64,146.0,2607,3555,2126,2073,22.8,9.4,650,8622,0.00,2.38,0.00,0.000,5126,0.000,0.042,2616,2147,2098,2125,2071,0,0,0,0,0,0,14.55,14.50,14.57,6.20,49.68
$GC,8744,0.64,146.5,2617,2144,2126,2072,11.4,8.3,675,8748,0.00,2.42,0.00,0.000,4612,0.000,0.069,2627,748,2098,2125,2071,0,0,0,0,0,0,14.80,14.52,14.80,6.21,50.11
$GC,8783,0.67,170.2,2628,747,2126,2071,8.4,7.4,683,8806,0.00,2.38,17.10,0.282,13318,0.000,0.053,2627,2157,2021,2042,2000,0,0,0,0,0,0,14.66,14.54,14.32,6.21,50.11
$STATE,8836,end climb,SURFACE_DEPTH_REACHED
$STATE,8836,begin surface coast
$STATE,8863,end surface coast,CONTROL_FINISHED_OK
$STATE,8863,begin surface
$SM_CCo,8876,47.88,0.243,0,0,1822,220.03
$SM_GC,1.24,5.53,0.10,47.88,0.067,0.142,0.243,274,2081,1822,-6.45,0.82,220.03,0,0,0,0,0,0,14.62,14.54,14.31
$IRIDIUM_FIX,-5949.69,0.00,120119,135354
$TT8_MAMPS,0.039697,0.354277
$HUMID,49.72
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3784160
$24V_AH,13.33,54.097
$10V_AH,13.52,0.000
$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,13.025,77.775,273.575,47.875,0.000,27.157,37.387,120.457,0.000,0.000,18.761,0.000,7116.430,405.444,1579.550,146.914,0.000,1029.993,0.000,1120.052,0.000,0.539,0.000
$DEVICE_MAMPS,374.850,2236.095,1568.250,242.505,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5275.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.642,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,17332,699
$CAP_FILE_SIZE,92435,0
$CFSIZE,1023623168,993230848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.016,210.59,1
$GPS,120119,185955,-5950.510,0.442,13,0.8,36,-19.7,0.3,25.3,10,8.4