version: 66.14
glider: 640
mission: 5
dive: 270
start: 1 13 119 0 13 23
data:
$ID,640
$MISSION,5
$DIVE,270
$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,58
$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
$GPS1,130119,000801,-5950.0117,0.6055,13,0.7,36,-19.7,0.3,59.2,12,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-68.4
$GPS2,130119,001305,-5950.0278,0.6490,9,0.7,17,-19.7,0.0,165.2,12,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,12.7,18581,-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,-146.0,234,2072,1793,1827,0.0,0.0,0,101,0.00,0.00,-87.85,0.000,16386,0.000,0.000,234,2071,3222,3303,3141,0,0,0,0,0,0,14.61,28.83,14.62,6.18,50.66
$GC,103,-0.64,-146.0,234,2072,3303,3143,3.6,-8.4,18,117,6.00,2.58,-3.42,0.000,18948,0.355,2.238,2185,721,3318,3410,3226,0,0,0,0,0,0,14.14,13.22,14.43,6.30,49.64
$GC,141,-0.64,-146.0,2185,722,3413,3227,12.1,-18.2,26,146,0.05,2.40,0.00,0.000,3078,0.363,0.057,2191,2091,3318,3411,3226,0,0,0,0,0,0,14.14,14.34,14.31,6.31,48.97
$GC,267,-0.64,-146.0,2191,2093,3413,3228,34.3,-17.7,51,271,0.00,2.40,0.00,0.000,2564,0.000,0.063,2191,715,3319,3412,3226,0,0,0,0,0,0,14.64,14.39,14.64,6.31,48.97
$GC,306,-0.64,-146.0,2192,715,3413,3226,41.7,-18.5,59,310,0.00,2.42,0.00,0.000,3078,0.000,0.058,2181,2101,3319,3412,3227,0,0,0,0,0,0,14.44,14.38,14.46,6.31,48.89
$GC,431,-0.64,-146.0,2181,2102,3413,3228,60.5,-14.7,84,436,0.00,2.47,0.00,0.000,2308,0.000,0.083,2170,3510,3319,3412,3226,0,0,0,0,0,0,14.68,14.40,14.68,6.31,49.25
$GC,471,-0.64,-146.0,2171,3510,3413,3226,66.7,-15.7,92,477,0.05,2.35,0.00,0.000,3078,0.356,0.043,2188,2127,3319,3412,3227,0,0,0,0,0,0,14.20,14.44,14.37,6.31,49.56
$GC,598,-0.64,-146.0,2189,2126,3413,3227,85.0,-14.8,117,601,0.00,2.47,0.00,0.000,2564,0.000,0.063,2188,693,3319,3412,3226,0,0,0,0,0,0,14.69,14.45,14.70,6.31,48.93
$GC,616,-0.64,-146.0,2188,693,3413,3227,88.0,-15.1,121,621,0.03,2.45,0.00,0.000,3078,0.457,0.057,2186,2101,3319,3412,3227,0,0,0,0,0,0,14.21,14.43,14.37,6.31,48.70
$GC,741,-0.64,-146.0,2186,2102,3414,3226,106.4,-14.7,140,742,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2101,3319,3412,3227,0,0,0,0,0,0,14.73,14.73,14.73,6.31,48.34
$GC,1042,-0.64,-146.0,2187,2102,3413,3221,147.5,-14.3,155,1045,0.00,2.42,0.00,0.000,2564,0.000,0.061,2185,685,3319,3412,3227,0,0,0,0,0,0,14.77,14.50,14.77,6.30,49.29
$GC,1091,-0.64,-146.0,2186,685,3413,3227,153.0,-14.0,157,1095,0.05,2.45,0.00,0.000,3078,0.365,0.057,2191,2102,3319,3412,3226,0,0,0,0,0,0,14.25,14.48,14.57,6.30,49.76
$GC,1401,-0.64,-146.0,2191,2103,3413,3228,195.3,-12.8,173,1405,0.00,2.45,0.00,0.000,2308,0.000,0.083,2180,3512,3319,3412,3226,0,0,0,0,0,0,14.80,14.50,14.80,6.32,50.82
$GC,1451,-0.64,-146.0,2180,3512,3413,3227,200.5,-12.9,175,1456,0.00,2.38,0.00,0.000,3078,0.000,0.042,2180,2101,3319,3412,3227,0,0,0,0,0,0,14.58,14.53,14.60,6.31,51.18
$GC,1761,-0.64,-146.0,2181,2100,3413,3227,243.1,-13.5,191,1765,0.00,2.42,0.00,0.000,2564,0.000,0.062,2180,689,3319,3412,3226,0,0,0,0,0,0,14.82,14.54,14.82,6.32,50.94
$GC,1801,-0.64,-146.0,2180,690,3413,3228,248.6,-13.6,193,1805,0.05,2.42,0.00,0.000,3078,0.353,0.056,2187,2094,3319,3412,3226,0,0,0,0,0,0,14.29,14.52,14.62,6.32,50.82
$GC,2122,-0.64,-146.0,2187,2095,3413,3228,289.9,-12.9,209,2126,0.00,2.45,0.00,0.000,2308,0.000,0.083,2177,3508,3319,3412,3227,0,0,0,0,0,0,14.83,14.52,14.83,6.33,51.29
$GC,2157,-0.64,-146.0,2176,3508,3413,3227,292.5,-12.9,210,2161,0.05,2.35,0.00,0.000,3078,0.437,0.042,2192,2082,3319,3412,3226,0,0,0,0,0,0,14.34,14.58,14.59,6.33,51.26
$GC,2462,-0.64,-146.0,2192,2081,3412,3226,332.7,-12.5,226,2465,0.00,2.35,0.00,0.000,2564,0.000,0.063,2192,699,3319,3412,3226,0,0,0,0,0,0,14.83,14.56,14.83,6.34,51.14
$GC,2526,-0.64,-146.0,2192,700,3413,3227,340.2,-12.5,229,2531,0.00,2.40,0.00,0.000,3078,0.000,0.055,2182,2099,3319,3412,3226,0,0,0,0,0,0,14.59,14.53,14.62,6.34,50.98
$STATE,2600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2600,begin apogee
$GC,2604,-0.15,0.0,2183,2165,3413,3226,350.1,-12.4,233,2734,0.47,0.00,127.18,1.560,10246,0.266,0.000,2350,2164,2718,2778,2658,0,0,0,0,0,0,14.36,13.95,13.33,6.34,51.41
$STATE,2735,end apogee,CONTROL_FINISHED_OK
$STATE,2735,begin loiter
$GC,3021,-0.15,0.0,2350,2165,2772,2643,346.7,3.4,254,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2706,2771,2642,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.59
$GC,3322,-0.15,0.0,2351,2165,2772,2639,337.0,3.3,269,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2164,2705,2771,2639,0,0,0,0,0,0,14.72,14.72,14.72,6.29,51.10
$GC,3621,-0.15,0.0,2351,2165,2772,2638,327.1,3.4,284,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2704,2771,2638,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.33
$GC,3922,-0.15,0.0,2350,2165,2772,2638,317.0,3.4,299,3922,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2704,2771,2637,0,0,0,0,0,0,14.86,14.86,14.86,6.29,51.85
$GC,4221,-0.15,0.0,2350,2165,2771,2638,306.5,3.6,314,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2164,2703,2771,2636,0,0,0,0,0,0,14.90,14.90,14.91,6.28,51.14
$GC,4521,-0.15,0.0,2350,2165,2771,2637,295.9,3.6,329,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2703,2771,2636,0,0,0,0,0,0,14.94,14.94,14.95,6.28,51.02
$GC,4821,-0.15,0.0,2351,2165,2772,2636,285.3,3.6,344,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2703,2771,2636,0,0,0,0,0,0,14.96,14.97,14.97,6.29,51.53
$GC,5121,-0.15,0.0,2351,2165,2772,2636,274.3,3.7,359,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2703,2771,2636,0,0,0,0,0,0,14.98,14.99,14.99,6.29,51.57
$GC,5422,-0.15,0.0,2350,2165,2771,2636,262.6,4.0,374,5422,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2703,2771,2636,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.37
$GC,5721,-0.15,0.0,2351,2165,2772,2636,251.3,3.6,389,5722,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2164,2703,2771,2636,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.22
$GC,6021,-0.15,0.0,2351,2165,2772,2636,240.5,3.5,404,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2703,2771,2636,0,0,0,0,0,0,15.02,15.03,15.03,6.28,52.00
$STATE,6320,end loiter,LOITER_COMPLETE
$STATE,6320,begin climb
$GC,6322,0.64,146.0,2351,2165,2772,2635,230.3,0.0,419,6462,0.62,2.60,130.20,1.394,10756,0.168,0.064,2613,753,2117,2141,2093,0,0,0,0,0,0,14.64,14.01,13.47,6.28,51.33
$GC,6491,0.64,146.0,2613,760,2137,2088,218.8,9.0,427,6495,0.00,2.45,0.00,0.000,5126,0.000,0.052,2613,2131,2111,2135,2088,0,0,0,0,0,0,14.14,14.09,14.15,6.24,49.84
$GC,6801,0.64,146.0,2612,2131,2132,2077,177.7,13.3,443,6806,0.00,2.53,0.00,0.000,4356,0.000,0.081,2612,3556,2106,2135,2078,0,0,0,0,0,0,14.59,14.31,14.59,6.24,50.31
$GC,6896,0.64,146.0,2613,3557,2132,2078,167.2,13.1,447,6901,0.05,2.40,0.00,0.000,5126,0.333,0.041,2605,2150,2103,2131,2075,0,0,0,0,0,0,14.16,14.38,14.35,6.24,50.90
$GC,7201,0.64,146.0,2606,2150,2129,2075,128.2,11.7,463,7205,0.00,2.45,0.00,0.000,516,0.000,0.065,2615,742,2101,2128,2075,0,0,0,0,0,0,14.71,14.42,14.69,6.23,50.74
$GC,7266,0.64,146.0,2615,742,2127,2075,121.5,11.2,466,7271,0.00,2.42,0.00,0.000,5126,0.000,0.052,2615,2147,2100,2126,2074,0,0,0,0,0,0,14.50,14.45,14.52,6.23,50.66
$GC,7571,0.64,146.0,2616,2148,2126,2074,87.4,10.2,498,7575,0.00,2.45,0.00,0.000,4612,0.000,0.066,2625,732,2099,2126,2073,0,0,0,0,0,0,14.77,14.45,14.77,6.22,50.51
$GC,7597,0.64,146.0,2626,733,2126,2073,85.0,9.4,503,7601,0.05,2.40,0.00,0.000,5126,0.389,0.053,2606,2155,2099,2125,2073,0,0,0,0,0,0,14.35,14.51,14.57,6.22,50.86
$GC,7723,0.64,146.0,2606,2156,2126,2074,72.4,10.4,528,7726,0.00,2.45,0.00,0.000,260,0.000,0.083,2606,3555,2099,2125,2073,0,0,0,0,0,0,14.77,14.49,14.78,6.21,49.68
$GC,7761,0.64,146.0,2615,3555,2126,2073,68.0,10.8,536,7766,0.00,2.38,0.00,0.000,5126,0.000,0.042,2615,2150,2099,2125,2073,0,0,0,0,0,0,14.52,14.47,14.54,6.21,49.37
$GC,7888,0.64,146.0,2615,2151,2126,2073,54.7,10.7,561,7891,0.00,2.45,0.00,0.000,4612,0.000,0.066,2632,739,2101,2130,2072,0,0,0,0,0,0,14.78,14.51,14.78,6.21,49.56
$GC,7951,0.64,146.0,2626,740,2126,2072,48.1,9.4,574,7956,0.05,2.42,0.00,0.000,5126,0.295,0.053,2606,2148,2096,2124,2068,0,0,0,0,0,0,14.28,14.47,14.45,6.20,49.37
$GC,8077,0.64,146.0,2605,2148,2125,2073,37.6,8.5,599,8081,0.00,2.42,0.00,0.000,516,0.000,0.065,2615,742,2098,2124,2072,0,0,0,0,0,0,14.78,14.52,14.78,6.20,49.25
$GC,8107,0.64,146.0,2615,744,2125,2071,35.0,8.6,605,8110,0.00,2.40,0.00,0.000,5126,0.000,0.053,2615,2161,2097,2123,2071,0,0,0,0,0,0,14.65,14.52,14.66,6.20,49.29
$GC,8232,0.64,146.0,2615,2161,2125,2071,24.1,8.7,630,8236,0.00,2.45,0.00,0.000,4356,0.000,0.084,2615,3559,2097,2124,2071,0,0,0,0,0,0,14.80,14.50,14.80,6.20,49.48
$GC,8306,0.64,146.0,2615,3559,2125,2071,16.8,10.0,645,8311,0.05,2.38,0.00,0.000,5126,0.325,0.041,2607,2143,2097,2123,2071,0,0,0,0,0,0,14.31,14.54,14.49,6.20,50.43
$GC,8432,0.64,146.0,2605,2143,2124,2072,6.1,8.4,670,8436,0.00,2.40,0.00,0.000,4612,0.000,0.065,2612,746,2096,2123,2070,0,0,0,0,0,0,14.80,14.52,14.77,6.20,50.27
$STATE,8470,end climb,SURFACE_DEPTH_REACHED
$STATE,8470,begin surface coast
$STATE,8485,end surface coast,CONTROL_FINISHED_OK
$STATE,8485,begin surface
$SM_CCo,8500,66.07,0.243,0,0,1822,220.03
$SM_GC,1.33,5.80,2.35,66.07,0.137,0.052,0.243,228,2103,1822,-6.45,-0.93,220.03,0,0,0,0,0,0,14.64,14.55,14.30
$IRIDIUM_FIX,-5949.69,4.28,120119,213730
$TT8_MAMPS,0.03745,0.217959
$HUMID,50.55
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3782624
$24V_AH,13.22,54.618
$10V_AH,13.64,0.000
$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,13.375,87.525,257.375,66.075,0.000,26.146,19.790,119.881,0.000,0.000,18.178,0.000,6750.382,422.602,1552.364,148.038,0.000,1042.618,0.000,1112.013,0.000,0.539,0.000
$DEVICE_MAMPS,456.705,2237.625,1559.835,242.505,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4899.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.822,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,17325,681
$CAP_FILE_SIZE,93202,0
$CFSIZE,1023623168,992935936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.060,125.35,1
$GPS,130119,023701,-5949.631,1.037,14,0.7,26,-19.7,0.0,98.9,11,8.7