version: 66.14
glider: 640
mission: 5
dive: 271
start: 1 13 119 2 42 23
data:
$ID,640
$MISSION,5
$DIVE,271
$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,34
$R_STBD_OVSHOOT,33
$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
$GPS1,130119,023701,-5949.6309,1.0366,14,0.7,26,-19.7,0.0,98.9,11,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-67.5
$GPS2,130119,024205,-5949.6245,1.1109,9,0.8,15,-19.7,0.8,39.8,10,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,5.4,17855,-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,-146.0,229,2104,1796,1823,0.0,0.0,0,101,0.00,0.00,-87.88,0.000,16386,0.000,0.000,228,2104,3232,3313,3151,0,0,0,0,0,0,14.62,28.83,14.62,6.17,50.66
$GC,103,-0.64,-146.0,229,2105,3314,3153,3.7,-8.3,18,117,6.07,2.67,-3.05,0.000,18948,0.359,2.235,2183,694,3317,3408,3227,0,0,0,0,0,0,14.14,13.19,14.44,6.29,50.51
$GC,156,-0.64,-146.0,2183,695,3411,3228,14.9,-18.4,29,160,0.05,2.45,0.00,0.000,3078,0.359,0.056,2189,2096,3318,3410,3227,0,0,0,0,0,0,14.14,14.35,14.32,6.31,48.70
$GC,283,-0.64,-146.0,2190,2096,3412,3227,35.8,-16.3,54,286,0.00,2.47,0.00,0.000,2308,0.000,0.080,2179,3512,3319,3411,3227,0,0,0,0,0,0,14.64,14.38,14.64,6.31,49.17
$GC,321,-0.64,-146.0,2180,3512,3412,3227,42.1,-15.0,62,325,0.03,2.35,0.00,0.000,3078,0.606,0.042,2190,2100,3319,3411,3227,0,0,0,0,0,0,14.21,14.44,14.45,6.31,49.48
$GC,447,-0.64,-146.0,2191,2098,3412,3228,59.3,-14.2,87,451,0.00,2.42,0.00,0.000,2564,0.000,0.063,2190,695,3319,3411,3227,0,0,0,0,0,0,14.68,14.42,14.68,6.30,49.48
$GC,511,-0.64,-146.0,2190,693,3412,3228,68.6,-13.7,100,515,0.00,2.45,0.00,0.000,3078,0.000,0.056,2180,2104,3319,3411,3227,0,0,0,0,0,0,14.57,14.42,14.58,6.30,49.05
$GC,637,-0.64,-146.0,2181,2105,3414,3227,87.0,-15.5,125,640,0.00,2.45,0.00,0.000,2564,0.000,0.063,2180,686,3319,3411,3227,0,0,0,0,0,0,14.71,14.45,14.71,6.30,48.70
$GC,656,-0.64,-146.0,2180,687,3412,3228,90.1,-15.7,129,660,0.05,2.45,0.00,0.000,3078,0.356,0.057,2196,2099,3319,3411,3227,0,0,0,0,0,0,14.26,14.43,14.50,6.30,48.38
$GC,786,-0.64,-146.0,2197,2099,3413,3227,109.4,-14.6,146,790,0.00,2.42,0.00,0.000,516,0.000,0.064,2196,696,3319,3412,3227,0,0,0,0,0,0,14.73,14.45,14.73,6.30,48.58
$GC,836,-0.64,-146.0,2199,697,3412,3228,115.3,-14.4,148,840,0.00,2.42,0.00,0.000,3078,0.000,0.057,2187,2097,3323,3412,3234,0,0,0,0,0,0,14.50,14.45,14.54,6.30,48.30
$GC,1146,-0.64,-146.0,2187,2098,3412,3228,160.7,-14.2,164,1147,0.00,0.00,0.00,0.000,2054,0.000,0.000,2187,2097,3318,3410,3227,0,0,0,0,0,0,14.78,14.78,14.78,6.31,50.35
$GC,1446,-0.64,-146.0,2187,2097,3413,3227,201.2,-13.3,179,1450,0.00,2.45,0.00,0.000,2308,0.000,0.082,2176,3510,3319,3411,3227,0,0,0,0,0,0,14.81,14.51,14.81,6.32,51.29
$GC,1486,-0.64,-146.0,2176,3511,3412,3228,206.7,-13.5,181,1490,0.05,2.38,0.00,0.000,3078,0.357,0.042,2193,2092,3318,3411,3226,0,0,0,0,0,0,14.28,14.54,14.62,6.31,51.10
$GC,1806,-0.64,-146.0,2193,2091,3412,3228,248.8,-13.0,197,1811,0.00,2.38,0.00,0.000,2564,0.000,0.062,2193,701,3319,3411,3227,0,0,0,0,0,0,14.82,14.54,14.82,6.32,51.69
$GC,1872,-0.64,-146.0,2193,701,3413,3226,256.6,-13.0,200,1875,0.00,2.38,0.00,0.000,3078,0.000,0.056,2183,2110,3319,3411,3227,0,0,0,0,0,0,14.67,14.56,14.69,6.33,50.90
$GC,2186,-0.64,-146.0,2183,2110,3412,3228,298.2,-13.0,216,2187,0.00,0.00,0.00,0.000,2054,0.000,0.000,2183,2110,3319,3411,3227,0,0,0,0,0,0,14.83,14.83,14.83,6.33,51.45
$GC,2487,-0.64,-146.0,2183,2111,3412,3226,337.9,-13.2,231,2487,0.00,0.00,0.00,0.000,2054,0.000,0.000,2183,2110,3318,3411,3226,0,0,0,0,0,0,14.84,14.84,14.84,6.33,51.26
$STATE,2585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2585,begin apogee
$GC,2589,-0.15,0.0,2183,2162,3412,3228,351.0,-13.1,236,2719,0.47,0.00,126.78,1.567,10246,0.263,0.000,2351,2161,2718,2778,2659,0,0,0,0,0,0,14.37,13.95,13.33,6.33,51.33
$STATE,2720,end apogee,CONTROL_FINISHED_OK
$STATE,2720,begin loiter
$GC,3006,-0.15,0.0,2351,2162,2772,2644,348.5,3.1,257,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2161,2706,2772,2641,0,0,0,0,0,0,14.57,14.57,14.58,6.29,50.51
$GC,3306,-0.15,0.0,2351,2161,2773,2640,338.9,3.3,272,3307,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2706,2772,2640,0,0,0,0,0,0,14.72,14.73,14.72,6.29,50.86
$GC,3606,-0.15,0.0,2351,2162,2772,2640,329.4,3.3,287,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2161,2705,2772,2639,0,0,0,0,0,0,14.81,14.81,14.81,6.28,51.18
$GC,3907,-0.15,0.0,2352,2162,2773,2638,320.1,3.1,302,3907,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2161,2705,2772,2638,0,0,0,0,0,0,14.86,14.87,14.87,6.28,51.18
$GC,4206,-0.15,0.0,2351,2162,2772,2639,311.1,2.9,317,4207,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2161,2704,2770,2638,0,0,0,0,0,0,14.90,14.91,14.91,6.28,51.57
$GC,4506,-0.15,0.0,2352,2162,2773,2638,302.4,2.9,332,4507,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2161,2704,2772,2637,0,0,0,0,0,0,14.94,14.95,14.94,6.28,51.22
$GC,4806,-0.15,0.0,2351,2162,2773,2639,293.7,2.9,347,4807,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2161,2704,2772,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.18
$GC,5106,-0.15,0.0,2351,2162,2773,2638,284.5,3.2,362,5107,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2161,2704,2772,2637,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.45
$GC,5407,-0.15,0.0,2351,2162,2773,2637,274.4,3.5,377,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2161,2704,2772,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.33
$GC,5706,-0.15,0.0,2351,2162,2773,2638,263.4,3.7,392,5707,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2161,2704,2772,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.49
$GC,6006,-0.15,0.0,2351,2162,2773,2638,252.0,3.7,407,6007,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2161,2704,2772,2637,0,0,0,0,0,0,15.03,15.03,15.03,6.28,51.53
$STATE,6305,end loiter,LOITER_COMPLETE
$STATE,6305,begin climb
$GC,6306,0.64,146.0,2352,2162,2773,2637,241.3,0.0,422,6448,0.62,2.55,130.82,1.406,10500,0.175,0.080,2601,3544,2117,2142,2093,0,0,0,0,0,0,14.63,14.00,13.47,6.28,51.29
$GC,6487,0.64,146.0,2602,3544,2142,2087,227.5,10.1,431,6490,0.00,2.40,0.00,0.000,5126,0.000,0.041,2611,2159,2114,2141,2087,0,0,0,0,0,0,14.18,14.13,14.19,6.24,49.37
$GC,6807,0.64,146.0,2612,2159,2133,2077,188.6,12.0,447,6811,0.00,2.50,0.00,0.000,4612,0.000,0.066,2622,738,2104,2132,2077,0,0,0,0,0,0,14.60,14.34,14.60,6.24,50.51
$GC,6867,0.64,146.0,2622,738,2129,2079,182.0,11.3,450,6872,0.05,2.45,0.00,0.000,5126,0.302,0.054,2603,2142,2102,2128,2077,0,0,0,0,0,0,14.19,14.34,14.45,6.24,50.43
$GC,7187,0.64,146.0,2603,2142,2128,2075,146.4,11.4,466,7190,0.00,2.50,0.00,0.000,260,0.000,0.081,2602,3562,2101,2128,2075,0,0,0,0,0,0,14.71,14.42,14.69,6.23,50.55
$GC,7282,0.64,146.0,2603,3563,2128,2076,137.3,11.3,470,7286,0.00,2.40,0.00,0.000,5126,0.000,0.042,2612,2145,2101,2128,2075,0,0,0,0,0,0,14.52,14.47,14.54,6.23,50.63
$GC,7587,0.64,146.0,2613,2145,2128,2073,101.8,11.4,486,7590,0.00,2.42,0.00,0.000,4612,0.000,0.064,2623,742,2100,2127,2073,0,0,0,0,0,0,14.78,14.50,14.78,6.23,50.70
$GC,7622,0.64,146.0,2624,743,2126,2074,98.2,10.4,490,7626,0.05,2.42,0.00,0.000,5126,0.302,0.053,2604,2156,2099,2125,2073,0,0,0,0,0,0,14.31,14.50,14.59,6.23,50.51
$GC,7747,0.64,146.0,2604,2154,2126,2072,85.1,10.3,515,7751,0.00,2.50,0.00,0.000,260,0.000,0.082,2604,3553,2099,2125,2073,0,0,0,0,0,0,14.78,14.47,14.78,6.22,50.39
$GC,7777,0.64,146.0,2604,3553,2126,2072,81.9,10.8,521,7782,0.00,2.38,0.00,0.000,5126,0.000,0.044,2613,2152,2099,2125,2073,0,0,0,0,0,0,14.57,14.51,14.59,6.22,49.88
$GC,7903,0.64,146.0,2613,2152,2126,2074,69.0,10.4,546,7907,0.00,2.45,0.00,0.000,4612,0.000,0.067,2624,734,2098,2125,2072,0,0,0,0,0,0,14.78,14.47,14.78,6.21,49.25
$GC,7957,0.64,146.0,2625,733,2126,2072,63.3,9.8,557,7962,0.05,2.42,0.00,0.000,5126,0.307,0.053,2605,2143,2098,2124,2072,0,0,0,0,0,0,14.32,14.50,14.47,6.21,49.21
$GC,8082,0.64,146.0,2605,2144,2125,2073,51.3,10.4,582,8086,0.00,2.47,0.00,0.000,260,0.000,0.082,2605,3560,2098,2124,2072,0,0,0,0,0,0,14.78,14.50,14.78,6.20,49.44
$GC,8127,0.64,146.0,2605,3561,2125,2073,46.4,10.3,591,8131,0.00,2.40,0.00,0.000,5126,0.000,0.042,2614,2143,2098,2124,2072,0,0,0,0,0,0,14.58,14.53,14.63,6.20,48.81
$GC,8253,0.64,146.0,2614,2143,2125,2073,34.7,9.6,616,8257,0.00,2.42,0.00,0.000,4612,0.000,0.066,2625,738,2097,2123,2071,0,0,0,0,0,0,14.78,14.52,14.78,6.20,49.17
$GC,8312,0.64,146.0,2624,738,2124,2071,29.2,8.8,628,8316,0.08,2.42,0.00,0.000,5126,0.334,0.053,2598,2150,2096,2122,2071,0,0,0,0,0,0,14.38,14.51,14.60,6.20,49.17
$GC,8438,0.65,152.6,2598,2151,2124,2072,19.0,8.1,653,8442,0.00,2.45,0.00,0.000,2308,0.000,0.083,2598,3553,2097,2123,2071,0,0,0,0,0,0,14.79,14.50,14.79,6.20,49.44
$GC,8492,0.65,154.4,2598,3554,2124,2071,14.5,8.3,664,8496,0.00,2.38,0.00,0.000,1030,0.000,0.042,2607,2143,2097,2123,2071,0,0,0,0,0,0,14.58,14.54,14.60,6.20,49.92
$GC,8617,0.65,154.4,2607,2142,2124,2071,3.9,9.5,689,8622,0.00,2.42,0.00,0.000,516,0.000,0.066,2616,739,2097,2124,2070,0,0,0,0,0,0,14.80,14.49,14.81,6.21,50.51
$STATE,8630,end climb,SURFACE_DEPTH_REACHED
$STATE,8630,begin surface coast
$STATE,8665,end surface coast,CONTROL_FINISHED_OK
$STATE,8665,begin surface
$SM_CCo,8680,66.07,0.241,0,0,1822,220.03
$SM_GC,1.30,5.47,2.38,66.07,0.059,0.053,0.241,257,2110,1822,-6.48,-0.79,220.03,0,0,0,0,0,0,14.62,14.56,14.30
$IRIDIUM_FIX,-5949.69,4.28,130119,001001
$TT8_MAMPS,0.038948,0.343791
$HUMID,50.00
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3782112
$24V_AH,13.19,54.791
$10V_AH,13.65,0.000
$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,13.050,82.950,257.600,66.075,0.000,26.526,24.913,118.494,0.000,0.000,16.137,0.000,6920.981,419.081,1565.796,147.399,0.000,1042.055,0.000,1125.167,0.000,0.539,0.000
$DEVICE_MAMPS,605.880,2235.330,1567.485,240.975,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5079.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.787,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17333,699
$CAP_FILE_SIZE,92891,0
$CFSIZE,1023623168,992837632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.035,82.67,1
$GPS,130119,050904,-5949.078,1.254,16,0.8,30,-19.7,0.0,358.8,10,8.6