version: 66.14
glider: 640
mission: 5
dive: 276
start: 1 13 119 15 24 48
data:
$ID,640
$MISSION,5
$DIVE,276
$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,31
$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
$GPS1,130119,151925,-5947.8096,1.6655,11,0.8,41,-19.7,0.0,40.0,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-66.7
$GPS2,130119,152430,-5947.8003,1.7429,9,0.8,15,-19.7,0.0,78.1,10,9.7
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,357.1,14538,-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,-146.0,232,2100,1797,1825,0.0,0.0,0,102,0.00,0.00,-89.10,0.000,16386,0.000,0.000,232,2100,3273,3355,3192,0,0,0,0,0,0,14.61,28.83,14.62,6.18,51.57
$GC,104,-0.64,-146.0,233,2100,3357,3192,3.7,-8.3,18,116,6.05,2.67,-1.55,0.000,18948,0.359,2.229,2186,690,3317,3405,3229,0,0,0,0,0,0,14.12,13.22,14.43,6.30,50.55
$GC,212,-0.64,-146.0,2185,689,3409,3230,25.1,-18.0,40,216,0.05,2.42,0.00,0.000,3078,0.451,0.057,2190,2103,3319,3409,3229,0,0,0,0,0,0,14.17,14.39,14.43,6.31,49.09
$GC,338,-0.64,-146.0,2190,2104,3407,3230,47.2,-17.2,65,341,0.00,2.47,0.00,0.000,2308,0.000,0.083,2179,3515,3319,3409,3229,0,0,0,0,0,0,14.66,14.38,14.66,6.32,49.80
$GC,381,-0.64,-146.0,2180,3515,3410,3229,54.4,-14.7,74,385,0.00,2.42,0.00,0.000,3078,0.000,0.042,2179,2091,3319,3409,3229,0,0,0,0,0,0,14.47,14.42,14.50,6.32,49.80
$GC,506,-0.64,-146.0,2179,2091,3409,3230,74.1,-15.8,99,510,0.00,2.40,0.00,0.000,2564,0.000,0.061,2179,699,3319,3409,3229,0,0,0,0,0,0,14.70,14.43,14.70,6.31,50.03
$GC,531,-0.64,-146.0,2179,696,3410,3230,78.0,-15.7,104,535,0.08,2.42,0.00,0.000,3078,0.321,0.056,2211,2097,3319,3409,3229,0,0,0,0,0,0,14.25,14.42,14.48,6.31,49.21
$GC,657,-0.64,-146.0,2211,2098,3411,3229,94.6,-13.1,129,661,0.00,2.47,0.00,0.000,4356,0.000,0.083,2201,3513,3319,3410,3228,0,0,0,0,0,0,14.71,14.43,14.71,6.31,49.09
$GC,681,-0.64,-146.0,2201,3514,3417,3229,97.8,-12.6,134,685,0.00,2.40,0.00,0.000,5126,0.000,0.044,2200,2104,3319,3410,3229,0,0,0,0,0,0,14.62,14.46,14.60,6.31,48.89
$GC,821,-0.64,-146.0,2200,2104,3410,3230,115.6,-12.6,144,825,0.00,2.42,0.00,0.000,4612,0.000,0.062,2200,695,3318,3408,3229,0,0,0,0,0,0,14.74,14.47,14.74,6.30,49.40
$GC,906,-0.64,-146.0,2203,693,3411,3229,125.2,-12.0,148,911,0.00,2.42,0.00,0.000,3078,0.000,0.056,2190,2096,3319,3410,3229,0,0,0,0,0,0,14.52,14.46,14.54,6.30,48.89
$GC,1221,-0.64,-146.0,2190,2096,3411,3229,164.0,-12.2,164,1225,0.00,2.45,0.00,0.000,2308,0.000,0.080,2179,3510,3319,3410,3229,0,0,0,0,0,0,14.78,14.49,14.78,6.31,50.23
$GC,1271,-0.64,-146.0,2180,3511,3411,3229,169.0,-12.3,166,1276,0.00,2.38,0.00,0.000,3078,0.000,0.041,2179,2098,3319,3410,3229,0,0,0,0,0,0,14.57,14.52,14.59,6.31,50.11
$GC,1581,-0.64,-146.0,2178,2093,3410,3228,210.4,-13.2,182,1585,0.00,2.40,0.00,0.000,2564,0.000,0.062,2178,699,3318,3409,3228,0,0,0,0,0,0,14.81,14.53,14.81,6.32,50.82
$GC,1651,-0.64,-146.0,2179,700,3410,3230,218.4,-13.3,185,1655,0.08,2.38,0.00,0.000,3078,0.377,0.054,2191,2106,3319,3410,3229,0,0,0,0,0,0,14.33,14.54,14.57,6.33,50.90
$GC,1961,-0.64,-146.0,2192,2106,3411,3229,258.3,-12.5,201,1962,0.00,0.00,0.00,0.000,2054,0.000,0.000,2191,2106,3319,3409,3229,0,0,0,0,0,0,14.86,14.83,14.82,6.32,50.98
$GC,2262,-0.64,-146.0,2192,2106,3411,3229,296.1,-12.7,216,2265,0.00,2.42,0.00,0.000,2564,0.000,0.062,2191,687,3319,3410,3229,0,0,0,0,0,0,14.84,14.56,14.83,6.33,51.33
$GC,2281,-0.64,-146.0,2192,688,3412,3229,298.8,-12.8,217,2285,0.00,2.42,0.00,0.000,3078,0.000,0.056,2181,2094,3319,3410,3229,0,0,0,0,0,0,14.60,14.53,14.62,6.34,51.18
$GC,2602,-0.64,-146.0,2185,2094,3411,3229,340.1,-13.0,233,2602,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2094,3319,3410,3229,0,0,0,0,0,0,14.84,14.85,14.84,6.34,51.14
$STATE,2680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2680,begin apogee
$GC,2684,-0.15,0.0,2181,2182,3410,3229,350.4,-12.9,237,2814,0.47,0.00,126.25,1.569,10246,0.265,0.000,2348,2182,2715,2775,2656,0,0,0,0,0,0,14.37,13.94,13.33,6.35,51.26
$STATE,2815,end apogee,CONTROL_FINISHED_OK
$STATE,2815,begin loiter
$GC,3101,-0.15,0.0,2349,2182,2772,2642,347.9,3.1,258,3102,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2182,2706,2771,2642,0,0,0,0,0,0,14.58,14.58,14.58,6.28,51.18
$GC,3401,-0.15,0.0,2348,2183,2772,2641,338.7,3.1,273,3402,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2182,2705,2771,2640,0,0,0,0,0,0,14.73,14.73,14.73,6.29,51.14
$GC,3701,-0.15,0.0,2348,2182,2772,2640,329.3,3.2,288,3702,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2182,2705,2771,2639,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.02
$GC,4002,-0.15,0.0,2348,2182,2772,2638,319.3,3.3,303,4002,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2182,2705,2771,2639,0,0,0,0,0,0,14.87,14.87,14.88,6.29,51.77
$GC,4301,-0.15,0.0,2348,2182,2772,2639,309.2,3.4,318,4302,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2182,2705,2771,2639,0,0,0,0,0,0,14.91,14.91,14.91,6.29,51.37
$GC,4601,-0.15,0.0,2348,2183,2772,2640,299.4,3.2,333,4602,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2182,2705,2772,2639,0,0,0,0,0,0,14.94,14.95,14.95,6.28,51.77
$GC,4901,-0.15,0.0,2349,2182,2772,2639,290.3,2.9,348,4902,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2182,2705,2771,2639,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.26
$GC,5201,-0.15,0.0,2348,2182,2772,2640,281.5,2.9,363,5202,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2181,2705,2771,2639,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.33
$GC,5502,-0.15,0.0,2349,2182,2773,2639,272.2,3.1,378,5502,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2182,2705,2772,2639,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.89
$GC,5801,-0.15,0.0,2348,2182,2773,2640,262.9,3.2,393,5802,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2182,2706,2772,2640,0,0,0,0,0,0,15.02,15.02,15.02,6.28,52.00
$GC,6101,-0.15,0.0,2349,2182,2773,2640,253.7,3.0,408,6102,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2182,2705,2771,2640,0,0,0,0,0,0,15.03,15.03,15.03,6.28,51.33
$STATE,6400,end loiter,LOITER_COMPLETE
$STATE,6400,begin climb
$GC,6401,0.64,146.0,2348,2182,2773,2640,244.7,0.0,423,6542,0.62,2.65,130.20,1.416,10756,0.172,0.063,2609,743,2115,2139,2092,0,0,0,0,0,0,14.63,14.01,13.47,6.28,51.37
$GC,6611,0.64,146.0,2610,743,2136,2086,230.2,9.5,433,6615,0.00,2.45,0.00,0.000,5126,0.000,0.052,2610,2129,2110,2135,2086,0,0,0,0,0,0,14.19,14.14,14.21,6.24,49.17
$GC,6921,0.64,146.0,2610,2130,2132,2078,191.8,12.2,449,6926,0.00,2.55,0.00,0.000,4356,0.000,0.082,2610,3563,2103,2130,2077,0,0,0,0,0,0,14.61,14.30,14.61,6.23,51.26
$GC,7011,0.64,146.0,2610,3564,2131,2078,182.0,12.2,453,7015,0.05,2.40,0.00,0.000,5126,0.327,0.041,2602,2155,2104,2130,2078,0,0,0,0,0,0,14.16,14.35,14.31,6.23,50.70
$GC,7321,0.64,146.0,2602,2155,2128,2076,143.3,12.3,469,7325,0.00,2.45,0.00,0.000,516,0.000,0.065,2611,744,2101,2128,2075,0,0,0,0,0,0,14.72,14.41,14.73,6.23,50.86
$GC,7407,0.64,146.0,2612,745,2127,2075,134.1,11.5,473,7411,0.00,2.40,0.00,0.000,5126,0.000,0.053,2612,2164,2099,2125,2074,0,0,0,0,0,0,14.59,14.47,14.61,6.23,50.63
$GC,7711,0.64,146.0,2612,2165,2126,2074,97.2,11.1,490,7715,0.00,2.42,0.00,0.000,4356,0.000,0.082,2612,3553,2099,2126,2073,0,0,0,0,0,0,14.78,14.45,14.78,6.22,50.55
$GC,7736,0.64,146.0,2612,3554,2126,2073,94.4,11.3,495,7741,0.05,2.38,0.00,0.000,5126,0.320,0.041,2604,2148,2099,2125,2073,0,0,0,0,0,0,14.31,14.52,14.52,6.23,50.86
$GC,7862,0.64,146.0,2604,2148,2125,2073,81.1,10.2,520,7866,0.00,2.42,0.00,0.000,516,0.000,0.066,2614,744,2099,2125,2073,0,0,0,0,0,0,14.78,14.51,14.78,6.22,50.00
$GC,7906,0.64,146.0,2614,744,2126,2075,76.8,9.7,529,7910,0.00,2.38,0.00,0.000,5126,0.000,0.053,2613,2150,2098,2125,2072,0,0,0,0,0,0,14.64,14.52,14.66,6.21,49.88
$GC,8033,0.64,146.0,2614,2151,2125,2073,64.0,9.8,554,8035,0.00,0.00,0.00,0.000,4102,0.000,0.000,2613,2150,2098,2124,2072,0,0,0,0,0,0,14.79,14.79,14.79,6.22,49.64
$GC,8156,0.64,146.0,2613,2150,2125,2072,51.9,9.8,579,8160,0.00,0.00,0.00,0.000,4102,0.000,0.000,2614,2150,2098,2124,2072,0,0,0,0,0,0,14.81,14.81,14.81,6.21,49.84
$GC,8281,0.64,146.0,2614,2150,2125,2072,39.9,9.7,604,8285,0.00,2.45,0.00,0.000,4612,0.000,0.067,2624,739,2098,2124,2072,0,0,0,0,0,0,14.81,14.48,14.81,6.22,49.96
$GC,8311,0.64,146.0,2625,739,2125,2071,37.1,9.2,610,8316,0.05,2.42,0.00,0.000,5126,0.291,0.053,2605,2145,2097,2123,2071,0,0,0,0,0,0,14.30,14.47,14.45,6.21,49.29
$GC,8436,0.64,146.0,2605,2150,2125,2071,26.4,8.8,635,8441,0.00,2.50,0.00,0.000,260,0.000,0.083,2604,3553,2097,2124,2071,0,0,0,0,0,0,14.81,14.48,14.81,6.21,50.43
$GC,8506,0.64,146.0,2605,3554,2125,2071,20.0,8.9,649,8510,0.00,2.38,0.00,0.000,5126,0.000,0.041,2613,2143,2097,2124,2071,0,0,0,0,0,0,14.59,14.54,14.61,6.21,50.07
$GC,8632,0.64,146.0,2613,2144,2124,2077,9.0,9.1,674,8636,0.00,2.42,0.00,0.000,4612,0.000,0.067,2625,739,2097,2123,2071,0,0,0,0,0,0,14.81,14.52,14.81,6.21,50.39
$GC,8666,0.64,146.0,2625,740,2123,2072,6.1,8.7,681,8671,0.05,2.42,0.00,0.000,5126,0.295,0.053,2605,2156,2096,2122,2071,0,0,0,0,0,0,14.33,14.52,14.49,6.21,50.47
$STATE,8700,end climb,SURFACE_DEPTH_REACHED
$STATE,8700,begin surface coast
$STATE,8735,end surface coast,CONTROL_FINISHED_OK
$STATE,8735,begin surface
$SM_CCo,8749,65.85,0.242,0,0,1821,220.03
$SM_GC,1.41,5.40,0.08,65.85,0.047,0.161,0.242,247,2070,1821,-6.48,1.16,220.03,0,0,0,0,0,0,14.64,14.57,14.31
$IRIDIUM_FIX,-5949.69,0.00,130119,124534
$TT8_MAMPS,0.03745,0.349034
$HUMID,50.66
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3779552
$24V_AH,13.22,55.682
$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,12.950,78.275,256.450,65.850,0.000,23.855,19.614,123.626,0.000,0.000,16.328,0.000,6974.266,415.495,1582.367,151.101,0.000,1046.609,0.000,1140.289,0.000,0.539,0.000
$DEVICE_MAMPS,451.350,2229.210,1569.015,241.740,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5149.000,0.000,0.000,0.000
$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,17337,695
$CAP_FILE_SIZE,93025,0
$CFSIZE,1023623168,992346112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.039,80.76,1
$GPS,130119,175251,-5947.302,1.736,40,0.8,43,-19.7,0.0,48.8,11,9.4