version: 66.14
glider: 640
mission: 5
dive: 278
start: 1 13 119 20 32 33
data:
$ID,640
$MISSION,5
$DIVE,278
$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,65
$R_STBD_OVSHOOT,31
$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
$GPS1,130119,202649,-5946.8340,1.3918,16,0.8,39,-19.7,0.0,345.2,11,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-63.6
$GPS2,130119,203215,-5946.8120,1.3777,10,0.8,16,-19.7,0.5,209.5,10,9.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,17.6,12681,-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,-146.0,215,2063,1794,1827,0.0,0.0,0,96,0.00,0.00,-82.75,0.000,16386,0.000,0.000,214,2063,3179,3261,3097,0,0,0,0,0,0,14.62,28.83,14.62,6.19,50.78
$GC,98,-0.64,-146.0,215,2064,3262,3100,3.6,-7.0,17,116,6.10,2.62,-4.90,0.000,18948,0.355,2.236,2190,723,3318,3412,3224,0,0,0,0,0,0,14.14,13.16,14.43,6.29,50.74
$GC,166,-0.64,-146.0,2190,723,3413,3225,16.4,-18.1,31,170,0.00,2.40,0.00,0.000,3078,0.000,0.057,2179,2090,3318,3412,3225,0,0,0,0,0,0,14.40,14.33,14.42,6.31,49.01
$GC,292,-0.64,-146.0,2180,2090,3413,3225,37.4,-16.6,56,294,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2090,3318,3412,3225,0,0,0,0,0,0,14.64,14.64,14.64,6.31,49.40
$GC,416,-0.64,-146.0,2180,2090,3414,3224,57.4,-15.1,81,420,0.00,2.40,0.00,0.000,2564,0.000,0.060,2179,706,3319,3413,3225,0,0,0,0,0,0,14.67,14.41,14.67,6.32,49.72
$GC,491,-0.64,-146.0,2179,706,3413,3226,68.7,-14.6,96,496,0.08,2.42,0.00,0.000,3078,0.320,0.057,2194,2099,3319,3413,3226,0,0,0,0,0,0,14.21,14.40,14.38,6.32,49.44
$GC,617,-0.64,-146.0,2194,2100,3413,3226,86.5,-14.2,121,621,0.00,2.47,0.00,0.000,260,0.000,0.085,2185,3506,3318,3412,3225,0,0,0,0,0,0,14.69,14.42,14.70,6.31,48.93
$GC,656,-0.64,-146.0,2185,3505,3414,3225,92.1,-13.8,129,660,0.00,2.35,0.00,0.000,3078,0.000,0.042,2184,2127,3319,3413,3225,0,0,0,0,0,0,14.50,14.45,14.52,6.31,48.81
$GC,797,-0.64,-146.0,2184,2126,3414,3225,111.8,-14.4,145,800,0.00,2.47,0.00,0.000,2564,0.000,0.060,2184,691,3318,3412,3225,0,0,0,0,0,0,14.73,14.47,14.73,6.31,48.54
$GC,821,-0.64,-146.0,2184,690,3413,3226,114.5,-14.3,146,826,0.05,2.45,0.00,0.000,3078,0.346,0.057,2190,2099,3319,3413,3225,0,0,0,0,0,0,14.23,14.45,14.56,6.30,49.29
$GC,1136,-0.64,-146.0,2191,2097,3413,3226,154.3,-12.8,162,1140,0.00,2.50,0.00,0.000,2308,0.000,0.083,2181,3506,3318,3412,3225,0,0,0,0,0,0,14.78,14.50,14.78,6.31,49.88
$GC,1196,-0.64,-146.0,2181,3508,3413,3226,162.0,-12.9,165,1200,0.00,2.38,0.00,0.000,3078,0.000,0.041,2180,2098,3319,3413,3225,0,0,0,0,0,0,14.56,14.51,14.58,6.31,50.39
$GC,1516,-0.64,-146.0,2180,2097,3414,3225,204.1,-13.2,181,1520,0.00,2.40,0.00,0.000,2564,0.000,0.062,2179,696,3323,3412,3234,0,0,0,0,0,0,14.81,14.53,14.81,6.32,51.02
$GC,1591,-0.64,-146.0,2179,696,3414,3225,212.1,-13.3,184,1596,0.08,2.40,0.00,0.000,3078,0.373,0.056,2193,2110,3319,3412,3226,0,0,0,0,0,0,14.33,14.54,14.57,6.33,50.94
$GC,1896,-0.64,-146.0,2193,2111,3414,3225,252.2,-12.6,200,1901,0.00,2.42,0.00,0.000,2308,0.000,0.083,2182,3506,3318,3412,3225,0,0,0,0,0,0,14.82,14.52,14.83,6.33,51.41
$GC,1921,-0.64,-146.0,2181,3507,3413,3227,254.7,-12.7,201,1925,0.00,2.38,0.00,0.000,3078,0.000,0.042,2182,2094,3318,3412,3225,0,0,0,0,0,0,14.59,14.54,14.61,6.33,50.94
$GC,2237,-0.64,-146.0,2182,2093,3413,3226,296.4,-13.0,217,2240,0.00,2.40,0.00,0.000,2564,0.000,0.062,2184,689,3318,3412,3225,0,0,0,0,0,0,14.83,14.55,14.83,6.33,51.85
$GC,2296,-0.64,-146.0,2182,689,3414,3225,303.7,-13.2,220,2300,0.05,2.42,0.00,0.000,3078,0.343,0.057,2189,2096,3323,3413,3233,0,0,0,0,0,0,14.31,14.52,14.61,6.34,50.86
$GC,2611,-0.64,-146.0,2189,2097,3414,3225,344.3,-12.7,236,2615,0.00,2.45,0.00,0.000,2308,0.000,0.083,2178,3510,3319,3413,3225,0,0,0,0,0,0,14.84,14.53,14.84,6.33,52.08
$GC,2651,-0.64,-146.0,2178,3511,3413,3226,349.5,-12.9,238,2655,0.00,2.38,0.00,0.000,3078,0.000,0.042,2178,2098,3319,3413,3225,0,0,0,0,0,0,14.62,14.56,14.64,6.34,51.33
$STATE,2670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2670,begin apogee
$GC,2674,-0.15,0.0,2178,2168,3413,3226,352.1,-13.0,239,2803,0.47,0.00,125.45,1.575,10246,0.263,0.000,2347,2168,2719,2779,2660,0,0,0,0,0,0,14.36,13.95,13.33,6.34,51.81
$STATE,2804,end apogee,CONTROL_FINISHED_OK
$STATE,2804,begin loiter
$GC,3091,-0.15,0.0,2347,2168,2776,2646,350.8,2.5,260,3092,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2167,2710,2775,2645,0,0,0,0,0,0,14.58,14.58,14.58,6.29,50.59
$GC,3391,-0.15,0.0,2347,2168,2776,2643,343.4,2.4,275,3392,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2168,2709,2775,2643,0,0,0,0,0,0,14.72,14.72,14.72,6.29,51.02
$GC,3691,-0.15,0.0,2347,2168,2775,2642,336.0,2.4,290,3692,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2168,2708,2775,2642,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.10
$GC,3992,-0.15,0.0,2347,2168,2776,2643,328.6,2.5,305,3992,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2168,2708,2774,2642,0,0,0,0,0,0,14.87,14.88,14.87,6.28,51.61
$GC,4291,-0.15,0.0,2347,2168,2776,2641,320.1,2.9,320,4292,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2168,2708,2775,2641,0,0,0,0,0,0,14.91,14.91,14.91,6.29,51.57
$GC,4591,-0.15,0.0,2347,2168,2775,2642,310.3,3.4,335,4592,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2168,2708,2775,2641,0,0,0,0,0,0,14.95,14.95,14.95,6.29,51.45
$GC,4891,-0.15,0.0,2347,2169,2776,2640,299.7,3.6,350,4892,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2168,2707,2775,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.26
$GC,5191,-0.15,0.0,2347,2168,2776,2642,289.4,3.3,365,5192,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2167,2707,2775,2640,0,0,0,0,0,0,14.99,14.99,15.00,6.29,51.41
$GC,5492,-0.15,0.0,2347,2169,2776,2641,280.0,3.1,380,5492,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2167,2707,2775,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.45
$GC,5791,-0.15,0.0,2347,2168,2776,2641,270.5,3.1,395,5792,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2168,2707,2775,2640,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.61
$GC,6091,-0.15,0.0,2347,2168,2775,2641,260.1,3.6,410,6092,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2168,2707,2775,2640,0,0,0,0,0,0,15.03,15.03,15.03,6.28,51.57
$STATE,6390,end loiter,LOITER_COMPLETE
$STATE,6390,begin climb
$GC,6391,0.64,146.0,2347,2168,2776,2641,249.0,0.0,425,6533,0.62,2.62,130.62,1.424,10756,0.177,0.066,2606,745,2117,2141,2093,0,0,0,0,0,0,14.62,14.00,13.46,6.28,52.04
$GC,6557,0.64,146.0,2607,746,2137,2091,237.1,9.1,433,6560,0.00,2.47,0.00,0.000,5126,0.000,0.053,2605,2137,2113,2136,2090,0,0,0,0,0,0,14.14,14.09,14.16,6.24,49.56
$GC,6872,0.64,146.0,2605,2137,2132,2081,196.4,13.2,449,6876,0.00,2.53,0.00,0.000,260,0.000,0.082,2606,3555,2105,2132,2079,0,0,0,0,0,0,14.59,14.31,14.59,6.24,50.63
$GC,6947,0.64,146.0,2607,3557,2132,2079,188.4,13.3,452,6951,0.00,2.40,0.00,0.000,5126,0.000,0.041,2617,2151,2105,2131,2079,0,0,0,0,0,0,14.41,14.37,14.43,6.24,50.55
$GC,7252,0.64,146.0,2617,2151,2130,2077,146.1,12.7,468,7255,0.00,2.45,0.00,0.000,4612,0.000,0.065,2628,744,2102,2129,2076,0,0,0,0,0,0,14.71,14.43,14.71,6.23,51.22
$GC,7312,0.64,146.0,2629,744,2128,2076,139.2,11.8,471,7316,0.05,2.45,0.00,0.000,5126,0.302,0.054,2608,2156,2101,2126,2076,0,0,0,0,0,0,14.26,14.42,14.55,6.24,51.06
$GC,7632,0.64,146.0,2608,2157,2127,2076,104.4,10.3,487,7636,0.00,2.50,0.00,0.000,4612,0.000,0.066,2618,744,2100,2126,2075,0,0,0,0,0,0,14.77,14.47,14.77,6.23,51.10
$GC,7642,0.64,146.0,2618,744,2127,2084,104.4,10.3,487,7646,0.00,2.42,0.00,0.000,5126,0.000,0.052,2618,2154,2100,2125,2075,0,0,0,0,0,0,14.54,14.47,14.55,6.23,50.51
$GC,7947,0.64,146.0,2619,2154,2127,2075,70.2,10.3,541,7951,0.00,2.42,0.00,0.000,4612,0.000,0.066,2628,748,2100,2126,2075,0,0,0,0,0,0,14.78,14.50,14.79,6.22,49.64
$GC,8067,0.64,146.0,2629,749,2126,2074,59.0,8.8,565,8071,0.05,2.40,0.00,0.000,5126,0.306,0.054,2609,2148,2099,2125,2074,0,0,0,0,0,0,14.32,14.51,14.47,6.23,49.60
$GC,8192,0.64,152.4,2609,2149,2125,2075,49.0,8.1,590,8196,0.00,2.45,0.00,0.000,260,0.000,0.083,2608,3555,2099,2125,2074,0,0,0,0,0,0,14.79,14.50,14.79,6.21,49.25
$GC,8217,0.64,152.4,2609,3555,2126,2074,46.9,8.6,595,8221,0.00,2.38,0.00,0.000,5126,0.000,0.043,2617,2148,2099,2125,2074,0,0,0,0,0,0,14.58,14.52,14.59,6.21,49.21
$GC,8343,0.64,152.4,2618,2148,2126,2073,35.6,9.5,620,8347,0.00,2.42,0.00,0.000,4612,0.000,0.065,2629,736,2099,2125,2073,0,0,0,0,0,0,14.79,14.52,14.79,6.21,49.80
$GC,8367,0.64,152.4,2629,737,2125,2074,33.3,9.6,625,8371,0.05,2.42,0.00,0.000,5126,0.295,0.054,2609,2145,2098,2124,2073,0,0,0,0,0,0,14.32,14.50,14.48,6.20,49.80
$GC,8493,0.64,152.4,2609,2146,2126,2074,21.6,9.4,650,8497,0.00,2.47,0.00,0.000,260,0.000,0.083,2609,3558,2098,2124,2073,0,0,0,0,0,0,14.79,14.50,14.80,6.21,50.35
$GC,8537,0.64,152.4,2610,3561,2126,2073,17.4,9.5,659,8541,0.00,2.38,0.00,0.000,5126,0.000,0.042,2618,2150,2098,2124,2073,0,0,0,0,0,0,14.58,14.54,14.60,6.21,50.03
$GC,8662,0.64,152.4,2618,2151,2125,2074,5.3,9.7,684,8666,0.00,2.42,0.00,0.000,4612,0.000,0.065,2629,743,2098,2124,2072,0,0,0,0,0,0,14.81,14.52,14.81,6.21,50.39
$STATE,8690,end climb,SURFACE_DEPTH_REACHED
$STATE,8690,begin surface coast
$STATE,8710,end surface coast,CONTROL_FINISHED_OK
$STATE,8710,begin surface
$SM_CCo,8725,66.12,0.242,0,0,1821,220.03
$SM_GC,1.41,5.43,2.38,66.12,0.047,0.055,0.242,263,2105,1821,-6.45,-0.79,220.03,0,0,0,0,0,0,14.62,14.55,14.31
$IRIDIUM_FIX,-5944.88,0.00,130119,175454
$TT8_MAMPS,0.038948,0.331058
$HUMID,50.59
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3778528
$24V_AH,13.16,56.032
$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,13.025,87.825,256.075,66.125,0.000,24.466,41.002,121.175,0.000,0.000,17.051,0.000,6944.284,418.126,1608.875,148.415,0.000,1053.157,0.000,1146.361,0.000,0.540,0.000
$DEVICE_MAMPS,373.320,2236.095,1575.135,241.740,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5123.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.685,0.000,0.000,0.000
$MEM,344104
$DATA_FILE_SIZE,17335,694
$CAP_FILE_SIZE,93511,0
$CFSIZE,1023623168,992149504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.069,195.73,1
$GPS,130119,230003,-5946.681,1.260,32,0.7,35,-19.7,0.0,305.2,12,9.0