version: 66.14
glider: 640
mission: 5
dive: 280
start: 1 14 119 1 40 25
data:
$ID,640
$MISSION,5
$DIVE,280
$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,57
$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
$GPS1,140119,013231,-5946.4683,1.7339,13,0.8,36,-19.7,0.0,237.2,9,6.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-67.2
$GPS2,140119,014007,-5946.4897,1.7925,10,0.8,14,-19.7,0.7,231.7,10,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,2.7,12135,-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,-146.0,233,2072,1793,1824,0.0,0.0,0,96,0.00,0.00,-82.78,0.000,16386,0.000,0.000,232,2071,3159,3241,3078,0,0,0,0,0,0,14.60,28.83,14.61,6.19,51.77
$GC,98,-0.64,-146.0,233,2072,3242,3079,3.1,-5.8,17,116,6.05,2.62,-5.95,0.000,18948,0.358,2.238,2187,725,3317,3412,3223,0,0,0,0,0,0,14.12,13.16,14.42,6.30,50.00
$GC,226,-0.64,-146.0,2188,725,3414,3226,24.3,-16.5,43,231,0.03,2.40,0.00,0.000,3078,0.454,0.055,2186,2100,3318,3413,3224,0,0,0,0,0,0,14.14,14.35,14.31,6.32,48.74
$GC,352,-0.64,-146.0,2186,2101,3413,3226,45.8,-17.0,68,356,0.00,2.50,0.00,0.000,2308,0.000,0.083,2175,3513,3319,3413,3225,0,0,0,0,0,0,14.64,14.38,14.65,6.32,49.56
$GC,426,-0.64,-146.0,2176,3514,3415,3225,59.1,-16.5,83,431,0.05,2.35,0.00,0.000,3078,0.352,0.041,2193,2124,3319,3413,3225,0,0,0,0,0,0,14.19,14.42,14.35,6.32,49.52
$GC,552,-0.64,-146.0,2193,2123,3414,3225,77.9,-14.9,108,556,0.00,2.45,0.00,0.000,2564,0.000,0.062,2193,696,3319,3413,3225,0,0,0,0,0,0,14.69,14.43,14.69,6.32,49.13
$GC,571,-0.64,-146.0,2193,696,3414,3225,81.0,-15.4,112,575,0.00,2.42,0.00,0.000,3078,0.000,0.057,2183,2095,3319,3413,3225,0,0,0,0,0,0,14.47,14.41,14.50,6.32,49.64
$GC,696,-0.64,-146.0,2184,2096,3415,3225,99.7,-13.9,137,700,0.00,0.00,0.00,0.000,2054,0.000,0.000,2183,2095,3319,3413,3225,0,0,0,0,0,0,14.71,14.71,14.72,6.32,49.05
$GC,821,-0.64,-146.0,2184,2096,3414,3225,115.9,-12.5,144,825,0.00,2.42,0.00,0.000,2564,0.000,0.062,2183,690,3319,3413,3225,0,0,0,0,0,0,14.74,14.47,14.74,6.31,48.66
$GC,866,-0.64,-146.0,2183,690,3412,3225,121.4,-13.1,146,871,0.05,2.45,0.00,0.000,3078,0.353,0.057,2189,2099,3315,3406,3225,0,0,0,0,0,0,14.23,14.45,14.56,6.32,49.17
$GC,1181,-0.64,-146.0,2189,2101,3414,3227,165.8,-14.2,162,1185,0.00,2.45,0.00,0.000,2308,0.000,0.083,2179,3505,3319,3413,3225,0,0,0,0,0,0,14.78,14.48,14.78,6.32,50.15
$GC,1206,-0.64,-146.0,2180,3507,3414,3225,168.6,-14.1,163,1210,0.03,2.38,0.00,0.000,3078,0.450,0.042,2187,2095,3319,3413,3225,0,0,0,0,0,0,14.28,14.51,14.42,6.32,50.39
$GC,1521,-0.64,-146.0,2187,2096,3414,3226,212.6,-13.6,179,1525,0.00,2.40,0.00,0.000,2564,0.000,0.060,2187,694,3319,3413,3225,0,0,0,0,0,0,14.81,14.53,14.81,6.33,50.70
$GC,1571,-0.64,-146.0,2187,695,3416,3225,218.1,-13.5,181,1575,0.03,2.42,0.00,0.000,3078,0.448,0.057,2185,2100,3319,3413,3225,0,0,0,0,0,0,14.29,14.50,14.44,6.33,50.47
$GC,1881,-0.64,-146.0,2188,2100,3414,3226,260.0,-13.2,197,1886,0.00,2.47,0.00,0.000,2308,0.000,0.083,2175,3509,3319,3413,3225,0,0,0,0,0,0,14.83,14.52,14.83,6.34,50.90
$GC,1926,-0.64,-146.0,2176,3510,3414,3225,265.4,-13.3,199,1930,0.05,2.35,0.00,0.000,3078,0.337,0.042,2203,2105,3318,3413,3224,0,0,0,0,0,0,14.33,14.55,14.58,6.33,51.02
$GC,2241,-0.64,-146.0,2204,2104,3414,3225,304.6,-12.4,215,2245,0.00,2.45,0.00,0.000,4612,0.000,0.063,2202,701,3319,3413,3225,0,0,0,0,0,0,14.83,14.53,14.83,6.34,50.94
$GC,2311,-0.64,-146.0,2204,701,3414,3226,312.2,-12.6,218,2315,0.00,2.40,0.00,0.000,1030,0.000,0.055,2194,2097,3319,3413,3225,0,0,0,0,0,0,14.68,14.52,14.69,6.34,51.45
$STATE,2600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2600,begin apogee
$GC,2604,-0.15,0.0,2194,2165,3414,3224,350.1,-12.8,233,2732,0.45,0.00,125.15,1.565,10246,0.262,0.000,2354,2165,2719,2780,2659,0,0,0,0,0,0,14.37,13.96,13.35,6.33,50.94
$STATE,2733,end apogee,CONTROL_FINISHED_OK
$STATE,2733,begin loiter
$GC,3021,-0.15,0.0,2354,2165,2772,2640,349.1,2.7,254,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2164,2707,2772,2642,0,0,0,0,0,0,14.58,14.58,14.59,6.29,50.51
$GC,3321,-0.15,0.0,2355,2166,2772,2640,341.3,2.7,269,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2165,2705,2772,2639,0,0,0,0,0,0,14.73,14.73,14.73,6.29,50.66
$GC,3621,-0.15,0.0,2354,2165,2773,2638,333.2,2.7,284,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2165,2704,2771,2638,0,0,0,0,0,0,14.81,14.81,14.82,6.29,51.14
$GC,3922,-0.15,0.0,2355,2165,2773,2637,325.3,2.6,299,3922,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2165,2704,2772,2637,0,0,0,0,0,0,14.87,14.88,14.87,6.29,51.06
$GC,4221,-0.15,0.0,2354,2166,2773,2637,317.6,2.6,314,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2165,2703,2771,2636,0,0,0,0,0,0,14.91,14.92,14.92,6.29,51.06
$GC,4521,-0.15,0.0,2354,2165,2773,2636,309.5,2.8,329,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2165,2704,2772,2636,0,0,0,0,0,0,14.94,14.95,14.95,6.29,51.41
$GC,4821,-0.15,0.0,2354,2165,2772,2636,300.2,3.2,344,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2165,2704,2772,2636,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.29
$GC,5121,-0.15,0.0,2353,2166,2772,2637,290.4,3.3,359,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2165,2704,2772,2636,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.14
$GC,5422,-0.15,0.0,2354,2165,2773,2636,280.3,3.4,374,5422,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2165,2704,2772,2636,0,0,0,0,0,0,15.00,15.01,15.01,6.29,51.73
$GC,5721,-0.15,0.0,2354,2166,2772,2637,270.7,3.1,389,5722,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2165,2703,2771,2635,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.37
$GC,6021,-0.15,0.0,2354,2166,2772,2635,261.4,3.1,404,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2165,2704,2772,2636,0,0,0,0,0,0,15.03,15.04,15.03,6.29,51.92
$STATE,6320,end loiter,LOITER_COMPLETE
$STATE,6320,begin climb
$GC,6321,0.64,146.0,2354,2165,2773,2635,251.9,0.0,419,6458,0.60,2.55,128.85,1.418,10756,0.173,0.063,2606,754,2120,2145,2095,0,0,0,0,0,0,14.62,13.93,13.47,6.29,52.04
$GC,6542,0.64,146.0,2605,755,2136,2088,235.1,10.0,429,6546,0.00,2.42,0.00,0.000,1030,0.000,0.054,2605,2125,2111,2135,2087,0,0,0,0,0,0,14.23,14.18,14.25,6.24,49.40
$GC,6857,0.64,146.0,2605,2125,2132,2081,196.2,12.1,445,6861,0.00,2.55,0.00,0.000,260,0.000,0.083,2605,3562,2105,2131,2080,0,0,0,0,0,0,14.62,14.33,14.62,6.24,50.94
$GC,6952,0.64,146.0,2606,3563,2132,2080,186.7,11.9,449,6956,0.00,2.40,0.00,0.000,5126,0.000,0.041,2615,2155,2105,2131,2080,0,0,0,0,0,0,14.44,14.40,14.45,6.24,50.78
$GC,7257,0.64,146.0,2616,2155,2130,2078,149.3,11.8,465,7261,0.00,2.45,0.00,0.000,4612,0.000,0.065,2627,742,2103,2129,2077,0,0,0,0,0,0,14.73,14.45,14.73,6.24,50.74
$GC,7322,0.64,146.0,2628,743,2128,2076,142.5,11.4,468,7327,0.05,2.45,0.00,0.000,5126,0.301,0.054,2607,2157,2102,2127,2077,0,0,0,0,0,0,14.27,14.45,14.43,6.24,50.78
$GC,7638,0.64,146.0,2608,2157,2128,2076,104.3,12.3,484,7641,0.00,2.45,0.00,0.000,4356,0.000,0.083,2608,3562,2100,2126,2075,0,0,0,0,0,0,14.78,14.49,14.78,6.23,50.74
$GC,7707,0.64,146.0,2608,3562,2126,2077,95.7,12.2,492,7711,0.00,2.40,0.00,0.000,5126,0.000,0.042,2617,2146,2100,2126,2075,0,0,0,0,0,0,14.57,14.52,14.59,6.24,50.90
$GC,7833,0.64,146.0,2617,2147,2127,2077,80.4,12.7,517,7838,0.00,2.45,0.00,0.000,4612,0.000,0.066,2628,735,2100,2126,2075,0,0,0,0,0,0,14.78,14.51,14.79,6.23,50.43
$GC,7887,0.64,146.0,2628,736,2125,2076,74.0,10.9,528,7892,0.08,2.45,0.00,0.000,5126,0.334,0.056,2605,2155,2100,2125,2075,0,0,0,0,0,0,14.37,14.50,14.59,6.23,50.27
$GC,8013,0.64,146.0,2602,2156,2126,2074,60.7,10.8,553,8017,0.00,2.45,0.00,0.000,260,0.000,0.084,2601,3558,2100,2125,2075,0,0,0,0,0,0,14.79,14.50,14.80,6.22,49.84
$GC,8072,0.64,146.0,2602,3558,2126,2075,53.6,11.5,565,8077,0.00,2.38,0.00,0.000,5126,0.000,0.042,2610,2150,2100,2125,2075,0,0,0,0,0,0,14.58,14.53,14.60,6.22,49.44
$GC,8198,0.64,146.0,2611,2151,2126,2076,40.8,9.1,590,8202,0.00,2.40,0.00,0.000,4612,0.000,0.065,2621,748,2100,2125,2075,0,0,0,0,0,0,14.80,14.49,14.80,6.22,49.33
$GC,8317,0.64,146.0,2622,749,2127,2074,30.0,9.1,614,8322,0.05,2.38,0.00,0.000,5126,0.396,0.054,2603,2157,2099,2125,2074,0,0,0,0,0,0,14.36,14.54,14.61,6.21,50.15
$GC,8443,0.64,146.0,2603,2158,2125,2074,19.2,8.8,639,8446,0.00,2.45,0.00,0.000,260,0.000,0.085,2603,3550,2099,2125,2073,0,0,0,0,0,0,14.81,14.51,14.81,6.21,49.84
$GC,8522,0.64,146.0,2604,3551,2125,2075,12.5,8.5,655,8526,0.00,2.38,0.00,0.000,5126,0.000,0.042,2612,2147,2100,2126,2074,0,0,0,0,0,0,14.59,14.54,14.61,6.21,50.74
$STATE,8631,end climb,SURFACE_DEPTH_REACHED
$STATE,8631,begin surface coast
$STATE,8661,end surface coast,CONTROL_FINISHED_OK
$STATE,8661,begin surface
$SM_CCo,8674,66.07,0.243,0,0,1821,220.03
$SM_GC,1.44,5.50,0.05,66.07,0.073,0.209,0.243,273,2078,1821,-6.44,1.07,220.03,0,0,0,0,0,0,14.66,14.59,14.31
$IRIDIUM_FIX,-5947.78,-25.65,140119,013450
$TT8_MAMPS,0.038948,0.309337
$HUMID,50.15
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3777504
$24V_AH,13.16,56.381
$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,13.000,78.075,254.000,66.075,0.000,52.227,87.344,120.736,0.000,0.000,15.138,0.000,6981.563,405.419,1663.907,148.485,0.000,1031.159,0.000,1136.524,0.000,0.540,0.000
$DEVICE_MAMPS,454.410,2238.390,1565.190,242.505,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5073.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.652,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17342,683
$CAP_FILE_SIZE,91409,0
$CFSIZE,1023623168,991952896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.084,108.53,1
$GPS,140119,040701,-5946.160,2.325,14,0.9,31,-19.7,0.0,135.7,9,9.6