version: 66.14
glider: 640
mission: 5
dive: 283
start: 1 14 119 9 21 28
data:
$ID,640
$MISSION,5
$DIVE,283
$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,41
$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
$GPS1,140119,091531,-5945.3862,2.1965,16,0.7,32,-19.7,0.4,357.2,11,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-62.0
$GPS2,140119,092108,-5945.3716,2.1967,9,0.7,19,-19.7,0.9,84.9,12,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,8.9,10158,-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,10,-0.64,-146.0,233,2092,1792,1825,0.0,0.0,0,91,0.00,0.00,-78.80,0.000,16386,0.000,0.000,232,2091,3117,3198,3037,0,0,0,0,0,0,14.60,28.83,14.60,6.18,50.70
$GC,93,-0.64,-146.0,232,2092,3198,3039,3.3,-5.7,16,111,6.05,2.67,-7.30,0.000,18948,0.356,2.237,2190,699,3314,3408,3221,0,0,0,0,0,0,14.12,13.15,14.42,6.30,49.84
$GC,161,-0.64,-146.0,2193,700,3414,3223,14.6,-16.6,30,165,0.00,2.45,0.00,0.000,3078,0.000,0.057,2182,2125,3318,3414,3223,0,0,0,0,0,0,14.48,14.36,14.50,6.32,49.29
$GC,287,-0.64,-146.0,2183,2126,3415,3224,35.8,-17.3,55,290,0.00,2.42,0.00,0.000,2308,0.000,0.079,2172,3511,3318,3414,3223,0,0,0,0,0,0,14.65,14.37,14.65,6.32,49.48
$GC,301,-0.64,-146.0,2172,3513,3415,3220,38.4,-17.4,58,305,0.05,2.40,0.00,0.000,3078,0.347,0.044,2189,2102,3318,3414,3223,0,0,0,0,0,0,14.16,14.39,14.46,6.38,49.40
$GC,428,-0.64,-146.0,2189,2102,3415,3225,59.0,-16.1,83,431,0.00,2.42,0.00,0.000,2564,0.000,0.063,2189,695,3323,3415,3232,0,0,0,0,0,0,14.67,14.39,14.68,6.32,49.21
$GC,557,-0.64,-146.0,2189,695,3415,3224,80.6,-15.1,109,561,0.00,2.40,0.00,0.000,3078,0.000,0.056,2178,2104,3319,3414,3224,0,0,0,0,0,0,14.57,14.45,14.58,6.32,48.62
$GC,682,-0.64,-146.0,2180,2104,3415,3223,98.6,-13.9,134,685,0.00,2.45,0.00,0.000,2308,0.000,0.082,2169,3509,3319,3414,3224,0,0,0,0,0,0,14.71,14.42,14.72,6.32,48.38
$GC,741,-0.64,-146.0,2169,3509,3416,3217,107.3,-14.5,140,745,0.08,2.40,0.00,0.000,3078,0.361,0.042,2194,2068,3319,3414,3224,0,0,0,0,0,0,14.27,14.49,14.51,6.31,48.81
$GC,1061,-0.64,-146.0,2194,2068,3415,3225,149.3,-12.3,156,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2067,3318,3413,3223,0,0,0,0,0,0,14.77,14.77,14.78,6.31,50.27
$GC,1361,-0.64,-146.0,2194,2068,3415,3225,186.1,-12.1,171,1365,0.00,2.40,0.00,0.000,516,0.000,0.063,2194,673,3319,3414,3224,0,0,0,0,0,0,14.80,14.51,14.80,6.32,50.82
$GC,1406,-0.64,-146.0,2194,673,3415,3224,191.2,-12.4,173,1411,0.00,2.45,0.00,0.000,3078,0.000,0.055,2184,2097,3318,3414,3223,0,0,0,0,0,0,14.56,14.50,14.59,6.32,50.51
$GC,1722,-0.64,-146.0,2184,2098,3415,3225,233.3,-13.4,189,1725,0.00,2.45,0.00,0.000,2308,0.000,0.081,2174,3513,3318,3413,3224,0,0,0,0,0,0,14.82,14.51,14.82,6.33,50.82
$GC,1761,-0.64,-146.0,2173,3514,3414,3224,238.8,-13.6,191,1765,0.05,2.38,0.00,0.000,3078,0.343,0.042,2191,2093,3323,3414,3233,0,0,0,0,0,0,14.29,14.54,14.46,6.33,50.90
$GC,2081,-0.64,-146.0,2190,2093,3415,3225,281.4,-13.0,207,2085,0.00,2.42,0.00,0.000,2564,0.000,0.063,2190,702,3319,3414,3224,0,0,0,0,0,0,14.83,14.52,14.83,6.34,50.94
$GC,2136,-0.64,-146.0,2191,702,3415,3223,286.7,-13.1,209,2141,0.00,2.35,0.00,0.000,3078,0.000,0.055,2180,2100,3318,3414,3223,0,0,0,0,0,0,14.68,14.55,14.69,6.34,51.29
$GC,2442,-0.64,-146.0,2181,2100,3415,3224,328.8,-13.2,225,2446,0.00,2.47,0.00,0.000,2308,0.000,0.081,2170,3516,3318,3414,3223,0,0,0,0,0,0,14.84,14.53,14.85,6.34,51.37
$GC,2482,-0.64,-146.0,2170,3517,3414,3225,334.1,-13.2,227,2486,0.08,2.33,0.00,0.000,3078,0.361,0.042,2195,2101,3318,3414,3223,0,0,0,0,0,0,14.35,14.59,14.59,6.34,51.57
$STATE,2620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2620,begin apogee
$GC,2624,-0.15,0.0,2195,2171,3415,3224,351.3,-12.2,234,2752,0.43,0.00,124.95,1.560,10246,0.265,0.000,2347,2171,2721,2781,2661,0,0,0,0,0,0,14.35,13.95,13.34,6.34,51.81
$STATE,2753,end apogee,CONTROL_FINISHED_OK
$STATE,2753,begin loiter
$GC,3041,-0.15,0.0,2347,2171,2775,2644,348.6,3.0,255,3042,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2171,2709,2774,2644,0,0,0,0,0,0,14.58,14.59,14.59,6.29,50.55
$GC,3341,-0.15,0.0,2347,2172,2775,2642,339.4,3.1,270,3342,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2171,2708,2774,2643,0,0,0,0,0,0,14.73,14.73,14.73,6.28,51.65
$GC,3641,-0.15,0.0,2347,2172,2775,2643,329.9,3.2,285,3642,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2171,2707,2773,2642,0,0,0,0,0,0,14.81,14.81,14.82,6.29,51.02
$GC,3942,-0.15,0.0,2347,2172,2776,2642,320.5,3.1,300,3942,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2171,2708,2774,2642,0,0,0,0,0,0,14.87,14.88,14.88,6.28,51.29
$GC,4241,-0.15,0.0,2347,2172,2775,2642,310.9,3.3,315,4242,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2171,2708,2774,2642,0,0,0,0,0,0,14.91,14.92,14.92,6.28,51.18
$GC,4541,-0.15,0.0,2347,2172,2775,2642,301.6,3.2,330,4542,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2171,2708,2774,2642,0,0,0,0,0,0,14.95,14.95,14.95,6.29,51.29
$GC,4841,-0.15,0.0,2347,2172,2775,2644,291.8,3.3,345,4842,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2171,2708,2774,2642,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.57
$GC,5141,-0.15,0.0,2348,2172,2775,2642,281.7,3.4,360,5142,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2171,2707,2773,2642,0,0,0,0,0,0,14.99,15.00,15.00,6.29,51.37
$GC,5442,-0.15,0.0,2347,2172,2775,2643,271.8,3.1,375,5442,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2171,2708,2774,2643,0,0,0,0,0,0,15.00,15.01,15.01,6.29,51.45
$GC,5741,-0.15,0.0,2347,2172,2774,2644,262.5,3.2,390,5742,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2171,2708,2774,2643,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.37
$GC,6041,-0.15,0.0,2347,2172,2775,2643,253.2,3.2,405,6042,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2171,2708,2774,2643,0,0,0,0,0,0,15.03,15.04,15.04,6.29,51.96
$STATE,6340,end loiter,LOITER_COMPLETE
$STATE,6340,begin climb
$GC,6341,0.64,146.0,2347,2172,2775,2645,243.8,0.0,420,6483,0.62,2.62,130.62,1.410,10756,0.172,0.067,2608,749,2117,2141,2093,0,0,0,0,0,0,14.62,14.01,13.47,6.29,51.41
$GC,6542,0.64,146.0,2608,749,2136,2087,229.1,9.6,430,6546,0.00,2.40,0.00,0.000,5126,0.000,0.051,2608,2139,2110,2134,2087,0,0,0,0,0,0,14.25,14.16,14.27,6.24,49.37
$GC,6862,0.64,146.0,2609,2140,2132,2078,190.2,12.2,446,6866,0.00,2.50,0.00,0.000,4356,0.000,0.080,2608,3554,2104,2130,2078,0,0,0,0,0,0,14.60,14.33,14.61,6.24,50.59
$GC,6942,0.64,146.0,2608,3556,2131,2078,180.6,12.0,450,6947,0.00,2.35,0.00,0.000,5126,0.000,0.041,2618,2153,2104,2130,2078,0,0,0,0,0,0,14.50,14.40,14.51,6.24,50.63
$GC,7262,0.64,146.0,2619,2153,2128,2077,139.5,13.0,466,7266,0.00,2.45,0.00,0.000,4612,0.000,0.067,2630,746,2101,2127,2076,0,0,0,0,0,0,14.72,14.44,14.72,6.24,50.86
$GC,7337,0.64,146.0,2630,746,2127,2075,132.4,12.0,469,7341,0.08,2.42,0.00,0.000,5126,0.330,0.054,2604,2150,2098,2125,2071,0,0,0,0,0,0,14.31,14.45,14.53,6.24,50.86
$GC,7642,0.64,146.0,2604,2151,2126,2075,98.5,10.4,485,7646,0.00,2.47,0.00,0.000,260,0.000,0.081,2604,3562,2104,2125,2083,0,0,0,0,0,0,14.77,14.47,14.78,6.23,50.82
$GC,7732,0.64,146.0,2604,3562,2126,2075,89.2,10.1,503,7737,0.00,2.38,0.00,0.000,5126,0.000,0.042,2612,2156,2100,2125,2075,0,0,0,0,0,0,14.57,14.51,14.58,6.23,50.55
$GC,7857,0.64,146.0,2613,2158,2125,2074,75.8,11.3,528,7861,0.00,2.45,0.00,0.000,4612,0.000,0.067,2624,738,2099,2125,2074,0,0,0,0,0,0,14.78,14.50,14.78,6.23,49.96
$GC,7877,0.64,146.0,2624,739,2124,2075,73.7,10.9,532,7881,0.05,2.42,0.00,0.000,5126,0.304,0.054,2594,2148,2097,2122,2073,0,0,0,0,0,0,14.35,14.49,14.58,6.22,49.96
$GC,8002,0.64,146.0,2594,2149,2124,2073,60.9,10.6,557,8006,0.00,2.47,0.00,0.000,2308,0.000,0.083,2594,3562,2096,2123,2069,0,0,0,0,0,0,14.78,14.48,14.78,6.22,49.44
$GC,8072,0.64,146.0,2594,3563,2125,2073,53.4,10.6,571,8077,0.00,2.35,0.00,0.000,1030,0.000,0.041,2602,2144,2098,2123,2074,0,0,0,0,0,0,14.64,14.55,14.66,6.22,49.09
$GC,8199,0.64,146.0,2603,2145,2124,2073,40.4,10.7,596,8202,0.00,2.42,0.00,0.000,516,0.000,0.067,2614,741,2098,2123,2073,0,0,0,0,0,0,14.78,14.51,14.78,6.21,50.03
$GC,8257,0.64,146.0,2615,742,2124,2071,34.3,9.8,608,8261,0.00,2.42,0.00,0.000,5126,0.000,0.053,2614,2151,2097,2123,2072,0,0,0,0,0,0,14.56,14.50,14.58,6.21,49.56
$GC,8383,0.64,146.0,2615,2152,2124,2071,21.2,11.0,633,8387,0.00,2.45,0.00,0.000,4356,0.000,0.083,2614,3556,2099,2127,2072,0,0,0,0,0,0,14.78,14.49,14.78,6.22,49.80
$GC,8447,0.64,146.0,2614,3557,2123,2073,14.4,9.6,646,8451,0.05,2.38,0.00,0.000,5126,0.329,0.042,2607,2145,2097,2123,2072,0,0,0,0,0,0,14.29,14.53,14.46,6.21,49.80
$GC,8573,0.64,152.2,2608,2145,2124,2071,3.2,8.1,671,8577,0.00,2.42,0.00,0.000,516,0.000,0.065,2616,745,2096,2122,2071,0,0,0,0,0,0,14.78,14.52,14.79,6.21,50.31
$STATE,8580,end climb,SURFACE_DEPTH_REACHED
$STATE,8580,begin surface coast
$STATE,8615,end surface coast,CONTROL_FINISHED_OK
$STATE,8615,begin surface
$SM_CCo,8630,65.43,0.241,0,0,1821,220.03
$SM_GC,1.39,5.50,2.35,65.43,0.073,0.051,0.241,282,2110,1821,-6.44,-0.93,220.03,0,0,0,0,0,0,14.61,14.54,14.29
$IRIDIUM_FIX,-5944.88,0.00,140119,064705
$TT8_MAMPS,0.03745,0.163282
$HUMID,49.84
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3775968
$24V_AH,13.15,56.904
$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,13.025,82.725,255.575,65.425,0.000,23.205,40.997,129.126,0.000,0.000,21.251,0.000,6889.336,411.890,1586.789,148.995,0.000,1029.480,0.000,1119.462,0.000,0.539,0.000
$DEVICE_MAMPS,361.080,2236.860,1559.835,240.975,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5028.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.739,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17341,680
$CAP_FILE_SIZE,91181,0
$CFSIZE,1023623168,991657984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.073,162.10,1
$GPS,140119,114731,-5945.220,2.202,14,0.7,43,-19.7,0.5,53.1,11,8.4