version: 66.14
glider: 640
mission: 5
dive: 286
start: 1 14 119 16 53 15
data:
$ID,640
$MISSION,5
$DIVE,286
$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,45
$R_STBD_OVSHOOT,26
$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
$GPS1,140119,164731,-5944.8169,2.8400,19,0.8,29,-19.8,0.6,280.4,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-68.2
$GPS2,140119,165256,-5944.8403,2.8852,9,0.8,16,-19.8,0.8,203.8,9,8.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,352.1,9361,-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,-146.0,226,2087,1815,1821,0.0,0.0,0,96,0.00,0.00,-82.72,0.000,16386,0.000,0.000,226,2087,3177,3258,3096,0,0,0,0,0,0,14.64,28.83,14.64,6.19,50.90
$GC,98,-0.64,-146.0,227,2087,3260,3097,3.3,-6.3,17,116,6.07,2.83,-5.20,0.000,18692,0.359,2.258,2177,3509,3318,3412,3224,0,0,0,0,0,0,14.16,13.19,14.45,6.30,49.76
$GC,151,-0.64,-146.0,2183,3510,3414,3224,12.5,-15.8,28,155,0.03,2.38,0.00,0.000,3078,0.431,0.042,2186,2118,3318,3413,3224,0,0,0,0,0,0,14.16,14.38,14.31,6.32,49.80
$GC,277,-0.64,-146.0,2187,2117,3414,3224,32.1,-17.4,53,281,0.00,2.47,0.00,0.000,2564,0.000,0.061,2186,692,3318,3413,3224,0,0,0,0,0,0,14.64,14.40,14.64,6.32,49.37
$GC,291,-0.64,-146.0,2186,693,3414,3226,34.8,-17.9,56,295,0.05,2.47,0.00,0.000,3078,0.361,0.059,2193,2100,3318,3413,3224,0,0,0,0,0,0,14.16,14.37,14.47,6.32,49.88
$GC,417,-0.64,-146.0,2194,2101,3414,3224,55.7,-16.1,81,421,0.00,2.50,0.00,0.000,2308,0.000,0.086,2182,3510,3319,3413,3225,0,0,0,0,0,0,14.67,14.39,14.67,6.32,49.60
$GC,467,-0.64,-146.0,2182,3516,3413,3226,63.6,-14.9,91,470,0.00,2.38,0.00,0.000,3078,0.000,0.043,2182,2091,3319,3413,3225,0,0,0,0,0,0,14.56,14.47,14.57,6.32,49.52
$GC,593,-0.64,-146.0,2181,2090,3413,3225,81.6,-14.2,116,596,0.00,2.40,0.00,0.000,2564,0.000,0.061,2182,695,3319,3413,3225,0,0,0,0,0,0,14.69,14.45,14.70,6.32,49.13
$GC,627,-0.64,-146.0,2182,695,3414,3225,86.7,-14.3,123,631,0.08,2.40,0.00,0.000,3078,0.367,0.057,2195,2103,3319,3413,3225,0,0,0,0,0,0,14.26,14.46,14.50,6.32,48.81
$GC,767,-0.64,-146.0,2195,2102,3414,3225,105.5,-13.7,145,771,0.00,2.47,0.00,0.000,260,0.000,0.085,2185,3510,3319,3413,3225,0,0,0,0,0,0,14.73,14.44,14.73,6.32,48.54
$GC,831,-0.64,-146.0,2185,3513,3414,3226,113.0,-13.5,148,836,0.00,2.35,0.00,0.000,3078,0.000,0.043,2185,2100,3319,3413,3225,0,0,0,0,0,0,14.60,14.51,14.62,6.32,49.25
$GC,1141,-0.64,-146.0,2185,2100,3413,3226,154.9,-13.8,164,1145,0.00,2.42,0.00,0.000,2564,0.000,0.063,2184,685,3319,3413,3225,0,0,0,0,0,0,14.78,14.54,14.78,6.32,50.03
$GC,1172,-0.64,-146.0,2185,688,3414,3225,157.8,-14.0,165,1175,0.05,2.40,0.00,0.000,3078,0.439,0.055,2189,2102,3319,3413,3225,0,0,0,0,0,0,14.30,14.52,14.55,6.32,50.03
$GC,1481,-0.64,-146.0,2190,2104,3414,3225,199.7,-12.9,181,1486,0.00,2.45,0.00,0.000,2308,0.000,0.083,2179,3506,3319,3413,3225,0,0,0,0,0,0,14.81,14.50,14.81,6.33,50.66
$GC,1496,-0.64,-146.0,2180,3507,3413,3226,199.7,-12.9,181,1500,0.00,2.38,0.00,0.000,3078,0.000,0.043,2179,2099,3319,3413,3225,0,0,0,0,0,0,14.58,14.52,14.60,6.33,50.59
$GC,1801,-0.64,-146.0,2178,2098,3414,3225,241.6,-13.1,197,1805,0.00,2.40,0.00,0.000,2564,0.000,0.062,2178,696,3314,3405,3224,0,0,0,0,0,0,14.82,14.54,14.83,6.33,50.90
$GC,1836,-0.64,-146.0,2178,696,3414,3226,244.3,-13.2,198,1841,0.05,2.42,0.00,0.000,3078,0.349,0.057,2195,2097,3319,3413,3225,0,0,0,0,0,0,14.33,14.52,14.58,6.34,51.49
$GC,2142,-0.64,-146.0,2195,2098,3413,3225,283.5,-12.2,214,2145,0.00,2.47,0.00,0.000,260,0.000,0.084,2185,3516,3318,3412,3225,0,0,0,0,0,0,14.83,14.52,14.84,6.34,51.18
$GC,2166,-0.64,-146.0,2185,3517,3413,3225,286.0,-12.1,215,2170,0.00,2.38,0.00,0.000,3078,0.000,0.043,2185,2103,3319,3413,3225,0,0,0,0,0,0,14.60,14.54,14.63,6.34,50.94
$GC,2481,-0.64,-146.0,2186,2102,3414,3225,326.1,-12.7,231,2485,0.00,2.40,0.00,0.000,2564,0.000,0.061,2185,696,3319,3413,3225,0,0,0,0,0,0,14.84,14.56,14.85,6.34,51.69
$GC,2541,-0.64,-146.0,2185,696,3413,3224,333.8,-12.9,234,2545,0.05,2.42,0.00,0.000,3078,0.428,0.056,2190,2128,3319,3413,3225,0,0,0,0,0,0,14.35,14.56,14.60,6.35,51.33
$STATE,2680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2680,begin apogee
$GC,2684,-0.15,0.0,2191,2129,3413,3225,350.8,-12.2,241,2811,0.45,0.00,124.45,1.568,10246,0.259,0.000,2351,2128,2718,2779,2657,0,0,0,0,0,0,14.36,14.00,13.35,6.34,51.02
$STATE,2812,end apogee,CONTROL_FINISHED_OK
$STATE,2812,begin loiter
$GC,3101,-0.15,0.0,2352,2128,2773,2640,348.2,2.8,262,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2128,2706,2772,2640,0,0,0,0,0,0,14.58,14.59,14.59,6.29,50.43
$GC,3401,-0.15,0.0,2352,2128,2773,2637,339.9,2.8,277,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2128,2705,2772,2638,0,0,0,0,0,0,14.73,14.73,14.73,6.29,50.59
$GC,3701,-0.15,0.0,2352,2128,2773,2636,332.3,2.5,292,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2128,2703,2771,2636,0,0,0,0,0,0,14.81,14.82,14.82,6.30,51.37
$GC,4002,-0.15,0.0,2352,2128,2773,2636,325.0,2.5,307,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2128,2703,2771,2635,0,0,0,0,0,0,14.87,14.88,14.88,6.29,50.98
$GC,4301,-0.15,0.0,2351,2129,2772,2636,317.7,2.5,322,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2128,2703,2772,2635,0,0,0,0,0,0,14.91,14.92,14.92,6.29,51.49
$GC,4601,-0.15,0.0,2351,2129,2772,2635,311.0,2.1,337,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2128,2703,2772,2634,0,0,0,0,0,0,14.95,14.95,14.95,6.29,51.29
$GC,4901,-0.15,0.0,2351,2129,2772,2635,304.6,2.2,352,4902,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2128,2703,2772,2634,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.53
$GC,5201,-0.15,0.0,2352,2128,2773,2633,297.7,2.3,367,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2128,2702,2772,2633,0,0,0,0,0,0,14.99,15.00,15.00,6.29,51.18
$GC,5502,-0.15,0.0,2352,2128,2773,2633,290.5,2.2,382,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2128,2702,2771,2633,0,0,0,0,0,0,15.01,15.00,15.01,6.29,51.57
$GC,5801,-0.15,0.0,2352,2129,2772,2634,283.1,2.5,397,5802,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2128,2702,2772,2633,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.57
$GC,6101,-0.15,0.0,2351,2128,2773,2633,274.5,3.0,412,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2128,2702,2771,2633,0,0,0,0,0,0,15.03,15.04,15.03,6.29,51.41
$STATE,6400,end loiter,LOITER_COMPLETE
$STATE,6400,begin climb
$GC,6402,0.64,146.0,2352,2128,2773,2633,264.2,0.0,427,6538,0.60,2.47,129.02,1.434,10756,0.174,0.063,2602,750,2117,2143,2092,0,0,0,0,0,0,14.61,13.91,13.45,6.29,51.41
$GC,6602,0.64,146.0,2602,751,2136,2087,248.8,10.0,436,6606,0.00,2.45,0.00,0.000,1030,0.000,0.055,2603,2152,2110,2135,2086,0,0,0,0,0,0,14.25,14.16,14.27,6.24,49.29
$GC,6917,0.64,146.0,2603,2153,2132,2078,207.5,13.1,452,6921,0.00,2.50,0.00,0.000,260,0.000,0.083,2603,3561,2104,2131,2077,0,0,0,0,0,0,14.60,14.33,14.61,6.24,50.78
$GC,7007,0.64,146.0,2603,3561,2132,2077,197.1,13.0,456,7011,0.00,2.40,0.00,0.000,5126,0.000,0.041,2613,2155,2104,2132,2077,0,0,0,0,0,0,14.43,14.38,14.45,6.24,50.47
$GC,7317,0.64,146.0,2613,2156,2129,2076,153.3,13.9,472,7321,0.00,2.45,0.00,0.000,4612,0.000,0.066,2627,746,2101,2128,2075,0,0,0,0,0,0,14.72,14.45,14.72,6.24,50.90
$GC,7387,0.64,146.0,2624,746,2127,2074,145.4,13.4,475,7391,0.05,2.42,0.00,0.000,5126,0.306,0.055,2605,2146,2100,2126,2074,0,0,0,0,0,0,14.26,14.44,14.57,6.24,50.82
$GC,7697,0.64,146.0,2605,2148,2138,2074,104.2,12.8,491,7701,0.00,2.47,0.00,0.000,260,0.000,0.083,2605,3560,2099,2126,2072,0,0,0,0,0,0,14.78,14.47,14.78,6.24,50.78
$GC,7752,0.64,146.0,2606,3562,2128,2073,97.6,11.6,496,7756,0.00,2.38,0.00,0.000,5126,0.000,0.041,2614,2154,2099,2126,2072,0,0,0,0,0,0,14.55,14.52,14.57,6.24,50.86
$GC,7877,0.64,146.0,2614,2155,2126,2073,82.6,12.0,521,7881,0.00,2.45,0.00,0.000,4612,0.000,0.067,2624,743,2099,2126,2072,0,0,0,0,0,0,14.78,14.50,14.78,6.23,50.90
$GC,7902,0.64,146.0,2625,743,2127,2072,79.6,11.9,526,7907,0.05,2.45,0.00,0.000,5126,0.292,0.057,2605,2157,2103,2126,2081,0,0,0,0,0,0,14.31,14.49,14.62,6.23,50.43
$GC,8028,0.64,146.0,2605,2158,2126,2072,64.5,11.6,551,8032,0.00,2.45,0.00,0.000,516,0.000,0.065,2615,741,2098,2125,2071,0,0,0,0,0,0,14.77,14.48,14.77,6.23,49.80
$GC,8057,0.64,146.0,2615,742,2126,2072,61.0,11.9,557,8061,0.00,2.42,0.00,0.000,5126,0.000,0.055,2615,2146,2098,2125,2071,0,0,0,0,0,0,14.54,14.49,14.59,6.23,49.64
$GC,8183,0.64,146.0,2615,2147,2126,2071,46.1,11.7,582,8187,0.00,2.47,0.00,0.000,4356,0.000,0.086,2615,3556,2098,2125,2071,0,0,0,0,0,0,14.78,14.49,14.78,6.22,49.25
$GC,8242,0.64,146.0,2615,3557,2126,2071,38.8,11.8,594,8247,0.08,2.35,0.00,0.000,5126,0.356,0.043,2599,2143,2098,2125,2071,0,0,0,0,0,0,14.34,14.55,14.59,6.22,49.37
$GC,8368,0.64,146.0,2600,2144,2126,2071,25.7,9.7,619,8372,0.00,2.42,0.00,0.000,2564,0.000,0.066,2609,738,2098,2125,2071,0,0,0,0,0,0,14.78,14.51,14.79,6.22,48.81
$GC,8442,0.64,146.0,2609,739,2125,2070,19.0,8.7,634,8447,0.00,2.42,0.00,0.000,5126,0.000,0.054,2609,2147,2097,2124,2070,0,0,0,0,0,0,14.57,14.50,14.59,6.21,49.64
$GC,8568,0.64,146.0,2609,2148,2125,2071,7.9,8.7,659,8572,0.00,2.47,0.00,0.000,4356,0.000,0.085,2609,3561,2097,2125,2070,0,0,0,0,0,0,14.79,14.50,14.79,6.21,49.29
$STATE,8620,end climb,SURFACE_DEPTH_REACHED
$STATE,8620,begin surface coast
$STATE,8650,end surface coast,CONTROL_FINISHED_OK
$STATE,8650,begin surface
$SM_CCo,8668,65.28,0.240,0,0,1822,220.03
$SM_GC,1.22,5.53,2.50,65.28,0.068,0.041,0.240,230,2090,1822,-6.51,0.88,220.03,0,0,0,0,0,0,14.59,14.57,14.29
$IRIDIUM_FIX,-6023.92,1611.08,140119,142254
$TT8_MAMPS,0.038948,0.313082
$HUMID,49.68
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3774432
$24V_AH,13.19,57.442
$10V_AH,13.66,0.000
$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,13.125,92.775,253.475,65.275,0.000,26.379,39.706,121.728,0.000,0.000,18.048,0.000,6907.657,422.567,1574.872,156.929,0.000,1039.273,0.000,1112.711,0.000,0.540,0.000
$DEVICE_MAMPS,439.110,2258.280,1568.250,240.210,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5062.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.843,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17345,676
$CAP_FILE_SIZE,93963,0
$CFSIZE,1023623168,991363072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.052,136.97,1
$GPS,140119,191955,-5944.577,2.705,14,0.9,43,-19.8,0.6,86.7,9,5.6