version: 66.14
glider: 640
mission: 5
dive: 287
start: 1 14 119 19 25 35
data:
$ID,640
$MISSION,5
$DIVE,287
$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,38
$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
$GPS1,140119,191955,-5944.5771,2.7054,14,0.9,43,-19.8,0.6,86.7,9,5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-68.0
$GPS2,140119,192517,-5944.6094,2.7584,8,0.9,14,-19.8,1.4,195.6,9,10.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,357.7,8918,-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,9,begin dive
$GC,11,-0.64,-146.0,230,2089,1793,1825,0.0,0.0,0,101,0.00,0.00,-87.65,0.000,16386,0.000,0.000,230,2088,3257,3337,3177,0,0,0,0,0,0,14.61,28.83,14.62,6.18,50.19
$GC,103,-0.64,-146.0,231,2089,3339,3177,3.6,-7.6,18,116,6.05,2.72,-2.17,0.000,18692,0.356,2.246,2175,3506,3317,3407,3227,0,0,0,0,0,0,14.14,13.16,14.43,6.30,49.76
$GC,122,-0.64,-146.0,2176,3505,3409,3227,7.9,-20.8,22,126,0.05,2.38,0.00,0.000,3078,0.444,0.044,2190,2092,3318,3409,3227,0,0,0,0,0,0,14.19,14.39,14.42,6.31,49.48
$GC,247,-0.64,-146.0,2191,2091,3411,3229,28.3,-17.5,47,251,0.00,2.42,0.00,0.000,2564,0.000,0.062,2190,693,3319,3410,3228,0,0,0,0,0,0,14.63,14.38,14.64,6.31,49.01
$GC,271,-0.64,-146.0,2190,694,3411,3227,33.0,-18.6,52,275,0.00,2.45,0.00,0.000,3078,0.000,0.059,2180,2116,3318,3410,3227,0,0,0,0,0,0,14.51,14.38,14.52,6.31,49.13
$GC,396,-0.64,-146.0,2179,2116,3411,3227,54.9,-16.2,77,399,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2116,3319,3410,3228,0,0,0,0,0,0,14.68,14.69,14.68,6.32,49.33
$GC,521,-0.64,-146.0,2181,2117,3411,3229,74.1,-14.9,102,525,0.00,2.42,0.00,0.000,2308,0.000,0.080,2170,3508,3318,3410,3227,0,0,0,0,0,0,14.70,14.41,14.70,6.31,48.93
$GC,576,-0.64,-146.0,2170,3507,3411,3227,82.2,-14.3,113,580,0.05,2.40,0.00,0.000,3078,0.341,0.043,2198,2093,3318,3409,3227,0,0,0,0,0,0,14.24,14.45,14.49,6.31,49.21
$GC,703,-0.64,-146.0,2199,2092,3412,3228,98.7,-13.3,138,706,0.00,2.42,0.00,0.000,516,0.000,0.063,2199,695,3318,3410,3227,0,0,0,0,0,0,14.71,14.45,14.71,6.31,48.81
$GC,756,-0.64,-146.0,2199,695,3411,3229,106.0,-13.3,143,760,0.00,2.45,0.00,0.000,3078,0.000,0.057,2189,2104,3319,3410,3228,0,0,0,0,0,0,14.50,14.43,14.52,6.31,48.54
$GC,1076,-0.64,-146.0,2190,2105,3411,3229,149.6,-13.8,159,1080,0.00,2.45,0.00,0.000,2308,0.000,0.083,2178,3508,3318,3410,3227,0,0,0,0,0,0,14.76,14.47,14.77,6.31,49.96
$GC,1161,-0.64,-146.0,2178,3509,3411,3229,160.3,-13.3,163,1165,0.00,2.38,0.00,0.000,3078,0.000,0.042,2177,2104,3319,3411,3227,0,0,0,0,0,0,14.55,14.50,14.58,6.32,50.19
$GC,1477,-0.64,-146.0,2178,2103,3411,3229,203.0,-13.2,179,1481,0.05,2.42,0.00,0.000,2564,0.466,0.062,2190,689,3318,3410,3227,0,0,0,0,0,0,14.31,14.52,14.53,6.32,50.82
$GC,1556,-0.64,-146.0,2191,689,3410,3228,212.8,-12.1,183,1561,0.00,2.45,0.00,0.000,3078,0.000,0.057,2179,2106,3319,3412,3227,0,0,0,0,0,0,14.66,14.50,14.67,6.33,50.74
$GC,1876,-0.64,-146.0,2181,2106,3411,3227,253.1,-12.8,199,1880,0.00,2.42,0.00,0.000,2308,0.000,0.083,2170,3507,3318,3410,3227,0,0,0,0,0,0,14.83,14.51,14.83,6.33,51.14
$GC,1901,-0.64,-146.0,2171,3508,3411,3226,255.7,-12.8,200,1906,0.08,2.33,0.00,0.000,3078,0.373,0.043,2195,2097,3318,3410,3227,0,0,0,0,0,0,14.33,14.57,14.58,6.33,51.37
$GC,2216,-0.64,-146.0,2195,2096,3406,3226,293.4,-11.8,216,2220,0.00,2.40,0.00,0.000,516,0.000,0.063,2195,696,3318,3410,3226,0,0,0,0,0,0,14.83,14.54,14.83,6.34,51.49
$GC,2276,-0.64,-146.0,2195,695,3411,3227,300.6,-12.0,219,2280,0.00,2.42,0.00,0.000,3078,0.000,0.055,2185,2100,3317,3411,3223,0,0,0,0,0,0,14.69,14.52,14.70,6.33,51.22
$GC,2597,-0.64,-146.0,2185,2100,3411,3227,339.8,-12.4,235,2600,0.00,2.45,0.00,0.000,2308,0.000,0.082,2183,3513,3318,3409,3227,0,0,0,0,0,0,14.84,14.53,14.84,6.34,51.37
$GC,2621,-0.64,-146.0,2174,3514,3410,3227,341.7,-12.5,236,2625,0.05,2.38,0.00,0.000,3078,0.342,0.042,2191,2098,3318,3410,3227,0,0,0,0,0,0,14.30,14.55,14.47,6.34,51.65
$STATE,2690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2690,begin apogee
$GC,2694,-0.15,0.0,2192,2165,3412,3227,351.5,-12.3,240,2823,0.45,0.00,125.35,1.576,10246,0.262,0.000,2352,2165,2716,2776,2656,0,0,0,0,0,0,14.35,13.98,13.34,6.34,50.90
$STATE,2824,end apogee,CONTROL_FINISHED_OK
$STATE,2824,begin loiter
$GC,3111,-0.15,0.0,2352,2165,2772,2643,347.0,3.4,261,3112,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2707,2772,2642,0,0,0,0,0,0,14.58,14.58,14.58,6.29,50.63
$GC,3411,-0.15,0.0,2352,2165,2773,2640,337.2,3.3,276,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2706,2772,2640,0,0,0,0,0,0,14.73,14.73,14.73,6.30,50.90
$GC,3711,-0.15,0.0,2352,2165,2773,2639,327.2,3.4,291,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2705,2771,2639,0,0,0,0,0,0,14.81,14.82,14.81,6.29,51.10
$GC,4012,-0.15,0.0,2352,2165,2773,2638,317.4,3.4,306,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2705,2772,2639,0,0,0,0,0,0,14.87,14.87,14.87,6.29,51.26
$GC,4311,-0.15,0.0,2352,2165,2773,2638,307.5,3.3,321,4312,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2705,2772,2638,0,0,0,0,0,0,14.91,14.92,14.91,6.29,51.61
$GC,4611,-0.15,0.0,2352,2166,2772,2639,297.7,3.4,336,4612,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2705,2772,2638,0,0,0,0,0,0,14.94,14.95,14.95,6.28,51.10
$GC,4911,-0.15,0.0,2353,2166,2772,2640,286.5,4.0,351,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2705,2772,2638,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.29
$GC,5211,-0.15,0.0,2353,2165,2772,2638,274.1,4.2,366,5212,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2163,2704,2771,2638,0,0,0,0,0,0,14.99,15.00,14.99,6.29,51.45
$GC,5512,-0.15,0.0,2352,2165,2772,2640,261.2,4.3,381,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2705,2772,2639,0,0,0,0,0,0,15.00,15.01,15.01,6.29,51.92
$GC,5811,-0.15,0.0,2352,2166,2772,2640,248.8,4.0,396,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2705,2772,2638,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.26
$GC,6111,-0.15,0.0,2352,2166,2772,2639,237.5,3.7,411,6112,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2705,2771,2639,0,0,0,0,0,0,15.03,15.03,15.03,6.29,51.37
$STATE,6410,end loiter,LOITER_COMPLETE
$STATE,6410,begin climb
$GC,6411,0.64,146.0,2353,2165,2773,2640,226.9,0.0,426,6546,0.60,0.00,129.85,1.388,10758,0.174,0.000,2592,2165,2123,2148,2099,0,0,0,0,0,0,14.62,14.03,13.48,6.29,51.77
$GC,6831,0.64,146.0,2592,2166,2134,2079,186.8,11.4,447,6836,0.00,2.47,0.00,0.000,2308,0.000,0.083,2592,3550,2105,2133,2078,0,0,0,0,0,0,14.57,14.28,14.57,6.24,50.55
$GC,6902,0.64,146.0,2592,3551,2133,2079,179.9,11.6,450,6905,0.00,2.35,0.00,0.000,5126,0.000,0.042,2603,2153,2105,2133,2077,0,0,0,0,0,0,14.46,14.35,14.49,6.28,51.02
$GC,7211,0.64,146.0,2603,2154,2131,2075,144.4,10.6,466,7215,0.00,2.47,0.00,0.000,516,0.000,0.066,2614,738,2103,2130,2076,0,0,0,0,0,0,14.71,14.42,14.71,6.24,51.06
$GC,7251,0.64,146.0,2614,738,2128,2077,140.5,10.2,468,7255,0.00,2.42,0.00,0.000,5126,0.000,0.054,2614,2137,2101,2127,2075,0,0,0,0,0,0,14.54,14.38,14.57,6.24,51.49
$GC,7571,0.64,146.0,2615,2137,2128,2074,108.0,9.5,484,7575,0.00,2.50,0.00,0.000,4356,0.000,0.083,2615,3561,2100,2127,2074,0,0,0,0,0,0,14.77,14.46,14.77,6.24,51.14
$GC,7641,0.64,146.0,2615,3561,2128,2075,102.4,9.4,487,7646,0.05,2.38,0.00,0.000,5126,0.327,0.044,2606,2155,2100,2127,2074,0,0,0,0,0,0,14.24,14.46,14.40,6.24,51.26
$GC,7947,0.64,146.0,2607,2156,2128,2072,76.2,11.0,544,7950,0.00,2.45,0.00,0.000,4612,0.000,0.066,2616,740,2099,2126,2072,0,0,0,0,0,0,14.80,14.50,14.80,6.23,50.35
$GC,7991,0.64,146.0,2616,740,2126,2073,71.3,10.1,553,7995,0.00,2.45,0.00,0.000,5126,0.000,0.054,2617,2160,2098,2125,2072,0,0,0,0,0,0,14.52,14.45,14.54,6.22,49.80
$GC,8117,0.64,146.0,2617,2163,2126,2073,57.6,10.9,578,8121,0.00,2.45,0.00,0.000,4356,0.000,0.086,2617,3560,2098,2125,2072,0,0,0,0,0,0,14.80,14.49,14.80,6.21,49.72
$GC,8166,0.64,146.0,2617,3561,2126,2073,52.2,10.4,588,8170,0.05,2.40,0.00,0.000,5126,0.323,0.044,2609,2143,2098,2124,2072,0,0,0,0,0,0,14.30,14.52,14.46,6.22,49.17
$GC,8293,0.64,146.0,2609,2143,2126,2071,39.9,10.0,613,8296,0.00,2.42,0.00,0.000,4612,0.000,0.067,2619,742,2098,2125,2072,0,0,0,0,0,0,14.80,14.52,14.80,6.22,49.92
$GC,8342,0.64,146.0,2619,743,2126,2071,34.9,9.7,623,8345,0.00,2.38,0.00,0.000,5126,0.000,0.053,2619,2151,2097,2124,2071,0,0,0,0,0,0,14.65,14.52,14.67,6.22,49.76
$GC,8467,0.64,146.0,2619,2152,2125,2073,22.4,9.9,648,8471,0.00,2.47,0.00,0.000,4356,0.000,0.089,2619,3560,2097,2124,2071,0,0,0,0,0,0,14.81,14.50,14.81,6.21,50.03
$GC,8506,0.64,146.0,2619,3561,2125,2071,17.9,11.3,656,8510,0.08,2.38,0.00,0.000,5126,0.292,0.044,2583,2152,2097,2124,2071,0,0,0,0,0,0,14.33,14.52,14.60,6.21,50.00
$GC,8633,0.64,146.0,2584,2151,2126,2071,6.6,9.7,681,8636,0.00,2.45,0.00,0.000,2564,0.000,0.067,2593,734,2097,2124,2071,0,0,0,0,0,0,14.81,14.52,14.81,6.21,50.23
$STATE,8680,end climb,SURFACE_DEPTH_REACHED
$STATE,8680,begin surface coast
$STATE,8710,end surface coast,CONTROL_FINISHED_OK
$STATE,8710,begin surface
$SM_CCo,8724,65.55,0.242,0,0,1821,220.03
$SM_GC,1.35,5.47,2.40,65.55,0.067,0.057,0.242,253,2104,1821,-6.50,-0.71,220.03,0,0,0,0,0,0,14.66,14.54,14.30
$IRIDIUM_FIX,-5944.88,0.00,140119,164934
$TT8_MAMPS,0.03745,0.316078
$HUMID,50.31
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3773920
$24V_AH,13.16,57.616
$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,13.025,82.725,255.200,65.550,0.000,24.842,37.942,123.263,0.000,0.000,15.129,0.000,6936.899,413.251,1611.477,153.352,0.000,1046.431,0.000,1154.365,0.000,0.540,0.000
$DEVICE_MAMPS,465.885,2246.040,1575.900,241.740,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,12.675,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17319,697
$CAP_FILE_SIZE,93054,0
$CFSIZE,1023623168,991264768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.069,172.05,1
$GPS,140119,215301,-5944.485,2.535,14,0.9,31,-19.8,0.0,176.6,9,8.8