version: 66.14
glider: 640
mission: 5
dive: 290
start: 1 15 119 3 4 52
data:
$ID,640
$MISSION,5
$DIVE,290
$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,30
$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
$GPS1,150119,025859,-5944.3047,2.6748,48,0.9,52,-19.8,0.0,90.5,9,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-66.1
$GPS2,150119,030434,-5944.3447,2.6963,8,0.9,15,-19.8,0.8,114.4,9,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,357.5,8432,-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,-146.0,214,2078,1794,1823,0.0,0.0,0,96,0.00,0.00,-82.68,0.000,16386,0.000,0.000,214,2078,3137,3219,3056,0,0,0,0,0,0,14.61,28.83,14.61,6.18,50.55
$GC,98,-0.64,-146.0,215,2079,3220,3056,3.4,-7.5,17,116,6.12,2.80,-6.57,0.000,18692,0.353,2.254,2183,3497,3318,3414,3223,0,0,0,0,0,0,14.09,13.14,14.42,6.30,49.72
$GC,166,-0.64,-146.0,2183,3498,3415,3223,14.8,-17.7,31,170,0.00,2.35,0.00,0.000,3078,0.000,0.039,2183,2115,3319,3414,3224,0,0,0,0,0,0,14.41,14.37,14.44,6.32,48.85
$GC,292,-0.64,-146.0,2183,2114,3415,3225,37.1,-16.1,56,295,0.00,2.45,0.00,0.000,2308,0.000,0.080,2173,3510,3319,3415,3224,0,0,0,0,0,0,14.65,14.37,14.65,6.32,48.85
$GC,311,-0.64,-146.0,2172,3511,3415,3218,40.4,-16.5,60,315,0.05,2.40,0.00,0.000,3078,0.351,0.042,2189,2101,3319,3414,3224,0,0,0,0,0,0,14.14,14.40,14.48,6.31,49.05
$GC,438,-0.64,-146.0,2189,2100,3416,3224,58.5,-13.9,85,442,0.00,2.42,0.00,0.000,2564,0.000,0.063,2189,696,3322,3414,3231,0,0,0,0,0,0,14.71,14.41,14.68,6.32,49.37
$GC,526,-0.64,-146.0,2189,697,3415,3226,69.8,-11.6,103,530,0.00,2.42,0.00,0.000,3078,0.000,0.055,2180,2093,3319,3414,3225,0,0,0,0,0,0,14.47,14.40,14.50,6.32,49.60
$GC,651,-0.64,-146.0,2180,2093,3415,3224,87.2,-15.0,128,655,0.00,2.47,0.00,0.000,2308,0.000,0.083,2169,3505,3319,3414,3224,0,0,0,0,0,0,14.71,14.42,14.71,6.32,49.01
$GC,686,-0.64,-146.0,2169,3505,3415,3225,92.6,-15.9,135,690,0.05,2.38,0.00,0.000,3078,0.350,0.042,2197,2099,3319,3415,3224,0,0,0,0,0,0,14.24,14.45,14.50,6.32,49.09
$GC,821,-0.64,-146.0,2197,2099,3415,3226,111.3,-13.5,150,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2098,3319,3415,3224,0,0,0,0,0,0,14.73,14.74,14.73,6.31,49.64
$GC,1121,-0.64,-146.0,2197,2098,3416,3225,150.2,-12.7,165,1126,0.00,2.42,0.00,0.000,516,0.000,0.063,2197,693,3319,3414,3224,0,0,0,0,0,0,14.78,14.50,14.78,6.32,50.63
$GC,1156,-0.64,-146.0,2197,694,3415,3226,152.7,-12.7,166,1160,0.00,2.42,0.00,0.000,3078,0.000,0.054,2187,2098,3319,3414,3224,0,0,0,0,0,0,14.54,14.47,14.57,6.32,50.90
$GC,1461,-0.64,-146.0,2187,2099,3415,3225,193.6,-12.9,182,1465,0.00,2.45,0.00,0.000,2308,0.000,0.081,2176,3504,3319,3414,3224,0,0,0,0,0,0,14.81,14.50,14.81,6.33,50.90
$GC,1496,-0.64,-146.0,2176,3507,3415,3225,196.1,-12.9,183,1500,0.05,2.35,0.00,0.000,3078,0.351,0.041,2194,2106,3319,3414,3224,0,0,0,0,0,0,14.26,14.57,14.44,6.33,50.63
$GC,1801,-0.64,-146.0,2194,2105,3416,3224,235.5,-12.1,199,1805,0.00,2.40,0.00,0.000,2564,0.000,0.062,2194,700,3319,3415,3224,0,0,0,0,0,0,14.82,14.54,14.83,6.33,51.18
$GC,1892,-0.64,-146.0,2194,703,3415,3224,245.2,-12.2,203,1896,0.00,2.38,0.00,0.000,3078,0.000,0.054,2184,2109,3319,3414,3224,0,0,0,0,0,0,14.67,14.54,14.68,6.33,51.29
$GC,2202,-0.64,-146.0,2184,2109,3416,3224,285.7,-13.0,219,2205,0.00,2.42,0.00,0.000,2308,0.000,0.082,2173,3509,3316,3409,3224,0,0,0,0,0,0,14.83,14.52,14.83,6.34,50.90
$GC,2226,-0.64,-146.0,2173,3510,3415,3225,288.3,-13.1,220,2230,0.05,2.35,0.00,0.000,3078,0.343,0.041,2190,2102,3319,3414,3224,0,0,0,0,0,0,14.29,14.55,14.46,6.34,50.90
$GC,2542,-0.64,-146.0,2191,2102,3416,3224,328.5,-12.4,236,2546,0.00,2.40,0.00,0.000,2564,0.000,0.062,2190,699,3319,3414,3224,0,0,0,0,0,0,14.84,14.55,14.84,6.34,51.10
$GC,2601,-0.64,-146.0,2190,699,3415,3224,336.0,-12.6,239,2606,0.00,2.40,0.00,0.000,3078,0.000,0.054,2181,2095,3318,3414,3223,0,0,0,0,0,0,14.59,14.53,14.62,6.34,51.18
$STATE,2720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2720,begin apogee
$GC,2724,-0.15,0.0,2180,2168,3415,3220,351.1,-12.7,245,2852,0.47,0.00,124.93,1.580,10246,0.264,0.000,2348,2167,2720,2781,2660,0,0,0,0,0,0,14.34,13.95,13.34,6.34,50.94
$STATE,2853,end apogee,CONTROL_FINISHED_OK
$STATE,2853,begin loiter
$GC,3141,-0.15,0.0,2349,2168,2775,2644,347.6,3.2,266,3142,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2167,2709,2774,2644,0,0,0,0,0,0,14.58,14.59,14.59,6.29,50.55
$GC,3442,-0.15,0.0,2348,2168,2774,2643,338.0,3.2,281,3442,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2167,2708,2774,2642,0,0,0,0,0,0,14.73,14.73,14.73,6.29,51.49
$GC,3741,-0.15,0.0,2348,2168,2774,2642,328.4,3.2,296,3742,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2167,2707,2774,2641,0,0,0,0,0,0,14.81,14.82,14.82,6.29,51.10
$GC,4042,-0.15,0.0,2349,2168,2775,2640,318.4,3.4,311,4042,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2167,2707,2774,2640,0,0,0,0,0,0,14.87,14.88,14.88,6.29,51.10
$GC,4341,-0.15,0.0,2348,2168,2774,2641,308.0,3.4,326,4342,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2167,2707,2774,2640,0,0,0,0,0,0,14.92,14.92,14.92,6.29,51.33
$GC,4641,-0.15,0.0,2348,2168,2774,2640,297.5,3.4,341,4642,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2167,2706,2773,2639,0,0,0,0,0,0,14.95,14.95,14.95,6.29,51.41
$GC,4941,-0.15,0.0,2349,2168,2774,2640,287.3,3.3,356,4942,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2167,2706,2774,2639,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.22
$GC,5241,-0.15,0.0,2349,2168,2775,2639,277.2,3.4,371,5242,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2167,2706,2774,2639,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.41
$GC,5542,-0.15,0.0,2349,2168,2775,2638,267.6,3.2,386,5542,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2167,2705,2773,2638,0,0,0,0,0,0,15.01,15.01,15.01,6.29,51.29
$GC,5841,-0.15,0.0,2348,2168,2774,2640,258.5,3.1,401,5842,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2167,2706,2774,2638,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.41
$GC,6141,-0.15,0.0,2349,2168,2775,2638,249.8,2.8,416,6142,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2167,2705,2773,2638,0,0,0,0,0,0,15.03,15.04,15.04,6.28,51.29
$STATE,6440,end loiter,LOITER_COMPLETE
$STATE,6440,begin climb
$GC,6442,0.64,146.0,2348,2168,2775,2638,241.8,0.0,431,6579,0.62,2.55,129.65,1.418,10756,0.173,0.065,2609,753,2120,2145,2095,0,0,0,0,0,0,14.61,13.93,13.46,6.29,51.49
$GC,6643,0.64,146.0,2609,753,2137,2088,228.5,8.8,440,6647,0.00,2.40,0.00,0.000,5126,0.000,0.053,2609,2135,2111,2135,2088,0,0,0,0,0,0,14.26,14.16,14.27,6.25,49.37
$GC,6958,0.64,146.0,2610,2135,2133,2079,191.9,11.6,456,6962,0.00,2.50,0.00,0.000,4356,0.000,0.082,2610,3555,2106,2132,2080,0,0,0,0,0,0,14.60,14.33,14.60,6.24,50.35
$GC,7043,0.64,146.0,2610,3556,2131,2082,182.7,11.5,460,7048,0.05,2.35,0.00,0.000,5126,0.420,0.042,2603,2153,2106,2132,2080,0,0,0,0,0,0,14.19,14.40,14.43,6.24,50.55
$GC,7358,0.64,146.0,2604,2154,2132,2077,147.8,10.7,476,7362,0.00,2.45,0.00,0.000,516,0.000,0.065,2613,744,2103,2130,2077,0,0,0,0,0,0,14.71,14.44,14.72,6.24,50.59
$GC,7423,0.64,146.0,2613,745,2128,2078,141.7,10.3,479,7427,0.00,2.42,0.00,0.000,5126,0.000,0.053,2613,2145,2102,2127,2077,0,0,0,0,0,0,14.49,14.44,14.52,6.24,50.70
$GC,7738,0.64,146.0,2623,2146,2128,2076,105.6,11.1,495,7742,0.00,2.45,0.00,0.000,4612,0.000,0.066,2624,754,2101,2127,2076,0,0,0,0,0,0,14.77,14.47,14.78,6.23,50.74
$GC,7874,0.64,146.0,2625,755,2127,2077,92.9,9.0,513,7878,0.05,2.38,0.00,0.000,5126,0.384,0.054,2606,2157,2100,2126,2075,0,0,0,0,0,0,14.33,14.52,14.57,6.24,50.39
$GC,7998,0.64,146.0,2607,2157,2127,2074,80.7,9.8,538,8002,0.00,2.47,0.00,0.000,260,0.000,0.084,2606,3546,2105,2136,2075,0,0,0,0,0,0,14.77,14.46,14.78,6.23,49.88
$GC,8068,0.64,146.0,2607,3547,2127,2075,73.6,9.7,552,8072,0.00,2.35,0.00,0.000,5126,0.000,0.042,2615,2152,2100,2125,2075,0,0,0,0,0,0,14.56,14.52,14.58,6.28,50.23
$GC,8194,0.64,146.0,2615,2153,2127,2076,61.8,9.7,577,8198,0.00,2.45,0.00,0.000,4612,0.000,0.066,2626,735,2100,2126,2075,0,0,0,0,0,0,14.79,14.50,14.78,6.23,50.15
$GC,8238,0.64,146.0,2626,736,2126,2075,57.3,9.9,586,8243,0.08,2.42,0.00,0.000,5126,0.327,0.054,2600,2175,2100,2125,2075,0,0,0,0,0,0,14.35,14.51,14.58,6.22,50.00
$GC,8365,0.65,160.1,2600,2175,2126,2076,46.6,7.8,611,8378,0.00,0.00,9.45,1.313,10502,0.000,0.000,2600,2175,2062,2086,2039,0,0,0,0,0,0,14.78,14.37,13.85,6.21,49.17
$GC,8498,0.65,160.1,2600,2175,2087,2038,33.5,9.2,638,8502,0.00,2.47,0.00,0.000,2564,0.000,0.066,2609,744,2061,2086,2037,0,0,0,0,0,0,14.73,14.47,14.74,6.21,49.13
$GC,8578,0.67,171.5,2609,745,2087,2036,27.1,7.9,654,8592,0.00,2.38,9.77,1.273,11270,0.000,0.052,2609,2150,2019,2042,1997,0,0,0,0,0,0,14.61,14.50,13.83,6.21,49.48
$GC,8713,0.67,171.5,2609,2150,2039,1992,12.7,11.6,681,8718,0.00,2.47,0.00,0.000,2308,0.000,0.085,2609,3558,2014,2037,1992,0,0,0,0,0,0,14.71,14.42,14.71,6.20,49.92
$GC,8763,0.67,171.5,2609,3559,2038,1993,6.9,12.4,691,8767,0.00,2.35,0.00,0.000,1030,0.000,0.043,2619,2149,2014,2037,1992,0,0,0,0,0,0,14.57,14.48,14.59,6.21,50.11
$STATE,8796,end climb,SURFACE_DEPTH_REACHED
$STATE,8796,begin surface coast
$STATE,8816,end surface coast,CONTROL_FINISHED_OK
$STATE,8817,begin surface
$SM_CCo,8831,45.65,0.241,0,0,1820,220.03
$SM_GC,0.98,5.55,0.08,45.65,0.068,0.155,0.241,243,2068,1820,-6.46,0.88,220.03,0,0,0,0,0,0,14.56,14.50,14.26
$IRIDIUM_FIX,-5947.83,0.00,150119,002909
$TT8_MAMPS,0.038199,0.378245
$HUMID,49.64
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3772384
$24V_AH,13.14,58.144
$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,13.150,82.725,273.800,45.650,0.000,24.994,37.851,133.974,0.000,0.000,16.337,0.000,7018.582,404.857,1635.770,155.563,0.000,1051.130,0.000,1163.236,0.000,0.539,0.000
$DEVICE_MAMPS,419.985,2253.690,1579.725,240.975,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5229.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.756,0.000,0.000,0.000
$MEM,344104
$DATA_FILE_SIZE,17327,702
$CAP_FILE_SIZE,94578,0
$CFSIZE,1023623168,990969856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,8364.78,0x235724,1,24
$CURRENT,0.069,138.84,1
$GPS,150119,053352,-5944.201,2.724,13,0.9,39,-19.8,0.4,105.3,8,9.8