version: 66.14
glider: 640
mission: 5
dive: 297
start: 1 15 119 21 0 40
data:
$ID,640
$MISSION,5
$DIVE,297
$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,54
$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
$GPS1,150119,205449,-5943.5356,1.9634,15,0.8,38,-19.8,0.4,351.6,11,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-67.0
$GPS2,150119,210022,-5943.5537,1.9969,12,0.8,16,-19.8,0.4,152.3,11,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,10.6,6841,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.64,-146.0,219,2081,1793,1825,0.0,0.0,0,102,0.00,0.00,-88.80,0.000,16386,0.000,0.000,218,2078,3221,3302,3140,0,0,0,0,0,0,14.60,28.83,14.61,6.19,50.59
$GC,104,-0.64,-146.0,219,2078,3312,3142,3.3,-7.6,18,122,6.12,2.62,-3.45,0.000,18948,0.356,2.231,2188,712,3317,3409,3225,0,0,0,0,0,0,14.12,13.37,14.41,6.30,49.25
$GC,136,-0.64,-146.0,2189,712,3413,3225,9.9,-16.9,25,141,0.03,2.42,0.00,0.000,3078,0.467,0.055,2186,2095,3318,3411,3225,0,0,0,0,0,0,14.13,14.32,14.42,6.32,49.60
$GC,263,-0.64,-146.0,2186,2092,3413,3226,32.1,-18.3,50,266,0.00,2.40,0.00,0.000,2564,0.000,0.063,2185,715,3318,3412,3224,0,0,0,0,0,0,14.61,14.35,14.62,6.32,48.89
$GC,301,-0.64,-146.0,2185,716,3413,3226,40.2,-20.1,58,305,0.05,2.42,0.00,0.000,3078,0.433,0.057,2190,2125,3318,3411,3225,0,0,0,0,0,0,14.16,14.38,14.42,6.31,48.97
$GC,428,-0.64,-146.0,2190,2125,3413,3225,60.9,-14.8,83,431,0.00,2.42,0.00,0.000,2308,0.000,0.083,2179,3507,3319,3412,3226,0,0,0,0,0,0,14.66,14.37,14.66,6.31,49.17
$GC,501,-0.64,-146.0,2180,3508,3414,3225,72.5,-15.3,98,505,0.00,2.35,0.00,0.000,3078,0.000,0.041,2179,2124,3318,3412,3225,0,0,0,0,0,0,14.47,14.42,14.48,6.32,49.01
$GC,628,-0.64,-146.0,2179,2123,3413,3226,92.2,-15.7,123,631,0.00,2.47,0.00,0.000,2564,0.000,0.063,2179,688,3318,3412,3225,0,0,0,0,0,0,14.69,14.42,14.69,6.30,48.74
$GC,696,-0.64,-146.0,2179,689,3414,3225,100.3,-13.9,134,701,0.08,2.42,0.00,0.000,3078,0.373,0.056,2191,2110,3318,3412,3225,0,0,0,0,0,0,14.23,14.44,14.48,6.31,48.46
$GC,1001,-0.64,-146.0,2192,2111,3413,3226,143.9,-13.6,150,1006,0.00,2.42,0.00,0.000,2308,0.000,0.082,2181,3505,3318,3412,3225,0,0,0,0,0,0,14.76,14.45,14.76,6.32,49.84
$GC,1026,-0.64,-146.0,2181,3506,3413,3230,146.6,-13.6,151,1030,0.00,2.38,0.00,0.000,3078,0.000,0.042,2176,2096,3319,3413,3225,0,0,0,0,0,0,14.62,14.47,14.63,6.32,50.03
$GC,1341,-0.64,-146.0,2181,2095,3414,3225,191.0,-14.1,167,1345,0.00,2.40,0.00,0.000,2564,0.000,0.061,2180,697,3318,3412,3225,0,0,0,0,0,0,14.79,14.51,14.79,6.32,50.55
$GC,1417,-0.64,-146.0,2181,698,3413,3225,199.4,-14.1,170,1421,0.08,2.38,0.00,0.000,3078,0.370,0.054,2193,2102,3319,3412,3226,0,0,0,0,0,0,14.30,14.52,14.55,6.32,50.74
$GC,1721,-0.64,-146.0,2193,2103,3413,3226,242.2,-13.8,186,1725,0.00,2.45,0.00,0.000,2308,0.000,0.083,2183,3513,3318,3412,3224,0,0,0,0,0,0,14.81,14.50,14.81,6.33,51.22
$GC,1766,-0.64,-146.0,2183,3514,3413,3226,247.9,-14.1,188,1770,0.00,2.38,0.00,0.000,3078,0.000,0.041,2182,2098,3319,3412,3226,0,0,0,0,0,0,14.57,14.53,14.59,6.34,51.18
$GC,2081,-0.64,-146.0,2183,2097,3413,3226,292.9,-13.8,204,2085,0.00,2.40,0.00,0.000,2564,0.000,0.062,2182,694,3318,3412,3225,0,0,0,0,0,0,14.83,14.54,14.83,6.34,51.65
$GC,2141,-0.64,-146.0,2183,695,3413,3225,301.2,-13.9,207,2145,0.08,2.38,0.00,0.000,3078,0.368,0.054,2197,2099,3318,3412,3225,0,0,0,0,0,0,14.31,14.54,14.57,6.34,50.86
$GC,2462,-0.64,-146.0,2196,2101,3413,3226,341.0,-12.2,223,2466,0.00,2.42,0.00,0.000,260,0.000,0.082,2187,3503,3318,3412,3225,0,0,0,0,0,0,14.83,14.55,14.83,6.29,51.18
$GC,2497,-0.64,-146.0,2187,3504,3413,3226,343.5,-12.2,224,2500,0.00,2.33,0.00,0.000,3078,0.000,0.041,2186,2088,3318,3412,3225,0,0,0,0,0,0,14.68,14.58,14.70,6.34,50.94
$STATE,2540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2540,begin apogee
$GC,2544,-0.15,0.0,2186,2158,3413,3226,350.9,-12.3,227,2673,0.45,0.00,125.60,1.567,10246,0.259,0.000,2346,2157,2716,2777,2656,0,0,0,0,0,0,14.34,13.95,13.33,6.34,50.90
$STATE,2674,end apogee,CONTROL_FINISHED_OK
$STATE,2674,begin loiter
$GC,2961,-0.15,0.0,2347,2158,2773,2642,346.3,3.5,248,2962,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2707,2772,2642,0,0,0,0,0,0,14.58,14.58,14.58,6.29,50.90
$GC,3261,-0.15,0.0,2347,2157,2773,2640,336.1,3.4,263,3262,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2706,2772,2640,0,0,0,0,0,0,14.73,14.73,14.73,6.29,51.49
$GC,3561,-0.15,0.0,2346,2158,2772,2640,326.3,3.2,278,3562,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2705,2772,2638,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.14
$GC,3862,-0.15,0.0,2347,2158,2773,2639,316.7,3.3,293,3862,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2704,2771,2637,0,0,0,0,0,0,14.87,14.87,14.87,6.29,50.90
$GC,4161,-0.15,0.0,2347,2158,2773,2638,307.2,3.1,308,4162,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2704,2772,2637,0,0,0,0,0,0,14.91,14.91,14.92,6.29,51.18
$GC,4461,-0.15,0.0,2346,2158,2772,2638,299.2,2.5,323,4462,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2704,2772,2637,0,0,0,0,0,0,14.94,14.95,14.95,6.29,51.22
$GC,4761,-0.15,0.0,2347,2157,2773,2637,291.8,2.3,338,4762,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2704,2772,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.33
$GC,5061,-0.15,0.0,2346,2158,2772,2638,284.8,2.4,353,5062,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2704,2772,2637,0,0,0,0,0,0,14.99,14.99,15.00,6.29,51.33
$GC,5362,-0.15,0.0,2346,2158,2772,2637,277.6,2.3,368,5362,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2704,2772,2636,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.41
$GC,5661,-0.15,0.0,2347,2157,2772,2637,270.7,2.2,383,5662,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2704,2772,2636,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.69
$GC,5961,-0.15,0.0,2346,2158,2772,2636,263.4,2.4,398,5962,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2704,2772,2636,0,0,0,0,0,0,15.03,15.03,15.03,6.29,51.45
$STATE,6260,end loiter,LOITER_COMPLETE
$STATE,6260,begin climb
$GC,6262,0.64,146.0,2347,2158,2773,2636,256.0,0.0,413,6399,0.62,2.53,129.80,1.420,10756,0.180,0.062,2605,753,2118,2143,2094,0,0,0,0,0,0,14.59,13.91,13.45,6.29,51.61
$GC,6493,0.64,146.0,2605,753,2136,2086,240.5,9.4,423,6497,0.00,2.45,0.00,0.000,1030,0.000,0.054,2605,2138,2110,2134,2086,0,0,0,0,0,0,14.22,14.17,14.27,6.24,49.48
$GC,6798,0.64,146.0,2606,2139,2132,2077,202.3,12.4,439,6802,0.00,2.53,0.00,0.000,260,0.000,0.083,2605,3559,2104,2131,2078,0,0,0,0,0,0,14.60,14.32,14.61,6.25,50.98
$GC,6898,0.64,146.0,2605,3562,2131,2078,190.3,11.7,444,6902,0.00,2.38,0.00,0.000,5126,0.000,0.041,2616,2162,2104,2130,2078,0,0,0,0,0,0,14.43,14.38,14.45,6.24,50.59
$GC,7218,0.64,146.0,2616,2163,2129,2077,150.0,12.7,460,7222,0.00,2.50,0.00,0.000,4612,0.000,0.064,2627,746,2101,2128,2075,0,0,0,0,0,0,14.72,14.42,14.72,6.24,50.78
$GC,7283,0.64,146.0,2627,746,2127,2077,143.1,11.8,463,7287,0.05,2.42,0.00,0.000,5126,0.301,0.054,2608,2146,2101,2126,2076,0,0,0,0,0,0,14.24,14.42,14.54,6.24,51.02
$GC,7598,0.64,146.0,2608,2147,2126,2075,105.7,11.5,479,7602,0.00,2.47,0.00,0.000,4356,0.000,0.083,2608,3561,2099,2125,2074,0,0,0,0,0,0,14.78,14.47,14.78,6.24,50.74
$GC,7698,0.64,146.0,2609,3561,2127,2075,95.7,9.1,490,7702,0.00,2.38,0.00,0.000,5126,0.000,0.041,2617,2156,2100,2126,2075,0,0,0,0,0,0,14.55,14.50,14.57,6.23,50.39
$GC,7823,0.64,146.0,2618,2157,2126,2075,84.4,9.4,515,7827,0.00,2.45,0.00,0.000,4612,0.000,0.065,2628,737,2100,2126,2074,0,0,0,0,0,0,14.78,14.49,14.75,6.23,50.07
$GC,7873,0.64,146.0,2629,737,2126,2073,79.5,9.6,525,7878,0.08,2.45,0.00,0.000,5126,0.328,0.055,2602,2160,2099,2125,2073,0,0,0,0,0,0,14.34,14.47,14.57,6.23,50.00
$GC,7999,0.64,146.0,2603,2163,2126,2072,68.5,8.6,550,8002,0.00,2.45,0.00,0.000,260,0.000,0.083,2602,3559,2098,2124,2073,0,0,0,0,0,0,14.77,14.47,14.77,6.22,49.56
$GC,8078,0.64,146.0,2602,3560,2125,2074,61.1,9.2,566,8082,0.00,2.38,0.00,0.000,5126,0.000,0.042,2611,2149,2098,2124,2073,0,0,0,0,0,0,14.56,14.52,14.57,6.22,49.37
$GC,8205,0.64,146.0,2611,2150,2125,2074,49.1,9.9,591,8208,0.00,2.42,0.00,0.000,4612,0.000,0.064,2623,742,2098,2124,2073,0,0,0,0,0,0,14.77,14.50,14.78,6.21,48.97
$GC,8244,0.64,146.0,2622,743,2125,2073,45.2,9.3,599,8248,0.05,2.38,0.00,0.000,5126,0.383,0.054,2604,2151,2098,2124,2072,0,0,0,0,0,0,14.33,14.52,14.58,6.21,49.25
$GC,8369,0.64,146.0,2604,2152,2125,2072,34.2,9.4,624,8373,0.00,2.45,0.00,0.000,260,0.000,0.084,2604,3555,2097,2123,2072,0,0,0,0,0,0,14.77,14.47,14.78,6.21,49.05
$GC,8408,0.64,146.0,2604,3555,2124,2073,30.3,9.7,632,8412,0.00,2.38,0.00,0.000,5126,0.000,0.042,2613,2146,2098,2124,2072,0,0,0,0,0,0,14.57,14.51,14.57,6.21,49.25
$GC,8533,0.64,146.0,2613,2144,2124,2073,18.8,9.5,657,8538,0.00,2.47,0.00,0.000,4612,0.000,0.064,2624,738,2097,2123,2072,0,0,0,0,0,0,14.78,14.48,14.78,6.22,50.00
$GC,8588,0.64,146.0,2624,738,2124,2069,13.4,9.4,668,8593,0.05,2.42,0.00,0.000,5126,0.379,0.051,2605,2176,2097,2123,2071,0,0,0,0,0,0,14.33,14.50,14.58,6.22,49.92
$STATE,8703,end climb,SURFACE_DEPTH_REACHED
$STATE,8703,begin surface coast
$STATE,8732,end surface coast,CONTROL_FINISHED_OK
$STATE,8732,begin surface
$SM_CCo,8745,65.80,0.239,0,0,1823,220.03
$SM_GC,1.17,5.45,0.12,65.80,0.063,0.113,0.239,276,2045,1823,-6.45,0.90,220.03,0,0,0,0,0,0,14.59,14.56,14.27
$IRIDIUM_FIX,-5941.93,0.00,150119,181954
$TT8_MAMPS,0.03745,0.343042
$HUMID,49.60
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3768800
$24V_AH,13.33,59.362
$10V_AH,13.51,0.000
$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,13.175,87.600,255.400,65.800,0.000,26.134,43.104,121.498,0.000,0.000,17.152,0.000,6932.882,416.850,1638.763,157.992,0.000,1061.681,0.000,1168.606,0.000,0.539,0.000
$DEVICE_MAMPS,467.415,2230.740,1566.720,239.445,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5145.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.591,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,17286,697
$CAP_FILE_SIZE,95397,0
$CFSIZE,1023623168,990281728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.088,162.85,1
$GPS,150119,232833,-5943.474,2.068,35,0.7,37,-19.8,0.0,109.1,12,9.6