version: 66.14
glider: 640
mission: 5
dive: 398
start: 1 26 119 19 34 1
data:
$ID,640
$MISSION,5
$DIVE,398
$N_DIVES,600
$STOP_T,2051912
$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,30
$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
$GPS1,260119,192731,-6014.9810,-0.4651,13,0.8,31,-19.7,0.0,157.5,10,5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-65.7
$GPS2,260119,193342,-6014.9639,-0.4632,8,0.8,16,-19.7,0.8,245.4,10,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,29.0,64754,-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,-146.0,215,2101,1792,1827,0.0,0.0,0,101,0.00,0.00,-87.55,0.000,16386,0.000,0.000,215,2102,3185,3265,3106,0,0,0,0,0,0,14.57,28.83,14.57,6.17,51.10
$GC,103,-0.64,-146.0,216,2101,3266,3106,3.2,-6.9,18,121,6.22,2.75,-4.82,0.000,18948,0.356,2.224,2175,696,3318,3412,3224,0,0,0,0,0,0,13.95,13.03,14.34,6.29,50.31
$GC,227,-0.64,-146.0,2176,697,3414,3226,26.8,-19.0,43,231,0.08,2.42,0.00,0.000,3078,0.372,0.055,2190,2103,3319,3413,3225,0,0,0,0,0,0,14.05,14.31,14.32,6.30,48.93
$GC,353,-0.64,-146.0,2190,2104,3414,3226,50.2,-18.9,68,356,0.00,0.00,0.00,0.000,2054,0.000,0.000,2189,2103,3319,3413,3226,0,0,0,0,0,0,14.62,14.63,14.63,6.31,49.72
$GC,477,-0.64,-146.0,2190,2104,3414,3227,70.6,-13.1,93,480,0.00,2.47,0.00,0.000,2308,0.000,0.083,2179,3506,3319,3413,3226,0,0,0,0,0,0,14.66,14.31,14.66,6.30,50.19
$GC,532,-0.64,-146.0,2179,3506,3414,3226,78.2,-13.0,104,535,0.00,2.35,0.00,0.000,3078,0.000,0.043,2178,2096,3319,3413,3226,0,0,0,0,0,0,14.50,14.39,14.52,6.31,49.84
$GC,657,-0.64,-146.0,2179,2094,3413,3225,96.3,-14.8,129,660,0.00,2.45,0.00,0.000,2564,0.000,0.063,2178,690,3319,3413,3225,0,0,0,0,0,0,14.69,14.35,14.69,6.30,49.09
$GC,697,-0.64,-146.0,2179,690,3414,3226,102.6,-16.1,135,701,0.08,2.42,0.00,0.000,3078,0.367,0.057,2191,2105,3319,3413,3226,0,0,0,0,0,0,14.11,14.37,14.38,6.31,49.44
$GC,1017,-0.64,-146.0,2191,2106,3415,3226,150.2,-14.1,151,1020,0.00,2.45,0.00,0.000,2308,0.000,0.082,2180,3505,3319,3413,3226,0,0,0,0,0,0,14.75,14.36,14.75,6.30,48.81
$GC,1052,-0.64,-146.0,2180,3506,3414,3227,155.0,-13.9,153,1055,0.00,2.35,0.00,0.000,3078,0.000,0.044,2180,2090,3319,3413,3226,0,0,0,0,0,0,14.56,14.45,14.58,6.29,49.17
$GC,1372,-0.64,-146.0,2179,2089,3414,3227,194.9,-11.6,169,1376,0.00,2.40,0.00,0.000,2564,0.000,0.063,2179,697,3319,3413,3226,0,0,0,0,0,0,14.78,14.41,14.78,6.30,50.47
$GC,1447,-0.64,-146.0,2180,698,3414,3226,202.1,-12.0,172,1451,0.08,2.40,0.00,0.000,3078,0.369,0.054,2192,2107,3319,3413,3226,0,0,0,0,0,0,14.16,14.44,14.44,6.31,50.66
$GC,1767,-0.64,-146.0,2193,2107,3414,3226,240.0,-11.5,189,1770,0.00,2.45,0.00,0.000,2308,0.000,0.083,2182,3503,3319,3413,3226,0,0,0,0,0,0,14.80,14.39,14.80,6.31,51.06
$GC,1797,-0.64,-146.0,2182,3503,3414,3226,241.8,-11.6,190,1801,0.00,2.33,0.00,0.000,3078,0.000,0.044,2181,2100,3319,3413,3225,0,0,0,0,0,0,14.60,14.48,14.62,6.31,51.33
$GC,2102,-0.64,-146.0,2181,2099,3414,3227,280.8,-12.3,206,2106,0.00,2.42,0.00,0.000,2564,0.000,0.063,2181,693,3319,3413,3226,0,0,0,0,0,0,14.81,14.44,14.81,6.32,51.37
$GC,2142,-0.64,-146.0,2182,692,3414,3226,285.9,-12.5,208,2146,0.08,2.40,0.00,0.000,3078,0.363,0.056,2194,2102,3319,3413,3226,0,0,0,0,0,0,14.18,14.45,14.46,6.32,51.73
$GC,2462,-0.64,-146.0,2194,2103,3414,3226,323.1,-11.6,224,2465,0.00,2.45,0.00,0.000,260,0.000,0.084,2183,3503,3319,3413,3226,0,0,0,0,0,0,14.82,14.40,14.82,6.32,51.41
$GC,2487,-0.64,-146.0,2184,3502,3413,3227,324.9,-11.7,225,2491,0.00,2.33,0.00,0.000,3078,0.000,0.043,2184,2100,3319,3412,3226,0,0,0,0,0,0,14.62,14.50,14.64,6.32,51.33
$STATE,2695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2695,begin apogee
$GC,2700,-0.15,0.0,2184,2156,3414,3226,351.8,-12.4,236,2829,0.47,0.00,125.80,1.572,10246,0.256,0.000,2350,2156,2719,2779,2660,0,0,0,0,0,0,14.13,13.92,13.26,6.33,51.45
$STATE,2830,end apogee,CONTROL_FINISHED_OK
$STATE,2830,begin loiter
$GC,3117,-0.15,0.0,2351,2156,2775,2644,348.5,3.1,257,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2709,2774,2644,0,0,0,0,0,0,14.55,14.55,14.56,6.28,50.51
$GC,3417,-0.15,0.0,2350,2157,2774,2644,338.4,3.6,272,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2708,2774,2643,0,0,0,0,0,0,14.71,14.71,14.71,6.28,51.45
$GC,3717,-0.15,0.0,2349,2156,2774,2644,326.5,4.2,287,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2707,2773,2642,0,0,0,0,0,0,14.80,14.81,14.81,6.27,51.41
$GC,4017,-0.15,0.0,2351,2156,2775,2642,313.4,4.4,302,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2707,2773,2642,0,0,0,0,0,0,14.85,14.86,14.85,6.27,51.18
$GC,4317,-0.15,0.0,2351,2157,2775,2643,300.4,4.2,317,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2707,2773,2642,0,0,0,0,0,0,14.90,14.90,14.90,6.27,51.41
$GC,4617,-0.15,0.0,2350,2157,2774,2643,289.4,3.3,332,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2155,2707,2773,2642,0,0,0,0,0,0,14.92,14.93,14.93,6.27,51.53
$GC,4917,-0.15,0.0,2350,2156,2774,2643,280.8,2.7,347,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2707,2773,2641,0,0,0,0,0,0,14.95,14.95,14.95,6.27,51.45
$GC,5217,-0.15,0.0,2351,2156,2776,2642,272.8,2.7,362,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2708,2774,2642,0,0,0,0,0,0,14.97,14.97,14.97,6.27,51.41
$GC,5517,-0.15,0.0,2351,2156,2774,2642,263.9,3.1,377,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2708,2773,2643,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.33
$GC,5817,-0.15,0.0,2350,2157,2774,2643,254.8,3.0,392,5818,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2707,2773,2642,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.92
$GC,6117,-0.15,0.0,2350,2156,2774,2643,245.8,2.9,407,6117,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2707,2773,2642,0,0,0,0,0,0,15.02,15.02,15.02,6.27,51.73
$STATE,6415,end loiter,LOITER_COMPLETE
$STATE,6415,begin climb
$GC,6417,0.64,146.0,2351,2156,2775,2642,237.8,0.0,422,6557,0.62,2.58,131.30,1.397,11012,0.167,0.065,2616,749,2123,2151,2095,0,0,0,0,0,0,14.45,13.95,13.40,6.27,51.73
$GC,6582,0.66,160.9,2609,750,2136,2093,228.1,7.8,430,6601,0.00,2.45,13.85,1.401,9222,0.000,0.054,2609,2147,2060,2081,2039,0,0,0,0,0,0,14.16,14.07,13.38,6.23,49.40
$GC,6919,0.66,160.9,2610,2149,2074,2022,189.5,11.0,447,6922,0.00,2.53,0.00,0.000,260,0.000,0.083,2609,3562,2047,2073,2022,0,0,0,0,0,0,14.53,14.20,14.54,6.23,50.39
$GC,6997,0.66,160.9,2610,3562,2074,2022,181.5,10.6,451,7000,0.00,2.38,0.00,0.000,5126,0.000,0.043,2619,2150,2047,2073,2022,0,0,0,0,0,0,14.42,14.31,14.43,6.22,50.74
$GC,7312,0.66,160.9,2620,2151,2071,2021,146.6,10.4,467,7315,0.00,2.47,0.00,0.000,4612,0.000,0.067,2631,740,2045,2071,2020,0,0,0,0,0,0,14.69,14.33,14.69,6.22,50.94
$GC,7367,0.66,160.9,2631,741,2070,2021,142.7,10.0,469,7371,0.08,2.42,0.00,0.000,5126,0.316,0.054,2604,2160,2043,2068,2019,0,0,0,0,0,0,14.18,14.37,14.42,6.22,50.94
$GC,7672,0.66,160.9,2604,2160,2069,2018,105.4,13.1,485,7676,0.00,2.45,0.00,0.000,2308,0.000,0.083,2604,3551,2044,2068,2020,0,0,0,0,0,0,14.75,14.36,14.76,6.21,51.06
$GC,7747,0.66,160.9,2605,3552,2069,2018,96.0,11.8,492,7751,0.00,2.38,0.00,0.000,5126,0.000,0.043,2613,2155,2043,2068,2018,0,0,0,0,0,0,14.44,14.39,14.47,6.21,49.76
$GC,7872,0.66,160.9,2614,2156,2069,2016,81.4,11.8,517,7875,0.00,2.47,0.00,0.000,4612,0.000,0.067,2623,736,2042,2068,2016,0,0,0,0,0,0,14.76,14.40,14.73,6.20,50.11
$GC,7902,0.66,160.9,2625,736,2068,2017,78.1,11.0,523,7907,0.00,2.42,0.00,0.000,5126,0.000,0.056,2624,2158,2041,2067,2016,0,0,0,0,0,0,14.57,14.42,14.59,6.19,49.68
$GC,8029,0.66,160.9,2625,2159,2068,2020,64.4,10.4,548,8032,0.00,2.47,0.00,0.000,4356,0.000,0.086,2624,3561,2041,2066,2016,0,0,0,0,0,0,14.76,14.37,14.76,6.20,49.40
$GC,8072,0.66,160.9,2626,3561,2068,2016,60.0,9.4,557,8076,0.08,2.35,0.00,0.000,5126,0.342,0.044,2609,2142,2041,2066,2016,0,0,0,0,0,0,14.20,14.47,14.48,6.19,49.92
$GC,8199,0.66,160.9,2609,2148,2067,2017,49.3,8.8,582,8202,0.00,2.42,0.00,0.000,516,0.000,0.064,2619,747,2041,2067,2015,0,0,0,0,0,0,14.76,14.40,14.76,6.19,49.60
$GC,8227,0.69,188.9,2619,748,2067,2016,47.0,7.3,588,8256,0.00,2.40,24.35,1.267,9222,0.000,0.052,2619,2155,1949,1968,1930,0,0,0,0,0,0,14.56,14.44,13.78,6.19,49.68
$GC,8377,0.69,188.9,2619,2156,1962,1922,33.3,9.6,618,8381,0.00,2.50,0.00,0.000,260,0.000,0.087,2620,3556,1941,1962,1921,0,0,0,0,0,0,14.65,14.31,14.66,6.18,50.19
$GC,8427,0.69,188.9,2619,3557,1962,1922,28.1,10.5,628,8431,0.00,2.35,0.00,0.000,5126,0.000,0.044,2630,2152,1941,1961,1921,0,0,0,0,0,0,14.50,14.39,14.52,6.19,50.47
$GC,8553,0.69,188.9,2630,2152,1962,1920,13.1,13.1,653,8557,0.00,2.47,0.00,0.000,4612,0.000,0.067,2641,738,1940,1961,1919,0,0,0,0,0,0,14.68,14.35,14.69,6.18,51.14
$GC,8582,0.69,188.9,2642,738,1961,1913,9.4,11.9,659,8587,0.05,2.40,0.00,0.000,5126,0.378,0.054,2623,2148,1938,1959,1918,0,0,0,0,0,0,14.18,14.38,14.44,6.19,50.78
$STATE,8640,end climb,SURFACE_DEPTH_REACHED
$STATE,8640,begin surface coast
$STATE,8662,end surface coast,CONTROL_FINISHED_OK
$STATE,8662,begin surface
$SM_CCo,8676,27.48,0.246,0,0,1821,220.03
$SM_GC,1.03,5.40,0.08,27.48,0.030,0.171,0.246,239,2080,1821,-6.46,0.90,220.03,0,0,0,0,0,0,14.54,14.43,14.17
$IRIDIUM_FIX,-6016.69,0.00,260119,165430
$TT8_MAMPS,0.038948,0.35203
$HUMID,50.55
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,4
$SC_FREEKB,3717088
$24V_AH,13.03,77.848
$10V_AH,13.56,0.000
$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,13.225,82.925,295.300,27.475,0.000,24.055,47.181,134.458,1.000,0.000,18.156,0.000,6882.674,403.362,1589.601,200.948,0.000,1028.636,0.000,1111.083,0.000,0.539,0.000
$DEVICE_MAMPS,377.910,2223.855,1572.075,245.565,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5082.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.574,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17363,675
$CAP_FILE_SIZE,91911,0
$CFSIZE,1023623168,980336640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.053,244.97,1
$GPS,260119,220006,-6014.486,-0.929,30,0.9,35,-19.7,0.9,303.6,8,9.4