version: 66.14
glider: 640
mission: 5
dive: 399
start: 1 26 119 22 8 21
data:
$ID,640
$MISSION,5
$DIVE,399
$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,48
$R_STBD_OVSHOOT,28
$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
$GPS1,260119,220006,-6014.4858,-0.9286,30,0.9,35,-19.7,0.9,303.6,8,9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-69.2
$GPS2,260119,220802,-6014.4824,-0.9857,9,0.9,21,-19.7,0.0,112.5,8,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,31.8,63868,-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,-146.0,214,2080,1798,1828,0.0,0.0,0,101,0.00,0.00,-87.38,0.000,16386,0.000,0.000,213,2080,3190,3272,3108,0,0,0,0,0,0,14.56,28.83,14.54,6.18,51.33
$GC,103,-0.64,-146.0,214,2081,3273,3109,3.2,-6.5,18,121,6.12,2.70,-4.72,0.000,18948,0.340,2.221,2188,708,3318,3412,3224,0,0,0,0,0,0,13.99,13.01,14.35,6.29,50.11
$GC,208,-0.64,-146.0,2189,708,3414,3225,21.9,-17.3,39,212,0.05,2.40,0.00,0.000,3078,0.449,0.058,2193,2099,3319,3413,3225,0,0,0,0,0,0,14.00,14.24,14.26,6.30,48.89
$GC,333,-0.64,-146.0,2193,2099,3414,3225,45.1,-18.4,64,336,0.00,0.00,0.00,0.000,2054,0.000,0.000,2193,2099,3318,3412,3225,0,0,0,0,0,0,14.62,14.62,14.66,6.31,49.29
$GC,457,-0.64,-146.0,2193,2099,3414,3225,64.9,-14.7,89,460,0.00,2.47,0.00,0.000,2308,0.000,0.083,2182,3505,3319,3413,3225,0,0,0,0,0,0,14.66,14.31,14.66,6.31,50.00
$GC,512,-0.64,-146.0,2183,3506,3414,3225,73.3,-14.1,100,515,0.00,2.33,0.00,0.000,3078,0.000,0.042,2182,2108,3319,3413,3225,0,0,0,0,0,0,14.50,14.40,14.52,6.32,49.84
$GC,637,-0.64,-146.0,2182,2107,3412,3226,91.7,-15.1,125,640,0.00,2.45,0.00,0.000,2564,0.000,0.063,2181,697,3319,3413,3226,0,0,0,0,0,0,14.69,14.35,14.69,6.31,49.21
$GC,677,-0.64,-146.0,2182,698,3414,3225,97.9,-15.0,133,681,0.08,2.40,0.00,0.000,3078,0.369,0.057,2195,2101,3319,3413,3225,0,0,0,0,0,0,14.12,14.37,14.39,6.31,48.50
$GC,812,-0.64,-146.0,2195,2102,3414,3227,117.9,-14.8,142,816,0.00,2.47,0.00,0.000,260,0.000,0.083,2185,3506,3319,3413,3225,0,0,0,0,0,0,14.71,14.35,14.72,6.30,48.46
$GC,832,-0.64,-146.0,2184,3506,3414,3225,120.8,-14.8,143,836,0.00,2.35,0.00,0.000,3078,0.000,0.044,2184,2091,3319,3413,3225,0,0,0,0,0,0,14.54,14.42,14.56,6.30,48.30
$GC,1152,-0.64,-146.0,2184,2090,3415,3225,165.7,-13.3,159,1156,0.00,2.40,0.00,0.000,2564,0.000,0.063,2184,697,3319,3413,3226,0,0,0,0,0,0,14.76,14.41,14.76,6.29,49.76
$GC,1247,-0.64,-146.0,2185,698,3414,3225,178.2,-13.1,164,1251,0.05,2.40,0.00,0.000,3078,0.428,0.056,2189,2109,3319,3413,3225,0,0,0,0,0,0,14.17,14.43,14.44,6.30,50.19
$GC,1562,-0.64,-146.0,2190,2110,3414,3225,219.1,-13.2,180,1566,0.00,2.42,0.00,0.000,2308,0.000,0.083,2179,3506,3319,3413,3225,0,0,0,0,0,0,14.79,14.40,14.79,6.31,50.86
$GC,1582,-0.64,-146.0,2179,3507,3414,3226,221.8,-13.2,181,1586,0.00,2.33,0.00,0.000,3078,0.000,0.044,2179,2098,3319,3413,3225,0,0,0,0,0,0,14.59,14.48,14.62,6.31,50.94
$GC,1902,-0.64,-146.0,2179,2100,3414,3227,263.4,-12.8,197,1905,0.00,2.42,0.00,0.000,2564,0.000,0.063,2178,691,3318,3413,3224,0,0,0,0,0,0,14.81,14.44,14.81,6.32,51.22
$GC,1947,-0.64,-146.0,2179,692,3414,3225,268.0,-13.0,199,1951,0.08,2.40,0.00,0.000,3078,0.364,0.056,2191,2105,3319,3413,3225,0,0,0,0,0,0,14.19,14.46,14.46,6.32,50.98
$GC,2257,-0.64,-146.0,2191,2106,3414,3226,305.9,-11.6,215,2258,0.00,0.00,0.00,0.000,2054,0.000,0.000,2191,2105,3319,3414,3225,0,0,0,0,0,0,14.82,14.82,14.82,6.32,51.14
$GC,2557,-0.64,-146.0,2192,2106,3415,3225,340.9,-11.8,230,2558,0.00,0.00,0.00,0.000,2054,0.000,0.000,2198,2106,3319,3413,3225,0,0,0,0,0,0,14.83,14.83,14.83,6.33,51.37
$STATE,2635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2635,begin apogee
$GC,2640,-0.15,0.0,2192,2180,3414,3227,350.4,-11.9,234,2769,0.45,0.00,125.78,1.567,10246,0.254,0.000,2349,2172,2717,2777,2658,0,0,0,0,0,0,14.14,13.92,13.26,6.33,51.10
$STATE,2770,end apogee,CONTROL_FINISHED_OK
$STATE,2770,begin loiter
$GC,3057,-0.15,0.0,2350,2172,2773,2643,347.0,3.1,255,3058,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2172,2707,2772,2643,0,0,0,0,0,0,14.56,14.56,14.56,6.28,50.74
$GC,3357,-0.15,0.0,2350,2172,2772,2642,338.4,2.8,270,3358,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2172,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.94
$GC,3657,-0.15,0.0,2349,2173,2773,2640,330.0,2.7,285,3658,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2172,2705,2771,2639,0,0,0,0,0,0,14.80,14.80,14.80,6.28,51.41
$GC,3957,-0.15,0.0,2350,2172,2773,2639,321.2,3.1,300,3958,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2172,2705,2771,2639,0,0,0,0,0,0,14.85,14.86,14.85,6.28,51.85
$GC,4257,-0.15,0.0,2350,2172,2773,2638,311.6,3.3,315,4258,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2172,2705,2772,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.53
$GC,4557,-0.15,0.0,2350,2172,2773,2638,301.9,3.2,330,4558,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2172,2704,2771,2638,0,0,0,0,0,0,14.93,14.93,14.93,6.28,51.53
$GC,4857,-0.15,0.0,2349,2173,2772,2639,292.2,3.2,345,4858,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2172,2705,2773,2638,0,0,0,0,0,0,14.95,14.96,14.95,6.28,51.45
$GC,5157,-0.15,0.0,2350,2172,2773,2637,283.0,3.0,360,5158,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2172,2705,2772,2638,0,0,0,0,0,0,14.97,14.97,14.97,6.27,52.00
$GC,5457,-0.15,0.0,2349,2173,2772,2638,274.7,2.6,375,5458,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2172,2704,2772,2637,0,0,0,0,0,0,14.99,14.99,14.99,6.27,52.12
$GC,5757,-0.15,0.0,2349,2173,2772,2638,267.4,2.6,390,5758,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2172,2704,2772,2637,0,0,0,0,0,0,15.00,15.01,15.01,6.27,51.41
$GC,6057,-0.15,0.0,2350,2173,2773,2637,259.4,2.9,405,6058,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2172,2704,2772,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.69
$STATE,6355,end loiter,LOITER_COMPLETE
$STATE,6355,begin climb
$GC,6357,0.64,146.0,2349,2173,2772,2638,249.9,0.0,420,6498,0.62,2.62,129.90,1.416,10756,0.174,0.067,2606,745,2116,2139,2094,0,0,0,0,0,0,14.45,13.98,13.40,6.27,51.41
$GC,6537,0.64,146.0,2606,746,2135,2091,236.3,9.5,429,6541,0.00,2.42,0.00,0.000,1030,0.000,0.053,2606,2132,2112,2135,2090,0,0,0,0,0,0,14.18,14.09,14.20,6.23,49.21
$GC,6852,0.64,146.0,2607,2133,2131,2080,196.6,12.9,445,6856,0.00,2.55,0.00,0.000,260,0.000,0.083,2606,3557,2105,2130,2080,0,0,0,0,0,0,14.57,14.22,14.57,6.23,50.35
$GC,6932,0.64,146.0,2606,3557,2130,2081,186.1,13.1,449,6936,0.00,2.35,0.00,0.000,5126,0.000,0.043,2617,2159,2105,2130,2080,0,0,0,0,0,0,14.43,14.33,14.45,6.23,50.78
$GC,7252,0.64,146.0,2617,2159,2128,2077,141.0,14.1,465,7256,0.00,2.47,0.00,0.000,4612,0.000,0.067,2628,744,2101,2126,2077,0,0,0,0,0,0,14.70,14.34,14.70,6.23,50.90
$GC,7308,0.64,146.0,2629,745,2126,2077,136.0,13.2,467,7312,0.08,2.40,0.00,0.000,5126,0.317,0.054,2602,2151,2100,2124,2077,0,0,0,0,0,0,14.18,14.38,14.43,6.22,50.74
$GC,7627,0.64,146.0,2602,2152,2128,2076,102.2,8.8,484,7631,0.00,2.47,0.00,0.000,260,0.000,0.084,2610,3554,2100,2125,2075,0,0,0,0,0,0,14.76,14.37,14.76,6.22,50.78
$GC,7712,0.66,160.8,2602,3556,2125,2077,95.7,7.8,495,7727,0.00,2.35,10.10,1.343,9222,0.000,0.043,2610,2144,2063,2086,2041,0,0,0,0,0,0,14.57,14.47,13.74,6.21,50.47
$GC,7847,0.66,160.8,2611,2144,2082,2036,83.8,9.2,522,7851,0.00,2.45,0.00,0.000,516,0.000,0.066,2621,740,2058,2081,2036,0,0,0,0,0,0,14.71,14.38,14.71,6.21,49.52
$GC,7897,0.66,160.8,2621,741,2082,2029,79.2,8.9,532,7901,0.00,2.40,0.00,0.000,5126,0.000,0.054,2621,2152,2058,2081,2035,0,0,0,0,0,0,14.54,14.41,14.55,6.20,49.72
$GC,8024,0.66,160.8,2622,2152,2081,2043,66.1,11.4,557,8027,0.00,2.47,0.00,0.000,4356,0.000,0.085,2621,3558,2058,2081,2035,0,0,0,0,0,0,14.71,14.36,14.71,6.20,49.05
$GC,8087,0.66,160.8,2622,3558,2082,2034,58.3,10.9,570,8092,0.08,2.35,0.00,0.000,5126,0.334,0.044,2605,2148,2057,2080,2034,0,0,0,0,0,0,14.21,14.45,14.44,6.14,49.88
$GC,8214,0.66,161.3,2605,2149,2085,2035,47.4,8.3,595,8218,0.00,2.42,0.00,0.000,2564,0.000,0.066,2615,745,2056,2080,2033,0,0,0,0,0,0,14.73,14.40,14.73,6.20,49.92
$GC,8262,0.66,165.7,2615,746,2081,2034,43.2,8.2,605,8272,0.00,2.40,4.95,1.206,13318,0.000,0.054,2615,2156,2041,2064,2019,0,0,0,0,0,0,14.56,14.42,13.66,6.20,50.43
$GC,8393,0.66,165.7,2614,2157,2065,2019,32.1,9.4,631,8396,0.00,2.45,0.00,0.000,4356,0.000,0.085,2615,3553,2041,2063,2019,0,0,0,0,0,0,14.68,14.36,14.71,6.19,50.23
$GC,8442,0.66,165.7,2615,3551,2065,2020,27.1,10.1,641,8446,0.00,2.35,0.00,0.000,5126,0.000,0.044,2626,2145,2042,2064,2020,0,0,0,0,0,0,14.56,14.45,14.57,6.20,50.43
$GC,8569,0.66,165.7,2627,2145,2065,2018,14.0,9.4,666,8573,0.00,2.45,0.00,0.000,4612,0.000,0.070,2637,736,2041,2064,2018,0,0,0,0,0,0,14.73,14.38,14.73,6.20,50.59
$GC,8622,0.66,165.7,2638,737,2059,2018,8.1,10.4,677,8627,0.08,2.42,0.00,0.000,5126,0.317,0.057,2609,2149,2040,2064,2017,0,0,0,0,0,0,14.21,14.40,14.45,6.20,50.66
$STATE,8671,end climb,SURFACE_DEPTH_REACHED
$STATE,8671,begin surface coast
$STATE,8695,end surface coast,CONTROL_FINISHED_OK
$STATE,8697,begin surface
$SM_CCo,8712,52.55,0.242,0,0,1822,220.03
$SM_GC,1.21,5.53,0.08,52.55,0.073,0.168,0.242,233,2082,1822,-6.44,0.96,220.03,0,0,0,0,0,0,14.52,14.47,14.17
$IRIDIUM_FIX,-6014.82,0.00,260119,193000
$TT8_MAMPS,0.03745,0.20972
$HUMID,50.39
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,3
$SC_FREEKB,3716576
$24V_AH,13.01,78.028
$10V_AH,13.58,0.000
$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,13.200,77.925,270.725,52.550,0.000,59.862,58.865,131.661,0.750,0.000,22.233,0.000,6983.324,408.343,1648.699,201.283,0.000,1035.026,0.000,1125.180,0.000,0.539,0.000
$DEVICE_MAMPS,449.055,2220.795,1566.720,241.740,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5117.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.605,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17298,692
$CAP_FILE_SIZE,93150,0
$CFSIZE,1023623168,980238336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.071,246.62,1
$GPS,270119,003531,-6014.061,-1.392,16,0.7,39,-19.7,0.7,102.5,11,7.4