version: 66.14
glider: 640
mission: 5
dive: 400
start: 1 27 119 0 41 34
data:
$ID,640
$MISSION,5
$DIVE,400
$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,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
$GPS1,270119,003531,-6014.0605,-1.3922,16,0.7,39,-19.7,0.7,102.5,11,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-61.9
$GPS2,270119,004115,-6014.0742,-1.4047,9,0.7,15,-19.7,1.6,128.0,10,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,36.4,63119,-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,-146.0,233,2081,1793,1827,0.0,0.0,0,101,0.00,0.00,-87.53,0.000,16386,0.000,0.000,232,2080,3185,3264,3107,0,0,0,0,0,0,14.56,28.83,14.57,6.18,51.06
$GC,103,-0.64,-146.0,233,2081,3267,3108,3.1,-5.7,18,116,6.18,0.00,-4.85,0.000,18438,0.363,0.000,2190,2081,3317,3411,3223,0,0,0,0,0,0,13.99,12.97,14.35,6.29,50.39
$GC,239,-0.64,-146.0,2190,2081,3414,3225,27.1,-17.0,45,242,0.00,2.40,0.00,0.000,2564,0.000,0.063,2190,704,3319,3414,3224,0,0,0,0,0,0,14.60,14.24,14.63,6.30,49.37
$GC,272,-0.64,-146.0,2190,705,3415,3224,33.3,-17.6,52,275,0.00,2.42,0.00,0.000,3078,0.000,0.057,2178,2108,3319,3414,3224,0,0,0,0,0,0,14.47,14.32,14.48,6.26,49.17
$GC,397,-0.64,-146.0,2180,2109,3415,3224,54.0,-15.6,77,400,0.00,2.45,0.00,0.000,2308,0.000,0.080,2169,3507,3319,3414,3224,0,0,0,0,0,0,14.67,14.31,14.67,6.31,49.76
$GC,412,-0.64,-146.0,2169,3507,3415,3224,56.2,-14.7,80,416,0.05,2.38,0.00,0.000,3078,0.329,0.045,2203,2116,3319,3414,3224,0,0,0,0,0,0,14.09,14.35,14.37,6.31,49.33
$GC,538,-0.64,-146.0,2204,2116,3415,3225,70.0,-11.2,105,541,0.00,0.00,0.00,0.000,4102,0.000,0.000,2203,2115,3319,3414,3224,0,0,0,0,0,0,14.68,14.68,14.68,6.31,49.60
$GC,662,-0.64,-146.0,2203,2116,3415,3225,85.8,-12.9,130,666,0.00,2.47,0.00,0.000,4612,0.000,0.064,2204,690,3319,3414,3224,0,0,0,0,0,0,14.71,14.36,14.71,6.31,49.21
$GC,707,-0.64,-146.0,2203,697,3415,3226,91.9,-13.5,139,710,0.00,2.42,0.00,0.000,1030,0.000,0.057,2194,2108,3319,3414,3224,0,0,0,0,0,0,14.50,14.38,14.52,6.31,49.33
$GC,832,-0.64,-146.0,2194,2109,3415,3225,108.9,-13.9,155,835,0.00,2.45,0.00,0.000,260,0.000,0.083,2181,3503,3319,3414,3224,0,0,0,0,0,0,14.73,14.34,14.73,6.30,48.97
$GC,857,-0.64,-146.0,2183,3503,3415,3224,110.9,-13.9,156,861,0.00,2.35,0.00,0.000,3078,0.000,0.044,2182,2088,3319,3414,3224,0,0,0,0,0,0,14.54,14.42,14.56,6.33,48.58
$GC,1162,-0.64,-146.0,2183,2086,3415,3224,156.6,-14.7,171,1166,0.00,2.40,0.00,0.000,2564,0.000,0.063,2182,696,3319,3414,3225,0,0,0,0,0,0,14.77,14.40,14.77,6.30,49.48
$GC,1257,-0.64,-146.0,2182,697,3415,3226,170.6,-14.6,176,1261,0.08,2.40,0.00,0.000,3078,0.360,0.055,2196,2107,3319,3414,3225,0,0,0,0,0,0,14.16,14.43,14.43,6.30,49.72
$GC,1572,-0.64,-146.0,2196,2107,3414,3226,211.4,-12.6,192,1575,0.00,2.45,0.00,0.000,260,0.000,0.083,2185,3504,3319,3414,3225,0,0,0,0,0,0,14.79,14.39,14.80,6.30,50.70
$GC,1587,-0.64,-146.0,2186,3505,3414,3224,213.3,-12.7,193,1590,0.00,2.38,0.00,0.000,3078,0.000,0.044,2185,2100,3319,3414,3224,0,0,0,0,0,0,14.59,14.44,14.61,6.31,50.63
$GC,1907,-0.64,-146.0,2186,2099,3415,3226,255.1,-13.1,209,1910,0.00,2.42,0.00,0.000,2564,0.000,0.064,2185,692,3318,3414,3223,0,0,0,0,0,0,14.81,14.43,14.81,6.31,50.90
$GC,1962,-0.64,-146.0,2185,692,3415,3225,262.5,-13.4,212,1966,0.05,2.40,0.00,0.000,3078,0.432,0.056,2190,2105,3318,3414,3223,0,0,0,0,0,0,14.19,14.45,14.45,6.31,50.74
$GC,2282,-0.64,-146.0,2190,2106,3415,3225,304.6,-13.3,228,2285,0.00,2.45,0.00,0.000,2308,0.000,0.083,2179,3510,3319,3413,3225,0,0,0,0,0,0,14.82,14.40,14.79,6.32,51.77
$GC,2322,-0.64,-146.0,2180,3511,3414,3226,309.3,-13.3,230,2325,0.00,2.33,0.00,0.000,3078,0.000,0.043,2179,2098,3319,3414,3224,0,0,0,0,0,0,14.62,14.50,14.63,6.33,51.10
$STATE,2635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2635,begin apogee
$GC,2640,-0.15,0.0,2179,2159,3415,3226,351.6,-13.1,246,2770,0.50,0.00,126.55,1.572,10246,0.259,0.000,2354,2158,2716,2776,2656,0,0,0,0,0,0,14.12,13.96,13.25,6.32,51.18
$STATE,2771,end apogee,CONTROL_FINISHED_OK
$STATE,2771,begin loiter
$GC,3057,-0.15,0.0,2354,2158,2772,2643,350.0,2.8,267,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2158,2706,2771,2642,0,0,0,0,0,0,14.55,14.56,14.56,6.28,51.06
$GC,3357,-0.15,0.0,2354,2158,2772,2640,341.5,2.9,282,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2158,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.86
$GC,3657,-0.15,0.0,2354,2158,2771,2640,332.7,3.0,297,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2158,2705,2771,2639,0,0,0,0,0,0,14.79,14.80,14.80,6.28,51.29
$GC,3957,-0.15,0.0,2354,2158,2771,2639,323.3,3.2,312,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2158,2704,2770,2638,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.73
$GC,4257,-0.15,0.0,2354,2158,2771,2639,313.2,3.5,327,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2158,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.27,51.41
$GC,4557,-0.15,0.0,2354,2159,2771,2639,302.5,3.6,342,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2158,2704,2771,2637,0,0,0,0,0,0,14.92,14.93,14.93,6.27,51.29
$GC,4857,-0.15,0.0,2354,2158,2772,2637,291.6,3.6,357,4858,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2158,2704,2771,2637,0,0,0,0,0,0,14.95,14.96,14.95,6.28,51.26
$GC,5157,-0.15,0.0,2354,2158,2772,2637,280.8,3.5,372,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2158,2704,2771,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.27,51.53
$GC,5457,-0.15,0.0,2354,2158,2772,2637,270.7,3.3,387,5458,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2157,2704,2771,2637,0,0,0,0,0,0,14.99,14.99,14.99,6.27,51.37
$GC,5757,-0.15,0.0,2354,2158,2771,2638,261.2,3.0,402,5758,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2158,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.92
$GC,6057,-0.15,0.0,2354,2159,2770,2638,252.1,3.0,417,6058,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2158,2703,2771,2636,0,0,0,0,0,0,15.02,15.02,15.01,6.27,51.41
$STATE,6355,end loiter,LOITER_COMPLETE
$STATE,6355,begin climb
$GC,6357,0.64,146.0,2354,2158,2772,2637,243.2,0.0,432,6497,0.62,2.58,130.12,1.408,11012,0.169,0.080,2601,3547,2118,2141,2096,0,0,0,0,0,0,14.45,13.97,13.38,6.27,51.45
$GC,6537,0.64,146.0,2601,3548,2141,2090,230.1,9.7,441,6540,0.00,2.38,0.00,0.000,5126,0.000,0.043,2611,2158,2115,2140,2090,0,0,0,0,0,0,14.19,14.11,14.21,6.23,49.25
$GC,6857,0.64,146.0,2612,2159,2132,2082,192.6,11.8,457,6861,0.00,2.50,0.00,0.000,4612,0.000,0.067,2622,743,2106,2132,2081,0,0,0,0,0,0,14.57,14.24,14.57,6.23,50.78
$GC,6917,0.64,146.0,2623,744,2129,2081,186.4,11.4,460,6921,0.05,2.40,0.00,0.000,5126,0.376,0.053,2605,2140,2104,2128,2081,0,0,0,0,0,0,14.09,14.29,14.34,6.23,50.74
$GC,7227,0.64,146.0,2605,2140,2130,2078,151.2,10.8,476,7231,0.00,2.53,0.00,0.000,260,0.000,0.083,2605,3562,2102,2128,2077,0,0,0,0,0,0,14.69,14.31,14.70,6.22,51.14
$GC,7307,0.64,146.0,2606,3563,2128,2078,143.0,11.0,480,7310,0.00,2.38,0.00,0.000,5126,0.000,0.043,2614,2142,2102,2127,2078,0,0,0,0,0,0,14.52,14.42,14.54,6.22,50.70
$GC,7622,0.64,146.0,2615,2142,2128,2076,104.6,11.3,496,7626,0.00,2.45,0.00,0.000,4612,0.000,0.066,2625,734,2101,2126,2077,0,0,0,0,0,0,14.76,14.39,14.77,6.21,51.14
$GC,7722,0.64,146.0,2626,734,2126,2076,94.7,9.7,507,7726,0.08,2.42,0.00,0.000,5126,0.319,0.054,2599,2163,2100,2125,2076,0,0,0,0,0,0,14.22,14.42,14.47,6.21,50.66
$GC,7847,0.64,146.0,2598,2163,2125,2077,80.8,12.3,532,7850,0.00,2.47,0.00,0.000,2308,0.000,0.085,2599,3555,2100,2125,2076,0,0,0,0,0,0,14.77,14.35,14.76,6.21,49.88
$GC,7897,0.64,146.0,2599,3555,2126,2077,74.4,12.5,542,7900,0.00,2.35,0.00,0.000,5126,0.000,0.044,2608,2142,2100,2125,2076,0,0,0,0,0,0,14.59,14.47,14.60,6.20,49.68
$GC,8023,0.64,146.0,2608,2143,2126,2077,59.6,11.7,567,8027,0.00,2.42,0.00,0.000,4612,0.000,0.066,2618,745,2100,2125,2076,0,0,0,0,0,0,14.77,14.40,14.77,6.20,49.25
$GC,8047,0.64,146.0,2619,746,2125,2077,56.8,10.6,572,8050,0.00,2.40,0.00,0.000,5126,0.000,0.055,2619,2152,2100,2124,2076,0,0,0,0,0,0,14.58,14.42,14.60,6.20,49.56
$GC,8174,0.69,192.3,2619,2152,2124,2076,47.1,6.6,597,8220,0.00,2.53,41.33,1.252,8452,0.000,0.086,2619,3551,1931,1949,1914,0,0,0,0,0,0,14.77,14.25,13.72,6.19,49.44
$GC,8284,0.69,192.3,2619,3552,1949,1911,37.7,8.7,619,8288,0.00,2.35,0.00,0.000,5126,0.000,0.044,2629,2150,1929,1948,1910,0,0,0,0,0,0,14.43,14.33,14.44,6.18,48.85
$GC,8407,0.69,192.3,2630,2149,1947,1906,25.2,10.6,644,8411,0.00,2.47,0.00,0.000,4612,0.000,0.067,2640,744,1926,1947,1906,0,0,0,0,0,0,14.62,14.29,14.62,6.17,49.64
$GC,8452,0.69,192.3,2642,745,1946,1906,20.6,10.3,653,8456,0.05,2.42,0.00,0.000,5126,0.376,0.054,2623,2157,1925,1945,1906,0,0,0,0,0,0,14.13,14.32,14.38,6.18,49.72
$GC,8579,0.69,192.3,2624,2157,1945,1905,7.5,10.8,678,8583,0.00,2.50,0.00,0.000,260,0.000,0.086,2623,3558,1925,1945,1905,0,0,0,0,0,0,14.64,14.30,14.64,6.18,51.06
$STATE,8625,end climb,SURFACE_DEPTH_REACHED
$STATE,8625,begin surface coast
$STATE,8640,end surface coast,CONTROL_FINISHED_OK
$STATE,8640,begin surface
$SM_CCo,8658,24.65,0.246,0,0,1822,220.03
$SM_GC,0.80,5.62,2.53,24.65,0.082,0.044,0.246,215,2086,1822,-6.44,0.93,220.03,0,0,0,0,0,0,14.51,14.40,14.13
$IRIDIUM_FIX,-6014.76,30.35,260119,220424
$TT8_MAMPS,0.03745,0.238931
$HUMID,50.86
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,4
$SC_FREEKB,3716064
$24V_AH,12.97,78.212
$10V_AH,13.57,0.000
$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,13.275,82.725,298.000,24.650,0.000,25.153,14.962,142.585,1.000,0.000,16.375,0.000,6838.943,401.685,1587.000,199.884,0.000,1036.523,0.000,1134.903,0.000,0.540,0.000
$DEVICE_MAMPS,432.225,168.300,1572.075,245.565,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5061.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.562,0.000,0.000,0.000
$MEM,344024
$DATA_FILE_SIZE,17326,691
$CAP_FILE_SIZE,92107,0
$CFSIZE,1023623168,980140032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.064,232.54,1
$GPS,270119,030731,-6013.717,-1.481,14,1.0,49,-19.7,0.5,128.3,8,5.2