version: 66.14
glider: 640
mission: 5
dive: 401
start: 1 27 119 3 15 46
data:
$ID,640
$MISSION,5
$DIVE,401
$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,43
$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
$GPS1,270119,030731,-6013.7168,-1.4808,14,1.0,49,-19.7,0.5,128.3,8,5.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.3
$GPS2,270119,031526,-6013.7441,-1.4244,12,0.9,20,-19.7,0.6,140.2,9,9.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,32.7,62508,-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,12,-0.64,-146.0,216,2084,1793,1825,0.0,0.0,0,97,0.00,0.00,-83.05,0.000,16386,0.000,0.000,216,2084,3112,3191,3033,0,0,0,0,0,0,14.54,28.83,14.54,6.18,51.33
$GC,99,-0.64,-146.0,215,2085,3192,3033,3.1,-6.2,17,118,6.22,2.67,-7.70,0.000,18948,0.358,2.219,2175,706,3316,3413,3219,0,0,0,0,0,0,13.97,13.27,14.31,6.28,50.07
$GC,148,-0.64,-146.0,2176,707,3414,3223,11.4,-16.7,27,152,0.10,2.40,0.00,0.000,3078,0.347,0.054,2197,2108,3317,3413,3222,0,0,0,0,0,0,14.03,14.30,14.29,6.31,49.44
$GC,274,-0.64,-146.0,2197,2108,3414,3224,33.3,-18.0,52,278,0.00,2.47,0.00,0.000,516,0.000,0.063,2197,699,3318,3414,3223,0,0,0,0,0,0,14.61,14.29,14.61,6.31,49.48
$GC,298,-0.64,-146.0,2198,698,3415,3223,37.9,-18.3,57,301,0.00,2.40,0.00,0.000,3078,0.000,0.056,2188,2098,3318,3414,3223,0,0,0,0,0,0,14.45,14.32,14.47,6.30,50.03
$GC,423,-0.64,-146.0,2188,2098,3415,3224,60.6,-18.3,82,427,0.00,2.42,0.00,0.000,2564,0.000,0.063,2187,704,3318,3414,3223,0,0,0,0,0,0,14.66,14.29,14.66,6.31,49.68
$GC,468,-0.64,-146.0,2188,703,3415,3223,68.3,-16.0,91,475,0.05,2.38,0.00,0.000,3078,0.438,0.057,2192,2102,3318,3414,3222,0,0,0,0,0,0,14.09,14.35,14.33,6.31,49.64
$GC,596,-0.64,-146.0,2192,2103,3415,3223,85.9,-13.5,116,599,0.00,2.47,0.00,0.000,2308,0.000,0.084,2181,3503,3318,3414,3223,0,0,0,0,0,0,14.67,14.31,14.67,6.30,49.37
$GC,669,-0.64,-146.0,2181,3503,3414,3224,96.4,-13.0,131,673,0.00,2.33,0.00,0.000,3078,0.000,0.042,2181,2107,3318,3414,3223,0,0,0,0,0,0,14.51,14.39,14.53,6.30,48.74
$GC,799,-0.64,-146.0,2181,2106,3423,3225,112.8,-12.7,142,803,0.00,2.45,0.00,0.000,2564,0.000,0.064,2180,694,3318,3414,3223,0,0,0,0,0,0,14.71,14.37,14.72,6.30,48.81
$GC,839,-0.64,-146.0,2181,695,3414,3225,118.0,-13.0,144,844,0.08,2.40,0.00,0.000,3078,0.366,0.056,2193,2099,3318,3414,3223,0,0,0,0,0,0,14.12,14.37,14.40,6.30,48.14
$GC,1159,-0.64,-146.0,2194,2100,3415,3224,160.8,-13.8,160,1163,0.00,2.50,0.00,0.000,260,0.000,0.083,2183,3509,3320,3414,3227,0,0,0,0,0,0,14.76,14.37,14.76,6.30,49.92
$GC,1234,-0.64,-146.0,2183,3509,3414,3224,168.3,-12.6,163,1238,0.00,2.35,0.00,0.000,3078,0.000,0.043,2182,2093,3319,3414,3224,0,0,0,0,0,0,14.56,14.42,14.57,6.30,49.84
$GC,1539,-0.64,-146.0,2183,2092,3415,3223,208.5,-12.9,179,1543,0.00,2.42,0.00,0.000,2564,0.000,0.064,2182,692,3318,3414,3223,0,0,0,0,0,0,14.78,14.42,14.78,6.30,50.63
$GC,1619,-0.64,-146.0,2183,692,3415,3224,218.2,-12.9,183,1623,0.08,2.42,0.00,0.000,3078,0.361,0.056,2196,2111,3319,3414,3224,0,0,0,0,0,0,14.16,14.42,14.44,6.31,50.74
$GC,1929,-0.64,-146.0,2196,2112,3414,3224,257.1,-12.3,199,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2111,3319,3414,3225,0,0,0,0,0,0,14.80,14.80,14.81,6.31,51.22
$GC,2229,-0.64,-146.0,2196,2111,3415,3223,294.3,-12.5,214,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2111,3318,3414,3223,0,0,0,0,0,0,14.81,14.81,14.81,6.31,51.02
$GC,2529,-0.64,-146.0,2200,2112,3415,3223,331.0,-12.2,229,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2111,3318,3414,3223,0,0,0,0,0,0,14.82,14.83,14.83,6.32,52.12
$STATE,2687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2687,begin apogee
$GC,2693,-0.15,0.0,2197,2145,3415,3223,350.1,-11.9,237,2822,0.45,0.00,126.72,1.573,10246,0.256,0.000,2354,2144,2715,2776,2655,0,0,0,0,0,0,14.19,13.92,13.26,6.33,51.29
$STATE,2823,end apogee,CONTROL_FINISHED_OK
$STATE,2823,begin loiter
$GC,3109,-0.15,0.0,2355,2144,2772,2641,345.8,3.5,258,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2144,2706,2771,2641,0,0,0,0,0,0,14.54,14.55,14.55,6.28,50.51
$GC,3409,-0.15,0.0,2355,2145,2772,2640,335.4,3.4,273,3410,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2144,2705,2771,2639,0,0,0,0,0,0,14.70,14.71,14.71,6.27,51.10
$GC,3709,-0.15,0.0,2355,2145,2772,2638,325.8,2.9,288,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2144,2704,2770,2638,0,0,0,0,0,0,14.79,14.79,14.79,6.27,51.57
$GC,4009,-0.15,0.0,2355,2144,2772,2639,317.7,2.5,303,4010,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2144,2704,2771,2637,0,0,0,0,0,0,14.84,14.85,14.85,6.27,51.33
$GC,4309,-0.15,0.0,2355,2144,2772,2637,310.3,2.5,318,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2144,2704,2771,2637,0,0,0,0,0,0,14.89,14.89,14.89,6.28,51.33
$GC,4609,-0.15,0.0,2355,2144,2772,2636,302.1,3.0,333,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2144,2703,2770,2636,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.45
$GC,4909,-0.15,0.0,2355,2144,2772,2636,292.2,3.5,348,4910,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2144,2703,2771,2636,0,0,0,0,0,0,14.94,14.95,14.95,6.28,51.26
$GC,5209,-0.15,0.0,2355,2144,2772,2636,282.1,3.4,363,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2144,2703,2770,2636,0,0,0,0,0,0,14.96,14.97,14.97,6.28,51.41
$GC,5509,-0.15,0.0,2354,2145,2771,2637,272.8,2.9,378,5510,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2144,2703,2771,2635,0,0,0,0,0,0,14.97,14.98,14.98,6.27,51.33
$GC,5809,-0.15,0.0,2354,2145,2771,2637,264.5,2.8,393,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2144,2703,2771,2636,0,0,0,0,0,0,14.98,15.00,15.00,6.27,51.53
$GC,6109,-0.15,0.0,2355,2145,2772,2636,256.1,3.0,408,6110,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2144,2702,2769,2635,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.45
$STATE,6407,end loiter,LOITER_COMPLETE
$STATE,6407,begin climb
$GC,6409,0.64,146.0,2355,2145,2772,2635,246.9,0.0,423,6548,0.60,2.58,130.68,1.413,10756,0.164,0.066,2605,745,2117,2140,2095,0,0,0,0,0,0,14.45,13.98,13.40,6.27,51.57
$GC,6604,0.64,146.0,2605,746,2135,2091,234.9,8.6,432,6608,0.00,2.47,0.00,0.000,1030,0.000,0.053,2605,2161,2111,2134,2089,0,0,0,0,0,0,14.20,14.10,14.21,6.25,49.48
$GC,6909,0.64,146.0,2606,2161,2130,2082,201.7,10.0,448,6913,0.00,2.50,0.00,0.000,260,0.000,0.083,2605,3556,2105,2129,2082,0,0,0,0,0,0,14.57,14.22,14.57,6.23,50.70
$GC,6959,0.64,146.0,2606,3557,2130,2082,198.2,9.9,450,6964,0.00,2.35,0.00,0.000,5126,0.000,0.044,2615,2156,2105,2129,2082,0,0,0,0,0,0,14.42,14.31,14.44,6.22,50.51
$GC,7264,0.64,146.0,2616,2154,2128,2078,165.3,10.7,466,7268,0.00,2.47,0.00,0.000,4612,0.000,0.067,2627,741,2102,2127,2078,0,0,0,0,0,0,14.69,14.33,14.69,6.22,51.41
$GC,7314,0.64,146.0,2627,740,2126,2078,161.0,10.7,468,7318,0.08,2.40,0.00,0.000,5126,0.320,0.054,2601,2150,2101,2125,2078,0,0,0,0,0,0,14.16,14.37,14.42,6.23,51.02
$GC,7619,0.64,146.0,2601,2151,2126,2076,130.0,8.7,483,7623,0.00,2.47,0.00,0.000,2308,0.000,0.083,2601,3554,2100,2125,2076,0,0,0,0,0,0,14.75,14.36,14.75,6.22,50.63
$GC,7694,0.64,146.0,2601,3554,2126,2076,123.4,8.8,487,7698,0.00,2.33,0.00,0.000,5126,0.000,0.043,2609,2149,2101,2125,2077,0,0,0,0,0,0,14.57,14.45,14.59,6.22,50.23
$GC,8001,0.64,146.5,2610,2149,2126,2076,96.6,8.3,506,8004,0.00,2.45,0.00,0.000,4612,0.000,0.067,2620,739,2100,2125,2075,0,0,0,0,0,0,14.77,14.41,14.77,6.20,50.51
$GC,8084,0.66,161.8,2621,741,2124,2077,89.9,7.7,523,8100,0.00,2.40,11.40,1.327,13318,0.000,0.053,2620,2152,2059,2081,2038,0,0,0,0,0,0,14.58,14.45,13.78,6.20,49.88
$GC,8219,0.66,161.8,2621,2152,2077,2025,77.1,11.2,550,8223,0.00,2.47,0.00,0.000,4356,0.000,0.085,2620,3557,2053,2076,2030,0,0,0,0,0,0,14.72,14.36,14.72,6.19,49.40
$GC,8284,0.66,161.8,2621,3557,2078,2030,68.9,13.0,563,8289,0.08,2.35,0.00,0.000,5126,0.338,0.043,2605,2144,2053,2076,2031,0,0,0,0,0,0,14.19,14.45,14.44,6.19,49.21
$GC,8411,0.66,161.8,2606,2144,2078,2029,55.1,10.6,588,8415,0.00,2.42,0.00,0.000,2564,0.000,0.067,2619,739,2052,2075,2029,0,0,0,0,0,0,14.72,14.31,14.73,6.19,49.88
$GC,8464,0.66,161.8,2616,740,2076,2029,49.4,10.4,599,8469,0.00,2.40,0.00,0.000,5126,0.000,0.053,2615,2157,2051,2075,2028,0,0,0,0,0,0,14.59,14.42,14.58,6.19,49.64
$GC,8591,0.66,161.8,2616,2158,2076,2028,36.4,9.9,624,8595,0.00,2.47,0.00,0.000,4356,0.000,0.084,2615,3561,2051,2075,2028,0,0,0,0,0,0,14.73,14.37,14.73,6.19,50.63
$GC,8649,0.66,161.8,2616,3563,2075,2029,30.5,9.7,636,8653,0.05,2.38,0.00,0.000,5126,0.412,0.044,2609,2144,2051,2075,2028,0,0,0,0,0,0,14.19,14.45,14.47,6.19,51.14
$GC,8776,0.66,161.8,2609,2144,2076,2028,19.7,8.8,661,8779,0.00,2.45,0.00,0.000,516,0.000,0.068,2618,737,2051,2075,2027,0,0,0,0,0,0,14.74,14.40,14.74,6.19,51.18
$GC,8834,0.66,161.8,2619,737,2074,2026,14.5,8.7,673,8838,0.00,2.40,0.00,0.000,5126,0.000,0.054,2620,2152,2050,2074,2026,0,0,0,0,0,0,14.57,14.43,14.59,6.20,50.59
$STATE,8958,end climb,SURFACE_DEPTH_REACHED
$STATE,8959,begin surface coast
$STATE,8982,end surface coast,CONTROL_FINISHED_OK
$STATE,8982,begin surface
$SM_CCo,8997,55.38,0.242,0,0,1822,220.03
$SM_GC,1.07,5.62,0.08,55.38,0.081,0.163,0.242,250,2078,1822,-6.46,1.05,220.03,0,0,0,0,0,0,14.54,14.48,14.17
$IRIDIUM_FIX,-6014.82,0.00,270119,030955
$TT8_MAMPS,0.03745,0.354277
$HUMID,50.35
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,3
$SC_FREEKB,3715552
$24V_AH,13.26,78.393
$10V_AH,13.33,0.000
$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,13.400,77.975,268.800,55.375,0.000,48.566,64.620,133.121,0.750,0.000,22.714,0.000,7256.338,425.296,1645.088,203.377,0.000,1038.966,0.000,1120.958,0.000,0.540,0.000
$DEVICE_MAMPS,437.580,2219.265,1572.840,241.740,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5403.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.426,0.000,0.000,0.000
$MEM,344112
$DATA_FILE_SIZE,17348,703
$CAP_FILE_SIZE,93406,0
$CFSIZE,1023623168,980041728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$INTR,0,468.59,0x235724,0,24
$CURRENT,0.052,217.82,1
$GPS,270119,054731,-6013.353,-1.388,15,0.7,26,-19.7,0.5,337.3,10,6.4