version: 66.14
glider: 640
mission: 5
dive: 403
start: 1 27 119 8 27 43
data:
$ID,640
$MISSION,5
$DIVE,403
$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,44
$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
$GPS1,270119,082125,-6012.9199,-1.5325,12,0.9,53,-19.7,0.9,353.7,7,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-68.2
$GPS2,270119,082724,-6012.9219,-1.5596,6,0.9,20,-19.7,0.7,125.7,8,10.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,28.6,60989,-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,-146.0,216,2085,1796,1827,0.0,0.0,0,102,0.00,0.00,-88.38,0.000,16386,0.000,0.000,216,2084,3186,3267,3106,0,0,0,0,0,0,14.54,28.83,14.53,6.18,51.10
$GC,105,-0.64,-146.0,217,2084,3268,3107,3.1,-6.3,18,122,6.22,2.83,-4.75,0.000,18692,0.360,2.235,2176,3504,3318,3412,3224,0,0,0,0,0,0,13.97,13.01,14.30,6.29,50.07
$GC,162,-0.64,-146.0,2176,3506,3414,3224,13.5,-14.2,30,166,0.05,2.35,0.00,0.000,3078,0.439,0.042,2191,2103,3318,3413,3224,0,0,0,0,0,0,14.05,14.32,14.31,6.31,49.48
$GC,289,-0.64,-146.0,2199,2101,3415,3224,34.3,-17.5,55,292,0.00,2.45,0.00,0.000,2564,0.000,0.066,2191,696,3318,3413,3224,0,0,0,0,0,0,14.59,14.23,14.59,6.31,49.44
$GC,342,-0.64,-146.0,2191,697,3414,3226,43.9,-16.8,66,345,0.00,2.42,0.00,0.000,3078,0.000,0.056,2179,2108,3319,3414,3224,0,0,0,0,0,0,14.46,14.33,14.47,6.31,49.96
$GC,467,-0.64,-146.0,2181,2110,3414,3225,65.7,-16.9,91,470,0.00,2.45,0.00,0.000,2308,0.000,0.083,2170,3506,3319,3414,3225,0,0,0,0,0,0,14.65,14.30,14.65,6.31,49.80
$GC,512,-0.64,-146.0,2170,3502,3414,3226,72.6,-14.5,100,516,0.08,2.35,0.00,0.000,3078,0.356,0.044,2195,2099,3319,3414,3224,0,0,0,0,0,0,14.11,14.38,14.37,6.31,50.98
$GC,639,-0.64,-146.0,2196,2098,3415,3225,90.1,-14.2,125,643,0.00,2.45,0.00,0.000,516,0.000,0.066,2195,695,3319,3414,3225,0,0,0,0,0,0,14.66,14.29,14.67,6.31,49.05
$GC,692,-0.64,-146.0,2196,695,3415,3225,98.5,-15.1,136,696,0.00,2.40,0.00,0.000,3078,0.000,0.056,2185,2102,3319,3414,3225,0,0,0,0,0,0,14.51,14.38,14.53,6.31,48.81
$GC,827,-0.64,-146.0,2186,2102,3415,3224,119.7,-15.9,145,831,0.00,2.45,0.00,0.000,2308,0.000,0.080,2174,3502,3319,3414,3225,0,0,0,0,0,0,14.71,14.35,14.71,6.30,48.50
$GC,837,-0.64,-146.0,2175,3503,3414,3226,119.7,-15.9,145,841,0.05,2.35,0.00,0.000,3078,0.433,0.045,2190,2091,3319,3414,3225,0,0,0,0,0,0,14.14,14.42,14.41,6.30,48.50
$GC,1142,-0.64,-146.0,2190,2091,3414,3226,164.2,-13.0,160,1146,0.00,2.47,0.00,0.000,2308,0.000,0.080,2178,3503,3319,3414,3225,0,0,0,0,0,0,14.75,14.38,14.76,6.30,49.76
$GC,1187,-0.64,-146.0,2178,3504,3415,3226,168.8,-13.0,162,1191,0.05,2.33,0.00,0.000,3078,0.430,0.043,2196,2100,3319,3413,3225,0,0,0,0,0,0,14.17,14.45,14.43,6.30,50.31
$GC,1497,-0.64,-146.0,2195,2099,3414,3226,208.2,-12.1,178,1501,0.00,2.42,0.00,0.000,516,0.000,0.064,2194,693,3319,3414,3225,0,0,0,0,0,0,14.75,14.42,14.78,6.31,50.74
$GC,1567,-0.64,-146.0,2194,694,3414,3226,215.2,-11.7,181,1571,0.00,2.40,0.00,0.000,3078,0.000,0.055,2184,2105,3319,3413,3225,0,0,0,0,0,0,14.59,14.45,14.60,6.31,50.51
$GC,1877,-0.64,-146.0,2183,2105,3415,3225,254.3,-12.8,197,1881,0.00,2.45,0.00,0.000,2308,0.000,0.082,2173,3508,3319,3414,3224,0,0,0,0,0,0,14.80,14.40,14.78,6.32,50.94
$GC,1892,-0.64,-146.0,2173,3508,3414,3226,256.2,-12.8,198,1896,0.08,2.35,0.00,0.000,3078,0.363,0.044,2198,2087,3319,3414,3225,0,0,0,0,0,0,14.19,14.49,14.46,6.32,51.02
$GC,2209,-0.64,-146.0,2199,2086,3414,3226,295.1,-12.3,214,2212,0.00,2.40,0.00,0.000,516,0.000,0.063,2199,698,3319,3413,3225,0,0,0,0,0,0,14.79,14.37,14.80,6.32,51.37
$GC,2282,-0.64,-146.0,2199,698,3415,3225,302.6,-12.5,217,2286,0.00,2.38,0.00,0.000,3078,0.000,0.054,2189,2102,3319,3413,3225,0,0,0,0,0,0,14.60,14.47,14.62,6.33,50.94
$GC,2587,-0.64,-146.0,2189,2103,3415,3225,343.3,-13.0,233,2591,0.00,2.45,0.00,0.000,2308,0.000,0.083,2178,3503,3319,3413,3225,0,0,0,0,0,0,14.81,14.41,14.81,6.33,51.10
$GC,2632,-0.64,-146.0,2177,3504,3414,3226,347.9,-13.1,235,2637,0.05,2.30,0.00,0.000,3078,0.426,0.042,2193,2099,3319,3414,3225,0,0,0,0,0,0,14.21,14.50,14.47,6.32,51.18
$STATE,2640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2640,begin apogee
$GC,2645,-0.15,0.0,2194,2157,3413,3226,350.5,-13.1,236,2774,0.45,0.00,125.93,1.582,10246,0.258,0.000,2350,2157,2719,2779,2659,0,0,0,0,0,0,14.14,13.91,13.26,6.32,51.26
$STATE,2775,end apogee,CONTROL_FINISHED_OK
$STATE,2775,begin loiter
$GC,3062,-0.15,0.0,2351,2158,2773,2644,349.5,2.5,257,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2157,2708,2773,2643,0,0,0,0,0,0,14.54,14.55,14.54,6.28,50.66
$GC,3362,-0.15,0.0,2351,2158,2773,2643,342.5,2.4,272,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2157,2707,2772,2642,0,0,0,0,0,0,14.70,14.71,14.71,6.27,50.74
$GC,3662,-0.15,0.0,2351,2158,2772,2642,335.6,2.4,287,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2157,2706,2772,2640,0,0,0,0,0,0,14.79,14.79,14.79,6.28,51.06
$GC,3962,-0.15,0.0,2352,2158,2773,2641,327.3,2.9,302,3963,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2157,2706,2772,2640,0,0,0,0,0,0,14.85,14.85,14.85,6.27,51.14
$GC,4262,-0.15,0.0,2351,2158,2773,2640,317.6,3.5,317,4263,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2157,2705,2772,2639,0,0,0,0,0,0,14.89,14.89,14.89,6.27,51.29
$GC,4562,-0.15,0.0,2352,2157,2773,2639,306.4,3.8,332,4563,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2157,2705,2772,2639,0,0,0,0,0,0,14.92,14.92,14.92,6.27,51.33
$GC,4862,-0.15,0.0,2352,2158,2773,2639,294.7,4.0,347,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2157,2705,2772,2639,0,0,0,0,0,0,14.94,14.95,14.95,6.27,51.41
$GC,5162,-0.15,0.0,2352,2158,2773,2639,283.4,3.7,362,5163,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2157,2705,2772,2638,0,0,0,0,0,0,14.96,14.97,14.97,6.27,51.69
$GC,5462,-0.15,0.0,2351,2158,2773,2640,272.1,3.8,377,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2157,2705,2772,2638,0,0,0,0,0,0,14.97,14.97,14.98,6.27,51.18
$GC,5762,-0.15,0.0,2352,2158,2773,2638,260.8,3.7,392,5763,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2157,2705,2772,2639,0,0,0,0,0,0,14.99,15.00,15.00,6.28,51.57
$GC,6062,-0.15,0.0,2352,2158,2773,2638,250.8,3.1,407,6063,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2157,2705,2772,2638,0,0,0,0,0,0,15.00,15.01,15.00,6.27,51.69
$GC,6362,-0.15,0.0,2351,2158,2773,2639,241.9,2.9,422,6363,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2157,2705,2773,2638,0,0,0,0,0,0,15.01,15.02,15.02,6.27,51.81
$STATE,6380,end loiter,LOITER_COMPLETE
$STATE,6380,begin climb
$GC,6382,0.64,146.0,2352,2158,2773,2639,241.4,0.0,423,6518,0.62,0.00,130.73,1.407,10758,0.174,0.000,2592,2157,2123,2146,2100,0,0,0,0,0,0,14.44,14.01,13.40,6.28,51.26
$GC,6803,0.64,146.0,2597,2158,2131,2081,200.9,11.7,444,6807,0.00,2.50,0.00,0.000,2308,0.000,0.081,2597,3551,2105,2131,2079,0,0,0,0,0,0,14.54,14.20,14.53,6.22,50.47
$GC,6843,0.64,146.0,2597,3552,2132,2081,196.0,11.9,446,6847,0.00,2.35,0.00,0.000,5126,0.000,0.042,2607,2156,2105,2131,2080,0,0,0,0,0,0,14.39,14.28,14.40,6.22,50.55
$GC,7163,0.64,146.0,2608,2157,2129,2076,158.3,11.7,462,7166,0.00,2.50,0.00,0.000,4612,0.000,0.067,2619,744,2102,2128,2076,0,0,0,0,0,0,14.66,14.32,14.66,6.22,51.06
$GC,7233,0.64,146.0,2619,745,2126,2077,151.6,11.5,465,7236,0.00,2.40,0.00,0.000,5126,0.000,0.054,2619,2147,2100,2125,2076,0,0,0,0,0,0,14.50,14.36,14.52,6.23,50.51
$GC,7543,0.64,146.0,2619,2148,2126,2075,115.7,11.9,481,7546,0.00,2.47,0.00,0.000,4612,0.000,0.068,2630,737,2101,2125,2078,0,0,0,0,0,0,14.73,14.38,14.74,6.22,50.59
$GC,7674,0.64,146.0,2630,738,2124,2076,103.7,10.2,487,7678,0.08,2.42,0.00,0.000,5126,0.316,0.054,2603,2162,2099,2123,2075,0,0,0,0,0,0,14.21,14.41,14.47,6.22,50.51
$GC,7978,0.64,150.8,2603,2163,2123,2074,70.2,8.1,545,7981,0.00,2.45,0.00,0.000,260,0.000,0.083,2603,3556,2098,2122,2074,0,0,0,0,0,0,14.75,14.38,14.76,6.20,49.88
$GC,8038,0.66,164.8,2603,3556,2123,2074,65.4,7.8,557,8056,0.00,2.35,13.95,1.322,9222,0.000,0.044,2612,2146,2044,2065,2023,0,0,0,0,0,0,14.57,14.47,13.77,6.20,48.97
$GC,8178,0.66,164.8,2613,2146,2066,2018,51.2,11.5,585,8180,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2146,2041,2064,2018,0,0,0,0,0,0,14.69,14.69,14.69,6.19,49.09
$GC,8303,0.66,164.8,2612,2141,2064,2018,38.0,9.5,610,8307,0.00,2.45,0.00,0.000,516,0.000,0.068,2622,743,2040,2064,2017,0,0,0,0,0,0,14.70,14.37,14.70,6.19,50.07
$GC,8333,0.66,164.8,2623,743,2063,2017,35.3,8.8,616,8336,0.00,2.40,0.00,0.000,5126,0.000,0.053,2622,2151,2040,2062,2019,0,0,0,0,0,0,14.53,14.40,14.55,6.19,50.00
$GC,8459,0.66,164.8,2623,2151,2064,2015,24.0,9.6,641,8463,0.00,2.47,0.00,0.000,4356,0.000,0.086,2622,3554,2039,2062,2016,0,0,0,0,0,0,14.71,14.35,14.71,6.19,50.66
$GC,8508,0.66,164.8,2623,3555,2061,2017,18.8,10.3,651,8513,0.08,2.35,0.00,0.000,5126,0.339,0.047,2607,2142,2039,2063,2016,0,0,0,0,0,0,14.19,14.43,14.45,6.27,50.55
$GC,8634,0.66,164.8,2607,2143,2063,2014,7.5,11.0,676,8638,0.00,2.42,0.00,0.000,2564,0.000,0.069,2617,751,2038,2062,2014,0,0,0,0,0,0,14.72,14.38,14.72,6.21,50.43
$STATE,8681,end climb,SURFACE_DEPTH_REACHED
$STATE,8681,begin surface coast
$STATE,8700,end surface coast,CONTROL_FINISHED_OK
$STATE,8701,begin surface
$SM_CCo,8717,52.08,0.239,0,0,1822,220.03
$SM_GC,0.85,5.50,2.35,52.08,0.056,0.052,0.239,266,2099,1822,-6.46,-1.02,220.03,0,0,0,0,0,0,14.57,14.42,14.17
$IRIDIUM_FIX,-6016.69,0.00,270119,054955
$TT8_MAMPS,0.038199,0.332556
$HUMID,49.92
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,3
$SC_FREEKB,3714528
$24V_AH,13.01,78.759
$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,13.300,82.425,270.600,52.075,0.000,24.102,37.551,130.883,0.750,0.000,21.772,0.000,6909.758,411.299,1602.352,204.563,0.000,1040.901,0.000,1134.588,0.000,0.539,0.000
$DEVICE_MAMPS,439.110,2234.565,1582.020,239.445,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5101.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.590,0.000,0.000,0.000
$MEM,344076
$DATA_FILE_SIZE,17351,690
$CAP_FILE_SIZE,93378,0
$CFSIZE,1023623168,979845120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.059,235.06,1
$GPS,270119,105500,-6012.536,-1.839,37,0.8,43,-19.7,0.9,331.8,11,9.8