version: 66.14
glider: 640
mission: 5
dive: 407
start: 1 27 119 18 41 18
data:
$ID,640
$MISSION,5
$DIVE,407
$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,57
$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
$GPS1,270119,183527,-6011.2783,-2.1847,13,0.9,38,-19.7,0.0,29.0,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-61.5
$GPS2,270119,184059,-6011.2417,-2.1842,8,1.0,14,-19.7,0.4,234.8,8,10.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,25.8,57896,-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,-146.0,213,2071,1792,1826,0.0,0.0,0,107,0.00,0.00,-93.62,0.000,16386,0.000,0.000,212,2071,3270,3351,3190,0,0,0,0,0,0,14.57,28.83,14.57,6.18,50.82
$GC,109,-0.64,-146.0,211,2073,3352,3190,3.8,-9.4,19,122,6.20,2.60,-1.55,0.000,18948,0.353,2.216,2178,721,3317,3406,3228,0,0,0,0,0,0,13.93,13.28,14.29,6.30,49.84
$GC,277,-0.64,-146.0,2177,721,3410,3227,36.7,-17.3,53,281,0.08,2.38,0.00,0.000,3078,0.369,0.056,2191,2104,3317,3408,3227,0,0,0,0,0,0,14.06,14.35,14.33,6.31,49.29
$GC,403,-0.64,-146.0,2192,2105,3409,3228,56.8,-16.1,78,407,0.00,2.47,0.00,0.000,2308,0.000,0.081,2181,3507,3318,3409,3228,0,0,0,0,0,0,14.65,14.23,14.65,6.31,49.76
$GC,417,-0.64,-146.0,2180,3508,3409,3229,59.3,-16.0,81,420,0.00,2.30,0.00,0.000,3078,0.000,0.044,2180,2128,3318,3409,3227,0,0,0,0,0,0,14.49,14.38,14.50,6.31,49.84
$GC,542,-0.64,-146.0,2181,2127,3409,3228,79.5,-16.4,106,546,0.00,2.50,0.00,0.000,2564,0.000,0.063,2180,687,3317,3408,3226,0,0,0,0,0,0,14.68,14.34,14.69,6.31,49.25
$GC,602,-0.64,-146.0,2180,687,3409,3229,88.5,-13.3,118,607,0.08,2.42,0.00,0.000,3078,0.363,0.057,2193,2102,3318,3409,3228,0,0,0,0,0,0,14.09,14.36,14.38,6.31,48.66
$GC,739,-0.64,-146.0,2195,2103,3410,3228,105.1,-12.2,139,742,0.00,2.50,0.00,0.000,2308,0.000,0.083,2182,3511,3318,3409,3227,0,0,0,0,0,0,14.70,14.26,14.70,6.30,48.34
$GC,767,-0.64,-146.0,2182,3512,3410,3228,106.9,-12.2,140,770,0.00,2.38,0.00,0.000,3078,0.000,0.044,2182,2088,3318,3409,3228,0,0,0,0,0,0,14.53,14.41,14.54,6.30,48.50
$GC,1072,-0.64,-146.0,2183,2088,3411,3228,149.1,-13.7,156,1075,0.00,2.50,0.00,0.000,2308,0.000,0.082,2172,3509,3318,3409,3228,0,0,0,0,0,0,14.76,14.36,14.76,6.30,49.60
$GC,1157,-0.64,-146.0,2172,3510,3410,3229,159.3,-13.7,160,1161,0.08,2.35,0.00,0.000,3078,0.360,0.043,2197,2093,3318,3409,3228,0,0,0,0,0,0,14.14,14.45,14.42,6.31,50.11
$GC,1467,-0.64,-146.0,2198,2092,3410,3229,199.0,-12.4,176,1471,0.00,2.42,0.00,0.000,516,0.000,0.064,2197,690,3318,3409,3227,0,0,0,0,0,0,14.78,14.41,14.78,6.31,50.55
$GC,1522,-0.64,-146.0,2197,691,3410,3229,205.8,-12.4,179,1526,0.00,2.40,0.00,0.000,3078,0.000,0.056,2188,2102,3318,3409,3227,0,0,0,0,0,0,14.58,14.43,14.59,6.31,50.66
$GC,1842,-0.64,-146.0,2187,2103,3410,3229,246.7,-13.0,195,1846,0.00,2.45,0.00,0.000,2308,0.000,0.083,2176,3503,3318,3409,3228,0,0,0,0,0,0,14.80,14.39,14.81,6.32,50.82
$GC,1862,-0.64,-146.0,2176,3504,3410,3229,248.6,-13.1,196,1865,0.05,2.33,0.00,0.000,3078,0.431,0.043,2194,2098,3318,3409,3228,0,0,0,0,0,0,14.19,14.48,14.45,6.32,50.82
$GC,2177,-0.64,-146.0,2192,2096,3409,3228,290.1,-13.0,212,2180,0.00,2.42,0.00,0.000,2564,0.000,0.063,2191,693,3318,3409,3228,0,0,0,0,0,0,14.81,14.43,14.81,6.32,51.22
$GC,2247,-0.64,-146.0,2193,694,3421,3227,298.0,-13.2,215,2250,0.00,2.38,0.00,0.000,3078,0.000,0.055,2182,2101,3318,3409,3228,0,0,0,0,0,0,14.60,14.45,14.62,6.33,50.90
$GC,2557,-0.64,-146.0,2182,2102,3410,3229,340.3,-13.3,231,2561,0.00,2.47,0.00,0.000,2308,0.000,0.083,2171,3511,3318,3409,3228,0,0,0,0,0,0,14.82,14.40,14.82,6.38,51.06
$GC,2582,-0.64,-146.0,2172,3511,3411,3227,343.0,-13.3,232,2586,0.08,2.35,0.00,0.000,3078,0.352,0.044,2197,2091,3318,3409,3228,0,0,0,0,0,0,14.18,14.50,14.46,6.33,51.18
$STATE,2630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2630,begin apogee
$GC,2635,-0.15,0.0,2197,2162,3410,3227,350.1,-13.0,235,2764,0.43,0.00,125.95,1.572,10246,0.256,0.000,2346,2162,2717,2777,2658,0,0,0,0,0,0,14.13,13.92,13.24,6.33,50.94
$STATE,2765,end apogee,CONTROL_FINISHED_OK
$STATE,2765,begin loiter
$GC,3052,-0.15,0.0,2346,2163,2772,2644,347.7,3.1,256,3053,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2162,2707,2771,2643,0,0,0,0,0,0,14.56,14.56,14.55,6.28,50.82
$GC,3352,-0.15,0.0,2346,2162,2772,2640,337.7,3.4,271,3353,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2162,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.94
$GC,3652,-0.15,0.0,2346,2162,2772,2640,328.2,3.0,286,3653,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2162,2705,2771,2639,0,0,0,0,0,0,14.80,14.80,14.80,6.28,51.22
$GC,3952,-0.15,0.0,2346,2163,2773,2638,319.8,2.7,301,3953,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2162,2704,2771,2638,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.14
$GC,4252,-0.15,0.0,2346,2162,2772,2638,312.2,2.4,316,4253,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2162,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.18
$GC,4552,-0.15,0.0,2346,2161,2772,2638,304.7,2.6,331,4553,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2162,2704,2771,2637,0,0,0,0,0,0,14.93,14.93,14.93,6.27,51.92
$GC,4852,-0.15,0.0,2346,2163,2772,2639,296.1,3.1,346,4853,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2162,2704,2771,2637,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.41
$GC,5152,-0.15,0.0,2346,2162,2772,2637,286.2,3.4,361,5153,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2162,2704,2771,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.27,51.77
$GC,5452,-0.15,0.0,2346,2163,2772,2638,275.6,3.6,376,5453,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2162,2704,2772,2637,0,0,0,0,0,0,14.99,14.99,14.99,6.27,51.49
$GC,5752,-0.15,0.0,2346,2163,2771,2638,264.7,3.5,391,5753,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2162,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.29
$GC,6052,-0.15,0.0,2346,2163,2772,2638,254.2,3.4,406,6053,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2162,2704,2771,2637,0,0,0,0,0,0,15.01,15.02,15.02,6.27,51.57
$STATE,6350,end loiter,LOITER_COMPLETE
$STATE,6350,begin climb
$GC,6352,0.64,146.0,2346,2163,2772,2638,244.6,0.0,421,6493,0.62,2.60,130.40,1.410,10756,0.169,0.063,2603,748,2117,2140,2094,0,0,0,0,0,0,14.44,13.98,13.39,6.27,51.65
$GC,6563,0.64,146.0,2603,749,2135,2088,230.4,9.3,431,6566,0.00,2.42,0.00,0.000,1030,0.000,0.053,2603,2139,2110,2132,2088,0,0,0,0,0,0,14.21,14.12,14.23,6.23,49.64
$GC,6867,0.64,146.0,2603,2140,2130,2082,193.3,12.1,446,6871,0.00,2.53,0.00,0.000,260,0.000,0.083,2603,3555,2105,2130,2080,0,0,0,0,0,0,14.58,14.22,14.59,6.23,50.70
$GC,6953,0.64,146.0,2603,3556,2130,2081,183.9,12.4,450,6957,0.00,2.35,0.00,0.000,5126,0.000,0.043,2614,2155,2104,2129,2080,0,0,0,0,0,0,14.43,14.33,14.45,6.23,50.59
$GC,7263,0.64,146.0,2614,2155,2128,2077,143.2,12.7,466,7266,0.00,2.47,0.00,0.000,4612,0.000,0.067,2624,744,2102,2127,2077,0,0,0,0,0,0,14.70,14.33,14.70,6.23,50.86
$GC,7322,0.64,146.0,2625,745,2125,2078,136.7,12.1,469,7326,0.08,2.40,0.00,0.000,5126,0.324,0.054,2599,2153,2101,2125,2077,0,0,0,0,0,0,14.16,14.37,14.42,6.23,50.70
$GC,7632,0.64,146.0,2598,2154,2125,2077,102.3,10.8,485,7636,0.00,2.47,0.00,0.000,2308,0.000,0.083,2598,3553,2100,2125,2076,0,0,0,0,0,0,14.76,14.36,14.76,6.22,50.55
$GC,7722,0.64,146.0,2599,3554,2126,2077,93.3,9.2,498,7727,0.00,2.35,0.00,0.000,5126,0.000,0.043,2604,2146,2100,2124,2076,0,0,0,0,0,0,14.57,14.46,14.59,6.22,50.39
$GC,7848,0.64,146.0,2608,2147,2125,2077,81.3,10.2,523,7851,0.00,2.45,0.00,0.000,4612,0.000,0.067,2619,735,2100,2124,2076,0,0,0,0,0,0,14.76,14.39,14.76,6.22,49.88
$GC,7918,0.64,146.0,2619,736,2123,2077,74.3,9.7,537,7921,0.00,2.40,0.00,0.000,5126,0.000,0.053,2619,2149,2098,2122,2075,0,0,0,0,0,0,14.57,14.43,14.59,6.21,49.92
$GC,8044,0.64,146.0,2619,2150,2123,2075,61.4,10.4,562,8048,0.00,2.47,0.00,0.000,4356,0.000,0.084,2618,3553,2098,2122,2075,0,0,0,0,0,0,14.75,14.35,14.76,6.20,49.29
$GC,8072,0.64,146.0,2619,3554,2123,2075,58.1,10.8,568,8076,0.08,2.35,0.00,0.000,5126,0.343,0.044,2603,2148,2098,2122,2075,0,0,0,0,0,0,14.19,14.46,14.47,6.20,49.17
$GC,8199,0.64,146.0,2604,2149,2123,2075,46.9,8.6,593,8203,0.00,2.45,0.00,0.000,516,0.000,0.067,2613,744,2098,2122,2075,0,0,0,0,0,0,14.75,14.40,14.76,6.20,49.72
$GC,8248,0.69,190.0,2614,744,2122,2075,43.1,6.6,603,8291,0.00,2.38,38.78,1.242,11270,0.000,0.053,2613,2150,1945,1962,1928,0,0,0,0,0,0,14.57,14.43,13.72,6.20,49.25
$GC,8413,0.69,190.0,2613,2150,1955,1917,28.7,10.3,636,8416,0.00,2.50,0.00,0.000,2308,0.000,0.080,2614,3555,1935,1955,1916,0,0,0,0,0,0,14.59,14.26,14.59,6.19,49.40
$GC,8462,0.69,190.0,2614,3555,1956,1916,23.1,11.1,646,8467,0.00,2.35,0.00,0.000,1030,0.000,0.042,2624,2149,1935,1955,1916,0,0,0,0,0,0,14.44,14.35,14.46,6.19,49.72
$GC,8588,0.69,190.0,2625,2148,1956,1914,9.5,11.9,671,8591,0.00,2.45,0.00,0.000,516,0.000,0.065,2635,745,1933,1954,1913,0,0,0,0,0,0,14.64,14.31,14.64,6.19,50.39
$GC,8607,0.69,190.0,2636,745,1954,1914,6.8,13.3,675,8611,0.00,2.40,0.00,0.000,5126,0.000,0.052,2636,2155,1933,1953,1914,0,0,0,0,0,0,14.47,14.34,14.50,6.20,50.86
$STATE,8640,end climb,SURFACE_DEPTH_REACHED
$STATE,8640,begin surface coast
$STATE,8660,end surface coast,CONTROL_FINISHED_OK
$STATE,8660,begin surface
$SM_CCo,8676,26.30,0.246,0,0,1824,220.03
$SM_GC,0.65,5.62,0.10,26.30,0.070,0.137,0.246,222,2072,1824,-6.46,0.76,220.03,0,0,0,0,0,0,14.51,14.39,14.13
$IRIDIUM_FIX,-6010.01,0.00,270119,160329
$TT8_MAMPS,0.038948,0.365512
$HUMID,50.51
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3712480
$24V_AH,13.24,79.483
$10V_AH,13.40,0.000
$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,13.375,87.625,295.125,26.300,0.000,25.314,17.531,129.203,0.000,0.000,15.330,0.000,6847.472,412.900,1572.533,202.242,0.000,1044.482,0.000,1131.945,0.000,0.539,0.000
$DEVICE_MAMPS,430.695,2216.205,1572.075,246.330,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5081.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.521,0.000,0.000,0.000
$MEM,344112
$DATA_FILE_SIZE,17316,686
$CAP_FILE_SIZE,93495,0
$CFSIZE,1023623168,979451904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.035,234.74,1
$GPS,270119,210725,-6010.789,-2.394,16,0.9,39,-19.7,0.6,29.9,9,7.6