version: 66.14
glider: 640
mission: 5
dive: 414
start: 1 28 119 12 45 30
data:
$ID,640
$MISSION,5
$DIVE,414
$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,49
$R_STBD_OVSHOOT,31
$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
$GPS1,280119,123901,-6007.8330,-2.5792,14,0.7,31,-19.7,1.0,296.7,12,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-71.7
$GPS2,280119,124511,-6007.8125,-2.5891,9,0.8,18,-19.7,0.7,284.9,11,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,26.8,51565,-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,-146.0,212,2083,1790,1830,0.0,0.0,0,101,0.00,0.00,-87.32,0.000,16386,0.000,0.000,211,2082,3197,3277,3117,0,0,0,0,0,0,14.56,28.83,14.56,6.17,51.02
$GC,103,-0.64,-146.0,212,2082,3279,3117,3.3,-7.2,18,121,6.20,2.70,-4.30,0.000,18948,0.352,2.219,2175,711,3317,3411,3224,0,0,0,0,0,0,13.96,13.02,14.33,6.29,50.07
$GC,157,-0.64,-146.0,2175,711,3414,3225,13.8,-18.0,29,161,0.10,2.40,0.00,0.000,3078,0.339,0.056,2197,2103,3318,3413,3224,0,0,0,0,0,0,14.05,14.28,14.31,6.31,49.01
$GC,284,-0.64,-146.0,2197,2105,3414,3225,34.6,-16.2,54,287,0.00,2.50,0.00,0.000,260,0.000,0.082,2187,3506,3318,3413,3224,0,0,0,0,0,0,14.60,14.19,14.60,6.31,49.40
$GC,307,-0.64,-146.0,2188,3507,3413,3224,38.7,-17.0,59,311,0.00,2.38,0.00,0.000,3078,0.000,0.044,2187,2124,3318,3413,3224,0,0,0,0,0,0,14.45,14.31,14.47,6.31,49.13
$GC,432,-0.64,-146.0,2187,2123,3413,3225,59.5,-17.1,84,436,0.00,2.45,0.00,0.000,2308,0.000,0.081,2177,3508,3318,3413,3224,0,0,0,0,0,0,14.65,14.28,14.65,6.31,49.56
$GC,457,-0.64,-146.0,2177,3508,3414,3231,63.5,-16.1,89,461,0.05,2.38,0.00,0.000,3078,0.434,0.044,2192,2089,3318,3413,3224,0,0,0,0,0,0,14.07,14.36,14.34,6.36,49.76
$GC,583,-0.64,-146.0,2193,2089,3414,3224,81.1,-13.4,114,587,0.00,2.42,0.00,0.000,2564,0.000,0.063,2192,693,3318,3413,3224,0,0,0,0,0,0,14.66,14.26,14.66,6.31,49.17
$GC,642,-0.64,-146.0,2192,694,3414,3226,88.7,-12.8,126,646,0.00,2.42,0.00,0.000,3078,0.000,0.057,2182,2104,3318,3413,3224,0,0,0,0,0,0,14.50,14.34,14.51,6.30,48.74
$GC,777,-0.64,-146.0,2182,2104,3413,3226,105.3,-12.5,147,778,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2104,3319,3413,3225,0,0,0,0,0,0,14.71,14.71,14.71,6.30,48.26
$GC,1077,-0.64,-146.0,2183,2105,3414,3224,145.9,-13.2,162,1080,0.00,2.45,0.00,0.000,2564,0.000,0.063,2182,691,3317,3413,3221,0,0,0,0,0,0,14.76,14.38,14.76,6.29,50.07
$GC,1102,-0.64,-146.0,2181,691,3414,3225,148.6,-13.3,163,1106,0.08,2.40,0.00,0.000,3078,0.364,0.056,2196,2101,3318,3413,3224,0,0,0,0,0,0,14.12,14.40,14.40,6.31,49.76
$GC,1412,-0.64,-146.0,2195,2101,3414,3224,188.4,-12.5,179,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2101,3318,3413,3224,0,0,0,0,0,0,14.78,14.78,14.78,6.31,50.74
$GC,1712,-0.64,-146.0,2195,2101,3414,3225,225.4,-12.5,194,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2101,3318,3413,3224,0,0,0,0,0,0,14.80,14.80,14.80,6.32,50.94
$GC,2012,-0.64,-146.0,2196,2101,3414,3224,262.6,-12.4,209,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2102,3319,3413,3225,0,0,0,0,0,0,14.81,14.81,14.81,6.32,51.26
$GC,2312,-0.64,-146.0,2195,2102,3414,3226,299.4,-12.3,224,2316,0.00,2.45,0.00,0.000,260,0.000,0.083,2185,3504,3319,3413,3225,0,0,0,0,0,0,14.82,14.39,14.82,6.33,51.45
$GC,2327,-0.64,-146.0,2185,3505,3414,3226,301.2,-12.3,225,2331,0.00,2.33,0.00,0.000,3078,0.000,0.044,2185,2096,3319,3413,3225,0,0,0,0,0,0,14.61,14.49,14.63,6.33,51.37
$GC,2647,-0.64,-146.0,2186,2095,3415,3225,341.8,-12.9,241,2651,0.00,2.40,0.00,0.000,2564,0.000,0.063,2184,697,3319,3413,3225,0,0,0,0,0,0,14.83,14.43,14.83,6.33,51.33
$GC,2707,-0.64,-146.0,2185,697,3414,3225,348.9,-13.0,244,2711,0.05,2.38,0.00,0.000,3078,0.430,0.055,2190,2102,3319,3413,3225,0,0,0,0,0,0,14.18,14.45,14.45,6.33,51.02
$STATE,2715,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2715,begin apogee
$GC,2720,-0.15,0.0,2191,2165,3414,3225,350.8,-12.9,245,2849,0.45,0.00,125.38,1.587,10246,0.257,0.000,2347,2164,2714,2774,2655,0,0,0,0,0,0,14.12,13.92,13.25,6.33,51.18
$STATE,2850,end apogee,CONTROL_FINISHED_OK
$STATE,2850,begin loiter
$GC,3137,-0.15,0.0,2348,2164,2773,2642,349.4,2.5,266,3138,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2164,2706,2771,2642,0,0,0,0,0,0,14.55,14.56,14.55,6.28,51.06
$GC,3437,-0.15,0.0,2348,2165,2772,2638,342.2,2.5,281,3438,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2164,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.74
$GC,3737,-0.15,0.0,2348,2164,2772,2639,335.5,2.2,296,3738,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2164,2704,2771,2638,0,0,0,0,0,0,14.80,14.80,14.80,6.28,51.14
$GC,4037,-0.15,0.0,2348,2165,2772,2639,328.7,2.1,311,4038,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2164,2704,2771,2638,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.26
$GC,4337,-0.15,0.0,2347,2164,2772,2639,322.2,2.2,326,4338,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2164,2704,2771,2637,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.45
$GC,4637,-0.15,0.0,2348,2164,2772,2637,314.9,2.5,341,4638,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2164,2704,2771,2637,0,0,0,0,0,0,14.93,14.93,14.93,6.28,51.45
$GC,4937,-0.15,0.0,2348,2164,2772,2637,306.8,2.9,356,4938,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2164,2704,2771,2637,0,0,0,0,0,0,14.95,14.96,14.95,6.28,51.53
$GC,5237,-0.15,0.0,2347,2165,2772,2638,297.7,3.2,371,5238,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2164,2704,2771,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.27,51.41
$GC,5537,-0.15,0.0,2348,2165,2772,2636,287.7,3.3,386,5538,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2163,2704,2771,2637,0,0,0,0,0,0,14.99,14.99,14.99,6.27,51.61
$GC,5837,-0.15,0.0,2348,2165,2772,2638,278.0,3.1,401,5838,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2164,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.92
$GC,6137,-0.15,0.0,2348,2164,2772,2636,268.9,2.9,416,6138,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2164,2703,2771,2636,0,0,0,0,0,0,15.02,15.02,15.02,6.27,51.73
$STATE,6435,end loiter,LOITER_COMPLETE
$STATE,6435,begin climb
$GC,6437,0.64,146.0,2348,2164,2772,2636,260.1,0.0,431,6574,0.62,2.55,128.93,1.426,10756,0.171,0.065,2605,751,2120,2143,2097,0,0,0,0,0,0,14.42,13.87,13.36,6.27,51.65
$GC,6629,0.64,146.0,2606,752,2136,2091,248.0,8.6,439,6632,0.00,2.42,0.00,0.000,1030,0.000,0.054,2605,2138,2113,2135,2092,0,0,0,0,0,0,14.19,14.09,14.21,6.23,49.44
$GC,6934,0.64,146.0,2606,2138,2132,2083,211.2,11.7,455,6938,0.00,2.55,0.00,0.000,260,0.000,0.083,2605,3562,2107,2131,2083,0,0,0,0,0,0,14.57,14.21,14.57,6.23,50.51
$GC,7024,0.64,146.0,2605,3563,2132,2084,202.5,11.6,459,7027,0.00,2.38,0.00,0.000,5126,0.000,0.044,2616,2153,2107,2131,2083,0,0,0,0,0,0,14.43,14.31,14.45,6.23,50.35
$GC,7329,0.64,146.0,2616,2153,2130,2080,165.4,11.4,475,7332,0.00,2.47,0.00,0.000,4612,0.000,0.067,2627,752,2103,2129,2078,0,0,0,0,0,0,14.69,14.33,14.67,6.23,51.61
$GC,7384,0.64,146.0,2627,745,2128,2078,161.0,11.3,477,7388,0.08,2.42,0.00,0.000,5126,0.324,0.054,2601,2160,2102,2126,2078,0,0,0,0,0,0,14.15,14.35,14.42,6.23,51.37
$GC,7689,0.64,146.0,2601,2160,2127,2078,129.6,9.4,493,7693,0.00,2.47,0.00,0.000,260,0.000,0.085,2601,3553,2101,2126,2077,0,0,0,0,0,0,14.74,14.35,14.75,6.23,50.98
$GC,7759,0.64,146.0,2601,3554,2127,2078,123.7,9.8,496,7762,0.00,2.38,0.00,0.000,5126,0.000,0.044,2610,2153,2101,2126,2076,0,0,0,0,0,0,14.56,14.39,14.58,6.22,50.59
$GC,8064,0.64,146.0,2610,2154,2126,2077,88.7,11.0,526,8068,0.00,2.45,0.00,0.000,4612,0.000,0.066,2621,743,2101,2126,2076,0,0,0,0,0,0,14.76,14.39,14.76,6.21,50.82
$GC,8129,0.64,146.0,2621,744,2126,2077,82.2,9.4,539,8133,0.05,2.40,0.00,0.000,5126,0.395,0.053,2603,2154,2100,2125,2076,0,0,0,0,0,0,14.21,14.42,14.46,6.21,50.63
$GC,8256,0.64,146.0,2603,2161,2125,2076,70.5,9.5,564,8259,0.00,2.47,0.00,0.000,260,0.000,0.086,2603,3553,2100,2125,2076,0,0,0,0,0,0,14.75,14.33,14.75,6.20,49.64
$GC,8324,0.64,146.0,2603,3554,2125,2077,63.6,9.6,578,8327,0.00,2.35,0.00,0.000,5126,0.000,0.044,2613,2140,2100,2124,2076,0,0,0,0,0,0,14.58,14.47,14.60,6.20,49.48
$GC,8449,0.64,146.0,2612,2141,2125,2077,52.3,8.8,603,8452,0.00,0.00,0.00,0.000,4102,0.000,0.000,2613,2140,2100,2125,2076,0,0,0,0,0,0,14.78,14.79,14.78,6.20,49.05
$GC,8574,0.68,184.7,2613,2140,2126,2076,43.9,6.8,628,8613,0.00,2.50,34.30,1.252,10500,0.000,0.083,2613,3554,1960,1978,1942,0,0,0,0,0,0,14.78,14.33,13.74,6.20,49.29
$GC,8695,0.68,184.7,2613,3555,1977,1940,33.4,9.4,652,8699,0.00,2.38,0.00,0.000,5126,0.000,0.044,2631,2143,1958,1977,1939,0,0,0,0,0,0,14.42,14.31,14.45,6.18,49.40
$GC,8820,0.68,184.7,2624,2143,1978,1935,20.6,10.9,677,8824,0.00,2.45,0.00,0.000,4612,0.000,0.067,2634,745,1955,1976,1935,0,0,0,0,0,0,14.64,14.31,14.64,6.18,50.35
$GC,8874,0.68,184.7,2634,746,1975,1936,15.0,9.8,688,8878,0.00,2.42,0.00,0.000,5126,0.000,0.055,2634,2155,1954,1975,1934,0,0,0,0,0,0,14.48,14.34,14.50,6.18,50.15
$STATE,8982,end climb,SURFACE_DEPTH_REACHED
$STATE,8982,begin surface coast
$STATE,9002,end surface coast,CONTROL_FINISHED_OK
$STATE,9002,begin surface
$SM_CCo,9017,31.17,0.245,0,0,1821,220.03
$SM_GC,1.08,5.55,0.10,31.17,0.054,0.135,0.245,269,2059,1821,-6.46,0.76,220.03,0,0,0,0,0,0,14.51,14.41,14.14
$IRIDIUM_FIX,-6010.01,-4.32,280119,100451
$TT8_MAMPS,0.036701,0.304094
$HUMID,50.59
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,2
$SC_FREEKB,3708896
$24V_AH,13.02,80.713
$10V_AH,13.56,0.000
$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,13.225,73.300,288.600,31.175,0.000,25.921,38.225,140.346,0.500,0.000,19.454,0.000,7206.634,391.520,1615.310,205.831,0.000,1027.307,0.000,1138.756,0.000,0.539,0.000
$DEVICE_MAMPS,433.755,2218.500,1586.610,244.800,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5423.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.484,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17336,714
$CAP_FILE_SIZE,92171,0
$CFSIZE,1023623168,978763776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.027,236.27,1
$GPS,280119,151725,-6007.318,-2.648,12,0.7,41,-19.7,0.7,276.8,10,5.7