version: 66.14
glider: 640
mission: 5
dive: 438
start: 1 31 119 3 0 21
data:
$ID,640
$MISSION,5
$DIVE,438
$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,39
$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
$GPS1,310119,025401,-5957.5181,-3.4702,15,1.0,27,-19.7,0.0,79.9,8,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.2
$GPS2,310119,030001,-5957.5557,-3.4817,12,0.9,19,-19.7,1.0,275.3,9,9.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,34.3,32676,-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,-146.0,233,2079,1791,1828,0.0,0.0,0,97,0.00,0.00,-82.78,0.000,16386,0.000,0.000,232,2079,3122,3202,3042,0,0,0,0,0,0,14.56,28.83,14.56,6.18,50.90
$GC,99,-0.64,-146.0,233,2079,3204,3043,3.0,-5.7,17,116,6.15,0.00,-7.28,0.000,19206,0.355,0.000,2173,2078,3317,3415,3220,0,0,0,0,0,0,13.92,12.93,14.29,6.29,49.96
$GC,238,-0.64,-146.0,2173,2079,3416,3224,26.9,-18.7,45,242,0.08,2.55,0.00,0.000,2308,0.388,0.080,2184,3506,3319,3415,3223,0,0,0,0,0,0,14.04,14.21,14.31,6.31,49.09
$GC,263,-0.64,-146.0,2186,3507,3417,3223,31.4,-17.7,50,267,0.00,2.38,0.00,0.000,3078,0.000,0.043,2185,2099,3319,3415,3223,0,0,0,0,0,0,14.45,14.34,14.47,6.31,49.56
$GC,388,-0.64,-146.0,2193,2098,3416,3224,51.6,-16.7,75,392,0.00,2.45,0.00,0.000,2564,0.000,0.063,2184,691,3319,3415,3223,0,0,0,0,0,0,14.66,14.30,14.66,6.31,49.88
$GC,418,-0.64,-146.0,2184,692,3416,3224,56.7,-16.7,81,422,0.08,2.42,0.00,0.000,3078,0.373,0.055,2198,2102,3319,3415,3223,0,0,0,0,0,0,14.00,14.32,14.28,6.32,49.88
$GC,545,-0.64,-146.0,2198,2102,3417,3223,75.1,-13.6,106,548,0.00,2.47,0.00,0.000,516,0.000,0.062,2196,689,3319,3415,3224,0,0,0,0,0,0,14.67,14.32,14.67,6.31,49.92
$GC,578,-0.64,-146.0,2198,689,3416,3225,80.0,-14.0,113,581,0.00,2.42,0.00,0.000,3078,0.000,0.058,2188,2100,3318,3414,3223,0,0,0,0,0,0,14.48,14.33,14.50,6.31,49.92
$GC,703,-0.64,-146.0,2188,2101,3416,3225,98.5,-15.0,138,706,0.00,2.53,0.00,0.000,2308,0.000,0.084,2178,3508,3319,3415,3224,0,0,0,0,0,0,14.71,14.26,14.71,6.31,48.85
$GC,733,-0.64,-146.0,2177,3508,3416,3222,101.6,-15.5,141,737,0.05,2.35,0.00,0.000,3078,0.427,0.044,2193,2096,3319,3416,3223,0,0,0,0,0,0,14.09,14.38,14.35,6.30,48.97
$GC,1038,-0.64,-146.0,2193,2095,3416,3224,146.9,-14.5,156,1042,0.00,2.42,0.00,0.000,2564,0.000,0.063,2193,694,3320,3416,3224,0,0,0,0,0,0,14.76,14.34,14.76,6.30,49.76
$GC,1103,-0.64,-146.0,2191,695,3416,3224,154.7,-14.2,159,1107,0.00,2.40,0.00,0.000,3078,0.000,0.055,2183,2102,3320,3416,3224,0,0,0,0,0,0,14.50,14.35,14.51,6.29,50.51
$GC,1408,-0.64,-146.0,2183,2102,3417,3224,201.0,-14.8,174,1412,0.00,2.47,0.00,0.000,2308,0.000,0.083,2172,3517,3319,3415,3224,0,0,0,0,0,0,14.78,14.31,14.78,6.31,50.74
$GC,1438,-0.64,-146.0,2173,3510,3416,3222,203.2,-14.8,175,1442,0.08,2.35,0.00,0.000,3078,0.359,0.043,2197,2098,3319,3415,3223,0,0,0,0,0,0,14.12,14.43,14.40,6.31,50.55
$GC,1743,-0.64,-146.0,2198,2097,3417,3224,246.4,-13.2,191,1747,0.00,2.42,0.00,0.000,516,0.000,0.063,2197,697,3319,3415,3224,0,0,0,0,0,0,14.79,14.35,14.80,6.31,51.22
$GC,1818,-0.64,-146.0,2197,698,3417,3225,254.3,-13.1,194,1821,0.00,2.40,0.00,0.000,3078,0.000,0.055,2187,2107,3319,3415,3224,0,0,0,0,0,0,14.57,14.42,14.59,6.32,51.06
$GC,2123,-0.64,-146.0,2187,2107,3416,3223,296.0,-13.2,210,2126,0.00,2.45,0.00,0.000,2308,0.000,0.084,2176,3503,3319,3415,3224,0,0,0,0,0,0,14.81,14.33,14.81,6.32,51.73
$GC,2148,-0.64,-146.0,2176,3503,3416,3224,298.0,-13.2,211,2152,0.05,2.33,0.00,0.000,3078,0.425,0.042,2192,2100,3319,3415,3224,0,0,0,0,0,0,14.16,14.45,14.42,6.32,51.85
$GC,2458,-0.64,-146.0,2192,2099,3416,3223,339.0,-12.6,227,2462,0.00,2.42,0.00,0.000,2564,0.000,0.063,2192,699,3320,3415,3226,0,0,0,0,0,0,14.82,14.37,14.82,6.32,51.14
$GC,2508,-0.64,-146.0,2192,699,3416,3223,343.5,-12.7,229,2511,0.00,2.40,0.00,0.000,3078,0.000,0.056,2182,2107,3319,3415,3223,0,0,0,0,0,0,14.56,14.43,14.60,6.34,50.98
$STATE,2551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2551,begin apogee
$GC,2556,-0.15,0.0,2182,2159,3416,3225,350.9,-12.4,232,2685,0.47,0.00,125.45,1.574,10246,0.256,0.000,2347,2158,2716,2776,2656,0,0,0,0,0,0,14.11,13.91,13.22,6.33,50.98
$STATE,2686,end apogee,CONTROL_FINISHED_OK
$STATE,2686,begin loiter
$GC,2973,-0.15,0.0,2347,2159,2772,2644,347.9,3.5,253,2974,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2158,2707,2771,2643,0,0,0,0,0,0,14.55,14.55,14.56,6.28,50.47
$GC,3273,-0.15,0.0,2347,2159,2772,2642,337.2,3.8,268,3274,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.82
$GC,3573,-0.15,0.0,2347,2159,2772,2641,326.0,3.7,283,3574,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2158,2705,2771,2639,0,0,0,0,0,0,14.80,14.81,14.80,6.28,51.26
$GC,3873,-0.15,0.0,2347,2158,2772,2640,314.5,3.9,298,3874,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2705,2771,2639,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.10
$GC,4173,-0.15,0.0,2348,2158,2773,2638,303.0,3.8,313,4174,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2158,2705,2771,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.49
$GC,4473,-0.15,0.0,2348,2158,2772,2638,291.5,3.9,328,4474,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2158,2704,2771,2638,0,0,0,0,0,0,14.93,14.93,14.93,6.27,51.81
$GC,4773,-0.15,0.0,2348,2158,2772,2638,280.4,3.6,343,4774,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2158,2704,2771,2638,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.45
$GC,5073,-0.15,0.0,2347,2158,2772,2639,270.6,3.1,358,5074,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2158,2704,2771,2638,0,0,0,0,0,0,14.97,14.97,14.97,6.27,51.45
$GC,5373,-0.15,0.0,2348,2158,2772,2638,261.8,3.0,373,5374,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2158,2704,2771,2638,0,0,0,0,0,0,14.99,14.99,14.99,6.27,51.89
$GC,5673,-0.15,0.0,2348,2158,2772,2638,253.2,3.0,388,5674,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2704,2771,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.27,52.12
$GC,5973,-0.15,0.0,2347,2159,2772,2639,244.2,3.1,403,5974,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2158,2704,2771,2638,0,0,0,0,0,0,15.02,15.02,15.01,6.27,51.61
$STATE,6271,end loiter,LOITER_COMPLETE
$STATE,6271,begin climb
$GC,6273,0.64,146.0,2347,2159,2771,2639,234.3,0.0,418,6411,0.62,2.53,129.20,1.404,10500,0.171,0.081,2593,3544,2119,2142,2097,0,0,0,0,0,0,14.38,13.86,13.37,6.27,52.08
$GC,6435,0.64,151.9,2593,3546,2142,2094,223.7,8.1,425,6445,0.00,2.38,5.93,1.312,9222,0.000,0.041,2603,2152,2099,2122,2077,0,0,0,0,0,0,14.16,14.08,13.31,6.24,49.33
$GC,6745,0.64,151.9,2603,2153,2113,2065,187.2,11.8,440,6749,0.00,2.50,0.00,0.000,516,0.000,0.067,2615,746,2088,2112,2064,0,0,0,0,0,0,14.54,14.20,14.55,6.23,50.59
$GC,6811,0.64,151.9,2615,747,2109,2065,181.0,11.5,443,6814,0.00,2.40,0.00,0.000,5126,0.000,0.054,2615,2140,2086,2109,2064,0,0,0,0,0,0,14.39,14.26,14.41,6.22,50.39
$GC,7116,0.64,151.9,2615,2141,2109,2063,142.9,11.7,458,7119,0.00,2.53,0.00,0.000,4356,0.000,0.083,2615,3560,2084,2107,2061,0,0,0,0,0,0,14.68,14.28,14.68,6.22,50.66
$GC,7185,0.64,151.9,2615,3561,2110,2062,136.7,11.5,461,7189,0.05,2.38,0.00,0.000,5126,0.417,0.043,2609,2144,2085,2108,2062,0,0,0,0,0,0,14.10,14.38,14.38,6.22,50.82
$GC,7490,0.64,151.9,2609,2144,2107,2060,102.1,9.8,477,7494,0.00,2.50,0.00,0.000,260,0.000,0.079,2609,3555,2082,2106,2059,0,0,0,0,0,0,14.73,14.33,14.73,6.21,50.98
$GC,7595,0.64,151.9,2609,3556,2107,2061,92.1,10.0,493,7599,0.00,2.35,0.00,0.000,5126,0.000,0.041,2618,2145,2082,2106,2059,0,0,0,0,0,0,14.55,14.43,14.57,6.21,49.88
$GC,7722,0.64,151.9,2618,2146,2107,2060,78.2,11.4,518,7728,0.00,2.45,0.00,0.000,4612,0.000,0.067,2629,745,2082,2106,2058,0,0,0,0,0,0,14.73,14.28,14.73,6.21,49.80
$GC,7780,0.64,151.9,2630,745,2105,2058,71.5,10.8,530,7784,0.08,2.40,0.00,0.000,5126,0.314,0.054,2602,2153,2081,2104,2058,0,0,0,0,0,0,14.18,14.40,14.44,6.20,49.52
$GC,7907,0.66,165.1,2602,2154,2105,2058,60.0,7.8,555,7923,0.00,2.50,10.07,1.311,10756,0.000,0.067,2611,745,2042,2063,2022,0,0,0,0,0,0,14.74,14.45,13.73,6.20,49.40
$GC,7955,0.67,174.3,2612,746,2064,2021,56.1,8.0,565,7970,0.00,2.40,9.73,1.282,11270,0.000,0.054,2612,2154,2006,2025,1988,0,0,0,0,0,0,14.54,14.40,13.71,6.20,49.56
$GC,8091,0.67,174.3,2612,2155,2023,1984,43.5,9.7,592,8094,0.00,2.47,0.00,0.000,2308,0.000,0.085,2610,3553,2003,2023,1984,0,0,0,0,0,0,14.66,14.30,14.66,6.19,49.56
$GC,8140,0.67,174.3,2612,3554,2024,1984,38.5,9.8,602,8144,0.00,2.35,0.00,0.000,5126,0.000,0.043,2621,2150,2003,2023,1984,0,0,0,0,0,0,14.50,14.40,14.52,6.19,50.31
$GC,8267,0.67,174.3,2623,2151,2023,1983,26.0,10.3,627,8271,0.00,2.45,0.00,0.000,4612,0.000,0.067,2633,744,2002,2022,1983,0,0,0,0,0,0,14.69,14.34,14.69,6.20,50.23
$GC,8331,0.67,174.3,2633,745,2022,1984,19.3,9.9,640,8335,0.05,2.40,0.00,0.000,5126,0.383,0.054,2615,2150,2002,2021,1983,0,0,0,0,0,0,14.16,14.38,14.40,6.20,50.27
$GC,8456,0.67,174.3,2615,2151,2022,1982,6.9,9.5,665,8459,0.00,2.47,0.00,0.000,260,0.000,0.083,2615,3552,2001,2021,1982,0,0,0,0,0,0,14.69,14.32,14.70,6.20,51.14
$STATE,8493,end climb,SURFACE_DEPTH_REACHED
$STATE,8493,begin surface coast
$STATE,8513,end surface coast,CONTROL_FINISHED_OK
$STATE,8513,begin surface
$SM_CCo,8531,42.75,0.241,0,0,1822,220.03
$SM_GC,1.29,5.62,2.50,42.75,0.073,0.042,0.241,266,2098,1822,-6.46,0.96,220.03,0,0,0,0,0,0,14.46,14.42,14.14
$IRIDIUM_FIX,-5959.31,4.30,310119,001630
$TT8_MAMPS,0.039697,0.27713
$HUMID,50.55
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3696608
$24V_AH,12.93,85.004
$10V_AH,13.54,0.000
$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,13.375,87.650,280.375,42.750,0.000,24.376,17.058,147.969,0.000,0.000,20.418,0.000,6743.109,407.183,1568.542,216.744,0.000,1030.586,0.000,1106.896,0.000,0.540,0.000
$DEVICE_MAMPS,426.870,231.795,1573.605,240.975,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4934.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.577,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17316,677
$CAP_FILE_SIZE,93788,0
$CFSIZE,1023623168,976404480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.086,192.50,1
$GPS,310119,052419,-5957.385,-3.389,15,0.7,38,-19.7,0.5,177.7,11,5.1