version: 66.14
glider: 640
mission: 5
dive: 440
start: 1 31 119 8 5 51
data:
$ID,640
$MISSION,5
$DIVE,440
$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,30
$R_STBD_OVSHOOT,26
$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
$GPS1,310119,075925,-5957.0649,-3.0398,14,0.8,37,-19.7,0.3,229.7,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.3
$GPS2,310119,080531,-5957.0776,-2.9914,9,0.9,16,-19.7,0.4,224.1,8,9.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,21.1,31751,-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,-146.0,232,2098,1791,1828,0.0,0.0,0,101,0.00,0.00,-87.03,0.000,16386,0.000,0.000,231,2098,3197,3278,3116,0,0,0,0,0,0,14.54,28.83,14.54,6.18,51.02
$GC,103,-0.64,-146.0,231,2098,3278,3117,3.5,-7.8,18,121,6.12,2.75,-4.22,0.000,18692,0.345,2.227,2160,3507,3316,3409,3223,0,0,0,0,0,0,13.96,13.24,14.32,6.29,50.00
$GC,127,-0.64,-146.0,2161,3507,3411,3223,9.2,-22.7,23,131,0.10,2.38,0.00,0.000,3078,0.319,0.042,2194,2088,3316,3410,3223,0,0,0,0,0,0,14.13,14.33,14.35,6.31,49.92
$GC,254,-0.64,-146.0,2194,2087,3412,3224,30.0,-16.0,48,256,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2087,3317,3412,3223,0,0,0,0,0,0,14.56,14.59,14.58,6.31,49.21
$GC,377,-0.64,-146.0,2194,2087,3412,3224,51.6,-16.0,73,380,0.00,2.42,0.00,0.000,516,0.000,0.063,2195,697,3318,3413,3224,0,0,0,0,0,0,14.63,14.29,14.64,6.31,49.52
$GC,462,-0.64,-146.0,2194,698,3406,3225,64.8,-15.0,90,466,0.00,2.42,0.00,0.000,3078,0.000,0.057,2184,2107,3318,3412,3224,0,0,0,0,0,0,14.47,14.32,14.48,6.31,49.68
$GC,587,-0.64,-146.0,2184,2107,3413,3224,83.7,-15.6,115,590,0.00,0.00,0.00,0.000,2054,0.000,0.000,2184,2107,3318,3412,3224,0,0,0,0,0,0,14.67,14.68,14.69,6.31,49.72
$GC,717,-0.64,-146.0,2185,2107,3413,3224,103.2,-14.5,138,721,0.00,2.47,0.00,0.000,2308,0.000,0.083,2173,3516,3318,3412,3224,0,0,0,0,0,0,14.70,14.30,14.70,6.30,48.46
$GC,737,-0.64,-146.0,2174,3521,3413,3224,106.1,-14.6,139,741,0.08,2.38,0.00,0.000,3078,0.356,0.042,2199,2097,3318,3412,3224,0,0,0,0,0,0,14.09,14.39,14.36,6.30,48.66
$GC,1057,-0.64,-146.0,2200,2096,3413,3224,149.1,-13.0,155,1060,0.00,2.42,0.00,0.000,516,0.000,0.063,2199,698,3317,3411,3224,0,0,0,0,0,0,14.74,14.37,14.75,6.30,50.00
$GC,1147,-0.64,-146.0,2199,698,3413,3224,158.5,-12.6,159,1151,0.00,2.40,0.00,0.000,3078,0.000,0.056,2188,2104,3318,3412,3224,0,0,0,0,0,0,14.54,14.39,14.56,6.30,49.68
$GC,1467,-0.64,-146.0,2189,2104,3412,3225,198.4,-11.8,176,1471,0.00,2.47,0.00,0.000,2308,0.000,0.083,2177,3506,3318,3412,3224,0,0,0,0,0,0,14.78,14.35,14.78,6.31,50.55
$GC,1497,-0.64,-146.0,2178,3507,3413,3224,200.8,-12.0,177,1501,0.05,2.33,0.00,0.000,3078,0.426,0.042,2193,2099,3318,3412,3224,0,0,0,0,0,0,14.14,14.45,14.41,6.31,50.98
$GC,1802,-0.64,-146.0,2194,2097,3413,3224,239.1,-12.4,192,1805,0.00,2.42,0.00,0.000,516,0.000,0.063,2193,697,3318,3412,3224,0,0,0,0,0,0,14.80,14.40,14.79,6.32,50.74
$GC,1882,-0.64,-146.0,2194,697,3412,3224,248.5,-12.5,196,1886,0.00,2.40,0.00,0.000,3078,0.000,0.055,2183,2104,3318,3412,3224,0,0,0,0,0,0,14.57,14.42,14.59,6.32,51.41
$GC,2192,-0.64,-146.0,2183,2104,3412,3225,289.4,-13.3,212,2196,0.00,2.45,0.00,0.000,2308,0.000,0.083,2172,3503,3317,3411,3224,0,0,0,0,0,0,14.81,14.36,14.81,6.32,51.37
$GC,2212,-0.64,-146.0,2173,3503,3413,3224,291.4,-13.3,213,2216,0.08,2.35,0.00,0.000,3078,0.350,0.042,2198,2093,3314,3412,3217,0,0,0,0,0,0,14.15,14.46,14.42,6.32,51.10
$GC,2527,-0.64,-146.0,2198,2091,3412,3225,330.6,-12.0,229,2531,0.00,2.42,0.00,0.000,516,0.000,0.063,2198,692,3317,3412,3223,0,0,0,0,0,0,14.81,14.40,14.81,6.33,51.85
$GC,2582,-0.64,-146.0,2198,693,3412,3225,337.2,-12.1,232,2586,0.00,2.40,0.00,0.000,3078,0.000,0.056,2188,2101,3318,3412,3224,0,0,0,0,0,0,14.58,14.43,14.60,6.33,50.98
$STATE,2700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2700,begin apogee
$GC,2705,-0.15,0.0,2188,2163,3413,3221,351.6,-12.2,238,2834,0.47,0.00,125.43,1.576,10246,0.252,0.000,2353,2162,2715,2774,2656,0,0,0,0,0,0,14.07,13.91,13.22,6.32,51.61
$STATE,2835,end apogee,CONTROL_FINISHED_OK
$STATE,2835,begin loiter
$GC,3122,-0.15,0.0,2354,2163,2771,2644,347.3,3.3,259,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2162,2706,2771,2642,0,0,0,0,0,0,14.55,14.56,14.56,6.28,50.63
$GC,3422,-0.15,0.0,2354,2163,2772,2639,337.0,3.4,274,3423,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2162,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.27,51.10
$GC,3722,-0.15,0.0,2354,2163,2771,2639,327.2,3.4,289,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2162,2705,2771,2639,0,0,0,0,0,0,14.80,14.80,14.80,6.27,51.29
$GC,4022,-0.15,0.0,2353,2163,2771,2639,317.4,3.2,304,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2162,2704,2771,2638,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.53
$GC,4322,-0.15,0.0,2353,2163,2772,2638,307.8,3.1,319,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2162,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.27,51.45
$GC,4622,-0.15,0.0,2354,2163,2771,2639,299.0,2.7,334,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2162,2704,2771,2638,0,0,0,0,0,0,14.92,14.93,14.92,6.28,51.22
$GC,4922,-0.15,0.0,2354,2163,2772,2637,291.6,2.2,349,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2162,2704,2771,2637,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.45
$GC,5222,-0.15,0.0,2354,2163,2771,2638,285.0,2.2,364,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2162,2704,2771,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.27,51.73
$GC,5522,-0.15,0.0,2354,2163,2771,2638,278.6,2.2,379,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2162,2704,2771,2637,0,0,0,0,0,0,14.98,14.99,14.99,6.28,52.08
$GC,5822,-0.15,0.0,2354,2162,2772,2637,271.9,2.2,394,5823,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2162,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.53
$GC,6122,-0.15,0.0,2354,2163,2771,2638,264.5,2.6,409,6123,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2162,2704,2771,2637,0,0,0,0,0,0,15.01,15.02,15.02,6.27,51.57
$STATE,6420,end loiter,LOITER_COMPLETE
$STATE,6420,begin climb
$GC,6422,0.64,146.0,2354,2163,2772,2637,256.1,0.0,424,6559,0.62,2.53,129.18,1.425,10500,0.166,0.079,2600,3547,2120,2142,2098,0,0,0,0,0,0,14.40,13.85,13.35,6.27,51.65
$GC,6614,0.64,146.0,2600,3548,2141,2094,243.1,9.4,432,6618,0.00,2.38,0.00,0.000,5126,0.000,0.041,2610,2154,2116,2140,2092,0,0,0,0,0,0,14.20,14.11,14.21,6.23,49.25
$GC,6919,0.64,146.0,2611,2154,2127,2084,204.3,12.2,448,6923,0.00,2.50,0.00,0.000,4612,0.000,0.067,2621,742,2108,2133,2084,0,0,0,0,0,0,14.57,14.21,14.56,6.23,51.26
$GC,6974,0.64,146.0,2626,743,2131,2084,198.0,11.7,451,6978,0.05,2.40,0.00,0.000,5126,0.379,0.054,2604,2135,2106,2130,2083,0,0,0,0,0,0,14.06,14.27,14.32,6.23,50.51
$GC,7291,0.64,146.0,2605,2136,2130,2081,163.1,10.9,467,7295,0.00,2.53,0.00,0.000,260,0.000,0.082,2604,3559,2104,2129,2080,0,0,0,0,0,0,14.66,14.22,14.67,6.23,51.26
$GC,7384,0.64,146.0,2604,3560,2129,2081,154.2,11.0,471,7388,0.00,2.35,0.00,0.000,5126,0.000,0.042,2613,2151,2104,2129,2080,0,0,0,0,0,0,14.51,14.39,14.53,6.23,51.53
$GC,7689,0.64,146.0,2614,2152,2129,2078,120.7,10.4,487,7693,0.00,2.45,0.00,0.000,4612,0.000,0.067,2624,741,2103,2128,2078,0,0,0,0,0,0,14.74,14.35,14.75,6.22,51.10
$GC,7744,0.64,146.0,2625,746,2127,2079,114.7,11.0,490,7748,0.05,2.40,0.00,0.000,5126,0.379,0.054,2606,2155,2101,2125,2077,0,0,0,0,0,0,14.18,14.40,14.44,6.22,51.57
$GC,8049,0.64,146.0,2606,2156,2127,2077,80.9,10.8,531,8053,0.00,2.47,0.00,0.000,260,0.000,0.083,2606,3556,2101,2126,2077,0,0,0,0,0,0,14.76,14.35,14.76,6.21,50.70
$GC,8139,0.64,146.0,2601,3557,2128,2077,71.6,9.8,549,8143,0.00,2.35,0.00,0.000,5126,0.000,0.042,2615,2142,2101,2126,2077,0,0,0,0,0,0,14.57,14.45,14.59,6.21,50.15
$GC,8264,0.64,146.0,2615,2143,2126,2078,59.6,9.7,574,8268,0.00,2.42,0.00,0.000,4612,0.000,0.067,2627,745,2101,2126,2076,0,0,0,0,0,0,14.77,14.38,14.78,6.20,49.33
$GC,8289,0.64,146.0,2627,745,2130,2076,57.4,8.9,579,8293,0.08,2.40,0.00,0.000,5126,0.311,0.054,2600,2157,2100,2125,2076,0,0,0,0,0,0,14.19,14.41,14.46,6.20,49.29
$GC,8416,0.67,172.0,2600,2156,2126,2077,48.5,7.3,604,8443,0.00,2.50,21.30,1.274,10756,0.000,0.067,2609,742,2014,2033,1995,0,0,0,0,0,0,14.76,14.38,13.76,6.20,49.44
$GC,8459,0.70,198.4,2609,743,2034,1994,45.2,7.3,613,8493,0.00,2.40,27.17,1.222,11270,0.000,0.054,2609,2153,1905,1920,1890,0,0,0,0,0,0,14.51,14.40,13.66,6.19,49.29
$GC,8615,0.70,198.4,2609,2154,1918,1885,32.4,8.6,644,8618,0.00,2.50,0.00,0.000,2308,0.000,0.086,2609,3554,1900,1918,1883,0,0,0,0,0,0,14.56,14.22,14.57,6.18,50.19
$GC,8659,0.70,198.4,2609,3552,1918,1884,28.1,9.6,653,8663,0.00,2.38,0.00,0.000,3078,0.000,0.043,2619,2146,1900,1918,1882,0,0,0,0,0,0,14.42,14.31,14.44,6.18,49.76
$GC,8786,0.70,198.4,2619,2146,1918,1881,15.7,10.1,678,8790,0.00,2.47,0.00,0.000,2564,0.000,0.067,2630,742,1899,1918,1880,0,0,0,0,0,0,14.62,14.28,14.62,6.18,50.66
$GC,8840,0.70,198.4,2630,743,1916,1881,10.1,10.4,689,8843,0.00,2.42,0.00,0.000,5126,0.000,0.055,2630,2149,1897,1915,1880,0,0,0,0,0,0,14.45,14.32,14.48,6.19,50.59
$STATE,8902,end climb,SURFACE_DEPTH_REACHED
$STATE,8902,begin surface coast
$STATE,8922,end surface coast,CONTROL_FINISHED_OK
$STATE,8922,begin surface
$SM_CCo,8938,17.55,0.252,0,0,1821,220.03
$SM_GC,2.55,5.68,0.08,17.55,0.076,0.161,0.252,231,2075,1821,-6.46,0.96,220.03,0,0,0,0,0,0,14.45,14.38,14.09
$IRIDIUM_FIX,-5959.31,0.00,310119,052651
$TT8_MAMPS,0.038948,0.220206
$HUMID,50.59
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3695584
$24V_AH,13.22,85.370
$10V_AH,13.32,0.000
$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,13.375,82.900,303.075,17.550,0.000,25.411,39.799,133.012,0.000,0.000,17.258,0.000,7058.221,395.294,1652.988,216.716,0.000,1056.498,0.000,1180.107,0.000,0.540,0.000
$DEVICE_MAMPS,426.105,2226.915,1575.900,252.450,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5345.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.462,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17329,706
$CAP_FILE_SIZE,95276,0
$CFSIZE,1023623168,976207872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.033,178.70,1
$GPS,310119,103606,-5956.688,-3.146,28,0.8,33,-19.7,0.4,43.8,10,9.9