version: 66.14
glider: 640
mission: 5
dive: 441
start: 1 31 119 10 42 34
data:
$ID,640
$MISSION,5
$DIVE,441
$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,53
$R_STBD_OVSHOOT,29
$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
$GPS1,310119,103606,-5956.6880,-3.1464,28,0.8,33,-19.7,0.4,43.8,10,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-70.5
$GPS2,310119,104215,-5956.6973,-3.1666,9,0.8,18,-19.7,0.0,250.7,10,9.7
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,24.3,31065,-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,-146.0,231,2075,1793,1832,0.0,0.0,0,102,0.00,0.00,-87.82,0.000,16386,0.000,0.000,231,2074,3210,3291,3129,0,0,0,0,0,0,14.54,28.83,14.54,6.18,51.41
$GC,104,-0.64,-146.0,232,2075,3293,3130,3.4,-7.2,18,122,6.12,2.80,-3.88,0.000,18692,0.347,2.225,2175,3502,3317,3411,3224,0,0,0,0,0,0,13.93,13.24,14.26,6.29,49.96
$GC,173,-0.64,-146.0,2176,3503,3414,3224,15.7,-15.7,32,177,0.00,2.35,0.00,0.000,3078,0.000,0.042,2174,2116,3318,3413,3224,0,0,0,0,0,0,14.40,14.31,14.40,6.31,49.09
$GC,298,-0.64,-146.0,2174,2115,3413,3225,37.0,-17.4,57,302,0.08,2.50,0.00,0.000,2564,0.384,0.063,2197,684,3318,3413,3224,0,0,0,0,0,0,14.05,14.23,14.31,6.31,49.76
$GC,323,-0.64,-146.0,2198,685,3414,3224,41.2,-16.6,62,327,0.00,2.45,0.00,0.000,3078,0.000,0.059,2187,2101,3318,3413,3223,0,0,0,0,0,0,14.38,14.26,14.40,6.31,49.25
$GC,449,-0.64,-146.0,2188,2102,3414,3224,61.9,-17.3,87,453,0.00,2.50,0.00,0.000,2308,0.000,0.085,2177,3505,3318,3413,3224,0,0,0,0,0,0,14.64,14.26,14.64,6.31,49.76
$GC,503,-0.64,-146.0,2177,3506,3413,3225,70.6,-14.1,98,507,0.05,2.38,0.00,0.000,3078,0.426,0.043,2193,2088,3318,3413,3224,0,0,0,0,0,0,14.04,14.33,14.31,6.31,49.92
$GC,629,-0.64,-146.0,2193,2087,3414,3224,87.9,-13.8,123,633,0.00,2.38,0.00,0.000,2564,0.000,0.063,2192,697,3318,3413,3224,0,0,0,0,0,0,14.67,14.32,14.67,6.31,49.40
$GC,648,-0.64,-146.0,2194,697,3414,3223,90.8,-14.2,127,652,0.00,2.42,0.00,0.000,3078,0.000,0.058,2182,2102,3318,3412,3224,0,0,0,0,0,0,14.45,14.32,14.47,6.31,49.17
$GC,778,-0.64,-146.0,2183,2102,3415,3224,109.0,-14.2,144,779,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2102,3317,3410,3224,0,0,0,0,0,0,14.71,14.71,14.71,6.30,48.50
$GC,1078,-0.64,-146.0,2183,2102,3414,3224,148.5,-13.0,159,1081,0.00,2.42,0.00,0.000,2564,0.000,0.063,2182,697,3317,3411,3224,0,0,0,0,0,0,14.76,14.33,14.76,6.30,49.44
$GC,1143,-0.64,-146.0,2183,698,3414,3224,155.6,-13.0,162,1147,0.08,2.42,0.00,0.000,3078,0.362,0.056,2195,2107,3315,3406,3224,0,0,0,0,0,0,14.09,14.37,14.36,6.31,49.68
$GC,1453,-0.64,-146.0,2196,2108,3414,3224,193.3,-11.8,178,1457,0.00,2.47,0.00,0.000,260,0.000,0.083,2185,3510,3319,3413,3225,0,0,0,0,0,0,14.78,14.28,14.78,6.31,50.55
$GC,1508,-0.64,-146.0,2186,3510,3414,3224,200.0,-12.0,181,1512,0.00,2.33,0.00,0.000,3078,0.000,0.041,2185,2099,3318,3413,3224,0,0,0,0,0,0,14.54,14.46,14.56,6.30,51.02
$GC,1828,-0.64,-146.0,2184,2097,3413,3225,239.5,-12.6,197,1831,0.00,2.42,0.00,0.000,2564,0.000,0.062,2184,691,3318,3413,3224,0,0,0,0,0,0,14.80,14.36,14.80,6.32,50.90
$GC,1903,-0.64,-146.0,2185,692,3414,3224,248.9,-12.6,201,1907,0.05,2.42,0.00,0.000,3078,0.422,0.056,2189,2109,3317,3413,3222,0,0,0,0,0,0,14.11,14.40,14.36,6.32,50.82
$GC,2218,-0.64,-146.0,2189,2110,3413,3225,288.1,-12.7,217,2219,0.00,0.00,0.00,0.000,2054,0.000,0.000,2190,2109,3318,3413,3224,0,0,0,0,0,0,14.81,14.81,14.81,6.33,51.02
$GC,2518,-0.64,-146.0,2189,2110,3413,3225,326.2,-12.7,232,2519,0.00,0.00,0.00,0.000,2054,0.000,0.000,2189,2109,3318,3413,3224,0,0,0,0,0,0,14.82,14.83,14.83,6.32,51.18
$STATE,2716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2716,begin apogee
$GC,2721,-0.15,0.0,2190,2158,3414,3224,351.5,-12.7,242,2850,0.45,0.00,125.22,1.592,10246,0.255,0.000,2347,2157,2716,2776,2657,0,0,0,0,0,0,14.14,13.91,13.23,6.33,51.14
$STATE,2851,end apogee,CONTROL_FINISHED_OK
$STATE,2851,begin loiter
$GC,3138,-0.15,0.0,2348,2158,2773,2644,350.0,2.9,263,3139,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2158,2707,2772,2643,0,0,0,0,0,0,14.55,14.55,14.56,6.28,50.59
$GC,3438,-0.15,0.0,2348,2158,2772,2644,341.2,2.9,278,3439,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2706,2771,2642,0,0,0,0,0,0,14.71,14.71,14.71,6.29,51.49
$GC,3738,-0.15,0.0,2348,2158,2773,2641,332.5,2.9,293,3739,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2706,2771,2641,0,0,0,0,0,0,14.80,14.80,14.80,6.27,51.10
$GC,4038,-0.15,0.0,2347,2158,2772,2641,324.3,2.8,308,4039,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2706,2772,2640,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.37
$GC,4338,-0.15,0.0,2347,2158,2772,2641,316.0,2.9,323,4339,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2706,2772,2640,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.89
$GC,4638,-0.15,0.0,2348,2158,2773,2640,307.3,3.0,338,4639,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2706,2772,2640,0,0,0,0,0,0,14.93,14.93,14.93,6.28,51.26
$GC,4938,-0.15,0.0,2348,2158,2774,2639,298.3,3.2,353,4939,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2158,2705,2771,2640,0,0,0,0,0,0,14.95,14.95,14.94,6.27,51.49
$GC,5238,-0.15,0.0,2348,2157,2773,2639,289.3,3.0,368,5239,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2158,2705,2771,2639,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.53
$GC,5538,-0.15,0.0,2347,2159,2772,2641,280.6,2.8,383,5539,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2706,2773,2639,0,0,0,0,0,0,14.99,14.99,14.99,6.27,51.61
$GC,5838,-0.15,0.0,2348,2158,2773,2639,272.3,2.9,398,5839,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2705,2771,2639,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.61
$GC,6138,-0.15,0.0,2347,2158,2772,2640,263.4,2.9,413,6139,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2705,2771,2639,0,0,0,0,0,0,15.01,15.01,15.02,6.27,51.45
$STATE,6436,end loiter,LOITER_COMPLETE
$STATE,6436,begin climb
$GC,6438,0.64,146.0,2347,2158,2772,2640,254.2,0.0,428,6578,0.62,2.58,130.07,1.425,11012,0.174,0.081,2591,3547,2117,2139,2096,0,0,0,0,0,0,14.38,13.96,13.37,6.27,51.57
$GC,6613,0.65,156.2,2592,3549,2140,2093,244.1,7.9,436,6627,0.00,2.38,9.65,1.414,11270,0.000,0.041,2602,2154,2082,2104,2060,0,0,0,0,0,0,14.18,14.09,13.35,6.23,49.64
$GC,6940,0.65,156.2,2602,2155,2093,2046,207.1,10.7,453,6943,0.00,2.50,0.00,0.000,2564,0.000,0.067,2612,747,2068,2092,2045,0,0,0,0,0,0,14.54,14.21,14.54,6.23,50.82
$GC,6998,0.65,156.2,2614,747,2089,2045,201.6,10.1,456,7002,0.00,2.42,0.00,0.000,5126,0.000,0.055,2613,2150,2066,2090,2043,0,0,0,0,0,0,14.39,14.25,14.41,6.23,50.66
$GC,7308,0.65,156.2,2613,2151,2090,2040,166.6,11.0,472,7312,0.00,2.50,0.00,0.000,4356,0.000,0.084,2613,3554,2064,2089,2040,0,0,0,0,0,0,14.69,14.28,14.69,6.22,51.06
$GC,7378,0.65,156.2,2613,3555,2090,2039,160.5,11.1,475,7383,0.05,2.33,0.00,0.000,5126,0.320,0.042,2593,2155,2064,2089,2040,0,0,0,0,0,0,14.09,14.32,14.39,6.23,50.82
$GC,7683,0.65,156.2,2593,2155,2089,2039,129.7,9.1,491,7687,0.00,2.45,0.00,0.000,2564,0.000,0.066,2602,746,2063,2088,2038,0,0,0,0,0,0,14.76,14.35,14.75,6.22,50.98
$GC,7768,0.65,156.2,2598,746,2088,2038,122.4,9.0,495,7772,0.00,2.42,0.00,0.000,3078,0.000,0.054,2602,2156,2062,2087,2037,0,0,0,0,0,0,14.54,14.40,14.57,6.22,51.06
$GC,8073,0.65,156.2,2603,2157,2087,2038,91.1,9.6,524,8077,0.00,2.47,0.00,0.000,2308,0.000,0.084,2602,3556,2061,2086,2037,0,0,0,0,0,0,14.78,14.36,14.78,6.21,50.35
$GC,8128,0.65,156.2,2603,3557,2087,2038,85.6,9.5,535,8131,0.00,2.35,0.00,0.000,1030,0.000,0.041,2613,2147,2062,2087,2037,0,0,0,0,0,0,14.56,14.47,14.59,6.21,50.07
$GC,8253,0.65,156.2,2614,2147,2087,2036,73.5,10.3,560,8257,0.00,2.45,0.00,0.000,4612,0.000,0.067,2624,745,2064,2086,2042,0,0,0,0,0,0,14.78,14.39,14.78,6.20,49.72
$GC,8303,0.65,156.2,2624,746,2086,2037,68.5,9.5,570,8307,0.05,2.40,0.00,0.000,5126,0.380,0.055,2606,2153,2060,2085,2036,0,0,0,0,0,0,14.21,14.42,14.47,6.25,50.03
$GC,8428,0.65,156.2,2606,2158,2087,2036,56.9,8.9,595,8432,0.00,2.47,0.00,0.000,260,0.000,0.083,2606,3556,2060,2085,2036,0,0,0,0,0,0,14.78,14.36,14.79,6.19,49.56
$GC,8478,0.65,157.1,2606,3557,2086,2037,52.8,8.3,605,8481,0.00,2.35,0.00,0.000,5126,0.000,0.043,2616,2146,2061,2086,2036,0,0,0,0,0,0,14.58,14.50,14.60,6.19,49.40
$GC,8605,0.65,157.1,2615,2145,2087,2036,42.1,9.2,630,8608,0.00,0.00,0.00,0.000,4102,0.000,0.000,2614,2146,2060,2085,2036,0,0,0,0,0,0,14.78,14.78,14.78,6.19,50.07
$GC,8728,0.65,157.1,2615,2146,2087,2035,29.5,10.4,655,8732,0.00,2.45,0.00,0.000,4612,0.000,0.066,2625,744,2060,2085,2035,0,0,0,0,0,0,14.80,14.38,14.80,6.19,50.39
$GC,8753,0.65,157.1,2626,745,2086,2036,27.1,9.8,660,8758,0.05,2.40,0.00,0.000,5126,0.376,0.054,2607,2154,2059,2084,2035,0,0,0,0,0,0,14.21,14.42,14.47,6.19,50.31
$GC,8880,0.65,157.1,2608,2155,2086,2035,14.7,9.6,685,8883,0.00,2.47,0.00,0.000,260,0.000,0.084,2607,3555,2059,2084,2035,0,0,0,0,0,0,14.78,14.36,14.78,6.20,50.66
$GC,8918,0.65,157.1,2608,3555,2086,2035,10.8,9.7,693,8922,0.00,2.35,0.00,0.000,5126,0.000,0.042,2616,2148,2059,2084,2034,0,0,0,0,0,0,14.58,14.47,14.60,6.20,51.33
$STATE,9001,end climb,SURFACE_DEPTH_REACHED
$STATE,9001,begin surface coast
$STATE,9033,end surface coast,CONTROL_FINISHED_OK
$STATE,9033,begin surface
$SM_CCo,9048,56.78,0.241,0,0,1822,220.03
$SM_GC,1.21,5.55,0.05,56.78,0.070,0.216,0.241,228,2079,1822,-6.44,1.13,220.03,0,0,0,0,0,0,14.58,14.50,14.17
$IRIDIUM_FIX,-5957.44,-4.30,310119,080155
$TT8_MAMPS,0.038199,0.330309
$HUMID,50.66
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3695072
$24V_AH,13.23,85.550
$10V_AH,13.31,0.000
$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,13.150,78.125,264.950,56.775,0.000,25.615,35.672,136.447,0.000,0.000,19.805,0.000,7210.160,410.240,1633.308,220.483,0.000,1051.827,0.000,1160.399,0.000,0.539,0.000
$DEVICE_MAMPS,426.105,2225.385,1591.965,240.975,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5455.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.497,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17311,716
$CAP_FILE_SIZE,94682,0
$CFSIZE,1023623168,976109568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.063,194.18,1
$GPS,310119,131527,-5956.403,-3.189,39,0.8,42,-19.7,0.0,191.2,10,9.4