version: 66.14
glider: 640
mission: 5
dive: 446
start: 1 31 119 23 48 6
data:
$ID,640
$MISSION,5
$DIVE,446
$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,72
$R_STBD_OVSHOOT,57
$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
$GPS1,310119,234119,-5955.0923,-3.0225,16,0.9,39,-19.7,0.2,88.6,8,5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-67.6
$GPS2,310119,234747,-5955.0723,-3.0117,9,0.8,17,-19.7,0.0,299.2,10,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,29.9,28055,-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,-146.0,233,2133,1794,1828,0.0,0.0,0,97,0.00,0.00,-82.38,0.000,16386,0.000,0.000,232,2133,3119,3199,3039,0,0,0,0,0,0,14.54,28.83,14.53,6.17,51.33
$GC,100,-0.64,-146.0,232,2133,3201,3040,3.2,-6.7,17,118,6.12,2.70,-7.30,0.000,18948,0.350,2.215,2171,737,3316,3413,3219,0,0,0,0,0,0,13.91,12.96,14.28,6.29,50.19
$GC,158,-0.64,-146.0,2173,737,3415,3222,12.7,-15.2,29,162,0.10,2.30,0.00,0.000,3078,0.334,0.057,2196,2071,3317,3413,3222,0,0,0,0,0,0,14.02,14.28,14.29,6.31,48.85
$GC,285,-0.64,-146.0,2196,2072,3423,3223,33.0,-16.4,54,288,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2071,3317,3413,3222,0,0,0,0,0,0,14.61,14.61,14.61,6.31,50.00
$GC,408,-0.64,-146.0,2196,2072,3415,3222,53.6,-17.4,79,410,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2071,3317,3413,3222,0,0,0,0,0,0,14.65,14.65,14.65,6.31,49.80
$GC,533,-0.64,-146.0,2195,2071,3414,3224,73.4,-15.3,104,537,0.00,2.55,0.00,0.000,260,0.000,0.082,2185,3514,3318,3413,3223,0,0,0,0,0,0,14.67,14.28,14.68,6.31,49.84
$GC,578,-0.64,-146.0,2185,3515,3414,3224,79.7,-13.8,113,581,0.00,2.30,0.00,0.000,3078,0.000,0.041,2185,2129,3318,3413,3223,0,0,0,0,0,0,14.50,14.38,14.51,6.31,49.84
$GC,703,-0.64,-146.0,2188,2128,3414,3223,95.7,-11.9,138,707,0.00,2.47,0.00,0.000,2564,0.000,0.062,2185,697,3318,3413,3223,0,0,0,0,0,0,14.70,14.29,14.70,6.31,49.09
$GC,738,-0.64,-146.0,2185,698,3415,3223,99.7,-11.2,145,742,0.05,2.42,0.00,0.000,3078,0.425,0.057,2190,2108,3318,3413,3223,0,0,0,0,0,0,14.09,14.35,14.36,6.31,49.17
$GC,863,-0.64,-146.0,2195,2107,3414,3223,113.4,-11.3,152,867,0.00,2.47,0.00,0.000,2308,0.000,0.083,2179,3505,3318,3413,3223,0,0,0,0,0,0,14.73,14.31,14.73,6.30,48.34
$GC,923,-0.64,-146.0,2180,3505,3415,3223,120.2,-12.3,155,926,0.00,2.35,0.00,0.000,3078,0.000,0.041,2179,2092,3318,3413,3223,0,0,0,0,0,0,14.53,14.41,14.54,6.31,49.17
$GC,1233,-0.64,-146.0,2179,2090,3414,3222,165.8,-14.1,171,1237,0.00,2.42,0.00,0.000,2564,0.000,0.063,2178,693,3319,3413,3225,0,0,0,0,0,0,14.76,14.38,14.76,6.30,50.43
$GC,1313,-0.64,-146.0,2179,693,3415,3224,175.8,-13.3,175,1317,0.08,2.40,0.00,0.000,3078,0.363,0.056,2191,2102,3318,3413,3223,0,0,0,0,0,0,14.09,14.40,14.36,6.27,50.07
$GC,1623,-0.64,-146.0,2192,2103,3415,3223,213.2,-11.6,191,1627,0.00,2.47,0.00,0.000,2308,0.000,0.083,2181,3508,3318,3413,3223,0,0,0,0,0,0,14.79,14.35,14.79,6.31,50.78
$GC,1653,-0.64,-146.0,2181,3508,3414,3223,215.6,-11.6,192,1657,0.00,2.33,0.00,0.000,3078,0.000,0.042,2180,2099,3318,3413,3223,0,0,0,0,0,0,14.57,14.45,14.59,6.31,50.63
$GC,1958,-0.64,-146.0,2181,2098,3415,3223,253.7,-12.2,207,1962,0.00,2.42,0.00,0.000,2564,0.000,0.063,2180,693,3318,3413,3223,0,0,0,0,0,0,14.80,14.35,14.81,6.32,50.90
$GC,1993,-0.64,-146.0,2180,694,3414,3224,258.1,-12.5,209,1997,0.08,2.42,0.00,0.000,3078,0.363,0.055,2193,2108,3318,3413,3223,0,0,0,0,0,0,14.13,14.42,14.39,6.32,50.82
$GC,2308,-0.64,-146.0,2193,2108,3415,3222,295.2,-11.9,225,2309,0.00,0.00,0.00,0.000,2054,0.000,0.000,2193,2108,3318,3413,3223,0,0,0,0,0,0,14.81,14.81,14.81,6.32,50.74
$GC,2608,-0.64,-146.0,2193,2109,3414,3223,331.7,-12.3,240,2609,0.00,0.00,0.00,0.000,2054,0.000,0.000,2193,2108,3318,3413,3223,0,0,0,0,0,0,14.83,14.83,14.83,6.32,51.22
$STATE,2766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2766,begin apogee
$GC,2771,-0.15,0.0,2193,2162,3413,3224,351.1,-12.1,248,2900,0.45,0.00,125.25,1.578,10246,0.256,0.000,2349,2161,2716,2776,2656,0,0,0,0,0,0,14.06,13.91,13.24,6.33,51.10
$STATE,2901,end apogee,CONTROL_FINISHED_OK
$STATE,2901,begin loiter
$GC,3188,-0.15,0.0,2349,2161,2772,2644,348.8,3.0,269,3189,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2160,2707,2771,2643,0,0,0,0,0,0,14.55,14.55,14.56,6.28,50.51
$GC,3488,-0.15,0.0,2350,2161,2772,2641,339.7,3.0,284,3489,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2160,2706,2772,2641,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.94
$GC,3788,-0.15,0.0,2349,2161,2773,2641,330.8,2.9,299,3789,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2161,2705,2771,2640,0,0,0,0,0,0,14.81,14.80,14.80,6.27,51.02
$GC,4088,-0.15,0.0,2350,2161,2773,2640,322.6,2.7,314,4089,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2161,2705,2771,2640,0,0,0,0,0,0,14.85,14.85,14.85,6.27,51.33
$GC,4388,-0.15,0.0,2349,2161,2773,2639,314.3,2.7,329,4389,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2161,2706,2772,2640,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.22
$GC,4688,-0.15,0.0,2349,2162,2772,2641,305.8,2.8,344,4689,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2161,2705,2771,2640,0,0,0,0,0,0,14.93,14.93,14.92,6.27,51.22
$GC,4988,-0.15,0.0,2350,2161,2772,2640,296.9,2.9,359,4989,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2160,2705,2771,2640,0,0,0,0,0,0,14.95,14.95,14.95,6.27,51.41
$GC,5288,-0.15,0.0,2349,2161,2772,2641,288.1,2.9,374,5289,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2161,2705,2771,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.27,51.33
$GC,5588,-0.15,0.0,2350,2161,2773,2640,279.4,2.8,389,5589,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2161,2706,2772,2640,0,0,0,0,0,0,14.99,14.99,14.98,6.27,51.45
$GC,5888,-0.15,0.0,2349,2162,2773,2642,271.4,2.7,404,5889,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2161,2706,2772,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.73
$GC,6188,-0.15,0.0,2348,2161,2772,2642,263.8,2.5,419,6189,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2161,2706,2772,2640,0,0,0,0,0,0,15.01,15.02,15.02,6.27,51.85
$STATE,6486,end loiter,LOITER_COMPLETE
$STATE,6486,begin climb
$GC,6488,0.64,146.0,2349,2161,2773,2640,256.5,0.0,434,6623,0.62,0.00,130.02,1.427,10758,0.174,0.000,2593,2160,2124,2147,2101,0,0,0,0,0,0,14.37,14.00,13.35,6.27,51.37
$GC,6923,0.64,146.0,2594,2161,2133,2082,217.7,10.8,455,6927,0.00,2.47,0.00,0.000,2308,0.000,0.082,2593,3543,2107,2132,2082,0,0,0,0,0,0,14.54,14.17,14.54,6.23,50.63
$GC,6968,0.64,146.0,2594,3545,2132,2083,213.6,11.2,457,6972,0.00,2.35,0.00,0.000,1030,0.000,0.041,2604,2150,2106,2132,2081,0,0,0,0,0,0,14.37,14.28,14.39,6.23,50.78
$GC,7278,0.64,146.0,2604,2150,2128,2079,177.1,11.7,473,7282,0.00,2.47,0.00,0.000,516,0.000,0.066,2615,745,2102,2127,2078,0,0,0,0,0,0,14.67,14.30,14.67,6.23,51.22
$GC,7343,0.64,146.0,2616,746,2126,2079,171.0,11.2,476,7347,0.00,2.38,0.00,0.000,5126,0.000,0.054,2614,2139,2101,2125,2078,0,0,0,0,0,0,14.48,14.34,14.50,6.23,51.14
$GC,7648,0.64,146.0,2615,2140,2126,2078,134.8,11.1,491,7652,0.00,2.53,0.00,0.000,4356,0.000,0.083,2615,3561,2101,2125,2077,0,0,0,0,0,0,14.74,14.33,14.75,6.23,51.22
$GC,7708,0.64,146.0,2616,3561,2127,2077,128.9,10.7,494,7712,0.08,2.35,0.00,0.000,5126,0.344,0.042,2600,2148,2100,2125,2076,0,0,0,0,0,0,14.14,14.42,14.42,6.22,50.82
$GC,8015,0.64,146.0,2599,2147,2125,2078,94.9,10.7,515,8018,0.00,2.45,0.00,0.000,516,0.000,0.066,2609,744,2100,2124,2076,0,0,0,0,0,0,14.76,14.38,14.77,6.21,50.74
$GC,8118,0.64,146.0,2610,744,2123,2076,84.0,10.3,536,8122,0.00,2.40,0.00,0.000,5126,0.000,0.053,2610,2150,2099,2122,2076,0,0,0,0,0,0,14.56,14.42,14.59,6.21,50.23
$GC,8245,0.64,146.0,2610,2151,2123,2076,70.6,11.0,561,8249,0.00,2.50,0.00,0.000,4356,0.000,0.084,2610,3562,2099,2122,2076,0,0,0,0,0,0,14.77,14.35,14.77,6.20,49.80
$GC,8303,0.64,146.0,2610,3563,2123,2077,63.8,10.9,573,8307,0.05,2.38,0.00,0.000,5126,0.409,0.041,2603,2146,2099,2122,2076,0,0,0,0,0,0,14.17,14.46,14.45,6.19,49.64
$GC,8430,0.64,146.0,2604,2140,2124,2075,51.7,10.0,598,8434,0.00,2.42,0.00,0.000,516,0.000,0.065,2614,733,2098,2122,2075,0,0,0,0,0,0,14.76,14.35,14.77,6.19,49.64
$GC,8483,0.64,146.0,2614,734,2122,2077,46.9,8.5,609,8487,0.00,2.42,0.00,0.000,5126,0.000,0.054,2613,2159,2097,2120,2074,0,0,0,0,0,0,14.57,14.41,14.59,6.20,49.72
$GC,8610,0.64,146.0,2614,2160,2123,2075,36.4,8.8,634,8617,0.00,2.47,0.00,0.000,4356,0.000,0.084,2613,3559,2098,2122,2075,0,0,0,0,0,0,14.76,14.35,14.76,6.19,49.92
$GC,8668,0.64,146.0,2614,3559,2120,2075,30.7,9.3,646,8672,0.05,2.35,0.00,0.000,5126,0.409,0.042,2604,2150,2098,2121,2075,0,0,0,0,0,0,14.17,14.46,14.45,6.19,50.19
$GC,8795,0.64,146.0,2605,2150,2121,2076,20.3,8.7,671,8799,0.00,2.45,0.00,0.000,516,0.000,0.066,2615,742,2098,2121,2075,0,0,0,0,0,0,14.76,14.37,14.76,6.20,50.47
$GC,8844,0.64,146.0,2616,743,2122,2075,16.1,8.4,681,8847,0.00,2.40,0.00,0.000,5126,0.000,0.054,2615,2153,2097,2120,2074,0,0,0,0,0,0,14.56,14.40,14.58,6.20,50.78
$GC,8969,0.64,146.0,2615,2154,2121,2075,4.8,9.9,706,8972,0.00,2.50,0.00,0.000,4356,0.000,0.086,2615,3559,2097,2120,2075,0,0,0,0,0,0,14.77,14.34,14.78,6.21,50.66
$STATE,8986,end climb,SURFACE_DEPTH_REACHED
$STATE,8987,begin surface coast
$STATE,8991,end surface coast,CONTROL_FINISHED_OK
$STATE,8991,begin surface
$SM_CCo,9009,65.95,0.241,0,0,1821,220.03
$SM_GC,0.99,6.03,2.50,65.95,0.156,0.044,0.241,229,2096,1821,-6.45,1.13,220.03,0,0,0,0,0,0,14.53,14.45,14.14
$IRIDIUM_FIX,-5954.50,-4.29,310119,210618
$TT8_MAMPS,0.038948,0.363265
$HUMID,50.51
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3692512
$24V_AH,12.96,86.477
$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,13.700,77.975,255.275,65.950,0.000,25.945,39.821,148.466,0.000,0.000,18.342,0.000,7216.316,405.190,1619.640,223.062,0.000,1035.326,0.000,1135.876,0.000,0.540,0.000
$DEVICE_MAMPS,424.575,2214.675,1578.195,240.975,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5418.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.504,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17332,711
$CAP_FILE_SIZE,93996,0
$CFSIZE,1023623168,975618048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.062,188.95,1
$GPS,010219,022031,-5954.786,-2.858,32,0.8,42,-19.7,0.3,59.6,10,8.2