version: 66.14
glider: 640
mission: 5
dive: 255
start: 1 11 119 9 31 44
data:
$ID,640
$MISSION,5
$DIVE,255
$N_DIVES,500
$STOP_T,1171912
$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,50
$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
$GPS1,110119,092601,-5955.6274,-1.9448,15,1.0,25,-19.7,0.4,68.0,8,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-67.4
$GPS2,110119,093126,-5955.6323,-1.9153,9,1.0,16,-19.7,0.0,140.9,9,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,21.1,29006,-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,10,-0.64,-146.0,233,2081,1794,1826,0.0,0.0,0,101,0.00,0.00,-88.12,0.000,16386,0.000,0.000,233,2080,3188,3268,3109,0,0,0,0,0,0,14.61,28.83,14.62,6.17,50.39
$GC,103,-0.64,-146.0,233,2080,3268,3109,3.1,-6.1,18,121,6.03,2.62,-4.95,0.000,18948,0.356,2.238,2184,713,3316,3410,3223,0,0,0,0,0,0,14.14,13.40,14.44,6.29,49.64
$GC,202,-0.64,-146.0,2185,714,3412,3225,19.9,-15.6,38,206,0.05,2.38,0.00,0.000,3078,0.444,0.057,2190,2100,3318,3411,3225,0,0,0,0,0,0,14.18,14.38,14.42,6.30,48.38
$GC,327,-0.64,-146.0,2189,2101,3412,3226,39.1,-15.0,63,331,0.00,2.40,0.00,0.000,2564,0.000,0.065,2198,712,3319,3414,3225,0,0,0,0,0,0,14.62,14.40,14.64,6.31,49.68
$GC,391,-0.64,-146.0,2189,713,3412,3226,49.8,-16.5,76,395,0.00,2.38,0.00,0.000,3078,0.000,0.056,2180,2103,3318,3411,3225,0,0,0,0,0,0,14.53,14.42,14.54,6.31,48.93
$GC,516,-0.64,-146.0,2179,2104,3412,3226,69.0,-15.6,101,520,0.00,2.47,0.00,0.000,2308,0.000,0.081,2168,3518,3318,3412,3225,0,0,0,0,0,0,14.69,14.41,14.69,6.31,49.09
$GC,531,-0.64,-146.0,2169,3518,3413,3225,71.3,-15.6,104,536,0.08,2.35,0.00,0.000,3078,0.377,0.043,2193,2111,3318,3411,3225,0,0,0,0,0,0,14.26,14.47,14.49,6.30,48.97
$GC,657,-0.64,-146.0,2194,2110,3413,3225,90.0,-14.1,129,661,0.00,2.45,0.00,0.000,2564,0.000,0.063,2193,687,3318,3411,3225,0,0,0,0,0,0,14.71,14.45,14.70,6.30,49.01
$GC,701,-0.64,-146.0,2194,688,3413,3225,96.5,-13.7,138,705,0.00,2.45,0.00,0.000,3078,0.000,0.058,2183,2099,3318,3412,3225,0,0,0,0,0,0,14.50,14.43,14.52,6.31,48.81
$GC,831,-0.64,-146.0,2183,2099,3412,3225,115.0,-14.8,149,835,0.00,2.50,0.00,0.000,2308,0.000,0.082,2173,3505,3317,3410,3225,0,0,0,0,0,0,14.73,14.42,14.73,6.30,48.85
$GC,866,-0.64,-146.0,2173,3503,3413,3225,117.9,-14.7,150,870,0.05,2.38,0.00,0.000,3078,0.351,0.043,2190,2093,3317,3411,3224,0,0,0,0,0,0,14.28,14.49,14.42,6.31,48.58
$GC,1171,-0.64,-146.0,2190,2092,3412,3225,157.7,-8.8,166,1175,0.00,2.45,0.00,0.000,2308,0.000,0.077,2173,3506,3318,3411,3225,0,0,0,0,0,0,14.78,14.50,14.78,6.31,50.27
$GC,1216,-0.64,-146.0,2179,3508,3412,3226,161.4,-8.9,168,1220,0.00,2.38,0.00,0.000,3078,0.000,0.041,2179,2095,3318,3411,3225,0,0,0,0,0,0,14.57,14.53,14.59,6.30,50.27
$GC,1531,-0.64,-146.0,2179,2094,3413,3225,192.6,-10.3,184,1536,0.00,2.50,0.00,0.000,2308,0.000,0.077,2168,3504,3318,3411,3225,0,0,0,0,0,0,14.81,14.49,14.81,6.31,50.94
$GC,1662,-0.64,-146.0,2169,3510,3412,3225,205.1,-10.4,190,1666,0.08,2.33,0.00,0.000,3078,0.368,0.042,2193,2099,3318,3411,3225,0,0,0,0,0,0,14.35,14.57,14.59,6.31,51.49
$GC,1966,-0.64,-146.0,2194,2098,3413,3224,236.9,-10.4,205,1970,0.00,2.40,0.00,0.000,2564,0.000,0.064,2192,700,3318,3411,3225,0,0,0,0,0,0,14.82,14.54,14.83,6.32,51.22
$GC,2071,-0.64,-146.0,2194,701,3413,3225,247.6,-10.6,210,2075,0.00,2.40,0.00,0.000,3078,0.000,0.054,2184,2100,3318,3411,3225,0,0,0,0,0,0,14.59,14.54,14.62,6.32,50.94
$GC,2386,-0.64,-146.0,2183,2101,3412,3226,282.9,-11.3,226,2390,0.00,2.45,0.00,0.000,2308,0.000,0.080,2173,3506,3318,3411,3225,0,0,0,0,0,0,14.83,14.54,14.83,6.32,51.45
$GC,2406,-0.64,-146.0,2173,3507,3412,3226,285.2,-11.4,227,2410,0.05,2.35,0.00,0.000,3078,0.334,0.042,2190,2105,3318,3411,3225,0,0,0,0,0,0,14.34,14.57,14.50,6.32,51.29
$GC,2726,-0.64,-146.0,2191,2104,3412,3225,320.7,-11.0,243,2731,0.00,2.42,0.00,0.000,2564,0.000,0.063,2190,685,3317,3411,3224,0,0,0,0,0,0,14.84,14.57,14.84,6.33,51.53
$GC,2756,-0.64,-146.0,2191,685,3423,3224,323.0,-11.1,244,2760,0.00,2.42,0.00,0.000,3078,0.000,0.055,2181,2096,3317,3411,3224,0,0,0,0,0,0,14.62,14.55,14.64,6.33,52.12
$STATE,2985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2985,begin apogee
$GC,2989,-0.15,0.0,2181,2171,3412,3226,350.4,-11.5,256,3120,0.47,0.00,127.90,1.554,10246,0.269,0.000,2349,2170,2718,2778,2658,0,0,0,0,0,0,14.38,13.95,13.34,6.33,51.26
$STATE,3121,end apogee,CONTROL_FINISHED_OK
$STATE,3121,begin loiter
$GC,3406,-0.15,0.0,2349,2171,2772,2642,348.9,2.4,277,3407,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2170,2706,2771,2642,0,0,0,0,0,0,14.58,14.57,14.57,6.29,50.63
$GC,3706,-0.15,0.0,2349,2171,2772,2639,341.2,2.6,292,3707,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2170,2705,2771,2639,0,0,0,0,0,0,14.72,14.72,14.72,6.28,51.18
$GC,4006,-0.15,0.0,2349,2170,2772,2638,332.7,3.0,307,4007,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2170,2704,2771,2638,0,0,0,0,0,0,14.81,14.81,14.81,6.28,51.10
$GC,4307,-0.15,0.0,2349,2171,2772,2638,323.5,3.3,322,4307,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2170,2704,2771,2637,0,0,0,0,0,0,14.86,14.86,14.86,6.28,51.26
$GC,4606,-0.15,0.0,2349,2171,2772,2638,313.7,3.4,337,4607,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2170,2703,2770,2636,0,0,0,0,0,0,14.90,14.91,14.91,6.28,51.22
$GC,4906,-0.15,0.0,2349,2171,2772,2636,303.3,3.4,352,4907,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2170,2703,2771,2636,0,0,0,0,0,0,14.94,14.94,14.94,6.28,51.53
$GC,5206,-0.15,0.0,2349,2171,2772,2636,293.2,3.2,367,5207,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2170,2703,2771,2636,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.18
$GC,5506,-0.15,0.0,2349,2171,2772,2636,284.0,3.0,382,5507,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2170,2703,2771,2636,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.33
$GC,5806,-0.15,0.0,2349,2171,2772,2637,275.0,3.0,397,5807,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2170,2703,2771,2636,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.29
$GC,6106,-0.15,0.0,2349,2171,2771,2636,265.4,3.3,412,6107,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2170,2703,2771,2636,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.57
$GC,6406,-0.15,0.0,2349,2171,2773,2636,255.6,3.2,427,6407,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2170,2703,2771,2636,0,0,0,0,0,0,15.03,15.03,15.03,6.28,51.26
$STATE,6705,end loiter,LOITER_COMPLETE
$STATE,6705,begin climb
$GC,6706,0.64,146.0,2349,2171,2772,2637,246.1,0.0,442,6848,0.62,2.62,130.82,1.406,10756,0.172,0.066,2611,744,2117,2142,2093,0,0,0,0,0,0,14.64,14.01,13.47,6.28,51.96
$GC,6897,0.64,146.0,2612,744,2137,2088,233.8,8.9,451,6900,0.00,2.45,0.00,0.000,5126,0.000,0.053,2611,2125,2111,2136,2087,0,0,0,0,0,0,14.19,14.13,14.19,6.24,49.13
$GC,7207,0.64,146.0,2611,2125,2132,2080,195.3,12.4,467,7211,0.00,2.55,0.00,0.000,4356,0.000,0.083,2611,3562,2105,2132,2079,0,0,0,0,0,0,14.59,14.33,14.60,6.24,50.90
$GC,7307,0.64,146.0,2611,3563,2132,2080,183.1,11.9,472,7312,0.05,2.40,0.00,0.000,5126,0.332,0.042,2603,2156,2104,2131,2078,0,0,0,0,0,0,14.19,14.39,14.34,6.24,50.90
$GC,7627,0.64,146.0,2607,2156,2130,2076,146.8,11.1,488,7631,0.00,2.50,0.00,0.000,516,0.000,0.065,2612,746,2103,2130,2076,0,0,0,0,0,0,14.71,14.43,14.72,6.23,50.55
$GC,7702,0.64,146.0,2613,745,2128,2077,140.7,10.5,491,7706,0.00,2.42,0.00,0.000,5126,0.000,0.053,2613,2153,2101,2127,2076,0,0,0,0,0,0,14.51,14.45,14.54,6.24,50.74
$GC,8007,0.64,146.0,2613,2154,2128,2075,108.1,10.2,507,8010,0.00,2.47,0.00,0.000,4356,0.000,0.083,2613,3566,2101,2127,2075,0,0,0,0,0,0,14.78,14.48,14.78,6.23,50.35
$GC,8092,0.64,146.0,2613,3567,2128,2075,100.3,9.7,511,8096,0.05,2.40,0.00,0.000,5126,0.324,0.041,2605,2143,2101,2127,2075,0,0,0,0,0,0,14.32,14.53,14.48,6.22,49.96
$GC,8397,0.64,146.0,2605,2142,2128,2075,71.3,9.9,570,8401,0.00,2.45,0.00,0.000,516,0.000,0.065,2613,746,2098,2123,2074,0,0,0,0,0,0,14.79,14.50,14.79,6.22,49.25
$GC,8462,0.64,146.0,2615,747,2127,2073,65.4,9.2,583,8466,0.00,2.35,0.00,0.000,5126,0.000,0.052,2615,2152,2099,2126,2073,0,0,0,0,0,0,14.66,14.54,14.67,6.21,49.40
$GC,8588,0.64,146.0,2615,2153,2126,2074,52.3,11.0,608,8591,0.00,2.45,0.00,0.000,4356,0.000,0.083,2613,3553,2099,2126,2073,0,0,0,0,0,0,14.79,14.51,14.79,6.21,49.80
$GC,8637,0.64,146.0,2615,3554,2127,2073,46.6,11.3,618,8642,0.05,2.38,0.00,0.000,5126,0.322,0.042,2606,2142,2099,2126,2072,0,0,0,0,0,0,14.33,14.55,14.50,6.20,48.81
$GC,8763,0.64,146.0,2606,2141,2126,2071,34.4,9.8,643,8766,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2142,2099,2126,2073,0,0,0,0,0,0,14.79,14.79,14.79,6.20,49.25
$GC,8887,0.64,149.1,2606,2142,2126,2073,22.8,8.2,668,8891,0.00,2.42,0.00,0.000,516,0.000,0.065,2616,738,2099,2126,2072,0,0,0,0,0,0,14.81,14.53,14.81,6.20,49.52
$GC,8967,0.64,149.1,2616,739,2126,2072,16.0,8.3,684,8971,0.00,2.38,0.00,0.000,5126,0.000,0.052,2616,2150,2098,2124,2072,0,0,0,0,0,0,14.66,14.55,14.68,6.20,49.40
$GC,9092,0.64,149.1,2624,2150,2126,2072,4.9,9.7,709,9096,0.00,2.45,0.00,0.000,4356,0.000,0.085,2616,3550,2098,2125,2072,0,0,0,0,0,0,14.81,14.51,14.81,6.20,49.96
$STATE,9110,end climb,SURFACE_DEPTH_REACHED
$STATE,9110,begin surface coast
$STATE,9125,end surface coast,CONTROL_FINISHED_OK
$STATE,9125,begin surface
$SM_CCo,9141,66.70,0.243,0,0,1822,220.03
$SM_GC,1.24,5.72,2.47,66.70,0.112,0.043,0.243,234,2095,1822,-6.45,1.16,220.03,0,0,0,0,0,0,14.63,14.57,14.31
$IRIDIUM_FIX,-5957.44,0.00,110119,065220
$TT8_MAMPS,0.039697,0.322819
$HUMID,49.48
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3790304
$24V_AH,13.34,51.987
$10V_AH,13.65,0.000
$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,13.300,87.725,258.725,66.700,0.000,23.801,42.374,126.455,0.000,0.000,17.149,0.000,7271.752,427.510,1695.541,140.978,0.000,1095.075,0.000,1221.201,0.000,0.539,0.000
$DEVICE_MAMPS,444.465,2238.390,1553.715,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5539.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.825,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,17327,716
$CAP_FILE_SIZE,96606,0
$CFSIZE,1023623168,994410496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.045,127.69,1
$GPS,110119,120604,-5955.388,-1.458,24,0.8,28,-19.7,0.4,13.7,10,10.0