version: 66.14
glider: 640
mission: 5
dive: 274
start: 1 13 119 10 16 3
data:
$ID,640
$MISSION,5
$DIVE,274
$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,49
$R_STBD_OVSHOOT,27
$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
$GPS1,130119,101025,-5948.3447,0.8668,12,0.9,41,-19.7,0.3,109.9,9,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-67.3
$GPS2,130119,101544,-5948.3662,0.8496,9,1.2,20,-19.7,0.6,229.7,10,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,22.4,15514,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-0.64,-146.0,233,2085,1799,1825,0.0,0.0,0,95,0.00,0.00,-82.78,0.000,16386,0.000,0.000,232,2084,3147,3227,3067,0,0,0,0,0,0,14.62,28.83,14.62,6.18,50.70
$GC,97,-0.64,-146.0,232,2084,3228,3069,3.2,-5.8,17,115,6.03,2.67,-6.38,0.000,18948,0.355,2.240,2188,711,3318,3413,3223,0,0,0,0,0,0,14.15,13.19,14.45,6.29,50.07
$GC,186,-0.64,-146.0,2188,712,3413,3226,18.0,-15.6,35,190,0.05,2.38,0.00,0.000,3078,0.444,0.055,2193,2101,3319,3413,3225,0,0,0,0,0,0,14.18,14.38,14.42,6.31,49.25
$GC,311,-0.64,-146.0,2193,2102,3413,3224,38.2,-16.9,60,315,0.00,2.47,0.00,0.000,4356,0.000,0.083,2183,3512,3318,3413,3224,0,0,0,0,0,0,14.65,14.38,14.65,6.31,49.96
$GC,335,-0.64,-146.0,2183,3512,3414,3224,42.0,-15.9,65,340,0.00,2.40,0.00,0.000,3078,0.000,0.044,2183,2114,3318,3412,3225,0,0,0,0,0,0,14.45,14.41,14.48,6.32,49.64
$GC,460,-0.64,-146.0,2182,2113,3414,3226,60.7,-14.9,90,464,0.00,2.45,0.00,0.000,2308,0.000,0.080,2173,3513,3319,3413,3225,0,0,0,0,0,0,14.69,14.41,14.69,6.31,49.37
$GC,485,-0.64,-146.0,2173,3515,3413,3226,64.4,-15.4,95,489,0.05,2.42,0.00,0.000,3078,0.342,0.044,2190,2092,3316,3413,3219,0,0,0,0,0,0,14.21,14.43,14.56,6.30,49.37
$GC,611,-0.64,-146.0,2190,2091,3414,3226,82.9,-15.0,120,615,0.00,2.42,0.00,0.000,2564,0.000,0.063,2190,684,3318,3413,3224,0,0,0,0,0,0,14.70,14.45,14.69,6.31,48.89
$GC,640,-0.64,-146.0,2190,684,3414,3225,87.6,-15.4,126,645,0.03,2.42,0.00,0.000,3078,0.614,0.057,2188,2106,3319,3413,3225,0,0,0,0,0,0,14.27,14.45,14.50,6.31,48.46
$GC,766,-0.64,-146.0,2189,2106,3414,3225,106.6,-15.5,145,770,0.00,2.45,0.00,0.000,2308,0.000,0.083,2179,3513,3319,3413,3225,0,0,0,0,0,0,14.73,14.44,14.72,6.30,48.22
$GC,825,-0.64,-146.0,2179,3513,3413,3226,115.8,-15.5,148,830,0.03,2.40,0.00,0.000,3078,0.439,0.042,2185,2093,3319,3413,3225,0,0,0,0,0,0,14.24,14.48,14.40,6.30,48.30
$GC,1146,-0.64,-146.0,2188,2093,3414,3224,163.7,-14.2,164,1149,0.00,2.40,0.00,0.000,2564,0.000,0.061,2186,696,3319,3413,3225,0,0,0,0,0,0,14.78,14.51,14.78,6.30,49.80
$GC,1210,-0.64,-146.0,2187,696,3414,3225,172.1,-14.0,167,1215,0.03,2.42,0.00,0.000,3078,0.449,0.055,2185,2097,3319,3413,3225,0,0,0,0,0,0,14.27,14.48,14.43,6.31,50.11
$GC,1525,-0.64,-146.0,2185,2098,3425,3225,215.9,-13.7,183,1529,0.00,2.45,0.00,0.000,2308,0.000,0.082,2175,3505,3319,3413,3225,0,0,0,0,0,0,14.81,14.51,14.81,6.32,50.94
$GC,1555,-0.64,-146.0,2175,3505,3414,3226,218.7,-13.8,184,1560,0.05,2.38,0.00,0.000,3078,0.349,0.042,2192,2096,3319,3413,3225,0,0,0,0,0,0,14.29,14.54,14.47,6.32,51.10
$GC,1865,-0.64,-146.0,2192,2095,3414,3225,260.6,-12.9,200,1869,0.00,2.40,0.00,0.000,2564,0.000,0.062,2192,695,3319,3413,3225,0,0,0,0,0,0,14.82,14.54,14.82,6.33,51.77
$GC,1930,-0.64,-146.0,2192,695,3414,3225,268.4,-13.0,203,1934,0.00,2.42,0.00,0.000,3078,0.000,0.056,2183,2101,3319,3413,3225,0,0,0,0,0,0,14.59,14.52,14.62,6.33,50.82
$GC,2246,-0.64,-146.0,2182,2102,3414,3225,309.9,-12.9,219,2250,0.00,2.42,0.00,0.000,2308,0.000,0.081,2172,3504,3315,3406,3225,0,0,0,0,0,0,14.83,14.53,14.83,6.33,51.18
$GC,2270,-0.64,-146.0,2172,3505,3414,3226,312.5,-12.9,220,2274,0.05,2.35,0.00,0.000,3078,0.340,0.042,2189,2104,3319,3413,3225,0,0,0,0,0,0,14.32,14.56,14.49,6.34,51.45
$STATE,2584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2584,begin apogee
$GC,2589,-0.15,0.0,2190,2157,3414,3224,351.6,-12.1,236,2719,0.45,0.00,127.07,1.564,10246,0.263,0.000,2350,2156,2718,2779,2658,0,0,0,0,0,0,14.37,13.95,13.34,6.33,51.26
$STATE,2720,end apogee,CONTROL_FINISHED_OK
$STATE,2720,begin loiter
$GC,3005,-0.15,0.0,2350,2157,2771,2642,347.3,3.3,257,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2706,2771,2642,0,0,0,0,0,0,14.57,14.58,14.57,6.29,51.29
$GC,3305,-0.15,0.0,2351,2156,2772,2639,337.9,3.1,272,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2155,2705,2771,2639,0,0,0,0,0,0,14.71,14.72,14.72,6.29,51.26
$GC,3605,-0.15,0.0,2351,2157,2772,2637,329.4,2.7,287,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2704,2771,2637,0,0,0,0,0,0,14.81,14.81,14.81,6.28,51.37
$GC,3906,-0.15,0.0,2350,2156,2772,2636,321.4,2.6,302,3906,0.00,0.00,0.00,0.000,2054,0.000,0.000,2350,2156,2704,2771,2637,0,0,0,0,0,0,14.87,14.87,14.87,6.28,51.14
$GC,4205,-0.15,0.0,2351,2156,2772,2636,314.1,2.4,317,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2703,2771,2636,0,0,0,0,0,0,14.90,14.91,14.91,6.28,51.41
$GC,4505,-0.15,0.0,2350,2157,2772,2637,307.0,2.4,332,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2703,2771,2636,0,0,0,0,0,0,14.94,14.95,14.95,6.28,51.29
$GC,4805,-0.15,0.0,2350,2157,2772,2637,299.9,2.5,347,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2703,2771,2636,0,0,0,0,0,0,14.96,14.97,14.97,6.28,51.33
$GC,5105,-0.15,0.0,2351,2156,2773,2635,292.7,2.4,362,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2703,2771,2635,0,0,0,0,0,0,14.98,14.99,14.99,6.28,51.73
$GC,5406,-0.15,0.0,2351,2156,2772,2635,285.1,2.7,377,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2703,2771,2635,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.33
$GC,5705,-0.15,0.0,2350,2156,2772,2635,277.1,2.7,392,5706,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2703,2771,2635,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.26
$GC,6005,-0.15,0.0,2350,2156,2772,2636,268.2,3.1,407,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2703,2771,2635,0,0,0,0,0,0,15.02,15.03,15.03,6.27,51.77
$GC,6305,-0.15,0.0,2351,2156,2773,2635,258.5,3.3,422,6306,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2703,2772,2635,0,0,0,0,0,0,15.04,15.04,15.04,6.28,51.61
$STATE,6324,end loiter,LOITER_COMPLETE
$STATE,6324,begin climb
$GC,6325,0.64,146.0,2350,2156,2772,2635,257.8,0.0,423,6466,0.62,2.60,130.18,1.425,10756,0.171,0.066,2612,748,2117,2141,2093,0,0,0,0,0,0,14.63,14.00,13.46,6.28,51.45
$GC,6490,0.64,146.0,2612,748,2137,2085,246.3,9.1,431,6494,0.00,2.47,0.00,0.000,5126,0.000,0.052,2612,2139,2112,2136,2089,0,0,0,0,0,0,14.14,14.09,14.16,6.24,49.25
$GC,6805,0.64,146.0,2612,2140,2132,2079,204.7,13.3,447,6810,0.00,2.53,0.00,0.000,4356,0.000,0.080,2612,3567,2104,2130,2078,0,0,0,0,0,0,14.59,14.31,14.59,6.24,50.51
$GC,6895,0.64,146.0,2612,3566,2132,2078,194.1,13.3,451,6899,0.05,2.42,0.00,0.000,5126,0.334,0.041,2594,2146,2104,2131,2078,0,0,0,0,0,0,14.21,14.35,14.44,6.24,50.70
$GC,7205,0.64,146.0,2595,2147,2130,2077,156.2,11.3,467,7209,0.00,2.42,0.00,0.000,2564,0.000,0.064,2603,749,2102,2129,2076,0,0,0,0,0,0,14.71,14.44,14.72,6.23,50.70
$GC,7265,0.64,146.0,2603,751,2127,2076,149.8,10.7,470,7269,0.00,2.42,0.00,0.000,1030,0.000,0.053,2604,2158,2100,2126,2075,0,0,0,0,0,0,14.48,14.42,14.51,6.24,50.66
$GC,7586,0.64,146.0,2604,2159,2127,2073,115.4,10.6,486,7589,0.00,2.45,0.00,0.000,260,0.000,0.083,2604,3555,2099,2126,2073,0,0,0,0,0,0,14.77,14.48,14.78,6.23,50.82
$GC,7640,0.64,146.0,2603,3556,2126,2075,111.2,10.6,488,7644,0.00,2.38,0.00,0.000,5126,0.000,0.042,2613,2150,2100,2126,2074,0,0,0,0,0,0,14.57,14.52,14.57,6.23,51.10
$GC,7945,0.64,146.0,2614,2151,2127,2073,73.7,12.5,534,7949,0.00,2.42,0.00,0.000,4612,0.000,0.064,2625,745,2099,2126,2072,0,0,0,0,0,0,14.81,14.52,14.81,6.22,50.59
$GC,8065,0.64,146.0,2625,746,2126,2073,60.1,10.8,558,8070,0.05,2.42,0.00,0.000,5126,0.300,0.053,2605,2156,2098,2125,2071,0,0,0,0,0,0,14.33,14.50,14.50,6.21,50.07
$GC,8190,0.64,146.0,2606,2157,2126,2071,47.8,9.3,583,8195,0.00,2.47,0.00,0.000,260,0.000,0.083,2605,3568,2097,2124,2071,0,0,0,0,0,0,14.81,14.50,14.81,6.20,50.23
$GC,8240,0.64,146.0,2605,3569,2125,2073,42.9,9.8,593,8244,0.00,2.40,0.00,0.000,5126,0.000,0.041,2614,2147,2098,2125,2071,0,0,0,0,0,0,14.59,14.54,14.61,6.20,49.40
$GC,8365,0.64,146.0,2615,2148,2126,2076,31.6,8.9,618,8369,0.00,2.42,0.00,0.000,4612,0.000,0.065,2625,744,2098,2125,2071,0,0,0,0,0,0,14.81,14.53,14.81,6.20,49.44
$GC,8405,0.64,146.0,2625,745,2125,2072,28.0,8.8,626,8409,0.05,2.42,0.00,0.000,5126,0.297,0.054,2606,2151,2097,2124,2071,0,0,0,0,0,0,14.34,14.50,14.50,6.20,50.27
$GC,8531,0.64,148.1,2606,2153,2124,2072,17.4,8.3,651,8535,0.00,2.45,0.00,0.000,260,0.000,0.084,2606,3555,2097,2124,2070,0,0,0,0,0,0,14.81,14.52,14.81,6.20,49.88
$GC,8580,0.64,148.1,2607,3556,2124,2071,13.0,9.0,661,8584,0.00,2.38,0.00,0.000,5126,0.000,0.042,2615,2148,2097,2124,2071,0,0,0,0,0,0,14.60,14.54,14.62,6.20,50.19
$STATE,8694,end climb,SURFACE_DEPTH_REACHED
$STATE,8694,begin surface coast
$STATE,8719,end surface coast,CONTROL_FINISHED_OK
$STATE,8719,begin surface
$SM_CCo,8732,66.15,0.244,0,0,1822,220.03
$SM_GC,1.44,5.47,0.05,66.15,0.072,0.220,0.244,266,2086,1822,-6.44,1.13,220.03,0,0,0,0,0,0,14.66,14.57,14.31
$IRIDIUM_FIX,-5947.83,0.00,130119,074339
$TT8_MAMPS,0.038948,0.316827
$HUMID,50.15
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3780576
$24V_AH,13.19,55.331
$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,13.000,82.975,257.250,66.150,0.000,25.110,35.924,118.627,0.000,0.000,21.297,0.000,6959.802,416.346,1596.029,149.109,0.000,1045.424,0.000,1140.688,0.000,0.539,0.000
$DEVICE_MAMPS,613.530,2239.920,1564.425,244.035,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5115.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.643,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17329,689
$CAP_FILE_SIZE,93190,0
$CFSIZE,1023623168,992542720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.089,156.97,1
$GPS,130119,124332,-5948.228,1.213,14,0.9,27,-19.7,0.8,91.7,10,9.9