version: 66.14
glider: 640
mission: 5
dive: 281
start: 1 14 119 4 12 53
data:
$ID,640
$MISSION,5
$DIVE,281
$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,54
$R_STBD_OVSHOOT,31
$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
$GPS1,140119,040701,-5946.1597,2.3247,14,0.9,31,-19.7,0.0,135.7,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-67.2
$GPS2,140119,041234,-5946.1587,2.3868,10,0.9,20,-19.7,0.0,217.4,10,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,351.2,11622,-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,-146.0,223,2078,1793,1825,0.0,0.0,0,96,0.00,0.00,-83.38,0.000,16386,0.000,0.000,222,2084,3181,3262,3101,0,0,0,0,0,0,14.62,28.83,14.62,6.19,50.78
$GC,98,-0.64,-146.0,223,2081,3263,3102,3.3,-6.0,17,110,6.10,0.00,-4.97,0.000,18950,0.356,0.000,2194,2078,3317,3411,3223,0,0,0,0,0,0,14.14,13.18,14.43,6.30,49.72
$GC,233,-0.64,-146.0,2195,2078,3415,3224,25.8,-16.5,44,236,0.00,2.38,0.00,0.000,516,0.000,0.060,2194,710,3318,3413,3224,0,0,0,0,0,0,14.66,14.38,14.66,6.31,49.64
$GC,271,-0.64,-146.0,2194,710,3414,3224,32.0,-14.9,52,275,0.00,2.38,0.00,0.000,3078,0.000,0.056,2184,2102,3319,3414,3224,0,0,0,0,0,0,14.54,14.42,14.54,6.31,49.17
$GC,396,-0.64,-146.0,2185,2103,3414,3224,51.3,-14.7,77,400,0.00,2.47,0.00,0.000,2308,0.000,0.081,2174,3514,3318,3413,3224,0,0,0,0,0,0,14.69,14.40,14.70,6.32,49.33
$GC,441,-0.64,-146.0,2174,3515,3415,3224,57.5,-13.1,86,446,0.05,2.38,0.00,0.000,3078,0.345,0.041,2191,2109,3319,3414,3224,0,0,0,0,0,0,14.19,14.45,14.35,6.32,49.56
$GC,567,-0.64,-146.0,2191,2110,3414,3225,74.9,-15.3,111,571,0.00,2.45,0.00,0.000,2564,0.000,0.063,2191,694,3319,3414,3224,0,0,0,0,0,0,14.71,14.43,14.71,6.31,49.60
$GC,596,-0.64,-146.0,2191,695,3415,3224,79.4,-14.7,117,600,0.00,2.45,0.00,0.000,3078,0.000,0.057,2181,2104,3319,3414,3224,0,0,0,0,0,0,14.59,14.42,14.60,6.31,49.88
$GC,722,-0.64,-146.0,2181,2105,3414,3225,95.9,-13.1,142,726,0.00,2.45,0.00,0.000,2308,0.000,0.082,2170,3507,3318,3413,3224,0,0,0,0,0,0,14.73,14.44,14.73,6.31,48.70
$GC,771,-0.64,-146.0,2171,3508,3414,3225,101.0,-12.8,150,775,0.05,2.38,0.00,0.000,3078,0.346,0.042,2188,2101,3319,3414,3224,0,0,0,0,0,0,14.23,14.47,14.40,6.31,49.29
$GC,1081,-0.64,-146.0,2189,2099,3414,3224,138.3,-12.2,166,1085,0.00,2.42,0.00,0.000,2564,0.000,0.063,2188,692,3319,3414,3224,0,0,0,0,0,0,14.78,14.50,14.78,6.31,49.72
$GC,1146,-0.64,-146.0,2189,693,3413,3225,146.0,-12.8,169,1151,0.00,2.42,0.00,0.000,3078,0.000,0.056,2179,2100,3318,3413,3224,0,0,0,0,0,0,14.54,14.48,14.57,6.31,49.88
$GC,1461,-0.64,-146.0,2177,2100,3414,3225,189.3,-14.0,185,1465,0.03,2.47,0.00,0.000,2308,0.623,0.082,2178,3500,3319,3414,3224,0,0,0,0,0,0,14.39,14.49,14.57,6.33,50.59
$GC,1511,-0.64,-146.0,2178,3501,3414,3225,194.8,-13.9,187,1516,0.05,2.30,0.00,0.000,3078,0.432,0.041,2194,2099,3318,3413,3224,0,0,0,0,0,0,14.35,14.55,14.57,6.33,51.06
$GC,1821,-0.64,-146.0,2195,2100,3414,3223,236.5,-13.0,203,1825,0.00,2.40,0.00,0.000,516,0.000,0.063,2195,699,3315,3406,3224,0,0,0,0,0,0,14.82,14.54,14.83,6.33,51.29
$GC,1881,-0.64,-146.0,2195,700,3415,3224,244.3,-13.0,206,1885,0.00,2.40,0.00,0.000,3078,0.000,0.055,2184,2116,3318,3413,3224,0,0,0,0,0,0,14.67,14.54,14.69,6.33,50.90
$GC,2201,-0.64,-146.0,2185,2117,3415,3224,286.3,-13.2,222,2206,0.00,2.40,0.00,0.000,2308,0.000,0.081,2174,3505,3318,3413,3224,0,0,0,0,0,0,14.84,14.52,14.85,6.33,51.10
$GC,2221,-0.64,-146.0,2174,3506,3415,3224,289.0,-13.2,223,2226,0.00,2.35,0.00,0.000,3078,0.000,0.042,2173,2104,3318,3413,3224,0,0,0,0,0,0,14.60,14.55,14.62,6.33,51.14
$GC,2541,-0.64,-146.0,2174,2104,3415,3224,332.1,-13.5,239,2545,0.08,2.40,0.00,0.000,2564,0.392,0.062,2197,696,3318,3413,3224,0,0,0,0,0,0,14.35,14.56,14.60,6.34,50.98
$GC,2586,-0.64,-146.0,2197,696,3415,3226,337.4,-13.4,241,2591,0.00,2.40,0.00,0.000,3078,0.000,0.055,2188,2096,3318,3413,3224,0,0,0,0,0,0,14.63,14.54,14.62,6.34,51.02
$STATE,2700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2700,begin apogee
$GC,2704,-0.15,0.0,2188,2182,3414,3225,352.4,-12.6,247,2833,0.45,0.00,125.43,1.569,10246,0.261,0.000,2347,2181,2715,2775,2655,0,0,0,0,0,0,14.36,13.94,13.33,6.34,51.10
$STATE,2834,end apogee,CONTROL_FINISHED_OK
$STATE,2834,begin loiter
$GC,3121,-0.15,0.0,2348,2182,2773,2642,350.1,2.9,268,3122,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2181,2706,2771,2642,0,0,0,0,0,0,14.58,14.58,14.58,6.29,50.39
$GC,3421,-0.15,0.0,2348,2181,2772,2641,341.6,2.8,283,3422,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2181,2705,2771,2639,0,0,0,0,0,0,14.73,14.73,14.73,6.29,50.78
$GC,3721,-0.15,0.0,2348,2182,2773,2638,333.2,2.8,298,3722,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2181,2704,2771,2638,0,0,0,0,0,0,14.82,14.82,14.82,6.29,51.37
$GC,4022,-0.15,0.0,2348,2182,2773,2637,324.2,3.0,313,4022,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2181,2704,2771,2638,0,0,0,0,0,0,14.87,14.87,14.88,6.29,50.98
$GC,4321,-0.15,0.0,2347,2181,2772,2637,315.0,3.1,328,4322,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2181,2704,2771,2637,0,0,0,0,0,0,14.92,14.91,14.91,6.29,51.69
$GC,4621,-0.15,0.0,2348,2182,2771,2638,305.8,3.0,343,4622,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2181,2704,2771,2637,0,0,0,0,0,0,14.95,14.95,14.95,6.29,51.57
$GC,4921,-0.15,0.0,2348,2182,2772,2636,297.3,2.8,358,4922,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2181,2703,2771,2636,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.89
$GC,5221,-0.15,0.0,2348,2181,2773,2636,289.0,2.7,373,5222,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2180,2703,2771,2636,0,0,0,0,0,0,14.99,14.99,14.99,6.29,51.37
$GC,5522,-0.15,0.0,2348,2181,2773,2636,280.8,2.8,388,5522,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2181,2703,2771,2636,0,0,0,0,0,0,15.00,15.00,15.01,6.28,51.53
$GC,5821,-0.15,0.0,2348,2182,2772,2636,272.4,2.8,403,5822,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2181,2703,2771,2636,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.61
$GC,6121,-0.15,0.0,2348,2182,2772,2637,263.6,2.9,418,6122,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2181,2703,2771,2636,0,0,0,0,0,0,15.03,15.04,15.03,6.28,51.61
$STATE,6420,end loiter,LOITER_COMPLETE
$STATE,6420,begin climb
$GC,6421,0.64,146.0,2348,2182,2773,2635,254.4,0.0,433,6558,0.62,2.45,129.20,1.422,10500,0.175,0.078,2596,3532,2120,2145,2095,0,0,0,0,0,0,14.62,13.92,13.47,6.28,51.41
$GC,6637,0.64,146.0,2596,3532,2142,2088,237.2,10.4,443,6642,0.00,2.38,0.00,0.000,5126,0.000,0.041,2607,2157,2113,2141,2086,0,0,0,0,0,0,14.23,14.19,14.24,6.24,49.01
$GC,6958,0.64,146.0,2608,2156,2135,2078,198.9,12.0,459,6961,0.00,2.47,0.00,0.000,4612,0.000,0.065,2617,745,2106,2134,2078,0,0,0,0,0,0,14.59,14.35,14.62,6.24,50.82
$GC,7023,0.64,146.0,2618,746,2131,2078,192.2,11.4,462,7027,0.00,2.38,0.00,0.000,5126,0.000,0.053,2618,2131,2104,2130,2078,0,0,0,0,0,0,14.50,14.39,14.52,6.24,51.22
$GC,7338,0.64,146.0,2619,2131,2130,2076,153.7,11.9,478,7341,0.00,2.50,0.00,0.000,4356,0.000,0.084,2618,3555,2102,2129,2076,0,0,0,0,0,0,14.71,14.42,14.72,6.24,50.86
$GC,7437,0.64,146.0,2619,3555,2131,2076,142.2,11.3,483,7441,0.08,2.38,0.00,0.000,5126,0.293,0.041,2602,2150,2103,2129,2077,0,0,0,0,0,0,14.27,14.47,14.43,6.24,51.18
$GC,7758,0.64,146.0,2603,2151,2129,2075,107.4,11.0,499,7761,0.00,2.45,0.00,0.000,516,0.000,0.064,2611,739,2101,2128,2075,0,0,0,0,0,0,14.78,14.50,14.78,6.23,50.86
$GC,7802,0.64,146.0,2611,740,2126,2076,103.3,10.7,501,7806,0.00,2.42,0.00,0.000,5126,0.000,0.053,2611,2144,2100,2126,2075,0,0,0,0,0,0,14.56,14.49,14.58,6.23,50.82
$GC,8108,0.64,146.0,2612,2145,2126,2075,69.9,11.1,557,8112,0.00,2.50,0.00,0.000,4356,0.000,0.084,2611,3547,2100,2125,2075,0,0,0,0,0,0,14.80,14.47,14.80,6.22,50.03
$GC,8193,0.64,146.0,2612,3547,2126,2075,60.5,10.7,574,8197,0.05,2.35,0.00,0.000,5126,0.319,0.041,2603,2150,2100,2126,2075,0,0,0,0,0,0,14.32,14.54,14.48,6.22,50.27
$GC,8319,0.64,146.0,2603,2150,2126,2074,48.8,9.0,599,8322,0.00,2.42,0.00,0.000,516,0.000,0.065,2613,743,2099,2125,2074,0,0,0,0,0,0,14.79,14.52,14.80,6.27,49.37
$GC,8393,0.64,146.0,2614,743,2126,2073,42.1,8.6,614,8397,0.00,2.38,0.00,0.000,5126,0.000,0.052,2612,2152,2099,2125,2073,0,0,0,0,0,0,14.66,14.54,14.68,6.21,49.84
$GC,8519,0.64,146.0,2613,2153,2126,2073,30.7,9.4,639,8522,0.00,2.45,0.00,0.000,4356,0.000,0.085,2614,3553,2099,2125,2074,0,0,0,0,0,0,14.80,14.51,14.80,6.21,49.84
$GC,8597,0.64,146.0,2614,3554,2126,2074,22.6,10.2,655,8602,0.05,2.35,0.00,0.000,5126,0.324,0.042,2605,2152,2099,2124,2074,0,0,0,0,0,0,14.31,14.54,14.48,6.21,50.43
$GC,8724,0.64,146.0,2605,2153,2126,2074,11.7,9.5,680,8727,0.00,2.45,0.00,0.000,516,0.000,0.066,2614,739,2099,2125,2073,0,0,0,0,0,0,14.81,14.52,14.81,6.21,50.90
$GC,8777,0.64,146.0,2615,741,2124,2074,6.9,8.7,691,8781,0.00,2.42,0.00,0.000,5126,0.000,0.054,2615,2150,2098,2123,2073,0,0,0,0,0,0,14.57,14.52,14.61,6.21,50.23
$STATE,8821,end climb,SURFACE_DEPTH_REACHED
$STATE,8821,begin surface coast
$STATE,8851,end surface coast,CONTROL_FINISHED_OK
$STATE,8851,begin surface
$SM_CCo,8864,65.78,0.242,0,0,1823,220.03
$SM_GC,1.29,5.38,0.08,65.78,0.034,0.156,0.242,223,2073,1823,-6.49,0.99,220.03,0,0,0,0,0,0,14.66,14.58,14.30
$IRIDIUM_FIX,-5944.88,0.00,140119,013652
$TT8_MAMPS,0.039697,0.248668
$HUMID,50.11
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3776992
$24V_AH,13.18,56.554
$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,12.975,82.225,254.625,65.775,0.000,31.176,39.045,120.822,0.000,0.000,21.127,0.000,7047.716,411.561,1657.403,149.499,0.000,1059.781,0.000,1185.712,0.000,0.540,0.000
$DEVICE_MAMPS,622.710,156.825,1569.015,241.740,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5265.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.698,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17344,706
$CAP_FILE_SIZE,94496,0
$CFSIZE,1023623168,991854592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.044,81.66,1
$GPS,140119,064249,-5945.734,2.392,19,0.7,42,-19.8,1.1,7.6,11,4.3