version: 66.14
glider: 640
mission: 5
dive: 291
start: 1 15 119 5 39 27
data:
$ID,640
$MISSION,5
$DIVE,291
$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,59
$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
$GPS1,150119,053352,-5944.2007,2.7244,13,0.9,39,-19.8,0.4,105.3,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-65.0
$GPS2,150119,053908,-5944.2188,2.7934,8,0.9,15,-19.8,0.0,306.8,8,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,355.0,8238,-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,11,-0.64,-146.0,232,2068,1797,1824,0.0,0.0,0,102,0.00,0.00,-88.82,0.000,16386,0.000,0.000,231,2068,3238,3324,3152,0,0,0,0,0,0,14.59,28.83,14.59,6.18,50.27
$GC,104,-0.64,-146.0,232,2068,3325,3160,3.5,-7.8,18,118,6.10,2.78,-2.62,0.000,18692,0.363,2.239,2171,3509,3316,3408,3224,0,0,0,0,0,0,14.13,13.38,14.42,6.30,50.03
$GC,132,-0.64,-146.0,2172,3509,3410,3224,9.9,-20.7,24,136,0.05,2.38,0.00,0.000,3078,0.351,0.041,2188,2121,3317,3410,3224,0,0,0,0,0,0,14.14,14.35,14.31,6.31,48.66
$GC,258,-0.64,-146.0,2189,2121,3411,3224,29.6,-16.0,49,262,0.00,2.47,0.00,0.000,2564,0.000,0.062,2189,692,3318,3412,3224,0,0,0,0,0,0,14.62,14.35,14.62,6.32,48.85
$GC,292,-0.64,-146.0,2188,692,3411,3224,35.4,-15.7,56,296,0.00,2.42,0.00,0.000,3078,0.000,0.049,2179,2099,3317,3410,3224,0,0,0,0,0,0,14.42,14.37,14.44,6.31,48.66
$GC,417,-0.64,-146.0,2179,2099,3412,3224,54.8,-15.9,81,422,0.03,2.45,0.00,0.000,2564,0.623,0.065,2188,693,3317,3410,3224,0,0,0,0,0,0,14.25,14.40,14.45,6.32,49.05
$GC,527,-0.64,-146.0,2189,695,3412,3225,71.2,-12.5,103,531,0.03,2.45,0.00,0.000,3078,0.605,0.056,2190,2100,3317,3410,3224,0,0,0,0,0,0,14.23,14.40,14.47,6.32,49.01
$GC,653,-0.64,-146.0,2190,2101,3410,3226,86.6,-12.3,128,657,0.00,2.47,0.00,0.000,2308,0.000,0.084,2179,3514,3317,3410,3225,0,0,0,0,0,0,14.69,14.39,14.69,6.31,48.62
$GC,692,-0.64,-146.0,2179,3514,3411,3224,91.6,-12.7,136,696,0.00,2.35,0.00,0.000,3078,0.000,0.042,2179,2099,3317,3410,3224,0,0,0,0,0,0,14.57,14.47,14.58,6.31,48.62
$GC,822,-0.64,-146.0,2180,2098,3410,3225,107.9,-12.4,153,827,0.00,2.50,0.00,0.000,2308,0.000,0.081,2168,3499,3314,3403,3225,0,0,0,0,0,0,14.73,14.41,14.72,6.31,48.70
$GC,857,-0.64,-146.0,2168,3498,3411,3224,110.7,-12.7,154,861,0.08,2.38,0.00,0.000,3078,0.314,0.042,2194,2093,3317,3410,3224,0,0,0,0,0,0,14.23,14.47,14.40,6.31,48.58
$GC,1162,-0.64,-146.0,2195,2092,3412,3224,152.0,-12.7,170,1166,0.00,2.40,0.00,0.000,516,0.000,0.063,2195,696,3317,3410,3224,0,0,0,0,0,0,14.76,14.50,14.77,6.32,49.88
$GC,1237,-0.64,-146.0,2196,697,3411,3226,159.4,-12.5,173,1241,0.00,2.42,0.00,0.000,3078,0.000,0.055,2185,2100,3317,3411,3223,0,0,0,0,0,0,14.63,14.47,14.64,6.32,50.03
$GC,1542,-0.64,-146.0,2186,2101,3411,3225,201.6,-13.7,189,1546,0.00,2.45,0.00,0.000,2308,0.000,0.082,2174,3512,3316,3409,3224,0,0,0,0,0,0,14.79,14.50,14.79,6.33,50.35
$GC,1592,-0.64,-146.0,2175,3512,3411,3224,207.3,-13.8,191,1597,0.05,2.38,0.00,0.000,3078,0.347,0.041,2192,2100,3317,3410,3224,0,0,0,0,0,0,14.27,14.52,14.45,6.33,50.82
$GC,1902,-0.64,-146.0,2193,2099,3411,3224,249.7,-13.2,207,1906,0.00,2.40,0.00,0.000,2564,0.000,0.063,2190,698,3318,3412,3224,0,0,0,0,0,0,14.81,14.53,14.81,6.33,51.53
$GC,1977,-0.64,-146.0,2192,698,3411,3225,257.7,-13.2,210,1982,0.00,2.38,0.00,0.000,3078,0.000,0.054,2182,2103,3317,3410,3224,0,0,0,0,0,0,14.66,14.54,14.68,6.34,50.74
$GC,2282,-0.64,-146.0,2182,2104,3411,3225,300.0,-13.2,226,2283,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2103,3317,3410,3224,0,0,0,0,0,0,14.82,14.82,14.82,6.34,50.90
$GC,2582,-0.64,-146.0,2182,2103,3411,3224,339.3,-13.1,241,2583,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2103,3317,3410,3225,0,0,0,0,0,0,14.83,14.83,14.83,6.35,51.65
$STATE,2680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2680,begin apogee
$GC,2685,-0.15,0.0,2182,2170,3411,3225,352.5,-13.2,246,2813,0.47,0.00,125.38,1.566,10246,0.264,0.000,2350,2169,2716,2776,2656,0,0,0,0,0,0,14.35,13.94,13.33,6.34,51.18
$STATE,2814,end apogee,CONTROL_FINISHED_OK
$STATE,2814,begin loiter
$GC,3102,-0.15,0.0,2350,2169,2773,2642,350.5,2.7,267,3103,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2169,2707,2772,2642,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.70
$GC,3402,-0.15,0.0,2350,2170,2772,2641,342.6,2.6,282,3403,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2169,2705,2770,2640,0,0,0,0,0,0,14.72,14.72,14.72,6.29,50.63
$GC,3702,-0.15,0.0,2350,2170,2772,2640,334.9,2.6,297,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2169,2704,2771,2638,0,0,0,0,0,0,14.80,14.81,14.81,6.29,51.45
$GC,4002,-0.15,0.0,2350,2169,2773,2638,327.0,2.6,312,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2169,2704,2771,2638,0,0,0,0,0,0,14.85,14.86,14.86,6.29,51.22
$GC,4302,-0.15,0.0,2350,2169,2773,2637,319.2,2.6,327,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2169,2704,2772,2637,0,0,0,0,0,0,14.90,14.90,14.91,6.29,51.14
$GC,4602,-0.15,0.0,2350,2169,2773,2636,311.4,2.5,342,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2169,2704,2772,2637,0,0,0,0,0,0,14.93,14.93,14.94,6.29,51.77
$GC,4902,-0.15,0.0,2350,2170,2772,2638,303.7,2.6,357,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2169,2704,2772,2637,0,0,0,0,0,0,14.94,14.96,14.96,6.29,51.29
$GC,5202,-0.15,0.0,2350,2170,2772,2637,296.5,2.4,372,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2169,2704,2772,2636,0,0,0,0,0,0,14.97,14.98,14.98,6.29,51.18
$GC,5502,-0.15,0.0,2350,2170,2772,2638,289.5,2.3,387,5503,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2169,2703,2771,2636,0,0,0,0,0,0,14.99,15.00,15.00,6.29,51.29
$GC,5802,-0.15,0.0,2350,2169,2773,2636,282.7,2.3,402,5803,0.00,0.00,0.00,0.000,2054,0.000,0.000,2350,2169,2704,2772,2636,0,0,0,0,0,0,15.01,15.01,15.01,6.29,51.37
$GC,6102,-0.15,0.0,2350,2169,2774,2636,275.5,2.3,417,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2169,2703,2771,2636,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.29
$STATE,6400,end loiter,LOITER_COMPLETE
$STATE,6400,begin climb
$GC,6402,0.64,146.0,2350,2170,2772,2637,268.0,0.0,432,6537,0.62,0.00,129.32,1.443,10758,0.172,0.000,2600,2170,2122,2147,2098,0,0,0,0,0,0,14.60,13.89,13.45,6.29,51.22
$GC,6842,0.64,146.0,2600,2170,2135,2082,225.9,11.4,454,6847,0.00,2.42,0.00,0.000,2308,0.000,0.081,2600,3537,2108,2135,2081,0,0,0,0,0,0,14.57,14.26,14.57,6.24,50.51
$GC,6892,0.64,146.0,2601,3537,2136,2082,221.2,11.7,456,6896,0.00,2.38,0.00,0.000,5126,0.000,0.041,2610,2153,2108,2135,2081,0,0,0,0,0,0,14.35,14.31,14.37,6.24,50.66
$GC,7202,0.64,146.0,2610,2153,2132,2078,182.3,12.5,472,7206,0.00,2.47,0.00,0.000,4612,0.000,0.066,2621,737,2104,2131,2078,0,0,0,0,0,0,14.69,14.40,14.69,6.24,50.90
$GC,7252,0.64,146.0,2622,737,2130,2078,177.6,12.2,474,7256,0.05,2.42,0.00,0.000,5126,0.396,0.053,2604,2129,2103,2129,2078,0,0,0,0,0,0,14.23,14.38,14.50,6.25,51.06
$GC,7562,0.64,146.0,2604,2131,2130,2077,140.6,11.6,490,7566,0.00,2.50,0.00,0.000,260,0.000,0.082,2604,3556,2102,2129,2076,0,0,0,0,0,0,14.76,14.45,14.76,6.24,50.70
$GC,7662,0.64,146.0,2604,3557,2130,2077,129.0,11.4,495,7666,0.00,2.38,0.00,0.000,5126,0.000,0.042,2613,2152,2103,2129,2077,0,0,0,0,0,0,14.50,14.46,14.52,6.24,50.74
$GC,7968,0.64,146.0,2609,2152,2129,2076,93.6,11.1,517,7972,0.00,2.42,0.00,0.000,4612,0.000,0.066,2624,744,2102,2128,2076,0,0,0,0,0,0,14.79,14.51,14.79,6.23,50.78
$GC,8067,0.64,146.0,2624,745,2128,2076,83.1,10.3,537,8071,0.05,2.42,0.00,0.000,5126,0.302,0.053,2604,2154,2099,2127,2071,0,0,0,0,0,0,14.31,14.50,14.60,6.23,50.63
$GC,8192,0.64,146.0,2605,2155,2127,2078,70.5,10.3,562,8197,0.00,2.45,0.00,0.000,260,0.000,0.083,2605,3555,2100,2126,2075,0,0,0,0,0,0,14.78,14.45,14.79,6.23,50.07
$GC,8297,0.64,146.0,2604,3554,2127,2076,58.8,10.8,583,8301,0.00,2.38,0.00,0.000,5126,0.000,0.041,2614,2146,2100,2126,2075,0,0,0,0,0,0,14.58,14.52,14.60,6.22,49.72
$GC,8424,0.64,146.0,2615,2146,2126,2075,45.7,10.4,608,8427,0.00,2.47,0.00,0.000,4356,0.000,0.080,2614,3561,2100,2126,2075,0,0,0,0,0,0,14.79,14.50,14.79,6.22,49.56
$GC,8462,0.64,146.0,2615,3561,2130,2075,41.5,10.4,616,8466,0.05,2.38,0.00,0.000,5126,0.321,0.042,2606,2150,2100,2126,2075,0,0,0,0,0,0,14.26,14.49,14.43,6.22,49.09
$GC,8588,0.64,146.0,2606,2151,2127,2076,30.6,8.6,641,8592,0.00,2.42,0.00,0.000,516,0.000,0.066,2617,747,2100,2126,2075,0,0,0,0,0,0,14.79,14.52,14.79,6.20,49.25
$GC,8652,0.64,146.0,2617,747,2127,2074,24.7,9.1,654,8657,0.00,2.40,0.00,0.000,5126,0.000,0.053,2617,2147,2099,2125,2074,0,0,0,0,0,0,14.52,14.46,14.54,6.21,49.68
$GC,8778,0.64,146.0,2617,2149,2126,2075,13.3,9.6,679,8782,0.00,2.45,0.00,0.000,4356,0.000,0.083,2617,3555,2099,2125,2074,0,0,0,0,0,0,14.80,14.50,14.79,6.21,49.56
$GC,8842,0.66,162.0,2616,3555,2126,2075,7.2,7.7,692,8858,0.03,2.35,9.45,0.284,13318,0.434,0.040,2618,2151,2055,2079,2031,0,0,0,0,0,0,14.26,14.48,14.24,6.21,49.84
$STATE,8900,end climb,SURFACE_DEPTH_REACHED
$STATE,8900,begin surface coast
$STATE,8930,end surface coast,CONTROL_FINISHED_OK
$STATE,8930,begin surface
$SM_CCo,8944,55.60,0.239,0,0,1821,220.03
$SM_GC,1.09,5.35,0.05,55.60,0.033,0.216,0.239,240,2083,1821,-6.45,1.22,220.03,0,0,0,0,0,0,14.64,14.55,14.28
$IRIDIUM_FIX,-5944.88,0.00,150119,030102
$TT8_MAMPS,0.038948,0.341544
$HUMID,49.48
$INTERNAL_PRESSURE,6.14803
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3771872
$24V_AH,13.33,58.319
$10V_AH,13.51,0.000
$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,12.950,77.925,264.150,55.600,0.000,24.609,19.385,129.500,0.000,0.000,17.309,0.000,7153.533,408.860,1598.647,156.234,0.000,1043.006,0.000,1149.200,0.000,0.539,0.000
$DEVICE_MAMPS,623.475,2239.155,1565.955,239.445,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5344.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.666,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,17331,710
$CAP_FILE_SIZE,93374,0
$CFSIZE,1023623168,990871552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.056,154.03,1
$GPS,150119,081033,-5944.026,2.574,40,0.7,42,-19.8,0.0,36.5,12,9.9