version: 66.14
glider: 640
mission: 5
dive: 405
start: 1 27 119 13 31 18
data:
$ID,640
$MISSION,5
$DIVE,405
$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,58
$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
$GPS1,270119,132531,-6012.0610,-2.0320,14,0.8,25,-19.7,0.6,243.1,10,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-67.8
$GPS2,270119,133059,-6012.0874,-2.0562,8,0.8,12,-19.7,0.0,133.2,10,8.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,32.1,59457,-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,9,begin dive
$GC,11,-0.64,-146.0,229,2076,1798,1829,0.0,0.0,0,106,0.00,0.00,-92.18,0.000,16386,0.000,0.000,228,2075,3228,3312,3144,0,0,0,0,0,0,14.58,28.83,14.58,6.18,51.26
$GC,108,-0.64,-146.0,228,2077,3313,3147,3.4,-8.4,19,122,6.12,2.80,-3.15,0.000,18692,0.350,2.232,2182,3508,3316,3408,3224,0,0,0,0,0,0,14.02,13.28,14.36,6.30,49.84
$GC,157,-0.64,-146.0,2182,3508,3411,3224,12.6,-14.9,29,161,0.00,2.33,0.00,0.000,3078,0.000,0.043,2181,2128,3317,3410,3224,0,0,0,0,0,0,14.45,14.35,14.47,6.31,49.56
$GC,282,-0.64,-146.0,2180,2128,3412,3225,32.5,-16.1,54,285,0.00,2.53,0.00,0.000,2564,0.000,0.064,2181,682,3317,3411,3224,0,0,0,0,0,0,14.64,14.32,14.64,6.30,49.88
$GC,342,-0.64,-146.0,2181,683,3411,3225,41.5,-13.2,66,346,0.08,2.42,0.00,0.000,3078,0.367,0.055,2194,2100,3317,3411,3224,0,0,0,0,0,0,14.09,14.34,14.36,6.31,49.56
$GC,468,-0.64,-146.0,2194,2100,3412,3224,57.9,-13.7,91,472,0.00,2.47,0.00,0.000,260,0.000,0.083,2184,3504,3317,3411,3224,0,0,0,0,0,0,14.66,14.26,14.66,6.30,50.35
$GC,517,-0.64,-146.0,2184,3505,3412,3225,64.8,-14.0,101,521,0.00,2.35,0.00,0.000,3078,0.000,0.043,2183,2090,3317,3411,3223,0,0,0,0,0,0,14.51,14.40,14.53,6.31,49.64
$GC,642,-0.64,-146.0,2183,2087,3412,3225,83.4,-15.4,126,646,0.00,2.42,0.00,0.000,2564,0.000,0.063,2183,693,3317,3411,3224,0,0,0,0,0,0,14.69,14.36,14.69,6.31,49.44
$GC,667,-0.64,-146.0,2184,694,3412,3224,87.4,-16.2,131,671,0.08,2.40,0.00,0.000,3078,0.363,0.057,2196,2100,3317,3411,3224,0,0,0,0,0,0,14.12,14.38,14.40,6.30,48.77
$GC,798,-0.64,-146.0,2195,2100,3412,3223,106.5,-14.7,151,802,0.00,2.45,0.00,0.000,516,0.000,0.063,2198,692,3317,3411,3224,0,0,0,0,0,0,14.71,14.32,14.71,6.30,48.70
$GC,827,-0.64,-146.0,2196,692,3412,3225,108.7,-15.0,152,831,0.00,2.40,0.00,0.000,3078,0.000,0.057,2187,2098,3317,3411,3224,0,0,0,0,0,0,14.54,14.40,14.55,6.30,48.34
$GC,1132,-0.64,-146.0,2186,2098,3406,3224,154.9,-14.6,168,1136,0.00,2.45,0.00,0.000,2308,0.000,0.082,2175,3504,3317,3411,3224,0,0,0,0,0,0,14.76,14.38,14.76,6.30,50.00
$GC,1172,-0.64,-146.0,2176,3504,3412,3224,161.1,-15.2,170,1176,0.05,2.33,0.00,0.000,3078,0.434,0.043,2187,2094,3317,3411,3224,0,0,0,0,0,0,14.17,14.46,14.44,6.32,50.82
$GC,1492,-0.64,-146.0,2191,2093,3411,3225,207.4,-14.4,186,1496,0.00,2.42,0.00,0.000,2564,0.000,0.064,2191,689,3318,3412,3224,0,0,0,0,0,0,14.79,14.42,14.78,6.31,50.86
$GC,1572,-0.64,-146.0,2190,689,3412,3225,218.0,-14.2,190,1575,0.00,2.40,0.00,0.000,3078,0.000,0.056,2181,2102,3318,3412,3224,0,0,0,0,0,0,14.59,14.45,14.61,6.31,51.49
$GC,1887,-0.64,-146.0,2181,2103,3412,3225,263.4,-14.0,206,1890,0.00,2.47,0.00,0.000,2308,0.000,0.083,2170,3512,3317,3411,3223,0,0,0,0,0,0,14.81,14.40,14.81,6.31,50.86
$GC,1917,-0.64,-146.0,2170,3513,3412,3225,266.2,-14.0,207,1920,0.08,2.35,0.00,0.000,3078,0.356,0.044,2196,2093,3317,3411,3224,0,0,0,0,0,0,14.19,14.49,14.47,6.32,51.14
$GC,2227,-0.64,-146.0,2196,2092,3412,3224,306.5,-12.0,223,2231,0.00,2.42,0.00,0.000,516,0.000,0.064,2196,689,3318,3412,3224,0,0,0,0,0,0,14.81,14.45,14.82,6.32,50.94
$GC,2282,-0.64,-146.0,2196,689,3412,3224,311.3,-12.1,225,2285,0.00,2.40,0.00,0.000,3078,0.000,0.056,2186,2099,3317,3411,3224,0,0,0,0,0,0,14.61,14.46,14.63,6.32,51.77
$STATE,2585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2585,begin apogee
$GC,2590,-0.15,0.0,2186,2173,3412,3224,350.1,-12.4,241,2719,0.47,0.00,125.45,1.567,10246,0.256,0.000,2351,2172,2719,2779,2659,0,0,0,0,0,0,14.13,13.93,13.26,6.33,51.53
$STATE,2720,end apogee,CONTROL_FINISHED_OK
$STATE,2720,begin loiter
$GC,3007,-0.15,0.0,2352,2173,2775,2644,346.7,3.1,262,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2172,2709,2774,2644,0,0,0,0,0,0,14.56,14.56,14.56,6.27,50.70
$GC,3307,-0.15,0.0,2352,2173,2775,2642,337.9,2.9,277,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2173,2707,2773,2642,0,0,0,0,0,0,14.71,14.71,14.71,6.28,51.69
$GC,3607,-0.15,0.0,2353,2173,2774,2641,329.8,2.7,292,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2173,2707,2773,2641,0,0,0,0,0,0,14.80,14.81,14.80,6.28,51.06
$GC,3907,-0.15,0.0,2352,2173,2774,2640,322.3,2.5,307,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2173,2706,2772,2640,0,0,0,0,0,0,14.85,14.86,14.85,6.28,51.29
$GC,4207,-0.15,0.0,2352,2173,2774,2640,314.6,2.7,322,4208,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2173,2706,2773,2640,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.22
$GC,4507,-0.15,0.0,2352,2173,2774,2641,306.2,2.8,337,4508,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2173,2706,2773,2640,0,0,0,0,0,0,14.92,14.93,14.92,6.28,51.49
$GC,4807,-0.15,0.0,2352,2174,2774,2641,297.3,3.1,352,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2173,2706,2773,2640,0,0,0,0,0,0,14.95,14.96,14.96,6.28,51.57
$GC,5107,-0.15,0.0,2352,2173,2774,2641,288.3,3.0,367,5108,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2173,2706,2773,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.27,51.53
$GC,5407,-0.15,0.0,2352,2173,2774,2639,279.7,2.7,382,5408,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2173,2706,2773,2639,0,0,0,0,0,0,14.98,14.99,14.99,6.27,52.08
$GC,5707,-0.15,0.0,2352,2172,2774,2640,271.4,2.7,397,5708,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2173,2706,2773,2639,0,0,0,0,0,0,15.00,15.01,15.01,6.27,51.41
$GC,6007,-0.15,0.0,2352,2173,2774,2640,262.8,2.8,412,6008,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2173,2706,2773,2639,0,0,0,0,0,0,15.02,15.02,15.02,6.27,51.73
$STATE,6305,end loiter,LOITER_COMPLETE
$STATE,6305,begin climb
$GC,6307,0.64,146.0,2352,2174,2774,2640,254.4,0.0,427,6446,0.62,2.50,131.20,1.421,11012,0.171,0.080,2599,3538,2118,2141,2095,0,0,0,0,0,0,14.45,13.97,13.39,6.27,51.92
$GC,6497,0.64,146.0,2599,3539,2141,2091,241.7,9.2,436,6501,0.00,2.35,0.00,0.000,5126,0.000,0.041,2609,2158,2118,2140,2096,0,0,0,0,0,0,14.22,14.12,14.22,6.23,49.25
$GC,6807,0.64,146.0,2610,2156,2133,2081,204.8,11.6,452,6811,0.00,2.50,0.00,0.000,4612,0.000,0.067,2621,741,2106,2132,2081,0,0,0,0,0,0,14.57,14.24,14.57,6.23,50.63
$GC,6862,0.64,146.0,2621,742,2129,2081,199.0,10.9,455,6866,0.05,2.38,0.00,0.000,5126,0.375,0.053,2603,2130,2104,2128,2080,0,0,0,0,0,0,14.09,14.29,14.35,6.23,51.14
$GC,7179,0.64,146.0,2603,2131,2128,2079,164.3,10.6,471,7183,0.00,2.53,0.00,0.000,260,0.000,0.083,2603,3555,2103,2128,2078,0,0,0,0,0,0,14.68,14.29,14.68,6.23,51.53
$GC,7267,0.64,146.0,2604,3555,2128,2079,156.1,10.2,475,7271,0.00,2.38,0.00,0.000,5126,0.000,0.043,2612,2142,2102,2127,2078,0,0,0,0,0,0,14.52,14.42,14.54,6.23,51.10
$GC,7577,0.64,146.0,2612,2140,2127,2078,124.4,9.2,491,7581,0.00,2.45,0.00,0.000,4612,0.000,0.067,2623,734,2101,2126,2076,0,0,0,0,0,0,14.76,14.39,14.76,6.22,50.86
$GC,7617,0.64,146.0,2623,735,2126,2073,121.4,8.9,493,7621,0.03,2.42,0.00,0.000,5126,0.551,0.053,2606,2157,2101,2125,2077,0,0,0,0,0,0,14.22,14.42,14.47,6.22,51.14
$GC,7922,0.64,146.0,2607,2157,2124,2077,89.3,10.0,523,7926,0.00,2.47,0.00,0.000,260,0.000,0.083,2606,3557,2100,2124,2076,0,0,0,0,0,0,14.78,14.41,14.78,6.21,50.11
$GC,7987,0.64,146.0,2606,3558,2125,2078,83.0,8.9,536,7991,0.00,2.35,0.00,0.000,5126,0.000,0.043,2615,2144,2100,2125,2076,0,0,0,0,0,0,14.59,14.48,14.62,6.21,49.92
$GC,8114,0.64,146.0,2616,2145,2125,2077,71.5,9.8,561,8118,0.00,2.42,0.00,0.000,4612,0.000,0.067,2626,744,2100,2124,2076,0,0,0,0,0,0,14.77,14.41,14.77,6.20,49.68
$GC,8152,0.64,146.0,2627,744,2124,2076,67.6,9.3,569,8157,0.08,2.38,0.00,0.000,5126,0.316,0.052,2600,2149,2099,2123,2076,0,0,0,0,0,0,14.23,14.45,14.50,6.20,49.60
$GC,8279,0.64,146.0,2601,2150,2124,2076,56.0,9.1,594,8285,0.00,2.47,0.00,0.000,2308,0.000,0.084,2600,3556,2099,2123,2076,0,0,0,0,0,0,14.76,14.38,14.76,6.19,49.96
$GC,8358,0.65,158.5,2600,3557,2124,2077,49.1,7.9,610,8371,0.00,2.35,7.47,1.310,9222,0.000,0.044,2609,2146,2070,2092,2048,0,0,0,0,0,0,14.58,14.47,13.72,6.19,49.25
$GC,8493,0.68,180.0,2609,2146,2094,2048,39.5,7.5,637,8521,0.00,2.47,22.92,1.261,10756,0.000,0.067,2619,749,1980,1998,1962,0,0,0,0,0,0,14.74,14.33,13.75,6.19,49.92
$GC,8562,0.68,180.0,2620,749,1998,1960,33.8,8.4,651,8566,0.00,2.40,0.00,0.000,1030,0.000,0.052,2619,2153,1978,1997,1959,0,0,0,0,0,0,14.46,14.35,14.49,6.19,49.52
$GC,8689,0.68,180.0,2620,2154,1998,1958,21.3,10.7,676,8693,0.00,2.50,0.00,0.000,260,0.000,0.086,2620,3560,1976,1996,1956,0,0,0,0,0,0,14.63,14.31,14.64,6.19,50.03
$GC,8723,0.68,180.0,2620,3561,1997,1957,17.3,11.3,683,8726,0.00,2.38,0.00,0.000,5126,0.000,0.044,2630,2148,1976,1996,1957,0,0,0,0,0,0,14.50,14.38,14.51,6.19,50.86
$STATE,8847,end climb,SURFACE_DEPTH_REACHED
$STATE,8847,begin surface coast
$STATE,8870,end surface coast,CONTROL_FINISHED_OK
$STATE,8870,begin surface
$SM_CCo,8886,36.72,0.244,0,0,1823,220.03
$SM_GC,1.24,5.60,0.08,36.72,0.067,0.159,0.244,233,2071,1823,-6.45,0.85,220.03,0,0,0,0,0,0,14.50,14.42,14.14
$IRIDIUM_FIX,-6011.86,-17.32,270119,105722
$TT8_MAMPS,0.03745,0.146804
$HUMID,50.43
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,3
$SC_FREEKB,3713504
$24V_AH,13.26,79.125
$10V_AH,13.37,0.000
$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,13.250,87.675,287.050,36.725,0.000,27.809,17.370,126.296,0.750,0.000,13.342,0.000,7028.729,422.695,1594.671,206.250,0.000,1062.402,0.000,1153.092,0.000,0.539,0.000
$DEVICE_MAMPS,550.800,2232.270,1566.720,244.035,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5291.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.411,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17296,713
$CAP_FILE_SIZE,94507,0
$CFSIZE,1023623168,979648512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.047,223.35,1
$GPS,270119,160104,-6011.666,-2.144,35,0.8,38,-19.7,0.3,94.2,10,8.2