version: 66.14
glider: 640
mission: 5
dive: 431
start: 1 30 119 8 54 28
data:
$ID,640
$MISSION,5
$DIVE,431
$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,65
$R_STBD_OVSHOOT,42
$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
$GPS1,300119,084801,-5959.9185,-2.3639,17,0.8,39,-19.7,0.4,153.9,11,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-67.1
$GPS2,300119,085408,-5959.9199,-2.3386,7,0.8,15,-19.7,0.0,309.7,11,9.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,21.2,36956,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,12,-0.64,-146.0,232,2118,1791,1829,0.0,0.0,0,97,0.00,0.00,-82.80,0.000,16386,0.000,0.000,232,2117,3150,3231,3069,0,0,0,0,0,0,14.54,28.83,14.54,6.19,50.94
$GC,99,-0.64,-146.0,233,2117,3232,3070,3.1,-5.9,17,117,6.22,2.72,-6.20,0.000,18948,0.361,2.219,2182,735,3318,3414,3222,0,0,0,0,0,0,13.90,12.99,14.29,6.29,50.11
$GC,204,-0.64,-146.0,2182,736,3415,3225,20.5,-16.2,38,208,0.08,2.35,0.00,0.000,3078,0.366,0.057,2196,2094,3319,3414,3224,0,0,0,0,0,0,14.02,14.26,14.30,6.31,48.89
$GC,330,-0.64,-146.0,2196,2095,3415,3224,40.9,-15.9,63,334,0.00,2.53,0.00,0.000,260,0.000,0.083,2186,3512,3319,3414,3224,0,0,0,0,0,0,14.62,14.25,14.62,6.31,49.44
$GC,364,-0.64,-146.0,2186,3513,3415,3222,46.4,-15.5,70,367,0.00,2.33,0.00,0.000,3078,0.000,0.044,2185,2136,3319,3414,3224,0,0,0,0,0,0,14.39,14.30,14.40,6.31,49.80
$GC,490,-0.64,-146.0,2185,2136,3415,3225,66.4,-13.7,95,494,0.00,2.53,0.00,0.000,2564,0.000,0.064,2185,690,3319,3414,3224,0,0,0,0,0,0,14.65,14.31,14.66,6.31,49.72
$GC,538,-0.64,-146.0,2185,691,3415,3225,73.1,-13.1,105,543,0.05,2.42,0.00,0.000,3078,0.428,0.058,2191,2100,3319,3414,3224,0,0,0,0,0,0,14.02,14.30,14.28,6.31,49.48
$GC,665,-0.64,-146.0,2190,2101,3415,3226,89.6,-13.2,130,671,0.00,2.50,0.00,0.000,2308,0.000,0.084,2179,3509,3319,3414,3224,0,0,0,0,0,0,14.66,14.28,14.67,6.31,49.52
$GC,698,-0.64,-146.0,2180,3509,3415,3224,94.5,-14.2,137,703,0.00,2.38,0.00,0.000,3078,0.000,0.044,2179,2090,3322,3415,3229,0,0,0,0,0,0,14.43,14.32,14.45,6.31,49.01
$GC,838,-0.64,-146.0,2179,2089,3415,3226,114.6,-14.5,150,839,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2089,3319,3414,3225,0,0,0,0,0,0,14.71,14.71,14.71,6.30,48.34
$GC,1138,-0.64,-146.0,2179,2089,3415,3225,155.7,-13.7,165,1142,0.00,2.42,0.00,0.000,2564,0.000,0.064,2179,693,3319,3414,3225,0,0,0,0,0,0,14.76,14.31,14.76,6.26,49.84
$GC,1208,-0.64,-146.0,2179,693,3415,3226,164.3,-14.2,168,1212,0.08,2.42,0.00,0.000,3078,0.364,0.057,2191,2106,3319,3414,3225,0,0,0,0,0,0,14.05,14.36,14.33,6.31,49.92
$GC,1519,-0.64,-146.0,2191,2106,3415,3226,206.7,-12.8,184,1519,0.00,0.00,0.00,0.000,2054,0.000,0.000,2191,2105,3319,3414,3225,0,0,0,0,0,0,14.78,14.78,14.78,6.32,50.59
$GC,1818,-0.64,-146.0,2191,2106,3415,3226,244.6,-12.6,199,1822,0.00,2.45,0.00,0.000,2564,0.000,0.063,2191,698,3319,3414,3225,0,0,0,0,0,0,14.80,14.33,14.80,6.32,50.82
$GC,1843,-0.64,-146.0,2192,695,3415,3225,247.2,-12.7,200,1847,0.00,2.40,0.00,0.000,3078,0.000,0.057,2181,2100,3319,3414,3224,0,0,0,0,0,0,14.53,14.38,14.55,6.32,50.82
$GC,2153,-0.64,-146.0,2181,2100,3415,3225,287.7,-13.0,216,2157,0.00,2.47,0.00,0.000,2308,0.000,0.083,2165,3503,3319,3414,3225,0,0,0,0,0,0,14.81,14.30,14.81,6.33,51.14
$GC,2183,-0.64,-146.0,2169,3503,3415,3226,290.3,-13.0,217,2187,0.08,2.33,0.00,0.000,3078,0.361,0.043,2195,2097,3319,3414,3225,0,0,0,0,0,0,14.11,14.42,14.36,6.33,50.94
$GC,2488,-0.64,-146.0,2195,2096,3414,3225,329.4,-12.5,232,2492,0.00,2.42,0.00,0.000,516,0.000,0.065,2195,700,3319,3414,3225,0,0,0,0,0,0,14.81,14.33,14.81,6.33,51.14
$GC,2558,-0.64,-146.0,2195,701,3415,3226,336.4,-12.6,235,2563,0.00,2.40,0.00,0.000,3078,0.000,0.056,2185,2106,3319,3414,3224,0,0,0,0,0,0,14.54,14.38,14.54,6.33,50.94
$STATE,2661,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2661,begin apogee
$GC,2667,-0.15,0.0,2186,2160,3415,3225,351.3,-12.7,241,2795,0.47,0.00,125.47,1.590,10246,0.253,0.000,2351,2160,2715,2775,2656,0,0,0,0,0,0,14.13,13.91,13.23,6.34,51.06
$STATE,2796,end apogee,CONTROL_FINISHED_OK
$STATE,2796,begin loiter
$GC,3083,-0.15,0.0,2351,2160,2772,2644,349.2,3.0,262,3084,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2707,2772,2643,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.31
$GC,3383,-0.15,0.0,2351,2161,2772,2642,340.2,3.0,277,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2706,2772,2641,0,0,0,0,0,0,14.70,14.71,14.71,6.28,50.63
$GC,3683,-0.15,0.0,2352,2160,2773,2640,330.6,3.1,292,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2706,2772,2640,0,0,0,0,0,0,14.79,14.79,14.79,6.28,51.18
$GC,3984,-0.15,0.0,2352,2160,2773,2640,321.1,3.0,307,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2705,2771,2640,0,0,0,0,0,0,14.84,14.85,14.85,6.28,51.53
$GC,4283,-0.15,0.0,2352,2160,2773,2639,312.2,3.0,322,4284,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2159,2705,2771,2640,0,0,0,0,0,0,14.89,14.89,14.89,6.28,50.94
$GC,4583,-0.15,0.0,2352,2160,2773,2640,303.7,2.9,337,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2705,2771,2640,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.06
$GC,4883,-0.15,0.0,2352,2160,2773,2639,294.6,3.1,352,4884,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2705,2771,2640,0,0,0,0,0,0,14.94,14.95,14.95,6.28,51.33
$GC,5183,-0.15,0.0,2352,2160,2773,2640,284.2,3.5,367,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2159,2706,2772,2640,0,0,0,0,0,0,14.96,14.97,14.96,6.28,51.45
$GC,5484,-0.15,0.0,2352,2160,2773,2640,273.7,3.5,382,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2705,2771,2640,0,0,0,0,0,0,14.97,14.98,14.97,6.27,51.29
$GC,5783,-0.15,0.0,2352,2160,2772,2641,264.0,3.2,397,5784,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2159,2706,2772,2640,0,0,0,0,0,0,14.99,15.00,15.00,6.27,51.89
$GC,6083,-0.15,0.0,2351,2160,2772,2641,255.1,3.0,412,6084,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2705,2771,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.29
$STATE,6381,end loiter,LOITER_COMPLETE
$STATE,6381,begin climb
$GC,6383,0.64,146.0,2352,2160,2773,2640,245.9,0.0,427,6524,0.62,2.60,129.88,1.409,10756,0.168,0.064,2608,748,2117,2139,2096,0,0,0,0,0,0,14.40,13.97,13.38,6.27,51.26
$GC,6584,0.64,146.0,2614,749,2134,2090,230.6,10.3,437,6588,0.00,2.45,0.00,0.000,5126,0.000,0.054,2609,2143,2111,2133,2089,0,0,0,0,0,0,14.21,14.09,14.22,6.23,49.09
$GC,6899,0.64,146.0,2609,2144,2132,2081,191.6,12.4,453,6902,0.00,2.53,0.00,0.000,4356,0.000,0.083,2609,3555,2105,2129,2081,0,0,0,0,0,0,14.57,14.21,14.58,6.23,50.59
$GC,6973,0.64,146.0,2609,3555,2130,2081,182.1,12.6,457,6977,0.00,2.38,0.00,0.000,5126,0.000,0.043,2620,2156,2105,2129,2081,0,0,0,0,0,0,14.42,14.31,14.45,6.21,50.47
$GC,7294,0.64,146.0,2619,2155,2128,2078,141.8,12.4,473,7297,0.00,2.47,0.00,0.000,4612,0.000,0.067,2630,744,2102,2127,2077,0,0,0,0,0,0,14.69,14.31,14.70,6.23,51.37
$GC,7348,0.64,146.0,2631,744,2126,2077,135.5,11.6,476,7353,0.08,2.42,0.00,0.000,5126,0.317,0.055,2604,2160,2101,2125,2077,0,0,0,0,0,0,14.14,14.35,14.40,6.23,50.90
$GC,7669,0.64,146.0,2604,2162,2126,2077,101.3,10.4,492,7672,0.00,2.47,0.00,0.000,260,0.000,0.083,2604,3561,2100,2125,2076,0,0,0,0,0,0,14.75,14.33,14.76,6.22,50.78
$GC,7753,0.64,146.0,2605,3561,2127,2076,92.5,10.1,507,7758,0.00,2.38,0.00,0.000,5126,0.000,0.043,2613,2141,2100,2125,2076,0,0,0,0,0,0,14.56,14.43,14.57,6.22,50.35
$GC,7880,0.64,146.0,2614,2141,2125,2076,80.3,9.7,532,7884,0.00,2.45,0.00,0.000,4612,0.000,0.067,2624,737,2100,2124,2076,0,0,0,0,0,0,14.74,14.37,14.74,6.22,49.92
$GC,7899,0.64,146.0,2624,734,2123,2076,78.4,9.6,536,7902,0.05,2.42,0.00,0.000,5126,0.375,0.055,2606,2158,2099,2123,2076,0,0,0,0,0,0,14.19,14.40,14.45,6.21,50.15
$GC,8025,0.64,149.1,2607,2159,2124,2076,67.4,8.2,561,8029,0.00,2.47,0.00,0.000,4356,0.000,0.083,2605,3561,2099,2123,2076,0,0,0,0,0,0,14.74,14.34,14.75,6.21,49.68
$GC,8064,0.64,149.2,2606,3561,2125,2076,64.0,8.3,569,8067,0.00,2.38,0.00,0.000,5126,0.000,0.044,2615,2143,2099,2123,2076,0,0,0,0,0,0,14.59,14.45,14.58,6.21,49.09
$GC,8190,0.68,177.8,2615,2142,2124,2075,54.5,7.2,594,8222,0.00,2.47,26.80,1.273,8708,0.000,0.068,2626,747,1990,2007,1973,0,0,0,0,0,0,14.74,14.35,13.75,6.20,49.25
$GC,8305,0.68,177.8,2626,747,2007,1968,44.8,8.6,617,8309,0.00,2.40,0.00,0.000,5126,0.000,0.054,2626,2150,1986,2005,1967,0,0,0,0,0,0,14.45,14.33,14.48,6.20,49.13
$GC,8430,0.68,177.8,2627,2151,2006,1966,32.1,11.0,642,8434,0.00,2.50,0.00,0.000,4356,0.000,0.083,2626,3553,1985,2005,1965,0,0,0,0,0,0,14.64,14.28,14.64,6.19,49.76
$GC,8484,0.68,177.8,2626,3554,2005,1967,25.5,11.9,653,8487,0.05,2.38,0.00,0.000,5126,0.402,0.044,2619,2146,1985,2005,1966,0,0,0,0,0,0,14.12,14.38,14.40,6.19,50.00
$GC,8610,0.68,177.8,2620,2146,2005,1965,12.1,10.1,678,8614,0.00,2.47,0.00,0.000,516,0.000,0.067,2629,740,1984,2005,1963,0,0,0,0,0,0,14.66,14.32,14.67,6.19,50.39
$GC,8684,0.68,177.8,2625,740,2005,1964,4.1,10.2,693,8687,0.00,2.40,0.00,0.000,5126,0.000,0.053,2629,2151,1983,2004,1963,0,0,0,0,0,0,14.50,14.37,14.52,6.20,50.07
$STATE,8696,end climb,SURFACE_DEPTH_REACHED
$STATE,8697,begin surface coast
$STATE,8726,end surface coast,CONTROL_FINISHED_OK
$STATE,8727,begin surface
$SM_CCo,8742,38.42,0.243,0,0,1821,220.03
$SM_GC,1.68,5.60,0.08,38.42,0.070,0.167,0.243,235,2076,1821,-6.46,1.02,220.03,0,0,0,0,0,0,14.50,14.42,14.12
$IRIDIUM_FIX,-6000.38,-8.61,300119,061333
$TT8_MAMPS,0.039697,0.33705
$HUMID,50.39
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,3
$SC_FREEKB,3700192
$24V_AH,12.99,83.751
$10V_AH,13.54,0.000
$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,13.375,83.300,282.150,38.425,0.000,30.039,40.843,129.993,0.750,0.000,18.023,0.000,6925.441,408.068,1596.850,218.865,0.000,1035.021,0.000,1124.818,0.000,0.540,0.000
$DEVICE_MAMPS,427.635,2219.265,1589.670,242.505,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5147.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.617,0.000,0.000,0.000
$MEM,344112
$DATA_FILE_SIZE,17293,702
$CAP_FILE_SIZE,93976,0
$CFSIZE,1023623168,977092608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.032,223.04,1
$GPS,300119,112155,-5959.447,-2.573,11,0.9,40,-19.7,0.6,156.4,10,6.6