version: 66.14
glider: 640
mission: 5
dive: 411
start: 1 28 119 4 57 28
data:
$ID,640
$MISSION,5
$DIVE,411
$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,40
$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
$GPS1,280119,045132,-6009.2329,-2.6071,17,0.8,29,-19.7,1.2,321.3,10,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-70.2
$GPS2,280119,045709,-6009.2397,-2.5736,12,0.8,15,-19.7,0.4,285.6,10,9.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,28.2,54205,-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,-146.0,233,2089,1790,1828,0.0,0.0,0,102,0.00,0.00,-88.57,0.000,16386,0.000,0.000,232,2089,3236,3317,3156,0,0,0,0,0,0,14.57,28.83,14.57,6.18,50.70
$GC,104,-0.64,-146.0,232,2090,3318,3157,3.7,-8.6,18,118,6.18,2.65,-2.72,0.000,18948,0.359,2.212,2180,702,3316,3406,3227,0,0,0,0,0,0,13.90,13.27,14.28,6.30,49.76
$GC,217,-0.64,-146.0,2180,702,3410,3228,25.6,-16.8,41,222,0.08,2.40,0.00,0.000,3078,0.369,0.055,2194,2101,3318,3410,3226,0,0,0,0,0,0,14.04,14.28,14.32,6.31,48.70
$GC,344,-0.64,-146.0,2194,2102,3411,3226,46.3,-17.2,66,347,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2101,3318,3410,3227,0,0,0,0,0,0,14.62,14.62,14.62,6.32,49.56
$GC,468,-0.64,-146.0,2194,2102,3410,3228,66.2,-12.8,91,471,0.00,2.45,0.00,0.000,516,0.000,0.061,2194,697,3318,3410,3226,0,0,0,0,0,0,14.64,14.33,14.66,6.31,49.44
$GC,482,-0.64,-146.0,2194,696,3411,3226,68.2,-13.2,94,486,0.00,2.40,0.00,0.000,3078,0.000,0.054,2184,2101,3318,3410,3227,0,0,0,0,0,0,14.48,14.34,14.50,6.31,49.80
$GC,608,-0.64,-146.0,2184,2103,3410,3228,85.2,-13.9,119,611,0.00,2.47,0.00,0.000,2308,0.000,0.081,2173,3507,3318,3410,3227,0,0,0,0,0,0,14.67,14.31,14.67,6.31,49.52
$GC,652,-0.64,-146.0,2174,3508,3411,3225,91.6,-13.8,128,656,0.08,2.35,0.00,0.000,3078,0.366,0.043,2199,2099,3318,3410,3227,0,0,0,0,0,0,14.09,14.39,14.36,6.31,49.09
$GC,783,-0.64,-146.0,2200,2098,3411,3226,107.5,-12.3,145,787,0.00,2.47,0.00,0.000,4356,0.000,0.081,2188,3506,3318,3410,3227,0,0,0,0,0,0,14.71,14.29,14.71,6.30,48.30
$GC,803,-0.64,-146.0,2189,3505,3411,3225,110.2,-12.6,146,807,0.00,2.35,0.00,0.000,3078,0.000,0.044,2188,2095,3318,3410,3227,0,0,0,0,0,0,14.50,14.40,14.51,6.31,48.46
$GC,1123,-0.64,-146.0,2187,2095,3411,3227,153.6,-13.3,162,1126,0.00,2.42,0.00,0.000,2564,0.000,0.063,2187,695,3318,3410,3226,0,0,0,0,0,0,14.75,14.38,14.75,6.30,49.52
$GC,1188,-0.64,-146.0,2187,695,3411,3228,161.0,-13.5,165,1192,0.05,2.40,0.00,0.000,3078,0.443,0.056,2192,2106,3318,3410,3227,0,0,0,0,0,0,14.12,14.40,14.37,6.31,50.23
$GC,1498,-0.64,-146.0,2192,2106,3413,3227,202.3,-12.7,181,1498,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2105,3319,3412,3226,0,0,0,0,0,0,14.77,14.78,14.77,6.31,50.35
$GC,1798,-0.64,-146.0,2192,2106,3411,3227,240.9,-12.9,196,1801,0.00,2.42,0.00,0.000,2564,0.000,0.062,2191,696,3318,3410,3226,0,0,0,0,0,0,14.79,14.41,14.79,6.32,50.78
$GC,1843,-0.64,-146.0,2192,696,3411,3225,246.1,-12.9,198,1846,0.00,2.38,0.00,0.000,3078,0.000,0.055,2181,2098,3318,3410,3226,0,0,0,0,0,0,14.58,14.44,14.59,6.32,50.74
$GC,2158,-0.64,-146.0,2181,2099,3411,3228,287.4,-12.9,214,2161,0.00,2.47,0.00,0.000,2308,0.000,0.081,2171,3509,3318,3410,3227,0,0,0,0,0,0,14.80,14.35,14.81,6.33,51.37
$GC,2182,-0.64,-146.0,2171,3509,3409,3227,290.0,-12.9,215,2187,0.08,2.35,0.00,0.000,3078,0.362,0.043,2196,2091,3318,3410,3227,0,0,0,0,0,0,14.16,14.48,14.42,6.33,51.02
$GC,2498,-0.64,-146.0,2196,2091,3411,3236,328.6,-11.9,231,2501,0.00,2.42,0.00,0.000,516,0.000,0.063,2195,690,3318,3410,3227,0,0,0,0,0,0,14.81,14.42,14.81,6.33,51.02
$GC,2567,-0.64,-146.0,2195,691,3411,3228,335.8,-12.1,234,2572,0.00,2.40,0.00,0.000,3078,0.000,0.055,2185,2101,3318,3410,3226,0,0,0,0,0,0,14.59,14.45,14.62,6.34,51.06
$STATE,2675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2675,begin apogee
$GC,2681,-0.15,0.0,2185,2167,3411,3227,350.2,-12.2,240,2808,0.47,0.00,125.30,1.577,10246,0.255,0.000,2351,2166,2719,2779,2659,0,0,0,0,0,0,14.10,13.92,13.24,6.33,51.06
$STATE,2809,end apogee,CONTROL_FINISHED_OK
$STATE,2810,begin loiter
$GC,3097,-0.15,0.0,2352,2167,2773,2642,345.8,3.6,261,3098,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2167,2706,2771,2642,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.55
$GC,3398,-0.15,0.0,2352,2167,2771,2640,334.9,3.7,276,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2705,2771,2640,0,0,0,0,0,0,14.70,14.71,14.70,6.28,51.14
$GC,3698,-0.15,0.0,2352,2168,2773,2639,323.4,3.9,291,3698,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2167,2704,2771,2638,0,0,0,0,0,0,14.78,14.79,14.79,6.28,50.98
$GC,3998,-0.15,0.0,2352,2167,2772,2638,312.1,3.6,306,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2167,2704,2771,2638,0,0,0,0,0,0,14.84,14.85,14.84,6.28,51.65
$GC,4298,-0.15,0.0,2351,2167,2772,2639,301.8,3.3,321,4298,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2167,2704,2771,2637,0,0,0,0,0,0,14.89,14.89,14.89,6.28,51.10
$GC,4598,-0.15,0.0,2352,2168,2771,2636,292.2,3.2,336,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2167,2704,2771,2637,0,0,0,0,0,0,14.92,14.92,14.92,6.27,51.45
$GC,4898,-0.15,0.0,2351,2167,2772,2638,283.4,2.8,351,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2167,2704,2771,2637,0,0,0,0,0,0,14.94,14.94,14.94,6.27,51.61
$GC,5198,-0.15,0.0,2352,2167,2773,2637,274.5,2.9,366,5198,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2167,2704,2771,2637,0,0,0,0,0,0,14.95,14.96,14.96,6.28,51.18
$GC,5498,-0.15,0.0,2351,2167,2772,2637,265.7,2.8,381,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2167,2704,2771,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.27,51.37
$GC,5798,-0.15,0.0,2350,2167,2771,2638,257.2,2.6,396,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2704,2771,2637,0,0,0,0,0,0,14.99,15.00,14.99,6.28,51.33
$GC,6098,-0.15,0.0,2351,2168,2771,2637,249.6,2.5,411,6098,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2167,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.18
$STATE,6395,end loiter,LOITER_COMPLETE
$STATE,6395,begin climb
$GC,6398,0.64,146.0,2351,2167,2772,2638,242.5,0.0,426,6538,0.62,2.58,129.60,1.405,10756,0.171,0.063,2609,750,2117,2139,2095,0,0,0,0,0,0,14.42,13.87,13.37,6.27,51.57
$GC,6598,0.64,146.0,2609,750,2133,2089,229.2,9.1,436,6602,0.00,2.42,0.00,0.000,5126,0.000,0.053,2608,2139,2110,2133,2088,0,0,0,0,0,0,14.21,14.11,14.23,6.23,49.68
$GC,6913,0.64,146.0,2609,2140,2129,2079,193.9,11.2,452,6916,0.00,2.53,0.00,0.000,4356,0.000,0.082,2609,3556,2104,2128,2080,0,0,0,0,0,0,14.58,14.21,14.58,6.23,50.35
$GC,6988,0.64,146.0,2609,3557,2128,2081,185.4,11.2,456,6991,0.00,2.38,0.00,0.000,5126,0.000,0.044,2619,2149,2103,2128,2079,0,0,0,0,0,0,14.35,14.24,14.38,6.23,50.55
$GC,7308,0.64,146.0,2620,2149,2127,2077,146.5,12.3,472,7312,0.05,2.47,0.00,0.000,4612,0.426,0.066,2614,735,2101,2126,2076,0,0,0,0,0,0,14.20,14.33,14.42,6.23,51.02
$GC,7348,0.64,146.0,2614,736,2124,2078,142.8,11.6,474,7351,0.00,2.42,0.00,0.000,5126,0.000,0.053,2614,2154,2100,2123,2077,0,0,0,0,0,0,14.47,14.30,14.51,6.23,50.94
$GC,7658,0.64,146.0,2614,2155,2124,2077,110.7,9.7,490,7661,0.00,2.47,0.00,0.000,4356,0.000,0.082,2614,3558,2099,2123,2076,0,0,0,0,0,0,14.75,14.33,14.75,6.22,50.63
$GC,7718,0.64,146.0,2614,3558,2124,2077,105.3,9.6,493,7722,0.08,2.35,0.00,0.000,5126,0.350,0.044,2599,2148,2100,2124,2076,0,0,0,0,0,0,14.12,14.37,14.42,6.22,50.39
$GC,8023,0.64,146.0,2599,2148,2122,2076,74.7,9.7,544,8026,0.00,2.45,0.00,0.000,2564,0.000,0.067,2608,737,2098,2122,2075,0,0,0,0,0,0,14.76,14.39,14.76,6.21,49.56
$GC,8128,0.64,146.0,2608,736,2122,2074,64.9,9.4,565,8131,0.00,2.40,0.00,0.000,5126,0.000,0.052,2609,2151,2097,2121,2074,0,0,0,0,0,0,14.51,14.35,14.54,6.20,49.40
$GC,8254,0.64,146.0,2609,2147,2121,2075,52.3,9.8,590,8259,0.00,2.47,0.00,0.000,4356,0.000,0.083,2609,3557,2097,2120,2074,0,0,0,0,0,0,14.76,14.32,14.76,6.20,49.21
$GC,8304,0.64,146.0,2609,3559,2121,2076,46.9,10.8,600,8307,0.00,2.35,0.00,0.000,5126,0.000,0.043,2619,2140,2097,2120,2075,0,0,0,0,0,0,14.58,14.46,14.60,6.20,49.88
$GC,8428,0.64,146.0,2619,2141,2121,2075,34.0,10.3,625,8432,0.00,2.45,0.00,0.000,4612,0.000,0.067,2630,738,2097,2120,2074,0,0,0,0,0,0,14.78,14.39,14.77,6.20,50.00
$GC,8474,0.64,146.0,2630,739,2121,2075,29.6,10.1,634,8478,0.08,2.40,0.00,0.000,5126,0.321,0.054,2604,2151,2097,2120,2074,0,0,0,0,0,0,14.20,14.42,14.47,6.20,50.03
$GC,8600,0.64,146.0,2604,2156,2121,2073,18.0,9.2,659,8604,0.00,2.47,0.00,0.000,260,0.000,0.082,2604,3562,2097,2120,2074,0,0,0,0,0,0,14.76,14.38,14.76,6.20,50.19
$GC,8653,0.64,146.0,2604,3562,2121,2074,12.8,9.8,670,8658,0.00,2.35,0.00,0.000,5126,0.000,0.042,2613,2146,2096,2120,2072,0,0,0,0,0,0,14.58,14.47,14.60,6.20,50.66
$STATE,8766,end climb,SURFACE_DEPTH_REACHED
$STATE,8766,begin surface coast
$STATE,8801,end surface coast,CONTROL_FINISHED_OK
$STATE,8801,begin surface
$SM_CCo,8816,65.45,0.241,0,0,1821,220.03
$SM_GC,1.09,5.55,0.05,65.45,0.073,0.214,0.241,282,2077,1821,-6.44,1.05,220.03,0,0,0,0,0,0,14.53,14.50,14.18
$IRIDIUM_FIX,-6001.52,147.66,280119,022148
$TT8_MAMPS,0.038948,0.34454
$HUMID,50.03
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,5
$SC_FREEKB,3710432
$24V_AH,13.24,80.178
$10V_AH,13.39,0.000
$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,13.300,77.925,254.900,65.450,0.000,26.937,18.238,129.791,1.250,0.000,16.340,0.000,7020.595,405.189,1594.033,200.899,0.000,1039.611,0.000,1149.996,0.000,0.539,0.000
$DEVICE_MAMPS,442.935,2211.615,1577.430,240.975,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5221.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.546,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17340,700
$CAP_FILE_SIZE,91943,0
$CFSIZE,1023623168,979058688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.030,191.06,1
$GPS,280119,072633,-6008.818,-2.503,35,0.7,37,-19.7,0.0,0.4,12,9.2