version: 66.14
glider: 640
mission: 5
dive: 420
start: 1 29 119 4 19 26
data:
$ID,640
$MISSION,5
$DIVE,420
$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,55
$R_STBD_OVSHOOT,27
$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
$GPS1,290119,041334,-6004.7510,-2.7395,23,0.8,43,-19.7,0.4,178.5,10,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-65.2
$GPS2,290119,041907,-6004.7451,-2.7751,9,0.8,13,-19.7,0.0,342.6,10,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,20.8,45901,-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,-146.0,219,2073,1790,1829,0.0,0.0,0,102,0.00,0.00,-87.75,0.000,16386,0.000,0.000,218,2072,3212,3293,3131,0,0,0,0,0,0,14.57,28.83,14.57,6.18,51.06
$GC,104,-0.64,-146.0,218,2073,3293,3133,3.3,-7.2,18,121,6.15,2.60,-3.78,0.000,18948,0.346,2.217,2187,718,3316,3409,3223,0,0,0,0,0,0,13.98,13.28,14.31,6.29,50.07
$GC,228,-0.64,-146.0,2188,719,3412,3225,24.6,-14.6,43,232,0.05,2.40,0.00,0.000,3078,0.432,0.058,2192,2109,3317,3411,3223,0,0,0,0,0,0,14.04,14.30,14.31,6.31,48.85
$GC,355,-0.64,-146.0,2192,2110,3412,3225,43.7,-16.0,68,358,0.00,2.47,0.00,0.000,2308,0.000,0.086,2182,3506,3317,3411,3224,0,0,0,0,0,0,14.64,14.27,14.63,6.31,49.64
$GC,408,-0.64,-146.0,2183,3506,3412,3224,52.1,-13.7,79,412,0.00,2.33,0.00,0.000,3078,0.000,0.043,2181,2116,3317,3411,3224,0,0,0,0,0,0,14.47,14.36,14.49,6.31,50.31
$GC,533,-0.64,-146.0,2181,2115,3412,3224,69.1,-13.8,104,536,0.00,2.45,0.00,0.000,2308,0.000,0.080,2171,3507,3323,3422,3224,0,0,0,0,0,0,14.68,14.29,14.68,6.30,49.33
$GC,583,-0.64,-146.0,2171,3508,3412,3224,76.0,-13.3,114,587,0.08,2.35,0.00,0.000,3078,0.360,0.042,2196,2097,3317,3411,3224,0,0,0,0,0,0,14.08,14.38,14.36,6.31,49.21
$GC,710,-0.64,-146.0,2196,2096,3413,3224,92.7,-14.3,139,714,0.00,2.45,0.00,0.000,516,0.000,0.065,2196,693,3317,3411,3224,0,0,0,0,0,0,14.69,14.34,14.69,6.30,48.81
$GC,783,-0.64,-146.0,2196,693,3412,3225,101.1,-13.0,151,787,0.00,2.40,0.00,0.000,3078,0.000,0.057,2186,2102,3317,3411,3224,0,0,0,0,0,0,14.48,14.37,14.50,6.30,48.62
$GC,1088,-0.64,-146.0,2187,2103,3412,3225,148.4,-15.1,167,1089,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2102,3317,3411,3224,0,0,0,0,0,0,14.75,14.72,14.75,6.30,49.76
$GC,1388,-0.64,-146.0,2186,2103,3412,3225,189.9,-13.4,182,1389,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2102,3317,3411,3224,0,0,0,0,0,0,14.78,14.78,14.78,6.31,50.51
$GC,1688,-0.64,-146.0,2186,2103,3412,3223,230.1,-13.3,197,1692,0.00,2.42,0.00,0.000,2564,0.000,0.063,2186,698,3317,3411,3224,0,0,0,0,0,0,14.80,14.36,14.80,6.32,50.98
$GC,1733,-0.64,-146.0,2186,698,3412,3224,234.9,-13.5,199,1737,0.05,2.40,0.00,0.000,3078,0.435,0.057,2190,2108,3317,3411,3224,0,0,0,0,0,0,14.12,14.40,14.39,6.32,50.98
$GC,2038,-0.64,-146.0,2190,2109,3413,3224,274.9,-12.7,214,2042,0.00,2.45,0.00,0.000,2308,0.000,0.085,2180,3504,3317,3411,3224,0,0,0,0,0,0,14.81,14.33,14.81,6.33,51.89
$GC,2088,-0.64,-146.0,2180,3506,3412,3225,279.5,-12.8,216,2093,0.00,2.33,0.00,0.000,3078,0.000,0.042,2179,2096,3317,3411,3224,0,0,0,0,0,0,14.57,14.47,14.59,6.32,50.98
$GC,2393,-0.64,-146.0,2180,2093,3413,3224,321.0,-13.1,232,2397,0.00,2.42,0.00,0.000,2564,0.000,0.063,2185,690,3317,3411,3224,0,0,0,0,0,0,14.81,14.38,14.81,6.33,51.69
$GC,2443,-0.64,-146.0,2179,690,3412,3225,326.3,-13.2,234,2447,0.08,2.40,0.00,0.000,3078,0.366,0.058,2192,2101,3317,3410,3224,0,0,0,0,0,0,14.11,14.40,14.40,6.33,51.33
$STATE,2626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2626,begin apogee
$GC,2632,-0.15,0.0,2193,2168,3412,3225,350.3,-12.4,243,2760,0.45,0.00,125.10,1.582,10246,0.255,0.000,2350,2167,2715,2775,2656,0,0,0,0,0,0,14.15,13.93,13.24,6.33,51.37
$STATE,2761,end apogee,CONTROL_FINISHED_OK
$STATE,2761,begin loiter
$GC,3048,-0.15,0.0,2350,2167,2772,2643,348.4,2.9,264,3049,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2707,2772,2643,0,0,0,0,0,0,14.54,14.55,14.55,6.28,50.63
$GC,3348,-0.15,0.0,2350,2167,2772,2642,340.1,2.7,279,3349,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2706,2772,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.28,51.02
$GC,3648,-0.15,0.0,2351,2167,2773,2640,331.8,2.7,294,3649,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2705,2771,2639,0,0,0,0,0,0,14.79,14.80,14.80,6.28,51.45
$GC,3949,-0.15,0.0,2350,2167,2772,2640,323.0,2.9,309,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2705,2772,2639,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.57
$GC,4248,-0.15,0.0,2350,2167,2772,2640,313.3,3.4,324,4249,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2705,2771,2639,0,0,0,0,0,0,14.89,14.89,14.90,6.28,51.92
$GC,4548,-0.15,0.0,2351,2167,2774,2638,302.7,3.6,339,4549,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2705,2772,2638,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.14
$GC,4848,-0.15,0.0,2350,2167,2772,2639,292.3,3.5,354,4849,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2705,2772,2638,0,0,0,0,0,0,14.94,14.95,14.95,6.28,51.92
$GC,5148,-0.15,0.0,2350,2167,2773,2638,282.4,3.3,369,5149,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2704,2771,2638,0,0,0,0,0,0,14.96,14.97,14.97,6.28,51.53
$GC,5449,-0.15,0.0,2351,2168,2772,2638,273.3,3.0,384,5449,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2705,2772,2638,0,0,0,0,0,0,14.97,14.98,14.98,6.28,52.08
$GC,5748,-0.15,0.0,2350,2167,2772,2639,264.6,2.9,399,5749,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.49
$GC,6048,-0.15,0.0,2350,2167,2772,2638,255.7,2.9,414,6049,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2705,2772,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.37
$STATE,6346,end loiter,LOITER_COMPLETE
$STATE,6346,begin climb
$GC,6349,0.64,146.0,2350,2167,2772,2639,246.2,0.0,429,6483,0.62,0.00,129.38,1.418,10502,0.165,0.000,2597,2166,2125,2147,2103,0,0,0,0,0,0,14.42,13.98,13.38,6.28,52.28
$GC,6768,0.64,146.0,2598,2168,2134,2084,207.1,10.8,450,6769,0.00,0.00,0.00,0.000,2054,0.000,0.000,2598,2166,2108,2133,2083,0,0,0,0,0,0,14.54,14.53,14.53,6.23,50.43
$GC,7068,0.64,146.0,2598,2167,2132,2080,176.1,10.2,465,7069,0.00,0.00,0.00,0.000,2054,0.000,0.000,2598,2167,2105,2130,2080,0,0,0,0,0,0,14.66,14.66,14.66,6.23,51.02
$GC,7368,0.64,146.0,2598,2167,2131,2077,146.0,9.7,480,7369,0.00,0.00,0.00,0.000,2054,0.000,0.000,2598,2167,2103,2130,2077,0,0,0,0,0,0,14.73,14.73,14.73,6.23,51.14
$GC,7669,0.64,146.0,2598,2166,2129,2077,116.8,10.3,495,7669,0.00,0.00,0.00,0.000,2054,0.000,0.000,2598,2167,2101,2127,2076,0,0,0,0,0,0,14.76,14.77,14.77,6.22,50.94
$GC,7968,0.64,146.0,2599,2167,2128,2077,85.8,10.6,528,7972,0.00,2.47,0.00,0.000,2564,0.000,0.067,2609,748,2102,2128,2076,0,0,0,0,0,0,14.78,14.40,14.78,6.21,50.35
$GC,7994,0.64,146.0,2609,749,2127,2076,83.4,9.8,533,7997,0.00,2.35,0.00,0.000,5126,0.000,0.054,2609,2133,2101,2126,2076,0,0,0,0,0,0,14.58,14.45,14.60,6.22,50.19
$GC,8120,0.64,146.0,2609,2134,2127,2077,70.7,9.5,558,8124,0.00,2.50,0.00,0.000,4356,0.000,0.084,2609,3553,2100,2125,2076,0,0,0,0,0,0,14.77,14.37,14.78,6.21,49.76
$GC,8173,0.64,146.0,2609,3554,2127,2077,65.4,9.4,569,8177,0.00,2.33,0.00,0.000,5126,0.000,0.044,2619,2153,2101,2126,2076,0,0,0,0,0,0,14.58,14.45,14.60,6.20,49.56
$GC,8300,0.64,146.0,2619,2153,2127,2077,53.7,9.5,594,8304,0.00,2.45,0.00,0.000,4612,0.000,0.067,2630,744,2100,2126,2075,0,0,0,0,0,0,14.77,14.40,14.77,6.20,50.03
$GC,8369,0.64,146.0,2631,745,2126,2076,47.4,9.0,608,8373,0.08,2.42,0.00,0.000,5126,0.312,0.057,2603,2153,2100,2125,2075,0,0,0,0,0,0,14.21,14.42,14.48,6.20,49.40
$GC,8494,0.64,146.0,2604,2154,2127,2075,37.2,8.5,633,8497,0.00,2.47,0.00,0.000,260,0.000,0.086,2603,3554,2100,2125,2075,0,0,0,0,0,0,14.76,14.36,14.76,6.20,49.68
$GC,8579,0.64,146.0,2603,3555,2126,2076,29.1,9.4,650,8583,0.00,2.35,0.00,0.000,5126,0.000,0.043,2613,2141,2100,2125,2075,0,0,0,0,0,0,14.58,14.47,14.60,6.20,50.11
$GC,8704,0.64,146.0,2613,2141,2127,2074,17.7,9.8,675,8707,0.00,2.42,0.00,0.000,4612,0.000,0.067,2623,742,2099,2125,2074,0,0,0,0,0,0,14.78,14.40,14.78,6.20,50.70
$GC,8734,0.64,146.0,2624,743,2126,2074,14.8,9.3,681,8737,0.05,2.40,0.00,0.000,5126,0.374,0.055,2605,2152,2099,2125,2074,0,0,0,0,0,0,14.21,14.42,14.47,6.20,50.82
$GC,8860,0.64,146.0,2605,2153,2125,2075,3.8,8.9,706,8864,0.00,2.47,0.00,0.000,260,0.000,0.083,2605,3559,2099,2125,2074,0,0,0,0,0,0,14.76,14.36,14.76,6.20,50.94
$STATE,8867,end climb,SURFACE_DEPTH_REACHED
$STATE,8867,begin surface coast
$STATE,8892,end surface coast,CONTROL_FINISHED_OK
$STATE,8892,begin surface
$SM_CCo,8909,66.05,0.241,0,0,1822,220.03
$SM_GC,1.23,5.53,2.50,66.05,0.069,0.047,0.241,271,2097,1822,-6.46,1.13,220.03,0,0,0,0,0,0,14.58,14.47,14.17
$IRIDIUM_FIX,-6007.06,0.00,290119,014158
$TT8_MAMPS,0.038948,0.221704
$HUMID,50.70
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,1
$SC_FREEKB,3705824
$24V_AH,13.24,81.775
$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,13.125,63.100,254.475,66.050,0.000,24.203,15.990,130.620,0.250,0.000,14.336,0.000,7193.408,403.111,1508.424,203.800,0.000,995.989,0.000,1082.357,0.000,0.540,0.000
$DEVICE_MAMPS,434.520,2216.970,1582.020,240.975,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5314.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.460,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17362,713
$CAP_FILE_SIZE,86928,0
$CFSIZE,1023623168,978173952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.026,172.08,1
$GPS,290119,065004,-6004.185,-2.738,34,0.7,37,-19.7,0.4,166.5,12,8.8