version: 66.14
glider: 640
mission: 5
dive: 426
start: 1 29 119 19 52 50
data:
$ID,640
$MISSION,5
$DIVE,426
$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,52
$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
$GPS1,290119,194554,-6001.9087,-2.7628,16,4.3,57,-19.7,0.5,40.7,4,16.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-66.7
$GPS2,290119,195231,-6001.8999,-2.7531,16,0.7,45,-19.7,0.2,76.7,11,6.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,22.6,40640,-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,-146.0,210,2077,1792,1829,0.0,0.0,0,103,0.00,0.00,-89.40,0.000,16386,0.000,0.000,210,2077,3246,3330,3163,0,0,0,0,0,0,14.55,28.83,14.55,6.17,50.86
$GC,106,-0.64,-146.0,211,2076,3331,3161,3.2,-5.9,18,122,6.18,2.62,-2.35,0.000,18948,0.341,2.215,2193,714,3314,3405,3223,0,0,0,0,0,0,13.97,13.26,14.33,6.29,50.00
$GC,204,-0.64,-146.0,2193,714,3408,3222,21.2,-17.5,38,208,0.00,2.40,0.00,0.000,3078,0.000,0.056,2182,2103,3315,3407,3223,0,0,0,0,0,0,14.41,14.28,14.42,6.30,48.50
$GC,329,-0.64,-146.0,2184,2103,3408,3223,43.4,-18.0,63,333,0.00,2.50,0.00,0.000,2308,0.000,0.081,2173,3509,3315,3407,3223,0,0,0,0,0,0,14.61,14.26,14.61,6.31,49.56
$GC,378,-0.64,-146.0,2173,3509,3408,3222,51.9,-16.1,73,382,0.08,2.33,0.00,0.000,3078,0.362,0.042,2199,2124,3314,3406,3223,0,0,0,0,0,0,14.04,14.35,14.30,6.31,49.37
$GC,504,-0.64,-146.0,2198,2124,3408,3223,70.6,-14.8,98,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2123,3315,3408,3222,0,0,0,0,0,0,14.65,14.65,14.65,6.31,49.72
$GC,628,-0.64,-146.0,2199,2123,3408,3223,88.1,-13.4,123,632,0.00,2.50,0.00,0.000,516,0.000,0.063,2198,690,3315,3408,3223,0,0,0,0,0,0,14.68,14.31,14.69,6.30,49.25
$GC,688,-0.64,-146.0,2193,691,3408,3224,96.0,-12.1,135,691,0.00,2.42,0.00,0.000,3078,0.000,0.056,2188,2105,3315,3407,3223,0,0,0,0,0,0,14.50,14.36,14.52,6.30,48.38
$GC,823,-0.64,-146.0,2188,2106,3408,3224,114.0,-14.1,147,824,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2105,3315,3408,3222,0,0,0,0,0,0,14.72,14.72,14.72,6.30,48.38
$GC,1123,-0.64,-146.0,2188,2106,3408,3224,152.0,-12.3,162,1126,0.00,2.45,0.00,0.000,2564,0.000,0.062,2188,688,3315,3408,3222,0,0,0,0,0,0,14.76,14.36,14.76,6.30,50.55
$GC,1148,-0.64,-146.0,2188,690,3408,3222,154.0,-12.4,163,1152,0.05,2.42,0.00,0.000,3078,0.436,0.057,2192,2107,3315,3408,3223,0,0,0,0,0,0,14.14,14.40,14.38,6.30,50.66
$GC,1453,-0.64,-146.0,2193,2108,3409,3223,194.3,-13.0,178,1456,0.00,2.45,0.00,0.000,2308,0.000,0.083,2182,3506,3315,3408,3222,0,0,0,0,0,0,14.80,14.31,14.78,6.31,50.82
$GC,1483,-0.64,-146.0,2182,3507,3407,3217,196.3,-13.0,179,1487,0.00,2.35,0.00,0.000,3078,0.000,0.044,2182,2089,3315,3407,3223,0,0,0,0,0,0,14.58,14.46,14.59,6.31,50.66
$GC,1788,-0.64,-146.0,2182,2088,3408,3223,238.5,-13.1,195,1792,0.00,2.40,0.00,0.000,2564,0.000,0.063,2181,695,3315,3408,3223,0,0,0,0,0,0,14.81,14.40,14.81,6.32,50.86
$GC,1858,-0.64,-146.0,2181,695,3408,3223,246.5,-13.3,198,1862,0.08,2.40,0.00,0.000,3078,0.357,0.057,2195,2101,3315,3408,3223,0,0,0,0,0,0,14.14,14.43,14.39,6.32,51.65
$GC,2163,-0.64,-146.0,2196,2101,3409,3223,285.6,-12.4,213,2166,0.00,2.47,0.00,0.000,260,0.000,0.084,2185,3506,3315,3408,3223,0,0,0,0,0,0,14.81,14.35,14.81,6.32,51.18
$GC,2188,-0.64,-146.0,2185,3507,3408,3224,287.5,-12.4,214,2191,0.00,2.33,0.00,0.000,3078,0.000,0.044,2185,2101,3315,3407,3223,0,0,0,0,0,0,14.60,14.48,14.62,6.32,51.41
$GC,2498,-0.64,-146.0,2185,2100,3408,3223,328.3,-12.6,230,2502,0.00,2.42,0.00,0.000,2564,0.000,0.063,2185,695,3314,3407,3222,0,0,0,0,0,0,14.83,14.40,14.82,6.33,51.14
$GC,2563,-0.64,-146.0,2184,695,3408,3223,335.8,-12.6,233,2567,0.05,2.40,0.00,0.000,3078,0.426,0.057,2189,2101,3314,3407,3222,0,0,0,0,0,0,14.15,14.45,14.41,6.33,51.37
$STATE,2676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2676,begin apogee
$GC,2681,-0.15,0.0,2190,2167,3408,3223,350.1,-12.0,239,2809,0.47,0.00,124.30,1.571,10246,0.252,0.000,2356,2167,2719,2779,2659,0,0,0,0,0,0,14.15,13.92,13.24,6.33,51.49
$STATE,2810,end apogee,CONTROL_FINISHED_OK
$STATE,2810,begin loiter
$GC,3098,-0.15,0.0,2356,2168,2774,2645,346.1,3.4,260,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2167,2709,2774,2644,0,0,0,0,0,0,14.55,14.56,14.56,6.28,50.74
$GC,3398,-0.15,0.0,2357,2167,2773,2642,336.4,3.2,275,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2167,2707,2773,2642,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.82
$GC,3698,-0.15,0.0,2357,2167,2774,2641,326.7,3.3,290,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2166,2707,2773,2641,0,0,0,0,0,0,14.80,14.80,14.80,6.28,51.14
$GC,3998,-0.15,0.0,2356,2167,2774,2642,316.4,3.6,305,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2167,2706,2773,2640,0,0,0,0,0,0,14.85,14.86,14.85,6.28,51.57
$GC,4298,-0.15,0.0,2357,2167,2774,2640,306.0,3.3,320,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2167,2706,2773,2640,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.73
$GC,4598,-0.15,0.0,2356,2168,2774,2641,295.8,3.2,335,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2167,2706,2773,2640,0,0,0,0,0,0,14.92,14.93,14.93,6.28,51.49
$GC,4898,-0.15,0.0,2356,2168,2773,2641,286.3,3.1,350,4899,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2167,2706,2773,2640,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.41
$GC,5198,-0.15,0.0,2356,2168,2774,2640,277.5,3.0,365,5199,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2167,2706,2773,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.27,52.12
$GC,5498,-0.15,0.0,2356,2168,2774,2641,268.5,3.1,380,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2165,2706,2773,2639,0,0,0,0,0,0,14.99,14.99,14.99,6.27,51.65
$GC,5798,-0.15,0.0,2357,2167,2775,2639,258.7,3.3,395,5799,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2167,2706,2773,2639,0,0,0,0,0,0,15.00,15.01,15.00,6.27,51.45
$GC,6098,-0.15,0.0,2357,2168,2774,2638,249.2,3.2,410,6099,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2167,2706,2773,2639,0,0,0,0,0,0,15.01,15.02,15.02,6.27,51.92
$STATE,6396,end loiter,LOITER_COMPLETE
$STATE,6396,begin climb
$GC,6398,0.64,146.0,2356,2168,2774,2640,240.0,0.0,425,6539,0.60,2.60,129.90,1.405,11012,0.167,0.065,2605,751,2117,2140,2095,0,0,0,0,0,0,14.42,13.99,13.39,6.27,51.57
$GC,6633,0.64,146.0,2605,752,2132,2088,223.8,9.6,436,6638,0.00,2.40,0.00,0.000,1030,0.000,0.054,2605,2132,2109,2132,2087,0,0,0,0,0,0,14.23,14.13,14.25,6.23,49.48
$GC,6938,0.64,146.0,2606,2132,2138,2081,187.4,11.8,452,6942,0.00,2.55,0.00,0.000,260,0.000,0.083,2611,3556,2105,2129,2081,0,0,0,0,0,0,14.59,14.22,14.59,6.23,50.63
$GC,7018,0.64,146.0,2606,3557,2129,2081,177.8,11.9,456,7023,0.00,2.38,0.00,0.000,5126,0.000,0.043,2616,2151,2104,2128,2081,0,0,0,0,0,0,14.44,14.33,14.45,6.23,50.78
$GC,7339,0.64,146.0,2616,2151,2127,2077,136.9,12.8,472,7342,0.00,2.47,0.00,0.000,4612,0.000,0.067,2627,741,2102,2126,2078,0,0,0,0,0,0,14.70,14.33,14.70,6.23,50.82
$GC,7393,0.64,146.0,2628,741,2125,2077,130.5,11.9,475,7397,0.08,2.42,0.00,0.000,5126,0.320,0.056,2601,2154,2100,2124,2077,0,0,0,0,0,0,14.16,14.37,14.42,6.23,50.82
$GC,7700,0.64,146.0,2601,2154,2125,2077,98.3,10.3,491,7704,0.00,2.50,0.00,0.000,260,0.000,0.085,2601,3566,2100,2124,2076,0,0,0,0,0,0,14.73,14.34,14.73,6.22,50.74
$GC,7803,0.64,146.0,2601,3567,2125,2077,86.8,10.7,512,7807,0.00,2.38,0.00,0.000,5126,0.000,0.042,2610,2142,2099,2124,2075,0,0,0,0,0,0,14.57,14.45,14.58,6.21,49.84
$GC,7929,0.64,146.0,2610,2142,2125,2076,73.8,10.7,537,7932,0.00,2.45,0.00,0.000,4612,0.000,0.067,2620,742,2100,2124,2076,0,0,0,0,0,0,14.76,14.38,14.76,6.21,49.52
$GC,7983,0.64,146.0,2621,743,2122,2076,68.1,10.1,548,7988,0.05,2.40,0.00,0.000,5126,0.378,0.054,2603,2154,2099,2122,2076,0,0,0,0,0,0,14.20,14.42,14.46,6.20,49.60
$GC,8108,0.64,146.0,2603,2155,2123,2077,55.6,10.3,573,8112,0.00,2.50,0.00,0.000,260,0.000,0.085,2603,3559,2098,2122,2075,0,0,0,0,0,0,14.74,14.35,14.76,6.20,49.44
$GC,8189,0.64,146.0,2604,3560,2124,2076,47.0,10.1,589,8192,0.00,2.35,0.00,0.000,5126,0.000,0.043,2612,2148,2099,2122,2076,0,0,0,0,0,0,14.57,14.45,14.59,6.20,49.01
$GC,8315,0.64,146.0,2613,2148,2123,2075,35.7,9.6,614,8319,0.00,2.45,0.00,0.000,4612,0.000,0.067,2622,741,2098,2122,2075,0,0,0,0,0,0,14.75,14.38,14.76,6.19,49.40
$GC,8354,0.64,146.0,2624,742,2122,2074,32.0,8.7,622,8358,0.05,2.40,0.00,0.000,5126,0.376,0.054,2605,2151,2098,2121,2075,0,0,0,0,0,0,14.21,14.42,14.47,6.19,49.76
$GC,8481,0.68,182.6,2605,2152,2122,2074,22.8,6.9,647,8514,0.00,2.50,29.33,1.245,10500,0.000,0.083,2604,3561,1970,1987,1953,0,0,0,0,0,0,14.75,14.23,13.74,6.21,50.70
$GC,8564,0.68,182.6,2605,3561,1988,1952,15.1,9.2,664,8568,0.00,2.38,0.00,0.000,3078,0.000,0.043,2614,2149,1969,1987,1952,0,0,0,0,0,0,14.47,14.36,14.48,6.19,50.66
$STATE,8687,end climb,SURFACE_DEPTH_REACHED
$STATE,8689,begin surface coast
$STATE,8707,end surface coast,CONTROL_FINISHED_OK
$STATE,8707,begin surface
$SM_CCo,8721,34.10,0.244,0,0,1822,220.03
$SM_GC,1.43,5.47,0.08,34.10,0.044,0.158,0.244,263,2062,1822,-6.46,0.88,220.03,0,0,0,0,0,0,14.47,14.40,14.11
$IRIDIUM_FIX,-6002.25,-4.31,290119,171519
$TT8_MAMPS,0.038948,0.306341
$HUMID,50.66
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,1
$SC_FREEKB,3702752
$24V_AH,13.24,82.856
$10V_AH,13.34,0.000
$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,13.150,78.150,283.525,34.100,0.000,26.267,39.150,136.861,0.250,0.000,46.435,0.000,6917.722,395.018,1630.040,210.590,0.000,1027.378,0.000,1132.062,0.000,0.540,0.000
$DEVICE_MAMPS,436.050,2214.675,1571.310,244.035,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5126.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.516,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17301,693
$CAP_FILE_SIZE,91405,0
$CFSIZE,1023623168,977584128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.024,225.96,1
$GPS,290119,221955,-6001.469,-2.873,15,0.7,43,-19.7,0.4,267.5,11,5.4