version: 66.14
glider: 640
mission: 5
dive: 434
start: 1 30 119 16 37 26
data:
$ID,640
$MISSION,5
$DIVE,434
$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,45
$R_STBD_OVSHOOT,26
$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
$GPS1,300119,163052,-5958.8662,-3.1170,35,0.8,38,-19.7,0.5,116.6,10,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-68.6
$GPS2,300119,163707,-5958.8813,-3.1004,8,0.8,13,-19.7,0.9,165.5,10,9.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,31.6,35088,-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,-146.0,231,2082,1794,1829,0.0,0.0,0,97,0.00,0.00,-82.93,0.000,16386,0.000,0.000,231,2082,3149,3227,3071,0,0,0,0,0,0,14.54,28.83,14.57,6.18,51.22
$GC,99,-0.64,-146.0,231,2086,3229,3072,3.1,-5.3,17,117,6.15,2.70,-6.38,0.000,18948,0.352,2.219,2182,709,3317,3413,3222,0,0,0,0,0,0,13.93,13.01,14.28,6.29,49.96
$GC,173,-0.64,-146.0,2182,710,3414,3225,15.3,-16.3,32,177,0.08,2.42,0.00,0.000,3078,0.367,0.058,2195,2106,3318,3413,3224,0,0,0,0,0,0,14.00,14.26,14.28,6.31,48.97
$GC,299,-0.64,-146.0,2195,2106,3414,3225,36.4,-17.2,57,302,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2105,3318,3414,3223,0,0,0,0,0,0,14.62,14.62,14.64,6.31,49.40
$GC,423,-0.64,-146.0,2196,2106,3414,3224,57.6,-16.9,82,426,0.00,2.45,0.00,0.000,516,0.000,0.065,2195,703,3318,3413,3224,0,0,0,0,0,0,14.66,14.27,14.66,6.31,49.37
$GC,468,-0.64,-146.0,2196,704,3415,3224,65.7,-18.0,91,472,0.00,2.40,0.00,0.000,3078,0.000,0.059,2186,2100,3318,3413,3224,0,0,0,0,0,0,14.45,14.33,14.46,6.32,50.31
$GC,593,-0.64,-146.0,2187,2100,3415,3224,84.9,-15.8,116,597,0.00,2.50,0.00,0.000,2308,0.000,0.083,2175,3512,3318,3413,3224,0,0,0,0,0,0,14.69,14.23,14.69,6.31,49.56
$GC,608,-0.64,-146.0,2175,3513,3414,3225,87.4,-16.3,119,612,0.05,2.35,0.00,0.000,3078,0.426,0.044,2190,2107,3319,3414,3224,0,0,0,0,0,0,14.07,14.38,14.33,6.31,49.72
$GC,735,-0.64,-146.0,2191,2106,3415,3224,106.2,-15.1,138,738,0.00,2.45,0.00,0.000,2564,0.000,0.063,2190,695,3318,3413,3224,0,0,0,0,0,0,14.70,14.34,14.70,6.30,48.46
$GC,753,-0.64,-146.0,2191,695,3414,3225,108.6,-15.3,139,756,0.00,2.42,0.00,0.000,3078,0.000,0.057,2180,2108,3318,3413,3224,0,0,0,0,0,0,14.47,14.35,14.49,6.30,48.34
$GC,1063,-0.64,-146.0,2180,2109,3414,3225,152.8,-13.3,155,1067,0.00,2.45,0.00,0.000,2564,0.000,0.063,2179,692,3318,3413,3224,0,0,0,0,0,0,14.76,14.33,14.76,6.30,50.07
$GC,1088,-0.64,-146.0,2179,692,3414,3225,155.5,-13.4,156,1092,0.08,2.42,0.00,0.000,3078,0.373,0.057,2192,2105,3319,3414,3224,0,0,0,0,0,0,14.07,14.36,14.35,6.31,49.52
$GC,1398,-0.64,-146.0,2193,2106,3415,3224,194.9,-12.3,172,1402,0.00,2.47,0.00,0.000,2308,0.000,0.084,2182,3512,3318,3413,3224,0,0,0,0,0,0,14.78,14.28,14.78,6.31,50.47
$GC,1423,-0.64,-146.0,2182,3513,3414,3225,196.7,-12.4,173,1427,0.00,2.35,0.00,0.000,3078,0.000,0.043,2181,2091,3319,3414,3224,0,0,0,0,0,0,14.53,14.40,14.54,6.31,50.51
$GC,1728,-0.64,-146.0,2181,2091,3414,3225,236.2,-12.4,188,1732,0.00,2.40,0.00,0.000,2564,0.000,0.063,2181,699,3318,3413,3224,0,0,0,0,0,0,14.80,14.33,14.80,6.32,50.86
$GC,1783,-0.64,-146.0,2181,699,3415,3224,243.1,-12.4,191,1787,0.08,2.40,0.00,0.000,3078,0.366,0.056,2194,2110,3318,3413,3224,0,0,0,0,0,0,14.09,14.40,14.38,6.32,51.10
$GC,2098,-0.64,-146.0,2194,2111,3414,3225,279.5,-11.6,207,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2110,3319,3414,3224,0,0,0,0,0,0,14.81,14.81,14.81,6.33,51.02
$GC,2398,-0.64,-146.0,2194,2111,3414,3225,315.1,-12.1,222,2401,0.00,2.42,0.00,0.000,2564,0.000,0.063,2193,700,3319,3414,3224,0,0,0,0,0,0,14.81,14.37,14.83,6.34,51.26
$GC,2418,-0.64,-146.0,2194,701,3414,3225,317.0,-12.2,223,2421,0.00,2.40,0.00,0.000,3078,0.000,0.055,2186,2104,3318,3413,3224,0,0,0,0,0,0,14.54,14.40,14.57,6.33,51.18
$STATE,2691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2691,begin apogee
$GC,2696,-0.15,0.0,2184,2169,3414,3225,352.2,-12.6,237,2825,0.47,0.00,125.38,1.577,10246,0.258,0.000,2348,2168,2715,2775,2655,0,0,0,0,0,0,14.13,13.92,13.23,6.34,51.37
$STATE,2826,end apogee,CONTROL_FINISHED_OK
$STATE,2826,begin loiter
$GC,3113,-0.15,0.0,2349,2168,2772,2643,349.9,3.0,258,3114,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2169,2706,2771,2641,0,0,0,0,0,0,14.56,14.56,14.56,6.28,50.59
$GC,3413,-0.15,0.0,2349,2169,2771,2641,341.5,2.7,273,3414,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2168,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.78
$GC,3713,-0.15,0.0,2350,2169,2772,2639,333.6,2.5,288,3714,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2168,2704,2770,2639,0,0,0,0,0,0,14.80,14.81,14.81,6.28,51.69
$GC,4013,-0.15,0.0,2349,2169,2772,2638,325.7,2.8,303,4014,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2168,2704,2770,2638,0,0,0,0,0,0,14.85,14.86,14.86,6.27,51.10
$GC,4313,-0.15,0.0,2349,2169,2771,2638,317.4,2.9,318,4314,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2169,2703,2770,2637,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.41
$GC,4613,-0.15,0.0,2350,2169,2772,2637,308.6,3.1,333,4614,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2168,2704,2771,2637,0,0,0,0,0,0,14.93,14.93,14.93,6.28,51.92
$GC,4913,-0.15,0.0,2349,2169,2772,2637,299.7,2.8,348,4914,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2168,2703,2770,2637,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.33
$GC,5213,-0.15,0.0,2349,2169,2771,2638,291.4,2.7,363,5214,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2704,2771,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.45
$GC,5513,-0.15,0.0,2348,2169,2771,2638,284.0,2.4,378,5514,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2168,2704,2771,2637,0,0,0,0,0,0,14.99,14.99,14.99,6.28,52.16
$GC,5813,-0.15,0.0,2350,2169,2772,2636,277.1,2.3,393,5814,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2168,2703,2770,2636,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.73
$GC,6113,-0.15,0.0,2349,2169,2771,2637,270.8,2.0,408,6114,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2168,2703,2770,2636,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.57
$STATE,6411,end loiter,LOITER_COMPLETE
$STATE,6411,begin climb
$GC,6413,0.64,146.0,2350,2169,2771,2636,265.0,0.0,423,6550,0.62,2.55,128.90,1.432,10756,0.174,0.065,2605,753,2119,2141,2097,0,0,0,0,0,0,14.39,13.86,13.35,6.27,51.73
$GC,6595,0.66,164.8,2605,753,2136,2092,254.6,7.6,431,6619,0.00,2.42,17.80,1.428,11270,0.000,0.054,2605,2138,2042,2063,2022,0,0,0,0,0,0,14.19,14.08,13.37,6.24,49.37
$GC,6932,0.66,164.8,2605,2138,2057,2011,214.1,12.4,448,6935,0.00,2.55,0.00,0.000,2308,0.000,0.083,2605,3556,2032,2055,2010,0,0,0,0,0,0,14.52,14.12,14.53,6.23,50.27
$GC,7035,0.66,164.8,2605,3557,2056,2010,202.7,11.8,453,7039,0.00,2.35,0.00,0.000,5126,0.000,0.042,2615,2156,2032,2055,2009,0,0,0,0,0,0,14.42,14.30,14.43,6.23,50.35
$GC,7345,0.66,164.8,2615,2156,2054,2006,159.7,14.1,469,7349,0.00,2.47,0.00,0.000,4612,0.000,0.067,2626,745,2029,2053,2005,0,0,0,0,0,0,14.69,14.31,14.69,6.22,50.86
$GC,7410,0.66,164.8,2627,746,2052,2005,152.2,13.9,472,7414,0.00,2.42,0.00,0.000,5126,0.000,0.055,2626,2158,2028,2051,2005,0,0,0,0,0,0,14.50,14.35,14.52,6.22,50.86
$GC,7715,0.66,164.8,2627,2159,2052,2005,110.1,13.1,487,7719,0.00,2.47,0.00,0.000,4356,0.000,0.084,2626,3555,2027,2051,2004,0,0,0,0,0,0,14.75,14.34,14.75,6.22,51.14
$GC,7780,0.66,164.8,2626,3555,2052,2004,102.9,13.3,490,7784,0.08,2.35,0.00,0.000,5126,0.344,0.044,2610,2144,2027,2051,2004,0,0,0,0,0,0,14.15,14.44,14.44,6.21,50.47
$GC,8085,0.66,164.8,2611,2140,2052,2004,65.6,11.2,547,8089,0.00,2.45,0.00,0.000,516,0.000,0.068,2621,738,2026,2050,2003,0,0,0,0,0,0,14.76,14.38,14.77,6.20,49.56
$GC,8180,0.66,164.8,2622,739,2051,2002,55.2,10.9,566,8184,0.00,2.40,0.00,0.000,5126,0.000,0.054,2621,2151,2025,2049,2002,0,0,0,0,0,0,14.56,14.42,14.59,6.20,50.31
$GC,8307,0.66,164.8,2621,2151,2050,2003,41.1,11.0,591,8310,0.00,2.50,0.00,0.000,4356,0.000,0.085,2621,3562,2025,2049,2002,0,0,0,0,0,0,14.76,14.35,14.76,6.20,49.64
$GC,8360,0.66,164.8,2622,3563,2050,2002,34.9,10.9,602,8365,0.05,2.35,0.00,0.000,5126,0.402,0.043,2614,2150,2025,2049,2002,0,0,0,0,0,0,14.19,14.45,14.46,6.20,49.68
$GC,8487,0.66,164.8,2615,2151,2049,2002,22.6,10.0,627,8492,0.00,2.45,0.00,0.000,4612,0.000,0.067,2625,743,2025,2049,2002,0,0,0,0,0,0,14.76,14.38,14.76,6.20,50.43
$GC,8550,0.66,164.8,2625,743,2049,2001,16.3,9.3,640,8554,0.00,2.40,0.00,0.000,5126,0.000,0.055,2625,2151,2024,2048,2001,0,0,0,0,0,0,14.57,14.42,14.59,6.20,50.23
$GC,8675,0.66,164.8,2624,2152,2048,2002,3.5,11.2,665,8679,0.00,2.47,0.00,0.000,4356,0.000,0.083,2624,3555,2024,2048,2001,0,0,0,0,0,0,14.78,14.36,14.78,6.20,50.59
$STATE,8683,end climb,SURFACE_DEPTH_REACHED
$STATE,8683,begin surface coast
$STATE,8708,end surface coast,CONTROL_FINISHED_OK
$STATE,8708,begin surface
$SM_CCo,8725,48.03,0.243,0,0,1821,220.03
$SM_GC,1.22,5.50,2.50,48.03,0.047,0.045,0.243,256,2098,1821,-6.49,0.99,220.03,0,0,0,0,0,0,14.59,14.47,14.16
$IRIDIUM_FIX,-6002.25,-8.62,300119,140123
$TT8_MAMPS,0.038199,0.304843
$HUMID,50.94
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,8
$SC_FREEKB,3698656
$24V_AH,13.01,84.294
$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,13.150,78.225,272.075,48.025,0.000,24.074,39.217,142.786,2.000,0.000,14.358,0.000,6969.126,399.461,1572.097,208.315,0.000,1014.006,0.000,1102.436,0.000,0.541,0.000
$DEVICE_MAMPS,426.105,2219.265,1577.430,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5129.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.531,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17319,672
$CAP_FILE_SIZE,89947,0
$CFSIZE,1023623168,976797696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.051,197.91,1
$GPS,300119,190431,-5958.590,-2.985,14,0.8,26,-19.7,0.5,353.2,10,9.2