version: 66.14
glider: 640
mission: 5
dive: 477
start: 2 4 119 8 38 36
data:
$ID,640
$MISSION,5
$DIVE,477
$N_DIVES,600
$STOP_T,2121912
$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
$GPS1,040219,083219,-5944.4321,0.8381,17,0.8,39,-19.7,0.6,112.6,9,6.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-67.3
$GPS2,040219,083817,-5944.4209,0.8972,9,0.8,19,-19.7,0.5,305.9,9,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,3.8,8230,-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,-146.0,230,2074,1790,1830,0.0,0.0,0,102,0.00,0.00,-87.03,0.000,16386,0.000,0.000,230,2073,3210,3291,3130,0,0,0,0,0,0,14.55,28.83,14.55,6.18,51.06
$GC,105,-0.64,-146.0,231,2075,3292,3130,3.4,-7.7,18,122,6.15,2.62,-3.78,0.000,18948,0.345,2.206,2172,718,3316,3409,3223,0,0,0,0,0,0,13.93,13.21,14.28,6.30,50.00
$GC,253,-0.64,-146.0,2173,718,3412,3224,30.3,-16.1,48,257,0.10,2.40,0.00,0.000,3078,0.338,0.057,2195,2106,3315,3411,3219,0,0,0,0,0,0,14.00,14.27,14.27,6.31,49.33
$GC,380,-0.64,-146.0,2195,2107,3412,3225,49.7,-15.2,73,385,0.00,2.50,0.00,0.000,260,0.000,0.082,2185,3517,3317,3411,3224,0,0,0,0,0,0,14.62,14.25,14.62,6.32,49.60
$GC,393,-0.64,-146.0,2185,3516,3411,3225,52.0,-15.2,76,396,0.00,2.33,0.00,0.000,3078,0.000,0.043,2183,2125,3317,3411,3224,0,0,0,0,0,0,14.45,14.34,14.47,6.32,49.84
$GC,518,-0.64,-146.0,2185,2124,3412,3225,69.3,-14.1,101,522,0.00,2.50,0.00,0.000,2564,0.000,0.063,2184,685,3317,3411,3224,0,0,0,0,0,0,14.66,14.30,14.66,6.31,49.84
$GC,593,-0.64,-146.0,2184,686,3413,3224,79.5,-13.2,116,597,0.08,2.42,0.00,0.000,3078,0.366,0.057,2197,2101,3318,3412,3224,0,0,0,0,0,0,14.01,14.30,14.29,6.31,49.37
$GC,720,-0.64,-146.0,2198,2102,3413,3224,95.6,-12.3,141,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2101,3317,3411,3224,0,0,0,0,0,0,14.68,14.69,14.68,6.31,49.09
$GC,858,-0.64,-146.0,2198,2102,3413,3224,112.5,-11.9,154,862,0.00,2.47,0.00,0.000,516,0.000,0.063,2197,682,3318,3412,3224,0,0,0,0,0,0,14.71,14.30,14.76,6.30,48.85
$GC,893,-0.64,-146.0,2198,683,3414,3224,116.9,-12.2,156,897,0.00,2.42,0.00,0.000,3078,0.000,0.057,2188,2101,3318,3412,3224,0,0,0,0,0,0,14.47,14.35,14.49,6.30,48.54
$GC,1208,-0.64,-146.0,2188,2102,3412,3225,153.0,-11.3,172,1212,0.00,2.47,0.00,0.000,2308,0.000,0.083,2177,3510,3318,3412,3224,0,0,0,0,0,0,14.76,14.32,14.76,6.30,49.80
$GC,1238,-0.64,-146.0,2178,3510,3413,3224,155.3,-11.3,173,1242,0.05,2.35,0.00,0.000,3078,0.425,0.042,2193,2090,3318,3412,3224,0,0,0,0,0,0,14.12,14.42,14.38,6.30,50.35
$GC,1543,-0.64,-146.0,2193,2089,3413,3224,191.8,-11.9,188,1547,0.00,2.40,0.00,0.000,2564,0.000,0.063,2193,699,3318,3412,3224,0,0,0,0,0,0,14.78,14.38,14.78,6.31,51.37
$GC,1618,-0.64,-146.0,2193,700,3412,3225,200.8,-12.1,192,1622,0.00,2.40,0.00,0.000,3078,0.000,0.056,2181,2109,3318,3412,3224,0,0,0,0,0,0,14.55,14.40,14.57,6.31,50.59
$GC,1933,-0.64,-146.0,2183,2104,3413,3224,241.0,-13.0,208,1937,0.00,2.45,0.00,0.000,2308,0.000,0.081,2172,3507,3317,3411,3224,0,0,0,0,0,0,14.81,14.35,14.81,6.33,51.10
$GC,1963,-0.64,-146.0,2172,3508,3412,3226,243.0,-13.1,209,1967,0.08,2.33,0.00,0.000,3078,0.352,0.043,2197,2099,3317,3410,3224,0,0,0,0,0,0,14.12,14.45,14.38,6.32,51.02
$GC,2285,-0.64,-146.0,2198,2098,3411,3224,284.1,-12.2,226,2289,0.00,2.42,0.00,0.000,516,0.000,0.063,2197,697,3317,3411,3224,0,0,0,0,0,0,14.79,14.39,14.80,6.33,51.53
$GC,2343,-0.64,-146.0,2197,698,3413,3224,291.6,-12.5,229,2347,0.00,2.40,0.00,0.000,3078,0.000,0.055,2187,2105,3318,3412,3224,0,0,0,0,0,0,14.49,14.37,14.50,6.33,51.02
$GC,2663,-0.64,-146.0,2187,2106,3412,3224,331.0,-12.4,245,2667,0.00,2.45,0.00,0.000,2308,0.000,0.083,2176,3504,3318,3412,3224,0,0,0,0,0,0,14.81,14.27,14.81,6.33,50.90
$GC,2698,-0.64,-146.0,2176,3504,3412,3225,335.4,-12.5,247,2702,0.05,2.33,0.00,0.000,3078,0.421,0.042,2191,2093,3318,3412,3224,0,0,0,0,0,0,14.11,14.41,14.34,6.32,51.29
$STATE,2831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2831,begin apogee
$GC,2837,-0.15,0.0,2195,2160,3413,3224,351.7,-11.9,254,2964,0.45,0.00,124.78,1.586,10246,0.252,0.000,2349,2159,2718,2778,2659,0,0,0,0,0,0,14.10,13.90,13.20,6.33,51.22
$STATE,2965,end apogee,CONTROL_FINISHED_OK
$STATE,2965,begin loiter
$GC,3253,-0.15,0.0,2349,2160,2772,2644,348.1,3.2,275,3254,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2707,2771,2643,0,0,0,0,0,0,14.54,14.55,14.54,6.28,50.31
$GC,3554,-0.15,0.0,2349,2160,2772,2642,338.9,3.1,290,3554,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2706,2772,2641,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.78
$GC,3853,-0.15,0.0,2349,2160,2772,2641,330.1,2.9,305,3854,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2160,2706,2772,2640,0,0,0,0,0,0,14.79,14.80,14.80,6.28,50.98
$GC,4154,-0.15,0.0,2349,2160,2773,2640,321.5,2.7,320,4154,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2705,2771,2640,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.14
$GC,4454,-0.15,0.0,2349,2160,2772,2641,313.4,2.6,335,4455,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2705,2771,2640,0,0,0,0,0,0,14.89,14.89,14.89,6.28,51.22
$GC,4753,-0.15,0.0,2350,2160,2772,2640,306.1,2.3,350,4754,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2706,2772,2640,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.26
$GC,5054,-0.15,0.0,2349,2160,2772,2641,299.5,2.1,365,5054,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2705,2771,2640,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.49
$GC,5353,-0.15,0.0,2349,2160,2772,2641,293.2,2.1,380,5354,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2705,2771,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.37
$GC,5653,-0.15,0.0,2349,2160,2772,2641,286.5,2.3,395,5654,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2706,2772,2640,0,0,0,0,0,0,14.98,14.98,14.98,6.28,52.04
$GC,5954,-0.15,0.0,2349,2160,2772,2641,279.3,2.6,410,5955,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2705,2771,2640,0,0,0,0,0,0,14.99,14.99,15.00,6.28,52.08
$GC,6253,-0.15,0.0,2349,2160,2772,2642,271.9,2.5,425,6254,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2706,2772,2640,0,0,0,0,0,0,15.00,15.01,15.00,6.28,51.33
$STATE,6551,end loiter,LOITER_COMPLETE
$STATE,6551,begin climb
$GC,6554,0.64,146.0,2350,2160,2773,2641,264.5,0.0,440,6695,0.62,2.58,129.77,1.443,10500,0.171,0.081,2594,3547,2119,2141,2097,0,0,0,0,0,0,14.35,13.95,13.33,6.28,51.89
$GC,6775,0.64,146.0,2595,3547,2140,2088,248.9,9.9,451,6778,0.00,2.38,0.00,0.000,1030,0.000,0.041,2605,2146,2112,2138,2087,0,0,0,0,0,0,14.20,14.11,14.21,6.23,49.33
$GC,7090,0.64,146.0,2605,2146,2131,2081,215.4,10.6,467,7093,0.00,2.47,0.00,0.000,516,0.000,0.067,2616,746,2105,2130,2081,0,0,0,0,0,0,14.58,14.21,14.58,6.23,50.78
$GC,7130,0.64,146.0,2616,746,2127,2082,211.8,10.5,469,7133,0.00,2.40,0.00,0.000,5126,0.000,0.054,2616,2142,2104,2127,2081,0,0,0,0,0,0,14.40,14.26,14.42,6.23,50.51
$GC,7440,0.64,146.0,2616,2143,2126,2074,176.6,11.3,485,7443,0.00,2.53,0.00,0.000,4356,0.000,0.085,2624,3562,2102,2126,2078,0,0,0,0,0,0,14.69,14.24,14.69,6.23,50.98
$GC,7535,0.64,146.0,2617,3563,2127,2077,167.3,11.6,489,7539,0.08,2.38,0.00,0.000,5126,0.343,0.042,2601,2143,2102,2126,2078,0,0,0,0,0,0,14.10,14.38,14.38,6.23,50.98
$GC,7856,0.64,146.0,2602,2144,2126,2078,131.1,11.1,506,7862,0.00,2.45,0.00,0.000,516,0.000,0.067,2611,741,2101,2125,2077,0,0,0,0,0,0,14.73,14.35,14.74,6.22,50.86
$GC,7950,0.64,146.0,2612,742,2123,2076,122.5,10.7,510,7953,0.00,2.40,0.00,0.000,5126,0.000,0.054,2610,2152,2099,2122,2076,0,0,0,0,0,0,14.53,14.37,14.56,6.23,50.98
$GC,8255,0.64,146.0,2610,2152,2122,2077,86.4,11.1,544,8258,0.00,2.47,0.00,0.000,4356,0.000,0.086,2611,3555,2099,2122,2076,0,0,0,0,0,0,14.78,14.33,14.78,6.21,50.51
$GC,8310,0.64,146.0,2611,3554,2122,2077,80.2,11.0,555,8313,0.05,2.35,0.00,0.000,5126,0.405,0.043,2605,2140,2098,2121,2076,0,0,0,0,0,0,14.16,14.45,14.44,6.22,50.66
$GC,8437,0.64,146.0,2605,2141,2122,2077,67.7,9.9,580,8443,0.00,2.42,0.00,0.000,516,0.000,0.066,2614,745,2099,2122,2076,0,0,0,0,0,0,14.76,14.36,14.76,6.21,50.11
$GC,8500,0.64,146.0,2615,746,2122,2076,61.3,9.8,593,8504,0.00,2.40,0.00,0.000,5126,0.000,0.054,2614,2162,2098,2120,2076,0,0,0,0,0,0,14.54,14.41,14.57,6.21,49.60
$GC,8627,0.64,146.0,2615,2162,2121,2077,48.8,11.0,618,8632,0.00,2.45,0.00,0.000,4356,0.000,0.086,2615,3551,2098,2120,2076,0,0,0,0,0,0,14.76,14.33,14.76,6.20,49.64
$GC,8670,0.64,146.0,2615,3552,2121,2077,44.0,10.0,627,8673,0.08,2.33,0.00,0.000,5126,0.345,0.044,2598,2149,2098,2120,2076,0,0,0,0,0,0,14.14,14.44,14.43,6.20,50.07
$GC,8796,0.64,146.0,2602,2149,2121,2076,33.3,8.4,652,8803,0.00,2.45,0.00,0.000,2564,0.000,0.066,2608,741,2098,2120,2076,0,0,0,0,0,0,14.76,14.35,14.76,6.20,49.92
$GC,8870,0.66,167.5,2609,741,2121,2075,27.4,7.5,667,8888,0.00,2.40,14.10,1.291,11270,0.000,0.054,2609,2155,2035,2055,2016,0,0,0,0,0,0,14.54,14.40,13.73,6.20,49.60
$GC,9010,0.66,167.5,2609,2156,2052,2012,15.3,9.0,695,9013,0.00,2.47,0.00,0.000,2308,0.000,0.085,2609,3562,2031,2051,2011,0,0,0,0,0,0,14.70,14.31,14.70,6.20,50.15
$GC,9060,0.66,167.5,2609,3562,2052,2012,10.3,10.2,705,9064,0.00,2.35,0.00,0.000,5126,0.000,0.043,2619,2146,2031,2051,2011,0,0,0,0,0,0,14.51,14.40,14.54,6.20,50.19
$STATE,9132,end climb,SURFACE_DEPTH_REACHED
$STATE,9132,begin surface coast
$STATE,9164,end surface coast,CONTROL_FINISHED_OK
$STATE,9164,begin surface
$SM_CCo,9180,49.58,0.243,0,0,1823,220.03
$SM_GC,1.15,5.65,0.05,49.58,0.081,0.219,0.243,257,2082,1823,-6.46,1.05,220.03,0,0,0,0,0,0,14.50,14.45,14.12
$IRIDIUM_FIX,-5939.81,103.89,040219,055651
$TT8_MAMPS,0.038948,0.358022
$HUMID,49.96
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3676640
$24V_AH,13.20,92.068
$10V_AH,13.28,0.000
$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,13.425,87.500,268.650,49.575,0.000,24.017,15.600,139.146,0.000,0.000,20.645,0.000,7260.837,406.676,1676.655,243.395,0.000,1082.751,0.000,1213.957,0.000,0.539,0.000
$DEVICE_MAMPS,424.575,2206.260,1585.845,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5586.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.488,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,20752,726
$CAP_FILE_SIZE,97990,0
$CFSIZE,1023623168,972570624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.044,120.83,1
$GPS,040219,111331,-5944.067,0.939,15,0.8,38,-19.7,0.4,271.0,11,7.5