version: 66.14
glider: 640
mission: 5
dive: 262
start: 1 12 119 3 44 12
data:
$ID,640
$MISSION,5
$DIVE,262
$N_DIVES,500
$STOP_T,1171912
$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,42
$R_STBD_OVSHOOT,28
$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
$GPS1,120119,033830,-5952.9956,0.0125,36,1.1,41,-19.7,0.3,79.8,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-70.1
$GPS2,120119,034353,-5952.9727,0.0494,8,1.0,20,-19.7,0.0,20.3,8,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,9.6,24025,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-0.64,-146.0,219,2082,1797,1825,0.0,0.0,0,100,0.00,0.00,-87.78,0.000,16386,0.000,0.000,218,2082,3191,3271,3111,0,0,0,0,0,0,14.62,28.83,14.62,6.18,50.47
$GC,102,-0.64,-146.0,219,2082,3271,3112,3.3,-7.3,18,120,6.05,2.65,-4.62,0.000,18948,0.350,2.240,2185,705,3316,3410,3223,0,0,0,0,0,0,14.15,13.40,14.44,6.29,49.60
$GC,211,-0.64,-146.0,2185,705,3412,3223,22.6,-15.8,40,215,0.05,2.40,0.00,0.000,3078,0.444,0.057,2190,2101,3317,3410,3224,0,0,0,0,0,0,14.18,14.38,14.42,6.30,48.50
$GC,336,-0.64,-146.0,2190,2102,3412,3225,44.6,-18.7,65,339,0.00,0.00,0.00,0.000,2054,0.000,0.000,2189,2102,3321,3411,3232,0,0,0,0,0,0,14.64,14.64,14.64,6.30,49.76
$GC,460,-0.64,-146.0,2190,2102,3412,3225,66.6,-16.5,90,463,0.00,0.00,0.00,0.000,2054,0.000,0.000,2190,2101,3317,3411,3224,0,0,0,0,0,0,14.68,14.68,14.68,6.31,49.64
$GC,585,-0.64,-146.0,2190,2103,3412,3225,86.7,-16.0,115,588,0.00,0.00,0.00,0.000,2054,0.000,0.000,2190,2101,3317,3411,3224,0,0,0,0,0,0,14.70,14.71,14.71,6.30,49.25
$GC,715,-0.64,-146.0,2190,2102,3412,3225,105.8,-13.9,135,716,0.00,0.00,0.00,0.000,2054,0.000,0.000,2190,2102,3317,3411,3224,0,0,0,0,0,0,14.73,14.73,14.73,6.30,48.42
$GC,1015,-0.64,-146.0,2190,2102,3412,3224,139.7,-9.2,150,1016,0.00,0.00,0.00,0.000,2054,0.000,0.000,2190,2100,3317,3411,3224,0,0,0,0,0,0,14.77,14.77,14.77,6.30,49.96
$GC,1315,-0.64,-146.0,2190,2103,3411,3225,171.2,-11.0,165,1319,0.00,2.45,0.00,0.000,2564,0.000,0.063,2190,699,3317,3411,3224,0,0,0,0,0,0,14.80,14.50,14.80,6.31,50.43
$GC,1405,-0.64,-146.0,2190,700,3412,3225,180.2,-11.2,169,1410,0.00,2.42,0.00,0.000,3078,0.000,0.056,2179,2101,3317,3411,3224,0,0,0,0,0,0,14.57,14.51,14.60,6.31,50.82
$GC,1715,-0.64,-146.0,2180,2102,3412,3225,216.8,-11.6,185,1719,0.00,2.45,0.00,0.000,2308,0.000,0.083,2169,3509,3317,3411,3224,0,0,0,0,0,0,14.82,14.52,14.82,6.32,51.06
$GC,1775,-0.64,-146.0,2169,3510,3412,3224,224.0,-11.9,188,1780,0.05,2.35,0.00,0.000,3078,0.357,0.042,2187,2112,3317,3411,3223,0,0,0,0,0,0,14.31,14.56,14.49,6.31,52.08
$GC,2095,-0.64,-146.0,2187,2112,3412,3225,261.1,-11.9,204,2100,0.00,2.42,0.00,0.000,2564,0.000,0.063,2186,696,3317,3411,3224,0,0,0,0,0,0,14.83,14.56,14.83,6.38,52.00
$GC,2175,-0.64,-146.0,2187,697,3412,3225,270.7,-12.0,208,2180,0.03,2.42,0.00,0.000,3078,0.451,0.055,2184,2104,3317,3411,3224,0,0,0,0,0,0,14.33,14.53,14.48,6.33,51.37
$GC,2495,-0.64,-146.0,2186,2105,3411,3225,309.1,-12.2,224,2499,0.00,2.42,0.00,0.000,2308,0.000,0.083,2175,3506,3317,3411,3224,0,0,0,0,0,0,14.84,14.54,14.84,6.33,51.33
$GC,2530,-0.64,-146.0,2176,3506,3412,3224,311.7,-12.4,225,2534,0.05,2.38,0.00,0.000,3078,0.439,0.043,2191,2070,3317,3411,3224,0,0,0,0,0,0,14.35,14.59,14.61,6.33,51.22
$STATE,2834,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2834,begin apogee
$GC,2838,-0.15,0.0,2191,2168,3412,3223,351.1,-12.3,241,2969,0.45,0.00,127.00,1.561,10246,0.267,0.000,2347,2168,2715,2775,2656,0,0,0,0,0,0,14.38,13.95,13.34,6.33,51.81
$STATE,2970,end apogee,CONTROL_FINISHED_OK
$STATE,2970,begin loiter
$GC,3255,-0.15,0.0,2352,2169,2772,2643,348.8,2.9,262,3256,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2707,2772,2642,0,0,0,0,0,0,14.57,14.58,14.57,6.29,51.02
$GC,3555,-0.15,0.0,2352,2168,2772,2641,340.7,2.7,277,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2169,2705,2771,2640,0,0,0,0,0,0,14.72,14.72,14.72,6.29,51.77
$GC,3855,-0.15,0.0,2352,2169,2772,2640,332.6,2.7,292,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2704,2771,2638,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.02
$GC,4155,-0.15,0.0,2351,2169,2772,2639,324.4,2.9,307,4156,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2705,2772,2638,0,0,0,0,0,0,14.86,14.86,14.87,6.29,51.14
$GC,4455,-0.15,0.0,2351,2169,2772,2638,315.7,3.0,322,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2704,2771,2637,0,0,0,0,0,0,14.90,14.91,14.91,6.29,51.33
$GC,4755,-0.15,0.0,2352,2169,2772,2638,306.2,3.2,337,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2704,2772,2637,0,0,0,0,0,0,14.94,14.94,14.94,6.29,51.37
$GC,5055,-0.15,0.0,2352,2169,2773,2637,296.4,3.2,352,5056,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2169,2704,2772,2637,0,0,0,0,0,0,14.96,14.97,14.97,6.29,52.00
$GC,5355,-0.15,0.0,2352,2169,2773,2636,287.0,3.2,367,5356,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2169,2704,2772,2636,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.41
$GC,5656,-0.15,0.0,2351,2169,2772,2638,276.9,3.6,382,5656,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2704,2772,2636,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.53
$GC,5955,-0.15,0.0,2351,2169,2772,2637,265.8,3.9,397,5956,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2704,2772,2636,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.37
$GC,6255,-0.15,0.0,2352,2169,2773,2636,253.3,4.4,412,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2703,2771,2636,0,0,0,0,0,0,15.03,15.03,15.03,6.28,51.29
$GC,6555,-0.15,0.0,2352,2169,2772,2637,240.9,4.0,427,6556,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2704,2772,2636,0,0,0,0,0,0,15.04,15.04,15.04,6.28,51.45
$STATE,6574,end loiter,LOITER_COMPLETE
$STATE,6574,begin climb
$GC,6575,0.64,146.0,2351,2169,2772,2637,240.1,0.0,428,6715,0.60,2.62,130.45,1.409,11012,0.170,0.065,2604,745,2118,2143,2093,0,0,0,0,0,0,14.64,14.01,13.48,6.28,51.49
$GC,6755,0.64,146.0,2605,746,2138,2089,226.4,9.6,437,6759,0.00,2.47,0.00,0.000,1030,0.000,0.052,2604,2138,2113,2137,2089,0,0,0,0,0,0,14.16,14.12,14.19,6.23,49.44
$GC,7076,0.64,146.0,2605,2139,2132,2080,188.1,12.0,453,7079,0.00,2.53,0.00,0.000,260,0.000,0.083,2604,3559,2105,2132,2079,0,0,0,0,0,0,14.60,14.33,14.61,6.23,51.10
$GC,7155,0.64,146.0,2605,3560,2133,2079,179.3,11.7,457,7159,0.00,2.40,0.00,0.000,5126,0.000,0.043,2615,2135,2105,2132,2078,0,0,0,0,0,0,14.50,14.40,14.51,6.30,50.47
$GC,7470,0.64,146.0,2616,2135,2131,2076,140.1,12.3,473,7474,0.00,2.47,0.00,0.000,4612,0.000,0.067,2626,743,2103,2130,2076,0,0,0,0,0,0,14.72,14.42,14.72,6.24,50.74
$GC,7510,0.64,146.0,2622,743,2128,2077,135.3,12.2,475,7515,0.05,2.42,0.00,0.000,5126,0.298,0.053,2607,2144,2101,2127,2076,0,0,0,0,0,0,14.28,14.45,14.43,6.24,50.82
$GC,7830,0.64,146.0,2607,2144,2128,2075,99.2,10.2,491,7834,0.00,2.50,0.00,0.000,4356,0.000,0.082,2607,3568,2100,2126,2075,0,0,0,0,0,0,14.78,14.48,14.78,6.23,50.51
$GC,7885,0.64,146.0,2607,3569,2128,2075,93.1,10.7,502,7889,0.00,2.40,0.00,0.000,5126,0.000,0.043,2615,2152,2099,2127,2072,0,0,0,0,0,0,14.56,14.51,14.59,6.22,50.59
$GC,8011,0.64,146.0,2615,2153,2127,2076,79.8,10.8,527,8015,0.00,2.45,0.00,0.000,4612,0.000,0.067,2627,742,2100,2126,2075,0,0,0,0,0,0,14.78,14.51,14.78,6.21,49.60
$GC,8045,0.64,146.0,2627,743,2126,2075,76.0,10.5,534,8050,0.05,2.45,0.00,0.000,5126,0.295,0.054,2607,2164,2100,2126,2074,0,0,0,0,0,0,14.33,14.50,14.61,6.22,49.88
$GC,8171,0.64,146.0,2607,2165,2127,2074,63.3,10.3,559,8174,0.00,2.42,0.00,0.000,4356,0.000,0.083,2607,3557,2100,2126,2074,0,0,0,0,0,0,14.79,14.50,14.79,6.21,49.68
$GC,8215,0.64,146.0,2607,3554,2126,2075,58.4,10.5,568,8219,0.00,2.38,0.00,0.000,5126,0.000,0.043,2615,2151,2100,2127,2074,0,0,0,0,0,0,14.57,14.51,14.59,6.21,49.21
$GC,8340,0.64,146.0,2615,2152,2126,2075,45.6,10.0,593,8344,0.00,0.00,0.00,0.000,4102,0.000,0.000,2616,2146,2100,2126,2074,0,0,0,0,0,0,14.81,14.79,14.80,6.20,49.21
$GC,8465,0.64,146.0,2616,2152,2126,2074,33.3,9.2,618,8469,0.00,2.45,0.00,0.000,4356,0.000,0.080,2616,3554,2099,2126,2073,0,0,0,0,0,0,14.81,14.52,14.81,6.21,49.33
$GC,8490,0.64,146.0,2616,3556,2126,2074,30.9,10.0,623,8494,0.08,2.38,0.00,0.000,5126,0.288,0.043,2599,2148,2096,2119,2073,0,0,0,0,0,0,14.35,14.54,14.50,6.21,49.44
$GC,8616,0.64,146.0,2599,2148,2127,2072,20.3,8.5,648,8620,0.00,2.42,0.00,0.000,2564,0.000,0.067,2608,745,2098,2125,2072,0,0,0,0,0,0,14.81,14.53,14.81,6.20,49.72
$GC,8660,0.64,146.0,2609,745,2126,2071,16.6,8.3,657,8665,0.00,2.40,0.00,0.000,5126,0.000,0.053,2608,2144,2098,2125,2072,0,0,0,0,0,0,14.58,14.52,14.61,6.20,49.92
$GC,8787,0.64,146.0,2609,2143,2126,2072,5.7,9.2,682,8790,0.00,2.47,0.00,0.000,4356,0.000,0.083,2608,3559,2098,2125,2072,0,0,0,0,0,0,14.81,14.52,14.81,6.21,50.70
$STATE,8814,end climb,SURFACE_DEPTH_REACHED
$STATE,8814,begin surface coast
$STATE,8819,end surface coast,CONTROL_FINISHED_OK
$STATE,8819,begin surface
$SM_CCo,8835,66.53,0.242,0,0,1821,220.03
$SM_GC,1.22,5.85,2.50,66.53,0.147,0.044,0.242,225,2092,1821,-6.44,0.99,220.03,0,0,0,0,0,0,14.66,14.59,14.31
$IRIDIUM_FIX,-5954.50,0.00,120119,010431
$TT8_MAMPS,0.038948,0.343791
$HUMID,49.88
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3786720
$24V_AH,13.34,53.222
$10V_AH,13.55,0.000
$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,13.300,68.675,257.450,66.525,0.000,26.529,38.842,118.900,0.000,0.000,21.606,0.000,7090.375,419.480,1577.190,140.940,0.000,1036.767,0.000,1122.053,0.000,0.541,0.000
$DEVICE_MAMPS,451.350,2239.920,1561.365,241.740,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5214.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.886,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17349,689
$CAP_FILE_SIZE,90368,0
$CFSIZE,1023623168,993722368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.003,75.90,1
$GPS,120119,061336,-5952.462,-0.250,33,0.8,38,-19.7,0.3,359.0,9,9.6