version: 66.14
glider: 640
mission: 5
dive: 273
start: 1 13 119 7 47 17
data:
$ID,640
$MISSION,5
$DIVE,273
$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,49
$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
$GPS1,130119,074134,-5948.5952,0.9981,14,0.8,34,-19.7,0.3,68.9,12,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-68.6
$GPS2,130119,074659,-5948.5830,0.9695,9,0.8,15,-19.7,0.0,39.3,11,9.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,19.1,15921,-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,8,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.64,-146.0,232,2081,1799,1823,0.0,0.0,0,96,0.00,0.00,-82.65,0.000,16386,0.000,0.000,231,2081,3145,3226,3065,0,0,0,0,0,0,14.59,28.83,14.59,6.18,51.10
$GC,98,-0.64,-146.0,232,2082,3227,3067,3.3,-6.0,17,116,6.03,2.65,-6.45,0.000,18948,0.353,2.235,2193,709,3320,3413,3228,0,0,0,0,0,0,14.14,13.18,14.42,6.29,50.23
$GC,211,-0.64,-146.0,2193,715,3415,3225,22.6,-15.8,40,215,0.00,2.42,0.00,0.000,3078,0.000,0.056,2183,2101,3319,3414,3225,0,0,0,0,0,0,14.39,14.35,14.43,6.31,49.60
$GC,337,-0.64,-146.0,2183,2102,3415,3226,44.2,-17.3,65,341,0.00,2.47,0.00,0.000,2308,0.000,0.082,2172,3510,3319,3414,3225,0,0,0,0,0,0,14.64,14.38,14.65,6.31,50.07
$GC,361,-0.64,-146.0,2172,3510,3414,3226,48.5,-17.4,70,365,0.05,2.38,0.00,0.000,3078,0.356,0.043,2189,2115,3319,3414,3225,0,0,0,0,0,0,14.17,14.41,14.35,6.31,49.80
$GC,488,-0.64,-146.0,2190,2116,3414,3227,67.8,-15.1,95,491,0.00,2.45,0.00,0.000,2564,0.000,0.063,2189,696,3319,3414,3225,0,0,0,0,0,0,14.67,14.42,14.67,6.31,49.21
$GC,546,-0.64,-146.0,2189,697,3415,3225,76.8,-14.1,107,550,0.00,2.45,0.00,0.000,3078,0.000,0.057,2179,2104,3319,3414,3225,0,0,0,0,0,0,14.47,14.42,14.50,6.31,49.17
$GC,671,-0.64,-146.0,2180,2105,3413,3226,94.8,-14.9,132,675,0.00,2.45,0.00,0.000,2308,0.000,0.083,2169,3506,3319,3414,3225,0,0,0,0,0,0,14.71,14.43,14.73,6.30,48.81
$GC,716,-0.64,-146.0,2169,3506,3415,3225,100.9,-15.2,140,721,0.05,2.38,0.00,0.000,3078,0.358,0.043,2186,2100,3319,3414,3225,0,0,0,0,0,0,14.23,14.45,14.40,6.30,48.62
$GC,1031,-0.64,-146.0,2186,2100,3414,3226,148.0,-14.7,156,1035,0.00,2.45,0.00,0.000,2564,0.000,0.063,2186,701,3319,3414,3225,0,0,0,0,0,0,14.76,14.47,14.76,6.31,50.00
$GC,1056,-0.64,-146.0,2186,701,3414,3227,150.8,-14.4,157,1060,0.05,2.42,0.00,0.000,3078,0.360,0.056,2193,2102,3319,3414,3225,0,0,0,0,0,0,14.26,14.47,14.44,6.30,50.07
$GC,1372,-0.64,-146.0,2193,2102,3413,3226,193.1,-13.2,173,1372,0.00,0.00,0.00,0.000,2054,0.000,0.000,2193,2102,3319,3414,3225,0,0,0,0,0,0,14.79,14.79,14.79,6.31,51.37
$GC,1671,-0.64,-146.0,2193,2103,3410,3226,231.8,-12.9,188,1672,0.00,0.00,0.00,0.000,2054,0.000,0.000,2193,2102,3319,3414,3225,0,0,0,0,0,0,14.81,14.82,14.82,6.32,51.57
$GC,1971,-0.64,-146.0,2193,2102,3415,3225,270.5,-12.7,203,1972,0.00,0.00,0.00,0.000,2054,0.000,0.000,2193,2097,3319,3414,3225,0,0,0,0,0,0,14.83,14.83,14.83,6.33,52.32
$GC,2271,-0.64,-146.0,2194,2102,3415,3225,307.9,-12.4,218,2272,0.00,0.00,0.00,0.000,2054,0.000,0.000,2193,2102,3319,3414,3225,0,0,0,0,0,0,14.84,14.85,14.85,6.33,51.26
$GC,2572,-0.64,-146.0,2193,2103,3415,3226,344.9,-12.3,233,2575,0.00,2.42,0.00,0.000,2308,0.000,0.081,2182,3504,3319,3414,3225,0,0,0,0,0,0,14.85,14.55,14.85,6.34,51.69
$GC,2586,-0.64,-146.0,2183,3505,3415,3226,346.8,-12.3,234,2591,0.00,2.35,0.00,0.000,3078,0.000,0.041,2182,2096,3319,3414,3225,0,0,0,0,0,0,14.62,14.58,14.65,6.34,52.04
$STATE,2625,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2625,begin apogee
$GC,2629,-0.15,0.0,2183,2165,3415,3225,351.9,-12.6,236,2759,0.47,0.00,126.60,1.558,10246,0.264,0.000,2352,2165,2721,2781,2661,0,0,0,0,0,0,14.38,13.94,13.33,6.34,51.96
$STATE,2760,end apogee,CONTROL_FINISHED_OK
$STATE,2760,begin loiter
$GC,3046,-0.15,0.0,2351,2165,2775,2646,347.7,3.4,257,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2710,2775,2645,0,0,0,0,0,0,14.57,14.58,14.58,6.28,50.63
$GC,3346,-0.15,0.0,2352,2165,2775,2644,337.1,3.6,272,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2709,2775,2643,0,0,0,0,0,0,14.72,14.72,14.72,6.29,51.65
$GC,3646,-0.15,0.0,2352,2165,2775,2644,326.5,3.5,287,3647,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2708,2774,2642,0,0,0,0,0,0,14.81,14.81,14.81,6.28,51.14
$GC,3947,-0.15,0.0,2353,2165,2776,2641,316.3,3.3,302,3947,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2708,2775,2642,0,0,0,0,0,0,14.86,14.87,14.87,6.28,51.14
$GC,4246,-0.15,0.0,2352,2165,2776,2640,305.9,3.5,317,4247,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2708,2775,2641,0,0,0,0,0,0,14.90,14.91,14.91,6.29,51.37
$GC,4546,-0.15,0.0,2352,2165,2775,2641,294.8,3.8,332,4547,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2707,2775,2640,0,0,0,0,0,0,14.94,14.94,14.95,6.29,51.33
$GC,4846,-0.15,0.0,2352,2165,2775,2641,283.7,3.7,347,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2707,2775,2640,0,0,0,0,0,0,14.96,14.97,14.97,6.28,51.29
$GC,5146,-0.15,0.0,2352,2165,2776,2641,273.2,3.5,362,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2707,2775,2639,0,0,0,0,0,0,14.98,14.99,14.98,6.28,51.37
$GC,5447,-0.15,0.0,2352,2165,2776,2640,263.8,3.1,377,5447,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2708,2775,2641,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.69
$GC,5746,-0.15,0.0,2353,2165,2776,2640,255.2,2.8,392,5747,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2707,2775,2640,0,0,0,0,0,0,15.02,15.02,15.02,6.28,52.04
$GC,6046,-0.15,0.0,2353,2165,2775,2640,246.5,2.8,407,6047,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2707,2774,2640,0,0,0,0,0,0,15.03,15.03,15.03,6.28,51.29
$STATE,6345,end loiter,LOITER_COMPLETE
$STATE,6345,begin climb
$GC,6346,0.64,146.0,2353,2165,2777,2640,238.0,0.0,422,6488,0.60,2.55,131.25,1.401,10500,0.174,0.082,2594,3546,2118,2143,2093,0,0,0,0,0,0,14.63,14.00,13.47,6.28,51.57
$GC,6497,0.67,174.5,2595,3546,2143,2093,229.8,7.2,429,6530,0.00,2.42,27.58,1.364,11270,0.000,0.041,2605,2156,2003,2025,1981,0,0,0,0,0,0,14.11,14.07,13.43,6.24,49.56
$GC,6847,0.67,174.5,2606,2157,2017,1963,184.3,12.7,447,6851,0.00,2.50,0.00,0.000,2564,0.000,0.066,2616,740,1990,2014,1966,0,0,0,0,0,0,14.54,14.29,14.55,6.23,50.59
$GC,6907,0.67,174.5,2617,747,2014,1963,177.6,11.6,450,6911,0.00,2.45,0.00,0.000,1030,0.000,0.051,2617,2143,1988,2013,1963,0,0,0,0,0,0,14.37,14.31,14.40,6.23,50.55
$GC,7227,0.67,174.5,2618,2144,2012,1962,138.5,12.1,466,7231,0.00,2.50,0.00,0.000,260,0.000,0.082,2617,3562,1985,2011,1960,0,0,0,0,0,0,14.69,14.40,14.69,6.22,51.26
$GC,7302,0.67,174.5,2617,3562,2013,1961,131.8,11.5,469,7306,0.00,2.40,0.00,0.000,5126,0.000,0.042,2627,2142,1986,2012,1961,0,0,0,0,0,0,14.48,14.44,14.51,6.22,50.39
$GC,7607,0.67,174.5,2628,2142,2012,1959,95.5,11.6,488,7611,0.00,2.47,0.00,0.000,4356,0.000,0.078,2628,3556,1985,2012,1959,0,0,0,0,0,0,14.75,14.47,14.76,6.21,49.88
$GC,7692,0.67,174.5,2628,3557,2012,1960,85.9,11.2,505,7696,0.05,2.38,0.00,0.000,5126,0.327,0.042,2619,2146,1985,2011,1959,0,0,0,0,0,0,14.28,14.50,14.45,6.20,49.37
$GC,7818,0.67,174.5,2620,2148,2012,1959,72.1,11.0,530,7821,0.00,2.42,0.00,0.000,4612,0.000,0.066,2630,747,1984,2011,1958,0,0,0,0,0,0,14.76,14.50,14.76,6.20,49.44
$GC,7852,0.67,174.5,2629,748,2010,1959,68.7,10.0,537,7856,0.00,2.42,0.00,0.000,5126,0.000,0.053,2629,2155,1983,2009,1958,0,0,0,0,0,0,14.54,14.48,14.57,6.20,49.48
$GC,7978,0.67,174.5,2629,2155,2010,1957,54.8,11.0,562,7981,0.00,2.45,0.00,0.000,4356,0.000,0.083,2629,3555,1984,2010,1958,0,0,0,0,0,0,14.77,14.48,14.77,6.20,49.17
$GC,8037,0.67,174.5,2630,3555,2010,1958,47.8,11.3,574,8041,0.05,2.38,0.00,0.000,5126,0.328,0.042,2621,2143,1983,2009,1958,0,0,0,0,0,0,14.30,14.50,14.45,6.19,49.05
$GC,8163,0.67,174.5,2621,2144,2011,1957,34.3,11.3,599,8167,0.00,2.42,0.00,0.000,4612,0.000,0.066,2630,740,1983,2009,1957,0,0,0,0,0,0,14.77,14.50,14.78,6.19,49.33
$GC,8212,0.67,174.5,2631,739,2009,1956,28.8,10.6,609,8216,0.03,2.42,0.00,0.000,5126,0.393,0.052,2619,2151,1982,2008,1956,0,0,0,0,0,0,14.31,14.50,14.46,6.19,49.44
$GC,8338,0.67,174.5,2620,2152,2009,1957,14.9,11.0,634,8342,0.00,2.47,0.00,0.000,4356,0.000,0.083,2619,3568,1982,2008,1956,0,0,0,0,0,0,14.78,14.49,14.78,6.19,49.92
$GC,8392,0.67,174.5,2620,3561,2009,1957,9.1,10.6,645,8396,0.00,2.38,0.00,0.000,5126,0.000,0.041,2629,2146,1982,2008,1956,0,0,0,0,0,0,14.57,14.53,14.60,6.20,50.27
$STATE,8445,end climb,SURFACE_DEPTH_REACHED
$STATE,8445,begin surface coast
$STATE,8470,end surface coast,CONTROL_FINISHED_OK
$STATE,8470,begin surface
$SM_CCo,8483,38.28,0.247,0,0,1822,220.03
$SM_GC,1.32,5.50,0.05,38.28,0.063,0.218,0.247,273,2085,1822,-6.45,1.07,220.03,0,0,0,0,0,0,14.64,14.56,14.33
$IRIDIUM_FIX,-5949.69,4.28,130119,051105
$TT8_MAMPS,0.038199,0.245672
$HUMID,50.19
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3781088
$24V_AH,13.18,55.156
$10V_AH,13.65,0.000
$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,12.875,68.500,285.425,38.275,0.000,26.673,40.685,122.496,0.000,0.000,16.361,0.000,6820.769,399.744,1485.705,142.943,0.000,983.232,0.000,1040.502,0.000,0.539,0.000
$DEVICE_MAMPS,393.210,2235.330,1558.305,247.095,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4884.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.838,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,17349,661
$CAP_FILE_SIZE,85938,0
$CFSIZE,1023623168,992641024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.060,200.95,1
$GPS,130119,101025,-5948.345,0.867,12,0.9,41,-19.7,0.3,109.9,9,7.6