version: 66.14
glider: 640
mission: 5
dive: 277
start: 1 13 119 17 58 39
data:
$ID,640
$MISSION,5
$DIVE,277
$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,65
$R_STBD_OVSHOOT,30
$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
$GPS1,130119,175251,-5947.3022,1.7361,40,0.8,43,-19.7,0.0,48.8,11,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-67.9
$GPS2,130119,175821,-5947.2793,1.7663,9,0.8,14,-19.7,1.0,47.9,10,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,3.6,13582,-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,-146.0,232,2068,1793,1827,0.0,0.0,0,101,0.00,0.00,-87.65,0.000,16386,0.000,0.000,232,2068,3249,3330,3168,0,0,0,0,0,0,14.61,28.83,14.62,6.19,50.82
$GC,103,-0.64,-146.0,233,2067,3330,3170,3.7,-8.3,18,116,6.07,2.58,-2.45,0.000,18948,0.356,2.233,2194,719,3318,3409,3227,0,0,0,0,0,0,14.13,13.16,14.43,6.30,50.07
$GC,186,-0.64,-146.0,2195,719,3413,3227,19.6,-17.0,35,191,0.00,2.40,0.00,0.000,3078,0.000,0.059,2184,2097,3319,3411,3227,0,0,0,0,0,0,14.41,14.34,14.44,6.31,48.77
$GC,311,-0.64,-146.0,2184,2090,3413,3227,41.6,-17.4,60,315,0.00,2.47,0.00,0.000,2308,0.000,0.083,2178,3502,3318,3409,3227,0,0,0,0,0,0,14.65,14.38,14.66,6.32,49.25
$GC,351,-0.64,-146.0,2174,3502,3413,3227,48.6,-17.3,68,355,0.05,2.33,0.00,0.000,3078,0.341,0.042,2190,2135,3319,3411,3227,0,0,0,0,0,0,14.18,14.42,14.35,6.32,49.48
$GC,477,-0.64,-146.0,2191,2134,3412,3227,67.3,-14.6,93,481,0.00,2.50,0.00,0.000,2564,0.000,0.062,2190,692,3319,3412,3227,0,0,0,0,0,0,14.69,14.43,14.69,6.31,50.19
$GC,561,-0.64,-146.0,2191,692,3412,3228,79.4,-13.7,110,565,0.00,2.45,0.00,0.000,3078,0.000,0.057,2181,2099,3319,3412,3226,0,0,0,0,0,0,14.48,14.42,14.51,6.31,49.05
$GC,687,-0.64,-146.0,2181,2099,3413,3228,96.2,-13.8,135,691,0.00,2.45,0.00,0.000,2308,0.000,0.083,2170,3505,3319,3412,3227,0,0,0,0,0,0,14.71,14.43,14.72,6.31,48.34
$GC,731,-0.64,-146.0,2170,3505,3412,3228,102.0,-14.6,142,735,0.05,2.38,0.00,0.000,3078,0.347,0.043,2188,2101,3319,3412,3227,0,0,0,0,0,0,14.23,14.46,14.53,6.31,48.97
$GC,1046,-0.64,-146.0,2189,2100,3413,3227,145.6,-13.6,158,1047,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2099,3319,3412,3227,0,0,0,0,0,0,14.78,14.78,14.77,6.31,49.72
$GC,1347,-0.64,-146.0,2189,2100,3413,3227,186.2,-13.4,173,1350,0.00,2.40,0.00,0.000,2564,0.000,0.061,2188,691,3319,3412,3227,0,0,0,0,0,0,14.80,14.52,14.80,6.32,50.51
$GC,1381,-0.64,-146.0,2189,697,3412,3227,188.9,-13.4,174,1385,0.00,2.42,0.00,0.000,3078,0.000,0.055,2178,2102,3319,3412,3227,0,0,0,0,0,0,14.56,14.50,14.59,6.32,50.51
$GC,1687,-0.64,-146.0,2178,2103,3412,3228,233.3,-14.2,190,1688,0.05,0.00,0.00,0.000,2054,0.464,0.000,2192,2102,3319,3412,3227,0,0,0,0,0,0,14.33,14.59,14.54,6.32,50.90
$GC,1986,-0.64,-146.0,2192,2103,3412,3228,274.5,-13.6,205,1987,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2102,3319,3412,3227,0,0,0,0,0,0,14.83,14.84,14.85,6.33,51.06
$GC,2286,-0.64,-146.0,2192,2103,3413,3228,314.5,-13.1,220,2287,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2102,3319,3412,3227,0,0,0,0,0,0,14.85,14.85,14.85,6.33,51.02
$STATE,2565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2565,begin apogee
$GC,2569,-0.15,0.0,2192,2169,3412,3228,350.7,-12.8,234,2698,0.45,0.00,125.38,1.566,10246,0.262,0.000,2353,2169,2718,2779,2658,0,0,0,0,0,0,14.38,13.96,13.34,6.34,51.29
$STATE,2699,end apogee,CONTROL_FINISHED_OK
$STATE,2699,begin loiter
$GC,2986,-0.15,0.0,2353,2169,2774,2644,348.8,3.0,255,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2169,2709,2774,2644,0,0,0,0,0,0,14.57,14.59,14.58,6.28,50.43
$GC,3286,-0.15,0.0,2353,2169,2775,2642,340.3,2.9,270,3287,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2169,2707,2773,2641,0,0,0,0,0,0,14.73,14.73,14.73,6.29,50.63
$GC,3586,-0.15,0.0,2353,2170,2774,2641,332.1,2.8,285,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2169,2707,2773,2641,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.14
$GC,3887,-0.15,0.0,2353,2169,2775,2641,324.9,2.4,300,3887,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2169,2706,2773,2640,0,0,0,0,0,0,14.87,14.87,14.87,6.29,51.10
$GC,4186,-0.15,0.0,2353,2169,2774,2640,318.1,2.3,315,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2169,2706,2773,2640,0,0,0,0,0,0,14.91,14.91,14.91,6.29,51.69
$GC,4486,-0.15,0.0,2353,2169,2774,2640,310.8,2.6,330,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2169,2706,2773,2639,0,0,0,0,0,0,14.94,14.95,14.95,6.29,51.14
$GC,4786,-0.15,0.0,2353,2169,2775,2639,302.7,2.9,345,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2169,2706,2773,2639,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.37
$GC,5086,-0.15,0.0,2353,2170,2774,2640,293.8,3.1,360,5087,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2169,2706,2773,2639,0,0,0,0,0,0,14.99,14.99,14.99,6.29,51.26
$GC,5387,-0.15,0.0,2353,2169,2774,2640,285.3,2.8,375,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2169,2706,2773,2639,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.33
$GC,5686,-0.15,0.0,2353,2170,2774,2640,277.6,2.6,390,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2169,2706,2773,2640,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.89
$GC,5986,-0.15,0.0,2353,2169,2774,2640,270.3,2.4,405,5987,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2169,2706,2773,2639,0,0,0,0,0,0,15.03,15.03,15.03,6.28,51.45
$STATE,6285,end loiter,LOITER_COMPLETE
$STATE,6285,begin climb
$GC,6286,0.64,146.0,2353,2169,2774,2638,262.4,0.0,420,6427,0.60,2.60,130.27,1.433,10756,0.162,0.063,2608,750,2116,2140,2093,0,0,0,0,0,0,14.64,14.00,13.46,6.28,51.89
$GC,6506,0.64,146.0,2609,751,2135,2086,245.8,10.1,431,6510,0.00,2.42,0.00,0.000,5126,0.000,0.051,2608,2123,2110,2134,2086,0,0,0,0,0,0,14.20,14.14,14.21,6.24,49.52
$GC,6826,0.64,146.0,2608,2124,2131,2078,205.8,12.9,447,6831,0.00,2.42,0.00,0.000,4612,0.000,0.064,2618,742,2103,2129,2078,0,0,0,0,0,0,14.62,14.31,14.62,6.24,50.86
$GC,6952,0.64,146.0,2619,743,2128,2077,191.6,11.5,453,6955,0.00,2.40,0.00,0.000,5126,0.000,0.053,2618,2151,2102,2127,2077,0,0,0,0,0,0,14.52,14.40,14.53,6.24,50.55
$GC,7266,0.64,146.0,2618,2153,2127,2076,149.2,13.3,469,7270,0.00,2.47,0.00,0.000,4356,0.000,0.084,2618,3559,2100,2125,2075,0,0,0,0,0,0,14.73,14.43,14.73,6.24,50.98
$GC,7352,0.64,146.0,2619,3560,2127,2077,138.8,13.1,473,7356,0.08,2.35,0.00,0.000,5126,0.356,0.041,2603,2146,2100,2126,2075,0,0,0,0,0,0,14.31,14.50,14.54,6.23,50.74
$GC,7666,0.64,146.0,2604,2146,2127,2074,103.9,10.3,489,7670,0.00,2.47,0.00,0.000,260,0.000,0.080,2604,3558,2100,2126,2074,0,0,0,0,0,0,14.78,14.47,14.79,6.22,50.59
$GC,7711,0.64,146.0,2604,3560,2126,2075,99.2,10.6,492,7715,0.00,2.38,0.00,0.000,5126,0.000,0.041,2613,2155,2099,2125,2074,0,0,0,0,0,0,14.57,14.53,14.59,6.23,51.14
$GC,7837,0.64,146.0,2613,2155,2126,2075,85.4,10.9,517,7841,0.00,2.45,0.00,0.000,4612,0.000,0.066,2624,741,2099,2125,2074,0,0,0,0,0,0,14.79,14.51,14.79,6.23,50.31
$GC,7886,0.64,146.0,2624,742,2124,2074,80.1,10.4,527,7891,0.05,2.42,0.00,0.000,5126,0.293,0.053,2604,2153,2098,2123,2073,0,0,0,0,0,0,14.29,14.46,14.45,6.22,50.03
$GC,8012,0.64,146.0,2606,2153,2125,2073,67.6,10.4,552,8015,0.00,2.45,0.00,0.000,260,0.000,0.083,2604,3555,2098,2124,2073,0,0,0,0,0,0,14.79,14.50,14.80,6.21,49.80
$GC,8041,0.64,146.0,2604,3556,2123,2074,64.3,11.1,558,8046,0.00,2.38,0.00,0.000,5126,0.000,0.043,2613,2149,2098,2123,2073,0,0,0,0,0,0,14.59,14.54,14.60,6.21,49.40
$GC,8167,0.64,146.0,2614,2151,2123,2074,50.5,11.0,583,8171,0.00,2.45,0.00,0.000,4612,0.000,0.066,2624,740,2097,2123,2072,0,0,0,0,0,0,14.80,14.52,14.80,6.21,49.17
$GC,8226,0.64,146.0,2625,740,2124,2072,44.7,9.4,595,8231,0.05,2.40,0.00,0.000,5126,0.397,0.053,2607,2165,2097,2122,2072,0,0,0,0,0,0,14.35,14.50,14.60,6.21,49.25
$GC,8352,0.64,146.0,2607,2165,2123,2073,33.4,9.0,620,8354,0.00,0.00,0.00,0.000,4102,0.000,0.000,2607,2164,2097,2123,2072,0,0,0,0,0,0,14.81,14.81,14.81,6.20,49.52
$GC,8476,0.64,146.0,2607,2165,2123,2073,22.5,8.5,645,8480,0.00,0.00,0.00,0.000,4102,0.000,0.000,2607,2164,2096,2122,2071,0,0,0,0,0,0,14.82,14.82,14.82,6.20,50.07
$GC,8602,0.65,159.8,2606,2165,2123,2071,12.1,7.8,670,8612,0.00,2.42,6.80,0.317,8452,0.000,0.080,2607,3555,2063,2088,2039,0,0,0,0,0,0,14.81,14.43,14.23,6.20,50.03
$GC,8647,0.65,159.8,2606,3554,2088,2041,7.9,9.8,679,8650,0.00,2.38,0.00,0.000,1030,0.000,0.043,2615,2149,2066,2092,2040,0,0,0,0,0,0,14.58,14.52,14.57,6.20,50.23
$STATE,8710,end climb,SURFACE_DEPTH_REACHED
$STATE,8710,begin surface coast
$STATE,8756,end surface coast,CONTROL_FINISHED_OK
$STATE,8756,begin surface
$SM_CCo,8769,58.00,0.243,0,0,1823,220.03
$SM_GC,1.24,5.45,0.08,58.00,0.060,0.165,0.243,253,2063,1823,-6.45,0.90,220.03,0,0,0,0,0,0,14.66,14.57,14.31
$IRIDIUM_FIX,-5947.82,8.55,130119,152125
$TT8_MAMPS,0.03745,0.313082
$HUMID,50.43
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3779040
$24V_AH,13.16,55.857
$10V_AH,13.66,0.000
$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,12.900,63.400,262.450,58.000,0.000,26.330,41.951,126.368,0.000,0.000,15.349,0.000,7031.983,401.061,1582.023,144.244,0.000,1017.031,0.000,1125.282,0.000,0.539,0.000
$DEVICE_MAMPS,463.590,2233.035,1565.955,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5169.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.575,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17296,701
$CAP_FILE_SIZE,88608,0
$CFSIZE,1023623168,992247808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.022,222.21,1
$GPS,130119,202649,-5946.834,1.392,16,0.8,39,-19.7,0.0,345.2,11,6.7