version: 66.14
glider: 640
mission: 5
dive: 292
start: 1 15 119 8 16 9
data:
$ID,640
$MISSION,5
$DIVE,292
$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,55
$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
$GPS1,150119,081033,-5944.0259,2.5741,40,0.7,42,-19.8,0.0,36.5,12,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.2
$GPS2,150119,081551,-5944.0420,2.6136,8,0.7,13,-19.8,0.0,174.4,11,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,360.0,7875,-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,8,begin dive
$GC,11,-0.64,-146.0,216,2083,1794,1826,0.0,0.0,0,101,0.00,0.00,-87.65,0.000,16386,0.000,0.000,215,2083,3204,3283,3125,0,0,0,0,0,0,14.61,28.83,14.66,6.18,50.47
$GC,103,-0.64,-146.0,216,2083,3285,3124,3.3,-7.2,18,118,6.12,2.78,-4.12,0.000,18692,0.355,2.250,2183,3503,3316,3409,3223,0,0,0,0,0,0,14.12,13.38,14.42,6.30,49.29
$GC,172,-0.64,-146.0,2183,3505,3411,3224,16.3,-18.2,32,177,0.00,2.35,0.00,0.000,3078,0.000,0.041,2182,2127,3316,3410,3223,0,0,0,0,0,0,14.41,14.38,14.45,6.31,48.66
$GC,297,-0.64,-146.0,2182,2126,3412,3223,38.0,-17.7,57,301,0.00,2.50,0.00,0.000,2564,0.000,0.064,2181,690,3317,3411,3223,0,0,0,0,0,0,14.64,14.38,14.64,6.31,48.85
$GC,387,-0.64,-146.0,2183,691,3411,3224,54.7,-17.6,75,391,0.08,2.42,0.00,0.000,3078,0.362,0.057,2196,2104,3317,3411,3223,0,0,0,0,0,0,14.21,14.41,14.45,6.32,48.93
$GC,513,-0.64,-146.0,2194,2105,3411,3224,74.1,-16.1,100,517,0.00,2.47,0.00,0.000,260,0.000,0.083,2186,3514,3317,3412,3223,0,0,0,0,0,0,14.68,14.38,14.68,6.31,48.77
$GC,587,-0.64,-146.0,2187,3519,3412,3224,86.1,-14.6,115,591,0.00,2.40,0.00,0.000,3078,0.000,0.041,2186,2095,3317,3411,3224,0,0,0,0,0,0,14.48,14.43,14.51,6.31,49.40
$GC,727,-0.64,-146.0,2186,2094,3412,3225,106.1,-14.4,137,728,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2093,3318,3411,3225,0,0,0,0,0,0,14.72,14.72,14.72,6.31,48.50
$GC,1027,-0.64,-146.0,2186,2094,3413,3224,148.1,-13.9,152,1032,0.00,2.40,0.00,0.000,2564,0.000,0.062,2185,696,3318,3412,3224,0,0,0,0,0,0,14.76,14.49,14.76,6.32,49.72
$GC,1137,-0.64,-146.0,2185,697,3412,3224,161.5,-13.2,157,1141,0.05,2.42,0.00,0.000,3078,0.353,0.055,2192,2103,3317,3411,3224,0,0,0,0,0,0,14.23,14.47,14.54,6.32,50.23
$GC,1447,-0.64,-146.0,2192,2103,3412,3224,201.4,-12.4,173,1448,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2103,3317,3411,3224,0,0,0,0,0,0,14.79,14.79,14.79,6.33,50.66
$GC,1747,-0.64,-146.0,2192,2103,3412,3224,240.2,-13.3,188,1751,0.00,2.42,0.00,0.000,2564,0.000,0.061,2192,691,3316,3410,3223,0,0,0,0,0,0,14.81,14.53,14.81,6.33,50.82
$GC,1772,-0.64,-146.0,2192,691,3412,3225,242.9,-13.4,189,1776,0.00,2.42,0.00,0.000,3078,0.000,0.055,2182,2097,3317,3411,3223,0,0,0,0,0,0,14.57,14.50,14.59,6.33,50.59
$GC,2087,-0.64,-146.0,2183,2097,3412,3223,287.3,-14.1,205,2091,0.00,2.45,0.00,0.000,2308,0.000,0.081,2171,3508,3317,3411,3223,0,0,0,0,0,0,14.82,14.52,14.82,6.34,51.33
$GC,2122,-0.64,-146.0,2172,3509,3411,3223,292.3,-14.1,207,2127,0.08,2.33,0.00,0.000,3078,0.369,0.041,2197,2095,3317,3411,3224,0,0,0,0,0,0,14.32,14.57,14.58,6.34,51.10
$GC,2442,-0.64,-146.0,2197,2094,3412,3224,334.3,-12.8,223,2446,0.00,2.40,0.00,0.000,516,0.000,0.063,2196,692,3317,3411,3223,0,0,0,0,0,0,14.83,14.54,14.83,6.34,51.18
$GC,2497,-0.64,-146.0,2197,693,3412,3224,339.6,-13.0,225,2501,0.00,2.40,0.00,0.000,3078,0.000,0.054,2187,2092,3317,3411,3224,0,0,0,0,0,0,14.59,14.52,14.61,6.34,51.49
$STATE,2580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2580,begin apogee
$GC,2585,-0.15,0.0,2187,2180,3417,3225,352.2,-12.7,230,2713,0.45,0.00,125.57,1.571,10246,0.257,0.000,2345,2179,2718,2777,2659,0,0,0,0,0,0,14.34,13.93,13.32,6.36,50.90
$STATE,2714,end apogee,CONTROL_FINISHED_OK
$STATE,2714,begin loiter
$GC,3002,-0.15,0.0,2347,2180,2772,2643,348.9,3.5,251,3003,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2179,2707,2772,2642,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.90
$GC,3302,-0.15,0.0,2346,2180,2772,2641,337.6,4.0,266,3303,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2179,2705,2772,2639,0,0,0,0,0,0,14.72,14.72,14.72,6.28,50.59
$GC,3602,-0.15,0.0,2346,2180,2772,2639,325.1,4.3,281,3603,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2179,2705,2772,2638,0,0,0,0,0,0,14.81,14.81,14.81,6.29,50.90
$GC,3902,-0.15,0.0,2346,2179,2773,2638,312.2,4.3,296,3903,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2179,2705,2772,2638,0,0,0,0,0,0,14.85,14.86,14.85,6.29,51.18
$GC,4202,-0.15,0.0,2347,2179,2773,2637,299.4,4.1,311,4203,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2179,2704,2772,2637,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.57
$GC,4502,-0.15,0.0,2346,2180,2772,2638,287.2,4.0,326,4503,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2179,2704,2771,2637,0,0,0,0,0,0,14.93,14.93,14.93,6.29,51.85
$GC,4802,-0.15,0.0,2347,2179,2773,2637,275.8,3.8,341,4803,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2179,2704,2772,2637,0,0,0,0,0,0,14.95,14.95,14.96,6.29,50.94
$GC,5102,-0.15,0.0,2346,2180,2772,2637,264.9,3.7,356,5103,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2179,2704,2772,2636,0,0,0,0,0,0,14.97,14.98,14.98,6.29,51.29
$GC,5402,-0.15,0.0,2347,2180,2773,2636,253.3,3.9,371,5403,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2179,2703,2771,2636,0,0,0,0,0,0,14.99,14.99,15.00,6.29,51.85
$GC,5702,-0.15,0.0,2346,2180,2772,2637,242.1,3.8,386,5703,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2179,2703,2771,2636,0,0,0,0,0,0,15.01,15.01,15.01,6.29,51.14
$GC,6002,-0.15,0.0,2346,2180,2772,2637,230.6,3.8,401,6003,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2179,2703,2771,2636,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.37
$STATE,6300,end loiter,LOITER_COMPLETE
$STATE,6300,begin climb
$GC,6302,0.64,146.0,2346,2180,2772,2638,219.5,0.0,416,6439,0.62,2.45,129.27,1.391,10500,0.174,0.081,2596,3531,2121,2146,2097,0,0,0,0,0,0,14.59,13.93,13.47,6.28,51.06
$GC,6468,0.64,146.0,2596,3532,2147,2092,208.2,8.5,423,6472,0.00,2.38,0.00,0.000,1030,0.000,0.041,2606,2159,2118,2145,2092,0,0,0,0,0,0,14.15,14.11,14.17,6.24,48.85
$GC,6778,0.64,146.0,2607,2160,2136,2084,169.3,12.3,439,6782,0.00,2.50,0.00,0.000,516,0.000,0.065,2617,742,2108,2135,2082,0,0,0,0,0,0,14.59,14.33,14.59,6.24,50.74
$GC,6833,0.64,146.0,2618,742,2133,2082,164.6,11.9,441,6837,0.00,2.40,0.00,0.000,5126,0.000,0.053,2617,2117,2106,2132,2081,0,0,0,0,0,0,14.40,14.34,14.42,6.24,50.43
$GC,7138,0.64,146.0,2618,2118,2131,2080,124.7,12.5,457,7142,0.00,2.55,0.00,0.000,4356,0.000,0.083,2617,3568,2104,2131,2078,0,0,0,0,0,0,14.71,14.40,14.71,6.24,50.70
$GC,7243,0.64,146.0,2618,3569,2132,2078,112.9,11.4,462,7247,0.05,2.40,0.00,0.000,5126,0.334,0.041,2609,2152,2108,2131,2085,0,0,0,0,0,0,14.23,14.45,14.39,6.24,50.82
$GC,7549,0.64,146.0,2609,2153,2131,2078,81.7,9.0,506,7552,0.00,2.45,0.00,0.000,4612,0.000,0.064,2619,738,2103,2130,2077,0,0,0,0,0,0,14.76,14.47,14.76,6.23,50.39
$GC,7628,0.64,146.0,2619,740,2128,2078,74.7,9.0,522,7632,0.00,2.45,0.00,0.000,5126,0.000,0.052,2620,2162,2101,2127,2076,0,0,0,0,0,0,14.63,14.46,14.64,6.23,50.59
$GC,7755,0.64,146.0,2620,2162,2129,2076,62.0,10.3,547,7758,0.00,2.42,0.00,0.000,4356,0.000,0.083,2619,3552,2102,2128,2076,0,0,0,0,0,0,14.77,14.47,14.77,6.22,50.07
$GC,7833,0.64,146.0,2620,3552,2129,2076,53.0,11.2,563,7838,0.05,2.38,0.00,0.000,5126,0.323,0.041,2610,2144,2101,2126,2076,0,0,0,0,0,0,14.28,14.52,14.45,6.22,49.40
$GC,7960,0.64,146.0,2611,2148,2129,2076,40.4,9.9,588,7963,0.00,2.45,0.00,0.000,4356,0.000,0.080,2610,3552,2101,2127,2076,0,0,0,0,0,0,14.78,14.49,14.78,6.22,49.40
$GC,7988,0.64,146.0,2610,3553,2128,2077,37.4,9.9,594,7993,0.00,2.35,0.00,0.000,5126,0.000,0.043,2619,2157,2101,2127,2076,0,0,0,0,0,0,14.57,14.52,14.58,6.22,49.40
$GC,8115,0.64,146.0,2620,2157,2128,2077,25.7,10.4,619,8118,0.00,2.45,0.00,0.000,4612,0.000,0.065,2630,738,2101,2127,2076,0,0,0,0,0,0,14.79,14.50,14.78,6.22,49.64
$GC,8158,0.64,146.0,2630,739,2127,2077,21.3,9.7,628,8163,0.08,2.42,0.00,0.000,5126,0.274,0.054,2585,2148,2101,2126,2076,0,0,0,0,0,0,14.34,14.49,14.59,6.22,49.52
$GC,8283,0.65,153.1,2586,2149,2128,2075,11.5,8.1,653,8288,0.00,2.47,0.00,0.000,2308,0.000,0.085,2585,3561,2100,2126,2075,0,0,0,0,0,0,14.80,14.48,14.80,6.21,50.43
$GC,8373,0.65,153.1,2585,3562,2127,2078,3.7,8.8,671,8377,0.00,2.38,0.00,0.000,3078,0.000,0.042,2594,2154,2100,2126,2075,0,0,0,0,0,0,14.57,14.52,14.59,6.21,50.23
$STATE,8382,end climb,SURFACE_DEPTH_REACHED
$STATE,8382,begin surface coast
$STATE,8417,end surface coast,CONTROL_FINISHED_OK
$STATE,8417,begin surface
$SM_CCo,8430,66.45,0.239,0,0,1821,220.03
$SM_GC,1.15,5.43,0.08,66.45,0.065,0.161,0.239,267,2064,1821,-6.44,1.05,220.03,0,0,0,0,0,0,14.64,14.56,14.28
$IRIDIUM_FIX,-5943.02,4.27,150119,053556
$TT8_MAMPS,0.038199,0.165529
$HUMID,50.11
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3771360
$24V_AH,13.32,58.490
$10V_AH,13.50,0.000
$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,13.000,73.250,254.850,66.450,0.000,25.266,30.721,122.550,0.000,0.000,14.374,0.000,6714.009,406.324,1546.010,150.089,0.000,1014.198,0.000,1105.185,0.000,0.539,0.000
$DEVICE_MAMPS,369.495,2249.865,1571.310,239.445,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4831.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.801,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17326,680
$CAP_FILE_SIZE,88866,0
$CFSIZE,1023623168,990773248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.089,164.38,1
$GPS,150119,103851,-5943.991,2.532,15,1.1,40,-19.8,0.3,119.7,8,8.9