version: 66.14
glider: 640
mission: 5
dive: 392
start: 1 26 119 4 11 14
data:
$ID,640
$MISSION,5
$DIVE,392
$N_DIVES,600
$STOP_T,2051912
$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,41
$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
$GPS1,260119,040431,-6017.8960,0.3004,17,1.2,58,-19.7,0.7,275.9,7,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-60.3
$GPS2,260119,041055,-6017.8511,0.3699,9,1.0,37,-19.7,1.3,29.7,8,4.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,24.2,70101,-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,-146.0,213,2090,1653,1687,0.0,0.0,0,96,0.00,0.00,-82.32,0.000,16386,0.000,0.000,212,2089,3006,3085,2928,0,0,0,0,0,0,14.54,28.83,14.54,6.17,51.06
$GC,98,-0.64,-146.0,212,2090,3089,2928,3.4,-6.7,17,121,6.18,2.65,-11.62,0.000,18948,0.349,2.218,2181,703,3317,3417,3218,0,0,0,0,0,0,14.02,12.95,14.34,6.29,50.07
$GC,198,-0.64,-146.0,2181,704,3417,3221,21.7,-20.3,37,202,0.08,2.40,0.00,0.000,3078,0.374,0.054,2194,2103,3318,3417,3220,0,0,0,0,0,0,14.02,14.28,14.28,6.27,48.77
$GC,323,-0.64,-146.0,2194,2103,3417,3221,43.6,-16.6,62,326,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2103,3318,3417,3220,0,0,0,0,0,0,14.62,14.62,14.62,6.32,49.52
$GC,447,-0.64,-146.0,2194,2103,3416,3222,65.0,-14.9,87,451,0.00,2.45,0.00,0.000,516,0.000,0.063,2194,696,3319,3417,3221,0,0,0,0,0,0,14.65,14.34,14.66,6.32,49.76
$GC,552,-0.64,-146.0,2194,697,3417,3222,79.7,-13.3,108,555,0.00,2.40,0.00,0.000,3078,0.000,0.054,2183,2100,3318,3416,3221,0,0,0,0,0,0,14.51,14.37,14.52,6.32,49.21
$GC,677,-0.64,-146.0,2184,2100,3418,3221,98.5,-15.7,133,680,0.00,2.47,0.00,0.000,2308,0.000,0.081,2173,3503,3319,3417,3221,0,0,0,0,0,0,14.69,14.35,14.70,6.31,48.58
$GC,717,-0.64,-146.0,2173,3504,3417,3222,104.7,-15.6,137,721,0.08,2.33,0.00,0.000,3078,0.367,0.043,2198,2102,3318,3416,3221,0,0,0,0,0,0,14.14,14.42,14.40,6.31,48.74
$GC,1032,-0.64,-146.0,2198,2102,3417,3222,148.8,-12.6,153,1036,0.00,2.45,0.00,0.000,516,0.000,0.065,2197,690,3319,3417,3221,0,0,0,0,0,0,14.75,14.41,14.76,6.30,49.17
$GC,1077,-0.64,-146.0,2199,691,3418,3222,153.8,-12.5,155,1080,0.00,2.40,0.00,0.000,3078,0.000,0.054,2187,2101,3319,3416,3222,0,0,0,0,0,0,14.57,14.42,14.58,6.31,49.37
$GC,1392,-0.64,-146.0,2187,2100,3418,3221,193.3,-12.2,171,1396,0.00,2.45,0.00,0.000,2308,0.000,0.080,2176,3504,3316,3417,3216,0,0,0,0,0,0,14.78,14.40,14.78,6.32,50.47
$GC,1417,-0.64,-146.0,2176,3505,3418,3222,195.1,-12.1,172,1421,0.05,2.35,0.00,0.000,3078,0.438,0.044,2191,2089,3319,3417,3221,0,0,0,0,0,0,14.19,14.48,14.46,6.31,50.74
$GC,1727,-0.64,-146.0,2192,2088,3418,3221,233.3,-12.3,188,1731,0.00,2.40,0.00,0.000,2564,0.000,0.063,2190,695,3319,3417,3222,0,0,0,0,0,0,14.80,14.45,14.78,6.32,51.37
$GC,1787,-0.64,-146.0,2191,694,3417,3227,240.1,-12.4,191,1790,0.00,2.40,0.00,0.000,3078,0.000,0.054,2181,2108,3318,3416,3221,0,0,0,0,0,0,14.61,14.47,14.62,6.32,50.78
$GC,2102,-0.64,-146.0,2181,2109,3417,3222,281.0,-13.0,207,2105,0.00,2.42,0.00,0.000,2308,0.000,0.082,2170,3504,3318,3416,3221,0,0,0,0,0,0,14.81,14.42,14.81,6.33,51.22
$GC,2127,-0.64,-146.0,2170,3505,3417,3223,282.9,-13.0,208,2131,0.08,2.33,0.00,0.000,3078,0.361,0.044,2195,2093,3318,3416,3221,0,0,0,0,0,0,14.21,14.51,14.48,6.33,51.37
$GC,2437,-0.64,-146.0,2195,2092,3417,3222,322.1,-12.0,224,2440,0.00,2.40,0.00,0.000,516,0.000,0.064,2195,693,3318,3416,3221,0,0,0,0,0,0,14.82,14.46,14.83,6.33,51.49
$GC,2492,-0.64,-146.0,2196,693,3418,3221,329.0,-12.5,227,2496,0.00,2.38,0.00,0.000,3078,0.000,0.054,2185,2101,3319,3417,3221,0,0,0,0,0,0,14.62,14.48,14.64,6.33,51.37
$STATE,2670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2670,begin apogee
$GC,2675,-0.15,0.0,2186,2166,3417,3221,351.7,-12.8,236,2803,0.47,0.00,125.20,1.574,10246,0.260,0.000,2352,2166,2721,2782,2660,0,0,0,0,0,0,14.17,13.91,13.26,6.33,51.53
$STATE,2804,end apogee,CONTROL_FINISHED_OK
$STATE,2804,begin loiter
$GC,3092,-0.15,0.0,2352,2167,2775,2644,350.0,2.7,257,3092,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2709,2775,2644,0,0,0,0,0,0,14.56,14.56,14.56,6.28,50.59
$GC,3392,-0.15,0.0,2352,2166,2775,2643,342.1,2.5,272,3392,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2708,2774,2642,0,0,0,0,0,0,14.71,14.71,14.71,6.29,50.74
$GC,3692,-0.15,0.0,2352,2166,2775,2641,335.1,2.3,287,3693,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2707,2774,2641,0,0,0,0,0,0,14.80,14.80,14.81,6.28,50.98
$GC,3992,-0.15,0.0,2352,2166,2775,2641,328.4,2.2,302,3993,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2707,2774,2640,0,0,0,0,0,0,14.85,14.86,14.86,6.29,51.33
$GC,4292,-0.15,0.0,2352,2166,2775,2640,320.7,2.8,317,4293,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2707,2774,2640,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.26
$GC,4592,-0.15,0.0,2352,2166,2775,2640,310.8,3.4,332,4592,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2706,2774,2639,0,0,0,0,0,0,14.93,14.93,14.93,6.29,51.92
$GC,4892,-0.15,0.0,2352,2166,2775,2640,300.0,3.7,347,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2706,2774,2639,0,0,0,0,0,0,14.95,14.96,14.95,6.28,51.49
$GC,5192,-0.15,0.0,2352,2166,2775,2639,289.4,3.5,362,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2707,2774,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.49
$GC,5492,-0.15,0.0,2353,2166,2775,2639,280.1,3.0,377,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2706,2774,2639,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.41
$GC,5792,-0.15,0.0,2352,2166,2775,2640,271.4,3.0,392,5793,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2706,2774,2639,0,0,0,0,0,0,15.00,15.01,15.00,6.28,51.77
$GC,6092,-0.15,0.0,2352,2166,2775,2639,261.6,3.4,407,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2706,2774,2639,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.61
$STATE,6390,end loiter,LOITER_COMPLETE
$STATE,6390,begin climb
$GC,6392,0.64,146.0,2352,2166,2775,2640,250.5,0.0,422,6533,0.62,2.60,130.20,1.413,10756,0.173,0.064,2609,748,2117,2141,2093,0,0,0,0,0,0,14.47,13.99,13.40,6.28,51.57
$GC,6622,0.64,146.0,2609,749,2136,2086,232.5,10.5,433,6626,0.00,2.40,0.00,0.000,5126,0.000,0.051,2609,2133,2110,2134,2086,0,0,0,0,0,0,14.25,14.14,14.26,6.24,49.64
$GC,6932,0.64,146.0,2609,2134,2131,2080,195.9,11.1,449,6936,0.00,2.55,0.00,0.000,4356,0.000,0.082,2609,3564,2104,2130,2078,0,0,0,0,0,0,14.59,14.25,14.59,6.23,50.59
$GC,7017,0.64,146.0,2609,3564,2131,2079,187.2,10.8,453,7021,0.00,2.38,0.00,0.000,5126,0.000,0.043,2621,2147,2104,2130,2078,0,0,0,0,0,0,14.45,14.34,14.47,6.24,50.66
$GC,7332,0.64,146.0,2620,2148,2129,2077,148.5,13.2,469,7336,0.05,2.45,0.00,0.000,4612,0.423,0.067,2614,746,2102,2128,2076,0,0,0,0,0,0,14.23,14.35,14.47,6.23,51.49
$GC,7392,0.64,146.0,2614,746,2126,2077,142.0,12.2,472,7396,0.00,2.40,0.00,0.000,5126,0.000,0.052,2614,2152,2101,2126,2076,0,0,0,0,0,0,14.52,14.39,14.55,6.23,50.86
$GC,7708,0.64,146.0,2615,2153,2126,2076,106.7,8.6,488,7711,0.00,2.47,0.00,0.000,4356,0.000,0.083,2614,3559,2100,2126,2075,0,0,0,0,0,0,14.76,14.38,14.76,6.23,50.78
$GC,7772,0.65,159.5,2614,3559,2126,2076,102.5,7.8,491,7787,0.00,2.35,8.90,1.372,13318,0.000,0.043,2625,2147,2064,2087,2041,0,0,0,0,0,0,14.58,14.47,13.71,6.22,50.78
$GC,8089,0.65,159.5,2625,2148,2087,2041,72.1,11.1,550,8093,0.00,2.45,0.00,0.000,4612,0.000,0.067,2636,738,2063,2087,2040,0,0,0,0,0,0,14.72,14.40,14.73,6.21,49.09
$GC,8147,0.65,159.5,2636,739,2087,2041,65.7,10.0,562,8151,0.08,2.40,0.00,0.000,5126,0.317,0.053,2609,2152,2063,2087,2040,0,0,0,0,0,0,14.23,14.43,14.46,6.21,49.48
$GC,8274,0.65,159.5,2609,2152,2086,2040,54.4,8.8,587,8278,0.00,2.42,0.00,0.000,260,0.000,0.083,2608,3559,2063,2087,2039,0,0,0,0,0,0,14.73,14.38,14.73,6.21,49.72
$GC,8327,0.65,159.5,2609,3559,2088,2039,49.3,9.5,598,8331,0.00,2.33,0.00,0.000,5126,0.000,0.043,2618,2147,2063,2087,2039,0,0,0,0,0,0,14.58,14.47,14.59,6.20,49.52
$GC,8454,0.65,159.5,2619,2146,2088,2038,38.7,8.4,623,8458,0.00,2.42,0.00,0.000,4612,0.000,0.066,2629,751,2063,2087,2039,0,0,0,0,0,0,14.74,14.41,14.74,6.21,50.23
$GC,8487,0.65,159.5,2629,743,2087,2039,35.6,9.3,630,8491,0.05,2.38,0.00,0.000,5126,0.380,0.052,2610,2150,2062,2087,2037,0,0,0,0,0,0,14.24,14.44,14.47,6.20,49.64
$GC,8614,0.65,159.5,2610,2151,2089,2037,23.6,10.4,655,8618,0.00,2.47,0.00,0.000,260,0.000,0.086,2610,3561,2062,2087,2037,0,0,0,0,0,0,14.73,14.38,14.75,6.21,50.27
$GC,8657,0.65,159.5,2609,3562,2087,2039,18.3,12.2,664,8661,0.00,2.35,0.00,0.000,5126,0.000,0.044,2619,2146,2062,2087,2038,0,0,0,0,0,0,14.59,14.47,14.61,6.21,50.19
$GC,8784,0.71,208.7,2620,2143,2088,2037,6.5,6.4,689,8827,0.00,0.00,41.67,0.259,10754,0.000,0.000,2620,2142,1887,1904,1871,0,0,0,0,0,0,14.76,28.83,14.76,6.21,50.43
$STATE,8828,end climb,SURFACE_DEPTH_REACHED
$STATE,8828,begin surface coast
$STATE,8855,end surface coast,CONTROL_FINISHED_OK
$STATE,8855,begin surface
$SM_CCo,8871,13.68,0.250,0,0,1823,220.03
$SM_GC,2.13,5.68,0.05,13.68,0.090,0.213,0.250,239,2078,1823,-6.46,1.02,220.03,0,0,0,0,0,0,14.51,14.46,14.17
$IRIDIUM_FIX,-6019.63,0.00,260119,013252
$TT8_MAMPS,0.038948,0.373002
$HUMID,50.47
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,4
$SC_FREEKB,3720160
$24V_AH,12.95,76.744
$10V_AH,13.58,0.000
$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,13.400,77.625,305.975,13.675,0.000,27.194,22.056,151.730,1.000,0.000,38.544,0.000,7006.554,390.635,1676.380,196.578,0.000,1048.098,0.000,1178.728,0.000,0.540,0.000
$DEVICE_MAMPS,438.345,2217.735,1573.605,250.155,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5274.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.544,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17308,704
$CAP_FILE_SIZE,92997,0
$CFSIZE,1023623168,980926464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.041,260.62,1
$GPS,260119,064042,-6017.331,0.078,17,1.4,58,-19.7,0.4,194.2,5,6.9