version: 66.14
glider: 640
mission: 5
dive: 402
start: 1 27 119 5 53 46
data:
$ID,640
$MISSION,5
$DIVE,402
$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,52
$R_STBD_OVSHOOT,29
$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
$GPS1,270119,054731,-6013.3525,-1.3879,15,0.7,26,-19.7,0.5,337.3,10,6.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-65.4
$GPS2,270119,055327,-6013.3564,-1.3609,9,0.9,17,-19.7,0.0,210.5,8,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,28.1,61789,-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,-146.0,233,2077,1790,1830,0.0,0.0,0,101,0.00,0.00,-87.50,0.000,16386,0.000,0.000,232,2076,3171,3253,3089,0,0,0,0,0,0,14.56,28.83,14.57,6.17,51.06
$GC,103,-0.64,-146.0,233,2077,3254,3090,3.1,-6.6,18,121,6.12,2.65,-5.45,0.000,18948,0.350,2.219,2192,723,3321,3412,3231,0,0,0,0,0,0,13.99,13.00,14.34,6.29,50.27
$GC,152,-0.64,-146.0,2193,716,3415,3224,11.8,-15.3,28,155,0.00,2.38,0.00,0.000,3078,0.000,0.055,2182,2102,3319,3414,3224,0,0,0,0,0,0,14.43,14.29,14.42,6.27,49.17
$GC,277,-0.64,-146.0,2182,2103,3415,3225,33.8,-18.1,53,280,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2102,3319,3414,3224,0,0,0,0,0,0,14.62,14.62,14.62,6.31,49.76
$GC,402,-0.64,-146.0,2183,2102,3414,3226,56.1,-18.5,78,405,0.00,2.42,0.00,0.000,2564,0.000,0.063,2182,709,3319,3414,3225,0,0,0,0,0,0,14.65,14.32,14.66,6.30,49.68
$GC,447,-0.64,-146.0,2181,710,3415,3225,63.4,-15.7,87,451,0.08,2.40,0.00,0.000,3078,0.373,0.056,2194,2109,3319,3414,3225,0,0,0,0,0,0,14.07,14.35,14.35,6.31,49.64
$GC,573,-0.64,-146.0,2194,2110,3415,3226,80.8,-12.7,112,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2109,3319,3414,3225,0,0,0,0,0,0,14.67,14.67,14.67,6.31,49.88
$GC,697,-0.64,-146.0,2195,2109,3415,3226,96.6,-12.6,137,700,0.00,2.42,0.00,0.000,516,0.000,0.063,2194,713,3319,3414,3225,0,0,0,0,0,0,14.69,14.35,14.70,6.31,48.77
$GC,737,-0.64,-146.0,2194,714,3415,3226,101.2,-13.3,144,741,0.00,2.38,0.00,0.000,3078,0.000,0.057,2185,2102,3319,3414,3225,0,0,0,0,0,0,14.52,14.38,14.54,6.30,48.66
$GC,1047,-0.64,-146.0,2185,2102,3415,3225,144.1,-12.8,160,1050,0.00,2.47,0.00,0.000,2308,0.000,0.083,2173,3511,3320,3414,3226,0,0,0,0,0,0,14.75,14.35,14.76,6.30,49.44
$GC,1112,-0.64,-146.0,2174,3512,3415,3225,151.1,-12.7,163,1116,0.08,2.33,0.00,0.000,3078,0.367,0.043,2199,2110,3319,3414,3225,0,0,0,0,0,0,14.14,14.45,14.42,6.30,49.88
$GC,1422,-0.64,-146.0,2199,2109,3415,3236,190.0,-12.7,179,1425,0.00,2.45,0.00,0.000,516,0.000,0.064,2198,693,3319,3414,3225,0,0,0,0,0,0,14.78,14.42,14.78,6.31,50.82
$GC,1477,-0.64,-146.0,2199,693,3415,3226,197.3,-13.3,182,1481,0.00,2.40,0.00,0.000,3078,0.000,0.057,2188,2101,3319,3414,3225,0,0,0,0,0,0,14.58,14.44,14.59,6.31,50.82
$GC,1797,-0.64,-146.0,2189,2101,3415,3226,240.0,-13.2,198,1798,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2101,3320,3414,3226,0,0,0,0,0,0,14.81,14.80,14.80,6.31,50.90
$GC,2097,-0.64,-146.0,2189,2101,3415,3226,279.4,-13.1,213,2098,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2101,3319,3414,3225,0,0,0,0,0,0,14.81,14.82,14.82,6.32,51.14
$GC,2397,-0.64,-146.0,2188,2102,3414,3226,318.3,-12.8,228,2400,0.00,2.42,0.00,0.000,2564,0.000,0.063,2188,691,3319,3414,3225,0,0,0,0,0,0,14.83,14.45,14.83,6.33,51.10
$GC,2447,-0.64,-146.0,2188,692,3414,3226,322.9,-12.9,230,2451,0.05,2.40,0.00,0.000,3078,0.441,0.055,2192,2105,3319,3414,3225,0,0,0,0,0,0,14.19,14.46,14.46,6.31,51.18
$STATE,2670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2670,begin apogee
$GC,2675,-0.15,0.0,2193,2159,3415,3226,352.3,-12.3,242,2805,0.45,0.00,127.05,1.569,10246,0.258,0.000,2349,2158,2717,2777,2657,0,0,0,0,0,0,14.12,13.92,13.26,6.33,51.22
$STATE,2806,end apogee,CONTROL_FINISHED_OK
$STATE,2806,begin loiter
$GC,3092,-0.15,0.0,2350,2158,2772,2642,349.6,3.1,263,3093,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2706,2771,2641,0,0,0,0,0,0,14.55,14.56,14.55,6.27,50.98
$GC,3392,-0.15,0.0,2350,2158,2772,2640,340.3,3.2,278,3393,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2705,2771,2639,0,0,0,0,0,0,14.71,14.71,14.71,6.27,51.41
$GC,3692,-0.15,0.0,2349,2159,2771,2639,331.0,3.0,293,3693,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2703,2770,2637,0,0,0,0,0,0,14.80,14.80,14.80,6.28,51.22
$GC,3992,-0.15,0.0,2350,2158,2771,2639,322.4,2.8,308,3993,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2704,2771,2637,0,0,0,0,0,0,14.85,14.85,14.85,6.27,51.14
$GC,4292,-0.15,0.0,2350,2158,2772,2637,314.3,2.6,323,4293,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2704,2771,2637,0,0,0,0,0,0,14.90,14.90,14.90,6.27,51.06
$GC,4592,-0.15,0.0,2350,2158,2772,2637,305.9,2.9,338,4593,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2703,2770,2637,0,0,0,0,0,0,14.92,14.92,14.93,6.27,51.22
$GC,4892,-0.15,0.0,2349,2159,2772,2638,297.2,2.9,353,4893,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2704,2771,2637,0,0,0,0,0,0,14.95,14.95,14.96,6.27,51.41
$GC,5192,-0.15,0.0,2350,2158,2772,2635,288.9,2.7,368,5193,0.00,0.00,0.00,0.000,2054,0.000,0.000,2350,2158,2703,2771,2636,0,0,0,0,0,0,14.97,14.97,14.97,6.27,52.08
$GC,5492,-0.15,0.0,2349,2159,2772,2637,280.7,2.7,383,5493,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2703,2770,2636,0,0,0,0,0,0,14.99,14.99,14.99,6.27,51.61
$GC,5792,-0.15,0.0,2349,2159,2771,2637,272.0,3.1,398,5793,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2703,2771,2636,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.45
$GC,6092,-0.15,0.0,2349,2159,2771,2637,261.7,3.6,413,6093,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2703,2771,2636,0,0,0,0,0,0,15.02,15.02,15.02,6.27,51.69
$STATE,6390,end loiter,LOITER_COMPLETE
$STATE,6390,begin climb
$GC,6392,0.64,146.0,2349,2158,2771,2636,250.1,0.0,428,6532,0.62,2.60,129.98,1.432,11012,0.173,0.065,2606,745,2120,2143,2098,0,0,0,0,0,0,14.44,13.98,13.38,6.27,51.77
$GC,6572,0.64,146.0,2607,746,2137,2093,236.3,9.6,437,6575,0.00,2.42,0.00,0.000,1030,0.000,0.051,2606,2139,2114,2136,2093,0,0,0,0,0,0,14.17,14.09,14.19,6.25,49.29
$GC,6892,0.64,146.0,2606,2139,2133,2085,197.4,12.2,453,6896,0.00,2.55,0.00,0.000,260,0.000,0.083,2606,3562,2108,2132,2084,0,0,0,0,0,0,14.57,14.22,14.58,6.23,50.70
$GC,6982,0.64,146.0,2607,3562,2133,2084,188.2,12.3,457,6986,0.00,2.42,0.00,0.000,5126,0.000,0.044,2617,2131,2112,2141,2084,0,0,0,0,0,0,14.43,14.31,14.45,6.23,50.86
$GC,7287,0.64,146.0,2616,2131,2131,2082,143.3,14.4,473,7291,0.00,2.45,0.00,0.000,4612,0.000,0.068,2628,731,2109,2130,2089,0,0,0,0,0,0,14.70,14.34,14.71,6.23,50.74
$GC,7317,0.64,146.0,2628,732,2127,2081,140.5,14.3,474,7321,0.08,2.42,0.00,0.000,5126,0.317,0.054,2601,2150,2104,2127,2081,0,0,0,0,0,0,14.17,14.36,14.43,6.23,51.29
$GC,7627,0.64,150.7,2602,2151,2128,2078,109.0,8.2,490,7631,0.00,2.47,0.00,0.000,2308,0.000,0.083,2601,3558,2102,2127,2078,0,0,0,0,0,0,14.76,14.37,14.76,6.22,50.63
$GC,7727,0.64,151.9,2600,3558,2128,2078,100.9,8.3,495,7731,0.00,2.35,0.00,0.000,5126,0.000,0.043,2610,2146,2103,2127,2079,0,0,0,0,0,0,14.57,14.46,14.59,6.21,50.19
$GC,8032,0.64,151.9,2611,2143,2128,2078,71.4,11.2,555,8036,0.00,2.45,0.00,0.000,4612,0.000,0.067,2621,732,2102,2127,2078,0,0,0,0,0,0,14.78,14.40,14.78,6.19,49.44
$GC,8072,0.64,151.9,2622,733,2126,2077,66.7,11.9,563,8076,0.00,2.42,0.00,0.000,5126,0.000,0.053,2621,2161,2102,2126,2078,0,0,0,0,0,0,14.58,14.44,14.59,6.20,49.76
$GC,8198,0.64,151.9,2621,2162,2126,2078,52.5,10.6,588,8202,0.00,2.45,0.00,0.000,4356,0.000,0.083,2621,3555,2101,2126,2077,0,0,0,0,0,0,14.78,14.38,14.78,6.20,50.15
$GC,8222,0.64,151.9,2621,3555,2126,2079,49.7,11.1,593,8226,0.08,2.35,0.00,0.000,5126,0.337,0.045,2605,2148,2101,2126,2077,0,0,0,0,0,0,14.21,14.47,14.46,6.20,50.00
$GC,8347,0.67,169.4,2606,2149,2126,2078,39.4,7.7,618,8371,0.00,2.42,19.65,1.280,10756,0.000,0.068,2615,742,2020,2042,1998,0,0,0,0,0,0,14.78,14.41,13.80,6.20,49.96
$GC,8417,0.69,191.9,2616,743,2042,2002,34.1,7.5,632,8446,0.00,2.40,22.67,1.235,11270,0.000,0.054,2616,2149,1932,1948,1916,0,0,0,0,0,0,14.52,14.40,13.71,6.19,49.96
$GC,8567,0.69,191.9,2616,2150,1948,1909,19.1,11.3,662,8571,0.00,2.50,0.00,0.000,2308,0.000,0.085,2616,3556,1928,1947,1909,0,0,0,0,0,0,14.60,14.27,14.61,6.19,50.07
$GC,8612,0.69,191.9,2616,3556,1948,1909,14.0,10.3,671,8616,0.00,2.38,0.00,0.000,5126,0.000,0.044,2626,2144,1924,1940,1909,0,0,0,0,0,0,14.46,14.35,14.47,6.19,50.39
$STATE,8715,end climb,SURFACE_DEPTH_REACHED
$STATE,8715,begin surface coast
$STATE,8740,end surface coast,CONTROL_FINISHED_OK
$STATE,8740,begin surface
$SM_CCo,8755,24.83,0.245,0,0,1822,220.03
$SM_GC,0.88,5.62,0.05,24.83,0.067,0.223,0.245,215,2085,1822,-6.49,0.99,220.03,0,0,0,0,0,0,14.47,14.39,14.13
$IRIDIUM_FIX,-6011.88,0.00,270119,031207
$TT8_MAMPS,0.038948,0.338548
$HUMID,50.70
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,3
$SC_FREEKB,3715040
$24V_AH,13.00,78.580
$10V_AH,13.57,0.000
$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,13.175,68.300,299.350,24.825,0.000,26.177,37.924,128.885,0.750,0.000,18.910,0.000,6955.700,406.133,1581.742,193.378,0.000,1027.283,0.000,1125.289,0.000,0.540,0.000
$DEVICE_MAMPS,440.640,2219.265,1569.015,244.800,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5161.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.571,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17320,697
$CAP_FILE_SIZE,89105,0
$CFSIZE,1023623168,979943424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.051,220.89,1
$GPS,270119,082125,-6012.920,-1.533,12,0.9,53,-19.7,0.9,353.7,7,4.2