version: 66.14
glider: 640
mission: 5
dive: 423
start: 1 29 119 12 4 40
data:
$ID,640
$MISSION,5
$DIVE,423
$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,32
$R_STBD_OVSHOOT,27
$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
$GPS1,290119,115631,-6003.2305,-2.8809,18,1.0,35,-19.7,0.0,72.3,9,7.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-63.1
$GPS2,290119,120421,-6003.2085,-2.8473,9,1.0,21,-19.7,0.0,115.6,9,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,29.9,43064,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,12,-0.64,-146.0,226,2100,1791,1829,0.0,0.0,0,103,0.00,0.00,-89.22,0.000,16386,0.000,0.000,226,2100,3256,3339,3173,0,0,0,0,0,0,14.56,28.83,14.56,6.17,51.41
$GC,106,-0.64,-146.0,227,2100,3341,3174,3.6,-8.4,18,122,6.12,2.72,-2.05,0.000,18948,0.347,2.212,2180,690,3317,3408,3226,0,0,0,0,0,0,13.97,13.27,14.33,6.29,49.80
$GC,233,-0.64,-146.0,2181,690,3411,3225,26.9,-15.7,44,237,0.08,2.45,0.00,0.000,3078,0.373,0.057,2194,2103,3318,3410,3226,0,0,0,0,0,0,14.01,14.28,14.28,6.31,48.70
$GC,359,-0.64,-146.0,2194,2106,3410,3227,48.5,-18.9,69,363,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2104,3319,3413,3226,0,0,0,0,0,0,14.62,14.62,14.62,6.31,49.52
$GC,483,-0.64,-146.0,2195,2104,3412,3226,68.7,-15.2,94,486,0.00,2.45,0.00,0.000,516,0.000,0.063,2194,696,3318,3410,3226,0,0,0,0,0,0,14.66,14.29,14.66,6.31,49.40
$GC,553,-0.64,-146.0,2194,696,3413,3226,79.4,-14.8,108,557,0.00,2.42,0.00,0.000,3078,0.000,0.056,2183,2108,3318,3411,3226,0,0,0,0,0,0,14.45,14.32,14.47,6.30,48.85
$GC,679,-0.64,-146.0,2185,2109,3412,3227,98.6,-16.0,133,683,0.00,2.45,0.00,0.000,2308,0.000,0.082,2174,3503,3318,3411,3226,0,0,0,0,0,0,14.69,14.31,14.69,6.27,48.46
$GC,693,-0.64,-146.0,2174,3503,3412,3226,100.2,-16.2,135,697,0.08,2.35,0.00,0.000,3078,0.366,0.043,2199,2098,3318,3411,3226,0,0,0,0,0,0,14.08,14.40,14.35,6.30,48.18
$GC,998,-0.64,-146.0,2200,2098,3412,3226,143.8,-13.7,151,1002,0.00,2.45,0.00,0.000,516,0.000,0.064,2199,686,3318,3411,3226,0,0,0,0,0,0,14.74,14.35,14.75,6.30,49.21
$GC,1083,-0.64,-146.0,2199,686,3412,3225,153.7,-13.1,155,1087,0.00,2.42,0.00,0.000,3078,0.000,0.056,2189,2101,3318,3411,3226,0,0,0,0,0,0,14.52,14.40,14.54,6.30,49.76
$GC,1393,-0.64,-146.0,2189,2101,3412,3226,196.4,-13.1,171,1397,0.00,2.47,0.00,0.000,2308,0.000,0.083,2178,3508,3318,3411,3226,0,0,0,0,0,0,14.78,14.31,14.78,6.34,50.55
$GC,1448,-0.64,-146.0,2178,3508,3412,3226,203.6,-13.0,174,1452,0.05,2.35,0.00,0.000,3078,0.431,0.043,2193,2087,3318,3411,3226,0,0,0,0,0,0,14.13,14.46,14.39,6.31,50.74
$GC,1768,-0.64,-146.0,2194,2086,3411,3226,242.7,-12.2,190,1772,0.00,2.40,0.00,0.000,2564,0.000,0.063,2193,697,3318,3411,3226,0,0,0,0,0,0,14.80,14.38,14.81,6.32,51.69
$GC,1843,-0.64,-146.0,2194,698,3412,3225,251.8,-12.0,194,1846,0.00,2.38,0.00,0.000,3078,0.000,0.055,2183,2101,3318,3411,3226,0,0,0,0,0,0,14.55,14.43,14.57,6.32,50.98
$GC,2158,-0.64,-146.0,2184,2101,3412,3224,291.2,-12.8,210,2159,0.00,0.00,0.00,0.000,2054,0.000,0.000,2183,2101,3322,3411,3233,0,0,0,0,0,0,14.81,14.81,14.81,6.31,50.94
$GC,2458,-0.64,-146.0,2182,2102,3412,3227,329.5,-12.9,225,2459,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2101,3318,3411,3226,0,0,0,0,0,0,14.83,14.83,14.83,6.33,51.14
$STATE,2636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2636,begin apogee
$GC,2641,-0.15,0.0,2183,2166,3412,3227,352.5,-12.7,234,2770,0.47,0.00,125.57,1.580,10246,0.261,0.000,2347,2166,2716,2776,2656,0,0,0,0,0,0,14.15,13.92,13.24,6.33,51.18
$STATE,2771,end apogee,CONTROL_FINISHED_OK
$STATE,2771,begin loiter
$GC,3058,-0.15,0.0,2348,2166,2772,2644,349.6,3.2,255,3059,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2707,2772,2642,0,0,0,0,0,0,14.55,14.55,14.56,6.28,50.51
$GC,3358,-0.15,0.0,2348,2166,2772,2641,339.4,3.4,270,3359,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2165,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.28,51.37
$GC,3658,-0.15,0.0,2348,2166,2772,2639,329.6,3.1,285,3659,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2165,2705,2771,2639,0,0,0,0,0,0,14.80,14.80,14.80,6.28,51.14
$GC,3958,-0.15,0.0,2348,2166,2772,2638,320.8,2.8,300,3959,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2705,2772,2638,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.06
$GC,4258,-0.15,0.0,2348,2166,2772,2639,312.6,2.6,315,4259,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2165,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.27,51.29
$GC,4558,-0.15,0.0,2348,2166,2772,2636,304.3,2.8,330,4559,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2704,2771,2638,0,0,0,0,0,0,14.93,14.93,14.93,6.27,51.69
$GC,4858,-0.15,0.0,2348,2166,2773,2637,295.7,2.9,345,4859,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2704,2771,2637,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.33
$GC,5158,-0.15,0.0,2348,2166,2772,2637,287.1,2.7,360,5159,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2165,2703,2771,2636,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.77
$GC,5458,-0.15,0.0,2348,2166,2773,2637,278.7,2.6,375,5459,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2704,2771,2637,0,0,0,0,0,0,14.99,14.99,14.99,6.27,51.41
$GC,5758,-0.15,0.0,2347,2166,2772,2638,270.9,2.5,390,5759,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2165,2704,2771,2637,0,0,0,0,0,0,15.00,15.01,15.00,6.28,51.33
$GC,6058,-0.15,0.0,2348,2166,2772,2638,262.6,2.8,405,6059,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2165,2704,2771,2637,0,0,0,0,0,0,15.01,15.01,15.01,6.28,51.81
$STATE,6356,end loiter,LOITER_COMPLETE
$STATE,6356,begin climb
$GC,6358,0.64,146.0,2348,2166,2772,2638,254.0,0.0,420,6498,0.62,2.50,129.48,1.426,11012,0.169,0.082,2594,3538,2118,2141,2096,0,0,0,0,0,0,14.42,13.86,13.37,6.28,51.61
$GC,6548,0.64,146.0,2595,3539,2141,2090,241.5,9.2,429,6551,0.00,2.38,0.00,0.000,1030,0.000,0.041,2604,2149,2114,2139,2090,0,0,0,0,0,0,14.16,14.08,14.16,6.23,49.25
$GC,6858,0.64,146.0,2605,2149,2133,2083,205.1,11.3,445,6862,0.00,2.50,0.00,0.000,516,0.000,0.067,2616,741,2106,2132,2081,0,0,0,0,0,0,14.57,14.19,14.58,6.24,50.43
$GC,6908,0.64,146.0,2615,742,2129,2081,200.7,11.2,447,6912,0.00,2.40,0.00,0.000,5126,0.000,0.053,2616,2136,2104,2128,2081,0,0,0,0,0,0,14.38,14.21,14.40,6.30,51.22
$GC,7213,0.64,146.0,2617,2136,2129,2078,164.2,11.7,462,7217,0.00,2.53,0.00,0.000,4356,0.000,0.083,2616,3562,2102,2127,2078,0,0,0,0,0,0,14.69,14.30,14.69,6.23,51.22
$GC,7303,0.64,146.0,2617,3563,2129,2078,155.3,11.9,466,7308,0.08,2.35,0.00,0.000,5126,0.347,0.042,2602,2148,2102,2127,2078,0,0,0,0,0,0,14.13,14.40,14.41,6.23,51.57
$GC,7608,0.64,146.0,2602,2149,2128,2077,119.5,11.3,482,7612,0.00,2.45,0.00,0.000,516,0.000,0.067,2611,745,2101,2127,2076,0,0,0,0,0,0,14.75,14.37,14.76,6.23,51.45
$GC,7698,0.64,146.0,2610,747,2125,2077,111.0,10.6,486,7701,0.00,2.40,0.00,0.000,5126,0.000,0.053,2611,2155,2100,2125,2076,0,0,0,0,0,0,14.47,14.34,14.52,6.23,50.63
$GC,8003,0.64,146.0,2612,2155,2126,2076,79.3,9.6,531,8007,0.00,2.47,0.00,0.000,4356,0.000,0.084,2611,3561,2100,2125,2076,0,0,0,0,0,0,14.78,14.37,14.78,6.21,49.88
$GC,8058,0.64,146.0,2611,3562,2125,2077,73.6,10.3,542,8062,0.05,2.35,0.00,0.000,5126,0.408,0.042,2604,2148,2100,2125,2076,0,0,0,0,0,0,14.14,14.38,14.45,6.21,49.68
$GC,8185,0.64,146.0,2605,2149,2126,2077,61.5,10.0,567,8189,0.00,2.45,0.00,0.000,516,0.000,0.067,2614,740,2100,2125,2076,0,0,0,0,0,0,14.77,14.39,14.77,6.20,49.29
$GC,8243,0.64,146.0,2615,739,2124,2074,55.6,9.6,579,8248,0.00,2.40,0.00,0.000,5126,0.000,0.054,2614,2151,2099,2123,2075,0,0,0,0,0,0,14.57,14.44,14.60,6.20,49.92
$GC,8370,0.64,147.9,2613,2152,2124,2076,44.5,8.3,604,8376,0.00,2.47,0.00,0.000,4356,0.000,0.085,2615,3553,2099,2123,2076,0,0,0,0,0,0,14.77,14.37,14.77,6.20,49.33
$GC,8393,0.64,147.9,2615,3554,2124,2077,42.4,9.5,609,8397,0.05,2.35,0.00,0.000,5126,0.410,0.044,2607,2144,2099,2124,2075,0,0,0,0,0,0,14.19,14.45,14.47,6.20,49.52
$GC,8520,0.64,147.9,2608,2145,2125,2075,31.8,8.7,634,8523,0.00,2.45,0.00,0.000,516,0.000,0.067,2617,738,2099,2123,2075,0,0,0,0,0,0,14.76,14.39,14.77,6.20,49.88
$GC,8573,0.64,147.9,2617,738,2123,2076,27.1,8.5,645,8577,0.00,2.40,0.00,0.000,5126,0.000,0.054,2617,2151,2098,2122,2075,0,0,0,0,0,0,14.57,14.42,14.60,6.20,50.07
$GC,8700,0.64,147.9,2617,2152,2123,2076,15.5,9.5,670,8704,0.00,2.47,0.00,0.000,4356,0.000,0.084,2616,3553,2098,2122,2075,0,0,0,0,0,0,14.74,14.37,14.77,6.20,50.47
$GC,8763,0.64,147.9,2618,3554,2123,2076,9.7,9.8,683,8768,0.08,2.33,0.00,0.000,5126,0.340,0.042,2601,2150,2098,2122,2075,0,0,0,0,0,0,14.19,14.47,14.47,6.20,50.70
$STATE,8836,end climb,SURFACE_DEPTH_REACHED
$STATE,8836,begin surface coast
$STATE,8868,end surface coast,CONTROL_FINISHED_OK
$STATE,8868,begin surface
$SM_CCo,8882,65.85,0.240,0,0,1823,220.03
$SM_GC,1.22,5.45,0.08,65.85,0.055,0.163,0.240,267,2069,1823,-6.45,0.90,220.03,0,0,0,0,0,0,14.56,14.49,14.17
$IRIDIUM_FIX,-6002.25,0.00,290119,115905
$TT8_MAMPS,0.038199,0.371504
$HUMID,50.55
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,4
$SC_FREEKB,3704288
$24V_AH,13.24,82.310
$10V_AH,13.37,0.000
$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,13.125,73.125,255.050,65.850,0.000,54.909,53.666,128.637,1.000,0.000,22.336,0.000,7134.214,407.771,1667.973,209.344,0.000,1042.826,0.000,1156.154,0.000,0.540,0.000
$DEVICE_MAMPS,431.460,2212.380,1580.490,240.210,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5289.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.481,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17355,704
$CAP_FILE_SIZE,91720,0
$CFSIZE,1023623168,977879040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.050,192.00,1
$GPS,290119,143459,-6002.919,-2.858,18,0.9,45,-19.7,1.1,13.9,8,9.4