version: 66.14
glider: 640
mission: 5
dive: 424
start: 1 29 119 14 41 11
data:
$ID,640
$MISSION,5
$DIVE,424
$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,59
$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
$GPS1,290119,143459,-6002.9194,-2.8576,18,0.9,45,-19.7,1.1,13.9,8,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-66.5
$GPS2,290119,144052,-6002.8984,-2.8349,9,0.9,18,-19.7,0.5,63.0,8,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,25.0,42490,-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,-146.0,235,2069,1790,1829,0.0,0.0,0,101,0.00,0.00,-87.25,0.000,16386,0.000,0.000,233,2068,3202,3283,3121,0,0,0,0,0,0,14.57,28.83,14.56,6.18,51.57
$GC,103,-0.64,-146.0,232,2069,3284,3125,3.2,-6.3,18,121,6.10,2.60,-4.25,0.000,18948,0.347,2.215,2180,718,3316,3410,3223,0,0,0,0,0,0,13.97,13.27,14.33,6.30,50.59
$GC,237,-0.64,-146.0,2180,718,3412,3224,26.1,-16.3,45,241,0.08,2.38,0.00,0.000,3078,0.368,0.057,2194,2098,3318,3412,3224,0,0,0,0,0,0,14.03,14.28,14.31,6.31,49.01
$GC,363,-0.64,-146.0,2193,2099,3413,3224,46.7,-17.2,70,366,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2098,3318,3412,3224,0,0,0,0,0,0,14.62,14.63,14.63,6.31,49.52
$GC,487,-0.64,-146.0,2194,2099,3413,3225,66.7,-14.3,95,491,0.00,2.53,0.00,0.000,260,0.000,0.086,2183,3513,3318,3412,3224,0,0,0,0,0,0,14.66,14.28,14.67,6.31,49.56
$GC,517,-0.64,-146.0,2183,3514,3411,3225,70.9,-14.2,101,520,0.00,2.33,0.00,0.000,3078,0.000,0.043,2183,2125,3318,3412,3224,0,0,0,0,0,0,14.49,14.38,14.50,6.31,49.72
$GC,644,-0.64,-146.0,2183,2124,3413,3224,88.4,-13.8,126,647,0.00,2.47,0.00,0.000,2564,0.000,0.063,2182,694,3318,3412,3224,0,0,0,0,0,0,14.68,14.26,14.68,6.30,48.93
$GC,702,-0.64,-146.0,2183,690,3413,3224,96.3,-12.4,138,706,0.08,2.40,0.00,0.000,3078,0.366,0.057,2196,2102,3318,3412,3224,0,0,0,0,0,0,14.08,14.35,14.36,6.30,48.34
$GC,832,-0.64,-146.0,2196,2103,3412,3225,112.4,-12.5,149,835,0.00,2.50,0.00,0.000,260,0.000,0.086,2186,3510,3318,3412,3224,0,0,0,0,0,0,14.72,14.31,14.72,6.30,48.34
$GC,912,-0.64,-146.0,2185,3511,3413,3224,122.8,-13.1,153,915,0.00,2.35,0.00,0.000,3078,0.000,0.042,2185,2094,3318,3412,3224,0,0,0,0,0,0,14.53,14.41,14.55,6.30,48.93
$GC,1232,-0.64,-146.0,2186,2094,3413,3224,165.5,-13.8,169,1235,0.00,2.42,0.00,0.000,2564,0.000,0.062,2185,697,3317,3412,3223,0,0,0,0,0,0,14.76,14.38,14.75,6.30,50.35
$GC,1287,-0.64,-146.0,2186,697,3413,3224,171.2,-14.1,171,1292,0.05,2.40,0.00,0.000,3078,0.437,0.057,2190,2105,3318,3412,3224,0,0,0,0,0,0,14.14,14.40,14.40,6.31,50.19
$GC,1592,-0.64,-146.0,2190,2106,3412,3225,213.6,-13.5,187,1596,0.00,2.47,0.00,0.000,2308,0.000,0.085,2179,3511,3318,3412,3224,0,0,0,0,0,0,14.79,14.36,14.79,6.31,51.02
$GC,1617,-0.64,-146.0,2179,3513,3413,3225,216.3,-13.6,188,1620,0.00,2.35,0.00,0.000,3078,0.000,0.043,2179,2099,3318,3412,3224,0,0,0,0,0,0,14.58,14.45,14.59,6.32,50.74
$GC,1932,-0.64,-146.0,2179,2098,3413,3224,260.4,-13.5,204,1936,0.00,2.42,0.00,0.000,2564,0.000,0.063,2178,696,3318,3412,3224,0,0,0,0,0,0,14.80,14.41,14.81,6.32,51.53
$GC,1997,-0.64,-146.0,2178,696,3412,3225,267.9,-13.7,207,2001,0.08,2.40,0.00,0.000,3078,0.369,0.056,2191,2103,3318,3412,3224,0,0,0,0,0,0,14.13,14.47,14.42,6.33,51.18
$GC,2307,-0.64,-146.0,2192,2103,3412,3224,308.7,-12.7,223,2311,0.00,2.42,0.00,0.000,2564,0.000,0.062,2191,696,3318,3412,3224,0,0,0,0,0,0,14.78,14.42,14.77,6.32,51.29
$GC,2327,-0.64,-146.0,2191,697,3412,3225,310.7,-12.8,224,2331,0.00,2.40,0.00,0.000,3078,0.000,0.056,2181,2102,3318,3412,3224,0,0,0,0,0,0,14.59,14.43,14.61,6.33,51.10
$STATE,2635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2635,begin apogee
$GC,2640,-0.15,0.0,2181,2166,3412,3225,352.0,-13.1,240,2769,0.47,0.00,125.40,1.579,10246,0.259,0.000,2345,2166,2716,2776,2656,0,0,0,0,0,0,14.08,13.92,13.21,6.34,51.53
$STATE,2770,end apogee,CONTROL_FINISHED_OK
$STATE,2770,begin loiter
$GC,3057,-0.15,0.0,2346,2166,2772,2643,350.4,2.8,261,3058,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2165,2707,2771,2643,0,0,0,0,0,0,14.55,14.55,14.55,6.28,50.35
$GC,3357,-0.15,0.0,2345,2166,2772,2641,342.2,2.7,276,3358,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2164,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.28,51.22
$GC,3657,-0.15,0.0,2345,2166,2772,2641,334.3,2.5,291,3658,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2165,2706,2772,2640,0,0,0,0,0,0,14.80,14.80,14.80,6.28,51.26
$GC,3957,-0.15,0.0,2346,2166,2772,2639,326.8,2.4,306,3958,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2165,2705,2771,2639,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.18
$GC,4257,-0.15,0.0,2346,2166,2773,2639,319.5,2.4,321,4258,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2165,2705,2772,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.96
$GC,4557,-0.15,0.0,2345,2165,2772,2641,312.8,2.1,336,4558,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2165,2705,2771,2639,0,0,0,0,0,0,14.92,14.93,14.92,6.28,51.22
$GC,4857,-0.15,0.0,2346,2165,2773,2639,306.5,2.0,351,4858,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2165,2705,2771,2640,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.45
$GC,5157,-0.15,0.0,2346,2166,2773,2640,300.7,2.0,366,5158,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2165,2706,2772,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.27,51.45
$GC,5457,-0.15,0.0,2346,2166,2773,2640,294.4,2.3,381,5458,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2165,2706,2772,2640,0,0,0,0,0,0,14.98,14.99,14.99,6.28,51.77
$GC,5757,-0.15,0.0,2345,2166,2773,2641,286.6,2.7,396,5758,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2165,2706,2772,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.41
$GC,6057,-0.15,0.0,2346,2166,2773,2640,277.5,3.1,411,6058,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2165,2706,2772,2640,0,0,0,0,0,0,15.01,15.02,15.01,6.28,51.49
$STATE,6355,end loiter,LOITER_COMPLETE
$STATE,6355,begin climb
$GC,6357,0.64,146.0,2346,2166,2773,2640,268.0,0.0,426,6498,0.62,2.60,130.15,1.443,10756,0.173,0.065,2602,751,2116,2139,2094,0,0,0,0,0,0,14.40,13.97,13.36,6.28,51.41
$GC,6543,0.64,146.0,2602,752,2135,2090,255.6,8.7,435,6546,0.00,2.42,0.00,0.000,1030,0.000,0.054,2602,2135,2112,2134,2090,0,0,0,0,0,0,14.17,14.08,14.19,6.24,49.25
$GC,6858,0.64,146.0,2602,2135,2130,2081,219.0,11.6,451,6862,0.00,2.58,0.00,0.000,260,0.000,0.084,2602,3561,2105,2130,2080,0,0,0,0,0,0,14.56,14.20,14.57,6.23,50.63
$GC,6933,0.64,146.0,2603,3561,2130,2080,211.9,11.8,454,6936,0.00,2.38,0.00,0.000,5126,0.000,0.042,2613,2149,2105,2130,2080,0,0,0,0,0,0,14.42,14.29,14.44,6.23,50.59
$GC,7238,0.64,146.0,2613,2149,2128,2077,173.4,12.2,470,7241,0.00,2.45,0.00,0.000,4612,0.000,0.067,2623,744,2102,2127,2077,0,0,0,0,0,0,14.69,14.32,14.69,6.23,50.86
$GC,7293,0.64,146.0,2624,745,2126,2078,167.1,11.7,473,7297,0.05,2.42,0.00,0.000,5126,0.378,0.055,2605,2158,2101,2125,2077,0,0,0,0,0,0,14.15,14.35,14.41,6.23,50.94
$GC,7608,0.64,146.0,2605,2159,2126,2077,133.5,10.7,489,7612,0.00,2.50,0.00,0.000,260,0.000,0.085,2605,3561,2102,2125,2079,0,0,0,0,0,0,14.74,14.33,14.75,6.23,50.78
$GC,7718,0.64,146.0,2604,3561,2126,2077,122.8,10.5,494,7721,0.00,2.35,0.00,0.000,5126,0.000,0.043,2614,2150,2100,2125,2076,0,0,0,0,0,0,14.56,14.45,14.58,6.22,50.66
$GC,8023,0.64,146.0,2615,2151,2125,2076,89.8,10.8,521,8026,0.00,0.00,0.00,0.000,4102,0.000,0.000,2614,2150,2100,2124,2076,0,0,0,0,0,0,14.76,14.76,14.76,6.22,50.23
$GC,8148,0.64,146.0,2615,2151,2126,2075,77.3,9.5,546,8150,0.00,0.00,0.00,0.000,4102,0.000,0.000,2614,2150,2099,2124,2075,0,0,0,0,0,0,14.77,14.77,14.77,6.21,49.64
$GC,8273,0.64,147.9,2615,2150,2127,2075,66.2,8.3,571,8276,0.00,0.00,0.00,0.000,4102,0.000,0.000,2614,2150,2099,2124,2075,0,0,0,0,0,0,14.77,14.77,14.77,6.20,49.48
$GC,8398,0.65,158.9,2615,2150,2124,2076,56.2,7.9,596,8411,0.00,2.50,8.27,1.310,12804,0.000,0.067,2625,742,2067,2089,2045,0,0,0,0,0,0,14.77,14.42,13.74,6.20,49.33
$GC,8443,0.67,174.9,2626,743,2090,2043,52.8,7.7,605,8465,0.00,2.40,16.80,1.265,13318,0.000,0.054,2625,2156,2002,2020,1984,0,0,0,0,0,0,14.57,14.43,13.74,6.20,48.85
$GC,8588,0.67,174.9,2626,2157,2019,1980,40.4,9.4,634,8592,0.00,2.47,0.00,0.000,4356,0.000,0.086,2625,3554,1999,2019,1979,0,0,0,0,0,0,14.64,14.30,14.65,6.19,48.89
$GC,8643,0.67,174.9,2626,3554,2020,1976,34.8,9.9,645,8647,0.08,2.35,0.00,0.000,5126,0.343,0.043,2610,2149,1999,2019,1979,0,0,0,0,0,0,14.13,14.39,14.38,6.19,49.68
$GC,8769,0.67,174.9,2610,2149,2021,1978,23.1,10.4,670,8773,0.00,2.47,0.00,0.000,2564,0.000,0.067,2620,740,1997,2018,1977,0,0,0,0,0,0,14.67,14.33,14.67,6.20,49.88
$GC,8813,0.67,174.9,2620,741,2017,1978,18.6,9.6,679,8817,0.00,2.42,0.00,0.000,5126,0.000,0.054,2620,2157,1996,2016,1976,0,0,0,0,0,0,14.51,14.37,14.53,6.19,49.80
$GC,8938,0.67,174.9,2620,2157,2016,1976,6.6,9.5,704,8942,0.00,2.50,0.00,0.000,4356,0.000,0.087,2620,3559,1995,2016,1975,0,0,0,0,0,0,14.70,14.32,14.71,6.20,50.39
$STATE,8971,end climb,SURFACE_DEPTH_REACHED
$STATE,8971,begin surface coast
$STATE,8976,end surface coast,CONTROL_FINISHED_OK
$STATE,8976,begin surface
$SM_CCo,8993,41.58,0.244,0,0,1821,220.03
$SM_GC,1.30,5.95,2.53,41.58,0.139,0.044,0.244,226,2082,1821,-6.45,0.79,220.03,0,0,0,0,0,0,14.52,14.40,14.14
$IRIDIUM_FIX,-6002.25,0.00,290119,120107
$TT8_MAMPS,0.039697,0.287616
$HUMID,50.31
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,2
$SC_FREEKB,3703776
$24V_AH,13.21,82.494
$10V_AH,13.16,0.000
$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,13.550,78.275,280.625,41.575,0.000,26.609,15.159,138.455,0.500,0.000,19.763,0.000,7137.154,405.456,1638.350,207.804,0.000,1061.008,0.000,1178.592,0.000,0.539,0.000
$DEVICE_MAMPS,436.815,2215.440,1578.960,244.035,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5397.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.482,0.000,0.000,0.000
$MEM,344024
$DATA_FILE_SIZE,17313,712
$CAP_FILE_SIZE,93583,0
$CFSIZE,1023623168,977780736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.023,183.69,1
$GPS,290119,171249,-6002.444,-2.831,14,0.8,37,-19.7,0.3,105.8,10,5.6