version: 66.14
glider: 640
mission: 5
dive: 429
start: 1 30 119 3 37 53
data:
$ID,640
$MISSION,5
$DIVE,429
$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,58
$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
$GPS1,300119,033129,-6000.7686,-2.7500,38,0.8,43,-19.7,0.6,122.2,10,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-69.9
$GPS2,300119,033734,-6000.7632,-2.7063,6,0.8,14,-19.7,0.4,145.1,10,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,22.9,38536,-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,-146.0,212,2071,1790,1829,0.0,0.0,0,97,0.00,0.00,-82.95,0.000,16386,0.000,0.000,212,2070,3151,3233,3070,0,0,0,0,0,0,14.54,28.83,14.55,6.18,50.86
$GC,99,-0.64,-146.0,212,2071,3234,3071,3.2,-5.4,17,117,6.18,2.62,-6.12,0.000,18948,0.344,2.216,2194,730,3318,3414,3222,0,0,0,0,0,0,13.93,12.98,14.27,6.28,50.03
$GC,228,-0.64,-146.0,2193,730,3415,3225,24.4,-16.4,43,232,0.00,2.38,0.00,0.000,3078,0.000,0.057,2183,2102,3319,3414,3224,0,0,0,0,0,0,14.39,14.26,14.40,6.30,48.62
$GC,353,-0.64,-146.0,2184,2102,3416,3224,45.9,-17.2,68,356,0.00,2.47,0.00,0.000,2308,0.000,0.084,2173,3504,3319,3414,3224,0,0,0,0,0,0,14.64,14.23,14.64,6.31,49.52
$GC,383,-0.64,-146.0,2173,3505,3415,3225,51.0,-17.6,74,387,0.08,2.33,0.00,0.000,3078,0.355,0.044,2198,2123,3318,3413,3224,0,0,0,0,0,0,14.04,14.35,14.31,6.30,50.15
$GC,509,-0.64,-146.0,2199,2123,3415,3223,70.0,-14.8,99,513,0.00,2.50,0.00,0.000,516,0.000,0.064,2197,691,3319,3415,3224,0,0,0,0,0,0,14.66,14.31,14.66,6.31,49.52
$GC,603,-0.64,-146.0,2198,693,3413,3225,82.6,-12.2,118,606,0.00,2.40,0.00,0.000,3078,0.000,0.055,2188,2101,3319,3414,3224,0,0,0,0,0,0,14.45,14.31,14.47,6.31,49.33
$GC,728,-0.64,-146.0,2188,2102,3415,3225,99.0,-13.4,143,732,0.00,2.47,0.00,0.000,2308,0.000,0.083,2172,3503,3319,3414,3224,0,0,0,0,0,0,14.70,14.26,14.71,6.30,49.37
$GC,753,-0.64,-146.0,2178,3504,3416,3224,101.8,-13.9,146,757,0.05,2.35,0.00,0.000,3078,0.431,0.044,2193,2093,3319,3414,3224,0,0,0,0,0,0,14.04,14.37,14.33,6.30,48.58
$GC,1063,-0.64,-146.0,2193,2092,3416,3224,141.7,-11.3,162,1066,0.00,2.42,0.00,0.000,2564,0.000,0.064,2192,689,3318,3414,3223,0,0,0,0,0,0,14.76,14.33,14.76,6.29,49.17
$GC,1128,-0.64,-146.0,2193,690,3415,3225,148.1,-11.7,165,1132,0.00,2.42,0.00,0.000,3078,0.000,0.057,2182,2107,3319,3414,3224,0,0,0,0,0,0,14.47,14.35,14.49,6.30,49.40
$GC,1433,-0.64,-146.0,2183,2106,3415,3224,187.1,-12.8,180,1434,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2107,3319,3414,3224,0,0,0,0,0,0,14.78,14.78,14.78,6.31,50.51
$GC,1733,-0.64,-146.0,2183,2108,3416,3224,225.9,-13.0,195,1734,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2107,3319,3414,3224,0,0,0,0,0,0,14.81,14.80,14.80,6.31,51.57
$GC,2033,-0.64,-146.0,2182,2108,3415,3225,264.5,-12.8,210,2034,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2107,3319,3414,3224,0,0,0,0,0,0,14.81,14.81,14.82,6.32,51.26
$GC,2333,-0.64,-146.0,2183,2109,3416,3224,303.0,-12.9,225,2337,0.00,2.42,0.00,0.000,2564,0.000,0.062,2182,697,3319,3414,3224,0,0,0,0,0,0,14.83,14.38,14.83,6.32,51.81
$GC,2353,-0.64,-146.0,2182,698,3415,3224,305.7,-13.0,226,2357,0.08,2.40,0.00,0.000,3078,0.360,0.055,2196,2110,3319,3414,3224,0,0,0,0,0,0,14.09,14.39,14.36,6.32,51.33
$GC,2673,-0.64,-146.0,2196,2110,3416,3224,345.2,-12.4,242,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2110,3319,3414,3224,0,0,0,0,0,0,14.83,14.83,14.83,6.33,52.08
$STATE,2711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2711,begin apogee
$GC,2716,-0.15,0.0,2196,2159,3416,3225,350.2,-12.5,244,2846,0.45,0.00,126.22,1.574,10246,0.252,0.000,2354,2158,2715,2775,2655,0,0,0,0,0,0,14.15,13.91,13.24,6.32,51.61
$STATE,2847,end apogee,CONTROL_FINISHED_OK
$STATE,2847,begin loiter
$GC,3133,-0.15,0.0,2355,2159,2773,2642,349.1,2.6,265,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2158,2707,2772,2643,0,0,0,0,0,0,14.55,14.55,14.55,6.27,50.78
$GC,3433,-0.15,0.0,2354,2159,2772,2641,341.6,2.5,280,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2158,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.98
$GC,3733,-0.15,0.0,2354,2157,2772,2641,334.1,2.6,295,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2158,2705,2771,2640,0,0,0,0,0,0,14.80,14.80,14.80,6.28,51.14
$GC,4033,-0.15,0.0,2355,2159,2772,2640,326.5,2.7,310,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2158,2705,2772,2639,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.06
$GC,4333,-0.15,0.0,2355,2159,2773,2639,317.6,3.2,325,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2158,2705,2772,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.37
$GC,4633,-0.15,0.0,2354,2159,2773,2640,307.1,3.6,340,4634,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2158,2705,2772,2639,0,0,0,0,0,0,14.92,14.92,14.92,6.28,52.00
$GC,4933,-0.15,0.0,2355,2159,2772,2641,295.8,3.8,355,4934,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2158,2705,2772,2639,0,0,0,0,0,0,14.95,14.95,14.95,6.27,51.41
$GC,5233,-0.15,0.0,2355,2158,2773,2639,285.0,3.5,370,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2158,2705,2771,2639,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.41
$GC,5533,-0.15,0.0,2354,2158,2773,2640,275.2,3.1,385,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2158,2706,2772,2640,0,0,0,0,0,0,14.98,14.99,14.98,6.27,51.53
$GC,5833,-0.15,0.0,2355,2159,2772,2641,266.9,2.7,400,5834,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2158,2706,2772,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.69
$GC,6133,-0.15,0.0,2355,2159,2772,2641,259.5,2.4,415,6134,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2158,2705,2770,2640,0,0,0,0,0,0,15.01,15.01,15.01,6.27,51.69
$STATE,6431,end loiter,LOITER_COMPLETE
$STATE,6431,begin climb
$GC,6433,0.64,146.0,2354,2159,2772,2641,252.7,0.0,430,6574,0.60,2.58,129.70,1.424,11012,0.161,0.083,2594,3546,2121,2144,2098,0,0,0,0,0,0,14.42,13.97,13.36,6.27,51.45
$GC,6619,0.64,150.9,2595,3546,2143,2093,241.8,8.1,439,6628,0.00,2.38,5.12,1.303,9222,0.000,0.042,2605,2150,2103,2126,2080,0,0,0,0,0,0,14.18,14.10,13.29,6.24,49.40
$GC,6929,0.64,150.9,2605,2151,2117,2070,208.1,11.0,454,6932,0.00,2.47,0.00,0.000,516,0.000,0.067,2616,746,2092,2117,2068,0,0,0,0,0,0,14.55,14.21,14.56,6.22,50.47
$GC,6994,0.64,150.9,2617,747,2115,2068,202.1,10.9,457,6998,0.00,2.40,0.00,0.000,5126,0.000,0.054,2616,2139,2091,2114,2068,0,0,0,0,0,0,14.45,14.27,14.43,6.23,50.94
$GC,7304,0.64,150.9,2616,2140,2114,2067,166.0,11.4,473,7307,0.00,2.53,0.00,0.000,4356,0.000,0.083,2616,3555,2088,2113,2064,0,0,0,0,0,0,14.68,14.28,14.68,6.23,51.10
$GC,7383,0.64,150.9,2617,3556,2114,2066,157.3,11.6,477,7387,0.08,2.38,0.00,0.000,5126,0.343,0.044,2601,2148,2089,2113,2066,0,0,0,0,0,0,14.10,14.38,14.40,6.23,51.73
$GC,7699,0.64,150.9,2601,2148,2113,2065,123.7,10.1,493,7702,0.00,2.45,0.00,0.000,2564,0.000,0.067,2611,741,2088,2112,2064,0,0,0,0,0,0,14.74,14.36,14.75,6.22,50.98
$GC,7768,0.64,150.9,2611,741,2112,2063,118.6,9.6,496,7772,0.00,2.40,0.00,0.000,5126,0.000,0.054,2611,2153,2086,2110,2063,0,0,0,0,0,0,14.54,14.40,14.57,6.22,50.59
$GC,8074,0.64,150.9,2611,2154,2111,2065,87.7,9.7,530,8077,0.00,2.50,0.00,0.000,4356,0.000,0.083,2611,3562,2086,2110,2063,0,0,0,0,0,0,14.77,14.35,14.76,6.21,50.15
$GC,8173,0.64,150.9,2612,3562,2111,2064,78.0,9.4,550,8177,0.05,2.38,0.00,0.000,5126,0.408,0.043,2605,2140,2087,2110,2064,0,0,0,0,0,0,14.18,14.45,14.46,6.20,49.64
$GC,8300,0.64,150.9,2604,2140,2111,2065,67.1,9.1,575,8304,0.00,2.42,0.00,0.000,516,0.000,0.066,2614,744,2086,2110,2063,0,0,0,0,0,0,14.76,14.42,14.76,6.20,49.88
$GC,8364,0.64,150.9,2616,744,2110,2063,61.2,8.8,588,8368,0.00,2.40,0.00,0.000,5126,0.000,0.055,2614,2156,2085,2109,2062,0,0,0,0,0,0,14.57,14.42,14.59,6.20,49.17
$GC,8490,0.64,150.9,2615,2157,2110,2064,50.1,8.6,613,8494,0.00,2.47,0.00,0.000,4356,0.000,0.084,2615,3561,2085,2109,2062,0,0,0,0,0,0,14.76,14.35,14.76,6.19,49.29
$GC,8514,0.64,150.9,2615,3558,2111,2063,47.6,9.7,618,8517,0.05,2.35,0.00,0.000,5126,0.413,0.045,2607,2150,2086,2110,2063,0,0,0,0,0,0,14.18,14.45,14.45,6.19,49.48
$GC,8641,0.64,150.9,2608,2150,2110,2062,36.0,9.7,643,8644,0.00,2.45,0.00,0.000,516,0.000,0.067,2617,742,2085,2109,2062,0,0,0,0,0,0,14.76,14.38,14.76,6.20,50.19
$GC,8704,0.64,150.9,2618,743,2110,2062,29.5,9.4,656,8708,0.00,2.40,0.00,0.000,5126,0.000,0.054,2617,2149,2085,2108,2062,0,0,0,0,0,0,14.56,14.42,14.59,6.20,50.00
$GC,8831,0.64,150.9,2618,2150,2110,2062,17.8,9.7,681,8834,0.00,2.47,0.00,0.000,4356,0.000,0.084,2617,3553,2085,2108,2062,0,0,0,0,0,0,14.76,14.35,14.76,6.20,50.43
$GC,8884,0.64,150.9,2618,3553,2109,2062,12.6,9.0,692,8888,0.08,2.35,0.00,0.000,5126,0.350,0.043,2602,2144,2084,2107,2062,0,0,0,0,0,0,14.15,14.45,14.45,6.20,50.47
$STATE,9009,end climb,SURFACE_DEPTH_REACHED
$STATE,9009,begin surface coast
$STATE,9047,end surface coast,CONTROL_FINISHED_OK
$STATE,9047,begin surface
$SM_CCo,9061,62.92,0.243,0,0,1819,220.03
$SM_GC,1.36,5.50,0.00,62.92,0.066,0.000,0.243,270,2143,1819,-6.45,1.19,220.03,0,0,0,0,0,0,14.60,14.77,14.16
$IRIDIUM_FIX,-6004.12,0.00,300119,005725
$TT8_MAMPS,0.03745,0.230692
$HUMID,50.43
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,2
$SC_FREEKB,3701216
$24V_AH,12.98,83.390
$10V_AH,13.55,0.000
$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,13.175,73.025,261.050,62.925,0.000,26.970,38.161,133.817,0.500,0.000,15.136,0.000,7250.773,403.282,1622.174,212.962,0.000,1037.227,0.000,1156.197,0.000,0.539,0.000
$DEVICE_MAMPS,430.695,2216.205,1573.605,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5469.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.486,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,20767,725
$CAP_FILE_SIZE,92403,0
$CFSIZE,1023623168,977289216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.038,137.62,1
$GPS,300119,061102,-6000.371,-2.420,14,0.8,38,-19.7,0.0,283.7,10,9.5