version: 66.14
glider: 640
mission: 5
dive: 437
start: 1 31 119 0 20 21
data:
$ID,640
$MISSION,5
$DIVE,437
$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,31
$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
$GPS1,310119,001401,-5957.8267,-3.3667,16,0.7,39,-19.7,0.5,207.7,11,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-67.3
$GPS2,310119,002001,-5957.8599,-3.4126,8,0.9,16,-19.7,0.0,1.7,10,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,33.3,33230,-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,-146.0,230,2106,1792,1829,0.0,0.0,0,102,0.00,0.00,-88.28,0.000,16386,0.000,0.000,227,2105,3224,3306,3142,0,0,0,0,0,0,14.57,28.83,14.57,6.18,50.82
$GC,105,-0.64,-146.0,228,2106,3307,3144,3.2,-6.4,18,122,6.12,2.78,-3.28,0.000,18692,0.344,2.235,2174,3503,3317,3410,3225,0,0,0,0,0,0,13.93,13.02,14.28,6.29,50.51
$GC,182,-0.64,-146.0,2174,3504,3414,3225,18.0,-14.1,34,186,0.08,2.38,0.00,0.000,3078,0.353,0.043,2199,2091,3318,3412,3225,0,0,0,0,0,0,14.04,14.31,14.30,6.30,49.37
$GC,308,-0.64,-146.0,2198,2091,3414,3226,37.9,-15.8,59,312,0.00,2.45,0.00,0.000,516,0.000,0.063,2199,693,3318,3412,3225,0,0,0,0,0,0,14.61,14.21,14.61,6.31,49.33
$GC,347,-0.64,-146.0,2199,694,3413,3226,44.1,-15.2,67,350,0.00,2.42,0.00,0.000,3078,0.000,0.057,2189,2101,3319,3413,3225,0,0,0,0,0,0,14.45,14.30,14.47,6.31,49.68
$GC,472,-0.64,-146.0,2189,2102,3413,3226,63.2,-15.5,92,476,0.00,2.50,0.00,0.000,2308,0.000,0.085,2179,3506,3319,3413,3225,0,0,0,0,0,0,14.66,14.26,14.66,6.31,49.76
$GC,522,-0.64,-146.0,2179,3507,3413,3226,69.9,-12.6,102,526,0.05,2.38,0.00,0.000,3078,0.434,0.044,2194,2090,3319,3413,3225,0,0,0,0,0,0,14.07,14.36,14.33,6.31,49.60
$GC,649,-0.64,-146.0,2195,2089,3421,3225,87.5,-14.0,127,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2088,3319,3413,3225,0,0,0,0,0,0,14.66,14.67,14.67,6.30,49.72
$GC,777,-0.64,-146.0,2194,2089,3413,3226,105.8,-14.0,147,780,0.00,2.42,0.00,0.000,516,0.000,0.063,2194,693,3319,3413,3226,0,0,0,0,0,0,14.71,14.34,14.71,6.31,48.81
$GC,807,-0.64,-146.0,2194,693,3414,3226,108.0,-14.1,148,811,0.00,2.42,0.00,0.000,3078,0.000,0.057,2184,2103,3318,3412,3225,0,0,0,0,0,0,14.51,14.35,14.52,6.30,48.54
$GC,1112,-0.64,-146.0,2184,2103,3412,3227,150.8,-12.5,164,1113,0.00,0.00,0.00,0.000,2054,0.000,0.000,2184,2102,3319,3413,3225,0,0,0,0,0,0,14.76,14.76,14.76,6.30,49.60
$GC,1412,-0.64,-146.0,2184,2103,3413,3227,186.5,-11.9,179,1415,0.00,2.47,0.00,0.000,2308,0.000,0.083,2174,3506,3319,3413,3226,0,0,0,0,0,0,14.78,14.35,14.78,6.31,50.94
$GC,1432,-0.64,-146.0,2173,3507,3413,3226,188.3,-12.0,180,1436,0.08,2.35,0.00,0.000,3078,0.359,0.044,2199,2092,3319,3413,3226,0,0,0,0,0,0,14.13,14.45,14.42,6.31,50.66
$GC,1742,-0.64,-146.0,2199,2091,3414,3225,225.0,-11.8,196,1746,0.00,2.42,0.00,0.000,516,0.000,0.063,2198,690,3319,3413,3226,0,0,0,0,0,0,14.79,14.40,14.80,6.32,50.98
$GC,1782,-0.64,-146.0,2197,689,3413,3226,229.9,-12.1,198,1786,0.00,2.42,0.00,0.000,3078,0.000,0.057,2189,2105,3319,3413,3225,0,0,0,0,0,0,14.57,14.42,14.59,6.32,51.02
$GC,2102,-0.64,-146.0,2189,2104,3414,3226,270.0,-12.5,214,2105,0.00,2.47,0.00,0.000,2308,0.000,0.083,2178,3509,3319,3413,3226,0,0,0,0,0,0,14.81,14.36,14.81,6.33,51.10
$GC,2132,-0.64,-146.0,2178,3510,3414,3227,271.9,-12.6,215,2136,0.05,2.35,0.00,0.000,3078,0.425,0.042,2193,2086,3319,3413,3225,0,0,0,0,0,0,14.16,14.47,14.42,6.30,51.85
$GC,2437,-0.64,-146.0,2193,2090,3413,3226,311.8,-12.4,231,2440,0.00,2.40,0.00,0.000,2564,0.000,0.063,2192,700,3319,3413,3225,0,0,0,0,0,0,14.82,14.41,14.82,6.33,51.81
$GC,2482,-0.64,-146.0,2192,700,3413,3226,316.3,-12.6,233,2485,0.00,2.40,0.00,0.000,3078,0.000,0.057,2183,2108,3319,3413,3226,0,0,0,0,0,0,14.58,14.43,14.61,6.33,50.98
$STATE,2745,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2745,begin apogee
$GC,2750,-0.15,0.0,2183,2161,3414,3225,351.4,-12.9,246,2878,0.47,0.00,124.72,1.572,10246,0.256,0.000,2348,2161,2721,2781,2661,0,0,0,0,0,0,14.07,13.90,13.23,6.33,51.37
$STATE,2879,end apogee,CONTROL_FINISHED_OK
$STATE,2879,begin loiter
$GC,3167,-0.15,0.0,2349,2162,2774,2645,350.3,2.7,267,3168,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2161,2707,2771,2644,0,0,0,0,0,0,14.56,14.56,14.56,6.28,50.70
$GC,3467,-0.15,0.0,2348,2161,2773,2643,342.5,2.5,282,3468,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2161,2707,2772,2643,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.98
$GC,3767,-0.15,0.0,2348,2161,2773,2643,334.7,2.6,297,3768,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2161,2707,2772,2642,0,0,0,0,0,0,14.80,14.80,14.81,6.28,51.26
$GC,4067,-0.15,0.0,2348,2161,2773,2643,326.8,2.7,312,4068,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2161,2707,2772,2642,0,0,0,0,0,0,14.85,14.86,14.85,6.28,51.57
$GC,4367,-0.15,0.0,2348,2161,2773,2642,318.7,2.8,327,4368,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2161,2706,2772,2641,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.85
$GC,4667,-0.15,0.0,2348,2161,2773,2642,310.5,2.8,342,4668,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2161,2706,2772,2641,0,0,0,0,0,0,14.93,14.93,14.93,6.28,51.14
$GC,4967,-0.15,0.0,2348,2162,2773,2642,302.6,2.7,357,4968,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2161,2706,2772,2640,0,0,0,0,0,0,14.95,14.95,14.95,6.27,51.96
$GC,5267,-0.15,0.0,2348,2161,2773,2641,295.1,2.5,372,5268,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2161,2706,2772,2640,0,0,0,0,0,0,14.97,14.97,14.98,6.27,51.57
$GC,5567,-0.15,0.0,2348,2161,2773,2641,287.9,2.4,387,5568,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2161,2706,2772,2640,0,0,0,0,0,0,14.99,14.99,14.99,6.27,51.49
$GC,5867,-0.15,0.0,2348,2161,2773,2641,280.3,2.7,402,5868,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2160,2706,2772,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.28,52.04
$GC,6167,-0.15,0.0,2348,2161,2773,2641,271.1,3.1,417,6168,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2161,2706,2772,2640,0,0,0,0,0,0,15.01,15.01,15.02,6.28,51.57
$STATE,6465,end loiter,LOITER_COMPLETE
$STATE,6465,begin climb
$GC,6467,0.64,146.0,2349,2161,2773,2640,261.0,0.0,432,6602,0.62,0.00,130.15,1.432,10502,0.172,0.000,2593,2161,2123,2146,2101,0,0,0,0,0,0,14.38,13.99,13.36,6.27,51.49
$GC,6887,0.64,146.0,2593,2161,2133,2083,222.0,10.9,453,6888,0.00,0.00,0.00,0.000,2054,0.000,0.000,2593,2161,2106,2131,2081,0,0,0,0,0,0,14.53,14.53,14.53,6.23,50.51
$GC,7187,0.64,146.0,2592,2161,2129,2079,189.7,10.5,468,7188,0.00,0.00,0.00,0.000,2054,0.000,0.000,2593,2160,2103,2129,2078,0,0,0,0,0,0,14.66,14.66,14.66,6.23,51.65
$GC,7487,0.64,146.0,2593,2161,2129,2076,157.1,11.4,483,7491,0.00,2.45,0.00,0.000,2308,0.000,0.083,2593,3544,2102,2127,2077,0,0,0,0,0,0,14.73,14.32,14.73,6.22,51.22
$GC,7542,0.64,146.0,2593,3545,2128,2078,151.1,10.9,486,7546,0.00,2.30,0.00,0.000,1030,0.000,0.041,2603,2161,2102,2127,2077,0,0,0,0,0,0,14.52,14.42,14.54,6.23,51.49
$GC,7857,0.64,146.0,2604,2161,2126,2076,116.8,10.9,502,7861,0.00,2.50,0.00,0.000,516,0.000,0.067,2614,736,2101,2126,2076,0,0,0,0,0,0,14.77,14.38,14.77,6.22,50.98
$GC,7937,0.64,146.0,2615,737,2125,2076,108.9,10.6,506,7941,0.00,2.40,0.00,0.000,5126,0.000,0.054,2615,2142,2099,2122,2076,0,0,0,0,0,0,14.56,14.42,14.59,6.22,50.82
$GC,8242,0.64,146.0,2616,2143,2125,2075,76.1,10.5,554,8247,0.00,2.53,0.00,0.000,4356,0.000,0.084,2615,3561,2099,2124,2075,0,0,0,0,0,0,14.79,14.35,14.79,6.21,50.35
$GC,8322,0.64,146.0,2616,3562,2125,2076,67.5,10.5,570,8327,0.08,2.35,0.00,0.000,5126,0.343,0.042,2600,2149,2099,2124,2075,0,0,0,0,0,0,14.17,14.47,14.46,6.20,49.56
$GC,8449,0.64,146.0,2601,2150,2124,2075,55.5,9.1,595,8455,0.00,2.45,0.00,0.000,2564,0.000,0.067,2609,742,2099,2124,2075,0,0,0,0,0,0,14.77,14.39,14.78,6.20,50.31
$GC,8537,0.64,146.0,2609,743,2124,2075,47.9,8.6,613,8541,0.00,2.42,0.00,0.000,5126,0.000,0.053,2609,2161,2098,2123,2074,0,0,0,0,0,0,14.57,14.42,14.59,6.20,49.76
$GC,8664,0.64,146.0,2609,2162,2123,2075,36.8,8.6,638,8667,0.00,2.45,0.00,0.000,4356,0.000,0.084,2609,3552,2098,2123,2074,0,0,0,0,0,0,14.78,14.36,14.78,6.20,50.31
$GC,8712,0.64,146.0,2617,3553,2124,2075,32.4,8.5,648,8716,0.05,2.35,0.00,0.000,5126,0.408,0.043,2603,2146,2098,2123,2074,0,0,0,0,0,0,14.19,14.46,14.46,6.20,50.23
$GC,8839,0.65,156.8,2603,2144,2124,2074,22.4,7.9,673,8848,0.00,2.42,4.25,1.128,10756,0.000,0.064,2612,740,2075,2098,2053,0,0,0,0,0,0,14.77,14.28,13.59,6.20,50.66
$GC,8927,0.65,156.8,2613,740,2099,2054,15.1,8.9,691,8931,0.00,2.40,0.00,0.000,1030,0.000,0.054,2613,2148,2076,2099,2053,0,0,0,0,0,0,14.55,14.42,14.58,6.20,50.70
$GC,9054,0.66,163.7,2613,2149,2099,2052,4.5,8.1,716,9066,0.00,2.53,5.40,0.276,8452,0.000,0.083,2613,3551,2047,2068,2027,0,0,0,0,0,0,14.76,14.35,14.14,6.20,50.98
$STATE,9070,end climb,SURFACE_DEPTH_REACHED
$STATE,9070,begin surface coast
$STATE,9095,end surface coast,CONTROL_FINISHED_OK
$STATE,9095,begin surface
$SM_CCo,9113,54.03,0.240,0,0,1821,220.03
$SM_GC,1.16,5.65,2.50,54.03,0.089,0.038,0.240,244,2081,1821,-6.46,0.68,220.03,0,0,0,0,0,0,14.52,14.47,14.17
$IRIDIUM_FIX,-5959.23,34.42,300119,214356
$TT8_MAMPS,0.038948,0.323568
$HUMID,50.07
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,2
$SC_FREEKB,3697120
$24V_AH,13.02,84.825
$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,13.250,73.150,264.525,54.025,0.000,25.497,34.915,128.768,0.500,0.000,17.554,0.000,7313.799,404.906,1597.527,213.138,0.000,1030.970,0.000,1136.522,0.000,0.541,0.000
$DEVICE_MAMPS,433.755,2235.330,1572.075,240.210,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5516.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.400,0.000,0.000,0.000
$MEM,344112
$DATA_FILE_SIZE,20764,725
$CAP_FILE_SIZE,91959,0
$CFSIZE,1023623168,976502784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.073,216.77,1
$GPS,310119,025401,-5957.518,-3.470,15,1.0,27,-19.7,0.0,79.9,8,8.7