version: 66.14
glider: 640
mission: 5
dive: 451
start: 2 1 119 12 56 32
data:
$ID,640
$MISSION,5
$DIVE,451
$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,51
$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
$GPS1,010219,124951,-5953.4136,-2.3575,23,0.8,60,-19.7,0.0,14.3,10,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-66.2
$GPS2,010219,125613,-5953.4053,-2.3216,9,0.8,14,-19.7,0.8,308.6,10,8.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,21.9,24921,-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,-146.0,216,2075,1791,1828,0.0,0.0,0,102,0.00,0.00,-87.60,0.000,16386,0.000,0.000,210,2075,3217,3301,3133,0,0,0,0,0,0,14.53,28.83,14.53,6.18,51.65
$GC,105,-0.64,-146.0,216,2076,3300,3136,3.4,-7.2,18,121,6.20,2.65,-3.42,0.000,18948,0.347,2.208,2171,710,3313,3406,3221,0,0,0,0,0,0,13.90,13.22,14.23,6.29,50.07
$GC,168,-0.64,-146.0,2171,711,3409,3221,15.9,-17.7,31,172,0.10,2.42,0.00,0.000,3078,0.334,0.056,2193,2108,3314,3408,3221,0,0,0,0,0,0,13.95,14.19,14.20,6.31,49.29
$GC,295,-0.64,-146.0,2194,2109,3410,3221,37.2,-16.7,56,297,0.00,0.00,0.00,0.000,2054,0.000,0.000,2193,2108,3315,3409,3221,0,0,0,0,0,0,14.58,14.58,14.58,6.31,49.33
$GC,418,-0.64,-146.0,2194,2108,3410,3221,57.5,-17.0,81,421,0.00,2.45,0.00,0.000,2564,0.000,0.063,2193,707,3315,3409,3221,0,0,0,0,0,0,14.62,14.21,14.62,6.31,49.68
$GC,448,-0.64,-146.0,2193,707,3410,3223,62.4,-15.9,87,451,0.00,2.40,0.00,0.000,3078,0.000,0.058,2183,2109,3315,3409,3221,0,0,0,0,0,0,14.37,14.23,14.38,6.31,49.72
$GC,573,-0.64,-146.0,2183,2101,3410,3221,81.1,-15.0,112,576,0.00,0.00,0.00,0.000,2054,0.000,0.000,2183,2100,3315,3409,3222,0,0,0,0,0,0,14.64,14.64,14.64,6.31,49.80
$GC,698,-0.64,-146.0,2184,2101,3410,3222,99.7,-14.8,137,701,0.00,2.47,0.00,0.000,2308,0.000,0.083,2173,3497,3315,3409,3222,0,0,0,0,0,0,14.66,14.21,14.66,6.31,48.54
$GC,728,-0.64,-146.0,2174,3497,3409,3223,102.7,-14.8,139,732,0.08,2.30,0.00,0.000,3078,0.348,0.041,2198,2116,3315,3409,3222,0,0,0,0,0,0,14.02,14.38,14.28,6.31,48.54
$GC,1033,-0.64,-146.0,2199,2115,3410,3223,145.2,-12.9,154,1037,0.00,2.45,0.00,0.000,260,0.000,0.082,2188,3496,3315,3409,3222,0,0,0,0,0,0,14.71,14.23,14.71,6.30,49.48
$GC,1093,-0.64,-146.0,2189,3498,3409,3223,151.9,-12.4,157,1096,0.00,2.33,0.00,0.000,3078,0.000,0.041,2188,2096,3315,3409,3222,0,0,0,0,0,0,14.44,14.35,14.45,6.30,50.00
$GC,1408,-0.64,-146.0,2188,2096,3410,3223,191.5,-12.3,173,1412,0.00,2.42,0.00,0.000,2564,0.000,0.063,2188,696,3315,3409,3222,0,0,0,0,0,0,14.73,14.25,14.74,6.31,50.51
$GC,1468,-0.64,-146.0,2188,696,3410,3222,198.4,-12.4,176,1472,0.05,2.40,0.00,0.000,3078,0.430,0.055,2193,2102,3315,3409,3222,0,0,0,0,0,0,14.04,14.31,14.31,6.31,50.43
$GC,1778,-0.64,-146.0,2193,2103,3410,3222,235.4,-11.6,192,1782,0.00,2.47,0.00,0.000,2308,0.000,0.083,2182,3508,3315,3409,3222,0,0,0,0,0,0,14.76,14.26,14.76,6.32,50.98
$GC,1813,-0.64,-146.0,2183,3509,3410,3222,237.8,-11.7,193,1816,0.00,2.33,0.00,0.000,3078,0.000,0.042,2182,2103,3315,3409,3222,0,0,0,0,0,0,14.47,14.42,14.48,6.32,51.22
$GC,2118,-0.64,-146.0,2182,2102,3409,3223,276.6,-12.2,209,2122,0.00,2.45,0.00,0.000,2564,0.000,0.063,2181,689,3315,3409,3222,0,0,0,0,0,0,14.77,14.28,14.77,6.32,51.26
$GC,2163,-0.64,-146.0,2182,690,3410,3222,280.9,-12.3,211,2167,0.08,2.42,0.00,0.000,3078,0.356,0.056,2195,2107,3315,3409,3222,0,0,0,0,0,0,14.04,14.31,14.31,6.32,51.33
$GC,2473,-0.64,-146.0,2196,2107,3410,3222,318.2,-11.7,227,2477,0.00,2.47,0.00,0.000,260,0.000,0.084,2185,3510,3315,3409,3222,0,0,0,0,0,0,14.77,14.23,14.77,6.33,51.29
$GC,2498,-0.64,-146.0,2185,3510,3409,3222,320.0,-11.7,228,2501,0.00,2.35,0.00,0.000,3078,0.000,0.043,2185,2090,3315,3409,3222,0,0,0,0,0,0,14.47,14.38,14.49,6.33,51.29
$STATE,2741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2741,begin apogee
$GC,2747,-0.15,0.0,2184,2158,3410,3221,351.3,-12.4,240,2874,0.47,0.00,124.53,1.590,10246,0.249,0.000,2351,2159,2717,2777,2657,0,0,0,0,0,0,14.07,13.88,13.19,6.33,51.29
$STATE,2875,end apogee,CONTROL_FINISHED_OK
$STATE,2875,begin loiter
$GC,3163,-0.15,0.0,2351,2160,2772,2644,347.9,3.3,261,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2159,2706,2771,2642,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.47
$GC,3463,-0.15,0.0,2351,2160,2772,2641,338.7,3.1,276,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2159,2705,2771,2640,0,0,0,0,0,0,14.70,14.71,14.71,6.28,50.82
$GC,3763,-0.15,0.0,2352,2159,2773,2639,329.5,3.1,291,3764,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2159,2705,2771,2639,0,0,0,0,0,0,14.79,14.80,14.80,6.28,51.73
$GC,4063,-0.15,0.0,2351,2160,2772,2640,319.9,3.2,306,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2159,2705,2771,2639,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.22
$GC,4363,-0.15,0.0,2351,2160,2772,2641,310.0,3.3,321,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2159,2705,2771,2639,0,0,0,0,0,0,14.89,14.90,14.90,6.28,51.37
$GC,4663,-0.15,0.0,2351,2160,2773,2639,300.5,3.2,336,4664,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2159,2705,2771,2639,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.29
$GC,4963,-0.15,0.0,2352,2160,2774,2639,291.9,2.7,351,4964,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2159,2705,2771,2639,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.22
$GC,5263,-0.15,0.0,2351,2160,2772,2640,283.8,2.7,366,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2159,2705,2771,2639,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.41
$GC,5563,-0.15,0.0,2351,2160,2773,2639,275.6,2.7,381,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2159,2705,2771,2639,0,0,0,0,0,0,14.98,14.98,14.98,6.28,51.61
$GC,5863,-0.15,0.0,2351,2160,2772,2641,265.8,3.4,396,5864,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2159,2705,2771,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.41
$GC,6163,-0.15,0.0,2351,2160,2772,2641,254.6,3.9,411,6164,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2159,2705,2771,2640,0,0,0,0,0,0,15.01,15.02,15.01,6.27,51.65
$STATE,6461,end loiter,LOITER_COMPLETE
$STATE,6461,begin climb
$GC,6463,0.64,146.0,2352,2160,2773,2639,243.3,0.0,426,6598,0.62,0.00,129.73,1.424,10502,0.167,0.000,2597,2160,2123,2146,2101,0,0,0,0,0,0,14.39,14.00,13.35,6.27,51.85
$GC,6883,0.64,146.0,2597,2160,2133,2082,203.2,11.4,447,6884,0.00,0.00,0.00,0.000,2054,0.000,0.000,2597,2160,2106,2131,2082,0,0,0,0,0,0,14.53,14.54,14.53,6.25,50.31
$GC,7183,0.64,146.0,2596,2159,2129,2076,170.0,10.9,462,7184,0.00,0.00,0.00,0.000,2054,0.000,0.000,2597,2160,2103,2128,2078,0,0,0,0,0,0,14.66,14.66,14.66,6.23,51.57
$GC,7483,0.64,146.0,2597,2160,2127,2077,137.4,10.7,477,7484,0.00,0.00,0.00,0.000,2054,0.000,0.000,2596,2160,2101,2126,2076,0,0,0,0,0,0,14.73,14.73,14.73,6.23,51.22
$GC,7783,0.64,146.0,2597,2159,2127,2075,106.5,9.5,492,7787,0.00,2.45,0.00,0.000,2308,0.000,0.081,2597,3546,2101,2126,2076,0,0,0,0,0,0,14.77,14.35,14.77,6.23,51.22
$GC,7828,0.64,146.0,2597,3548,2125,2077,103.0,9.5,494,7832,0.00,2.33,0.00,0.000,5126,0.000,0.041,2608,2150,2100,2125,2076,0,0,0,0,0,0,14.57,14.45,14.59,6.23,50.94
$GC,8133,0.64,146.0,2608,2149,2130,2076,72.6,9.6,551,8137,0.00,2.45,0.00,0.000,4612,0.000,0.067,2619,744,2100,2125,2076,0,0,0,0,0,0,14.80,14.38,14.78,6.21,50.51
$GC,8193,0.64,146.0,2619,744,2124,2076,66.6,9.7,563,8197,0.00,2.38,0.00,0.000,5126,0.000,0.052,2619,2142,2099,2123,2075,0,0,0,0,0,0,14.57,14.42,14.59,6.20,50.00
$GC,8320,0.64,146.0,2619,2142,2123,2076,54.3,9.8,588,8325,0.00,2.50,0.00,0.000,4356,0.000,0.083,2619,3556,2099,2123,2075,0,0,0,0,0,0,14.78,14.35,14.78,6.20,50.07
$GC,8363,0.64,146.0,2619,3557,2123,2076,49.6,10.0,597,8367,0.08,2.35,0.00,0.000,5126,0.337,0.044,2604,2150,2095,2122,2069,0,0,0,0,0,0,14.17,14.46,14.45,6.20,49.56
$GC,8490,0.64,151.4,2604,2150,2123,2074,39.7,8.1,622,8493,0.00,2.45,0.00,0.000,516,0.000,0.067,2614,738,2098,2122,2074,0,0,0,0,0,0,14.78,14.38,14.78,6.20,49.88
$GC,8558,0.65,159.5,2614,739,2122,2075,34.1,8.0,636,8572,0.00,2.40,8.68,1.288,13318,0.000,0.054,2614,2149,2063,2088,2038,0,0,0,0,0,0,14.57,14.42,13.72,6.20,50.39
$GC,8694,0.65,159.5,2614,2150,2087,2041,22.3,9.0,663,8697,0.00,2.47,0.00,0.000,4356,0.000,0.084,2614,3553,2063,2086,2040,0,0,0,0,0,0,14.74,14.35,14.74,6.20,51.02
$GC,8763,0.65,159.5,2614,3555,2086,2041,15.8,9.3,677,8767,0.00,2.35,0.00,0.000,5126,0.000,0.044,2625,2142,2063,2086,2040,0,0,0,0,0,0,14.55,14.42,14.57,6.20,51.33
$GC,8890,0.65,159.5,2624,2141,2086,2041,3.6,9.2,702,8893,0.00,2.05,0.00,0.000,4611,0.000,0.061,2635,939,2062,2085,2039,0,0,0,0,0,0,14.74,14.75,14.73,6.20,50.94
$STATE,8894,end climb,SURFACE_DEPTH_REACHED
$STATE,8894,begin surface coast
$STATE,8921,end surface coast,CONTROL_FINISHED_OK
$STATE,8921,begin surface
$SM_CCo,8939,57.40,0.239,0,0,1820,220.03
$SM_GC,1.13,5.62,2.05,57.40,0.067,0.054,0.239,216,2112,1820,-6.49,-0.76,220.03,0,0,0,0,0,0,14.55,14.44,14.16
$IRIDIUM_FIX,-5954.49,-12.88,010219,101718
$TT8_MAMPS,0.03745,0.364014
$HUMID,50.86
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,1
$SC_FREEKB,3689952
$24V_AH,13.19,87.392
$10V_AH,13.30,0.000
$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,13.300,67.125,262.925,57.400,0.000,24.626,17.010,162.727,0.250,0.000,15.541,0.000,7177.413,400.508,1580.274,221.343,0.000,1013.434,0.000,1112.373,0.000,0.540,0.000
$DEVICE_MAMPS,429.930,2207.790,1590.435,238.680,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5349.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.918,0.000,0.000,0.000
$MEM,344076
$DATA_FILE_SIZE,17305,709
$CAP_FILE_SIZE,89675,0
$CFSIZE,1023623168,975126528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.052,189.40,1
$GPS,010219,152731,-5952.993,-2.293,18,0.8,35,-19.7,0.6,344.0,9,8.5