version: 66.14
glider: 640
mission: 5
dive: 225
start: 1 8 119 5 12 29
data:
$ID,640
$MISSION,5
$DIVE,225
$N_DIVES,300
$STOP_T,1101912
$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,53
$R_STBD_OVSHOOT,25
$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
$GPS1,080119,050722,-6009.8428,-2.2072,40,0.8,43,-19.7,0.3,246.3,10,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-68.7
$GPS2,080119,051211,-6009.8594,-2.2480,9,0.8,14,-19.7,0.5,197.8,10,9.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,30.1,55339,-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,10,-0.64,-146.0,215,2068,1797,1823,0.0,0.0,0,101,0.00,0.00,-88.30,0.000,16386,0.000,0.000,215,2068,3209,3287,3131,0,0,0,0,0,0,14.62,28.83,14.62,6.17,50.63
$GC,103,-0.64,-146.0,215,2069,3289,3132,3.3,-6.4,18,117,6.10,2.60,-4.07,0.000,18948,0.360,2.245,2189,714,3316,3408,3225,0,0,0,0,0,0,14.15,13.43,14.45,6.29,49.76
$GC,171,-0.64,-146.0,2189,715,3411,3226,15.4,-15.5,32,176,0.00,2.42,0.00,0.000,3078,0.000,0.057,2180,2106,3317,3409,3225,0,0,0,0,0,0,14.43,14.38,14.45,6.30,48.58
$GC,297,-0.64,-146.0,2179,2106,3411,3225,37.0,-16.6,57,300,0.00,2.45,0.00,0.000,2308,0.000,0.080,2168,3506,3317,3410,3225,0,0,0,0,0,0,14.65,14.40,14.66,6.30,49.21
$GC,351,-0.64,-146.0,2168,3507,3411,3226,45.9,-16.8,68,356,0.08,2.35,0.00,0.000,3078,0.327,0.044,2194,2127,3317,3410,3225,0,0,0,0,0,0,14.28,14.43,14.40,6.30,49.25
$GC,477,-0.64,-146.0,2194,2127,3411,3220,64.2,-14.1,93,481,0.00,2.42,0.00,0.000,2308,0.000,0.081,2185,3507,3317,3410,3225,0,0,0,0,0,0,14.68,14.43,14.69,6.30,49.21
$GC,501,-0.64,-146.0,2185,3505,3411,3227,67.8,-14.6,98,505,0.00,2.40,0.00,0.000,3078,0.000,0.046,2184,2097,3317,3410,3225,0,0,0,0,0,0,14.50,14.45,14.52,6.30,49.29
$GC,627,-0.64,-146.0,2184,2097,3411,3226,86.7,-14.8,123,630,0.00,2.42,0.00,0.000,2564,0.000,0.067,2184,696,3317,3410,3225,0,0,0,0,0,0,14.71,14.47,14.71,6.30,48.89
$GC,697,-0.64,-146.0,2184,697,3407,3226,97.3,-14.7,137,701,0.05,2.42,0.00,0.000,3078,0.356,0.057,2202,2099,3317,3410,3225,0,0,0,0,0,0,14.30,14.46,14.52,6.30,48.70
$GC,836,-0.64,-146.0,2202,2099,3412,3225,116.3,-13.4,147,840,0.00,2.50,0.00,0.000,4356,0.000,0.084,2192,3508,3317,3410,3225,0,0,0,0,0,0,14.74,14.45,14.74,6.30,48.62
$GC,891,-0.64,-146.0,2192,3509,3411,3225,121.5,-13.0,149,895,0.00,2.40,0.00,0.000,3078,0.000,0.045,2192,2093,3317,3410,3225,0,0,0,0,0,0,14.55,14.50,14.57,6.31,48.54
$GC,1196,-0.64,-146.0,2193,2092,3412,3225,163.1,-13.5,165,1200,0.00,2.45,0.00,0.000,2564,0.000,0.066,2192,694,3318,3411,3225,0,0,0,0,0,0,14.78,14.50,14.78,6.29,49.64
$GC,1281,-0.64,-146.0,2192,695,3412,3225,173.4,-12.9,169,1285,0.00,2.42,0.00,0.000,3078,0.000,0.057,2182,2102,3318,3411,3225,0,0,0,0,0,0,14.58,14.52,14.59,6.30,49.88
$GC,1597,-0.64,-146.0,2181,2103,3411,3226,215.5,-13.4,185,1600,0.00,2.42,0.00,0.000,2308,0.000,0.082,2171,3505,3317,3410,3225,0,0,0,0,0,0,14.81,14.53,14.81,6.31,51.41
$GC,1611,-0.64,-146.0,2170,3505,3411,3226,215.5,-13.4,185,1617,0.05,2.38,0.00,0.000,3078,0.353,0.044,2189,2097,3317,3410,3225,0,0,0,0,0,0,14.34,14.55,14.50,6.31,50.82
$GC,1916,-0.64,-146.0,2190,2096,3412,3225,255.8,-12.3,201,1921,0.00,2.45,0.00,0.000,2564,0.000,0.066,2189,696,3317,3410,3225,0,0,0,0,0,0,14.82,14.54,14.81,6.32,51.45
$GC,1971,-0.64,-146.0,2189,697,3412,3227,260.8,-12.5,203,1975,0.00,2.40,0.00,0.000,3078,0.000,0.055,2179,2094,3317,3410,3225,0,0,0,0,0,0,14.60,14.54,14.63,6.35,51.37
$GC,2276,-0.64,-146.0,2179,2095,3411,3225,301.3,-12.8,219,2277,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2094,3317,3410,3225,0,0,0,0,0,0,14.83,14.83,14.82,6.33,51.26
$GC,2576,-0.64,-146.0,2178,2095,3411,3227,339.0,-12.6,234,2580,0.00,2.42,0.00,0.000,2564,0.000,0.064,2178,698,3317,3410,3225,0,0,0,0,0,0,14.84,14.57,14.85,6.33,51.29
$GC,2611,-0.64,-146.0,2179,698,3412,3225,341.6,-12.7,235,2616,0.08,2.40,0.00,0.000,3078,0.326,0.055,2194,2100,3317,3410,3225,0,0,0,0,0,0,14.38,14.57,14.53,6.34,51.29
$STATE,2675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2675,begin apogee
$GC,2679,-0.15,0.0,2194,2165,3410,3226,351.2,-12.0,239,2810,0.45,0.00,128.00,1.587,10246,0.264,0.000,2355,2165,2718,2777,2659,0,0,0,0,0,0,14.39,13.94,13.33,6.34,51.69
$STATE,2811,end apogee,CONTROL_FINISHED_OK
$STATE,2811,begin loiter
$GC,3096,-0.15,0.0,2355,2166,2771,2644,345.9,3.6,260,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2165,2707,2771,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.66
$GC,3396,-0.15,0.0,2355,2166,2771,2641,334.0,4.1,275,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2165,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.29,50.74
$GC,3696,-0.15,0.0,2355,2165,2772,2639,321.2,4.3,290,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2165,2705,2771,2639,0,0,0,0,0,0,14.80,14.80,14.80,6.29,51.77
$GC,3997,-0.15,0.0,2355,2165,2772,2638,308.1,4.4,305,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2165,2704,2771,2638,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.14
$GC,4296,-0.15,0.0,2355,2165,2773,2638,296.0,3.8,320,4297,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2164,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.10
$GC,4596,-0.15,0.0,2355,2164,2772,2637,285.6,3.3,335,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2165,2704,2771,2637,0,0,0,0,0,0,14.93,14.93,14.93,6.29,51.41
$GC,4896,-0.15,0.0,2355,2165,2772,2636,276.5,3.0,350,4897,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2164,2704,2771,2637,0,0,0,0,0,0,14.95,14.96,14.95,6.28,51.26
$GC,5196,-0.15,0.0,2355,2165,2772,2637,267.4,3.1,365,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2165,2704,2771,2637,0,0,0,0,0,0,14.97,14.98,14.98,6.28,51.96
$GC,5497,-0.15,0.0,2355,2166,2772,2638,257.3,3.4,380,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2165,2704,2771,2637,0,0,0,0,0,0,14.99,15.00,15.00,6.29,51.49
$GC,5796,-0.15,0.0,2354,2165,2771,2638,247.0,3.4,395,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2165,2704,2771,2637,0,0,0,0,0,0,15.01,15.01,15.01,6.29,51.65
$GC,6096,-0.15,0.0,2355,2165,2772,2637,236.8,3.3,410,6097,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2165,2704,2771,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.33
$STATE,6395,end loiter,LOITER_COMPLETE
$STATE,6395,begin climb
$GC,6397,0.64,146.0,2354,2165,2772,2638,227.1,0.0,425,6536,0.60,2.50,130.55,1.411,11012,0.177,0.080,2594,3538,2120,2146,2095,0,0,0,0,0,0,14.66,13.91,13.46,6.28,51.06
$GC,6591,0.64,146.0,2595,3539,2145,2090,213.7,9.7,434,6596,0.00,2.40,0.00,0.000,1030,0.000,0.043,2606,2157,2116,2145,2088,0,0,0,0,0,0,14.19,14.16,14.21,6.23,49.48
$GC,6896,0.64,146.0,2606,2157,2137,2080,175.4,12.0,450,6900,0.00,2.53,0.00,0.000,516,0.000,0.068,2618,744,2107,2135,2079,0,0,0,0,0,0,14.60,14.31,14.60,6.24,50.86
$GC,6921,0.64,146.0,2617,745,2133,2081,173.0,12.0,451,6925,0.00,2.42,0.00,0.000,5126,0.000,0.054,2617,2132,2106,2133,2079,0,0,0,0,0,0,14.42,14.36,14.44,6.23,50.23
$GC,7236,0.64,146.0,2618,2132,2133,2077,134.2,11.7,467,7240,0.00,2.55,0.00,0.000,4356,0.000,0.084,2617,3555,2104,2132,2077,0,0,0,0,0,0,14.71,14.42,14.69,6.23,50.39
$GC,7306,0.64,146.0,2617,3557,2132,2078,126.8,12.2,470,7311,0.05,2.40,0.00,0.000,5126,0.330,0.044,2609,2146,2104,2131,2078,0,0,0,0,0,0,14.26,14.44,14.42,6.23,50.31
$GC,7611,0.64,146.0,2609,2147,2132,2076,93.3,10.4,494,7616,0.00,2.47,0.00,0.000,4612,0.000,0.067,2619,741,2103,2131,2076,0,0,0,0,0,0,14.76,14.48,14.76,6.22,49.56
$GC,7702,0.64,146.0,2619,742,2130,2076,84.6,9.4,512,7705,0.00,2.42,0.00,0.000,5126,0.000,0.054,2619,2152,2101,2126,2076,0,0,0,0,0,0,14.57,14.51,14.59,6.21,49.76
$GC,7827,0.64,146.0,2619,2152,2129,2077,71.7,10.3,537,7831,0.00,2.45,0.00,0.000,4356,0.000,0.085,2619,3553,2101,2128,2075,0,0,0,0,0,0,14.77,14.50,14.77,6.21,49.25
$GC,7856,0.64,146.0,2619,3554,2129,2076,68.4,11.2,543,7861,0.05,2.38,0.00,0.000,5126,0.331,0.046,2609,2151,2102,2128,2076,0,0,0,0,0,0,14.31,14.50,14.47,6.21,49.13
$GC,7982,0.64,146.0,2610,2151,2129,2075,56.6,9.2,568,7986,0.00,2.45,0.00,0.000,4612,0.000,0.067,2618,735,2101,2128,2075,0,0,0,0,0,0,14.78,14.52,14.78,6.20,49.60
$GC,8026,0.64,146.0,2619,736,2128,2076,52.3,9.2,577,8031,0.03,2.42,0.00,0.000,5126,0.397,0.055,2608,2144,2101,2128,2074,0,0,0,0,0,0,14.31,14.49,14.47,6.20,49.52
$GC,8153,0.64,146.0,2608,2145,2128,2075,40.2,9.3,602,8157,0.00,2.47,0.00,0.000,4356,0.000,0.084,2608,3562,2100,2127,2074,0,0,0,0,0,0,14.78,14.52,14.79,6.20,49.05
$GC,8171,0.64,146.0,2609,3562,2129,2075,38.3,9.4,606,8176,0.00,2.40,0.00,0.000,5126,0.000,0.044,2617,2146,2100,2127,2074,0,0,0,0,0,0,14.59,14.54,14.61,6.20,49.84
$GC,8298,0.64,146.0,2617,2147,2128,2075,26.6,9.4,631,8301,0.00,2.47,0.00,0.000,4356,0.000,0.083,2617,3559,2100,2127,2074,0,0,0,0,0,0,14.79,14.52,14.79,6.20,49.37
$GC,8392,0.64,146.0,2618,3560,2129,2074,17.3,9.7,650,8397,0.05,2.38,0.00,0.000,5126,0.324,0.043,2608,2148,2101,2127,2075,0,0,0,0,0,0,14.35,14.56,14.64,6.20,50.11
$GC,8517,0.64,146.0,2610,2148,2129,2073,6.1,8.8,675,8521,0.00,2.42,0.00,0.000,4612,0.000,0.069,2619,747,2100,2127,2073,0,0,0,0,0,0,14.79,14.54,14.80,6.20,50.11
$STATE,8550,end climb,SURFACE_DEPTH_REACHED
$STATE,8550,begin surface coast
$STATE,8580,end surface coast,CONTROL_FINISHED_OK
$STATE,8580,begin surface
$SM_CCo,8594,67.10,0.243,0,0,1821,220.03
$SM_GC,1.22,5.43,2.35,67.10,0.057,0.050,0.243,259,2104,1821,-6.44,-0.93,220.03,0,0,0,0,0,0,14.66,14.56,14.33
$IRIDIUM_FIX,-6010.01,-4.32,080119,023642
$TT8_MAMPS,0.03745,0.323568
$HUMID,50.11
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3805664
$24V_AH,13.33,46.708
$10V_AH,13.63,0.000
$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,13.000,87.725,258.550,67.100,0.000,26.084,16.520,121.285,0.000,0.000,15.349,0.000,6854.910,436.499,1534.468,127.933,0.000,1046.484,0.000,1101.202,0.000,0.539,0.000
$DEVICE_MAMPS,397.035,2245.275,1586.610,242.505,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4994.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.898,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,17327,688
$CAP_FILE_SIZE,92339,0
$CFSIZE,1023623168,997359616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.052,232.06,1
$GPS,080119,073755,-6009.463,-2.372,18,0.8,41,-19.7,0.0,175.7,10,7.8