version: 66.14
glider: 640
mission: 5
dive: 229
start: 1 8 119 15 21 29
data:
$ID,640
$MISSION,5
$DIVE,229
$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,55
$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
$GPS1,080119,151619,-6008.1836,-2.1690,18,0.8,41,-19.7,0.5,145.4,10,7.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-64.8
$GPS2,080119,152111,-6008.1753,-2.1707,8,0.9,16,-19.7,0.7,15.7,9,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,24.6,52220,-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,-146.0,234,2074,1798,1821,0.0,0.0,0,96,0.00,0.00,-83.32,0.000,16386,0.000,0.000,233,2074,3121,3202,3041,0,0,0,0,0,0,14.62,28.83,14.63,6.18,50.70
$GC,98,-0.64,-146.0,234,2075,3204,3043,3.1,-6.0,17,116,6.03,2.60,-7.57,0.000,18948,0.360,2.244,2191,712,3317,3413,3222,0,0,0,0,0,0,14.18,13.25,14.46,6.29,49.76
$GC,171,-0.64,-146.0,2193,713,3415,3225,15.4,-15.7,32,175,0.00,2.42,0.00,0.000,3078,0.000,0.056,2181,2105,3319,3414,3225,0,0,0,0,0,0,14.43,14.38,14.45,6.31,48.70
$GC,296,-0.64,-146.0,2190,2106,3414,3226,37.9,-17.9,57,301,0.00,2.45,0.00,0.000,2564,0.000,0.063,2181,717,3319,3414,3224,0,0,0,0,0,0,14.66,14.39,14.66,6.31,49.29
$GC,311,-0.64,-146.0,2181,719,3414,3226,40.8,-18.7,60,315,0.05,2.40,0.00,0.000,3078,0.357,0.057,2188,2096,3319,3414,3225,0,0,0,0,0,0,14.21,14.40,14.37,6.31,49.05
$GC,437,-0.64,-146.0,2189,2096,3415,3225,62.5,-16.2,85,441,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2096,3319,3414,3225,0,0,0,0,0,0,14.68,14.69,14.68,6.31,49.33
$GC,561,-0.64,-146.0,2188,2097,3415,3226,81.6,-14.5,110,564,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2096,3319,3413,3225,0,0,0,0,0,0,14.71,14.71,14.71,6.31,49.05
$GC,686,-0.64,-146.0,2187,2097,3414,3226,99.3,-13.9,135,690,0.00,2.50,0.00,0.000,2308,0.000,0.081,2178,3502,3319,3414,3225,0,0,0,0,0,0,14.73,14.43,14.73,6.30,48.70
$GC,711,-0.64,-146.0,2178,3503,3414,3226,102.0,-13.8,138,715,0.03,2.35,0.00,0.000,3078,0.446,0.043,2186,2118,3324,3424,3225,0,0,0,0,0,0,14.27,14.50,14.42,6.31,48.74
$GC,1026,-0.64,-146.0,2186,2118,3413,3226,145.3,-13.2,154,1030,0.00,2.45,0.00,0.000,2564,0.000,0.064,2185,695,3319,3414,3225,0,0,0,0,0,0,14.77,14.52,14.78,6.30,49.76
$GC,1116,-0.64,-146.0,2186,695,3415,3225,155.3,-12.4,158,1120,0.05,2.42,0.00,0.000,3078,0.364,0.055,2197,2101,3319,3414,3225,0,0,0,0,0,0,14.31,14.51,14.47,6.30,49.64
$GC,1426,-0.64,-146.0,2193,2102,3415,3225,194.8,-12.8,174,1427,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2101,3319,3414,3225,0,0,0,0,0,0,14.81,14.81,14.81,6.32,50.74
$GC,1726,-0.64,-146.0,2193,2102,3415,3225,232.4,-12.3,189,1730,0.00,2.45,0.00,0.000,2564,0.000,0.064,2192,696,3319,3414,3225,0,0,0,0,0,0,14.83,14.54,14.83,6.33,50.98
$GC,1756,-0.64,-146.0,2192,696,3415,3225,234.9,-12.4,190,1760,0.00,2.40,0.00,0.000,3078,0.000,0.056,2182,2095,3319,3414,3225,0,0,0,0,0,0,14.60,14.55,14.60,6.32,51.10
$GC,2066,-0.64,-146.0,2183,2096,3415,3225,275.8,-12.9,206,2070,0.00,2.45,0.00,0.000,2308,0.000,0.081,2171,3509,3319,3414,3225,0,0,0,0,0,0,14.83,14.56,14.83,6.33,50.78
$GC,2086,-0.64,-146.0,2172,3511,3414,3226,278.4,-12.9,207,2090,0.05,2.38,0.00,0.000,3078,0.353,0.044,2189,2098,3319,3413,3225,0,0,0,0,0,0,14.35,14.58,14.52,6.33,51.61
$GC,2407,-0.64,-146.0,2189,2097,3415,3225,318.2,-12.4,223,2410,0.00,2.40,0.00,0.000,2564,0.000,0.065,2188,693,3319,3414,3225,0,0,0,0,0,0,14.84,14.59,14.84,6.33,51.29
$GC,2476,-0.64,-146.0,2189,694,3415,3225,325.7,-12.5,226,2480,0.00,2.42,0.00,0.000,3078,0.000,0.054,2179,2105,3323,3421,3225,0,0,0,0,0,0,14.62,14.57,14.65,6.33,51.18
$STATE,2665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2665,begin apogee
$GC,2669,-0.15,0.0,2180,2151,3415,3225,350.8,-12.8,236,2800,0.47,0.00,127.55,1.591,10246,0.271,0.000,2347,2150,2717,2776,2658,0,0,0,0,0,0,14.41,13.94,13.33,6.34,51.73
$STATE,2801,end apogee,CONTROL_FINISHED_OK
$STATE,2801,begin loiter
$GC,3086,-0.15,0.0,2347,2150,2773,2643,347.9,3.0,257,3087,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2150,2707,2772,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.31
$GC,3386,-0.15,0.0,2348,2151,2774,2641,339.1,2.9,272,3387,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2150,2706,2772,2641,0,0,0,0,0,0,14.71,14.72,14.71,6.28,50.86
$GC,3686,-0.15,0.0,2348,2150,2773,2640,330.5,2.9,287,3687,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2150,2706,2772,2640,0,0,0,0,0,0,14.81,14.81,14.81,6.28,51.18
$GC,3986,-0.15,0.0,2347,2151,2772,2640,322.4,2.7,302,3987,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2150,2705,2772,2639,0,0,0,0,0,0,14.85,14.85,14.86,6.29,51.14
$GC,4286,-0.15,0.0,2347,2152,2772,2640,313.6,3.0,317,4287,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2150,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.91,6.29,51.33
$GC,4586,-0.15,0.0,2346,2151,2772,2640,304.3,3.1,332,4587,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2150,2705,2772,2639,0,0,0,0,0,0,14.94,14.94,14.94,6.28,51.18
$GC,4886,-0.15,0.0,2346,2151,2772,2640,295.1,3.1,347,4887,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2150,2705,2772,2638,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.69
$GC,5186,-0.15,0.0,2348,2150,2773,2638,286.0,3.0,362,5187,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2150,2705,2772,2638,0,0,0,0,0,0,14.98,14.99,14.98,6.29,51.37
$GC,5486,-0.15,0.0,2347,2151,2772,2639,277.3,2.9,377,5487,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2151,2705,2772,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.26
$GC,5786,-0.15,0.0,2347,2149,2773,2638,268.7,3.0,392,5787,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2150,2704,2771,2638,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.45
$GC,6086,-0.15,0.0,2348,2150,2773,2637,259.8,3.1,407,6087,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2150,2705,2772,2638,0,0,0,0,0,0,15.02,15.03,15.03,6.28,51.49
$STATE,6385,end loiter,LOITER_COMPLETE
$STATE,6385,begin climb
$GC,6386,0.64,146.0,2347,2151,2772,2639,250.1,0.0,422,6525,0.62,2.62,131.32,1.433,10756,0.181,0.066,2606,738,2117,2142,2092,0,0,0,0,0,0,14.66,14.00,13.47,6.29,51.14
$GC,6576,0.64,146.0,2607,739,2136,2087,236.8,9.5,431,6580,0.00,2.50,0.00,0.000,5126,0.000,0.052,2606,2149,2111,2135,2087,0,0,0,0,0,0,14.16,14.12,14.18,6.24,48.97
$GC,6886,0.64,146.0,2607,2149,2132,2078,197.0,12.6,447,6890,0.00,2.53,0.00,0.000,4356,0.000,0.083,2607,3574,2103,2130,2077,0,0,0,0,0,0,14.60,14.31,14.60,6.24,51.10
$GC,6986,0.64,146.0,2607,3575,2132,2078,184.7,12.1,452,6990,0.00,2.42,0.00,0.000,5126,0.000,0.042,2617,2154,2104,2131,2077,0,0,0,0,0,0,14.41,14.37,14.43,6.24,50.35
$GC,7306,0.64,146.0,2617,2155,2130,2076,144.0,12.7,468,7310,0.00,2.50,0.00,0.000,4612,0.000,0.067,2628,745,2102,2129,2075,0,0,0,0,0,0,14.73,14.42,14.72,6.23,50.86
$GC,7366,0.64,146.0,2629,746,2128,2075,137.1,11.9,471,7370,0.08,2.40,0.00,0.000,5126,0.325,0.054,2602,2160,2100,2126,2075,0,0,0,0,0,0,14.33,14.45,14.54,6.23,51.29
$GC,7686,0.64,146.0,2602,2159,2127,2073,102.9,9.5,487,7691,0.00,2.45,0.00,0.000,260,0.000,0.083,2602,3559,2099,2126,2073,0,0,0,0,0,0,14.78,14.47,14.78,6.23,50.03
$GC,7756,0.64,146.0,2602,3560,2128,2073,96.0,9.9,495,7760,0.00,2.38,0.00,0.000,5126,0.000,0.043,2611,2152,2100,2126,2074,0,0,0,0,0,0,14.59,14.51,14.57,6.22,49.68
$GC,7882,0.64,146.0,2611,2153,2127,2074,83.9,9.9,520,7886,0.00,2.45,0.00,0.000,4612,0.000,0.068,2622,734,2099,2126,2073,0,0,0,0,0,0,14.78,14.53,14.79,6.22,49.52
$GC,7931,0.64,146.0,2622,734,2128,2072,78.9,9.9,530,7935,0.05,2.42,0.00,0.000,5126,0.302,0.054,2602,2141,2098,2125,2072,0,0,0,0,0,0,14.36,14.52,14.52,6.21,49.52
$GC,8056,0.64,146.0,2602,2142,2126,2073,66.0,10.7,555,8060,0.00,2.47,0.00,0.000,260,0.000,0.083,2602,3555,2098,2125,2072,0,0,0,0,0,0,14.79,14.49,14.80,6.21,49.92
$GC,8121,0.64,146.0,2603,3555,2127,2072,59.0,10.5,568,8125,0.00,2.38,0.00,0.000,5126,0.000,0.043,2612,2148,2099,2125,2073,0,0,0,0,0,0,14.60,14.54,14.62,6.20,49.64
$GC,8246,0.64,146.0,2612,2148,2126,2072,46.2,9.8,593,8247,0.00,0.00,0.00,0.000,4102,0.000,0.000,2611,2148,2098,2125,2072,0,0,0,0,0,0,14.81,14.81,14.81,6.20,49.33
$GC,8366,0.64,146.0,2611,2149,2126,2073,35.0,9.7,617,8371,0.00,2.47,0.00,0.000,4356,0.000,0.083,2611,3558,2098,2125,2071,0,0,0,0,0,0,14.81,14.50,14.81,6.20,50.15
$GC,8426,0.64,146.0,2612,3558,2127,2072,28.9,9.8,629,8431,0.05,2.38,0.00,0.000,5126,0.327,0.043,2603,2149,2098,2125,2072,0,0,0,0,0,0,14.35,14.53,14.49,6.20,49.84
$GC,8552,0.65,157.0,2604,2150,2127,2071,18.1,7.9,654,8560,0.00,2.42,4.07,0.364,10756,0.000,0.068,2613,741,2076,2102,2051,0,0,0,0,0,0,14.81,14.54,14.32,6.20,50.35
$GC,8586,0.66,165.9,2614,742,2104,2052,15.3,8.0,661,8600,0.00,2.42,8.07,0.329,9222,0.000,0.053,2613,2153,2038,2063,2014,0,0,0,0,0,0,14.56,14.51,14.33,6.20,50.55
$STATE,8715,end climb,SURFACE_DEPTH_REACHED
$STATE,8715,begin surface coast
$STATE,8740,end surface coast,CONTROL_FINISHED_OK
$STATE,8740,begin surface
$SM_CCo,8752,52.55,0.247,0,0,1821,220.03
$SM_GC,1.10,5.40,0.08,52.55,0.047,0.161,0.247,247,2080,1821,-6.45,1.05,220.03,0,0,0,0,0,0,14.65,14.57,14.33
$IRIDIUM_FIX,-6007.06,8.64,080119,124526
$TT8_MAMPS,0.039697,0.327313
$HUMID,49.76
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3803616
$24V_AH,13.25,47.420
$10V_AH,13.65,0.000
$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,12.875,73.450,271.025,52.550,0.000,23.518,18.878,120.483,0.000,0.000,18.146,0.000,6986.216,428.257,1559.796,125.706,0.000,1040.428,0.000,1125.541,0.000,0.540,0.000
$DEVICE_MAMPS,445.995,2243.745,1591.200,247.095,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5153.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.765,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17343,692
$CAP_FILE_SIZE,90784,0
$CFSIZE,1023623168,996966400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.031,198.46,1
$GPS,080119,174919,-6007.784,-2.385,23,0.7,42,-19.7,0.4,345.4,10,5.7