version: 66.14
glider: 640
mission: 5
dive: 230
start: 1 8 119 17 54 29
data:
$ID,640
$MISSION,5
$DIVE,230
$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,49
$R_STBD_OVSHOOT,20
$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
$GPS1,080119,174919,-6007.7837,-2.3849,23,0.7,42,-19.7,0.4,345.4,10,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-70.1
$GPS2,080119,175411,-6007.7949,-2.3982,9,0.8,14,-19.7,0.0,225.7,9,9.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,24.3,51525,-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,-146.0,216,2077,1798,1822,0.0,0.0,0,101,0.00,0.00,-88.53,0.000,16386,0.000,0.000,216,2078,3208,3287,3130,0,0,0,0,0,0,14.62,28.83,14.63,6.17,50.51
$GC,103,-0.64,-146.0,216,2077,3289,3130,3.4,-7.5,18,120,6.07,2.62,-4.00,0.000,18948,0.353,2.245,2190,711,3316,3408,3224,0,0,0,0,0,0,14.16,13.42,14.46,6.28,49.56
$GC,186,-0.64,-146.0,2190,712,3410,3225,17.9,-16.5,35,191,0.00,2.45,0.00,0.000,3078,0.000,0.057,2180,2109,3317,3410,3225,0,0,0,0,0,0,14.50,14.36,14.50,6.30,48.62
$GC,311,-0.64,-146.0,2180,2110,3410,3226,39.7,-16.6,60,314,0.00,0.00,0.00,0.000,2054,0.000,0.000,2180,2109,3317,3410,3225,0,0,0,0,0,0,14.65,14.65,14.65,6.31,49.25
$GC,436,-0.64,-146.0,2180,2110,3411,3226,59.3,-14.9,85,440,0.00,2.47,0.00,0.000,2308,0.000,0.082,2169,3500,3317,3410,3225,0,0,0,0,0,0,14.68,14.40,14.68,6.29,49.48
$GC,481,-0.64,-146.0,2169,3500,3411,3225,66.3,-15.3,94,485,0.05,2.35,0.00,0.000,3078,0.344,0.043,2187,2118,3317,3410,3224,0,0,0,0,0,0,14.25,14.45,14.40,6.30,50.00
$GC,607,-0.64,-146.0,2182,2119,3410,3226,85.4,-15.0,119,611,0.00,2.45,0.00,0.000,2564,0.000,0.065,2187,693,3317,3410,3225,0,0,0,0,0,0,14.70,14.50,14.70,6.30,49.48
$GC,646,-0.64,-146.0,2187,696,3410,3226,91.3,-14.4,127,651,0.05,2.45,0.00,0.000,3078,0.451,0.056,2192,2106,3317,3410,3225,0,0,0,0,0,0,14.27,14.46,14.51,6.30,48.97
$GC,771,-0.64,-146.0,2193,2107,3412,3225,108.7,-14.0,143,772,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2106,3317,3410,3225,0,0,0,0,0,0,14.73,14.73,14.73,6.30,48.38
$GC,1071,-0.64,-146.0,2192,2107,3410,3226,148.6,-13.0,158,1075,0.00,2.47,0.00,0.000,2308,0.000,0.080,2182,3501,3317,3410,3225,0,0,0,0,0,0,14.78,14.48,14.78,6.30,49.88
$GC,1091,-0.64,-146.0,2185,3502,3411,3224,151.3,-13.2,159,1095,0.03,2.38,0.00,0.000,3078,0.448,0.044,2190,2098,3317,3410,3225,0,0,0,0,0,0,14.32,14.53,14.46,6.30,49.76
$GC,1411,-0.64,-146.0,2190,2097,3411,3225,193.1,-13.1,175,1415,0.00,2.45,0.00,0.000,2564,0.000,0.065,2190,698,3317,3410,3225,0,0,0,0,0,0,14.81,14.52,14.81,6.30,50.78
$GC,1511,-0.64,-146.0,2190,698,3410,3226,205.7,-12.4,180,1515,0.00,2.40,0.00,0.000,3078,0.000,0.055,2180,2096,3317,3410,3224,0,0,0,0,0,0,14.59,14.53,14.61,6.31,50.74
$GC,1831,-0.64,-146.0,2180,2097,3411,3226,247.0,-12.9,196,1835,0.00,2.47,0.00,0.000,2308,0.000,0.081,2170,3497,3316,3410,3223,0,0,0,0,0,0,14.82,14.52,14.83,6.32,51.02
$GC,1871,-0.64,-146.0,2170,3498,3410,3225,252.2,-13.0,198,1875,0.05,2.35,0.00,0.000,3078,0.347,0.044,2188,2097,3317,3410,3224,0,0,0,0,0,0,14.35,14.57,14.52,6.32,51.18
$GC,2191,-0.64,-146.0,2190,2096,3410,3225,291.6,-11.8,214,2196,0.00,2.42,0.00,0.000,2564,0.000,0.064,2188,704,3317,3410,3225,0,0,0,0,0,0,14.83,14.55,14.83,6.33,51.49
$GC,2266,-0.64,-146.0,2188,702,3411,3224,298.6,-11.6,217,2270,0.00,2.40,0.00,0.000,3078,0.000,0.055,2179,2104,3316,3409,3224,0,0,0,0,0,0,14.62,14.56,14.64,6.33,51.57
$GC,2571,-0.64,-146.0,2179,2105,3411,3224,339.0,-13.0,233,2572,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2104,3317,3410,3224,0,0,0,0,0,0,14.85,14.85,14.84,6.33,51.53
$STATE,2670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2670,begin apogee
$GC,2674,-0.15,0.0,2179,2172,3410,3226,352.0,-13.0,238,2804,0.47,0.00,127.25,1.571,10246,0.265,0.000,2347,2171,2717,2776,2658,0,0,0,0,0,0,14.42,13.95,13.34,6.33,51.22
$STATE,2805,end apogee,CONTROL_FINISHED_OK
$STATE,2805,begin loiter
$GC,3091,-0.15,0.0,2348,2171,2772,2642,349.9,3.0,259,3092,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2171,2706,2771,2642,0,0,0,0,0,0,14.57,14.57,14.57,6.28,50.74
$GC,3391,-0.15,0.0,2347,2171,2771,2641,341.8,2.7,274,3392,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2171,2705,2770,2640,0,0,0,0,0,0,14.72,14.72,14.72,6.29,50.90
$GC,3691,-0.15,0.0,2347,2171,2772,2639,333.9,2.7,289,3692,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2171,2705,2771,2639,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.45
$GC,3991,-0.15,0.0,2347,2171,2772,2638,326.2,2.5,304,3992,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2171,2704,2771,2638,0,0,0,0,0,0,14.86,14.86,14.86,6.29,51.37
$GC,4291,-0.15,0.0,2347,2171,2772,2639,318.9,2.4,319,4292,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2171,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.45
$GC,4591,-0.15,0.0,2348,2172,2773,2637,311.8,2.2,334,4592,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2171,2704,2771,2637,0,0,0,0,0,0,14.94,14.94,14.94,6.28,51.14
$GC,4891,-0.15,0.0,2348,2171,2772,2637,304.9,2.3,349,4892,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2171,2704,2771,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.02
$GC,5191,-0.15,0.0,2347,2171,2772,2637,298.1,2.3,364,5192,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2171,2704,2772,2637,0,0,0,0,0,0,14.98,14.99,14.99,6.29,51.26
$GC,5491,-0.15,0.0,2348,2171,2772,2637,290.4,2.8,379,5492,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2171,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.57
$GC,5791,-0.15,0.0,2348,2171,2772,2637,281.6,3.1,394,5792,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2171,2703,2771,2636,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.45
$GC,6091,-0.15,0.0,2348,2171,2772,2636,272.1,3.2,409,6092,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2171,2704,2771,2637,0,0,0,0,0,0,15.03,15.03,15.03,6.28,51.41
$STATE,6390,end loiter,LOITER_COMPLETE
$STATE,6390,begin climb
$GC,6391,0.64,146.0,2347,2171,2771,2638,262.7,0.0,424,6532,0.62,2.62,130.35,1.440,11012,0.174,0.066,2609,748,2117,2142,2092,0,0,0,0,0,0,14.66,14.00,13.46,6.28,51.14
$GC,6626,0.64,146.0,2609,749,2136,2085,245.2,10.6,435,6631,0.00,2.45,0.00,0.000,5126,0.000,0.053,2609,2135,2109,2134,2085,0,0,0,0,0,0,14.24,14.23,14.25,6.24,49.76
$GC,6931,0.64,146.0,2609,2135,2132,2079,205.4,12.6,451,6936,0.00,2.53,0.00,0.000,4356,0.000,0.083,2608,3561,2104,2131,2078,0,0,0,0,0,0,14.62,14.33,14.62,6.23,50.31
$GC,7041,0.64,146.0,2610,3562,2132,2077,192.8,12.3,456,7045,0.03,2.40,0.00,0.000,5126,0.435,0.041,2610,2149,2103,2131,2076,0,0,0,0,0,0,14.19,14.38,14.33,6.24,50.35
$GC,7351,0.64,146.0,2611,2150,2134,2075,151.6,13.2,472,7355,0.00,2.47,0.00,0.000,4612,0.000,0.065,2620,748,2102,2129,2075,0,0,0,0,0,0,14.73,14.41,14.73,6.24,50.63
$GC,7391,0.64,146.0,2621,749,2128,2075,146.5,13.0,474,7395,0.05,2.42,0.00,0.000,5126,0.305,0.054,2601,2151,2100,2127,2074,0,0,0,0,0,0,14.28,14.43,14.43,6.24,50.70
$GC,7711,0.64,146.0,2602,2154,2128,2074,107.5,11.6,490,7715,0.00,2.45,0.00,0.000,260,0.000,0.083,2602,3555,2100,2127,2073,0,0,0,0,0,0,14.78,14.50,14.78,6.23,50.82
$GC,7791,0.64,146.0,2602,3555,2129,2073,98.1,11.8,494,7795,0.00,2.38,0.00,0.000,5126,0.000,0.042,2610,2148,2100,2127,2073,0,0,0,0,0,0,14.56,14.51,14.57,6.23,49.72
$GC,7917,0.64,146.0,2610,2148,2128,2074,84.1,11.2,519,7921,0.00,2.42,0.00,0.000,4612,0.000,0.067,2620,740,2100,2127,2073,0,0,0,0,0,0,14.79,14.53,14.79,6.21,49.80
$GC,7966,0.64,146.0,2622,740,2127,2072,78.7,10.5,529,7970,0.05,2.42,0.00,0.000,5126,0.305,0.054,2602,2153,2099,2126,2072,0,0,0,0,0,0,14.37,14.53,14.52,6.21,49.68
$GC,8092,0.64,146.0,2602,2154,2126,2073,66.3,9.9,554,8096,0.00,2.45,0.00,0.000,260,0.000,0.084,2602,3555,2099,2126,2072,0,0,0,0,0,0,14.79,14.52,14.79,6.21,49.37
$GC,8136,0.64,146.0,2602,3557,2126,2073,61.9,9.7,563,8140,0.00,2.38,0.00,0.000,5126,0.000,0.042,2611,2146,2099,2126,2072,0,0,0,0,0,0,14.60,14.56,14.62,6.21,49.05
$GC,8262,0.64,146.0,2612,2147,2125,2072,49.9,10.1,588,8266,0.00,2.42,0.00,0.000,4612,0.000,0.067,2622,738,2098,2125,2072,0,0,0,0,0,0,14.81,14.54,14.81,6.20,49.48
$GC,8326,0.64,146.0,2622,739,2126,2072,43.6,9.6,601,8330,0.05,2.42,0.00,0.000,5126,0.294,0.055,2602,2147,2098,2125,2071,0,0,0,0,0,0,14.38,14.53,14.53,6.20,49.13
$GC,8451,0.64,146.0,2602,2149,2126,2072,32.9,8.5,626,8455,0.00,2.53,0.00,0.000,260,0.000,0.083,2602,3561,2098,2125,2071,0,0,0,0,0,0,14.81,14.47,14.81,6.20,49.25
$GC,8501,0.64,146.0,2602,3565,2126,2073,28.3,9.0,636,8506,0.00,2.38,0.00,0.000,5126,0.000,0.042,2611,2152,2098,2125,2071,0,0,0,0,0,0,14.58,14.53,14.59,6.20,49.52
$GC,8627,0.64,146.0,2612,2153,2134,2071,17.5,8.7,661,8630,0.00,0.00,0.00,0.000,4102,0.000,0.000,2611,2152,2097,2123,2071,0,0,0,0,0,0,14.81,14.81,14.81,6.20,50.07
$GC,8751,0.64,146.0,2612,2153,2127,2071,6.2,9.9,686,8752,0.00,0.00,0.00,0.000,4102,0.000,0.000,2611,2152,2098,2125,2071,0,0,0,0,0,0,14.82,14.82,14.82,6.20,50.23
$STATE,8785,end climb,SURFACE_DEPTH_REACHED
$STATE,8785,begin surface coast
$STATE,8815,end surface coast,CONTROL_FINISHED_OK
$STATE,8815,begin surface
$SM_CCo,8827,66.30,0.243,0,0,1822,220.03
$SM_GC,1.30,5.53,0.10,66.30,0.078,0.151,0.243,280,2032,1822,-6.45,0.59,220.03,0,0,0,0,0,0,14.64,14.57,14.34
$IRIDIUM_FIX,-6010.01,0.00,080119,151815
$TT8_MAMPS,0.03745,0.331807
$HUMID,49.92
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3803104
$24V_AH,13.34,47.595
$10V_AH,13.62,0.000
$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,13.050,73.475,257.600,66.300,0.000,29.599,17.332,119.196,0.000,0.000,15.335,0.000,7036.271,419.647,1604.823,128.757,0.000,1059.022,0.000,1167.444,0.000,0.539,0.000
$DEVICE_MAMPS,451.350,2245.275,1570.545,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5227.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.664,0.000,0.000,0.000
$MEM,344104
$DATA_FILE_SIZE,17347,699
$CAP_FILE_SIZE,92713,0
$CFSIZE,1023623168,996868096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.029,263.37,1
$GPS,080119,202353,-6007.306,-2.750,42,0.8,46,-19.7,0.0,31.6,10,9.3