version: 66.14
glider: 640
mission: 5
dive: 231
start: 1 8 119 20 29 38
data:
$ID,640
$MISSION,5
$DIVE,231
$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,25
$R_STBD_OVSHOOT,64
$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
$GPS1,080119,202353,-6007.3057,-2.7500,42,0.8,46,-19.7,0.0,31.6,10,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-66.0
$GPS2,080119,202919,-6007.3174,-2.7429,12,0.8,15,-19.7,0.0,27.3,10,9.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,29.3,50657,-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,11,-0.64,-146.0,232,2148,1796,1826,0.0,0.0,0,101,0.00,0.00,-88.03,0.000,16386,0.000,0.000,232,2147,3212,3293,3131,0,0,0,0,0,0,14.61,28.83,14.62,6.17,50.70
$GC,103,-0.64,-146.0,233,2148,3294,3131,3.6,-8.7,18,118,6.03,2.80,-3.67,0.000,18948,0.355,2.240,2178,689,3315,3407,3224,0,0,0,0,0,0,14.15,13.43,14.33,6.25,49.72
$GC,167,-0.64,-146.0,2178,689,3409,3224,15.0,-15.5,31,171,0.08,2.40,0.00,0.000,3078,0.331,0.053,2193,2067,3316,3408,3224,0,0,0,0,0,0,14.19,14.36,14.34,6.31,48.54
$GC,293,-0.64,-146.0,2192,2067,3409,3225,37.0,-16.7,56,297,0.00,2.53,0.00,0.000,2308,0.000,0.081,2182,3506,3316,3409,3224,0,0,0,0,0,0,14.63,14.37,14.63,6.26,49.21
$GC,322,-0.64,-146.0,2182,3507,3410,3225,42.0,-16.9,62,327,0.00,2.42,0.00,0.000,3078,0.000,0.045,2181,2087,3316,3409,3224,0,0,0,0,0,0,14.45,14.40,14.47,6.31,49.44
$GC,447,-0.64,-146.0,2182,2086,3410,3224,62.1,-14.5,87,448,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2086,3316,3409,3224,0,0,0,0,0,0,14.66,14.66,14.66,6.31,49.29
$GC,567,-0.64,-146.0,2182,2087,3410,3224,79.3,-14.7,111,570,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2086,3316,3409,3224,0,0,0,0,0,0,14.69,14.69,14.69,6.31,49.37
$GC,692,-0.64,-146.0,2182,2087,3411,3224,97.7,-14.7,136,696,0.00,2.45,0.00,0.000,2564,0.000,0.063,2181,688,3316,3409,3224,0,0,0,0,0,0,14.70,14.44,14.70,6.31,48.46
$GC,732,-0.64,-146.0,2181,694,3409,3225,103.7,-15.1,141,736,0.05,2.42,0.00,0.000,3078,0.353,0.057,2188,2093,3316,3409,3224,0,0,0,0,0,0,14.26,14.45,14.42,6.30,48.34
$GC,1052,-0.64,-146.0,2188,2093,3410,3225,147.7,-13.2,157,1056,0.00,2.42,0.00,0.000,2564,0.000,0.063,2192,686,3317,3411,3224,0,0,0,0,0,0,14.76,14.51,14.76,6.30,48.85
$GC,1072,-0.64,-146.0,2188,686,3410,3225,150.3,-13.3,158,1076,0.03,2.45,0.00,0.000,3078,0.453,0.057,2185,2103,3316,3409,3224,0,0,0,0,0,0,14.29,14.50,14.45,6.30,49.13
$GC,1392,-0.64,-146.0,2185,2103,3410,3225,190.5,-12.3,174,1397,0.00,2.42,0.00,0.000,2308,0.000,0.082,2176,3505,3316,3409,3224,0,0,0,0,0,0,14.78,14.52,14.79,6.31,50.51
$GC,1447,-0.64,-146.0,2176,3506,3410,3225,195.4,-12.2,176,1451,0.05,2.38,0.00,0.000,3078,0.356,0.043,2192,2091,3316,3409,3224,0,0,0,0,0,0,14.32,14.54,14.48,6.31,50.55
$GC,1752,-0.64,-146.0,2193,2090,3410,3224,233.5,-11.8,192,1756,0.00,2.42,0.00,0.000,2564,0.000,0.063,2192,699,3316,3409,3224,0,0,0,0,0,0,14.81,14.53,14.81,6.32,51.26
$GC,1807,-0.64,-146.0,2193,698,3410,3224,238.4,-12.1,194,1811,0.00,2.40,0.00,0.000,3078,0.000,0.055,2182,2097,3316,3408,3224,0,0,0,0,0,0,14.59,14.53,14.62,6.32,51.22
$GC,2112,-0.64,-146.0,2182,2098,3410,3225,278.5,-12.8,210,2116,0.00,2.50,0.00,0.000,2308,0.000,0.081,2171,3515,3317,3409,3226,0,0,0,0,0,0,14.82,14.51,14.82,6.33,50.98
$GC,2137,-0.64,-146.0,2171,3516,3410,3225,281.2,-12.8,211,2141,0.05,2.38,0.00,0.000,3078,0.355,0.044,2189,2097,3316,3408,3224,0,0,0,0,0,0,14.34,14.57,14.52,6.33,50.98
$GC,2452,-0.64,-146.0,2189,2096,3409,3224,322.1,-12.7,227,2456,0.00,2.42,0.00,0.000,2564,0.000,0.065,2189,678,3316,3409,3224,0,0,0,0,0,0,14.83,14.57,14.83,6.33,50.98
$GC,2522,-0.64,-146.0,2188,679,3409,3224,329.8,-12.8,230,2526,0.00,2.45,0.00,0.000,3078,0.000,0.055,2179,2105,3316,3409,3224,0,0,0,0,0,0,14.70,14.55,14.71,6.33,51.57
$STATE,2670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2670,begin apogee
$GC,2675,-0.15,0.0,2186,2163,3409,3225,350.0,-13.0,238,2803,0.47,0.00,126.40,1.585,10246,0.270,0.000,2347,2162,2721,2781,2661,0,0,0,0,0,0,14.40,13.94,13.32,6.33,51.10
$STATE,2804,end apogee,CONTROL_FINISHED_OK
$STATE,2804,begin loiter
$GC,3092,-0.15,0.0,2347,2163,2773,2645,347.5,3.0,259,3093,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2162,2708,2772,2644,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.51
$GC,3392,-0.15,0.0,2347,2162,2773,2642,338.2,3.1,274,3393,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2162,2707,2772,2642,0,0,0,0,0,0,14.71,14.71,14.71,6.29,50.74
$GC,3692,-0.15,0.0,2347,2163,2773,2643,329.0,3.1,289,3693,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2162,2707,2772,2642,0,0,0,0,0,0,14.80,14.80,14.80,6.28,50.94
$GC,3992,-0.15,0.0,2347,2162,2773,2641,320.2,2.9,304,3993,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2162,2707,2772,2642,0,0,0,0,0,0,14.85,14.85,14.85,6.29,50.90
$GC,4292,-0.15,0.0,2347,2163,2773,2642,311.3,3.0,319,4293,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2162,2706,2772,2640,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.45
$GC,4592,-0.15,0.0,2347,2162,2773,2641,301.8,3.3,334,4593,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2162,2706,2771,2642,0,0,0,0,0,0,14.92,14.93,14.93,6.29,51.06
$GC,4892,-0.15,0.0,2347,2163,2774,2643,291.6,3.5,349,4893,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2162,2706,2771,2642,0,0,0,0,0,0,14.95,14.95,14.95,6.28,50.98
$GC,5192,-0.15,0.0,2347,2163,2773,2643,281.1,3.4,364,5193,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2162,2707,2772,2642,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.10
$GC,5492,-0.15,0.0,2347,2162,2773,2642,270.6,3.5,379,5493,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2162,2707,2773,2642,0,0,0,0,0,0,14.99,14.99,14.99,6.29,51.57
$GC,5792,-0.15,0.0,2348,2162,2773,2643,260.5,3.4,394,5793,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2162,2707,2772,2642,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.57
$GC,6092,-0.15,0.0,2347,2162,2773,2642,250.8,3.1,409,6093,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2162,2707,2772,2642,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.26
$STATE,6390,end loiter,LOITER_COMPLETE
$STATE,6390,begin climb
$GC,6392,0.64,146.0,2347,2162,2773,2642,241.3,0.0,424,6533,0.62,2.55,131.05,1.427,10500,0.182,0.079,2594,3540,2117,2143,2092,0,0,0,0,0,0,14.64,13.99,13.47,6.28,51.57
$GC,6602,0.64,146.0,2595,3541,2135,2085,225.0,10.8,434,6606,0.00,2.40,0.00,0.000,1030,0.000,0.041,2605,2155,2112,2140,2085,0,0,0,0,0,0,14.21,14.17,14.23,6.24,49.48
$GC,6912,0.64,146.0,2605,2156,2133,2078,184.1,13.1,450,6917,0.00,2.53,0.00,0.000,516,0.000,0.067,2616,741,2104,2133,2076,0,0,0,0,0,0,14.60,14.34,14.61,6.23,50.66
$GC,6957,0.64,146.0,2617,741,2131,2072,179.2,12.7,452,6961,0.00,2.42,0.00,0.000,5126,0.000,0.053,2617,2131,2103,2130,2076,0,0,0,0,0,0,14.42,14.37,14.45,6.24,50.47
$GC,7272,0.64,146.0,2617,2132,2129,2076,137.6,13.3,468,7276,0.00,2.53,0.00,0.000,4356,0.000,0.083,2617,3565,2102,2129,2075,0,0,0,0,0,0,14.71,14.44,14.71,6.23,51.14
$GC,7357,0.64,146.0,2617,3566,2130,2075,127.0,13.3,472,7362,0.05,2.40,0.00,0.000,5126,0.329,0.042,2608,2143,2101,2128,2075,0,0,0,0,0,0,14.29,14.48,14.45,6.23,50.23
$GC,7662,0.64,146.0,2609,2143,2128,2074,93.9,10.0,495,7667,0.00,2.45,0.00,0.000,4612,0.000,0.065,2619,748,2100,2127,2073,0,0,0,0,0,0,14.77,14.49,14.77,6.22,50.86
$GC,7742,0.64,146.0,2619,749,2127,2082,86.6,9.0,511,7746,0.00,2.42,0.00,0.000,5126,0.000,0.054,2619,2156,2098,2126,2070,0,0,0,0,0,0,14.57,14.51,14.59,6.22,50.19
$GC,7868,0.64,146.0,2619,2156,2127,2072,74.2,10.3,536,7872,0.00,2.45,0.00,0.000,4356,0.000,0.086,2619,3554,2098,2125,2072,0,0,0,0,0,0,14.78,14.51,14.78,6.22,49.68
$GC,7927,0.64,146.0,2619,3555,2127,2072,67.8,10.3,548,7932,0.05,2.38,0.00,0.000,5126,0.327,0.042,2609,2146,2102,2132,2072,0,0,0,0,0,0,14.35,14.54,14.51,6.21,49.37
$GC,8053,0.64,146.0,2609,2147,2125,2072,55.6,9.6,573,8057,0.00,2.42,0.00,0.000,4612,0.000,0.066,2619,745,2099,2126,2072,0,0,0,0,0,0,14.78,14.53,14.78,6.21,49.52
$GC,8112,0.64,146.0,2620,746,2126,2071,50.1,8.8,585,8117,0.03,2.40,0.00,0.000,5126,0.401,0.052,2608,2145,2098,2125,2071,0,0,0,0,0,0,14.35,14.52,14.50,6.21,49.09
$GC,8238,0.64,146.0,2608,2146,2125,2072,38.5,9.4,610,8242,0.00,2.45,0.00,0.000,4356,0.000,0.083,2608,3554,2098,2125,2071,0,0,0,0,0,0,14.78,14.52,14.79,6.20,49.29
$GC,8278,0.64,146.0,2608,3554,2126,2072,34.6,9.6,618,8282,0.00,2.35,0.00,0.000,5126,0.000,0.043,2617,2153,2097,2125,2070,0,0,0,0,0,0,14.60,14.55,14.62,6.20,49.33
$GC,8403,0.64,146.0,2618,2154,2126,2070,23.2,8.8,643,8407,0.00,2.42,0.00,0.000,4612,0.000,0.067,2628,748,2097,2125,2070,0,0,0,0,0,0,14.80,14.53,14.80,6.20,49.52
$GC,8432,0.64,146.0,2629,748,2125,2071,20.3,9.7,649,8437,0.05,2.40,0.00,0.000,5126,0.300,0.054,2608,2144,2097,2125,2070,0,0,0,0,0,0,14.38,14.52,14.52,6.20,49.60
$GC,8558,0.64,146.0,2608,2145,2125,2071,9.1,9.8,674,8562,0.00,2.47,0.00,0.000,4356,0.000,0.083,2608,3559,2097,2124,2070,0,0,0,0,0,0,14.80,14.52,14.80,6.21,50.00
$GC,8603,0.64,146.0,2607,3560,2125,2072,4.1,11.6,683,8606,0.00,2.38,0.00,0.000,5126,0.000,0.041,2617,2147,2097,2124,2070,0,0,0,0,0,0,14.60,14.54,14.62,6.20,50.70
$STATE,8616,end climb,SURFACE_DEPTH_REACHED
$STATE,8616,begin surface coast
$STATE,8646,end surface coast,CONTROL_FINISHED_OK
$STATE,8646,begin surface
$SM_CCo,8660,66.07,0.251,0,0,1822,220.03
$SM_GC,1.25,5.60,0.05,66.07,0.099,0.221,0.251,272,2087,1822,-6.44,1.10,220.03,0,0,0,0,0,0,14.61,14.57,14.32
$IRIDIUM_FIX,-6007.06,-4.32,080119,175116
$TT8_MAMPS,0.038948,0.356524
$HUMID,49.68
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3802592
$24V_AH,13.32,47.772
$10V_AH,13.59,0.000
$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,13.150,83.325,257.450,66.075,0.000,27.166,22.453,146.672,0.000,0.000,17.447,0.000,6894.170,422.947,1608.152,130.894,0.000,1052.646,0.000,1135.681,0.000,0.540,0.000
$DEVICE_MAMPS,452.880,2239.920,1585.080,250.920,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5058.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.841,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,17315,692
$CAP_FILE_SIZE,93594,0
$CFSIZE,1023623168,996769792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.050,242.60,1
$GPS,080119,225602,-6006.889,-2.904,21,0.7,35,-19.7,0.9,279.5,11,8.4