version: 66.14
glider: 640
mission: 5
dive: 234
start: 1 9 119 4 7 7
data:
$ID,640
$MISSION,5
$DIVE,234
$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,38
$R_STBD_OVSHOOT,29
$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
$GPS1,090119,040131,-6005.9966,-2.6539,16,0.9,39,-19.7,0.0,118.2,8,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-65.6
$GPS2,090119,040649,-6005.9775,-2.6066,6,0.9,38,-19.7,0.3,303.6,9,4.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,23.1,48172,-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,11,-0.64,-146.0,235,2082,1800,1824,0.0,0.0,0,103,0.00,0.00,-90.03,0.000,16386,0.000,0.000,235,2082,3251,3331,3171,0,0,0,0,0,0,14.62,28.83,14.63,6.18,50.51
$GC,105,-0.64,-146.0,235,2083,3332,3172,3.7,-8.7,18,118,5.97,2.65,-2.25,0.000,18948,0.355,2.246,2186,700,3315,3405,3226,0,0,0,0,0,0,14.18,13.43,14.46,6.30,49.17
$GC,217,-0.64,-146.0,2186,701,3409,3227,25.2,-18.7,41,222,0.05,2.42,0.00,0.000,3078,0.363,0.054,2192,2096,3317,3408,3226,0,0,0,0,0,0,14.18,14.38,14.35,6.31,48.34
$GC,343,-0.64,-146.0,2192,2097,3409,3227,46.0,-16.3,66,347,0.00,2.45,0.00,0.000,2564,0.000,0.067,2192,686,3317,3408,3226,0,0,0,0,0,0,14.66,14.42,14.66,6.31,49.44
$GC,387,-0.64,-146.0,2192,686,3409,3226,53.7,-16.9,75,391,0.00,2.45,0.00,0.000,3078,0.000,0.054,2182,2099,3317,3408,3226,0,0,0,0,0,0,14.47,14.42,14.50,6.31,49.21
$GC,512,-0.64,-146.0,2183,2100,3409,3227,72.3,-14.6,100,516,0.00,2.47,0.00,0.000,2564,0.000,0.065,2182,694,3317,3408,3226,0,0,0,0,0,0,14.70,14.43,14.70,6.31,49.25
$GC,532,-0.64,-146.0,2181,695,3409,3226,75.4,-15.4,104,536,0.05,2.42,0.00,0.000,3078,0.354,0.055,2189,2093,3317,3408,3226,0,0,0,0,0,0,14.24,14.43,14.40,6.30,49.05
$GC,658,-0.64,-146.0,2189,2094,3409,3226,93.1,-14.1,129,662,0.00,2.47,0.00,0.000,2308,0.000,0.081,2178,3515,3317,3408,3226,0,0,0,0,0,0,14.71,14.45,14.71,6.30,48.58
$GC,687,-0.64,-146.0,2179,3516,3409,3227,97.4,-14.4,135,691,0.00,2.40,0.00,0.000,3078,0.000,0.044,2178,2104,3317,3408,3226,0,0,0,0,0,0,14.52,14.47,14.54,6.30,48.66
$GC,827,-0.64,-146.0,2178,2103,3410,3226,117.8,-14.6,145,832,0.05,2.47,0.00,0.000,2564,0.470,0.066,2191,676,3317,3409,3226,0,0,0,0,0,0,14.30,14.48,14.51,6.29,48.97
$GC,882,-0.64,-146.0,2191,684,3410,3225,123.8,-14.9,147,886,0.00,2.45,0.00,0.000,3078,0.000,0.055,2180,2096,3317,3409,3226,0,0,0,0,0,0,14.54,14.48,14.56,6.30,49.09
$GC,1187,-0.64,-146.0,2181,2097,3409,3227,169.2,-13.9,163,1188,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2097,3317,3408,3226,0,0,0,0,0,0,14.78,14.78,14.78,6.31,50.82
$GC,1487,-0.64,-146.0,2183,2097,3410,3226,210.9,-13.7,178,1488,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2097,3317,3408,3226,0,0,0,0,0,0,14.81,14.81,14.81,6.32,51.02
$GC,1787,-0.64,-146.0,2181,2097,3410,3226,251.5,-13.4,193,1791,0.00,2.47,0.00,0.000,2564,0.000,0.064,2181,681,3317,3408,3226,0,0,0,0,0,0,14.83,14.54,14.83,6.32,51.53
$GC,1812,-0.64,-146.0,2181,682,3410,3226,254.3,-13.5,194,1816,0.05,2.42,0.00,0.000,3078,0.354,0.054,2187,2094,3317,3408,3226,0,0,0,0,0,0,14.34,14.55,14.51,6.33,51.14
$GC,2127,-0.64,-146.0,2187,2094,3409,3226,296.3,-13.1,210,2132,0.00,2.45,0.00,0.000,2308,0.000,0.081,2177,3511,3317,3408,3226,0,0,0,0,0,0,14.83,14.56,14.83,6.33,51.61
$GC,2142,-0.64,-146.0,2178,3511,3410,3226,296.3,-13.1,210,2146,0.05,2.38,0.00,0.000,3078,0.355,0.044,2190,2095,3317,3408,3226,0,0,0,0,0,0,14.34,14.58,14.53,6.33,52.08
$GC,2447,-0.64,-146.0,2195,2095,3409,3227,336.5,-12.4,226,2451,0.00,2.42,0.00,0.000,516,0.000,0.065,2194,703,3317,3408,3226,0,0,0,0,0,0,14.84,14.55,14.84,6.33,51.29
$GC,2507,-0.64,-146.0,2195,703,3409,3227,344.0,-12.5,229,2511,0.00,2.40,0.00,0.000,3078,0.000,0.054,2186,2102,3317,3408,3226,0,0,0,0,0,0,14.62,14.57,14.64,6.33,51.18
$STATE,2566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2566,begin apogee
$GC,2570,-0.15,0.0,2185,2166,3406,3227,351.4,-12.2,232,2700,0.47,0.00,127.45,1.577,10246,0.265,0.000,2353,2165,2719,2779,2659,0,0,0,0,0,0,14.40,13.95,13.33,6.33,51.14
$STATE,2701,end apogee,CONTROL_FINISHED_OK
$STATE,2701,begin loiter
$GC,2987,-0.15,0.0,2354,2164,2772,2642,348.9,3.1,253,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2165,2706,2771,2642,0,0,0,0,0,0,14.57,14.57,14.57,6.29,51.10
$GC,3287,-0.15,0.0,2354,2165,2772,2640,339.7,3.0,268,3288,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2165,2705,2771,2640,0,0,0,0,0,0,14.71,14.72,14.71,6.28,51.02
$GC,3587,-0.15,0.0,2354,2165,2771,2639,330.5,3.0,283,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2165,2705,2771,2639,0,0,0,0,0,0,14.80,14.81,14.81,6.28,51.45
$GC,3887,-0.15,0.0,2353,2166,2772,2639,321.7,2.9,298,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2165,2704,2771,2637,0,0,0,0,0,0,14.86,14.86,14.86,6.29,51.14
$GC,4187,-0.15,0.0,2354,2165,2772,2638,313.3,2.8,313,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2165,2704,2771,2637,0,0,0,0,0,0,14.90,14.91,14.91,6.28,51.06
$GC,4487,-0.15,0.0,2353,2166,2772,2638,305.2,2.6,328,4488,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2165,2704,2771,2637,0,0,0,0,0,0,14.94,14.94,14.94,6.28,51.18
$GC,4787,-0.15,0.0,2354,2166,2772,2638,297.1,2.7,343,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2165,2704,2771,2637,0,0,0,0,0,0,14.96,14.97,14.96,6.28,51.33
$GC,5087,-0.15,0.0,2354,2165,2772,2636,288.4,2.9,358,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2165,2704,2771,2637,0,0,0,0,0,0,14.98,14.98,14.98,6.28,51.37
$GC,5387,-0.15,0.0,2354,2166,2772,2637,278.3,3.4,373,5388,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2165,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.29,52.00
$GC,5687,-0.15,0.0,2354,2166,2772,2638,267.3,3.7,388,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2165,2703,2771,2636,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.29
$GC,5987,-0.15,0.0,2354,2165,2772,2636,256.4,3.5,403,5988,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2165,2703,2771,2636,0,0,0,0,0,0,15.02,15.03,15.03,6.28,51.18
$STATE,6286,end loiter,LOITER_COMPLETE
$STATE,6286,begin climb
$GC,6287,0.64,146.0,2354,2166,2772,2637,246.1,0.0,418,6422,0.60,0.00,130.43,1.427,10502,0.171,0.000,2595,2165,2124,2148,2100,0,0,0,0,0,0,14.66,14.03,13.47,6.28,51.26
$GC,6727,0.64,146.0,2595,2165,2135,2078,204.6,11.0,440,6732,0.00,2.47,0.00,0.000,2308,0.000,0.081,2595,3534,2105,2135,2076,0,0,0,0,0,0,14.57,14.27,14.57,6.23,50.94
$GC,6777,0.64,146.0,2595,3535,2135,2080,200.2,11.0,442,6781,0.00,2.35,0.00,0.000,5126,0.000,0.042,2605,2164,2106,2134,2078,0,0,0,0,0,0,14.38,14.31,14.40,6.24,50.98
$GC,7087,0.64,146.0,2606,2160,2133,2075,162.7,12.3,458,7091,0.00,2.53,0.00,0.000,516,0.000,0.067,2617,742,2104,2132,2076,0,0,0,0,0,0,14.69,14.38,14.70,6.23,51.14
$GC,7132,0.64,146.0,2618,742,2130,2076,157.9,12.2,460,7137,0.00,2.40,0.00,0.000,5126,0.000,0.053,2617,2128,2103,2130,2076,0,0,0,0,0,0,14.50,14.44,14.52,6.24,50.82
$GC,7447,0.64,146.0,2617,2129,2128,2076,116.9,12.5,476,7451,0.00,2.53,0.00,0.000,4356,0.000,0.083,2617,3545,2101,2129,2074,0,0,0,0,0,0,14.76,14.47,14.77,6.23,50.82
$GC,7527,0.64,146.0,2618,3547,2130,2076,107.2,12.1,480,7531,0.05,2.38,0.00,0.000,5126,0.330,0.043,2609,2142,2102,2129,2075,0,0,0,0,0,0,14.29,14.48,14.46,6.22,50.27
$GC,7832,0.64,146.0,2610,2141,2130,2073,72.8,11.4,529,7836,0.00,2.45,0.00,0.000,4612,0.000,0.066,2618,748,2100,2128,2073,0,0,0,0,0,0,14.80,14.51,14.80,6.21,49.52
$GC,7857,0.64,146.0,2619,749,2128,2074,69.9,11.0,534,7862,0.05,2.40,0.00,0.000,5126,0.303,0.053,2589,2145,2100,2127,2073,0,0,0,0,0,0,14.38,14.50,14.60,6.21,49.80
$GC,7982,0.64,146.0,2589,2146,2128,2073,57.8,9.4,559,7987,0.00,2.53,0.00,0.000,2308,0.000,0.084,2589,3561,2100,2127,2073,0,0,0,0,0,0,14.79,14.49,14.80,6.21,49.40
$GC,8027,0.64,146.0,2589,3561,2128,2072,53.4,9.3,568,8031,0.00,2.38,0.00,0.000,3078,0.000,0.044,2598,2154,2099,2127,2072,0,0,0,0,0,0,14.57,14.51,14.58,6.21,49.21
$GC,8153,0.65,159.2,2597,2154,2128,2074,43.4,7.8,593,8167,0.00,2.45,8.85,1.330,10500,0.000,0.083,2598,3566,2065,2090,2040,0,0,0,0,0,0,14.80,14.50,13.88,6.20,49.21
$GC,8202,0.65,159.2,2598,3558,2091,2040,39.2,8.4,603,8207,0.00,2.38,0.00,0.000,5126,0.000,0.044,2609,2152,2065,2090,2040,0,0,0,0,0,0,14.56,14.51,14.57,6.20,49.17
$GC,8327,0.65,159.2,2609,2153,2091,2038,28.6,9.0,628,8331,0.00,2.47,0.00,0.000,516,0.000,0.067,2619,749,2064,2090,2038,0,0,0,0,0,0,14.76,14.45,14.76,6.20,49.37
$GC,8367,0.65,159.2,2620,750,2090,2039,25.1,8.7,636,8372,0.03,2.42,0.00,0.000,5126,0.406,0.054,2609,2159,2063,2089,2037,0,0,0,0,0,0,14.32,14.49,14.47,6.20,49.48
$GC,8493,0.65,159.2,2610,2159,2090,2037,14.1,8.7,661,8497,0.00,2.45,0.00,0.000,260,0.000,0.085,2610,3559,2063,2089,2037,0,0,0,0,0,0,14.77,14.50,14.77,6.20,50.23
$GC,8527,0.65,159.2,2617,3560,2090,2038,10.6,10.6,668,8531,0.00,2.40,0.00,0.000,5126,0.000,0.044,2619,2143,2063,2089,2037,0,0,0,0,0,0,14.54,14.50,14.56,6.21,50.03
$STATE,8616,end climb,SURFACE_DEPTH_REACHED
$STATE,8616,begin surface coast
$STATE,8652,end surface coast,CONTROL_FINISHED_OK
$STATE,8652,begin surface
$SM_CCo,8665,58.30,0.243,0,0,1821,220.03
$SM_GC,1.08,5.57,0.05,58.30,0.084,0.218,0.243,241,2080,1821,-6.45,0.96,220.03,0,0,0,0,0,0,14.62,14.56,14.33
$IRIDIUM_FIX,-6007.06,0.00,090119,012951
$TT8_MAMPS,0.039697,0.316827
$HUMID,49.88
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3801056
$24V_AH,13.33,48.294
$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,13.000,78.325,266.725,58.300,0.000,24.525,14.548,128.227,0.000,0.000,39.811,0.000,6928.256,417.621,1567.701,131.607,0.000,1033.691,0.000,1108.398,0.000,0.539,0.000
$DEVICE_MAMPS,469.710,2246.040,1576.665,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5064.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.702,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,17345,693
$CAP_FILE_SIZE,91233,0
$CFSIZE,1023623168,996474880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.012,247.46,1
$GPS,090119,063332,-6005.376,-2.730,14,0.8,38,-19.7,0.4,41.7,11,8.0