version: 66.14
glider: 640
mission: 5
dive: 235
start: 1 9 119 6 39 11
data:
$ID,640
$MISSION,5
$DIVE,235
$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,50
$R_STBD_OVSHOOT,30
$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
$GPS1,090119,063332,-6005.3765,-2.7303,14,0.8,38,-19.7,0.4,41.7,11,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-63.7
$GPS2,090119,063853,-6005.3560,-2.7262,6,0.8,16,-19.7,0.4,182.5,10,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,25.3,47028,-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,-146.0,233,2079,1795,1824,0.0,0.0,0,101,0.00,0.00,-88.38,0.000,16386,0.000,0.000,233,2078,3201,3281,3122,0,0,0,0,0,0,14.60,28.83,14.61,6.18,50.86
$GC,103,-0.64,-146.0,232,2079,3282,3123,3.2,-6.9,18,118,6.05,2.62,-4.32,0.000,18948,0.363,2.242,2192,713,3316,3408,3224,0,0,0,0,0,0,14.18,13.40,14.45,6.29,49.56
$GC,162,-0.64,-146.0,2192,713,3411,3224,14.4,-17.7,30,166,0.00,2.40,0.00,0.000,3078,0.000,0.054,2182,2096,3317,3410,3224,0,0,0,0,0,0,14.42,14.35,14.43,6.30,49.44
$GC,287,-0.64,-146.0,2182,2097,3412,3224,36.6,-17.9,55,290,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2097,3318,3410,3227,0,0,0,0,0,0,14.64,14.64,14.64,6.31,49.13
$GC,412,-0.64,-146.0,2181,2097,3411,3225,58.1,-15.6,80,417,0.03,2.50,0.00,0.000,2308,0.627,0.080,2179,3498,3317,3410,3224,0,0,0,0,0,0,14.33,14.39,14.47,6.31,49.40
$GC,467,-0.64,-146.0,2179,3503,3411,3225,66.3,-14.6,91,471,0.00,2.35,0.00,0.000,3078,0.000,0.043,2179,2120,3317,3410,3224,0,0,0,0,0,0,14.50,14.45,14.51,6.30,49.48
$GC,592,-0.64,-146.0,2179,2120,3412,3225,85.9,-15.8,116,597,0.05,2.47,0.00,0.000,2564,0.472,0.064,2192,692,3316,3409,3224,0,0,0,0,0,0,14.28,14.45,14.51,6.31,48.93
$GC,657,-0.64,-146.0,2192,692,3412,3224,95.9,-14.8,129,661,0.00,2.45,0.00,0.000,3078,0.000,0.056,2182,2104,3317,3410,3224,0,0,0,0,0,0,14.50,14.45,14.52,6.31,48.38
$GC,787,-0.64,-146.0,2182,2104,3410,3226,116.0,-15.5,140,791,0.00,2.47,0.00,0.000,2308,0.000,0.080,2171,3499,3317,3410,3224,0,0,0,0,0,0,14.73,14.44,14.73,6.30,48.22
$GC,807,-0.64,-146.0,2172,3500,3410,3225,119.2,-15.5,141,811,0.05,2.38,0.00,0.000,3078,0.348,0.044,2188,2103,3317,3410,3224,0,0,0,0,0,0,14.28,14.47,14.43,6.30,48.50
$GC,1127,-0.64,-146.0,2189,2102,3412,3224,163.7,-13.0,157,1131,0.00,2.47,0.00,0.000,2564,0.000,0.065,2188,692,3317,3410,3224,0,0,0,0,0,0,14.77,14.48,14.77,6.31,50.00
$GC,1227,-0.64,-146.0,2188,692,3412,3224,176.9,-13.1,162,1231,0.03,2.42,0.00,0.000,3078,0.455,0.055,2186,2100,3317,3411,3224,0,0,0,0,0,0,14.30,14.50,14.46,6.31,50.39
$GC,1547,-0.64,-146.0,2186,2101,3412,3224,216.6,-12.4,178,1548,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2101,3317,3410,3224,0,0,0,0,0,0,14.80,14.80,14.80,6.32,50.82
$GC,1847,-0.64,-146.0,2186,2101,3411,3225,254.7,-12.8,193,1848,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2100,3317,3410,3224,0,0,0,0,0,0,14.82,14.81,14.82,6.32,51.33
$GC,2147,-0.64,-146.0,2186,2101,3411,3225,292.4,-12.6,208,2151,0.00,2.45,0.00,0.000,2564,0.000,0.064,2186,697,3317,3410,3224,0,0,0,0,0,0,14.83,14.56,14.83,6.33,51.14
$GC,2182,-0.64,-146.0,2186,698,3411,3225,295.0,-12.7,209,2186,0.05,2.40,0.00,0.000,3078,0.362,0.054,2192,2095,3317,3410,3224,0,0,0,0,0,0,14.34,14.55,14.51,6.33,51.10
$GC,2487,-0.64,-146.0,2192,2095,3411,3225,333.9,-12.2,225,2488,0.00,0.00,0.00,0.000,2054,0.000,0.000,2193,2093,3317,3410,3224,0,0,0,0,0,0,14.83,14.84,14.84,6.33,51.26
$STATE,2625,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2625,begin apogee
$GC,2629,-0.15,0.0,2193,2184,3411,3225,351.1,-12.3,232,2759,0.45,0.00,127.47,1.581,10246,0.265,0.000,2353,2183,2718,2778,2658,0,0,0,0,0,0,14.41,13.95,13.33,6.33,50.98
$STATE,2760,end apogee,CONTROL_FINISHED_OK
$STATE,2760,begin loiter
$GC,3047,-0.15,0.0,2353,2184,2772,2643,348.4,2.8,253,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2183,2706,2771,2641,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.43
$GC,3347,-0.15,0.0,2354,2184,2772,2639,340.0,2.7,268,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2183,2704,2770,2639,0,0,0,0,0,0,14.71,14.71,14.71,6.29,51.10
$GC,3647,-0.15,0.0,2353,2185,2771,2639,331.5,2.9,283,3647,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2184,2704,2770,2638,0,0,0,0,0,0,14.80,14.80,14.80,6.29,50.90
$GC,3947,-0.15,0.0,2354,2184,2772,2637,322.8,3.0,298,3948,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2183,2704,2771,2637,0,0,0,0,0,0,14.85,14.85,14.85,6.29,51.45
$GC,4247,-0.15,0.0,2353,2184,2770,2638,313.9,3.0,313,4248,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2183,2704,2771,2637,0,0,0,0,0,0,14.90,14.90,14.89,6.29,51.45
$GC,4547,-0.15,0.0,2353,2184,2771,2637,305.1,2.9,328,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2183,2704,2771,2637,0,0,0,0,0,0,14.92,14.93,14.93,6.29,51.41
$GC,4847,-0.15,0.0,2353,2184,2771,2637,296.4,2.9,343,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2183,2703,2771,2636,0,0,0,0,0,0,14.95,14.95,14.95,6.29,51.02
$GC,5147,-0.15,0.0,2354,2184,2772,2636,287.7,2.9,358,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2183,2703,2771,2636,0,0,0,0,0,0,14.97,14.98,14.97,6.28,51.89
$GC,5447,-0.15,0.0,2353,2184,2772,2637,278.8,3.0,373,5448,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2183,2703,2771,2636,0,0,0,0,0,0,14.99,14.99,15.00,6.28,51.33
$GC,5747,-0.15,0.0,2353,2184,2771,2637,269.4,3.1,388,5748,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2183,2702,2770,2635,0,0,0,0,0,0,15.00,15.01,15.01,6.28,51.22
$GC,6047,-0.15,0.0,2354,2184,2772,2637,260.3,3.0,403,6048,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2183,2703,2770,2636,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.10
$GC,6347,-0.15,0.0,2354,2185,2771,2636,252.0,2.6,418,6348,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2183,2704,2772,2636,0,0,0,0,0,0,15.02,15.03,15.03,6.28,51.53
$STATE,6365,end loiter,LOITER_COMPLETE
$STATE,6365,begin climb
$GC,6367,0.64,146.0,2354,2184,2772,2636,251.5,0.0,419,6507,0.60,2.65,130.50,1.424,10756,0.174,0.067,2605,745,2116,2141,2092,0,0,0,0,0,0,14.65,14.00,13.45,6.28,51.37
$GC,6522,0.68,184.3,2605,746,2139,2084,243.9,6.9,426,6563,0.00,2.45,36.58,1.382,11270,0.000,0.051,2605,2124,1967,1989,1946,0,0,0,0,0,0,14.12,14.07,13.42,6.24,49.17
$GC,6862,0.68,184.3,2605,2124,1977,1925,200.6,12.7,443,6866,0.00,2.47,0.00,0.000,2564,0.000,0.067,2614,747,1950,1976,1925,0,0,0,0,0,0,14.53,14.27,14.53,6.23,49.92
$GC,6977,0.68,184.3,2616,748,1972,1924,189.2,11.1,448,6981,0.00,2.45,0.00,0.000,3078,0.000,0.053,2615,2149,1948,1973,1923,0,0,0,0,0,0,14.35,14.29,14.38,6.23,50.00
$GC,7282,0.68,184.3,2616,2151,1972,1922,145.3,14.5,464,7286,0.00,2.53,0.00,0.000,2308,0.000,0.084,2615,3558,1946,1972,1921,0,0,0,0,0,0,14.69,14.39,14.69,6.21,50.70
$GC,7372,0.68,184.3,2616,3558,1973,1921,133.6,14.6,468,7376,0.00,2.40,0.00,0.000,5126,0.000,0.043,2626,2140,1947,1973,1921,0,0,0,0,0,0,14.50,14.45,14.52,6.21,50.31
$GC,7677,0.68,184.3,2626,2141,1972,1919,89.1,13.1,495,7681,0.00,2.45,0.00,0.000,4612,0.000,0.068,2637,754,1945,1971,1920,0,0,0,0,0,0,14.74,14.43,14.75,6.20,49.80
$GC,7712,0.68,184.3,2637,755,1980,1921,84.9,11.8,502,7716,0.05,2.40,0.00,0.000,5126,0.306,0.054,2618,2150,1944,1970,1919,0,0,0,0,0,0,14.32,14.48,14.47,6.22,49.88
$GC,7837,0.68,184.3,2618,2151,1970,1920,70.8,11.3,527,7842,0.00,2.50,0.00,0.000,260,0.000,0.083,2618,3554,1944,1970,1919,0,0,0,0,0,0,14.76,14.43,14.76,6.20,49.37
$GC,7887,0.68,184.3,2618,3554,1970,1920,65.2,10.6,537,7891,0.00,2.35,0.00,0.000,5126,0.000,0.044,2627,2162,1945,1971,1919,0,0,0,0,0,0,14.52,14.48,14.54,6.20,48.85
$GC,8013,0.68,184.3,2627,2162,1972,1918,51.3,12.7,562,8016,0.00,0.00,0.00,0.000,4102,0.000,0.000,2627,2161,1944,1970,1918,0,0,0,0,0,0,14.76,14.76,14.76,6.20,48.70
$GC,8137,0.68,184.3,2627,2162,1971,1918,36.1,12.9,587,8141,0.00,2.50,0.00,0.000,4356,0.000,0.082,2627,3556,1943,1970,1916,0,0,0,0,0,0,14.82,14.45,14.78,6.19,49.01
$GC,8167,0.68,184.3,2627,3559,1971,1919,32.2,12.6,593,8171,0.05,2.40,0.00,0.000,5126,0.330,0.044,2619,2143,1944,1970,1918,0,0,0,0,0,0,14.31,14.50,14.46,6.19,49.29
$GC,8293,0.68,184.3,2619,2144,1971,1917,18.5,11.8,618,8296,0.00,2.42,0.00,0.000,4612,0.000,0.072,2629,745,1943,1970,1916,0,0,0,0,0,0,14.78,14.52,14.78,6.20,49.60
$GC,8342,0.68,184.3,2629,746,1969,1916,13.5,8.6,628,8346,0.00,2.42,0.00,0.000,5126,0.000,0.054,2628,2153,1942,1968,1916,0,0,0,0,0,0,14.57,14.51,14.59,6.19,50.03
$STATE,8435,end climb,SURFACE_DEPTH_REACHED
$STATE,8435,begin surface coast
$STATE,8456,end surface coast,CONTROL_FINISHED_OK
$STATE,8456,begin surface
$SM_CCo,8469,28.50,0.248,0,0,1823,220.03
$SM_GC,0.91,5.40,0.10,28.50,0.041,0.145,0.248,250,2079,1823,-6.44,0.71,220.03,0,0,0,0,0,0,14.64,14.56,14.35
$IRIDIUM_FIX,-6007.06,-8.64,090119,040323
$TT8_MAMPS,0.038199,0.373751
$HUMID,50.15
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3800544
$24V_AH,13.33,48.479
$10V_AH,13.61,0.000
$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,12.800,64.000,294.550,28.500,0.000,31.265,38.610,122.406,0.000,0.000,17.050,0.000,6780.630,403.736,1510.334,126.641,0.000,996.314,0.000,1061.102,0.000,0.540,0.000
$DEVICE_MAMPS,626.535,2242.215,1581.255,247.860,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4849.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.808,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17303,651
$CAP_FILE_SIZE,85878,0
$CFSIZE,1023623168,996376576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.049,273.01,1
$GPS,090119,090149,-6004.782,-3.130,13,0.8,37,-19.7,0.0,150.2,9,5.0