version: 66.14
glider: 640
mission: 5
dive: 236
start: 1 9 119 9 7 8
data:
$ID,640
$MISSION,5
$DIVE,236
$N_DIVES,500
$STOP_T,1171912
$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,43
$R_STBD_OVSHOOT,21
$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
$GPS1,090119,090149,-6004.7817,-3.1304,13,0.8,37,-19.7,0.0,150.2,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-61.0
$GPS2,090119,090650,-6004.7900,-3.1370,8,0.8,13,-19.7,0.9,229.7,11,8.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,35.0,46005,-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,-146.0,235,2078,1802,1821,0.0,0.0,0,91,0.00,0.00,-78.45,0.000,16386,0.000,0.000,234,2077,3050,3133,2968,0,0,0,0,0,0,14.63,28.83,14.63,6.18,50.43
$GC,93,-0.64,-146.0,234,2078,3134,2970,3.1,-5.7,16,116,6.03,2.70,-10.32,0.000,18948,0.359,2.248,2194,701,3316,3413,3220,0,0,0,0,0,0,14.19,13.25,14.46,6.28,49.76
$GC,202,-0.64,-146.0,2194,701,3414,3224,20.0,-16.2,38,206,0.00,2.40,0.00,0.000,3078,0.000,0.054,2184,2108,3318,3413,3223,0,0,0,0,0,0,14.47,14.40,14.52,6.31,48.54
$GC,326,-0.64,-146.0,2185,2109,3414,3224,41.8,-17.4,63,330,0.00,2.45,0.00,0.000,2308,0.000,0.080,2174,3511,3318,3413,3223,0,0,0,0,0,0,14.66,14.40,14.66,6.31,49.01
$GC,341,-0.64,-146.0,2174,3512,3414,3224,44.4,-17.7,66,346,0.05,2.38,0.00,0.000,3078,0.356,0.044,2184,2121,3324,3425,3223,0,0,0,0,0,0,14.22,14.42,14.38,6.31,49.40
$GC,467,-0.64,-146.0,2191,2117,3414,3222,63.6,-14.9,91,471,0.00,2.42,0.00,0.000,2308,0.000,0.079,2180,3506,3318,3413,3223,0,0,0,0,0,0,14.68,14.42,14.68,6.31,49.40
$GC,506,-0.64,-146.0,2180,3507,3414,3224,69.7,-15.1,99,510,0.00,2.40,0.00,0.000,3078,0.000,0.044,2179,2096,3318,3413,3223,0,0,0,0,0,0,14.50,14.45,14.52,6.31,49.60
$GC,631,-0.64,-146.0,2179,2096,3414,3224,89.3,-16.1,124,635,0.00,2.47,0.00,0.000,2564,0.000,0.066,2179,693,3318,3413,3223,0,0,0,0,0,0,14.71,14.44,14.71,6.31,48.70
$GC,676,-0.64,-146.0,2179,694,3414,3224,96.5,-15.5,133,681,0.08,2.42,0.00,0.000,3078,0.323,0.056,2193,2096,3318,3413,3223,0,0,0,0,0,0,14.28,14.45,14.43,6.31,48.22
$GC,801,-0.64,-146.0,2194,2097,3414,3225,114.8,-14.5,143,805,0.00,2.50,0.00,0.000,260,0.000,0.080,2183,3529,3318,3413,3223,0,0,0,0,0,0,14.73,14.46,14.74,6.31,48.77
$GC,816,-0.64,-146.0,2191,3529,3414,3224,114.8,-14.5,143,821,0.00,2.42,0.00,0.000,3078,0.000,0.044,2183,2098,3318,3413,3223,0,0,0,0,0,0,14.54,14.50,14.56,6.30,48.34
$GC,1121,-0.64,-146.0,2181,2098,3414,3223,159.2,-14.0,159,1126,0.00,2.47,0.00,0.000,2564,0.000,0.066,2182,689,3318,3413,3223,0,0,0,0,0,0,14.78,14.49,14.78,6.31,49.72
$GC,1247,-0.64,-146.0,2183,689,3414,3223,175.3,-13.0,165,1250,0.08,2.40,0.00,0.000,3078,0.369,0.056,2195,2106,3318,3413,3223,0,0,0,0,0,0,14.35,14.54,14.58,6.31,50.23
$GC,1561,-0.64,-146.0,2196,2112,3414,3224,214.7,-12.7,181,1565,0.00,2.47,0.00,0.000,260,0.000,0.082,2187,3503,3318,3413,3223,0,0,0,0,0,0,14.81,14.52,14.81,6.32,50.63
$GC,1586,-0.64,-146.0,2187,3504,3414,3223,217.2,-12.7,182,1591,0.00,2.38,0.00,0.000,3078,0.000,0.044,2186,2098,3318,3413,3223,0,0,0,0,0,0,14.59,14.55,14.62,6.32,50.51
$GC,1901,-0.64,-146.0,2187,2090,3414,3223,259.5,-13.1,198,1905,0.00,2.45,0.00,0.000,2564,0.000,0.064,2186,689,3318,3413,3223,0,0,0,0,0,0,14.83,14.54,14.83,6.33,50.94
$GC,1971,-0.64,-146.0,2186,689,3414,3222,267.4,-13.3,201,1976,0.05,2.42,0.00,0.000,3078,0.360,0.057,2192,2097,3318,3413,3223,0,0,0,0,0,0,14.33,14.54,14.50,6.33,50.86
$GC,2281,-0.64,-146.0,2193,2097,3413,3224,306.6,-11.6,217,2285,0.00,2.47,0.00,0.000,2308,0.000,0.082,2182,3524,3318,3413,3223,0,0,0,0,0,0,14.84,14.54,14.83,6.33,51.22
$GC,2326,-0.64,-146.0,2182,3525,3414,3224,311.4,-11.9,219,2330,0.00,2.40,0.00,0.000,3078,0.000,0.042,2181,2095,3318,3413,3223,0,0,0,0,0,0,14.62,14.58,14.65,6.33,51.41
$STATE,2640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2640,begin apogee
$GC,2644,-0.15,0.0,2181,2164,3414,3223,351.1,-12.5,235,2774,0.47,0.00,126.95,1.571,10246,0.265,0.000,2350,2163,2717,2777,2657,0,0,0,0,0,0,14.40,13.95,13.34,6.34,51.45
$STATE,2775,end apogee,CONTROL_FINISHED_OK
$STATE,2775,begin loiter
$GC,3061,-0.15,0.0,2350,2164,2772,2643,346.6,3.6,256,3062,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2163,2706,2770,2642,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.86
$GC,3361,-0.15,0.0,2351,2164,2771,2639,335.4,3.9,271,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2164,2705,2771,2639,0,0,0,0,0,0,14.71,14.72,14.72,6.29,50.94
$GC,3661,-0.15,0.0,2351,2163,2772,2638,323.6,4.0,286,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2164,2704,2771,2638,0,0,0,0,0,0,14.81,14.81,14.81,6.29,50.78
$GC,3961,-0.15,0.0,2352,2164,2772,2637,311.8,4.0,301,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2163,2704,2771,2637,0,0,0,0,0,0,14.86,14.86,14.86,6.29,50.82
$GC,4261,-0.15,0.0,2350,2164,2771,2638,300.0,4.0,316,4262,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2164,2704,2771,2637,0,0,0,0,0,0,14.90,14.91,14.91,6.29,51.18
$GC,4561,-0.15,0.0,2350,2164,2771,2637,288.8,3.6,331,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2163,2703,2771,2636,0,0,0,0,0,0,14.94,14.94,14.94,6.29,51.18
$GC,4861,-0.15,0.0,2350,2164,2771,2637,278.0,3.5,346,4862,0.00,0.00,0.00,0.000,2054,0.000,0.000,2350,2164,2703,2771,2635,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.92
$GC,5161,-0.15,0.0,2351,2164,2772,2636,268.5,3.1,361,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2164,2703,2771,2636,0,0,0,0,0,0,14.98,14.99,14.98,6.29,50.98
$GC,5461,-0.15,0.0,2351,2164,2770,2637,259.5,2.8,376,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2163,2703,2771,2636,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.41
$GC,5761,-0.15,0.0,2351,2164,2772,2635,251.5,2.5,391,5762,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2164,2703,2771,2635,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.53
$GC,6061,-0.15,0.0,2351,2164,2772,2635,243.7,2.7,406,6062,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2164,2703,2771,2635,0,0,0,0,0,0,15.02,15.03,15.03,6.28,51.26
$STATE,6360,end loiter,LOITER_COMPLETE
$STATE,6360,begin climb
$GC,6361,0.64,146.0,2350,2164,2772,2636,235.3,0.0,421,6502,0.62,2.62,130.18,1.402,10756,0.181,0.068,2610,745,2117,2142,2092,0,0,0,0,0,0,14.65,14.01,13.47,6.28,51.37
$GC,6521,0.64,146.0,2610,746,2138,2089,224.6,8.5,429,6525,0.00,2.47,0.00,0.000,5126,0.000,0.053,2610,2137,2112,2137,2088,0,0,0,0,0,0,14.12,14.07,14.14,6.24,49.48
$GC,6841,0.64,146.0,2610,2138,2132,2079,183.8,13.2,445,6846,0.00,2.53,0.00,0.000,4356,0.000,0.082,2610,3561,2101,2131,2071,0,0,0,0,0,0,14.59,14.31,14.60,6.23,50.47
$GC,6931,0.64,146.0,2611,3561,2132,2077,173.4,13.0,449,6935,0.05,2.40,0.00,0.000,5126,0.334,0.042,2602,2152,2104,2131,2077,0,0,0,0,0,0,14.18,14.35,14.33,6.24,50.27
$GC,7241,0.64,146.0,2602,2153,2131,2075,135.3,11.2,465,7245,0.00,2.47,0.00,0.000,516,0.000,0.066,2612,732,2102,2130,2074,0,0,0,0,0,0,14.71,14.42,14.72,6.24,50.82
$GC,7291,0.64,146.0,2613,733,2128,2074,131.0,10.9,467,7295,0.00,2.45,0.00,0.000,5126,0.000,0.054,2612,2147,2100,2127,2074,0,0,0,0,0,0,14.48,14.43,14.50,6.23,50.51
$GC,7596,0.64,146.0,2613,2148,2128,2073,96.9,9.4,485,7601,0.00,2.50,0.00,0.000,4356,0.000,0.084,2612,3548,2100,2127,2073,0,0,0,0,0,0,14.78,14.47,14.78,6.22,50.00
$GC,7671,0.64,146.0,2612,3548,2127,2074,89.0,10.2,500,7675,0.05,2.35,0.00,0.000,5126,0.322,0.041,2604,2157,2099,2125,2073,0,0,0,0,0,0,14.31,14.50,14.46,6.22,49.44
$GC,7797,0.64,146.0,2606,2156,2128,2072,77.2,9.5,525,7801,0.00,2.45,0.00,0.000,516,0.000,0.067,2614,745,2099,2126,2072,0,0,0,0,0,0,14.78,14.52,14.78,6.23,49.40
$GC,7831,0.64,146.0,2614,745,2127,2072,73.9,9.2,532,7835,0.00,2.42,0.00,0.000,5126,0.000,0.054,2614,2154,2098,2125,2072,0,0,0,0,0,0,14.53,14.47,14.57,6.21,49.64
$GC,7957,0.64,146.0,2614,2155,2127,2073,61.7,9.7,557,7961,0.00,2.45,0.00,0.000,4356,0.000,0.086,2614,3555,2098,2125,2072,0,0,0,0,0,0,14.78,14.52,14.79,6.20,49.21
$GC,8021,0.64,146.0,2614,3556,2126,2073,55.2,9.7,570,8025,0.05,2.38,0.00,0.000,5126,0.321,0.043,2606,2150,2101,2131,2072,0,0,0,0,0,0,14.32,14.52,14.47,6.20,49.09
$GC,8147,0.64,146.0,2605,2150,2126,2072,43.7,9.8,595,8151,0.00,2.45,0.00,0.000,516,0.000,0.067,2615,741,2098,2125,2071,0,0,0,0,0,0,14.79,14.54,14.80,6.20,49.05
$GC,8201,0.64,146.0,2615,742,2126,2072,38.2,9.5,606,8205,0.00,2.42,0.00,0.000,5126,0.000,0.054,2614,2153,2098,2125,2071,0,0,0,0,0,0,14.55,14.50,14.58,6.20,49.48
$GC,8327,0.64,146.0,2616,2154,2125,2072,26.2,9.2,631,8331,0.00,2.45,0.00,0.000,4356,0.000,0.085,2616,3558,2098,2125,2071,0,0,0,0,0,0,14.80,14.52,14.80,6.20,49.92
$GC,8386,0.64,146.0,2611,3558,2125,2071,19.4,11.7,643,8391,0.05,2.38,0.00,0.000,5126,0.321,0.042,2607,2149,2098,2125,2071,0,0,0,0,0,0,14.36,14.55,14.52,6.20,49.88
$GC,8512,0.64,146.0,2607,2149,2125,2071,8.0,9.6,668,8516,0.00,2.42,0.00,0.000,4612,0.000,0.067,2617,740,2097,2125,2070,0,0,0,0,0,0,14.81,14.54,14.81,6.20,51.02
$STATE,8565,end climb,SURFACE_DEPTH_REACHED
$STATE,8565,begin surface coast
$STATE,8595,end surface coast,CONTROL_FINISHED_OK
$STATE,8595,begin surface
$SM_CCo,8609,66.45,0.242,0,0,1820,220.03
$SM_GC,1.27,5.43,2.38,66.45,0.057,0.051,0.242,264,2118,1820,-6.45,-0.65,220.03,0,0,0,0,0,0,14.62,14.59,14.33
$IRIDIUM_FIX,-6005.20,4.31,090119,063534
$TT8_MAMPS,0.036701,0.330309
$HUMID,49.76
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3800032
$24V_AH,13.25,48.652
$10V_AH,13.66,0.000
$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,13.000,88.150,257.125,66.450,0.000,26.071,19.362,128.435,0.000,0.000,14.372,0.000,6860.060,423.203,1566.531,131.439,0.000,1046.580,0.000,1122.657,0.000,0.539,0.000
$DEVICE_MAMPS,368.730,2248.335,1570.545,241.740,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5007.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.815,0.000,0.000,0.000
$MEM,344104
$DATA_FILE_SIZE,17341,685
$CAP_FILE_SIZE,92186,0
$CFSIZE,1023623168,996278272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.033,234.71,1
$GPS,090119,113251,-6004.338,-3.196,28,0.8,43,-19.7,0.6,188.9,10,8.5