version: 66.14
glider: 640
mission: 5
dive: 237
start: 1 9 119 11 38 24
data:
$ID,640
$MISSION,5
$DIVE,237
$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,29
$R_STBD_OVSHOOT,37
$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
$GPS1,090119,113251,-6004.3379,-3.1958,28,0.8,43,-19.7,0.6,188.9,10,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-66.4
$GPS2,090119,113806,-6004.3462,-3.1630,8,0.8,14,-19.7,0.7,221.6,10,9.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,29.4,45186,-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,-146.0,234,2121,1794,1823,0.0,0.0,0,102,0.00,0.00,-89.43,0.000,16386,0.000,0.000,233,2120,3247,3328,3167,0,0,0,0,0,0,14.61,28.83,14.62,6.17,51.06
$GC,104,-0.64,-146.0,233,2121,3329,3169,3.6,-7.3,18,118,6.05,2.75,-2.40,0.000,18948,0.366,2.241,2187,686,3316,3406,3226,0,0,0,0,0,0,14.15,13.42,14.45,6.29,50.03
$GC,208,-0.64,-146.0,2186,686,3409,3227,23.7,-17.9,39,212,0.05,2.40,0.00,0.000,3078,0.457,0.055,2191,2093,3317,3408,3226,0,0,0,0,0,0,14.19,14.39,14.42,6.30,48.81
$GC,333,-0.64,-146.0,2190,2094,3409,3227,45.3,-15.6,64,336,0.00,0.00,0.00,0.000,2054,0.000,0.000,2191,2093,3317,3409,3226,0,0,0,0,0,0,14.62,14.64,14.64,6.30,50.00
$GC,457,-0.64,-146.0,2191,2094,3409,3227,64.3,-15.5,89,462,0.00,2.50,0.00,0.000,2308,0.000,0.080,2181,3501,3317,3409,3226,0,0,0,0,0,0,14.67,14.40,14.67,6.31,49.52
$GC,487,-0.64,-146.0,2181,3502,3409,3232,68.9,-15.5,95,491,0.00,2.38,0.00,0.000,3078,0.000,0.043,2180,2102,3317,3409,3226,0,0,0,0,0,0,14.49,14.44,14.51,6.31,49.33
$GC,612,-0.64,-146.0,2180,2102,3408,3227,87.4,-15.0,120,616,0.00,2.47,0.00,0.000,2564,0.000,0.066,2180,697,3317,3409,3226,0,0,0,0,0,0,14.69,14.42,14.69,6.31,48.54
$GC,662,-0.64,-146.0,2181,698,3409,3226,95.0,-15.0,130,666,0.05,2.42,0.00,0.000,3078,0.359,0.056,2186,2093,3317,3409,3226,0,0,0,0,0,0,14.24,14.45,14.41,6.30,48.58
$GC,802,-0.64,-146.0,2186,2093,3410,3226,114.9,-14.3,143,806,0.00,2.47,0.00,0.000,2308,0.000,0.081,2176,3511,3317,3409,3226,0,0,0,0,0,0,14.73,14.45,14.73,6.30,48.97
$GC,842,-0.64,-146.0,2177,3511,3410,3227,120.9,-14.6,145,846,0.05,2.40,0.00,0.000,3078,0.349,0.044,2193,2100,3317,3409,3226,0,0,0,0,0,0,14.27,14.48,14.43,6.30,48.54
$GC,1162,-0.64,-146.0,2194,2099,3410,3226,163.4,-13.2,161,1166,0.00,2.45,0.00,0.000,2564,0.000,0.065,2193,675,3317,3409,3226,0,0,0,0,0,0,14.77,14.51,14.77,6.32,49.64
$GC,1313,-0.64,-146.0,2194,676,3409,3226,181.5,-12.2,168,1317,0.00,2.42,0.00,0.000,3078,0.000,0.055,2183,2109,3317,3408,3226,0,0,0,0,0,0,14.64,14.52,14.66,6.31,50.23
$GC,1617,-0.64,-146.0,2184,2112,3410,3225,222.5,-13.6,183,1618,0.00,0.00,0.00,0.000,2054,0.000,0.000,2183,2104,3317,3409,3226,0,0,0,0,0,0,14.80,14.81,14.80,6.31,50.59
$GC,1917,-0.64,-146.0,2184,2110,3410,3226,262.2,-13.2,198,1918,0.00,0.00,0.00,0.000,2054,0.000,0.000,2183,2109,3317,3409,3226,0,0,0,0,0,0,14.81,14.82,14.81,6.32,51.10
$GC,2217,-0.64,-146.0,2183,2110,3409,3227,300.9,-12.9,213,2218,0.00,0.00,0.00,0.000,2054,0.000,0.000,2183,2109,3317,3409,3226,0,0,0,0,0,0,14.83,14.83,14.83,6.33,51.53
$GC,2517,-0.64,-146.0,2184,2110,3410,3225,339.2,-12.8,228,2518,0.00,0.00,0.00,0.000,2054,0.000,0.000,2183,2109,3317,3409,3226,0,0,0,0,0,0,14.84,14.84,14.84,6.33,51.73
$STATE,2615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2615,begin apogee
$GC,2620,-0.15,0.0,2183,2177,3409,3227,351.8,-12.7,233,2750,0.47,0.00,127.50,1.568,10246,0.267,0.000,2352,2176,2715,2775,2656,0,0,0,0,0,0,14.40,13.95,13.34,6.33,51.22
$STATE,2752,end apogee,CONTROL_FINISHED_OK
$STATE,2752,begin loiter
$GC,3037,-0.15,0.0,2352,2175,2772,2643,347.5,3.5,254,3038,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2176,2707,2771,2643,0,0,0,0,0,0,14.56,14.57,14.57,6.28,50.70
$GC,3337,-0.15,0.0,2352,2177,2772,2642,336.7,3.5,269,3338,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2176,2706,2772,2641,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.82
$GC,3637,-0.15,0.0,2352,2177,2772,2640,326.7,3.2,284,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2176,2706,2772,2640,0,0,0,0,0,0,14.79,14.79,14.80,6.28,50.98
$GC,3937,-0.15,0.0,2352,2177,2772,2640,317.2,3.2,299,3938,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2176,2705,2771,2639,0,0,0,0,0,0,14.85,14.85,14.85,6.27,51.10
$GC,4237,-0.15,0.0,2351,2177,2772,2640,307.5,3.3,314,4238,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2176,2705,2772,2639,0,0,0,0,0,0,14.89,14.90,14.90,6.29,50.94
$GC,4537,-0.15,0.0,2352,2177,2772,2640,297.5,3.5,329,4538,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2176,2705,2771,2640,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.33
$GC,4837,-0.15,0.0,2352,2177,2772,2640,286.8,3.7,344,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2176,2705,2771,2639,0,0,0,0,0,0,14.95,14.95,14.95,6.29,51.14
$GC,5137,-0.15,0.0,2352,2177,2772,2639,275.3,3.9,359,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2177,2705,2771,2639,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.33
$GC,5437,-0.15,0.0,2352,2177,2772,2640,263.9,3.6,374,5438,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2176,2704,2770,2639,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.89
$GC,5737,-0.15,0.0,2353,2177,2773,2638,253.8,3.0,389,5738,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2176,2706,2772,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.41
$GC,6037,-0.15,0.0,2352,2177,2773,2640,245.2,2.7,404,6038,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2176,2706,2772,2640,0,0,0,0,0,0,15.01,15.02,15.02,6.29,51.89
$STATE,6335,end loiter,LOITER_COMPLETE
$STATE,6335,begin climb
$GC,6337,0.64,146.0,2352,2176,2773,2640,237.3,0.0,419,6478,0.60,2.53,130.65,1.412,10500,0.174,0.083,2593,3539,2121,2146,2096,0,0,0,0,0,0,14.65,14.00,13.47,6.28,51.96
$GC,6497,0.64,146.0,2594,3541,2147,2093,226.9,8.3,427,6501,0.00,2.42,0.00,0.000,1030,0.000,0.041,2604,2149,2119,2146,2092,0,0,0,0,0,0,14.11,14.07,14.12,6.24,49.29
$GC,6817,0.64,146.0,2605,2149,2137,2082,188.2,12.4,443,6822,0.00,2.50,0.00,0.000,516,0.000,0.067,2615,747,2107,2134,2081,0,0,0,0,0,0,14.59,14.29,14.59,6.23,50.55
$GC,6847,0.64,146.0,2616,749,2133,2081,185.8,12.3,444,6851,0.00,2.40,0.00,0.000,5126,0.000,0.054,2615,2126,2106,2133,2080,0,0,0,0,0,0,14.38,14.32,14.40,6.24,50.19
$GC,7157,0.64,146.0,2616,2127,2133,2078,145.6,12.7,460,7161,0.00,2.53,0.00,0.000,4356,0.000,0.083,2615,3561,2105,2132,2078,0,0,0,0,0,0,14.69,14.39,14.70,6.24,51.22
$GC,7242,0.64,146.0,2616,3563,2133,2078,135.7,12.3,464,7247,0.05,2.38,0.00,0.000,5126,0.330,0.041,2609,2154,2105,2132,2078,0,0,0,0,0,0,14.27,14.47,14.42,6.24,50.43
$GC,7557,0.64,146.0,2609,2153,2132,2076,101.7,10.6,480,7561,0.00,2.47,0.00,0.000,4612,0.000,0.066,2617,747,2103,2131,2076,0,0,0,0,0,0,14.76,14.45,14.76,6.23,50.11
$GC,7597,0.64,146.0,2618,748,2129,2077,97.6,10.0,485,7601,0.00,2.42,0.00,0.000,5126,0.000,0.054,2618,2157,2102,2129,2076,0,0,0,0,0,0,14.52,14.46,14.54,6.22,50.11
$GC,7723,0.64,146.0,2618,2158,2130,2077,84.3,10.6,510,7726,0.00,2.45,0.00,0.000,4356,0.000,0.086,2618,3558,2102,2129,2076,0,0,0,0,0,0,14.76,14.49,14.76,6.21,49.52
$GC,7777,0.64,146.0,2619,3559,2130,2075,78.2,10.6,521,7781,0.05,2.38,0.00,0.000,5126,0.322,0.042,2609,2149,2102,2129,2076,0,0,0,0,0,0,14.31,14.50,14.46,6.21,49.09
$GC,7903,0.64,146.0,2609,2150,2130,2077,66.1,9.7,546,7907,0.00,2.42,0.00,0.000,4612,0.000,0.066,2619,744,2102,2129,2075,0,0,0,0,0,0,14.77,14.52,14.77,6.21,48.97
$GC,7937,0.64,146.0,2619,745,2129,2077,62.8,9.0,553,7941,0.00,2.42,0.00,0.000,5126,0.000,0.054,2619,2153,2101,2128,2075,0,0,0,0,0,0,14.53,14.47,14.56,6.21,49.21
$GC,8063,0.64,146.0,2619,2153,2129,2075,51.6,9.1,578,8067,0.00,2.45,0.00,0.000,4356,0.000,0.086,2619,3555,2101,2128,2075,0,0,0,0,0,0,14.77,14.50,14.77,6.20,49.05
$GC,8162,0.64,146.0,2619,3556,2128,2076,41.4,9.8,598,8166,0.08,2.38,0.00,0.000,5126,0.291,0.042,2602,2150,2101,2127,2075,0,0,0,0,0,0,14.35,14.54,14.50,6.20,48.89
$GC,8288,0.64,146.0,2603,2150,2130,2075,30.6,9.2,623,8292,0.00,2.45,0.00,0.000,516,0.000,0.067,2612,738,2101,2128,2075,0,0,0,0,0,0,14.78,14.52,14.78,6.20,49.37
$GC,8327,0.64,146.0,2612,738,2129,2074,27.1,8.4,631,8332,0.00,2.42,0.00,0.000,5126,0.000,0.052,2620,2150,2101,2129,2074,0,0,0,0,0,0,14.54,14.48,14.57,6.20,49.64
$GC,8452,0.64,146.0,2612,2151,2128,2074,16.6,8.6,656,8456,0.00,2.45,0.00,0.000,4356,0.000,0.083,2612,3555,2101,2128,2074,0,0,0,0,0,0,14.78,14.52,14.78,6.20,49.68
$GC,8497,0.64,146.0,2612,3556,2128,2076,12.1,10.0,665,8501,0.05,2.38,0.00,0.000,5126,0.328,0.044,2603,2151,2100,2127,2074,0,0,0,0,0,0,14.31,14.50,14.47,6.20,50.43
$STATE,8605,end climb,SURFACE_DEPTH_REACHED
$STATE,8606,begin surface coast
$STATE,8640,end surface coast,CONTROL_FINISHED_OK
$STATE,8640,begin surface
$SM_CCo,8653,67.32,0.242,0,0,1822,220.03
$SM_GC,1.30,5.50,0.08,67.32,0.071,0.164,0.242,259,2068,1822,-6.50,0.93,220.03,0,0,0,0,0,0,14.61,14.57,14.32
$IRIDIUM_FIX,-6007.06,0.00,090119,090342
$TT8_MAMPS,0.039697,0.17976
$HUMID,49.64
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3799520
$24V_AH,13.34,48.826
$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,13.000,68.675,258.150,67.325,0.000,24.482,36.562,123.962,0.000,0.000,15.350,0.000,6933.679,415.109,1558.647,131.005,0.000,1023.947,0.000,1109.250,0.000,0.539,0.000
$DEVICE_MAMPS,456.705,2240.685,1568.250,241.740,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5054.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.738,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,17319,694
$CAP_FILE_SIZE,89240,0
$CFSIZE,1023623168,996179968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.038,123.28,1
$GPS,090119,140434,-6003.910,-2.681,12,0.9,26,-19.7,1.2,86.9,10,9.7