version: 66.14
glider: 640
mission: 5
dive: 238
start: 1 9 119 14 10 12
data:
$ID,640
$MISSION,5
$DIVE,238
$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,61
$R_STBD_OVSHOOT,27
$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
$GPS1,090119,140434,-6003.9102,-2.6805,12,0.9,26,-19.7,1.2,86.9,10,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-66.7
$GPS2,090119,140954,-6003.9150,-2.6120,8,0.9,13,-19.7,0.0,195.5,10,9.7
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,15.1,44358,-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,-146.0,234,2068,1796,1825,0.0,0.0,0,96,0.00,0.00,-83.32,0.000,16386,0.000,0.000,233,2067,3129,3210,3048,0,0,0,0,0,0,14.61,28.83,14.60,6.18,50.31
$GC,98,-0.64,-146.0,233,2068,3210,3050,3.4,-6.6,17,116,6.00,2.60,-7.10,0.000,18948,0.356,2.242,2187,725,3318,3413,3223,0,0,0,0,0,0,14.16,13.21,14.44,6.28,49.48
$GC,202,-0.64,-146.0,2187,726,3414,3226,19.8,-15.5,38,206,0.05,2.35,0.00,0.000,3078,0.450,0.057,2192,2101,3319,3413,3225,0,0,0,0,0,0,14.19,14.38,14.42,6.31,48.50
$GC,327,-0.64,-146.0,2192,2101,3413,3225,40.4,-17.0,63,331,0.00,2.47,0.00,0.000,2308,0.000,0.080,2181,3508,3319,3414,3225,0,0,0,0,0,0,14.64,14.39,14.65,6.31,49.17
$GC,336,-0.64,-146.0,2183,3508,3422,3225,42.0,-17.1,65,340,0.00,2.35,0.00,0.000,3078,0.000,0.043,2182,2128,3319,3414,3225,0,0,0,0,0,0,14.47,14.42,14.48,6.31,49.25
$GC,461,-0.64,-146.0,2181,2126,3414,3226,60.8,-15.9,90,466,0.00,2.53,0.00,0.000,2564,0.000,0.063,2181,694,3319,3414,3225,0,0,0,0,0,0,14.68,14.41,14.69,6.31,49.84
$GC,476,-0.64,-146.0,2181,694,3414,3226,63.3,-16.3,93,480,0.05,2.45,0.00,0.000,3078,0.352,0.057,2188,2102,3319,3413,3225,0,0,0,0,0,0,14.22,14.42,14.39,6.31,49.56
$GC,602,-0.64,-146.0,2189,2102,3415,3225,82.5,-14.6,118,606,0.00,2.45,0.00,0.000,2308,0.000,0.083,2178,3505,3319,3414,3225,0,0,0,0,0,0,14.70,14.43,14.70,6.31,48.93
$GC,626,-0.64,-146.0,2179,3506,3414,3225,86.2,-14.6,123,631,0.05,2.40,0.00,0.000,3078,0.361,0.044,2195,2091,3319,3413,3225,0,0,0,0,0,0,14.24,14.46,14.41,6.30,49.09
$GC,757,-0.64,-146.0,2196,2090,3414,3225,103.3,-13.1,146,761,0.00,2.40,0.00,0.000,516,0.000,0.065,2195,697,3319,3414,3225,0,0,0,0,0,0,14.71,14.47,14.72,6.30,49.01
$GC,791,-0.64,-146.0,2195,698,3415,3225,106.1,-13.4,147,795,0.00,2.42,0.00,0.000,3078,0.000,0.056,2185,2096,3316,3413,3219,0,0,0,0,0,0,14.52,14.46,14.54,6.30,48.26
$GC,1096,-0.64,-146.0,2186,2097,3415,3225,151.4,-14.5,163,1100,0.00,2.45,0.00,0.000,2564,0.000,0.063,2185,698,3319,3414,3225,0,0,0,0,0,0,14.77,14.49,14.77,6.30,49.52
$GC,1191,-0.64,-146.0,2184,698,3414,3227,163.4,-15.0,167,1195,0.05,2.42,0.00,0.000,3078,0.359,0.056,2191,2101,3319,3414,3225,0,0,0,0,0,0,14.29,14.50,14.47,6.30,49.80
$GC,1496,-0.64,-146.0,2191,2102,3414,3226,204.4,-12.7,183,1500,0.00,2.45,0.00,0.000,2564,0.000,0.063,2191,701,3319,3414,3225,0,0,0,0,0,0,14.81,14.52,14.80,6.31,50.70
$GC,1536,-0.64,-146.0,2190,700,3414,3226,209.7,-13.1,185,1540,0.00,2.40,0.00,0.000,3078,0.000,0.057,2181,2092,3319,3414,3225,0,0,0,0,0,0,14.59,14.52,14.61,6.32,51.22
$GC,1856,-0.64,-146.0,2181,2093,3414,3226,253.3,-13.7,201,1860,0.00,2.45,0.00,0.000,2308,0.000,0.082,2170,3509,3319,3413,3225,0,0,0,0,0,0,14.82,14.54,14.83,6.32,51.22
$GC,1886,-0.64,-146.0,2171,3510,3415,3225,256.1,-13.7,202,1890,0.05,2.38,0.00,0.000,3078,0.358,0.043,2188,2095,3319,3413,3225,0,0,0,0,0,0,14.34,14.57,14.50,6.32,51.73
$GC,2196,-0.64,-146.0,2188,2095,3414,3227,298.9,-13.3,218,2201,0.00,2.42,0.00,0.000,2564,0.000,0.063,2188,703,3319,3413,3225,0,0,0,0,0,0,14.83,14.54,14.83,6.33,51.26
$GC,2241,-0.64,-146.0,2188,704,3414,3224,304.3,-13.5,220,2245,0.03,2.40,0.00,0.000,3078,0.462,0.056,2182,2099,3318,3411,3225,0,0,0,0,0,0,14.35,14.55,14.54,6.33,51.18
$GC,2556,-0.64,-146.0,2186,2099,3414,3226,346.6,-13.3,236,2560,0.00,2.47,0.00,0.000,2308,0.000,0.083,2175,3502,3319,3413,3225,0,0,0,0,0,0,14.84,14.54,14.84,6.34,51.69
$GC,2581,-0.64,-146.0,2175,3502,3414,3226,349.3,-13.4,237,2586,0.05,2.35,0.00,0.000,3078,0.351,0.043,2191,2104,3319,3413,3225,0,0,0,0,0,0,14.35,14.58,14.52,6.34,51.18
$STATE,2595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2595,begin apogee
$GC,2599,-0.15,0.0,2194,2157,3415,3225,352.0,-13.4,238,2730,0.45,0.00,128.00,1.563,10246,0.265,0.000,2353,2157,2717,2777,2657,0,0,0,0,0,0,14.40,13.95,13.34,6.34,51.10
$STATE,2731,end apogee,CONTROL_FINISHED_OK
$STATE,2731,begin loiter
$GC,3016,-0.15,0.0,2354,2157,2772,2642,350.9,2.7,259,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2157,2706,2771,2642,0,0,0,0,0,0,14.57,14.57,14.57,6.28,50.63
$GC,3316,-0.15,0.0,2354,2157,2772,2640,342.9,2.8,274,3317,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2157,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.72,6.29,51.02
$GC,3616,-0.15,0.0,2355,2157,2772,2638,334.3,3.0,289,3617,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2157,2704,2771,2638,0,0,0,0,0,0,14.80,14.81,14.81,6.29,51.02
$GC,3917,-0.15,0.0,2354,2157,2772,2637,325.5,2.9,304,3917,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2157,2704,2771,2637,0,0,0,0,0,0,14.85,14.86,14.86,6.29,51.22
$GC,4216,-0.15,0.0,2354,2157,2772,2637,316.8,2.9,319,4217,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2157,2704,2771,2637,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.85
$GC,4516,-0.15,0.0,2354,2157,2772,2638,308.4,2.7,334,4517,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2157,2704,2771,2637,0,0,0,0,0,0,14.93,14.94,14.94,6.29,51.22
$GC,4816,-0.15,0.0,2354,2157,2772,2636,300.5,2.5,349,4817,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2157,2703,2771,2636,0,0,0,0,0,0,14.96,14.96,14.97,6.28,51.22
$GC,5116,-0.15,0.0,2354,2158,2772,2637,293.1,2.3,364,5117,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2157,2703,2771,2636,0,0,0,0,0,0,14.98,14.99,14.98,6.28,51.69
$GC,5416,-0.15,0.0,2354,2158,2772,2637,286.0,2.5,379,5417,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2157,2703,2771,2636,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.37
$GC,5716,-0.15,0.0,2354,2158,2772,2637,278.4,2.7,394,5717,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2157,2703,2771,2636,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.96
$GC,6016,-0.15,0.0,2354,2158,2772,2637,269.8,3.0,409,6017,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2157,2703,2771,2636,0,0,0,0,0,0,15.02,15.03,15.03,6.28,51.10
$STATE,6315,end loiter,LOITER_COMPLETE
$STATE,6315,begin climb
$GC,6316,0.64,146.0,2354,2158,2771,2636,259.3,0.0,424,6457,0.60,2.58,130.65,1.434,10500,0.174,0.081,2595,3547,2118,2144,2092,0,0,0,0,0,0,14.66,13.99,13.47,6.29,51.69
$GC,6521,0.64,146.0,2595,3546,2143,2086,242.0,11.5,434,6525,0.00,2.42,0.00,0.000,1030,0.000,0.041,2605,2154,2113,2141,2086,0,0,0,0,0,0,14.20,14.16,14.23,6.24,49.01
$GC,6836,0.64,146.0,2605,2155,2135,2076,200.3,13.1,450,6841,0.00,2.53,0.00,0.000,516,0.000,0.066,2616,743,2105,2134,2077,0,0,0,0,0,0,14.60,14.34,14.61,6.24,50.43
$GC,6872,0.64,146.0,2620,743,2131,2078,197.6,13.1,451,6875,0.00,2.40,0.00,0.000,5126,0.000,0.055,2617,2142,2104,2131,2077,0,0,0,0,0,0,14.48,14.38,14.50,6.24,51.02
$GC,7177,0.64,146.0,2618,2146,2131,2076,153.4,13.7,467,7180,0.00,2.50,0.00,0.000,4356,0.000,0.084,2617,3562,2103,2130,2076,0,0,0,0,0,0,14.71,14.43,14.71,6.24,50.74
$GC,7277,0.64,146.0,2618,3563,2132,2076,139.7,13.5,472,7281,0.05,2.40,0.00,0.000,5126,0.327,0.043,2599,2149,2103,2130,2076,0,0,0,0,0,0,14.32,14.47,14.54,6.23,50.51
$GC,7596,0.64,146.0,2599,2149,2129,2075,102.9,10.6,488,7600,0.00,2.47,0.00,0.000,2564,0.000,0.067,2609,744,2100,2128,2073,0,0,0,0,0,0,14.78,14.49,14.78,6.27,50.31
$GC,7631,0.64,146.0,2609,752,2128,2073,100.9,10.5,489,7635,0.00,2.42,0.00,0.000,5126,0.000,0.054,2609,2154,2099,2126,2073,0,0,0,0,0,0,14.56,14.50,14.59,6.23,50.23
$GC,7936,0.64,146.0,2609,2155,2127,2074,67.9,10.0,550,7940,0.00,2.50,0.00,0.000,4356,0.000,0.086,2609,3557,2099,2126,2073,0,0,0,0,0,0,14.80,14.49,14.80,6.22,49.40
$GC,8016,0.64,146.0,2609,3557,2127,2074,59.8,9.9,566,8020,0.00,2.38,0.00,0.000,5126,0.000,0.043,2619,2151,2101,2126,2076,0,0,0,0,0,0,14.59,14.54,14.62,6.21,49.25
$GC,8141,0.64,146.0,2620,2151,2128,2072,47.3,10.1,591,8145,0.00,2.47,0.00,0.000,4612,0.000,0.067,2633,741,2098,2125,2072,0,0,0,0,0,0,14.81,14.52,14.81,6.20,49.17
$GC,8212,0.67,172.8,2631,742,2126,2072,41.4,7.3,605,8240,0.00,2.38,22.35,1.275,13318,0.000,0.054,2630,2155,2009,2030,1989,0,0,0,0,0,0,14.67,14.56,13.88,6.19,49.29
$GC,8362,0.67,172.8,2630,2155,2030,1985,26.9,9.2,635,8365,0.00,2.47,0.00,0.000,4356,0.000,0.086,2630,3558,2006,2029,1984,0,0,0,0,0,0,14.69,14.42,14.69,6.19,50.07
$GC,8402,0.67,172.8,2631,3560,2030,1984,22.9,9.7,643,8406,0.05,2.40,0.00,0.000,5126,0.337,0.044,2612,2148,2006,2029,1984,0,0,0,0,0,0,14.31,14.46,14.52,6.19,49.44
$GC,8527,0.67,172.8,2612,2147,2031,1982,11.0,10.0,668,8531,0.00,2.45,0.00,0.000,516,0.000,0.067,2622,741,2005,2028,1983,0,0,0,0,0,0,14.71,14.46,14.72,6.19,50.11
$GC,8586,0.72,214.7,2623,742,2028,1982,6.0,6.7,680,8626,0.00,2.42,35.17,0.259,11266,0.000,0.055,2622,2141,1858,1875,1842,0,0,0,0,0,0,14.52,14.47,14.55,6.20,49.92
$STATE,8627,end climb,SURFACE_DEPTH_REACHED
$STATE,8627,begin surface coast
$STATE,8660,end surface coast,CONTROL_FINISHED_OK
$STATE,8660,begin surface
$SM_CCo,8672,6.50,0.258,0,0,1822,220.03
$SM_GC,1.63,5.47,0.05,6.50,0.043,0.214,0.258,260,2086,1822,-6.50,1.02,220.03,0,0,0,0,0,0,14.51,14.46,14.29
$IRIDIUM_FIX,-6004.12,-4.31,090119,113444
$TT8_MAMPS,0.03745,0.291361
$HUMID,49.96
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3799008
$24V_AH,13.21,49.008
$10V_AH,13.64,0.000
$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,12.950,87.950,316.175,6.500,0.000,23.957,42.396,123.582,0.000,0.000,14.361,0.000,6843.777,409.257,1616.446,133.945,0.000,1053.683,0.000,1149.044,0.000,0.539,0.000
$DEVICE_MAMPS,462.060,2242.215,1562.895,257.805,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5073.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.671,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17367,695
$CAP_FILE_SIZE,93964,0
$CFSIZE,1023623168,996081664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.030,95.26,1
$GPS,090119,163555,-6003.373,-2.516,16,0.8,39,-19.7,0.8,105.4,9,6.5