version: 66.14
glider: 640
mission: 5
dive: 240
start: 1 9 119 19 14 17
data:
$ID,640
$MISSION,5
$DIVE,240
$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,53
$R_STBD_OVSHOOT,28
$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
$GPS1,090119,190849,-6002.7993,-2.7102,20,0.7,40,-19.7,0.3,289.9,10,6.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-66.9
$GPS2,090119,191359,-6002.7568,-2.7073,8,0.8,18,-19.7,0.0,297.4,9,9.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,28.6,42222,-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,-146.0,232,2074,1796,1824,0.0,0.0,0,102,0.00,0.00,-89.50,0.000,16386,0.000,0.000,231,2074,3229,3309,3149,0,0,0,0,0,0,14.62,28.83,14.62,6.18,51.37
$GC,104,-0.64,-146.0,231,2075,3310,3151,3.3,-6.7,18,118,6.03,2.62,-3.17,0.000,18948,0.356,2.244,2191,714,3316,3407,3225,0,0,0,0,0,0,14.18,13.41,14.45,6.30,49.48
$GC,217,-0.64,-146.0,2191,714,3410,3227,23.2,-15.9,41,222,0.00,2.40,0.00,0.000,3078,0.000,0.055,2181,2099,3318,3410,3226,0,0,0,0,0,0,14.44,14.38,14.45,6.30,48.54
$GC,342,-0.64,-146.0,2180,2099,3411,3225,45.5,-18.0,66,346,0.00,2.45,0.00,0.000,2308,0.000,0.082,2171,3504,3318,3410,3226,0,0,0,0,0,0,14.66,14.40,14.66,6.31,49.96
$GC,377,-0.64,-146.0,2171,3504,3410,3227,51.8,-17.9,73,382,0.05,2.35,0.00,0.000,3078,0.353,0.043,2188,2116,3318,3410,3226,0,0,0,0,0,0,14.21,14.42,14.51,6.31,49.60
$GC,503,-0.64,-146.0,2188,2115,3411,3227,72.9,-16.0,98,507,0.00,2.42,0.00,0.000,2308,0.000,0.080,2178,3503,3318,3410,3226,0,0,0,0,0,0,14.68,14.42,14.68,6.31,49.48
$GC,527,-0.64,-146.0,2178,3504,3410,3227,76.7,-15.2,103,531,0.00,2.40,0.00,0.000,3078,0.000,0.044,2177,2097,3318,3410,3226,0,0,0,0,0,0,14.50,14.45,14.52,6.31,49.09
$GC,653,-0.64,-146.0,2177,2095,3411,3227,95.5,-15.3,128,657,0.05,2.42,0.00,0.000,2564,0.464,0.065,2191,692,3317,3410,3225,0,0,0,0,0,0,14.28,14.45,14.51,6.30,48.74
$GC,702,-0.64,-146.0,2191,693,3411,3226,100.7,-14.3,135,706,0.00,2.45,0.00,0.000,3078,0.000,0.057,2183,2127,3319,3412,3226,0,0,0,0,0,0,14.58,14.47,14.59,6.31,48.30
$GC,1007,-0.64,-146.0,2181,2128,3411,3227,144.9,-12.9,151,1011,0.00,2.45,0.00,0.000,2308,0.000,0.081,2170,3506,3317,3409,3226,0,0,0,0,0,0,14.76,14.46,14.76,6.30,49.17
$GC,1042,-0.64,-146.0,2171,3508,3411,3227,147.5,-13.0,152,1047,0.05,2.38,0.00,0.000,3078,0.353,0.043,2188,2094,3318,3410,3226,0,0,0,0,0,0,14.29,14.52,14.45,6.30,49.25
$GC,1347,-0.64,-146.0,2189,2093,3411,3226,187.3,-12.7,168,1352,0.00,2.45,0.00,0.000,516,0.000,0.064,2188,695,3317,3410,3224,0,0,0,0,0,0,14.78,14.50,14.78,6.31,50.23
$GC,1447,-0.64,-146.0,2188,697,3411,3226,199.7,-12.3,173,1452,0.03,2.42,0.00,0.000,3078,0.452,0.055,2186,2105,3318,3410,3226,0,0,0,0,0,0,14.28,14.52,14.47,6.31,50.39
$GC,1767,-0.64,-146.0,2187,2105,3411,3225,239.2,-12.5,189,1771,0.00,2.47,0.00,0.000,2308,0.000,0.083,2176,3503,3318,3410,3226,0,0,0,0,0,0,14.81,14.50,14.81,6.32,51.41
$GC,1807,-0.64,-146.0,2176,3503,3408,3225,244.2,-12.5,191,1811,0.05,2.38,0.00,0.000,3078,0.351,0.042,2193,2090,3317,3410,3225,0,0,0,0,0,0,14.33,14.55,14.50,6.33,51.61
$GC,2127,-0.64,-146.0,2194,2089,3411,3227,282.4,-11.9,207,2131,0.00,2.42,0.00,0.000,2564,0.000,0.063,2193,676,3317,3410,3225,0,0,0,0,0,0,14.82,14.56,14.82,6.33,50.98
$GC,2197,-0.64,-146.0,2193,676,3410,3227,289.8,-12.3,210,2202,0.00,2.45,0.00,0.000,3078,0.000,0.054,2183,2101,3317,3410,3225,0,0,0,0,0,0,14.60,14.54,14.62,6.33,51.57
$GC,2507,-0.64,-146.0,2184,2102,3411,3226,330.1,-13.0,226,2508,0.00,0.00,0.00,0.000,2054,0.000,0.000,2183,2101,3317,3409,3225,0,0,0,0,0,0,14.83,14.83,14.83,6.33,51.10
$STATE,2665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2665,begin apogee
$GC,2670,-0.15,0.0,2186,2167,3411,3225,350.6,-12.8,234,2799,0.47,0.00,127.12,1.571,10246,0.266,0.000,2352,2166,2719,2779,2660,0,0,0,0,0,0,14.40,13.95,13.34,6.34,51.10
$STATE,2800,end apogee,CONTROL_FINISHED_OK
$STATE,2800,begin loiter
$GC,3087,-0.15,0.0,2352,2167,2773,2643,348.0,2.9,255,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2707,2772,2643,0,0,0,0,0,0,14.56,14.57,14.57,6.28,51.02
$GC,3387,-0.15,0.0,2353,2166,2774,2641,339.4,2.7,270,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2706,2772,2641,0,0,0,0,0,0,14.71,14.71,14.71,6.29,51.02
$GC,3687,-0.15,0.0,2352,2167,2772,2641,331.2,2.6,285,3688,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2706,2772,2640,0,0,0,0,0,0,14.79,14.79,14.79,6.29,50.94
$GC,3987,-0.15,0.0,2352,2167,2772,2640,323.2,2.8,300,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2705,2772,2639,0,0,0,0,0,0,14.85,14.85,14.85,6.29,50.90
$GC,4287,-0.15,0.0,2352,2167,2772,2640,314.8,2.8,315,4288,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2705,2772,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.14
$GC,4587,-0.15,0.0,2353,2167,2772,2638,305.5,3.2,330,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2705,2772,2638,0,0,0,0,0,0,14.92,14.93,14.92,6.29,51.45
$GC,4887,-0.15,0.0,2352,2167,2773,2639,295.2,3.5,345,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2705,2772,2638,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.22
$GC,5187,-0.15,0.0,2353,2167,2773,2638,284.5,3.6,360,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2705,2772,2638,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.14
$GC,5487,-0.15,0.0,2352,2167,2773,2638,274.5,3.0,375,5488,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2704,2772,2637,0,0,0,0,0,0,14.98,14.99,14.99,6.28,51.06
$GC,5787,-0.15,0.0,2352,2167,2773,2637,265.6,2.9,390,5788,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2705,2772,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.14
$GC,6087,-0.15,0.0,2353,2167,2773,2638,257.9,2.5,405,6088,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2705,2772,2638,0,0,0,0,0,0,15.01,15.02,15.02,6.29,51.61
$STATE,6385,end loiter,LOITER_COMPLETE
$STATE,6385,begin climb
$GC,6387,0.64,146.0,2352,2167,2773,2639,250.4,0.0,420,6528,0.60,2.55,130.65,1.418,11012,0.175,0.083,2593,3538,2118,2144,2093,0,0,0,0,0,0,14.64,13.99,13.46,6.28,51.53
$GC,6572,0.64,146.0,2593,3539,2143,2088,238.0,9.3,429,6576,0.00,2.40,0.00,0.000,1030,0.000,0.041,2609,2156,2114,2142,2087,0,0,0,0,0,0,14.18,14.14,14.19,6.24,49.09
$GC,6887,0.64,146.0,2603,2157,2135,2079,199.0,12.3,445,6892,0.00,2.53,0.00,0.000,516,0.000,0.067,2615,744,2106,2134,2078,0,0,0,0,0,0,14.59,14.32,14.59,6.24,50.23
$GC,6922,0.64,146.0,2615,744,2132,2078,196.6,12.3,446,6926,0.00,2.42,0.00,0.000,5126,0.000,0.054,2615,2134,2104,2131,2078,0,0,0,0,0,0,14.41,14.35,14.43,6.24,50.31
$GC,7227,0.64,146.0,2615,2133,2131,2076,156.0,12.4,462,7231,0.00,2.53,0.00,0.000,4356,0.000,0.084,2615,3561,2103,2130,2076,0,0,0,0,0,0,14.70,14.42,14.70,6.24,50.66
$GC,7312,0.64,146.0,2616,3561,2131,2076,146.3,12.1,466,7317,0.05,2.40,0.00,0.000,5126,0.330,0.041,2607,2145,2103,2130,2076,0,0,0,0,0,0,14.27,14.47,14.43,6.24,50.47
$GC,7627,0.64,146.0,2608,2145,2129,2076,109.5,11.4,482,7631,0.00,2.47,0.00,0.000,4612,0.000,0.066,2617,742,2101,2128,2075,0,0,0,0,0,0,14.76,14.47,14.76,6.23,50.07
$GC,7687,0.64,146.0,2618,743,2127,2075,103.2,10.8,485,7691,0.00,2.42,0.00,0.000,5126,0.000,0.053,2617,2150,2103,2131,2075,0,0,0,0,0,0,14.52,14.47,14.55,6.23,50.03
$GC,7992,0.64,146.0,2618,2151,2128,2074,70.6,10.8,540,7997,0.00,2.50,0.00,0.000,4356,0.000,0.085,2617,3553,2100,2126,2074,0,0,0,0,0,0,14.78,14.48,14.78,6.22,49.21
$GC,8047,0.64,146.0,2618,3554,2127,2074,64.4,10.8,551,8051,0.05,2.38,0.00,0.000,5126,0.325,0.042,2609,2146,2100,2126,2074,0,0,0,0,0,0,14.31,14.50,14.47,6.21,48.77
$GC,8173,0.64,146.0,2609,2147,2128,2073,51.4,10.1,576,8177,0.00,0.00,0.00,0.000,4102,0.000,0.000,2609,2146,2099,2126,2073,0,0,0,0,0,0,14.78,14.78,14.78,6.20,49.13
$GC,8297,0.64,146.0,2607,2146,2127,2073,39.0,9.8,601,8301,0.00,2.47,0.00,0.000,4356,0.000,0.080,2609,3561,2100,2127,2074,0,0,0,0,0,0,14.79,14.51,14.79,6.21,48.77
$GC,8327,0.64,146.0,2609,3561,2127,2072,36.0,10.1,607,8331,0.00,2.38,0.00,0.000,5126,0.000,0.042,2618,2151,2099,2126,2073,0,0,0,0,0,0,14.56,14.51,14.58,6.20,48.93
$GC,8452,0.64,146.0,2619,2161,2127,2073,23.8,10.3,632,8457,0.00,2.42,0.00,0.000,4612,0.000,0.068,2629,745,2099,2126,2072,0,0,0,0,0,0,14.78,14.52,14.79,6.20,49.33
$GC,8487,0.64,146.0,2630,745,2125,2072,20.3,9.4,639,8491,0.05,2.42,0.00,0.000,5126,0.296,0.052,2609,2157,2098,2125,2072,0,0,0,0,0,0,14.33,14.48,14.47,6.20,49.72
$GC,8612,0.64,146.0,2609,2158,2127,2071,9.3,8.9,664,8617,0.00,2.47,0.00,0.000,4356,0.000,0.083,2608,3551,2098,2125,2071,0,0,0,0,0,0,14.78,14.50,14.78,6.21,49.64
$GC,8652,0.64,146.0,2609,3553,2126,2073,5.6,10.3,672,8657,0.00,2.38,0.00,0.000,5126,0.000,0.044,2618,2140,2098,2125,2071,0,0,0,0,0,0,14.59,14.54,14.61,6.21,50.15
$STATE,8696,end climb,SURFACE_DEPTH_REACHED
$STATE,8696,begin surface coast
$STATE,8736,end surface coast,CONTROL_FINISHED_OK
$STATE,8736,begin surface
$SM_CCo,8748,66.47,0.243,0,0,1821,220.03
$SM_GC,1.18,5.50,0.00,66.47,0.070,0.000,0.243,274,2139,1821,-6.45,1.07,220.03,0,0,0,0,0,0,14.64,14.79,14.32
$IRIDIUM_FIX,-6002.25,0.00,090119,163752
$TT8_MAMPS,0.03745,0.355026
$HUMID,49.48
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3797984
$24V_AH,13.34,49.358
$10V_AH,13.60,0.000
$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,12.975,78.175,257.775,66.475,0.000,26.534,22.242,122.556,0.000,0.000,19.017,0.000,6979.047,427.122,1589.751,131.360,0.000,1055.390,0.000,1140.791,0.000,0.540,0.000
$DEVICE_MAMPS,463.590,2243.745,1570.545,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5148.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.770,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,17335,689
$CAP_FILE_SIZE,91595,0
$CFSIZE,1023623168,995885056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.045,267.08,1
$GPS,090119,214203,-6002.229,-3.014,14,0.8,27,-19.7,0.7,319.7,11,9.7