version: 66.14
glider: 640
mission: 5
dive: 241
start: 1 9 119 21 47 8
data:
$ID,640
$MISSION,5
$DIVE,241
$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,37
$R_STBD_OVSHOOT,29
$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
$GPS1,090119,214203,-6002.2285,-3.0140,14,0.8,27,-19.7,0.7,319.7,11,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-69.3
$GPS2,090119,214649,-6002.2231,-3.0342,8,0.8,14,-19.7,0.0,194.9,11,8.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,34.2,41255,-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,-146.0,232,2139,1797,1824,0.0,0.0,0,96,0.00,0.00,-83.18,0.000,16386,0.000,0.000,233,2139,3140,3220,3061,0,0,0,0,0,0,14.62,28.83,14.62,6.17,50.15
$GC,98,-0.64,-146.0,234,2140,3216,3061,3.3,-5.9,17,116,6.03,2.80,-6.68,0.000,18948,0.357,2.244,2193,698,3318,3413,3223,0,0,0,0,0,0,14.18,13.23,14.45,6.28,49.56
$GC,216,-0.64,-146.0,2194,698,3415,3225,21.8,-15.4,41,221,0.00,2.45,0.00,0.000,3078,0.000,0.057,2184,2100,3319,3414,3225,0,0,0,0,0,0,14.43,14.37,14.45,6.30,49.05
$GC,341,-0.64,-146.0,2184,2101,3414,3226,42.8,-16.0,66,345,0.00,2.50,0.00,0.000,2308,0.000,0.083,2173,3515,3319,3413,3225,0,0,0,0,0,0,14.66,14.40,14.66,6.31,49.05
$GC,391,-0.64,-146.0,2173,3516,3414,3226,50.3,-14.2,76,395,0.05,2.40,0.00,0.000,3078,0.365,0.042,2190,2100,3319,3414,3225,0,0,0,0,0,0,14.21,14.43,14.38,6.33,49.40
$GC,517,-0.64,-146.0,2190,2099,3414,3226,67.0,-13.5,101,521,0.00,2.47,0.00,0.000,2308,0.000,0.080,2179,3515,3318,3412,3225,0,0,0,0,0,0,14.69,14.43,14.69,6.31,49.68
$GC,541,-0.64,-146.0,2179,3511,3415,3226,70.5,-13.9,106,545,0.03,2.40,0.00,0.000,3078,0.454,0.044,2187,2102,3319,3414,3224,0,0,0,0,0,0,14.23,14.45,14.39,6.31,48.85
$GC,667,-0.64,-146.0,2187,2102,3414,3227,87.8,-14.2,131,671,0.00,2.42,0.00,0.000,2564,0.000,0.065,2187,696,3319,3414,3225,0,0,0,0,0,0,14.71,14.45,14.71,6.31,48.77
$GC,716,-0.64,-146.0,2187,697,3414,3227,95.3,-14.6,141,721,0.03,2.42,0.00,0.000,3078,0.457,0.056,2185,2096,3319,3413,3225,0,0,0,0,0,0,14.24,14.46,14.54,6.29,48.58
$GC,851,-0.64,-146.0,2186,2097,3415,3225,115.2,-15.0,153,856,0.00,2.45,0.00,0.000,2308,0.000,0.080,2175,3506,3319,3414,3225,0,0,0,0,0,0,14.74,14.47,14.74,6.30,48.66
$GC,876,-0.64,-146.0,2175,3507,3414,3226,118.1,-14.8,154,880,0.05,2.38,0.00,0.000,3078,0.357,0.043,2188,2101,3322,3418,3226,0,0,0,0,0,0,14.27,14.50,14.44,6.30,48.46
$GC,1191,-0.64,-146.0,2192,2101,3414,3227,164.6,-14.2,170,1195,0.00,2.45,0.00,0.000,2564,0.000,0.064,2192,697,3320,3414,3226,0,0,0,0,0,0,14.78,14.50,14.78,6.31,50.59
$GC,1271,-0.64,-146.0,2191,698,3414,3226,175.2,-13.2,174,1275,0.00,2.40,0.00,0.000,3078,0.000,0.054,2182,2096,3320,3414,3226,0,0,0,0,0,0,14.57,14.52,14.59,6.31,50.31
$GC,1591,-0.64,-146.0,2182,2096,3416,3225,217.2,-12.8,190,1595,0.00,2.47,0.00,0.000,2308,0.000,0.081,2171,3528,3319,3413,3225,0,0,0,0,0,0,14.81,14.52,14.81,6.32,50.98
$GC,1621,-0.64,-146.0,2171,3529,3414,3226,219.8,-12.8,191,1626,0.05,2.40,0.00,0.000,3078,0.350,0.042,2189,2101,3319,3413,3225,0,0,0,0,0,0,14.33,14.55,14.50,6.32,50.86
$GC,1931,-0.64,-146.0,2189,2100,3415,3225,261.3,-13.2,207,1935,0.00,2.40,0.00,0.000,2564,0.000,0.063,2188,696,3319,3413,3225,0,0,0,0,0,0,14.83,14.56,14.83,6.32,51.45
$GC,1986,-0.64,-146.0,2189,697,3415,3225,266.7,-13.3,209,1991,0.00,2.40,0.00,0.000,3078,0.000,0.054,2179,2093,3319,3413,3225,0,0,0,0,0,0,14.60,14.54,14.63,6.32,51.02
$GC,2291,-0.64,-146.0,2179,2100,3414,3226,310.2,-13.7,225,2296,0.00,2.45,0.00,0.000,2308,0.000,0.081,2168,3514,3319,3413,3225,0,0,0,0,0,0,14.83,14.54,14.83,6.33,51.53
$GC,2316,-0.64,-146.0,2175,3514,3415,3225,313.0,-13.8,226,2320,0.08,2.38,0.00,0.000,3078,0.322,0.043,2195,2094,3319,3413,3225,0,0,0,0,0,0,14.36,14.57,14.52,6.33,51.18
$STATE,2610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2610,begin apogee
$GC,2614,-0.15,0.0,2195,2163,3414,3226,351.9,-12.8,241,2745,0.40,0.00,127.65,1.575,10246,0.267,0.000,2345,2162,2716,2776,2656,0,0,0,0,0,0,14.41,13.95,13.33,6.34,51.81
$STATE,2746,end apogee,CONTROL_FINISHED_OK
$STATE,2746,begin loiter
$GC,3031,-0.15,0.0,2346,2163,2772,2643,351.4,2.6,262,3032,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2162,2706,2771,2642,0,0,0,0,0,0,14.57,14.57,14.57,6.28,50.43
$GC,3331,-0.15,0.0,2346,2163,2772,2641,343.1,3.0,277,3332,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2162,2706,2771,2641,0,0,0,0,0,0,14.72,14.72,14.72,6.28,51.49
$GC,3631,-0.15,0.0,2345,2163,2772,2640,333.7,3.3,292,3632,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2162,2705,2771,2640,0,0,0,0,0,0,14.81,14.81,14.81,6.28,50.94
$GC,3931,-0.15,0.0,2346,2163,2772,2639,323.2,3.5,307,3932,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2162,2704,2771,2638,0,0,0,0,0,0,14.86,14.87,14.86,6.29,51.22
$GC,4231,-0.15,0.0,2346,2162,2772,2637,312.5,3.5,322,4232,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2162,2704,2771,2637,0,0,0,0,0,0,14.90,14.91,14.91,6.29,51.02
$GC,4531,-0.15,0.0,2346,2163,2772,2638,302.4,3.2,337,4532,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2162,2704,2771,2637,0,0,0,0,0,0,14.94,14.94,14.94,6.29,51.14
$GC,4831,-0.15,0.0,2346,2162,2773,2637,292.8,3.1,352,4832,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2162,2704,2771,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.18
$GC,5131,-0.15,0.0,2346,2162,2772,2637,283.4,3.2,367,5132,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2162,2704,2771,2637,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.53
$GC,5431,-0.15,0.0,2345,2163,2772,2638,273.4,3.4,382,5432,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2162,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.92
$GC,5731,-0.15,0.0,2346,2163,2772,2638,263.0,3.5,397,5732,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2162,2704,2771,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.22
$GC,6031,-0.15,0.0,2346,2163,2772,2638,251.4,3.9,412,6032,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2162,2704,2771,2637,0,0,0,0,0,0,15.03,15.03,15.03,6.28,51.26
$STATE,6330,end loiter,LOITER_COMPLETE
$STATE,6330,begin climb
$GC,6331,0.64,146.0,2346,2162,2773,2636,239.8,0.0,427,6472,0.62,2.60,130.65,1.409,11012,0.175,0.067,2606,754,2117,2142,2092,0,0,0,0,0,0,14.65,14.01,13.48,6.28,51.33
$GC,6586,0.64,146.0,2607,754,2134,2084,218.9,11.2,439,6591,0.00,2.45,0.00,0.000,5126,0.000,0.052,2607,2145,2107,2132,2083,0,0,0,0,0,0,14.26,14.19,14.28,6.24,49.52
$GC,6892,0.64,146.0,2607,2145,2131,2077,177.6,12.8,455,6896,0.00,2.50,0.00,0.000,4356,0.000,0.082,2607,3557,2103,2130,2077,0,0,0,0,0,0,14.62,14.35,14.62,6.23,50.47
$GC,7001,0.64,146.0,2607,3558,2131,2077,165.3,12.0,460,7005,0.00,2.38,0.00,0.000,5126,0.000,0.041,2617,2163,2103,2129,2077,0,0,0,0,0,0,14.47,14.38,14.45,6.24,50.39
$GC,7311,0.64,146.0,2617,2161,2128,2076,124.4,12.8,476,7315,0.00,2.47,0.00,0.000,4612,0.000,0.066,2629,739,2101,2127,2075,0,0,0,0,0,0,14.73,14.46,14.73,6.24,50.78
$GC,7346,0.64,146.0,2629,738,2126,2076,121.9,12.6,477,7351,0.05,2.42,0.00,0.000,5126,0.302,0.054,2608,2147,2099,2125,2073,0,0,0,0,0,0,14.31,14.46,14.46,6.23,50.55
$GC,7651,0.64,146.0,2608,2148,2126,2073,88.6,9.6,508,7655,0.00,2.50,0.00,0.000,4356,0.000,0.083,2608,3573,2099,2125,2073,0,0,0,0,0,0,14.78,14.49,14.78,6.22,50.51
$GC,7727,0.64,146.0,2610,3573,2126,2074,81.6,9.1,523,7731,0.00,2.40,0.00,0.000,5126,0.000,0.041,2618,2151,2100,2126,2074,0,0,0,0,0,0,14.58,14.53,14.60,6.22,49.56
$GC,7853,0.64,146.0,2618,2152,2126,2074,69.5,10.1,548,7856,0.00,2.42,0.00,0.000,4612,0.000,0.067,2629,744,2099,2126,2073,0,0,0,0,0,0,14.78,14.52,14.78,6.21,49.33
$GC,7886,0.64,146.0,2630,745,2126,2073,66.2,9.9,555,7892,0.05,2.40,0.00,0.000,5126,0.302,0.054,2609,2145,2100,2125,2075,0,0,0,0,0,0,14.35,14.52,14.50,6.21,50.00
$GC,8012,0.64,146.0,2609,2146,2124,2073,52.9,10.7,580,8016,0.00,2.47,0.00,0.000,4356,0.000,0.084,2609,3563,2098,2125,2072,0,0,0,0,0,0,14.78,14.51,14.79,6.20,49.21
$GC,8112,0.64,146.0,2609,3563,2126,2073,41.8,10.4,600,8115,0.00,2.38,0.00,0.000,5126,0.000,0.041,2618,2154,2097,2122,2073,0,0,0,0,0,0,14.58,14.54,14.62,6.20,49.13
$GC,8237,0.64,146.0,2619,2153,2126,2072,29.4,9.9,625,8240,0.00,0.00,0.00,0.000,4102,0.000,0.000,2618,2153,2098,2125,2072,0,0,0,0,0,0,14.80,14.80,14.80,6.20,49.40
$GC,8361,0.64,146.0,2618,2154,2126,2072,17.4,9.5,650,8365,0.00,2.50,0.00,0.000,4356,0.000,0.080,2618,3555,2098,2125,2072,0,0,0,0,0,0,14.81,14.50,14.81,6.20,49.88
$GC,8386,0.64,146.0,2619,3555,2126,2072,15.0,9.6,655,8392,0.05,2.38,0.00,0.000,5126,0.325,0.044,2609,2145,2097,2124,2071,0,0,0,0,0,0,14.35,14.55,14.51,6.20,50.15
$GC,8512,0.64,146.0,2609,2142,2126,2071,3.4,9.1,680,8516,0.00,2.42,0.00,0.000,4612,0.000,0.065,2619,738,2098,2125,2071,0,0,0,0,0,0,14.81,14.54,14.81,6.20,50.31
$STATE,8520,end climb,SURFACE_DEPTH_REACHED
$STATE,8520,begin surface coast
$STATE,8545,end surface coast,CONTROL_FINISHED_OK
$STATE,8545,begin surface
$SM_CCo,8559,66.43,0.243,0,0,1822,220.03
$SM_GC,1.26,5.50,2.38,66.43,0.071,0.050,0.243,275,2113,1822,-6.44,-0.65,220.03,0,0,0,0,0,0,14.66,14.56,14.33
$IRIDIUM_FIX,-6005.20,0.00,090119,191045
$TT8_MAMPS,0.039697,0.331058
$HUMID,50.19
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3797472
$24V_AH,13.23,49.531
$10V_AH,13.65,0.000
$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,12.975,83.225,258.300,66.425,0.000,23.796,14.250,120.676,0.000,0.000,15.678,0.000,6801.637,425.383,1555.266,133.222,0.000,1049.360,0.000,1129.222,0.000,0.539,0.000
$DEVICE_MAMPS,457.470,2243.745,1575.135,242.505,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4958.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.816,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17322,687
$CAP_FILE_SIZE,91593,0
$CFSIZE,1023623168,995786752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.026,214.85,1
$GPS,100119,001158,-6001.803,-3.074,37,0.9,41,-19.7,0.0,231.9,10,8.9