version: 66.14
glider: 640
mission: 5
dive: 251
start: 1 10 119 23 13 31
data:
$ID,640
$MISSION,5
$DIVE,251
$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,46
$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
$GPS1,100119,230722,-5957.5190,-2.8442,38,0.9,41,-19.7,0.0,113.7,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.7
$GPS2,100119,231313,-5957.5029,-2.8902,9,0.9,15,-19.7,0.0,167.6,10,9.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,30.1,32528,-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,-146.0,227,2085,1794,1823,0.0,0.0,0,101,0.00,0.00,-88.22,0.000,16386,0.000,0.000,226,2085,3192,3272,3113,0,0,0,0,0,0,14.60,28.83,14.60,6.18,50.70
$GC,103,-0.64,-146.0,227,2086,3274,3114,3.3,-7.5,18,120,6.05,2.65,-4.45,0.000,18948,0.358,2.236,2188,703,3312,3405,3219,0,0,0,0,0,0,14.15,13.39,14.43,6.29,49.80
$GC,226,-0.64,-146.0,2189,704,3403,3221,25.0,-16.3,43,231,0.03,2.42,0.00,0.000,3078,0.458,0.056,2186,2093,3312,3405,3219,0,0,0,0,0,0,14.15,14.35,14.31,6.31,48.58
$GC,353,-0.64,-146.0,2186,2094,3407,3223,46.9,-16.8,68,355,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2093,3313,3406,3221,0,0,0,0,0,0,14.65,14.65,14.65,6.31,49.33
$GC,476,-0.64,-146.0,2186,2094,3406,3223,66.5,-14.8,93,480,0.00,2.47,0.00,0.000,2308,0.000,0.082,2176,3515,3313,3406,3221,0,0,0,0,0,0,14.68,14.40,14.68,6.31,49.60
$GC,571,-0.64,-146.0,2176,3516,3408,3222,80.3,-14.2,112,575,0.05,2.38,0.00,0.000,3078,0.353,0.041,2193,2108,3313,3406,3221,0,0,0,0,0,0,14.22,14.45,14.40,6.27,49.25
$GC,697,-0.64,-146.0,2192,2109,3407,3221,98.4,-14.5,137,701,0.00,2.42,0.00,0.000,2564,0.000,0.063,2193,697,3313,3405,3221,0,0,0,0,0,0,14.71,14.46,14.71,6.30,48.66
$GC,741,-0.64,-146.0,2193,698,3407,3221,103.6,-14.9,141,745,0.00,2.42,0.00,0.000,3078,0.000,0.056,2183,2097,3314,3406,3222,0,0,0,0,0,0,14.51,14.45,14.53,6.30,48.34
$GC,1051,-0.64,-146.0,2184,2099,3407,3223,147.9,-13.4,157,1056,0.00,2.45,0.00,0.000,2308,0.000,0.080,2171,3508,3313,3406,3221,0,0,0,0,0,0,14.76,14.49,14.77,6.30,49.17
$GC,1076,-0.64,-146.0,2179,3510,3406,3223,150.5,-13.3,158,1080,0.05,2.38,0.00,0.000,3078,0.344,0.042,2191,2094,3317,3414,3221,0,0,0,0,0,0,14.28,14.52,14.45,6.30,49.92
$GC,1391,-0.64,-146.0,2190,2093,3408,3221,191.7,-12.9,174,1392,0.00,0.00,0.00,0.000,2054,0.000,0.000,2190,2092,3313,3406,3221,0,0,0,0,0,0,14.80,14.80,14.80,6.31,50.47
$GC,1691,-0.64,-146.0,2190,2093,3400,3221,229.4,-12.4,189,1695,0.00,2.42,0.00,0.000,2564,0.000,0.063,2190,703,3313,3406,3221,0,0,0,0,0,0,14.82,14.52,14.82,6.33,51.18
$GC,1746,-0.64,-146.0,2190,704,3406,3222,234.5,-12.6,191,1750,0.00,2.38,0.00,0.000,3078,0.000,0.055,2180,2111,3313,3406,3221,0,0,0,0,0,0,14.68,14.55,14.69,6.32,51.14
$GC,2051,-0.64,-146.0,2181,2113,3408,3221,274.5,-12.6,207,2055,0.00,2.42,0.00,0.000,2308,0.000,0.082,2170,3512,3313,3406,3221,0,0,0,0,0,0,14.83,14.54,14.83,6.32,51.73
$GC,2076,-0.64,-146.0,2170,3513,3407,3222,277.0,-12.6,208,2080,0.05,2.38,0.00,0.000,3078,0.343,0.043,2188,2098,3313,3406,3221,0,0,0,0,0,0,14.34,14.57,14.50,6.33,51.26
$GC,2391,-0.64,-146.0,2188,2092,3407,3221,316.3,-12.3,224,2396,0.00,2.42,0.00,0.000,2564,0.000,0.063,2188,706,3313,3406,3221,0,0,0,0,0,0,14.84,14.54,14.84,6.34,51.18
$GC,2461,-0.64,-146.0,2189,707,3408,3221,323.8,-12.6,227,2465,0.00,2.38,0.00,0.000,3078,0.000,0.055,2179,2118,3313,3406,3221,0,0,0,0,0,0,14.69,14.58,14.70,6.34,51.22
$STATE,2670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2670,begin apogee
$GC,2674,-0.15,0.0,2179,2119,3407,3222,352.1,-13.2,238,2804,0.47,0.00,127.07,1.558,10246,0.265,0.000,2347,2118,2716,2777,2656,0,0,0,0,0,0,14.39,13.97,13.34,6.34,51.29
$STATE,2805,end apogee,CONTROL_FINISHED_OK
$STATE,2805,begin loiter
$GC,3091,-0.15,0.0,2347,2118,2772,2642,350.7,2.8,259,3092,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2118,2706,2771,2641,0,0,0,0,0,0,14.57,14.58,14.57,6.28,51.22
$GC,3391,-0.15,0.0,2347,2119,2772,2640,343.2,2.5,274,3392,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2118,2705,2771,2639,0,0,0,0,0,0,14.72,14.72,14.72,6.28,51.06
$GC,3691,-0.15,0.0,2348,2119,2772,2638,336.1,2.4,289,3692,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2118,2704,2771,2637,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.26
$GC,3991,-0.15,0.0,2347,2117,2772,2636,328.5,2.6,304,3992,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2118,2704,2771,2637,0,0,0,0,0,0,14.86,14.86,14.86,6.28,51.69
$GC,4291,-0.15,0.0,2348,2118,2772,2636,320.2,2.9,319,4292,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2118,2703,2771,2636,0,0,0,0,0,0,14.91,14.91,14.90,6.28,51.77
$GC,4591,-0.15,0.0,2347,2119,2772,2637,310.9,3.1,334,4592,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2118,2703,2771,2635,0,0,0,0,0,0,14.94,14.94,14.94,6.28,51.89
$GC,4891,-0.15,0.0,2347,2118,2772,2637,300.5,3.7,349,4892,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2118,2703,2771,2635,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.26
$GC,5191,-0.15,0.0,2347,2119,2772,2637,289.0,3.8,364,5192,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2118,2703,2771,2635,0,0,0,0,0,0,14.99,14.99,14.99,6.29,51.37
$GC,5491,-0.15,0.0,2347,2118,2772,2636,277.1,4.0,379,5492,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2118,2703,2771,2635,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.37
$GC,5791,-0.15,0.0,2348,2119,2772,2636,265.5,4.0,394,5792,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2118,2702,2770,2635,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.41
$GC,6091,-0.15,0.0,2347,2119,2772,2636,254.4,3.7,409,6092,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2118,2703,2771,2635,0,0,0,0,0,0,15.03,15.03,15.03,6.28,51.89
$STATE,6390,end loiter,LOITER_COMPLETE
$STATE,6390,begin climb
$GC,6391,0.64,146.0,2348,2118,2772,2635,243.8,0.0,424,6533,0.62,2.67,130.93,1.401,11012,0.181,0.081,2596,3561,2118,2143,2093,0,0,0,0,0,0,14.64,14.00,13.47,6.28,51.45
$GC,6592,0.64,146.0,2597,3561,2141,2087,227.8,10.9,434,6596,0.00,2.40,0.00,0.000,5126,0.000,0.041,2607,2151,2113,2140,2086,0,0,0,0,0,0,14.26,14.18,14.27,6.24,49.21
$GC,6912,0.64,146.0,2607,2151,2134,2078,188.0,12.3,450,6916,0.00,2.47,0.00,0.000,516,0.000,0.065,2618,737,2104,2132,2077,0,0,0,0,0,0,14.60,14.35,14.61,6.24,50.23
$GC,6962,0.64,146.0,2618,737,2131,2078,183.4,12.0,452,6966,0.03,2.45,0.00,0.000,5126,0.399,0.052,2608,2149,2104,2130,2078,0,0,0,0,0,0,14.19,14.37,14.33,6.24,50.43
$GC,7272,0.64,146.0,2608,2149,2129,2077,145.7,11.9,468,7275,0.00,2.50,0.00,0.000,4356,0.000,0.080,2608,3571,2102,2128,2076,0,0,0,0,0,0,14.71,14.43,14.71,6.23,50.90
$GC,7382,0.64,146.0,2608,3572,2129,2076,134.1,11.4,473,7385,0.00,2.40,0.00,0.000,5126,0.000,0.041,2616,2150,2102,2128,2076,0,0,0,0,0,0,14.52,14.47,14.54,6.23,50.59
$GC,7687,0.64,146.0,2618,2150,2128,2075,96.0,12.4,491,7692,0.00,2.47,0.00,0.000,4612,0.000,0.065,2629,745,2100,2127,2074,0,0,0,0,0,0,14.77,14.48,14.77,6.22,50.19
$GC,7752,0.64,146.0,2629,743,2126,2075,88.0,11.6,504,7756,0.05,2.42,0.00,0.000,5126,0.301,0.052,2609,2151,2099,2126,2073,0,0,0,0,0,0,14.33,14.51,14.48,6.22,50.27
$GC,7878,0.64,146.0,2609,2152,2132,2073,74.0,11.2,529,7881,0.00,2.45,0.00,0.000,4356,0.000,0.082,2609,3554,2099,2126,2073,0,0,0,0,0,0,14.78,14.50,14.78,6.21,49.68
$GC,7932,0.64,146.0,2609,3557,2126,2075,67.6,11.1,540,7936,0.00,2.38,0.00,0.000,5126,0.000,0.041,2618,2150,2099,2125,2074,0,0,0,0,0,0,14.57,14.53,14.59,6.21,49.68
$GC,8057,0.64,146.0,2625,2151,2126,2074,53.8,11.2,565,8061,0.00,2.42,0.00,0.000,4612,0.000,0.066,2629,742,2099,2126,2073,0,0,0,0,0,0,14.78,14.52,14.78,6.21,49.48
$GC,8097,0.64,146.0,2629,743,2126,2074,49.4,10.7,573,8101,0.08,2.42,0.00,0.000,5126,0.333,0.054,2603,2179,2098,2125,2072,0,0,0,0,0,0,14.38,14.53,14.60,6.20,49.72
$GC,8223,0.64,146.0,2603,2180,2126,2072,38.3,8.5,598,8226,0.00,2.40,0.00,0.000,260,0.000,0.083,2602,3553,2098,2125,2072,0,0,0,0,0,0,14.78,14.51,14.78,6.20,48.85
$GC,8287,0.64,146.0,2603,3554,2126,2072,32.3,9.4,611,8292,0.00,2.38,0.00,0.000,5126,0.000,0.041,2612,2146,2098,2125,2072,0,0,0,0,0,0,14.59,14.54,14.60,6.21,49.17
$GC,8413,0.64,146.0,2612,2151,2126,2072,20.6,9.5,636,8416,0.00,2.42,0.00,0.000,4612,0.000,0.065,2623,742,2098,2124,2072,0,0,0,0,0,0,14.79,14.52,14.79,6.21,49.68
$GC,8457,0.64,146.0,2622,742,2125,2073,16.6,9.2,645,8461,0.05,2.42,0.00,0.000,5126,0.301,0.054,2603,2152,2097,2124,2071,0,0,0,0,0,0,14.35,14.52,14.64,6.21,49.76
$GC,8583,0.64,146.0,2603,2153,2125,2070,5.5,8.9,670,8586,0.00,2.45,0.00,0.000,260,0.000,0.082,2603,3553,2097,2124,2071,0,0,0,0,0,0,14.79,14.52,14.79,6.21,50.07
$STATE,8610,end climb,SURFACE_DEPTH_REACHED
$STATE,8610,begin surface coast
$STATE,8630,end surface coast,CONTROL_FINISHED_OK
$STATE,8630,begin surface
$SM_CCo,8645,66.60,0.243,0,0,1822,220.03
$SM_GC,1.20,5.47,2.47,66.60,0.068,0.038,0.243,271,2084,1822,-6.45,0.99,220.03,0,0,0,0,0,0,14.62,14.59,14.32
$IRIDIUM_FIX,-5957.44,0.00,100119,203329
$TT8_MAMPS,0.038199,0.334054
$HUMID,49.60
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3792352
$24V_AH,13.34,51.283
$10V_AH,13.57,0.000
$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,13.000,78.025,258.000,66.600,0.000,31.137,39.685,141.573,0.000,0.000,16.355,0.000,6916.788,418.752,1594.389,135.785,0.000,1032.326,0.000,1111.311,0.000,0.539,0.000
$DEVICE_MAMPS,458.235,2236.095,1557.540,242.505,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5044.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.797,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17331,680
$CAP_FILE_SIZE,89576,0
$CFSIZE,1023623168,994803712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.026,146.45,1
$GPS,110119,013932,-5957.075,-2.492,13,0.8,25,-19.7,0.0,205.4,9,9.0