version: 66.14
glider: 640
mission: 5
dive: 243
start: 1 10 119 2 48 28
data:
$ID,640
$MISSION,5
$DIVE,243
$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
$GPS1,100119,024325,-6001.2988,-2.9038,15,0.8,38,-19.7,0.0,4.1,11,5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-68.6
$GPS2,100119,024810,-6001.3120,-2.8671,9,0.7,14,-19.7,0.6,27.8,11,9.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,21.0,39561,-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,-146.0,227,2078,1794,1824,0.0,0.0,0,101,0.00,0.00,-88.20,0.000,16386,0.000,0.000,227,2078,3211,3291,3131,0,0,0,0,0,0,14.62,28.83,14.62,6.17,50.86
$GC,103,-0.64,-146.0,228,2079,3293,3131,3.6,-7.6,18,118,6.05,2.75,-3.78,0.000,19204,0.360,2.252,2171,3505,3315,3408,3223,0,0,0,0,0,0,14.18,13.41,14.45,6.29,49.72
$GC,277,-0.64,-146.0,2171,3505,3412,3225,32.8,-13.8,53,281,0.05,2.35,0.00,0.000,3078,0.346,0.041,2188,2122,3317,3410,3225,0,0,0,0,0,0,14.21,14.42,14.36,6.31,49.17
$GC,403,-0.64,-146.0,2188,2122,3412,3226,51.2,-14.1,78,407,0.00,2.47,0.00,0.000,2564,0.000,0.063,2188,690,3318,3411,3225,0,0,0,0,0,0,14.66,14.41,14.66,6.31,49.33
$GC,447,-0.64,-146.0,2188,691,3412,3226,57.4,-13.5,87,452,0.00,2.45,0.00,0.000,3078,0.000,0.055,2179,2102,3318,3411,3225,0,0,0,0,0,0,14.56,14.42,14.57,6.30,49.60
$GC,572,-0.64,-146.0,2178,2103,3412,3226,76.1,-15.4,112,576,0.05,2.45,0.00,0.000,2308,0.464,0.081,2182,3506,3318,3411,3225,0,0,0,0,0,0,14.28,14.43,14.50,6.30,49.01
$GC,617,-0.64,-146.0,2182,3507,3412,3226,83.0,-15.1,121,621,0.00,2.40,0.00,0.000,3078,0.000,0.043,2182,2094,3318,3411,3225,0,0,0,0,0,0,14.51,14.45,14.53,6.30,48.77
$GC,753,-0.64,-146.0,2183,2096,3414,3225,103.1,-15.0,145,757,0.00,2.42,0.00,0.000,2564,0.000,0.064,2182,696,3318,3412,3225,0,0,0,0,0,0,14.71,14.45,14.71,6.31,48.38
$GC,807,-0.64,-146.0,2181,697,3412,3227,111.0,-14.5,148,811,0.08,2.38,0.00,0.000,3078,0.371,0.056,2195,2103,3318,3411,3225,0,0,0,0,0,0,14.30,14.48,14.52,6.30,48.26
$GC,1127,-0.64,-146.0,2196,2104,3413,3225,154.5,-13.5,164,1131,0.00,2.47,0.00,0.000,516,0.000,0.063,2195,695,3318,3411,3225,0,0,0,0,0,0,14.76,14.49,14.76,6.30,49.44
$GC,1157,-0.64,-146.0,2189,695,3411,3226,157.3,-13.6,165,1161,0.00,2.42,0.00,0.000,3078,0.000,0.056,2186,2100,3318,3412,3225,0,0,0,0,0,0,14.56,14.50,14.57,6.30,49.80
$GC,1467,-0.64,-146.0,2186,2101,3412,3226,199.0,-13.0,181,1471,0.00,2.47,0.00,0.000,2308,0.000,0.082,2175,3512,3318,3411,3225,0,0,0,0,0,0,14.79,14.51,14.79,6.31,50.39
$GC,1512,-0.64,-146.0,2176,3512,3412,3225,204.4,-13.3,183,1517,0.05,2.38,0.00,0.000,3078,0.354,0.043,2192,2099,3317,3410,3225,0,0,0,0,0,0,14.31,14.54,14.48,6.31,50.51
$GC,1827,-0.64,-146.0,2193,2099,3413,3225,244.8,-12.4,199,1831,0.00,2.45,0.00,0.000,2564,0.000,0.064,2192,698,3318,3411,3225,0,0,0,0,0,0,14.81,14.52,14.81,6.32,51.02
$GC,1892,-0.64,-146.0,2192,698,3412,3226,252.2,-12.4,202,1896,0.00,2.38,0.00,0.000,3078,0.000,0.055,2182,2108,3318,3411,3225,0,0,0,0,0,0,14.67,14.55,14.68,6.32,50.94
$GC,2207,-0.64,-146.0,2183,2109,3412,3221,291.6,-12.4,218,2211,0.00,2.45,0.00,0.000,2308,0.000,0.081,2171,3527,3318,3411,3225,0,0,0,0,0,0,14.82,14.53,14.83,6.33,51.45
$GC,2227,-0.64,-146.0,2172,3528,3411,3227,294.1,-12.5,219,2231,0.05,2.40,0.00,0.000,3078,0.347,0.043,2189,2097,3318,3411,3225,0,0,0,0,0,0,14.33,14.57,14.50,6.33,51.29
$GC,2547,-0.64,-146.0,2189,2096,3412,3226,333.1,-12.2,235,2551,0.00,2.42,0.00,0.000,2564,0.000,0.063,2189,677,3318,3411,3225,0,0,0,0,0,0,14.83,14.57,14.83,6.36,51.10
$GC,2612,-0.64,-146.0,2189,677,3412,3226,340.5,-12.4,238,2616,0.00,2.45,0.00,0.000,3078,0.000,0.054,2179,2103,3324,3423,3225,0,0,0,0,0,0,14.61,14.54,14.64,6.34,51.14
$STATE,2685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2685,begin apogee
$GC,2690,-0.15,0.0,2180,2167,3413,3225,350.2,-12.1,242,2820,0.47,0.00,127.90,1.558,10246,0.265,0.000,2347,2166,2716,2776,2657,0,0,0,0,0,0,14.39,13.95,13.33,6.33,51.33
$STATE,2821,end apogee,CONTROL_FINISHED_OK
$STATE,2821,begin loiter
$GC,3107,-0.15,0.0,2348,2167,2772,2644,347.2,3.0,263,3108,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2706,2771,2642,0,0,0,0,0,0,14.56,14.57,14.57,6.29,50.66
$GC,3407,-0.15,0.0,2347,2167,2772,2641,338.8,2.7,278,3408,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2706,2772,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.30,50.74
$GC,3707,-0.15,0.0,2348,2167,2773,2639,330.8,2.6,293,3708,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2705,2771,2639,0,0,0,0,0,0,14.79,14.80,14.79,6.29,51.33
$GC,4007,-0.15,0.0,2347,2167,2772,2640,323.1,2.5,308,4008,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2705,2771,2639,0,0,0,0,0,0,14.85,14.85,14.85,6.29,51.65
$GC,4307,-0.15,0.0,2348,2167,2772,2639,314.9,2.8,323,4308,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2705,2771,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.26
$GC,4607,-0.15,0.0,2347,2167,2773,2640,306.2,2.9,338,4608,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2705,2771,2639,0,0,0,0,0,0,14.92,14.93,14.93,6.28,51.14
$GC,4907,-0.15,0.0,2348,2167,2772,2639,297.3,2.9,353,4908,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2705,2772,2639,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.22
$GC,5207,-0.15,0.0,2348,2166,2773,2639,288.5,3.0,368,5208,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2705,2771,2639,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.18
$GC,5507,-0.15,0.0,2348,2167,2772,2641,279.9,2.8,383,5508,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2705,2771,2639,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.49
$GC,5807,-0.15,0.0,2348,2167,2772,2641,271.4,2.9,398,5808,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2705,2771,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.73
$GC,6107,-0.15,0.0,2348,2167,2773,2640,263.1,2.7,413,6108,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2705,2771,2640,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.69
$STATE,6405,end loiter,LOITER_COMPLETE
$STATE,6405,begin climb
$GC,6407,0.64,146.0,2347,2167,2772,2641,254.7,0.0,428,6548,0.62,2.60,131.35,1.424,11012,0.182,0.066,2606,747,2117,2142,2093,0,0,0,0,0,0,14.64,14.00,13.45,6.28,51.18
$GC,6657,0.64,146.0,2607,752,2135,2085,236.3,10.1,440,6661,0.00,2.45,0.00,0.000,5126,0.000,0.053,2607,2137,2108,2133,2084,0,0,0,0,0,0,14.25,14.19,14.27,6.24,49.01
$GC,6967,0.64,146.0,2606,2138,2131,2078,198.3,12.0,456,6972,0.00,2.53,0.00,0.000,4356,0.000,0.082,2607,3564,2103,2130,2077,0,0,0,0,0,0,14.62,14.35,14.62,6.24,50.23
$GC,7078,0.64,146.0,2607,3565,2131,2078,186.5,11.6,461,7081,0.00,2.40,0.00,0.000,5126,0.000,0.042,2617,2155,2103,2130,2077,0,0,0,0,0,0,14.45,14.40,14.47,6.23,51.06
$GC,7387,0.64,146.0,2617,2155,2129,2074,146.7,12.5,477,7391,0.00,2.50,0.00,0.000,4612,0.000,0.067,2629,744,2106,2127,2085,0,0,0,0,0,0,14.73,14.44,14.73,6.23,51.18
$GC,7437,0.64,146.0,2629,744,2127,2074,142.0,12.1,479,7441,0.05,2.42,0.00,0.000,5126,0.308,0.054,2609,2151,2099,2125,2074,0,0,0,0,0,0,14.31,14.46,14.45,6.24,50.66
$GC,7747,0.64,146.0,2609,2153,2126,2073,105.6,11.4,495,7751,0.00,2.50,0.00,0.000,4356,0.000,0.083,2609,3583,2099,2126,2073,0,0,0,0,0,0,14.78,14.50,14.78,6.22,50.15
$GC,7782,0.64,146.0,2609,3584,2126,2074,103.1,11.6,496,7786,0.00,2.42,0.00,0.000,5126,0.000,0.043,2618,2151,2099,2126,2073,0,0,0,0,0,0,14.58,14.54,14.59,6.22,49.80
$GC,8087,0.64,146.0,2619,2151,2126,2073,65.7,11.2,554,8091,0.00,2.47,0.00,0.000,4612,0.000,0.066,2628,748,2099,2126,2072,0,0,0,0,0,0,14.80,14.50,14.81,6.21,49.37
$GC,8153,0.64,146.0,2630,749,2126,2071,58.8,10.4,567,8158,0.08,2.42,0.00,0.000,5126,0.331,0.054,2603,2181,2098,2125,2072,0,0,0,0,0,0,14.40,14.54,14.62,6.20,49.56
$GC,8277,0.64,146.0,2603,2181,2124,2071,46.5,9.8,592,8281,0.00,2.45,0.00,0.000,260,0.000,0.084,2603,3555,2098,2125,2072,0,0,0,0,0,0,14.80,14.49,14.81,6.17,49.56
$GC,8343,0.64,146.0,2603,3556,2126,2071,40.6,8.6,605,8346,0.00,2.38,0.00,0.000,5126,0.000,0.042,2612,2148,2097,2124,2071,0,0,0,0,0,0,14.60,14.55,14.62,6.20,49.13
$GC,8469,0.64,146.0,2611,2148,2125,2073,29.6,9.1,630,8472,0.00,2.42,0.00,0.000,4612,0.000,0.067,2622,744,2098,2125,2071,0,0,0,0,0,0,14.80,14.54,14.81,6.20,49.56
$GC,8537,0.64,146.0,2622,745,2125,2072,23.3,8.5,644,8542,0.05,2.42,0.00,0.000,5126,0.301,0.054,2603,2154,2097,2124,2070,0,0,0,0,0,0,14.35,14.53,14.52,6.20,49.44
$GC,8663,0.64,146.0,2603,2155,2125,2072,12.6,8.5,669,8667,0.00,2.45,0.00,0.000,260,0.000,0.085,2603,3557,2096,2123,2070,0,0,0,0,0,0,14.80,14.52,14.81,6.20,49.92
$GC,8702,0.64,146.0,2604,3557,2125,2070,8.8,9.4,677,8706,0.00,2.38,0.00,0.000,5126,0.000,0.044,2612,2148,2097,2123,2071,0,0,0,0,0,0,14.59,14.54,14.62,6.20,50.39
$STATE,8766,end climb,SURFACE_DEPTH_REACHED
$STATE,8766,begin surface coast
$STATE,8796,end surface coast,CONTROL_FINISHED_OK
$STATE,8796,begin surface
$SM_CCo,8810,66.35,0.245,0,0,1821,220.03
$SM_GC,1.28,5.47,0.05,66.35,0.068,0.213,0.245,274,2064,1821,-6.45,1.10,220.03,0,0,0,0,0,0,14.66,14.58,14.33
$IRIDIUM_FIX,-6005.20,-4.31,100119,001355
$TT8_MAMPS,0.038199,0.350532
$HUMID,50.03
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3796448
$24V_AH,13.33,49.880
$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,13.075,83.325,259.250,66.350,0.000,26.425,12.901,117.504,0.000,0.000,15.170,0.000,7004.171,422.751,1602.511,134.904,0.000,1065.608,0.000,1174.339,0.000,0.539,0.000
$DEVICE_MAMPS,464.355,2252.160,1557.540,244.800,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5209.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.688,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,17349,696
$CAP_FILE_SIZE,93274,0
$CFSIZE,1023623168,995590144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.006,335.04,1
$GPS,100119,051729,-6000.776,-2.750,37,0.9,41,-19.7,0.9,96.2,9,8.4