version: 66.14
glider: 640
mission: 5
dive: 207
start: 1 6 119 7 33 45
data:
$ID,640
$MISSION,5
$DIVE,207
$N_DIVES,300
$STOP_T,1101912
$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,31
$R_STBD_OVSHOOT,35
$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
$GPS1,060119,072819,-6017.3608,-0.0602,16,0.8,39,-19.7,0.3,268.7,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-62.3
$GPS2,060119,073327,-6017.3330,-0.0302,9,0.8,16,-19.7,0.0,259.5,10,9.7
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,28.5,69140,-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,-146.0,235,2109,1796,1823,0.0,0.0,0,100,0.00,0.00,-87.78,0.000,16386,0.000,0.000,234,2108,3194,3273,3115,0,0,0,0,0,0,14.62,28.83,14.62,6.17,50.27
$GC,102,-0.64,-146.0,234,2109,3275,3115,3.4,-6.9,18,119,6.03,2.70,-4.62,0.000,18948,0.360,2.245,2182,694,3316,3409,3224,0,0,0,0,0,0,14.19,13.43,14.47,6.29,49.72
$GC,225,-0.64,-146.0,2182,698,3411,3226,24.5,-16.4,43,229,0.05,2.45,0.00,0.000,3078,0.360,0.057,2189,2099,3317,3410,3225,0,0,0,0,0,0,14.19,14.37,14.36,6.30,48.66
$GC,351,-0.64,-146.0,2189,2099,3411,3225,44.7,-15.5,68,355,0.00,2.47,0.00,0.000,2308,0.000,0.083,2178,3512,3317,3410,3225,0,0,0,0,0,0,14.66,14.40,14.65,6.31,49.05
$GC,440,-0.64,-146.0,2178,3512,3411,3225,58.8,-16.4,86,444,0.00,2.40,0.00,0.000,3078,0.000,0.042,2178,2100,3317,3410,3225,0,0,0,0,0,0,14.49,14.45,14.51,6.31,49.29
$GC,565,-0.64,-146.0,2178,2099,3411,3226,78.5,-16.4,111,569,0.05,2.47,0.00,0.000,2564,0.472,0.064,2190,694,3317,3410,3225,0,0,0,0,0,0,14.29,14.44,14.52,6.27,49.44
$GC,620,-0.64,-146.0,2192,695,3411,3225,87.1,-14.6,122,624,0.00,2.45,0.00,0.000,3078,0.000,0.057,2181,2104,3317,3410,3225,0,0,0,0,0,0,14.51,14.45,14.54,6.30,48.77
$GC,750,-0.64,-146.0,2181,2105,3411,3225,107.0,-15.6,142,754,0.00,2.47,0.00,0.000,2564,0.000,0.063,2181,696,3318,3412,3224,0,0,0,0,0,0,14.73,14.46,14.73,6.30,48.66
$GC,785,-0.64,-146.0,2181,697,3411,3226,110.1,-15.6,143,789,0.05,2.42,0.00,0.000,3078,0.360,0.057,2187,2097,3317,3410,3224,0,0,0,0,0,0,14.28,14.47,14.45,6.30,48.50
$GC,1090,-0.64,-146.0,2188,2098,3411,3225,154.3,-13.4,159,1091,0.00,0.00,0.00,0.000,2054,0.000,0.000,2187,2097,3317,3410,3224,0,0,0,0,0,0,14.78,14.78,14.78,6.30,50.00
$GC,1390,-0.64,-146.0,2188,2098,3411,3225,194.0,-13.3,174,1391,0.00,0.00,0.00,0.000,2054,0.000,0.000,2187,2097,3317,3410,3225,0,0,0,0,0,0,14.81,14.81,14.81,6.31,51.26
$GC,1690,-0.64,-146.0,2187,2098,3411,3226,232.8,-13.0,189,1694,0.00,2.40,0.00,0.000,2564,0.000,0.063,2187,693,3322,3410,3234,0,0,0,0,0,0,14.82,14.57,14.83,6.32,51.29
$GC,1710,-0.64,-146.0,2188,695,3411,3225,235.4,-13.1,190,1714,0.03,2.42,0.00,0.000,3078,0.460,0.056,2185,2105,3317,3410,3225,0,0,0,0,0,0,14.35,14.55,14.52,6.33,51.89
$GC,2030,-0.64,-146.0,2185,2105,3411,3224,276.4,-12.7,206,2031,0.00,0.00,0.00,0.000,2054,0.000,0.000,2185,2105,3317,3410,3225,0,0,0,0,0,0,14.83,14.83,14.83,6.33,51.18
$GC,2330,-0.64,-146.0,2185,2105,3411,3224,314.0,-12.5,221,2331,0.00,0.00,0.00,0.000,2054,0.000,0.000,2193,2105,3317,3410,3225,0,0,0,0,0,0,14.85,14.83,14.85,6.33,51.89
$STATE,2629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2629,begin apogee
$GC,2633,-0.15,0.0,2186,2170,3411,3226,351.4,-12.4,236,2763,0.47,0.00,127.20,1.584,10246,0.268,0.000,2354,2169,2717,2777,2658,0,0,0,0,0,0,14.45,13.93,13.33,6.33,51.49
$STATE,2764,end apogee,CONTROL_FINISHED_OK
$STATE,2764,begin loiter
$GC,3050,-0.15,0.0,2355,2170,2772,2642,346.3,3.6,257,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2169,2706,2771,2642,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.70
$GC,3350,-0.15,0.0,2354,2169,2771,2642,336.0,3.3,272,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2169,2705,2771,2640,0,0,0,0,0,0,14.71,14.72,14.71,6.29,50.86
$GC,3650,-0.15,0.0,2355,2170,2771,2640,326.1,3.3,287,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2169,2705,2771,2639,0,0,0,0,0,0,14.80,14.81,14.81,6.28,51.18
$GC,3950,-0.15,0.0,2355,2170,2772,2638,316.3,3.2,302,3951,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2169,2704,2771,2638,0,0,0,0,0,0,14.85,14.86,14.85,6.28,51.14
$GC,4250,-0.15,0.0,2355,2170,2771,2639,306.4,3.3,317,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2169,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.22
$GC,4550,-0.15,0.0,2355,2170,2770,2638,296.8,3.1,332,4551,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2169,2704,2771,2638,0,0,0,0,0,0,14.93,14.94,14.94,6.28,51.37
$GC,4850,-0.15,0.0,2355,2170,2772,2637,288.2,2.8,347,4851,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2169,2704,2771,2637,0,0,0,0,0,0,14.96,14.96,14.96,6.28,51.18
$GC,5150,-0.15,0.0,2354,2170,2771,2638,280.3,2.5,362,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2169,2704,2771,2637,0,0,0,0,0,0,14.98,14.98,14.98,6.28,51.22
$GC,5450,-0.15,0.0,2355,2170,2772,2638,272.5,2.6,377,5451,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2169,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.18
$GC,5750,-0.15,0.0,2354,2171,2771,2638,264.4,2.8,392,5751,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2169,2704,2771,2637,0,0,0,0,0,0,15.01,15.02,15.02,6.28,51.53
$GC,6050,-0.15,0.0,2355,2170,2772,2636,256.0,3.0,407,6051,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2169,2704,2771,2637,0,0,0,0,0,0,15.02,15.03,15.03,6.28,51.26
$STATE,6349,end loiter,LOITER_COMPLETE
$STATE,6349,begin climb
$GC,6350,0.64,146.0,2355,2170,2771,2638,246.9,0.0,422,6491,0.60,2.62,130.30,1.416,10756,0.171,0.063,2608,739,2116,2140,2092,0,0,0,0,0,0,14.69,14.00,13.47,6.28,51.41
$GC,6560,0.64,146.0,2609,740,2135,2085,231.6,10.1,432,6564,0.00,2.45,0.00,0.000,5126,0.000,0.053,2608,2127,2109,2135,2084,0,0,0,0,0,0,14.19,14.15,14.21,6.23,48.93
$GC,6870,0.64,146.0,2608,2128,2132,2076,191.7,12.8,448,6875,0.00,2.58,0.00,0.000,4356,0.000,0.084,2608,3553,2103,2131,2076,0,0,0,0,0,0,14.61,14.31,14.61,6.24,50.39
$GC,6965,0.64,146.0,2609,3554,2132,2076,181.5,12.7,452,6969,0.00,2.38,0.00,0.000,5126,0.000,0.041,2618,2154,2103,2131,2076,0,0,0,0,0,0,14.46,14.41,14.47,6.24,50.47
$GC,7270,0.64,146.0,2619,2155,2125,2074,139.5,13.0,468,7274,0.00,2.50,0.00,0.000,4612,0.000,0.067,2629,742,2101,2128,2074,0,0,0,0,0,0,14.72,14.42,14.73,6.25,50.90
$GC,7305,0.64,146.0,2630,742,2127,2074,136.9,13.1,469,7310,0.08,2.42,0.00,0.000,5126,0.274,0.055,2584,2146,2100,2126,2074,0,0,0,0,0,0,14.35,14.46,14.55,6.24,50.51
$GC,7610,0.64,146.0,2584,2148,2126,2073,103.2,9.5,485,7614,0.00,2.50,0.00,0.000,2308,0.000,0.083,2584,3552,2099,2126,2072,0,0,0,0,0,0,14.78,14.46,14.78,6.23,50.55
$GC,7695,0.64,146.0,2585,3553,2126,2073,95.5,9.0,496,7699,0.00,2.35,0.00,0.000,3078,0.000,0.041,2599,2153,2098,2124,2072,0,0,0,0,0,0,14.56,14.54,14.61,6.23,50.90
$GC,7820,0.64,146.0,2594,2153,2127,2071,84.9,8.4,521,7825,0.00,2.47,0.00,0.000,2564,0.000,0.067,2604,744,2098,2126,2071,0,0,0,0,0,0,14.79,14.48,14.79,6.22,49.68
$GC,7855,0.64,149.9,2604,745,2126,2073,82.1,8.2,528,7859,0.00,2.42,0.00,0.000,1030,0.000,0.054,2604,2159,2098,2125,2071,0,0,0,0,0,0,14.58,14.53,14.61,6.22,49.84
$GC,7981,0.64,149.9,2603,2159,2125,2072,71.4,8.7,553,7985,0.00,2.45,0.00,0.000,260,0.000,0.085,2604,3557,2098,2126,2071,0,0,0,0,0,0,14.79,14.52,14.79,6.21,49.33
$GC,8025,0.64,149.9,2605,3556,2126,2072,67.4,8.9,562,8029,0.00,2.38,0.00,0.000,5126,0.000,0.043,2614,2146,2098,2125,2071,0,0,0,0,0,0,14.60,14.56,14.62,6.21,49.09
$GC,8150,0.64,149.9,2615,2147,2126,2071,55.7,9.6,587,8154,0.00,2.42,0.00,0.000,4612,0.000,0.066,2626,740,2097,2124,2071,0,0,0,0,0,0,14.81,14.54,14.81,6.21,49.48
$GC,8185,0.64,149.9,2626,740,2125,2070,52.4,9.4,594,8190,0.05,2.42,0.00,0.000,5126,0.300,0.055,2606,2156,2097,2124,2070,0,0,0,0,0,0,14.39,14.54,14.54,6.21,49.33
$GC,8311,0.64,149.9,2607,2156,2125,2071,41.1,9.0,619,8314,0.00,2.45,0.00,0.000,260,0.000,0.083,2606,3559,2096,2123,2070,0,0,0,0,0,0,14.81,14.54,14.81,6.19,48.97
$GC,8385,0.64,149.9,2606,3560,2125,2072,34.1,9.2,634,8389,0.00,2.38,0.00,0.000,5126,0.000,0.041,2615,2144,2097,2124,2070,0,0,0,0,0,0,14.61,14.58,14.64,6.20,49.17
$GC,8510,0.64,149.9,2623,2144,2125,2070,22.3,10.2,659,8514,0.00,2.45,0.00,0.000,4612,0.000,0.067,2626,747,2096,2124,2069,0,0,0,0,0,0,14.81,14.51,14.81,6.20,49.64
$GC,8541,0.64,149.9,2629,748,2124,2071,19.3,10.1,665,8546,0.05,2.38,0.00,0.000,5126,0.389,0.053,2608,2162,2096,2123,2070,0,0,0,0,0,0,14.41,14.57,14.64,6.20,49.92
$GC,8666,0.65,157.5,2609,2162,2125,2070,6.8,8.0,690,8674,0.00,2.42,4.45,0.300,8452,0.000,0.086,2608,3552,2073,2099,2048,0,0,0,0,0,0,14.81,14.54,14.38,6.20,50.23
$GC,8700,0.65,157.5,2609,3554,2100,2048,3.6,10.6,697,8705,0.00,2.38,0.00,0.000,5126,0.000,0.044,2617,2142,2073,2098,2048,0,0,0,0,0,0,14.58,14.54,14.60,6.20,50.59
$STATE,8709,end climb,SURFACE_DEPTH_REACHED
$STATE,8709,begin surface coast
$STATE,8734,end surface coast,CONTROL_FINISHED_OK
$STATE,8734,begin surface
$SM_CCo,8746,60.45,0.245,0,0,1822,220.03
$SM_GC,1.11,5.50,0.05,60.45,0.080,0.217,0.245,278,2079,1822,-6.44,0.96,220.03,0,0,0,0,0,0,14.66,14.58,14.34
$IRIDIUM_FIX,-6014.82,0.00,060119,045058
$TT8_MAMPS,0.03745,0.316827
$HUMID,49.52
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3814880
$24V_AH,13.33,43.561
$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,12.950,73.625,261.950,60.450,0.000,27.280,37.721,117.863,0.000,0.000,17.947,0.000,7027.343,415.783,1557.121,117.256,0.000,1026.842,0.000,1106.703,0.000,0.540,0.000
$DEVICE_MAMPS,472.005,2245.275,1583.550,244.800,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5145.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.748,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,17309,704
$CAP_FILE_SIZE,89947,0
$CFSIZE,1023623168,999129088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.030,251.12,1
$GPS,060119,100131,-6016.785,-0.175,19,0.8,36,-19.7,0.0,269.9,11,7.5