version: 66.14
glider: 640
mission: 5
dive: 217
start: 1 7 119 8 57 17
data:
$ID,640
$MISSION,5
$DIVE,217
$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,42
$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
$GPS1,070119,085157,-6013.1118,-1.4252,40,0.7,43,-19.7,0.0,56.9,12,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-64.9
$GPS2,070119,085659,-6013.0884,-1.3764,8,0.7,11,-19.7,0.0,32.1,12,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,25.5,61293,-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,-146.0,230,2086,1798,1825,0.0,0.0,0,102,0.00,0.00,-89.60,0.000,16386,0.000,0.000,229,2086,3253,3335,3171,0,0,0,0,0,0,14.60,28.83,14.61,6.17,50.43
$GC,104,-0.64,-146.0,230,2086,3336,3171,3.5,-7.7,18,117,6.03,2.62,-2.30,0.000,18948,0.357,2.241,2189,705,3316,3406,3227,0,0,0,0,0,0,14.17,13.38,14.45,6.29,49.25
$GC,126,-0.64,-146.0,2189,705,3409,3226,9.2,-22.7,23,130,0.00,2.42,0.00,0.000,3078,0.000,0.056,2179,2094,3317,3408,3227,0,0,0,0,0,0,14.41,14.35,14.42,6.31,49.01
$GC,251,-0.64,-146.0,2180,2095,3411,3227,31.5,-17.7,48,254,0.03,0.00,0.00,0.000,2054,0.626,0.000,2185,2094,3318,3410,3227,0,0,0,0,0,0,14.33,14.46,14.42,6.30,48.89
$GC,376,-0.64,-146.0,2187,2095,3411,3227,51.9,-15.8,73,381,0.00,2.53,0.00,0.000,2308,0.000,0.083,2175,3509,3318,3409,3227,0,0,0,0,0,0,14.67,14.38,14.67,6.30,49.25
$GC,481,-0.64,-146.0,2176,3510,3409,3227,68.1,-14.1,94,485,0.05,2.38,0.00,0.000,3078,0.356,0.041,2192,2104,3318,3410,3227,0,0,0,0,0,0,14.24,14.46,14.41,6.30,49.72
$GC,607,-0.64,-146.0,2193,2102,3411,3228,85.7,-14.1,119,611,0.00,2.42,0.00,0.000,2564,0.000,0.066,2193,697,3318,3409,3227,0,0,0,0,0,0,14.70,14.47,14.70,6.30,48.81
$GC,646,-0.64,-146.0,2193,698,3411,3227,91.5,-14.4,127,650,0.00,2.42,0.00,0.000,3078,0.000,0.057,2182,2098,3318,3410,3227,0,0,0,0,0,0,14.52,14.46,14.54,6.30,49.09
$GC,786,-0.64,-146.0,2183,2099,3410,3228,112.2,-15.1,143,790,0.00,2.45,0.00,0.000,2564,0.000,0.063,2182,703,3318,3410,3227,0,0,0,0,0,0,14.73,14.46,14.73,6.30,48.62
$GC,811,-0.64,-146.0,2183,702,3410,3228,115.3,-15.2,144,815,0.05,2.42,0.00,0.000,3078,0.361,0.057,2189,2105,3318,3410,3227,0,0,0,0,0,0,14.28,14.47,14.45,6.30,48.70
$GC,1126,-0.64,-146.0,2189,2105,3410,3228,161.3,-14.3,160,1127,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2105,3318,3410,3227,0,0,0,0,0,0,14.78,14.78,14.78,6.30,50.07
$GC,1426,-0.64,-146.0,2189,2105,3411,3227,203.3,-14.0,175,1431,0.00,2.45,0.00,0.000,2564,0.000,0.063,2189,698,3318,3409,3228,0,0,0,0,0,0,14.81,14.53,14.81,6.32,51.26
$GC,1491,-0.64,-146.0,2189,699,3411,3227,211.6,-13.8,178,1495,0.03,2.42,0.00,0.000,3078,0.463,0.056,2187,2105,3318,3410,3227,0,0,0,0,0,0,14.33,14.54,14.49,6.32,50.70
$GC,1806,-0.64,-146.0,2187,2105,3411,3227,254.1,-13.1,194,1810,0.00,2.47,0.00,0.000,2308,0.000,0.082,2176,3509,3318,3409,3227,0,0,0,0,0,0,14.82,14.53,14.82,6.32,51.29
$GC,1841,-0.64,-146.0,2178,3508,3410,3227,256.7,-13.1,195,1845,0.05,2.35,0.00,0.000,3078,0.357,0.041,2193,2099,3318,3410,3226,0,0,0,0,0,0,14.35,14.58,14.52,6.33,51.14
$GC,2146,-0.64,-146.0,2194,2098,3411,3227,296.6,-12.4,211,2150,0.00,2.42,0.00,0.000,2564,0.000,0.063,2193,703,3318,3410,3227,0,0,0,0,0,0,14.83,14.55,14.83,6.33,51.18
$GC,2201,-0.64,-146.0,2194,704,3409,3229,301.6,-12.6,213,2205,0.00,2.40,0.00,0.000,3078,0.000,0.056,2182,2102,3318,3409,3227,0,0,0,0,0,0,14.62,14.57,14.64,6.33,51.10
$GC,2506,-0.64,-146.0,2183,2102,3410,3227,342.2,-12.7,229,2507,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2102,3318,3409,3227,0,0,0,0,0,0,14.85,14.85,14.84,6.34,51.37
$STATE,2585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2585,begin apogee
$GC,2589,-0.15,0.0,2183,2169,3404,3229,352.3,-12.6,233,2720,0.47,0.00,127.78,1.561,10246,0.269,0.000,2351,2168,2716,2775,2657,0,0,0,0,0,0,14.42,13.95,13.33,6.34,51.18
$STATE,2721,end apogee,CONTROL_FINISHED_OK
$STATE,2721,begin loiter
$GC,3006,-0.15,0.0,2352,2169,2772,2642,347.9,3.5,254,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2707,2771,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.59
$GC,3306,-0.15,0.0,2351,2169,2772,2641,337.8,3.3,269,3307,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2705,2771,2640,0,0,0,0,0,0,14.71,14.72,14.71,6.29,50.82
$GC,3606,-0.15,0.0,2352,2170,2772,2640,328.1,3.1,284,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2705,2771,2639,0,0,0,0,0,0,14.80,14.80,14.80,6.29,51.81
$GC,3906,-0.15,0.0,2352,2169,2772,2639,318.5,3.1,299,3907,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2704,2771,2638,0,0,0,0,0,0,14.85,14.86,14.86,6.29,51.10
$GC,4206,-0.15,0.0,2352,2169,2772,2638,308.9,3.3,314,4207,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2704,2770,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.37
$GC,4506,-0.15,0.0,2351,2169,2772,2639,298.9,3.4,329,4507,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2704,2771,2637,0,0,0,0,0,0,14.93,14.94,14.94,6.28,51.26
$GC,4806,-0.15,0.0,2352,2169,2772,2637,288.8,3.4,344,4807,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2704,2771,2637,0,0,0,0,0,0,14.96,14.97,14.97,6.28,51.14
$GC,5106,-0.15,0.0,2351,2169,2772,2638,278.7,3.3,359,5107,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2704,2770,2638,0,0,0,0,0,0,14.98,14.99,14.99,6.29,51.29
$GC,5406,-0.15,0.0,2352,2169,2772,2637,269.1,3.1,374,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.06
$GC,5706,-0.15,0.0,2352,2169,2771,2637,260.2,2.8,389,5707,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2167,2704,2771,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.65
$GC,6006,-0.15,0.0,2352,2169,2772,2636,251.7,2.8,404,6007,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2704,2771,2637,0,0,0,0,0,0,15.02,15.03,15.03,6.29,52.00
$STATE,6305,end loiter,LOITER_COMPLETE
$STATE,6305,begin climb
$GC,6306,0.64,146.0,2352,2169,2772,2636,242.4,0.0,419,6447,0.60,2.55,130.68,1.418,10500,0.173,0.083,2593,3544,2117,2143,2092,0,0,0,0,0,0,14.67,14.00,13.47,6.28,51.41
$GC,6466,0.64,146.0,2593,3545,2143,2090,231.8,8.4,427,6470,0.00,2.40,0.00,0.000,1030,0.000,0.041,2604,2158,2115,2142,2088,0,0,0,0,0,0,14.12,14.07,14.13,6.24,49.25
$GC,6786,0.64,146.0,2605,2158,2135,2077,193.6,12.0,443,6791,0.00,2.53,0.00,0.000,516,0.000,0.067,2615,747,2105,2133,2077,0,0,0,0,0,0,14.59,14.31,14.59,6.24,50.98
$GC,6821,0.64,146.0,2616,748,2131,2078,191.3,11.9,444,6825,0.00,2.40,0.00,0.000,5126,0.000,0.053,2615,2128,2104,2131,2077,0,0,0,0,0,0,14.42,14.35,14.44,6.24,50.90
$GC,7126,0.64,146.0,2616,2129,2130,2077,152.3,12.5,460,7130,0.00,2.55,0.00,0.000,4356,0.000,0.083,2616,3553,2102,2129,2075,0,0,0,0,0,0,14.70,14.39,14.71,6.24,50.78
$GC,7221,0.64,146.0,2616,3555,2131,2076,142.0,12.8,464,7225,0.05,2.38,0.00,0.000,5126,0.338,0.043,2608,2154,2102,2129,2075,0,0,0,0,0,0,14.28,14.47,14.45,6.24,50.82
$GC,7526,0.64,146.0,2608,2153,2129,2073,105.9,10.2,480,7530,0.00,2.50,0.00,0.000,4612,0.000,0.067,2618,709,2100,2127,2073,0,0,0,0,0,0,14.77,14.48,14.77,6.23,50.27
$GC,7556,0.64,146.0,2618,711,2128,2073,104.0,10.0,481,7561,0.00,2.47,0.00,0.000,5126,0.000,0.054,2618,2153,2099,2126,2073,0,0,0,0,0,0,14.62,14.48,14.63,6.23,50.23
$GC,7861,0.64,146.0,2614,2153,2127,2072,71.8,10.3,535,7865,0.00,2.45,0.00,0.000,4356,0.000,0.083,2618,3554,2099,2126,2072,0,0,0,0,0,0,14.79,14.52,14.80,6.21,49.96
$GC,7916,0.64,146.0,2618,3554,2126,2074,65.6,10.7,546,7920,0.05,2.38,0.00,0.000,5126,0.326,0.043,2609,2146,2099,2126,2073,0,0,0,0,0,0,14.34,14.53,14.50,6.21,49.29
$GC,8042,0.64,146.0,2609,2147,2127,2073,54.0,9.0,571,8046,0.00,2.42,0.00,0.000,4612,0.000,0.067,2618,738,2099,2126,2072,0,0,0,0,0,0,14.80,14.54,14.80,6.20,49.33
$GC,8071,0.64,146.0,2619,738,2126,2072,51.2,9.2,577,8075,0.00,2.42,0.00,0.000,5126,0.000,0.053,2618,2158,2098,2125,2072,0,0,0,0,0,0,14.59,14.54,14.62,6.20,49.33
$GC,8197,0.64,146.0,2619,2158,2126,2071,38.3,10.3,602,8201,0.00,2.42,0.00,0.000,4356,0.000,0.085,2618,3548,2098,2125,2071,0,0,0,0,0,0,14.81,14.53,14.81,6.18,49.13
$GC,8266,0.64,146.0,2619,3548,2129,2072,31.0,10.0,616,8271,0.05,2.35,0.00,0.000,5126,0.323,0.043,2610,2152,2098,2125,2071,0,0,0,0,0,0,14.35,14.54,14.50,6.19,49.92
$GC,8392,0.64,146.0,2610,2152,2118,2071,19.9,9.2,641,8396,0.00,2.42,0.00,0.000,4612,0.000,0.067,2619,744,2098,2125,2071,0,0,0,0,0,0,14.81,14.55,14.81,6.20,50.31
$GC,8446,0.64,146.0,2619,745,2124,2072,14.8,8.7,652,8451,0.03,2.40,0.00,0.000,5126,0.401,0.054,2608,2145,2097,2124,2070,0,0,0,0,0,0,14.34,14.52,14.50,6.20,50.00
$GC,8572,0.64,146.0,2609,2146,2125,2070,4.3,8.9,677,8576,0.00,2.47,0.00,0.000,4356,0.000,0.085,2608,3565,2097,2124,2070,0,0,0,0,0,0,14.81,14.54,14.81,6.20,50.00
$STATE,8585,end climb,SURFACE_DEPTH_REACHED
$STATE,8585,begin surface coast
$STATE,8615,end surface coast,CONTROL_FINISHED_OK
$STATE,8615,begin surface
$SM_CCo,8629,66.35,0.243,0,0,1823,220.03
$SM_GC,1.28,5.53,2.50,66.35,0.085,0.047,0.243,270,2096,1823,-6.46,1.07,220.03,0,0,0,0,0,0,14.66,14.59,14.34
$IRIDIUM_FIX,-6012.94,-8.66,070119,062124
$TT8_MAMPS,0.038199,0.333305
$HUMID,49.52
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3809760
$24V_AH,13.33,45.311
$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,13.000,78.300,258.450,66.350,0.000,24.588,39.132,117.791,0.000,0.000,13.171,0.000,6910.270,422.964,1546.603,121.660,0.000,1031.961,0.000,1102.591,0.000,0.539,0.000
$DEVICE_MAMPS,625.770,2241.450,1560.600,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5027.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.733,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17338,686
$CAP_FILE_SIZE,90547,0
$CFSIZE,1023623168,998146048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.025,138.37,1
$GPS,070119,112302,-6012.623,-1.128,14,0.9,26,-19.7,0.5,89.7,10,9.6