version: 66.14
glider: 640
mission: 5
dive: 206
start: 1 6 119 4 54 42
data:
$ID,640
$MISSION,5
$DIVE,206
$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,53
$R_STBD_OVSHOOT,31
$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
$GPS1,060119,044901,-6017.6001,0.2170,22,0.9,45,-19.7,1.2,49.8,10,7.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-65.4
$GPS2,060119,045424,-6017.5835,0.2819,12,0.8,18,-19.7,0.0,218.8,11,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,26.7,69605,-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,-146.0,234,2077,1792,1825,0.0,0.0,0,97,0.00,0.00,-84.97,0.000,16386,0.000,0.000,232,2077,3153,3234,3072,0,0,0,0,0,0,14.60,28.83,14.59,6.18,50.23
$GC,99,-0.64,-146.0,234,2078,3231,3074,3.0,-5.7,17,117,6.00,2.60,-6.40,0.000,19204,0.358,2.245,2187,712,3317,3412,3222,0,0,0,0,0,0,14.20,13.27,14.45,6.29,49.37
$GC,231,-0.64,-146.0,2188,713,3413,3224,24.2,-16.1,44,236,0.00,2.42,0.00,0.000,3078,0.000,0.056,2178,2101,3318,3413,3224,0,0,0,0,0,0,14.43,14.38,14.45,6.31,48.14
$GC,356,-0.64,-146.0,2178,2103,3414,3224,46.9,-19.0,69,359,0.05,0.00,0.00,0.000,2054,0.465,0.000,2190,2100,3318,3412,3224,0,0,0,0,0,0,14.24,14.48,14.45,6.31,49.33
$GC,481,-0.64,-146.0,2190,2101,3413,3225,67.6,-15.3,94,485,0.00,2.42,0.00,0.000,2564,0.000,0.062,2190,718,3318,3412,3224,0,0,0,0,0,0,14.69,14.42,14.73,6.31,49.92
$GC,531,-0.64,-146.0,2190,719,3413,3225,75.4,-15.4,104,536,0.00,2.40,0.00,0.000,3078,0.000,0.057,2180,2101,3318,3412,3224,0,0,0,0,0,0,14.50,14.43,14.52,6.30,48.77
$GC,656,-0.64,-146.0,2180,2101,3413,3225,95.1,-15.6,129,659,0.00,0.00,0.00,0.000,2054,0.000,0.000,2180,2100,3318,3413,3224,0,0,0,0,0,0,14.71,14.71,14.71,6.30,48.46
$GC,791,-0.64,-146.0,2181,2101,3412,3224,115.4,-14.9,141,792,0.00,0.00,0.00,0.000,2054,0.000,0.000,2180,2101,3314,3405,3224,0,0,0,0,0,0,14.73,14.74,14.73,6.30,48.34
$GC,1091,-0.64,-146.0,2180,2101,3413,3224,150.0,-7.7,156,1096,0.00,2.47,0.00,0.000,2308,0.000,0.081,2169,3514,3318,3412,3224,0,0,0,0,0,0,14.78,14.52,14.78,6.31,50.51
$GC,1216,-0.64,-146.0,2170,3514,3414,3221,160.3,-8.7,162,1220,0.05,2.35,0.00,0.000,3078,0.342,0.039,2189,2101,3318,3412,3224,0,0,0,0,0,0,14.34,14.54,14.50,6.31,49.96
$GC,1531,-0.64,-146.0,2188,2101,3413,3226,188.7,-9.3,178,1535,0.00,2.50,0.00,0.000,260,0.000,0.083,2177,3506,3318,3412,3224,0,0,0,0,0,0,14.81,14.52,14.81,6.32,50.66
$GC,1561,-0.64,-146.0,2177,3507,3413,3225,190.6,-9.4,179,1565,0.03,2.35,0.00,0.000,3078,0.431,0.041,2186,2097,3322,3420,3224,0,0,0,0,0,0,14.35,14.57,14.50,6.30,50.59
$GC,1871,-0.64,-146.0,2186,2096,3412,3225,223.4,-10.5,195,1875,0.00,2.45,0.00,0.000,2308,0.000,0.083,2175,3506,3318,3412,3224,0,0,0,0,0,0,14.83,14.56,14.82,6.32,51.81
$GC,1961,-0.64,-146.0,2176,3507,3413,3224,231.9,-10.6,199,1966,0.05,2.35,0.00,0.000,3078,0.348,0.040,2193,2093,3323,3413,3234,0,0,0,0,0,0,14.38,14.59,14.53,6.32,51.02
$GC,2271,-0.64,-146.0,2192,2094,3413,3225,265.1,-10.6,215,2275,0.00,2.50,0.00,0.000,2308,0.000,0.083,2182,3504,3318,3413,3224,0,0,0,0,0,0,14.83,14.55,14.84,6.33,51.89
$GC,2346,-0.64,-146.0,2182,3505,3413,3225,271.4,-10.4,218,2351,0.00,2.33,0.00,0.000,3078,0.000,0.040,2181,2114,3318,3412,3224,0,0,0,0,0,0,14.64,14.60,14.65,6.33,51.18
$GC,2651,-0.64,-146.0,2182,2112,3414,3224,305.3,-10.7,234,2656,0.00,2.47,0.00,0.000,2308,0.000,0.083,2171,3511,3318,3412,3224,0,0,0,0,0,0,14.84,14.55,14.85,6.33,51.65
$GC,2726,-0.64,-146.0,2171,3511,3413,3225,311.7,-10.7,237,2730,0.05,2.35,0.00,0.000,3078,0.338,0.040,2189,2097,3318,3412,3224,0,0,0,0,0,0,14.39,14.60,14.55,6.33,51.02
$GC,3031,-0.64,-146.0,2189,2096,3413,3220,345.4,-10.6,253,3035,0.00,2.50,0.00,0.000,2308,0.000,0.082,2178,3510,3318,3413,3224,0,0,0,0,0,0,14.85,14.56,14.85,6.33,51.10
$STATE,3090,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3090,begin apogee
$GC,3095,-0.15,0.0,2179,2149,3413,3225,351.7,-10.5,256,3226,0.47,0.00,127.47,1.576,10246,0.262,0.000,2349,2146,2716,2775,2657,0,0,0,0,0,0,14.42,13.95,13.33,6.33,51.22
$STATE,3227,end apogee,CONTROL_FINISHED_OK
$STATE,3227,begin loiter
$GC,3511,-0.15,0.0,2350,2147,2773,2643,345.8,3.6,277,3512,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2147,2706,2771,2642,0,0,0,0,0,0,14.57,14.57,14.57,6.28,50.47
$GC,3811,-0.15,0.0,2349,2147,2771,2640,335.1,3.5,292,3812,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2147,2705,2770,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.29,50.86
$GC,4111,-0.15,0.0,2349,2147,2771,2640,325.0,3.3,307,4112,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2146,2704,2770,2638,0,0,0,0,0,0,14.81,14.81,14.81,6.29,50.90
$GC,4411,-0.15,0.0,2349,2147,2771,2639,315.5,3.1,322,4412,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2147,2704,2771,2638,0,0,0,0,0,0,14.86,14.86,14.85,6.29,50.90
$GC,4711,-0.15,0.0,2349,2147,2771,2637,306.0,3.2,337,4712,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2147,2703,2770,2637,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.26
$GC,5011,-0.15,0.0,2349,2147,2771,2638,296.7,3.0,352,5012,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2146,2703,2770,2637,0,0,0,0,0,0,14.94,14.94,14.94,6.29,51.41
$GC,5311,-0.15,0.0,2350,2147,2772,2636,287.6,3.0,367,5312,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2146,2703,2770,2637,0,0,0,0,0,0,14.96,14.96,14.96,6.29,51.10
$GC,5611,-0.15,0.0,2350,2147,2772,2637,278.6,3.0,382,5612,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2147,2703,2770,2637,0,0,0,0,0,0,14.98,14.99,14.98,6.28,51.57
$GC,5911,-0.15,0.0,2350,2146,2771,2637,268.9,3.4,397,5912,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2147,2703,2770,2636,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.02
$GC,6211,-0.15,0.0,2349,2147,2771,2637,259.0,3.2,412,6212,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2147,2703,2770,2636,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.45
$GC,6511,-0.15,0.0,2350,2147,2772,2636,249.7,3.0,427,6512,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2147,2703,2770,2637,0,0,0,0,0,0,15.03,15.03,15.03,6.28,51.29
$STATE,6810,end loiter,LOITER_COMPLETE
$STATE,6810,begin climb
$GC,6811,0.64,146.0,2349,2147,2772,2636,241.2,0.0,442,6951,0.62,2.53,130.18,1.414,11012,0.169,0.063,2612,757,2116,2141,2092,0,0,0,0,0,0,14.69,13.91,13.46,6.28,51.18
$GC,7046,0.64,146.0,2613,757,2136,2084,224.3,10.2,453,7051,0.00,2.45,0.00,0.000,5126,0.000,0.053,2612,2147,2108,2133,2084,0,0,0,0,0,0,14.25,14.19,14.27,6.24,49.56
$GC,7351,0.64,146.0,2612,2148,2129,2077,185.7,12.5,469,7356,0.00,2.50,0.00,0.000,4356,0.000,0.083,2613,3559,2104,2131,2077,0,0,0,0,0,0,14.62,14.33,14.65,6.23,50.43
$GC,7456,0.64,146.0,2613,3560,2131,2078,173.3,12.2,474,7460,0.05,2.38,0.00,0.000,5126,0.333,0.042,2605,2160,2103,2131,2076,0,0,0,0,0,0,14.23,14.42,14.39,6.23,51.14
$GC,7771,0.64,146.0,2605,2160,2129,2074,135.4,11.6,490,7775,0.00,2.50,0.00,0.000,516,0.000,0.065,2614,745,2101,2128,2074,0,0,0,0,0,0,14.73,14.43,14.73,6.24,50.43
$GC,7791,0.64,146.0,2615,746,2127,2074,133.2,11.5,491,7795,0.00,2.40,0.00,0.000,5126,0.000,0.054,2615,2141,2100,2126,2074,0,0,0,0,0,0,14.51,14.45,14.52,6.23,50.55
$GC,8096,0.64,146.0,2615,2142,2127,2073,98.6,11.0,507,8100,0.00,2.50,0.00,0.000,4356,0.000,0.084,2615,3549,2099,2126,2072,0,0,0,0,0,0,14.78,14.48,14.78,6.23,50.63
$GC,8176,0.64,146.0,2615,3552,2127,2074,89.4,11.2,523,8180,0.05,2.35,0.00,0.000,5126,0.323,0.041,2606,2149,2099,2126,2073,0,0,0,0,0,0,14.35,14.54,14.51,6.22,49.52
$GC,8302,0.64,146.0,2607,2150,2127,2072,76.4,10.4,548,8305,0.00,2.45,0.00,0.000,516,0.000,0.067,2617,737,2099,2126,2072,0,0,0,0,0,0,14.78,14.54,14.78,6.22,49.48
$GC,8336,0.64,146.0,2617,736,2126,2072,73.0,9.9,555,8340,0.00,2.42,0.00,0.000,5126,0.000,0.054,2617,2149,2098,2125,2071,0,0,0,0,0,0,14.59,14.54,14.62,6.22,50.27
$GC,8462,0.64,146.0,2617,2149,2126,2071,60.2,10.5,580,8466,0.00,2.45,0.00,0.000,4356,0.000,0.085,2617,3554,2098,2125,2071,0,0,0,0,0,0,14.83,14.52,14.79,6.21,49.13
$GC,8511,0.64,146.0,2617,3554,2126,2071,54.8,10.0,590,8515,0.05,2.35,0.00,0.000,5126,0.327,0.042,2608,2154,2098,2125,2072,0,0,0,0,0,0,14.34,14.53,14.50,6.21,48.70
$GC,8637,0.64,146.0,2609,2150,2126,2071,43.6,8.8,615,8641,0.00,2.42,0.00,0.000,4612,0.000,0.066,2618,740,2098,2125,2071,0,0,0,0,0,0,14.80,14.54,14.80,6.20,48.97
$GC,8671,0.64,146.0,2618,740,2125,2072,40.4,8.3,622,8675,0.00,2.42,0.00,0.000,5126,0.000,0.054,2618,2152,2097,2124,2071,0,0,0,0,0,0,14.57,14.51,14.59,6.21,49.48
$GC,8797,0.64,146.0,2619,2152,2125,2072,29.1,9.4,647,8800,0.00,2.45,0.00,0.000,4356,0.000,0.083,2618,3553,2097,2124,2071,0,0,0,0,0,0,14.81,14.54,14.81,6.20,49.13
$GC,8871,0.64,146.0,2618,3555,2124,2072,21.3,10.7,662,8875,0.05,2.38,0.00,0.000,5126,0.328,0.042,2609,2145,2097,2123,2071,0,0,0,0,0,0,14.35,14.54,14.51,6.20,49.60
$GC,8997,0.64,146.0,2609,2145,2125,2070,8.4,11.2,687,9000,0.00,2.42,0.00,0.000,4612,0.000,0.065,2619,740,2097,2124,2070,0,0,0,0,0,0,14.81,14.56,14.81,6.20,50.03
$STATE,9050,end climb,SURFACE_DEPTH_REACHED
$STATE,9050,begin surface coast
$STATE,9075,end surface coast,CONTROL_FINISHED_OK
$STATE,9075,begin surface
$SM_CCo,9089,65.82,0.243,0,0,1823,220.03
$SM_GC,1.23,5.47,2.35,65.82,0.064,0.050,0.243,280,2107,1823,-6.45,-0.96,220.03,0,0,0,0,0,0,14.62,14.59,14.35
$IRIDIUM_FIX,-6017.75,13.02,060119,021819
$TT8_MAMPS,0.038199,0.242676
$HUMID,49.60
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3815392
$24V_AH,13.27,43.387
$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,13.000,82.500,257.650,65.825,0.000,24.370,48.464,122.438,0.000,0.000,19.735,0.000,7263.788,426.304,1671.343,120.007,0.000,1078.979,0.000,1194.164,0.000,0.539,0.000
$DEVICE_MAMPS,465.120,2244.510,1575.900,242.505,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5488.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.971,0.000,0.000,0.000
$MEM,344104
$DATA_FILE_SIZE,17338,703
$CAP_FILE_SIZE,94498,0
$CFSIZE,1023623168,999227392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.039,252.22,1
$GPS,060119,072819,-6017.361,-0.060,16,0.8,39,-19.7,0.3,268.7,8,10.0