version: 66.14
glider: 640
mission: 5
dive: 208
start: 1 6 119 10 7 11
data:
$ID,640
$MISSION,5
$DIVE,208
$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,52
$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
$GPS1,060119,100131,-6016.7847,-0.1749,19,0.8,36,-19.7,0.0,269.9,11,7.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-59.5
$GPS2,060119,100653,-6016.7666,-0.1591,6,0.8,16,-19.7,0.9,152.4,11,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,26.5,68092,-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,-146.0,234,2078,1796,1823,0.0,0.0,0,101,0.00,0.00,-88.78,0.000,16386,0.000,0.000,233,2077,3223,3304,3143,0,0,0,0,0,0,14.61,28.83,14.62,6.17,50.27
$GC,103,-0.64,-146.0,233,2078,3306,3145,3.4,-7.3,18,117,6.03,2.62,-3.45,0.000,18948,0.356,2.249,2190,708,3317,3410,3225,0,0,0,0,0,0,14.17,13.28,14.47,6.28,49.48
$GC,186,-0.64,-146.0,2190,708,3412,3226,19.2,-16.7,35,190,0.00,2.42,0.00,0.000,3078,0.000,0.056,2180,2099,3319,3412,3226,0,0,0,0,0,0,14.42,14.38,14.45,6.30,48.46
$GC,311,-0.64,-146.0,2180,2099,3413,3226,40.6,-16.5,60,316,0.00,2.50,0.00,0.000,2308,0.000,0.080,2169,3505,3319,3412,3226,0,0,0,0,0,0,14.65,14.38,14.65,6.30,48.93
$GC,331,-0.64,-146.0,2170,3505,3412,3227,43.9,-16.6,64,336,0.05,2.35,0.00,0.000,3078,0.362,0.043,2187,2122,3319,3412,3226,0,0,0,0,0,0,14.23,14.43,14.38,6.30,49.33
$GC,457,-0.64,-146.0,2187,2122,3413,3227,63.6,-15.8,89,461,0.00,2.42,0.00,0.000,2308,0.000,0.079,2177,3510,3318,3411,3226,0,0,0,0,0,0,14.68,14.43,14.67,6.30,49.76
$GC,471,-0.64,-146.0,2177,3511,3413,3226,65.9,-15.9,92,476,0.05,2.40,0.00,0.000,3078,0.363,0.044,2194,2100,3318,3411,3226,0,0,0,0,0,0,14.24,14.45,14.40,6.29,48.89
$GC,597,-0.64,-146.0,2194,2099,3413,3226,85.2,-15.4,117,601,0.00,2.42,0.00,0.000,516,0.000,0.066,2194,695,3319,3412,3226,0,0,0,0,0,0,14.69,14.46,14.69,6.30,48.58
$GC,646,-0.64,-146.0,2194,696,3413,3227,93.0,-15.5,127,650,0.00,2.42,0.00,0.000,3078,0.000,0.057,2184,2100,3319,3412,3226,0,0,0,0,0,0,14.50,14.45,14.53,6.30,48.46
$GC,776,-0.64,-146.0,2185,2103,3413,3227,112.7,-15.1,141,780,0.00,2.50,0.00,0.000,2308,0.000,0.082,2173,3501,3319,3412,3226,0,0,0,0,0,0,14.73,14.45,14.73,6.30,48.62
$GC,821,-0.64,-146.0,2174,3502,3412,3227,118.7,-14.8,143,825,0.05,2.38,0.00,0.000,3078,0.353,0.043,2191,2092,3319,3412,3226,0,0,0,0,0,0,14.28,14.50,14.45,6.30,48.54
$GC,1136,-0.64,-146.0,2191,2091,3413,3226,161.2,-13.2,159,1141,0.00,2.45,0.00,0.000,2564,0.000,0.064,2191,695,3319,3412,3226,0,0,0,0,0,0,14.78,14.50,14.78,6.31,50.27
$GC,1176,-0.64,-146.0,2191,695,3412,3227,166.5,-13.1,161,1181,0.00,2.42,0.00,0.000,3078,0.000,0.056,2181,2102,3319,3412,3226,0,0,0,0,0,0,14.57,14.52,14.59,6.31,50.31
$GC,1496,-0.64,-146.0,2182,2102,3413,3226,208.6,-13.0,177,1500,0.00,2.45,0.00,0.000,2308,0.000,0.081,2170,3497,3319,3412,3227,0,0,0,0,0,0,14.80,14.52,14.81,6.32,51.73
$GC,1526,-0.64,-146.0,2171,3497,3413,3227,211.3,-13.1,178,1530,0.05,2.35,0.00,0.000,3078,0.351,0.043,2189,2094,3319,3412,3226,0,0,0,0,0,0,14.35,14.55,14.51,6.32,50.86
$GC,1836,-0.64,-146.0,2188,2093,3412,3227,251.3,-12.4,194,1840,0.00,2.42,0.00,0.000,2564,0.000,0.063,2188,700,3319,3412,3226,0,0,0,0,0,0,14.82,14.54,14.82,6.32,51.06
$GC,1901,-0.64,-146.0,2189,701,3413,3226,258.8,-12.5,197,1905,0.00,2.40,0.00,0.000,3078,0.000,0.055,2179,2100,3319,3412,3226,0,0,0,0,0,0,14.61,14.55,14.64,6.32,50.94
$GC,2217,-0.64,-146.0,2179,2101,3412,3227,299.7,-12.9,213,2217,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2100,3319,3412,3226,0,0,0,0,0,0,14.83,14.83,14.83,6.33,51.65
$GC,2516,-0.64,-146.0,2179,2101,3412,3227,337.9,-12.7,228,2517,0.00,0.00,0.00,0.000,2054,0.000,0.000,2180,2100,3319,3412,3226,0,0,0,0,0,0,14.85,14.85,14.85,6.34,51.14
$STATE,2615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2615,begin apogee
$GC,2619,-0.15,0.0,2179,2167,3412,3227,350.6,-12.6,233,2749,0.47,0.00,127.55,1.577,10246,0.270,0.000,2347,2166,2718,2778,2659,0,0,0,0,0,0,14.43,13.95,13.33,6.34,51.14
$STATE,2750,end apogee,CONTROL_FINISHED_OK
$STATE,2750,begin loiter
$GC,3036,-0.15,0.0,2348,2167,2772,2642,346.7,3.3,254,3037,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2707,2772,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.28,50.51
$GC,3336,-0.15,0.0,2348,2167,2772,2640,336.8,3.3,269,3337,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2165,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.28,51.02
$GC,3636,-0.15,0.0,2348,2167,2772,2639,327.1,3.2,284,3637,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2705,2771,2639,0,0,0,0,0,0,14.80,14.81,14.81,6.29,51.02
$GC,3936,-0.15,0.0,2348,2167,2772,2638,317.5,3.3,299,3937,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2704,2771,2638,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.18
$GC,4236,-0.15,0.0,2348,2167,2772,2638,308.3,3.0,314,4237,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.85
$GC,4536,-0.15,0.0,2348,2167,2771,2639,299.2,3.0,329,4537,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2704,2771,2637,0,0,0,0,0,0,14.93,14.93,14.93,6.28,50.94
$GC,4836,-0.15,0.0,2348,2167,2772,2637,290.4,3.0,344,4837,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2704,2770,2638,0,0,0,0,0,0,14.96,14.96,14.96,6.28,51.61
$GC,5136,-0.15,0.0,2348,2167,2772,2638,282.0,2.8,359,5137,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2704,2771,2637,0,0,0,0,0,0,14.98,14.98,14.98,6.28,51.77
$GC,5436,-0.15,0.0,2347,2167,2771,2638,273.7,2.8,374,5437,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.61
$GC,5736,-0.15,0.0,2349,2166,2772,2636,265.5,2.6,389,5737,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2704,2771,2637,0,0,0,0,0,0,15.01,15.02,15.02,6.28,51.37
$GC,6036,-0.15,0.0,2348,2167,2772,2637,257.6,2.6,404,6037,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2704,2771,2637,0,0,0,0,0,0,15.02,15.03,15.03,6.29,51.61
$STATE,6335,end loiter,LOITER_COMPLETE
$STATE,6335,begin climb
$GC,6336,0.64,146.0,2348,2167,2771,2638,250.0,0.0,419,6474,0.62,2.55,130.02,1.427,11012,0.178,0.063,2608,751,2119,2145,2094,0,0,0,0,0,0,14.66,13.91,13.45,6.28,52.00
$GC,6583,0.64,146.0,2609,752,2136,2086,232.0,10.1,430,6587,0.00,2.42,0.00,0.000,5126,0.000,0.052,2609,2131,2109,2134,2085,0,0,0,0,0,0,14.26,14.21,14.28,6.24,49.52
$GC,6893,0.64,146.0,2609,2132,2132,2079,194.2,12.0,446,6897,0.00,2.55,0.00,0.000,4356,0.000,0.083,2609,3549,2109,2141,2078,0,0,0,0,0,0,14.62,14.35,14.62,6.24,50.19
$GC,6988,0.64,146.0,2609,3554,2133,2078,184.6,11.9,450,6992,0.00,2.35,0.00,0.000,5126,0.000,0.041,2619,2160,2104,2132,2077,0,0,0,0,0,0,14.46,14.42,14.48,6.24,50.78
$GC,7293,0.64,146.0,2620,2160,2131,2076,145.2,12.7,466,7297,0.00,2.50,0.00,0.000,4612,0.000,0.067,2630,740,2102,2129,2076,0,0,0,0,0,0,14.72,14.45,14.72,6.24,50.59
$GC,7338,0.64,146.0,2631,740,2129,2076,140.3,12.6,468,7342,0.05,2.42,0.00,0.000,5126,0.305,0.055,2609,2147,2101,2127,2075,0,0,0,0,0,0,14.33,14.46,14.47,6.24,50.39
$GC,7653,0.64,146.0,2609,2148,2128,2075,101.9,11.9,484,7657,0.00,2.50,0.00,0.000,4356,0.000,0.083,2610,3553,2100,2127,2074,0,0,0,0,0,0,14.78,14.49,14.78,6.23,50.03
$GC,7743,0.64,146.0,2610,3554,2128,2076,91.1,11.7,499,7747,0.00,2.35,0.00,0.000,5126,0.000,0.041,2618,2154,2101,2127,2075,0,0,0,0,0,0,14.59,14.54,14.61,6.23,49.44
$GC,7868,0.64,146.0,2618,2154,2128,2075,76.4,11.7,524,7873,0.00,2.42,0.00,0.000,4612,0.000,0.065,2629,745,2100,2127,2074,0,0,0,0,0,0,14.78,14.53,14.78,6.22,49.09
$GC,7898,0.64,146.0,2629,746,2128,2074,72.9,11.5,530,7902,0.08,2.40,0.00,0.000,5126,0.272,0.054,2601,2145,2099,2126,2073,0,0,0,0,0,0,14.40,14.53,14.53,6.22,49.56
$GC,8024,0.64,146.0,2601,2141,2127,2073,60.0,10.3,555,8027,0.00,2.47,0.00,0.000,260,0.000,0.083,2601,3563,2099,2125,2073,0,0,0,0,0,0,14.78,14.52,14.78,6.20,48.93
$GC,8088,0.64,146.0,2601,3564,2129,2073,53.1,10.4,568,8093,0.00,2.38,0.00,0.000,5126,0.000,0.041,2610,2151,2100,2126,2074,0,0,0,0,0,0,14.60,14.55,14.62,6.21,48.81
$GC,8213,0.64,146.0,2610,2151,2127,2074,41.2,9.1,593,8217,0.00,2.42,0.00,0.000,4612,0.000,0.066,2620,742,2099,2126,2073,0,0,0,0,0,0,14.78,14.54,14.78,6.21,48.81
$GC,8283,0.64,146.0,2621,744,2126,2074,34.6,9.4,607,8287,0.03,2.42,0.00,0.000,5126,0.400,0.054,2608,2162,2099,2126,2072,0,0,0,0,0,0,14.35,14.54,14.51,6.21,49.33
$GC,8409,0.64,146.0,2609,2161,2126,2073,23.8,9.2,632,8413,0.00,2.42,0.00,0.000,4356,0.000,0.083,2609,3555,2099,2126,2072,0,0,0,0,0,0,14.78,14.52,14.78,6.21,49.25
$GC,8448,0.64,146.0,2609,3556,2126,2073,19.9,10.3,640,8453,0.00,2.35,0.00,0.000,5126,0.000,0.041,2618,2151,2099,2126,2072,0,0,0,0,0,0,14.61,14.56,14.62,6.20,49.37
$GC,8574,0.64,146.0,2618,2151,2127,2072,8.0,9.9,665,8577,0.00,2.42,0.00,0.000,4612,0.000,0.067,2629,753,2099,2126,2072,0,0,0,0,0,0,14.79,14.54,14.79,6.21,49.80
$GC,8603,0.64,146.0,2629,746,2125,2073,5.0,9.8,671,8607,0.05,2.40,0.00,0.000,5126,0.311,0.057,2609,2141,2098,2125,2071,0,0,0,0,0,0,14.38,14.54,14.52,6.20,50.03
$STATE,8621,end climb,SURFACE_DEPTH_REACHED
$STATE,8621,begin surface coast
$STATE,8646,end surface coast,CONTROL_FINISHED_OK
$STATE,8646,begin surface
$SM_CCo,8658,66.20,0.243,0,0,1823,220.03
$SM_GC,1.35,5.32,0.00,66.20,0.037,0.000,0.243,232,2141,1823,-6.45,1.16,220.03,0,0,0,0,0,0,14.65,14.79,14.33
$IRIDIUM_FIX,-6019.63,0.00,060119,073011
$TT8_MAMPS,0.039697,0.32207
$HUMID,49.33
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3814368
$24V_AH,13.28,43.737
$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,12.850,82.800,257.575,66.200,0.000,23.265,40.367,134.130,0.000,0.000,17.729,0.000,6920.383,426.227,1584.454,119.036,0.000,1044.497,0.000,1115.381,0.000,0.539,0.000
$DEVICE_MAMPS,400.095,2249.100,1576.665,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5058.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.771,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17338,680
$CAP_FILE_SIZE,92327,0
$CFSIZE,1023623168,999030784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.020,236.82,1
$GPS,060119,123354,-6016.302,-0.248,15,2.5,55,-19.7,0.7,201.3,5,9.5