version: 66.14
glider: 640
mission: 5
dive: 210
start: 1 6 119 15 12 29
data:
$ID,640
$MISSION,5
$DIVE,210
$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,39
$R_STBD_OVSHOOT,29
$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
$GPS1,060119,150501,-6015.9473,-0.3680,16,0.8,33,-19.7,0.6,83.9,10,7.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-65.6
$GPS2,060119,151211,-6015.9775,-0.3137,8,0.8,12,-19.7,1.0,133.6,10,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,23.5,66631,-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,-146.0,233,2089,1794,1823,0.0,0.0,0,102,0.00,0.00,-89.95,0.000,16386,0.000,0.000,233,2087,3236,3317,3155,0,0,0,0,0,0,14.61,28.83,14.61,6.17,50.51
$GC,104,-0.64,-146.0,233,2088,3318,3157,3.3,-6.8,18,121,6.05,2.65,-2.90,0.000,18948,0.366,2.242,2193,698,3315,3406,3225,0,0,0,0,0,0,14.17,13.43,14.45,6.29,49.52
$GC,166,-0.64,-146.0,2193,705,3410,3224,15.3,-17.5,31,170,0.00,2.45,0.00,0.000,3078,0.000,0.057,2182,2101,3316,3408,3225,0,0,0,0,0,0,14.40,14.34,14.42,6.31,48.26
$GC,291,-0.64,-146.0,2183,2102,3409,3226,37.5,-18.2,56,295,0.00,2.42,0.00,0.000,2564,0.000,0.062,2182,700,3317,3409,3225,0,0,0,0,0,0,14.63,14.39,14.62,6.30,48.70
$GC,306,-0.64,-146.0,2182,701,3409,3226,40.3,-18.7,59,310,0.05,2.42,0.00,0.000,3078,0.361,0.054,2188,2098,3317,3409,3225,0,0,0,0,0,0,14.20,14.39,14.35,6.30,48.85
$GC,432,-0.64,-146.0,2189,2098,3410,3225,59.9,-14.4,84,436,0.00,2.42,0.00,0.000,2564,0.000,0.063,2188,695,3317,3409,3225,0,0,0,0,0,0,14.66,14.43,14.66,6.30,48.93
$GC,456,-0.64,-146.0,2188,695,3410,3220,63.8,-15.5,89,461,0.00,2.45,0.00,0.000,3078,0.000,0.056,2178,2106,3317,3409,3225,0,0,0,0,0,0,14.48,14.42,14.50,6.30,49.25
$GC,581,-0.64,-146.0,2179,2107,3410,3225,83.0,-15.9,114,585,0.05,2.45,0.00,0.000,2308,0.469,0.081,2181,3509,3317,3409,3225,0,0,0,0,0,0,14.27,14.44,14.47,6.30,49.44
$GC,596,-0.64,-146.0,2181,3510,3409,3226,85.3,-15.4,117,601,0.03,2.38,0.00,0.000,3078,0.462,0.044,2189,2105,3317,3409,3225,0,0,0,0,0,0,14.26,14.46,14.40,6.30,48.54
$GC,737,-0.64,-146.0,2190,2104,3410,3225,106.0,-14.6,139,741,0.00,2.42,0.00,0.000,2564,0.000,0.063,2189,695,3317,3409,3225,0,0,0,0,0,0,14.71,14.47,14.71,6.30,48.70
$GC,771,-0.64,-146.0,2189,695,3409,3226,111.2,-14.7,141,775,0.00,2.42,0.00,0.000,3078,0.000,0.055,2179,2101,3317,3409,3225,0,0,0,0,0,0,14.52,14.47,14.54,6.30,48.34
$GC,1091,-0.64,-146.0,2180,2102,3408,3225,154.5,-13.1,157,1092,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2102,3317,3410,3225,0,0,0,0,0,0,14.77,14.77,14.74,6.30,49.80
$GC,1391,-0.64,-146.0,2179,2102,3410,3225,194.1,-13.2,172,1392,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2102,3317,3409,3225,0,0,0,0,0,0,14.80,14.80,14.81,6.31,50.70
$GC,1691,-0.64,-146.0,2179,2102,3409,3226,233.9,-13.3,187,1692,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2102,3317,3409,3225,0,0,0,0,0,0,14.82,14.82,14.82,6.32,50.98
$GC,1991,-0.64,-146.0,2180,2102,3409,3225,274.2,-13.6,202,1995,0.00,2.42,0.00,0.000,2308,0.000,0.080,2169,3507,3317,3409,3225,0,0,0,0,0,0,14.83,14.57,14.83,6.33,51.49
$GC,2021,-0.64,-146.0,2169,3508,3410,3224,277.0,-13.7,203,2026,0.08,2.35,0.00,0.000,3078,0.321,0.041,2195,2098,3317,3409,3225,0,0,0,0,0,0,14.40,14.59,14.54,6.33,51.41
$GC,2331,-0.64,-146.0,2196,2097,3410,3225,318.0,-12.7,219,2336,0.00,2.40,0.00,0.000,516,0.000,0.063,2195,694,3317,3409,3225,0,0,0,0,0,0,14.84,14.59,14.84,6.33,51.10
$GC,2376,-0.64,-146.0,2196,694,3410,3218,323.1,-12.8,221,2380,0.00,2.40,0.00,0.000,3078,0.000,0.054,2186,2099,3317,3409,3225,0,0,0,0,0,0,14.64,14.57,14.66,6.33,51.81
$STATE,2590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2590,begin apogee
$GC,2594,-0.15,0.0,2186,2165,3409,3225,351.4,-12.9,232,2724,0.45,0.00,126.88,1.577,10246,0.268,0.000,2346,2165,2715,2775,2656,0,0,0,0,0,0,14.43,13.93,13.34,6.33,51.06
$STATE,2725,end apogee,CONTROL_FINISHED_OK
$STATE,2725,begin loiter
$GC,3011,-0.15,0.0,2346,2165,2772,2643,350.3,2.6,253,3012,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2707,2771,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.28,50.63
$GC,3311,-0.15,0.0,2346,2165,2771,2642,342.4,2.7,268,3312,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2706,2771,2641,0,0,0,0,0,0,14.71,14.72,14.71,6.28,50.90
$GC,3611,-0.15,0.0,2346,2165,2771,2641,334.7,2.5,283,3612,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2705,2771,2640,0,0,0,0,0,0,14.81,14.81,14.81,6.29,50.90
$GC,3912,-0.15,0.0,2346,2165,2772,2639,326.7,2.7,298,3912,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2164,2705,2771,2640,0,0,0,0,0,0,14.85,14.86,14.85,6.28,50.90
$GC,4211,-0.15,0.0,2346,2165,2772,2640,318.3,2.9,313,4212,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2705,2771,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.18
$GC,4511,-0.15,0.0,2346,2165,2772,2639,309.6,3.0,328,4512,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2705,2771,2640,0,0,0,0,0,0,14.94,14.94,14.94,6.28,51.77
$GC,4811,-0.15,0.0,2346,2165,2772,2640,300.2,3.3,343,4812,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2164,2705,2771,2640,0,0,0,0,0,0,14.97,14.97,14.96,6.28,51.14
$GC,5111,-0.15,0.0,2346,2165,2772,2640,290.7,3.2,358,5112,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2706,2772,2640,0,0,0,0,0,0,14.98,14.99,14.98,6.28,51.06
$GC,5411,-0.15,0.0,2346,2165,2772,2641,280.8,3.3,373,5412,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2705,2771,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.29,52.00
$GC,5711,-0.15,0.0,2347,2165,2772,2640,270.6,3.4,388,5712,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2164,2706,2772,2640,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.02
$GC,6011,-0.15,0.0,2346,2165,2772,2641,260.3,3.4,403,6012,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2164,2705,2771,2640,0,0,0,0,0,0,15.03,15.03,15.03,6.28,51.29
$STATE,6310,end loiter,LOITER_COMPLETE
$STATE,6310,begin climb
$GC,6311,0.64,146.0,2346,2165,2772,2642,250.2,0.0,418,6452,0.62,2.53,130.30,1.426,10500,0.180,0.078,2596,3537,2119,2145,2093,0,0,0,0,0,0,14.66,14.00,13.46,6.28,51.65
$GC,6521,0.64,146.0,2595,3537,2143,2087,234.0,10.9,428,6525,0.00,2.38,0.00,0.000,1030,0.000,0.041,2606,2161,2114,2142,2086,0,0,0,0,0,0,14.20,14.16,14.21,6.24,48.89
$GC,6831,0.64,146.0,2606,2161,2136,2077,194.0,12.5,444,6836,0.00,2.53,0.00,0.000,516,0.000,0.066,2617,744,2105,2134,2077,0,0,0,0,0,0,14.61,14.33,14.61,6.24,50.31
$GC,6876,0.64,146.0,2617,745,2132,2079,189.2,12.2,446,6880,0.00,2.40,0.00,0.000,5126,0.000,0.053,2617,2126,2104,2131,2078,0,0,0,0,0,0,14.42,14.38,14.46,6.23,50.43
$GC,7191,0.64,146.0,2618,2127,2132,2076,149.2,12.5,462,7195,0.00,2.45,0.00,0.000,4612,0.000,0.065,2628,744,2103,2131,2076,0,0,0,0,0,0,14.71,14.42,14.72,6.23,50.47
$GC,7322,0.64,146.0,2628,744,2130,2076,136.1,10.4,468,7326,0.08,2.40,0.00,0.000,5126,0.339,0.055,2602,2161,2101,2127,2075,0,0,0,0,0,0,14.36,14.50,14.57,6.23,50.66
$GC,7626,0.64,146.0,2603,2162,2129,2074,104.2,10.1,483,7630,0.00,2.42,0.00,0.000,260,0.000,0.083,2602,3553,2101,2128,2074,0,0,0,0,0,0,14.78,14.51,14.78,6.23,50.51
$GC,7701,0.64,146.0,2602,3554,2129,2076,96.3,10.1,492,7706,0.00,2.38,0.00,0.000,5126,0.000,0.041,2610,2142,2102,2129,2075,0,0,0,0,0,0,14.57,14.52,14.58,6.22,49.92
$GC,7827,0.64,146.0,2611,2142,2128,2075,83.3,10.9,517,7831,0.00,2.40,0.00,0.000,4612,0.000,0.066,2622,745,2101,2128,2074,0,0,0,0,0,0,14.78,14.57,14.79,6.22,50.27
$GC,7871,0.64,146.0,2622,744,2128,2074,78.3,10.5,526,7875,0.05,2.40,0.00,0.000,5126,0.304,0.054,2603,2147,2100,2127,2074,0,0,0,0,0,0,14.35,14.51,14.50,6.21,49.76
$GC,7997,0.64,146.0,2603,2148,2127,2075,65.9,10.0,551,8001,0.00,2.45,0.00,0.000,260,0.000,0.083,2602,3552,2100,2126,2074,0,0,0,0,0,0,14.79,14.53,14.80,6.21,49.17
$GC,8041,0.64,146.0,2603,3552,2128,2074,61.2,9.9,560,8046,0.00,2.35,0.00,0.000,5126,0.000,0.041,2611,2153,2100,2127,2074,0,0,0,0,0,0,14.57,14.53,14.59,6.21,49.05
$GC,8167,0.64,147.6,2612,2153,2127,2074,50.3,8.3,585,8171,0.00,2.42,0.00,0.000,4612,0.000,0.066,2622,744,2099,2126,2073,0,0,0,0,0,0,14.80,14.55,14.80,6.21,49.40
$GC,8241,0.65,160.2,2622,744,2127,2074,44.2,7.9,600,8256,0.00,2.40,10.12,1.336,13318,0.000,0.054,2622,2144,2063,2087,2039,0,0,0,0,0,0,14.56,14.51,13.89,6.21,49.05
$GC,8376,0.65,160.2,2631,2145,2085,2035,32.3,9.8,627,8380,0.00,2.47,0.00,0.000,4356,0.000,0.083,2622,3557,2058,2084,2033,0,0,0,0,0,0,14.75,14.49,14.76,6.20,49.80
$GC,8421,0.65,160.2,2623,3558,2085,2034,27.5,10.2,636,8426,0.05,2.38,0.00,0.000,5126,0.328,0.042,2615,2149,2059,2084,2034,0,0,0,0,0,0,14.32,14.47,14.46,6.20,49.96
$GC,8547,0.65,160.2,2615,2151,2085,2033,15.6,8.9,661,8551,0.00,2.42,0.00,0.000,4612,0.000,0.067,2624,742,2058,2084,2032,0,0,0,0,0,0,14.76,14.52,14.77,6.20,50.47
$GC,8601,0.65,160.2,2625,743,2084,2032,10.5,9.6,672,8606,0.03,2.42,0.00,0.000,5126,0.412,0.053,2614,2157,2057,2083,2031,0,0,0,0,0,0,14.32,14.47,14.46,6.20,50.39
$STATE,8680,end climb,SURFACE_DEPTH_REACHED
$STATE,8680,begin surface coast
$STATE,8710,end surface coast,CONTROL_FINISHED_OK
$STATE,8710,begin surface
$SM_CCo,8723,56.42,0.244,0,0,1823,220.03
$SM_GC,1.10,5.60,0.10,56.42,0.090,0.135,0.244,231,2056,1823,-6.48,0.79,220.03,0,0,0,0,0,0,14.62,14.56,14.33
$IRIDIUM_FIX,-6014.82,0.00,060119,150650
$TT8_MAMPS,0.038948,0.360269
$HUMID,49.68
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3813344
$24V_AH,13.34,44.090
$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,13.125,77.850,267.300,56.425,0.000,48.012,80.051,117.560,0.000,0.000,13.334,0.000,7030.579,422.913,1636.450,123.120,0.000,1044.205,0.000,1120.651,0.000,0.540,0.000
$DEVICE_MAMPS,468.945,2242.215,1576.665,244.035,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5121.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.693,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,17315,694
$CAP_FILE_SIZE,93073,0
$CFSIZE,1023623168,998834176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.035,231.01,1
$GPS,060119,174022,-6015.528,-0.445,66,0.8,70,-19.7,0.0,83.1,8,9.7