version: 66.14
glider: 640
mission: 5
dive: 211
start: 1 6 119 17 45 25
data:
$ID,640
$MISSION,5
$DIVE,211
$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,68
$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
$GPS1,060119,174022,-6015.5283,-0.4454,66,0.8,70,-19.7,0.0,83.1,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-67.5
$GPS2,060119,174507,-6015.5269,-0.3894,8,0.7,12,-19.7,0.9,71.2,11,9.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,26.3,65797,-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,-146.0,231,2155,1798,1822,0.0,0.0,0,101,0.00,0.00,-88.47,0.000,16386,0.000,0.000,230,2153,3200,3281,3120,0,0,0,0,0,0,14.61,28.83,14.62,6.18,50.43
$GC,103,-0.64,-146.0,231,2155,3282,3121,3.2,-6.8,18,120,6.05,2.72,-4.43,0.000,18948,0.363,2.242,2188,725,3317,3409,3225,0,0,0,0,0,0,14.16,13.43,14.45,6.29,49.60
$GC,151,-0.64,-146.0,2188,725,3412,3224,12.0,-15.1,28,155,0.00,2.40,0.00,0.000,3078,0.000,0.054,2177,2108,3318,3411,3225,0,0,0,0,0,0,14.41,14.35,14.42,6.30,48.38
$GC,276,-0.64,-146.0,2177,2108,3412,3225,34.0,-18.0,53,280,0.05,2.50,0.00,0.000,2308,0.470,0.081,2181,3505,3318,3411,3225,0,0,0,0,0,0,14.23,14.37,14.43,6.31,48.74
$GC,311,-0.64,-146.0,2181,3507,3411,3226,40.1,-16.7,60,315,0.00,2.33,0.00,0.000,3078,0.000,0.042,2180,2141,3318,3411,3225,0,0,0,0,0,0,14.46,14.41,14.47,6.30,49.17
$GC,436,-0.64,-146.0,2181,2141,3412,3226,59.6,-14.4,85,440,0.00,2.55,0.00,0.000,2564,0.000,0.062,2180,688,3318,3411,3225,0,0,0,0,0,0,14.71,14.42,14.68,6.31,50.00
$GC,506,-0.64,-146.0,2180,690,3412,3226,69.7,-14.3,99,511,0.05,2.42,0.00,0.000,3078,0.359,0.057,2186,2091,3318,3412,3225,0,0,0,0,0,0,14.25,14.43,14.52,6.31,49.44
$GC,632,-0.64,-146.0,2187,2091,3412,3226,87.3,-14.6,124,635,0.00,0.00,0.00,0.000,2054,0.000,0.000,2187,2091,3318,3411,3225,0,0,0,0,0,0,14.69,14.70,14.70,6.31,48.66
$GC,761,-0.64,-146.0,2187,2092,3415,3225,106.2,-14.5,144,765,0.00,2.45,0.00,0.000,2564,0.000,0.064,2187,694,3318,3411,3225,0,0,0,0,0,0,14.73,14.47,14.73,6.31,48.89
$GC,816,-0.64,-146.0,2187,695,3412,3226,111.9,-14.5,146,821,0.03,2.42,0.00,0.000,3078,0.457,0.055,2185,2102,3318,3412,3225,0,0,0,0,0,0,14.28,14.48,14.44,6.30,48.46
$GC,1121,-0.64,-146.0,2185,2102,3412,3226,154.2,-13.2,162,1126,0.00,2.45,0.00,0.000,2564,0.000,0.063,2185,694,3318,3411,3225,0,0,0,0,0,0,14.78,14.51,14.83,6.31,50.00
$GC,1151,-0.64,-146.0,2185,696,3413,3225,156.9,-13.1,163,1155,0.05,2.42,0.00,0.000,3078,0.366,0.055,2191,2106,3318,3412,3225,0,0,0,0,0,0,14.32,14.52,14.49,6.29,49.92
$GC,1461,-0.64,-146.0,2191,2106,3413,3225,197.8,-12.7,179,1465,0.00,2.47,0.00,0.000,2308,0.000,0.082,2181,3505,3318,3411,3225,0,0,0,0,0,0,14.81,14.52,14.81,6.32,51.26
$GC,1486,-0.64,-146.0,2181,3505,3412,3224,200.4,-12.8,180,1491,0.00,2.38,0.00,0.000,3078,0.000,0.042,2181,2089,3318,3412,3225,0,0,0,0,0,0,14.61,14.56,14.62,6.32,51.53
$GC,1801,-0.64,-146.0,2181,2088,3412,3226,242.4,-13.0,196,1805,0.00,2.42,0.00,0.000,2564,0.000,0.063,2180,697,3318,3412,3225,0,0,0,0,0,0,14.82,14.56,14.83,6.32,50.98
$GC,1856,-0.64,-146.0,2181,697,3412,3226,247.7,-13.2,198,1860,0.05,2.40,0.00,0.000,3078,0.358,0.055,2187,2100,3318,3411,3225,0,0,0,0,0,0,14.36,14.56,14.52,6.32,51.10
$GC,2161,-0.64,-146.0,2188,2100,3413,3225,287.8,-12.7,214,2165,0.00,2.50,0.00,0.000,2308,0.000,0.082,2176,3507,3318,3411,3225,0,0,0,0,0,0,14.83,14.54,14.83,6.33,51.14
$GC,2176,-0.64,-146.0,2177,3508,3412,3230,287.8,-12.7,214,2181,0.05,2.35,0.00,0.000,3078,0.357,0.042,2194,2101,3318,3412,3225,0,0,0,0,0,0,14.37,14.59,14.54,6.33,50.94
$GC,2481,-0.64,-146.0,2195,2102,3413,3225,327.2,-12.3,230,2486,0.00,2.42,0.00,0.000,516,0.000,0.063,2194,703,3318,3411,3225,0,0,0,0,0,0,14.84,14.57,14.85,6.34,51.37
$GC,2546,-0.64,-146.0,2194,704,3413,3225,334.7,-12.5,233,2550,0.00,2.38,0.00,0.000,3078,0.000,0.055,2184,2094,3318,3412,3225,0,0,0,0,0,0,14.63,14.58,14.66,6.34,51.22
$STATE,2680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2680,begin apogee
$GC,2684,-0.15,0.0,2184,2170,3413,3225,352.2,-12.8,240,2814,0.47,0.00,127.30,1.566,10246,0.267,0.000,2353,2170,2717,2777,2658,0,0,0,0,0,0,14.43,13.95,13.32,6.34,51.26
$STATE,2815,end apogee,CONTROL_FINISHED_OK
$STATE,2815,begin loiter
$GC,3101,-0.15,0.0,2354,2170,2771,2644,350.1,2.9,261,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2169,2706,2770,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.28,50.51
$GC,3401,-0.15,0.0,2354,2169,2772,2640,341.3,3.0,276,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2169,2705,2770,2640,0,0,0,0,0,0,14.71,14.71,14.72,6.28,51.02
$GC,3701,-0.15,0.0,2354,2169,2772,2639,332.2,3.2,291,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2169,2705,2771,2639,0,0,0,0,0,0,14.80,14.81,14.81,6.29,50.86
$GC,4001,-0.15,0.0,2353,2169,2772,2638,323.1,3.0,306,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2169,2704,2771,2638,0,0,0,0,0,0,14.85,14.86,14.86,6.29,50.94
$GC,4301,-0.15,0.0,2354,2169,2772,2638,314.4,2.9,321,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2169,2704,2770,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.06
$GC,4601,-0.15,0.0,2353,2170,2772,2638,305.9,2.9,336,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2169,2704,2771,2637,0,0,0,0,0,0,14.94,14.94,14.94,6.28,51.73
$GC,4901,-0.15,0.0,2353,2169,2771,2639,297.5,2.9,351,4902,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2169,2704,2771,2637,0,0,0,0,0,0,14.96,14.96,14.97,6.28,51.22
$GC,5201,-0.15,0.0,2353,2170,2771,2638,288.8,3.0,366,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2169,2704,2771,2637,0,0,0,0,0,0,14.98,14.99,14.99,6.28,51.96
$GC,5501,-0.15,0.0,2353,2170,2770,2637,279.7,3.0,381,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2169,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.45
$GC,5801,-0.15,0.0,2354,2170,2772,2638,270.2,3.1,396,5802,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2169,2704,2771,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.96
$GC,6101,-0.15,0.0,2354,2170,2771,2638,261.1,3.0,411,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2169,2704,2771,2637,0,0,0,0,0,0,15.03,15.03,15.03,6.28,51.37
$STATE,6400,end loiter,LOITER_COMPLETE
$STATE,6400,begin climb
$GC,6401,0.64,146.0,2355,2170,2772,2637,251.6,0.0,426,6541,0.60,2.50,130.18,1.427,10500,0.173,0.080,2595,3536,2118,2144,2093,0,0,0,0,0,0,14.68,13.90,13.47,6.28,51.61
$GC,6556,0.65,160.2,2594,3537,2144,2092,242.8,7.8,433,6575,0.00,2.40,13.90,1.401,11270,0.000,0.041,2606,2153,2061,2086,2036,0,0,0,0,0,0,14.12,14.08,13.47,6.24,49.56
$GC,6882,0.65,160.2,2606,2154,2078,2023,199.4,12.9,450,6886,0.00,2.47,0.00,0.000,2564,0.000,0.066,2617,742,2049,2078,2021,0,0,0,0,0,0,14.57,14.33,14.57,6.23,50.35
$GC,6926,0.65,160.2,2616,743,2076,2021,194.4,12.6,452,6930,0.00,2.40,0.00,0.000,5126,0.000,0.054,2617,2126,2047,2075,2020,0,0,0,0,0,0,14.40,14.35,14.42,6.23,50.35
$GC,7241,0.65,160.2,2617,2127,2073,2018,151.8,13.2,468,7245,0.00,2.45,0.00,0.000,4612,0.000,0.067,2627,747,2045,2074,2017,0,0,0,0,0,0,14.69,14.40,14.69,6.23,50.94
$GC,7361,0.65,160.2,2628,747,2072,2017,138.0,11.0,474,7365,0.05,2.42,0.00,0.000,5126,0.307,0.054,2608,2154,2043,2072,2015,0,0,0,0,0,0,14.28,14.43,14.42,6.23,50.59
$GC,7681,0.65,160.2,2609,2160,2073,2014,102.7,10.9,490,7685,0.00,2.47,0.00,0.000,516,0.000,0.065,2614,750,2039,2065,2014,0,0,0,0,0,0,14.81,14.47,14.77,6.22,50.51
$GC,7812,0.65,160.2,2618,750,2072,2013,89.7,9.6,510,7816,0.00,2.35,0.00,0.000,5126,0.000,0.053,2618,2150,2042,2071,2013,0,0,0,0,0,0,14.64,14.54,14.66,6.21,50.15
$GC,7937,0.65,160.2,2618,2151,2071,2014,75.9,11.3,535,7941,0.00,2.45,0.00,0.000,4356,0.000,0.085,2618,3553,2042,2071,2013,0,0,0,0,0,0,14.78,14.52,14.78,6.21,49.29
$GC,7996,0.65,160.2,2618,3554,2072,2014,68.9,11.3,547,8000,0.05,2.35,0.00,0.000,5126,0.329,0.042,2610,2152,2042,2071,2013,0,0,0,0,0,0,14.36,14.55,14.52,6.21,49.17
$GC,8122,0.65,160.2,2610,2152,2072,2014,55.5,10.5,572,8126,0.00,2.42,0.00,0.000,516,0.000,0.067,2620,744,2041,2071,2011,0,0,0,0,0,0,14.79,14.54,14.79,6.20,49.37
$GC,8171,0.65,160.2,2620,745,2071,2012,50.5,9.7,582,8176,0.00,2.40,0.00,0.000,5126,0.000,0.053,2620,2148,2041,2071,2012,0,0,0,0,0,0,14.56,14.51,14.59,6.20,49.40
$GC,8297,0.65,160.2,2621,2149,2072,2012,37.8,10.3,607,8301,0.00,2.45,0.00,0.000,4356,0.000,0.085,2620,3553,2041,2070,2013,0,0,0,0,0,0,14.80,14.53,14.80,6.19,49.76
$GC,8356,0.65,160.2,2620,3556,2072,2014,31.2,10.8,619,8361,0.05,2.35,0.00,0.000,5126,0.322,0.042,2612,2155,2041,2070,2013,0,0,0,0,0,0,14.38,14.57,14.53,6.20,49.09
$GC,8482,0.66,167.1,2612,2155,2072,2012,19.7,8.1,644,8486,0.00,2.42,0.00,0.000,516,0.000,0.067,2622,742,2041,2070,2012,0,0,0,0,0,0,14.81,14.54,14.81,6.19,49.76
$GC,8526,0.66,167.1,2622,743,2070,2013,15.6,9.8,653,8530,0.00,2.40,0.00,0.000,5126,0.000,0.053,2622,2149,2040,2069,2012,0,0,0,0,0,0,14.60,14.54,14.63,6.20,49.64
$STATE,8645,end climb,SURFACE_DEPTH_REACHED
$STATE,8645,begin surface coast
$STATE,8670,end surface coast,CONTROL_FINISHED_OK
$STATE,8670,begin surface
$SM_CCo,8682,52.40,0.245,0,0,1821,220.03
$SM_GC,1.21,5.50,0.08,52.40,0.063,0.164,0.245,256,2068,1821,-6.48,0.96,220.03,0,0,0,0,0,0,14.66,14.59,14.36
$IRIDIUM_FIX,-6014.82,-4.34,060119,150856
$TT8_MAMPS,0.038948,0.266644
$HUMID,49.88
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3812832
$24V_AH,13.32,44.269
$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,13.050,82.950,271.375,52.400,0.000,23.013,15.437,126.910,0.000,0.000,13.352,0.000,6919.854,423.092,1559.458,121.996,0.000,1050.184,0.000,1126.548,0.000,0.540,0.000
$DEVICE_MAMPS,469.710,2242.215,1565.955,244.800,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5081.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.790,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17341,682
$CAP_FILE_SIZE,92640,0
$CFSIZE,1023623168,998735872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.052,248.85,1
$GPS,060119,201203,-6015.112,-0.806,14,0.9,39,-19.7,0.7,276.1,9,9.0