version: 66.14
glider: 640
mission: 5
dive: 212
start: 1 6 119 20 17 25
data:
$ID,640
$MISSION,5
$DIVE,212
$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,63
$R_STBD_OVSHOOT,53
$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
$GPS1,060119,201203,-6015.1118,-0.8059,14,0.9,39,-19.7,0.7,276.1,9,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-64.7
$GPS2,060119,201707,-6015.0898,-0.7936,8,0.9,13,-19.7,0.4,99.6,9,9.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,31.8,64991,-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,-146.0,221,2133,1797,1825,0.0,0.0,0,96,0.00,0.00,-83.38,0.000,16386,0.000,0.000,220,2132,3134,3213,3056,0,0,0,0,0,0,14.62,28.83,14.62,6.17,50.47
$GC,98,-0.64,-146.0,221,2133,3215,3057,3.1,-5.3,17,116,6.07,2.72,-7.20,0.000,18948,0.360,2.245,2188,725,3317,3412,3223,0,0,0,0,0,0,14.20,13.28,14.46,6.29,49.96
$GC,197,-0.64,-146.0,2188,726,3413,3226,18.9,-16.0,37,201,0.05,2.30,0.00,0.000,3078,0.455,0.054,2192,2076,3318,3412,3225,0,0,0,0,0,0,14.21,14.40,14.45,6.30,48.74
$GC,322,-0.64,-146.0,2193,2077,3413,3226,40.5,-17.9,62,326,0.00,2.50,0.00,0.000,2308,0.000,0.082,2182,3506,3319,3413,3225,0,0,0,0,0,0,14.66,14.40,14.66,6.31,49.17
$GC,361,-0.64,-146.0,2183,3507,3414,3225,47.8,-18.3,70,365,0.00,2.35,0.00,0.000,3078,0.000,0.043,2181,2127,3318,3412,3225,0,0,0,0,0,0,14.49,14.44,14.50,6.31,49.40
$GC,486,-0.64,-146.0,2182,2124,3414,3224,70.1,-16.4,95,490,0.00,2.53,0.00,0.000,2564,0.000,0.063,2181,686,3318,3412,3225,0,0,0,0,0,0,14.69,14.43,14.69,6.27,49.88
$GC,556,-0.64,-146.0,2181,687,3414,3226,81.1,-15.0,109,561,0.05,2.45,0.00,0.000,3078,0.354,0.057,2188,2101,3319,3413,3225,0,0,0,0,0,0,14.26,14.45,14.42,6.30,49.05
$GC,682,-0.64,-146.0,2188,2105,3414,3225,98.5,-13.8,134,686,0.00,2.42,0.00,0.000,2564,0.000,0.063,2186,690,3319,3413,3226,0,0,0,0,0,0,14.71,14.47,14.71,6.30,48.77
$GC,721,-0.64,-146.0,2188,691,3413,3226,103.8,-15.0,138,725,0.00,2.45,0.00,0.000,3078,0.000,0.057,2177,2104,3319,3413,3225,0,0,0,0,0,0,14.52,14.47,14.55,6.30,49.05
$GC,1036,-0.64,-146.0,2178,2106,3414,3227,149.6,-13.7,154,1040,0.05,2.47,0.00,0.000,2308,0.474,0.082,2181,3504,3318,3412,3225,0,0,0,0,0,0,14.34,14.49,14.55,6.29,49.60
$GC,1056,-0.64,-146.0,2181,3505,3414,3225,152.4,-13.7,155,1060,0.00,2.38,0.00,0.000,3078,0.000,0.042,2179,2095,3319,3413,3225,0,0,0,0,0,0,14.57,14.53,14.60,6.30,49.56
$GC,1376,-0.64,-146.0,2180,2093,3413,3226,195.9,-13.3,171,1380,0.00,2.42,0.00,0.000,2564,0.000,0.062,2180,697,3319,3413,3225,0,0,0,0,0,0,14.80,14.53,14.78,6.31,51.26
$GC,1411,-0.64,-146.0,2180,698,3414,3225,198.6,-13.4,172,1415,0.05,2.40,0.00,0.000,3078,0.359,0.057,2186,2097,3319,3413,3225,0,0,0,0,0,0,14.35,14.54,14.51,6.32,50.59
$GC,1716,-0.64,-146.0,2186,2098,3413,3226,239.3,-12.8,188,1720,0.00,2.47,0.00,0.000,2308,0.000,0.082,2173,3504,3318,3412,3225,0,0,0,0,0,0,14.82,14.52,14.82,6.32,51.45
$GC,1741,-0.64,-146.0,2176,3505,3413,3225,241.9,-12.8,189,1745,0.05,2.38,0.00,0.000,3078,0.359,0.042,2193,2086,3318,3412,3225,0,0,0,0,0,0,14.35,14.57,14.52,6.32,51.06
$GC,2056,-0.64,-146.0,2193,2085,3413,3226,281.7,-12.3,205,2061,0.00,2.40,0.00,0.000,2564,0.000,0.062,2193,700,3318,3412,3225,0,0,0,0,0,0,14.83,14.56,14.83,6.32,51.53
$GC,2126,-0.64,-146.0,2194,701,3414,3225,289.1,-12.4,208,2130,0.00,2.40,0.00,0.000,3078,0.000,0.056,2183,2102,3318,3412,3225,0,0,0,0,0,0,14.62,14.57,14.64,6.33,50.86
$GC,2436,-0.64,-146.0,2183,2103,3413,3226,329.4,-12.6,224,2437,0.00,0.00,0.00,0.000,2054,0.000,0.000,2183,2102,3318,3412,3225,0,0,0,0,0,0,14.84,14.85,14.84,6.34,51.77
$STATE,2615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2615,begin apogee
$GC,2619,-0.15,0.0,2183,2168,3413,3226,352.2,-12.7,233,2749,0.47,0.00,127.43,1.574,10246,0.269,0.000,2352,2168,2719,2778,2660,0,0,0,0,0,0,14.43,13.94,13.34,6.29,51.29
$STATE,2750,end apogee,CONTROL_FINISHED_OK
$STATE,2750,begin loiter
$GC,3036,-0.15,0.0,2352,2168,2772,2644,348.9,3.2,254,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2707,2772,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.51
$GC,3336,-0.15,0.0,2352,2169,2772,2642,339.4,3.2,269,3337,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2706,2771,2641,0,0,0,0,0,0,14.71,14.72,14.71,6.29,51.26
$GC,3636,-0.15,0.0,2352,2169,2772,2641,329.8,3.2,284,3637,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2705,2771,2640,0,0,0,0,0,0,14.80,14.81,14.81,6.29,51.14
$GC,3936,-0.15,0.0,2351,2168,2772,2640,320.1,3.3,299,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2705,2771,2639,0,0,0,0,0,0,14.85,14.86,14.86,6.28,51.69
$GC,4236,-0.15,0.0,2352,2168,2772,2639,310.1,3.3,314,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2167,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.22
$GC,4536,-0.15,0.0,2351,2169,2771,2638,299.9,3.4,329,4537,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2704,2771,2638,0,0,0,0,0,0,14.93,14.94,14.94,6.28,51.37
$GC,4836,-0.15,0.0,2352,2168,2773,2638,289.6,3.4,344,4837,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2167,2705,2772,2638,0,0,0,0,0,0,14.96,14.97,14.97,6.28,51.14
$GC,5136,-0.15,0.0,2352,2168,2772,2637,279.2,3.4,359,5137,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2704,2771,2638,0,0,0,0,0,0,14.98,14.99,14.98,6.28,51.33
$GC,5436,-0.15,0.0,2352,2168,2773,2638,269.1,3.4,374,5437,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2704,2771,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.22
$GC,5736,-0.15,0.0,2352,2168,2772,2639,259.6,3.1,389,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2704,2771,2637,0,0,0,0,0,0,15.01,15.02,15.02,6.28,51.22
$GC,6036,-0.15,0.0,2351,2167,2774,2636,250.7,2.9,404,6037,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2167,2704,2771,2637,0,0,0,0,0,0,15.02,15.03,15.03,6.28,51.37
$STATE,6335,end loiter,LOITER_COMPLETE
$STATE,6335,begin climb
$GC,6336,0.64,146.0,2353,2168,2772,2638,242.0,0.0,419,6477,0.60,2.60,130.68,1.412,10756,0.171,0.066,2605,751,2116,2141,2092,0,0,0,0,0,0,14.68,14.01,13.47,6.28,51.37
$GC,6506,0.64,146.0,2605,752,2144,2089,231.3,8.4,427,6510,0.00,2.45,0.00,0.000,5126,0.000,0.053,2606,2131,2111,2136,2087,0,0,0,0,0,0,14.14,14.08,14.15,6.24,49.72
$GC,6816,0.64,146.0,2605,2132,2133,2077,192.5,12.4,443,6821,0.00,2.58,0.00,0.000,260,0.000,0.083,2606,3556,2104,2131,2077,0,0,0,0,0,0,14.59,14.30,14.59,6.24,50.63
$GC,6911,0.64,146.0,2606,3557,2132,2077,182.7,12.2,447,6915,0.00,2.38,0.00,0.000,5126,0.000,0.041,2616,2159,2103,2131,2076,0,0,0,0,0,0,14.45,14.42,14.46,6.24,50.94
$GC,7216,0.64,146.0,2617,2160,2130,2074,142.0,12.9,463,7220,0.00,2.50,0.00,0.000,4612,0.000,0.065,2627,716,2101,2129,2074,0,0,0,0,0,0,14.71,14.43,14.72,6.24,50.59
$GC,7281,0.64,146.0,2628,717,2128,2075,134.9,12.2,466,7286,0.05,2.45,0.00,0.000,5126,0.298,0.054,2608,2144,2099,2126,2073,0,0,0,0,0,0,14.31,14.46,14.46,6.24,50.59
$GC,7596,0.64,146.0,2608,2145,2127,2074,98.1,10.9,482,7600,0.00,2.47,0.00,0.000,4356,0.000,0.083,2608,3560,2099,2127,2072,0,0,0,0,0,0,14.78,14.49,14.78,6.23,50.47
$GC,7636,0.64,146.0,2608,3560,2127,2072,93.6,11.0,490,7640,0.00,2.38,0.00,0.000,5126,0.000,0.041,2617,2148,2099,2126,2072,0,0,0,0,0,0,14.56,14.51,14.57,6.23,50.63
$GC,7761,0.64,146.0,2617,2148,2128,2072,80.2,10.7,515,7765,0.00,2.45,0.00,0.000,4612,0.000,0.066,2627,748,2099,2126,2072,0,0,0,0,0,0,14.78,14.50,14.78,6.22,49.64
$GC,7791,0.64,146.0,2628,749,2126,2073,77.1,10.4,521,7795,0.05,2.40,0.00,0.000,5126,0.301,0.054,2608,2153,2097,2124,2071,0,0,0,0,0,0,14.38,14.52,14.52,6.22,50.51
$GC,7917,0.64,146.0,2608,2154,2127,2071,64.4,10.0,546,7921,0.00,2.45,0.00,0.000,4356,0.000,0.084,2608,3559,2098,2125,2071,0,0,0,0,0,0,14.79,14.52,14.79,6.21,49.44
$GC,7961,0.64,146.0,2608,3560,2126,2072,59.8,10.2,555,7965,0.00,2.38,0.00,0.000,5126,0.000,0.042,2617,2149,2098,2126,2071,0,0,0,0,0,0,14.59,14.55,14.62,6.21,49.05
$GC,8086,0.64,146.0,2617,2150,2126,2071,47.3,9.8,580,8090,0.00,0.00,0.00,0.000,4102,0.000,0.000,2617,2149,2098,2125,2071,0,0,0,0,0,0,14.80,14.80,14.80,6.21,49.25
$GC,8211,0.64,146.0,2617,2150,2126,2072,35.7,9.1,605,8215,0.00,2.50,0.00,0.000,4356,0.000,0.081,2617,3555,2098,2125,2071,0,0,0,0,0,0,14.81,14.52,14.81,6.21,49.17
$GC,8246,0.64,146.0,2617,3556,2126,2072,32.1,10.0,612,8251,0.05,2.35,0.00,0.000,5126,0.321,0.042,2608,2151,2098,2125,2071,0,0,0,0,0,0,14.35,14.54,14.50,6.21,49.37
$GC,8372,0.64,146.0,2608,2152,2127,2070,21.3,8.7,637,8376,0.00,2.40,0.00,0.000,4612,0.000,0.066,2618,750,2098,2125,2071,0,0,0,0,0,0,14.81,14.55,14.81,6.21,49.88
$GC,8406,0.64,146.0,2618,749,2125,2071,18.1,8.4,644,8411,0.00,2.40,0.00,0.000,5126,0.000,0.054,2618,2153,2097,2124,2070,0,0,0,0,0,0,14.57,14.52,14.60,6.20,49.48
$GC,8532,0.64,146.0,2618,2154,2125,2071,6.9,9.4,669,8535,0.00,2.47,0.00,0.000,4356,0.000,0.085,2618,3563,2097,2124,2070,0,0,0,0,0,0,14.81,14.54,14.81,6.20,49.96
$STATE,8570,end climb,SURFACE_DEPTH_REACHED
$STATE,8570,begin surface coast
$STATE,8595,end surface coast,CONTROL_FINISHED_OK
$STATE,8595,begin surface
$SM_CCo,8609,66.07,0.244,0,0,1821,220.03
$SM_GC,1.25,5.45,2.50,66.07,0.063,0.044,0.244,267,2097,1821,-6.44,1.02,220.03,0,0,0,0,0,0,14.65,14.59,14.35
$IRIDIUM_FIX,-6014.82,0.00,060119,174209
$TT8_MAMPS,0.038948,0.320572
$HUMID,49.48
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3812320
$24V_AH,13.28,44.443
$10V_AH,13.66,0.000
$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,13.000,83.275,258.100,66.075,0.000,24.154,39.823,119.110,0.000,0.000,14.348,0.000,6888.153,425.063,1549.204,121.211,0.000,1037.260,0.000,1101.122,0.000,0.541,0.000
$DEVICE_MAMPS,474.300,2245.275,1573.605,244.035,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5006.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.752,0.000,0.000,0.000
$MEM,344104
$DATA_FILE_SIZE,17316,682
$CAP_FILE_SIZE,91189,0
$CFSIZE,1023623168,998637568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.045,238.24,1
$GPS,060119,224305,-6014.618,-0.907,36,0.9,40,-19.7,0.4,355.3,9,9.7