version: 66.14
glider: 640
mission: 5
dive: 219
start: 1 7 119 14 1 7
data:
$ID,640
$MISSION,5
$DIVE,219
$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,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
$GPS1,070119,135559,-6012.1050,-1.2207,25,0.9,43,-19.7,0.3,281.6,11,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-65.5
$GPS2,070119,140049,-6012.1089,-1.2562,9,0.7,19,-19.7,1.2,248.7,12,9.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,20.5,59477,-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,-146.0,233,2075,1796,1824,0.0,0.0,0,101,0.00,0.00,-88.47,0.000,16386,0.000,0.000,233,2076,3237,3317,3157,0,0,0,0,0,0,14.62,28.83,14.63,6.17,50.35
$GC,103,-0.64,-146.0,234,2076,3318,3158,3.7,-7.9,18,117,6.07,2.60,-2.88,0.000,18948,0.369,2.244,2192,707,3317,3408,3227,0,0,0,0,0,0,14.14,13.27,14.45,6.29,49.96
$GC,192,-0.64,-146.0,2192,707,3411,3227,19.8,-15.8,36,196,0.00,2.38,0.00,0.000,3078,0.000,0.058,2182,2102,3318,3410,3227,0,0,0,0,0,0,14.50,14.40,14.52,6.30,49.13
$GC,316,-0.64,-146.0,2182,2102,3413,3222,39.7,-13.5,61,320,0.00,2.50,0.00,0.000,2308,0.000,0.082,2171,3499,3319,3411,3227,0,0,0,0,0,0,14.66,14.38,14.66,6.30,49.48
$GC,401,-0.64,-146.0,2171,3500,3411,3227,52.9,-16.6,78,405,0.05,2.35,0.00,0.000,3078,0.356,0.042,2189,2113,3318,3410,3227,0,0,0,0,0,0,14.24,14.45,14.40,6.30,49.40
$GC,527,-0.64,-146.0,2189,2113,3411,3228,73.2,-16.1,103,531,0.00,2.45,0.00,0.000,2564,0.000,0.064,2188,695,3319,3410,3228,0,0,0,0,0,0,14.69,14.45,14.70,6.31,48.85
$GC,546,-0.64,-146.0,2188,695,3411,3228,76.5,-16.5,107,550,0.00,2.42,0.00,0.000,3078,0.000,0.055,2178,2102,3319,3411,3227,0,0,0,0,0,0,14.54,14.45,14.52,6.30,49.01
$GC,671,-0.64,-146.0,2179,2103,3411,3229,98.0,-17.6,132,676,0.00,2.50,0.00,0.000,2308,0.000,0.081,2168,3511,3318,3410,3227,0,0,0,0,0,0,14.71,14.43,14.72,6.30,48.70
$GC,686,-0.64,-146.0,2168,3511,3410,3227,100.7,-17.7,135,690,0.08,2.40,0.00,0.000,3078,0.326,0.045,2194,2093,3318,3410,3227,0,0,0,0,0,0,14.29,14.48,14.44,6.30,48.77
$GC,991,-0.64,-146.0,2194,2093,3412,3227,149.5,-14.6,151,995,0.00,2.45,0.00,0.000,516,0.000,0.066,2194,698,3318,3410,3227,0,0,0,0,0,0,14.76,14.50,14.76,6.30,49.56
$GC,1046,-0.64,-146.0,2195,698,3412,3227,155.3,-14.6,153,1050,0.00,2.42,0.00,0.000,3078,0.000,0.054,2184,2105,3319,3411,3227,0,0,0,0,0,0,14.56,14.53,14.58,6.30,49.29
$GC,1351,-0.64,-146.0,2185,2106,3411,3223,199.6,-13.2,169,1355,0.00,2.45,0.00,0.000,2308,0.000,0.081,2174,3495,3318,3410,3227,0,0,0,0,0,0,14.80,14.50,14.80,6.31,50.59
$GC,1381,-0.64,-146.0,2174,3496,3412,3227,202.3,-13.1,170,1386,0.05,2.35,0.00,0.000,3078,0.352,0.043,2190,2097,3318,3410,3227,0,0,0,0,0,0,14.34,14.54,14.54,6.31,50.66
$GC,1691,-0.64,-146.0,2192,2096,3412,3227,242.9,-12.6,186,1695,0.00,2.45,0.00,0.000,2564,0.000,0.064,2191,696,3318,3410,3227,0,0,0,0,0,0,14.82,14.53,14.82,6.32,51.18
$GC,1756,-0.64,-146.0,2191,697,3411,3228,250.3,-12.4,189,1760,0.00,2.40,0.00,0.000,3078,0.000,0.054,2181,2096,3318,3410,3227,0,0,0,0,0,0,14.61,14.54,14.62,6.33,51.26
$GC,2071,-0.64,-146.0,2181,2097,3411,3227,291.8,-13.1,205,2076,0.00,2.47,0.00,0.000,2308,0.000,0.080,2171,3501,3318,3410,3227,0,0,0,0,0,0,14.83,14.53,14.83,6.33,51.96
$GC,2091,-0.64,-146.0,2171,3501,3411,3227,294.4,-13.1,206,2096,0.05,2.35,0.00,0.000,3078,0.350,0.043,2188,2098,3318,3410,3227,0,0,0,0,0,0,14.38,14.58,14.53,6.31,51.73
$GC,2411,-0.64,-146.0,2195,2098,3411,3228,334.8,-12.5,222,2415,0.00,2.42,0.00,0.000,2564,0.000,0.064,2188,704,3318,3410,3227,0,0,0,0,0,0,14.84,14.56,14.88,6.34,51.53
$GC,2501,-0.64,-146.0,2188,704,3411,3226,344.8,-12.5,226,2505,0.00,2.38,0.00,0.000,3078,0.000,0.054,2179,2096,3319,3411,3227,0,0,0,0,0,0,14.63,14.57,14.65,6.34,51.96
$STATE,2550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2550,begin apogee
$GC,2554,-0.15,0.0,2179,2169,3411,3228,352.1,-12.1,229,2685,0.50,0.00,127.72,1.580,10246,0.269,0.000,2355,2168,2715,2775,2656,0,0,0,0,0,0,14.40,13.94,13.33,6.34,50.98
$STATE,2686,end apogee,CONTROL_FINISHED_OK
$STATE,2686,begin loiter
$GC,2971,-0.15,0.0,2355,2169,2772,2644,349.0,3.1,250,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2168,2707,2771,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.28,50.47
$GC,3271,-0.15,0.0,2355,2169,2772,2642,339.7,3.0,265,3272,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2168,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.29,51.61
$GC,3571,-0.15,0.0,2356,2169,2772,2640,330.3,3.2,280,3572,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2168,2705,2771,2639,0,0,0,0,0,0,14.80,14.81,14.81,6.28,51.45
$GC,3871,-0.15,0.0,2356,2168,2772,2638,320.8,3.3,295,3872,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2168,2704,2771,2638,0,0,0,0,0,0,14.85,14.86,14.85,6.28,51.26
$GC,4171,-0.15,0.0,2356,2169,2772,2639,311.6,3.1,310,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2168,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.61
$GC,4471,-0.15,0.0,2356,2168,2772,2638,302.0,3.1,325,4472,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2168,2704,2771,2637,0,0,0,0,0,0,14.93,14.94,14.94,6.28,51.18
$GC,4771,-0.15,0.0,2355,2169,2772,2639,291.8,3.5,340,4772,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2168,2704,2771,2638,0,0,0,0,0,0,14.96,14.96,14.96,6.28,51.26
$GC,5071,-0.15,0.0,2356,2168,2772,2637,281.1,3.6,355,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2168,2704,2771,2637,0,0,0,0,0,0,14.98,14.99,14.98,6.28,51.33
$GC,5371,-0.15,0.0,2356,2168,2772,2637,270.5,3.4,370,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2168,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.18
$GC,5671,-0.15,0.0,2356,2169,2772,2638,260.5,3.1,385,5672,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2168,2704,2771,2638,0,0,0,0,0,0,15.01,15.02,15.02,6.28,51.33
$GC,5971,-0.15,0.0,2355,2169,2772,2639,251.4,3.0,400,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2168,2704,2771,2637,0,0,0,0,0,0,15.02,15.03,15.03,6.28,51.53
$STATE,6270,end loiter,LOITER_COMPLETE
$STATE,6270,begin climb
$GC,6271,0.64,146.0,2356,2169,2772,2639,242.8,0.0,415,6412,0.60,2.62,130.48,1.407,10756,0.179,0.065,2607,743,2116,2141,2092,0,0,0,0,0,0,14.66,14.00,13.47,6.28,51.61
$GC,6511,0.64,146.0,2607,743,2135,2086,224.3,10.2,427,6515,0.00,2.42,0.00,0.000,5126,0.000,0.052,2606,2124,2110,2135,2085,0,0,0,0,0,0,14.23,14.18,14.24,6.25,50.00
$GC,6831,0.64,146.0,2608,2125,2132,2077,185.7,12.1,443,6836,0.00,2.55,0.00,0.000,4356,0.000,0.083,2607,3562,2103,2131,2076,0,0,0,0,0,0,14.62,14.35,14.63,6.24,50.39
$GC,6936,0.64,146.0,2608,3563,2132,2076,173.5,12.0,448,6940,0.00,2.40,0.00,0.000,5126,0.000,0.042,2618,2154,2106,2135,2077,0,0,0,0,0,0,14.47,14.42,14.49,6.24,50.66
$GC,7251,0.64,146.0,2619,2154,2130,2075,134.2,11.7,464,7255,0.00,2.45,0.00,0.000,4612,0.000,0.066,2629,740,2102,2129,2075,0,0,0,0,0,0,14.73,14.44,14.73,6.23,51.26
$GC,7316,0.64,146.0,2630,740,2128,2074,127.6,11.1,467,7321,0.05,2.42,0.00,0.000,5126,0.303,0.055,2609,2145,2100,2126,2074,0,0,0,0,0,0,14.33,14.48,14.47,6.23,50.74
$GC,7622,0.64,146.0,2609,2145,2127,2073,95.7,10.2,487,7626,0.00,2.45,0.00,0.000,4356,0.000,0.082,2608,3553,2099,2127,2072,0,0,0,0,0,0,14.78,14.52,14.78,6.22,50.39
$GC,7731,0.64,146.0,2609,3554,2127,2074,84.3,10.2,509,7736,0.00,2.38,0.00,0.000,5126,0.000,0.042,2618,2146,2100,2127,2073,0,0,0,0,0,0,14.57,14.53,14.58,6.21,49.60
$GC,7856,0.64,146.0,2618,2150,2128,2072,70.8,11.5,534,7860,0.00,2.42,0.00,0.000,4612,0.000,0.066,2629,741,2103,2134,2073,0,0,0,0,0,0,14.79,14.54,14.79,6.21,49.52
$GC,7891,0.64,146.0,2629,741,2126,2073,66.7,11.2,541,7896,0.05,2.42,0.00,0.000,5126,0.302,0.054,2608,2152,2098,2125,2072,0,0,0,0,0,0,14.35,14.51,14.52,6.20,49.44
$GC,8017,0.64,146.0,2608,2153,2127,2072,53.6,10.7,566,8020,0.00,2.45,0.00,0.000,4356,0.000,0.083,2608,3554,2098,2125,2072,0,0,0,0,0,0,14.80,14.53,14.80,6.21,49.29
$GC,8071,0.64,146.0,2608,3554,2126,2073,47.4,10.9,577,8076,0.00,2.38,0.00,0.000,5126,0.000,0.043,2617,2147,2099,2126,2072,0,0,0,0,0,0,14.57,14.52,14.59,6.20,49.48
$GC,8196,0.64,146.0,2618,2147,2126,2072,34.1,10.4,602,8199,0.00,0.00,0.00,0.000,4102,0.000,0.000,2618,2146,2098,2125,2072,0,0,0,0,0,0,14.81,14.81,14.81,6.20,49.56
$GC,8321,0.64,146.0,2618,2147,2127,2072,22.0,9.4,627,8325,0.00,2.45,0.00,0.000,4356,0.000,0.080,2618,3555,2098,2125,2071,0,0,0,0,0,0,14.81,14.50,14.82,6.20,49.76
$GC,8351,0.64,146.0,2618,3556,2127,2071,19.1,9.7,633,8356,0.05,2.38,0.00,0.000,5126,0.317,0.042,2609,2147,2098,2125,2071,0,0,0,0,0,0,14.35,14.54,14.50,6.20,49.84
$GC,8477,0.68,177.2,2609,2147,2124,2072,8.9,7.1,658,8506,0.00,2.42,24.42,0.284,10756,0.000,0.067,2618,739,1991,2012,1971,0,0,0,0,0,0,14.81,14.52,14.35,6.20,50.03
$STATE,8540,end climb,SURFACE_DEPTH_REACHED
$STATE,8540,begin surface coast
$STATE,8560,end surface coast,CONTROL_FINISHED_OK
$STATE,8561,begin surface
$SM_CCo,8575,40.30,0.245,0,0,1821,220.03
$SM_GC,1.52,5.57,2.38,40.30,0.084,0.051,0.245,271,2109,1821,-6.45,-0.71,220.03,0,0,0,0,0,0,14.63,14.55,14.34
$IRIDIUM_FIX,-6014.82,0.00,070119,112453
$TT8_MAMPS,0.038948,0.364014
$HUMID,49.60
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,1
$SC_FREEKB,3808736
$24V_AH,13.27,45.658
$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,13.125,82.825,282.625,40.300,0.000,26.054,18.652,116.060,0.250,0.000,20.749,0.000,6804.988,419.417,1561.499,122.333,0.000,1046.611,0.000,1129.484,0.000,0.539,0.000
$DEVICE_MAMPS,369.495,2243.745,1580.490,244.800,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4973.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.728,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,17340,675
$CAP_FILE_SIZE,90857,0
$CFSIZE,1023623168,997949440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.048,247.25,1
$GPS,070119,162535,-6011.722,-1.648,14,0.8,30,-19.7,0.5,163.4,9,9.5