version: 66.14
glider: 640
mission: 5
dive: 457
start: 2 2 119 4 33 49
data:
$ID,640
$MISSION,5
$DIVE,457
$N_DIVES,600
$STOP_T,2051912
$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,31
$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
$GPS1,020219,042752,-5951.2290,-2.0699,27,0.8,38,-19.7,0.8,56.8,10,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-67.3
$GPS2,020219,043329,-5951.2271,-2.1038,8,0.8,13,-19.7,0.4,325.3,10,9.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,27.4,20885,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,12,-0.64,-146.0,232,2103,1789,1835,0.0,0.0,0,102,0.00,0.00,-87.80,0.000,16386,0.000,0.000,231,2104,3207,3289,3126,0,0,0,0,0,0,14.56,28.83,14.57,6.18,50.82
$GC,105,-0.64,-146.0,232,2104,3290,3128,3.3,-7.5,18,122,6.18,2.72,-3.88,0.000,18948,0.350,2.213,2180,690,3316,3410,3223,0,0,0,0,0,0,13.92,13.24,14.27,6.29,49.72
$GC,168,-0.64,-146.0,2181,690,3412,3223,15.7,-17.4,31,172,0.08,2.45,0.00,0.000,3078,0.365,0.057,2193,2104,3318,3412,3224,0,0,0,0,0,0,13.99,14.29,14.26,6.31,49.25
$GC,295,-0.64,-146.0,2193,2105,3413,3225,38.0,-18.2,56,299,0.00,2.47,0.00,0.000,2308,0.000,0.083,2183,3506,3317,3412,3223,0,0,0,0,0,0,14.61,14.23,14.65,6.31,49.25
$GC,344,-0.64,-146.0,2183,3507,3413,3225,46.8,-16.7,66,347,0.00,2.38,0.00,0.000,3078,0.000,0.042,2182,2089,3317,3412,3223,0,0,0,0,0,0,14.37,14.26,14.39,6.31,49.80
$GC,469,-0.64,-146.0,2182,2089,3413,3225,68.3,-16.1,91,472,0.00,2.53,0.00,0.000,2308,0.000,0.081,2172,3511,3318,3412,3224,0,0,0,0,0,0,14.65,14.19,14.66,6.31,49.68
$GC,509,-0.64,-146.0,2172,3514,3411,3225,74.5,-15.1,99,512,0.08,2.38,0.00,0.000,3078,0.360,0.042,2197,2091,3317,3412,3223,0,0,0,0,0,0,13.98,14.28,14.26,6.31,49.40
$GC,636,-0.64,-146.0,2197,2091,3413,3225,91.8,-13.3,124,640,0.00,2.45,0.00,0.000,516,0.000,0.065,2197,689,3318,3412,3224,0,0,0,0,0,0,14.66,14.31,14.66,6.31,48.89
$GC,689,-0.64,-146.0,2197,691,3412,3225,99.0,-12.3,135,693,0.00,2.42,0.00,0.000,3078,0.000,0.056,2187,2102,3317,3412,3223,0,0,0,0,0,0,14.48,14.34,14.50,6.39,49.01
$GC,819,-0.64,-146.0,2188,2103,3413,3224,115.1,-12.4,143,823,0.00,2.47,0.00,0.000,2308,0.000,0.083,2176,3504,3318,3413,3224,0,0,0,0,0,0,14.71,14.29,14.71,6.30,48.85
$GC,844,-0.64,-146.0,2178,3505,3413,3224,116.9,-12.4,144,849,0.05,2.35,0.00,0.000,3078,0.431,0.042,2192,2096,3318,3412,3224,0,0,0,0,0,0,14.09,14.39,14.35,6.31,48.77
$GC,1155,-0.64,-146.0,2193,2094,3413,3224,155.2,-12.0,160,1158,0.00,2.42,0.00,0.000,2564,0.000,0.063,2191,698,3318,3412,3224,0,0,0,0,0,0,14.75,14.35,14.76,6.31,49.96
$GC,1214,-0.64,-146.0,2192,698,3413,3224,162.1,-12.6,163,1218,0.00,2.40,0.00,0.000,3078,0.000,0.055,2181,2100,3318,3412,3224,0,0,0,0,0,0,14.53,14.38,14.55,6.31,50.23
$GC,1524,-0.64,-146.0,2181,2102,3413,3225,203.3,-13.4,179,1528,0.00,2.47,0.00,0.000,2308,0.000,0.082,2170,3504,3318,3412,3224,0,0,0,0,0,0,14.78,14.33,14.78,6.32,51.22
$GC,1569,-0.64,-146.0,2171,3504,3413,3224,208.1,-13.6,181,1573,0.08,2.35,0.00,0.000,3078,0.356,0.041,2196,2091,3318,3412,3224,0,0,0,0,0,0,14.11,14.44,14.39,6.32,50.51
$GC,1874,-0.64,-146.0,2195,2090,3412,3225,247.3,-12.3,196,1878,0.00,2.42,0.00,0.000,516,0.000,0.063,2196,694,3318,3412,3224,0,0,0,0,0,0,14.79,14.38,14.80,6.32,51.10
$GC,1945,-0.64,-146.0,2197,693,3413,3221,254.1,-12.4,199,1948,0.00,2.40,0.00,0.000,3078,0.000,0.056,2186,2101,3318,3412,3224,0,0,0,0,0,0,14.56,14.41,14.58,6.32,50.78
$GC,2264,-0.64,-146.0,2186,2101,3413,3225,296.3,-12.8,216,2265,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2101,3323,3422,3224,0,0,0,0,0,0,14.81,14.81,14.81,6.33,51.61
$GC,2564,-0.64,-146.0,2186,2101,3413,3224,334.6,-12.8,231,2565,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2100,3318,3412,3224,0,0,0,0,0,0,14.81,14.82,14.82,6.33,51.33
$STATE,2702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2702,begin apogee
$GC,2708,-0.15,0.0,2186,2166,3412,3225,352.5,-12.7,238,2836,0.47,0.00,124.93,1.578,10246,0.256,0.000,2352,2165,2715,2774,2656,0,0,0,0,0,0,14.09,13.91,13.22,6.33,51.10
$STATE,2837,end apogee,CONTROL_FINISHED_OK
$STATE,2837,begin loiter
$GC,3124,-0.15,0.0,2352,2166,2772,2644,350.6,3.0,259,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2706,2771,2642,0,0,0,0,0,0,14.55,14.55,14.55,6.28,50.82
$GC,3425,-0.15,0.0,2352,2166,2773,2640,341.7,3.0,274,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.29,51.02
$GC,3724,-0.15,0.0,2352,2165,2773,2640,332.9,2.9,289,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2705,2771,2640,0,0,0,0,0,0,14.79,14.80,14.80,6.29,50.90
$GC,4025,-0.15,0.0,2352,2166,2772,2640,324.9,2.6,304,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2705,2771,2639,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.14
$GC,4324,-0.15,0.0,2352,2166,2771,2639,317.0,2.5,319,4325,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2704,2770,2638,0,0,0,0,0,0,14.89,14.90,14.89,6.28,51.41
$GC,4624,-0.15,0.0,2351,2166,2772,2639,309.0,2.7,334,4625,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2704,2771,2638,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.53
$GC,4924,-0.15,0.0,2352,2166,2772,2639,300.6,2.9,349,4925,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2704,2771,2638,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.49
$GC,5224,-0.15,0.0,2352,2166,2772,2637,292.8,2.5,364,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2703,2770,2637,0,0,0,0,0,0,14.96,14.97,14.97,6.28,51.69
$GC,5525,-0.15,0.0,2351,2165,2772,2639,285.0,2.5,379,5525,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2704,2771,2637,0,0,0,0,0,0,14.97,14.97,14.98,6.28,51.61
$GC,5824,-0.15,0.0,2351,2166,2772,2639,277.4,2.6,394,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2704,2771,2637,0,0,0,0,0,0,14.99,14.99,15.00,6.28,51.41
$GC,6124,-0.15,0.0,2352,2166,2772,2638,269.3,2.6,409,6125,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2164,2704,2771,2637,0,0,0,0,0,0,14.99,15.00,15.00,6.27,51.37
$STATE,6422,end loiter,LOITER_COMPLETE
$STATE,6422,begin climb
$GC,6425,0.64,146.0,2352,2165,2772,2637,261.1,0.0,424,6565,0.62,2.50,129.40,1.438,10500,0.173,0.079,2596,3540,2119,2142,2096,0,0,0,0,0,0,14.36,13.83,13.34,6.27,51.45
$GC,6640,0.64,146.0,2596,3540,2140,2089,246.9,9.8,434,6644,0.00,2.38,0.00,0.000,1030,0.000,0.041,2606,2147,2113,2139,2087,0,0,0,0,0,0,14.20,14.12,14.22,6.23,49.48
$GC,6945,0.64,146.0,2607,2147,2133,2082,211.7,11.1,450,6949,0.00,2.47,0.00,0.000,4612,0.000,0.067,2617,744,2107,2132,2082,0,0,0,0,0,0,14.57,14.21,14.57,6.23,51.10
$GC,6995,0.64,146.0,2618,744,2129,2081,207.4,10.9,452,6998,0.00,2.40,0.00,0.000,5126,0.000,0.054,2617,2133,2104,2128,2081,0,0,0,0,0,0,14.40,14.26,14.42,6.23,50.94
$GC,7300,0.64,146.0,2617,2134,2128,2078,170.4,12.0,467,7304,0.00,2.53,0.00,0.000,4356,0.000,0.083,2618,3555,2102,2127,2078,0,0,0,0,0,0,14.69,14.28,14.69,6.23,50.70
$GC,7390,0.64,146.0,2619,3556,2127,2078,161.0,12.4,471,7394,0.08,2.35,0.00,0.000,5126,0.343,0.042,2603,2148,2102,2127,2078,0,0,0,0,0,0,14.10,14.38,14.38,6.23,50.74
$GC,7695,0.64,146.0,2603,2149,2126,2078,126.4,10.3,487,7699,0.00,2.47,0.00,0.000,516,0.000,0.067,2613,735,2101,2126,2076,0,0,0,0,0,0,14.74,14.34,14.75,6.22,50.70
$GC,7780,0.64,146.0,2613,736,2125,2077,118.4,9.9,491,7784,0.00,2.42,0.00,0.000,5126,0.000,0.054,2613,2161,2101,2125,2077,0,0,0,0,0,0,14.51,14.38,14.56,6.23,50.59
$GC,8085,0.64,146.0,2613,2162,2125,2077,85.3,10.0,527,8089,0.00,2.45,0.00,0.000,4356,0.000,0.083,2613,3551,2100,2125,2076,0,0,0,0,0,0,14.76,14.33,14.76,6.21,50.66
$GC,8110,0.64,146.0,2613,3553,2125,2077,82.8,10.2,532,8114,0.05,2.35,0.00,0.000,5126,0.408,0.043,2606,2142,2099,2124,2075,0,0,0,0,0,0,14.16,14.45,14.44,6.22,50.11
$GC,8237,0.64,146.0,2606,2142,2125,2076,72.1,8.5,557,8240,0.00,2.45,0.00,0.000,516,0.000,0.067,2615,735,2100,2124,2076,0,0,0,0,0,0,14.75,14.36,14.73,6.20,50.39
$GC,8295,0.67,169.2,2616,737,2124,2077,67.3,7.4,569,8320,0.00,2.40,18.45,1.307,9222,0.000,0.053,2615,2147,2025,2045,2006,0,0,0,0,0,0,14.53,14.40,13.72,6.21,49.76
$GC,8441,0.69,186.1,2615,2148,2044,2004,55.7,7.7,598,8464,0.00,2.53,16.98,1.278,10500,0.000,0.083,2616,3553,1957,1974,1940,0,0,0,0,0,0,14.68,14.32,13.66,6.19,49.01
$GC,8531,0.69,187.8,2615,3553,1975,1938,48.2,8.3,616,8534,0.00,2.35,0.00,0.000,5126,0.000,0.042,2626,2149,1956,1974,1938,0,0,0,0,0,0,14.45,14.34,14.46,6.19,48.66
$GC,8657,0.69,187.8,2626,2150,1974,1936,37.3,8.9,641,8661,0.00,2.45,0.00,0.000,4612,0.000,0.067,2637,744,1953,1973,1934,0,0,0,0,0,0,14.63,14.28,14.63,6.19,49.29
$GC,8701,0.69,187.8,2638,744,1973,1934,33.2,9.0,650,8705,0.03,2.40,0.00,0.000,5126,0.542,0.054,2624,2150,1952,1971,1934,0,0,0,0,0,0,14.14,14.33,14.35,6.19,49.52
$GC,8826,0.69,187.8,2624,2151,1973,1933,21.0,10.4,675,8829,0.00,2.50,0.00,0.000,260,0.000,0.083,2623,3560,1952,1972,1933,0,0,0,0,0,0,14.66,14.28,14.66,6.19,50.51
$GC,8881,0.69,187.8,2623,3561,1972,1934,15.1,10.6,686,8884,0.00,2.38,0.00,0.000,5126,0.000,0.043,2632,2138,1952,1971,1933,0,0,0,0,0,0,14.50,14.38,14.51,6.20,50.74
$STATE,8988,end climb,SURFACE_DEPTH_REACHED
$STATE,8988,begin surface coast
$STATE,9014,end surface coast,CONTROL_FINISHED_OK
$STATE,9014,begin surface
$SM_CCo,9029,30.40,0.246,0,0,1822,220.03
$SM_GC,1.08,5.57,0.00,30.40,0.070,0.000,0.246,229,2136,1822,-6.44,1.02,220.03,0,0,0,0,0,0,14.52,14.69,14.12
$IRIDIUM_FIX,-5952.62,17.15,020219,015430
$TT8_MAMPS,0.03745,0.291361
$HUMID,50.51
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,1
$SC_FREEKB,3686880
$24V_AH,13.22,88.462
$10V_AH,13.35,0.000
$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,13.275,82.950,289.750,30.400,0.000,24.732,16.100,128.616,0.250,0.000,14.364,0.000,7160.815,402.911,1606.580,227.184,0.000,1053.745,0.000,1167.258,0.000,0.540,0.000
$DEVICE_MAMPS,541.620,2213.145,1578.195,245.565,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5435.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.445,0.000,0.000,0.000
$MEM,344076
$DATA_FILE_SIZE,17326,713
$CAP_FILE_SIZE,94972,0
$CFSIZE,1023623168,974536704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.046,214.18,1
$GPS,020219,070557,-5950.841,-2.117,40,0.7,42,-19.7,0.0,0.0,12,9.0