version: 66.14
glider: 640
mission: 5
dive: 461
start: 2 2 119 15 0 17
data:
$ID,640
$MISSION,5
$DIVE,461
$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,59
$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
$GPS1,020219,145331,-5949.9341,-1.5616,16,0.8,33,-19.7,0.4,139.2,10,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-69.6
$GPS2,020219,145958,-5949.9175,-1.5263,8,0.7,18,-19.7,0.7,119.4,10,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,22.3,18422,-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,-146.0,217,2070,1791,1829,0.0,0.0,0,102,0.00,0.00,-87.60,0.000,16386,0.000,0.000,209,2069,3190,3274,3107,0,0,0,0,0,0,14.54,28.83,14.54,6.19,51.29
$GC,105,-0.64,-146.0,216,2070,3267,3109,3.0,-6.2,18,122,6.22,2.62,-4.82,0.000,18948,0.353,2.212,2173,730,3317,3411,3223,0,0,0,0,0,0,13.89,12.97,14.25,6.29,50.00
$GC,138,-0.64,-146.0,2172,729,3413,3223,10.0,-18.9,25,142,0.10,2.35,0.00,0.000,3078,0.339,0.053,2195,2101,3318,3413,3224,0,0,0,0,0,0,14.04,14.28,14.28,6.31,49.25
$GC,265,-0.64,-146.0,2195,2101,3415,3224,31.9,-17.0,50,268,0.00,2.50,0.00,0.000,260,0.000,0.083,2187,3504,3322,3421,3224,0,0,0,0,0,0,14.59,14.22,14.59,6.31,49.29
$GC,308,-0.64,-146.0,2185,3505,3414,3225,39.7,-17.1,59,312,0.00,2.33,0.00,0.000,3078,0.000,0.043,2184,2126,3318,3413,3224,0,0,0,0,0,0,14.40,14.31,14.42,6.31,49.37
$GC,433,-0.64,-146.0,2184,2125,3414,3224,61.0,-16.5,84,437,0.00,2.53,0.00,0.000,2564,0.000,0.065,2184,684,3322,3413,3232,0,0,0,0,0,0,14.64,14.21,14.64,6.31,49.68
$GC,533,-0.64,-146.0,2184,685,3413,3225,76.6,-13.6,104,538,0.08,2.45,0.00,0.000,3078,0.357,0.057,2197,2107,3318,3413,3224,0,0,0,0,0,0,13.98,14.25,14.26,6.31,49.92
$GC,660,-0.64,-146.0,2198,2107,3414,3223,92.2,-12.6,129,665,0.00,2.47,0.00,0.000,516,0.000,0.063,2198,690,3318,3413,3224,0,0,0,0,0,0,14.66,14.31,14.66,6.30,48.74
$GC,673,-0.64,-146.0,2198,690,3413,3224,94.2,-13.1,132,677,0.00,2.42,0.00,0.000,3078,0.000,0.057,2188,2104,3318,3413,3224,0,0,0,0,0,0,14.40,14.28,14.42,6.30,48.89
$GC,798,-0.64,-146.0,2189,2104,3414,3217,111.0,-13.4,145,802,0.00,2.47,0.00,0.000,2308,0.000,0.083,2177,3505,3318,3413,3224,0,0,0,0,0,0,14.71,14.23,14.71,6.30,48.85
$GC,813,-0.64,-146.0,2177,3505,3414,3225,113.0,-13.4,146,817,0.05,2.35,0.00,0.000,3078,0.423,0.044,2193,2097,3318,3413,3224,0,0,0,0,0,0,14.05,14.34,14.32,6.31,48.38
$GC,1133,-0.64,-146.0,2194,2096,3415,3224,150.0,-11.5,162,1137,0.00,2.45,0.00,0.000,516,0.000,0.063,2193,688,3318,3413,3224,0,0,0,0,0,0,14.75,14.31,14.76,6.31,49.48
$GC,1188,-0.64,-146.0,2193,689,3414,3225,156.6,-11.9,165,1192,0.00,2.42,0.00,0.000,3078,0.000,0.056,2183,2103,3318,3413,3224,0,0,0,0,0,0,14.48,14.33,14.50,6.31,49.68
$GC,1503,-0.64,-146.0,2183,2107,3413,3225,194.2,-12.1,181,1507,0.00,2.47,0.00,0.000,2308,0.000,0.082,2172,3511,3318,3413,3224,0,0,0,0,0,0,14.78,14.28,14.78,6.31,50.74
$GC,1533,-0.64,-146.0,2173,3512,3414,3224,196.8,-12.3,182,1537,0.08,2.35,0.00,0.000,3078,0.350,0.042,2198,2097,3318,3413,3224,0,0,0,0,0,0,14.10,14.40,14.35,6.27,50.59
$GC,1838,-0.64,-146.0,2198,2097,3414,3225,234.4,-11.9,197,1842,0.00,2.42,0.00,0.000,516,0.000,0.063,2197,697,3318,3413,3223,0,0,0,0,0,0,14.79,14.31,14.79,6.32,51.57
$GC,1903,-0.64,-146.0,2198,697,3413,3225,241.0,-12.0,200,1907,0.00,2.40,0.00,0.000,3078,0.000,0.055,2187,2106,3318,3413,3224,0,0,0,0,0,0,14.47,14.33,14.49,6.31,50.86
$GC,2208,-0.64,-146.0,2188,2107,3414,3224,280.9,-12.9,215,2209,0.00,0.00,0.00,0.000,2054,0.000,0.000,2187,2106,3318,3413,3224,0,0,0,0,0,0,14.81,14.81,14.81,6.32,51.18
$GC,2508,-0.64,-146.0,2188,2107,3415,3224,320.1,-13.0,230,2509,0.00,0.00,0.00,0.000,2054,0.000,0.000,2187,2106,3318,3413,3224,0,0,0,0,0,0,14.82,14.82,14.81,6.32,51.26
$STATE,2746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2746,begin apogee
$GC,2752,-0.15,0.0,2187,2158,3414,3224,350.9,-12.8,242,2880,0.47,0.00,125.47,1.583,10246,0.251,0.000,2353,2158,2716,2776,2657,0,0,0,0,0,0,14.10,13.90,13.21,6.32,51.22
$STATE,2881,end apogee,CONTROL_FINISHED_OK
$STATE,2881,begin loiter
$GC,3168,-0.15,0.0,2353,2158,2772,2644,348.6,3.0,263,3169,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2157,2707,2771,2643,0,0,0,0,0,0,14.54,14.55,14.55,6.28,51.06
$GC,3468,-0.15,0.0,2354,2159,2772,2641,340.0,2.9,278,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2158,2705,2771,2640,0,0,0,0,0,0,14.70,14.71,14.71,6.28,50.70
$GC,3768,-0.15,0.0,2354,2158,2771,2640,331.4,2.9,293,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2157,2704,2770,2639,0,0,0,0,0,0,14.79,14.80,14.80,6.28,51.26
$GC,4068,-0.15,0.0,2354,2158,2772,2638,323.0,2.7,308,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2158,2704,2770,2638,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.14
$GC,4368,-0.15,0.0,2354,2158,2772,2638,314.3,2.9,323,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2157,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.49
$GC,4668,-0.15,0.0,2354,2158,2772,2637,305.5,2.9,338,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2157,2703,2770,2637,0,0,0,0,0,0,14.92,14.92,14.92,6.27,51.49
$GC,4968,-0.15,0.0,2353,2158,2772,2638,297.6,2.5,353,4969,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2158,2703,2770,2637,0,0,0,0,0,0,14.95,14.95,14.95,6.27,51.37
$GC,5268,-0.15,0.0,2353,2159,2771,2638,291.1,1.9,368,5269,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2157,2703,2770,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.29
$GC,5568,-0.15,0.0,2354,2158,2772,2637,285.4,1.9,383,5569,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2157,2703,2770,2637,0,0,0,0,0,0,14.98,14.98,14.98,6.27,51.53
$GC,5868,-0.15,0.0,2354,2158,2772,2637,279.3,2.2,398,5869,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2158,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.37
$GC,6168,-0.15,0.0,2353,2158,2772,2637,271.9,2.6,413,6169,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2157,2703,2771,2636,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.81
$STATE,6466,end loiter,LOITER_COMPLETE
$STATE,6466,begin climb
$GC,6468,0.64,146.0,2354,2157,2772,2637,263.7,0.0,428,6609,0.62,2.58,129.70,1.439,11012,0.167,0.080,2600,3546,2118,2141,2096,0,0,0,0,0,0,14.37,13.95,13.34,6.27,51.81
$GC,6694,0.64,146.0,2600,3546,2139,2089,246.6,10.6,439,6697,0.00,2.38,0.00,0.000,5126,0.000,0.041,2610,2149,2113,2138,2088,0,0,0,0,0,0,14.21,14.12,14.23,6.23,49.01
$GC,7004,0.64,146.0,2611,2149,2133,2081,210.1,11.8,455,7007,0.00,2.50,0.00,0.000,4612,0.000,0.067,2621,735,2106,2131,2081,0,0,0,0,0,0,14.57,14.21,14.58,6.22,50.47
$GC,7059,0.64,146.0,2622,736,2128,2082,203.7,11.7,458,7062,0.05,2.42,0.00,0.000,5126,0.373,0.054,2604,2139,2104,2128,2081,0,0,0,0,0,0,14.06,14.26,14.31,6.23,50.59
$GC,7379,0.64,146.0,2604,2141,2127,2079,166.5,12.1,474,7382,0.00,2.53,0.00,0.000,260,0.000,0.082,2604,3559,2102,2126,2078,0,0,0,0,0,0,14.69,14.28,14.69,6.23,51.10
$GC,7464,0.64,146.0,2604,3560,2127,2079,157.5,12.1,478,7467,0.00,2.38,0.00,0.000,5126,0.000,0.043,2612,2141,2102,2126,2078,0,0,0,0,0,0,14.50,14.39,14.52,6.22,50.63
$GC,7769,0.64,146.0,2613,2141,2127,2077,118.8,11.9,493,7772,0.00,2.45,0.00,0.000,4612,0.000,0.067,2624,741,2101,2126,2076,0,0,0,0,0,0,14.75,14.34,14.75,6.21,50.98
$GC,7849,0.64,146.0,2624,741,2124,2076,110.8,10.8,497,7853,0.05,2.40,0.00,0.000,5126,0.394,0.053,2606,2153,2099,2123,2076,0,0,0,0,0,0,14.15,14.38,14.42,6.21,50.78
$GC,8154,0.65,153.2,2606,2154,2124,2077,83.5,8.1,542,8158,0.00,2.47,0.00,0.000,260,0.000,0.083,2605,3560,2099,2123,2076,0,0,0,0,0,0,14.76,14.33,14.76,6.20,50.03
$GC,8249,0.65,157.4,2606,3558,2124,2076,75.4,8.2,561,8261,0.00,2.35,6.88,1.305,13318,0.000,0.043,2615,2149,2074,2095,2053,0,0,0,0,0,0,14.56,14.43,13.65,6.21,49.76
$GC,8384,0.65,157.4,2615,2150,2097,2052,63.3,9.5,588,8387,0.00,2.45,0.00,0.000,4612,0.000,0.067,2620,736,2074,2096,2052,0,0,0,0,0,0,14.73,14.35,14.73,6.20,49.48
$GC,8449,0.65,157.4,2626,737,2097,2052,57.2,9.2,601,8453,0.05,2.42,0.00,0.000,5126,0.378,0.053,2608,2159,2074,2096,2052,0,0,0,0,0,0,14.18,14.39,14.41,6.20,49.60
$GC,8574,0.65,157.4,2608,2159,2097,2050,45.8,9.5,626,8578,0.00,2.45,0.00,0.000,260,0.000,0.082,2608,3552,2073,2095,2052,0,0,0,0,0,0,14.73,14.33,14.73,6.19,49.56
$GC,8609,0.65,157.4,2608,3552,2097,2052,42.1,10.3,633,8612,0.00,2.35,0.00,0.000,5126,0.000,0.044,2617,2144,2074,2096,2052,0,0,0,0,0,0,14.54,14.42,14.57,6.19,49.64
$GC,8735,0.65,157.4,2617,2145,2096,2052,29.4,10.1,658,8739,0.00,2.42,0.00,0.000,4612,0.000,0.067,2628,742,2073,2096,2051,0,0,0,0,0,0,14.73,14.35,14.73,6.20,49.96
$GC,8774,0.65,157.4,2629,743,2097,2050,25.4,9.6,666,8779,0.05,2.40,0.00,0.000,5126,0.381,0.054,2608,2152,2072,2095,2050,0,0,0,0,0,0,14.17,14.38,14.41,6.20,50.59
$GC,8899,0.65,157.4,2610,2152,2097,2050,13.8,9.1,691,8903,0.00,2.47,0.00,0.000,260,0.000,0.083,2609,3555,2072,2095,2050,0,0,0,0,0,0,14.73,14.33,14.73,6.20,50.35
$GC,8964,0.65,157.4,2609,3555,2096,2051,7.8,9.9,704,8967,0.00,2.35,0.00,0.000,5126,0.000,0.042,2619,2142,2073,2096,2050,0,0,0,0,0,0,14.55,14.43,14.56,6.20,50.82
$STATE,9017,end climb,SURFACE_DEPTH_REACHED
$STATE,9017,begin surface coast
$STATE,9047,end surface coast,CONTROL_FINISHED_OK
$STATE,9047,begin surface
$SM_CCo,9061,60.03,0.239,0,0,1822,220.03
$SM_GC,1.14,5.55,0.03,60.03,0.065,0.321,0.239,271,2076,1822,-6.45,1.13,220.03,0,0,0,0,0,0,14.56,14.49,14.14
$IRIDIUM_FIX,-5947.83,0.00,020219,122252
$TT8_MAMPS,0.03745,0.208222
$HUMID,50.03
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,1
$SC_FREEKB,3684832
$24V_AH,12.97,89.171
$10V_AH,13.53,0.000
$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,13.375,82.875,262.050,60.025,0.000,28.020,41.834,137.338,0.250,0.000,19.847,0.000,7205.680,409.870,1665.846,226.944,0.000,1059.977,0.000,1177.336,0.000,0.539,0.000
$DEVICE_MAMPS,423.045,2212.380,1582.785,239.445,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5470.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.465,0.000,0.000,0.000
$MEM,344112
$DATA_FILE_SIZE,20758,721
$CAP_FILE_SIZE,96113,0
$CFSIZE,1023623168,974143488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.033,174.61,1
$GPS,020219,173325,-5949.521,-1.473,18,0.8,40,-19.7,0.0,242.3,11,9.3