version: 66.14
glider: 640
mission: 5
dive: 468
start: 2 3 119 9 17 41
data:
$ID,640
$MISSION,5
$DIVE,468
$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,45
$R_STBD_OVSHOOT,30
$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
$GPS1,030219,091125,-5947.2036,-0.0697,13,1.0,36,-19.7,0.5,177.1,10,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.4
$GPS2,030219,091722,-5947.2109,-0.0376,9,0.9,19,-19.7,0.5,52.5,11,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,10.9,13355,-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,-146.0,220,2085,1792,1829,0.0,0.0,0,102,0.00,0.00,-87.35,0.000,16386,0.000,0.000,220,2084,3191,3272,3111,0,0,0,0,0,0,14.56,28.83,14.56,6.18,50.94
$GC,105,-0.64,-146.0,220,2085,3273,3114,3.2,-7.1,18,122,6.20,2.70,-4.53,0.000,18948,0.349,2.212,2181,708,3317,3411,3224,0,0,0,0,0,0,13.89,12.97,14.28,6.30,49.68
$GC,158,-0.64,-146.0,2181,708,3414,3224,13.1,-15.3,29,162,0.08,2.40,0.00,0.000,3078,0.363,0.057,2194,2101,3318,3413,3224,0,0,0,0,0,0,14.02,14.27,14.29,6.31,48.89
$GC,285,-0.64,-146.0,2195,2101,3414,3225,33.8,-17.2,54,289,0.00,2.50,0.00,0.000,260,0.000,0.083,2184,3504,3318,3413,3223,0,0,0,0,0,0,14.60,14.23,14.61,6.31,49.84
$GC,319,-0.64,-146.0,2184,3506,3414,3224,39.8,-16.9,61,322,0.00,2.35,0.00,0.000,3078,0.000,0.044,2183,2107,3318,3413,3224,0,0,0,0,0,0,14.37,14.26,14.39,6.31,49.68
$GC,445,-0.64,-146.0,2184,2105,3415,3224,62.3,-18.1,86,449,0.00,2.47,0.00,0.000,2564,0.000,0.064,2183,685,3318,3413,3224,0,0,0,0,0,0,14.63,14.29,14.63,6.32,49.56
$GC,464,-0.64,-146.0,2183,685,3414,3225,65.8,-17.0,90,469,0.08,2.45,0.00,0.000,3078,0.360,0.057,2197,2109,3318,3413,3224,0,0,0,0,0,0,13.98,14.24,14.27,6.31,49.76
$GC,591,-0.64,-146.0,2198,2110,3415,3224,85.3,-15.6,115,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2109,3319,3414,3224,0,0,0,0,0,0,14.66,14.66,14.66,6.31,49.84
$GC,729,-0.64,-146.0,2197,2110,3414,3225,106.3,-14.5,137,733,0.00,2.47,0.00,0.000,516,0.000,0.063,2196,686,3319,3414,3224,0,0,0,0,0,0,14.70,14.26,14.68,6.31,49.21
$GC,759,-0.64,-146.0,2196,686,3414,3226,108.5,-14.6,138,763,0.00,2.42,0.00,0.000,3078,0.000,0.057,2187,2102,3318,3413,3224,0,0,0,0,0,0,14.41,14.27,14.42,6.31,48.42
$GC,1064,-0.64,-146.0,2187,2103,3415,3226,155.0,-14.3,154,1068,0.00,2.45,0.00,0.000,2564,0.000,0.062,2186,688,3319,3414,3225,0,0,0,0,0,0,14.75,14.30,14.75,6.30,49.40
$GC,1094,-0.64,-146.0,2187,689,3415,3225,157.2,-14.3,155,1098,0.05,2.42,0.00,0.000,3078,0.434,0.057,2191,2106,3319,3414,3225,0,0,0,0,0,0,14.04,14.30,14.31,6.31,49.21
$GC,1414,-0.64,-146.0,2191,2103,3413,3226,200.7,-13.2,172,1418,0.00,2.45,0.00,0.000,2308,0.000,0.083,2181,3506,3319,3414,3225,0,0,0,0,0,0,14.78,14.31,14.78,6.31,50.15
$GC,1479,-0.64,-146.0,2180,3506,3414,3225,208.1,-13.4,175,1483,0.00,2.35,0.00,0.000,3078,0.000,0.042,2180,2085,3318,3413,3224,0,0,0,0,0,0,14.50,14.34,14.53,6.31,50.55
$GC,1784,-0.64,-146.0,2180,2084,3414,3226,250.3,-13.4,190,1788,0.00,2.40,0.00,0.000,2564,0.000,0.062,2180,696,3316,3413,3220,0,0,0,0,0,0,14.79,14.38,14.79,6.32,50.94
$GC,1834,-0.64,-146.0,2176,696,3415,3224,255.0,-13.5,192,1838,0.08,2.40,0.00,0.000,3078,0.362,0.054,2192,2104,3319,3414,3225,0,0,0,0,0,0,14.04,14.33,14.36,6.33,50.63
$GC,2154,-0.64,-146.0,2193,2105,3414,3226,296.8,-12.3,209,2158,0.00,2.47,0.00,0.000,260,0.000,0.083,2182,3511,3319,3414,3225,0,0,0,0,0,0,14.81,14.35,14.81,6.33,51.18
$GC,2174,-0.64,-146.0,2183,3513,3414,3226,299.3,-12.4,210,2178,0.00,2.33,0.00,0.000,3078,0.000,0.043,2182,2101,3319,3414,3224,0,0,0,0,0,0,14.48,14.37,14.51,6.33,51.02
$GC,2494,-0.64,-146.0,2182,2100,3414,3226,340.3,-12.6,226,2498,0.00,2.42,0.00,0.000,2564,0.000,0.063,2182,696,3318,3413,3224,0,0,0,0,0,0,14.82,14.31,14.81,6.33,51.06
$GC,2539,-0.64,-146.0,2182,696,3414,3225,344.8,-12.7,228,2543,0.08,2.40,0.00,0.000,3078,0.356,0.054,2195,2109,3319,3413,3225,0,0,0,0,0,0,14.05,14.33,14.34,6.33,50.78
$STATE,2587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2587,begin apogee
$GC,2593,-0.15,0.0,2196,2159,3414,3226,351.9,-12.1,231,2720,0.45,0.00,124.80,1.584,10246,0.252,0.000,2354,2159,2721,2781,2661,0,0,0,0,0,0,14.12,13.90,13.20,6.33,50.98
$STATE,2721,end apogee,CONTROL_FINISHED_OK
$STATE,2721,begin loiter
$GC,3009,-0.15,0.0,2354,2159,2774,2645,346.9,3.8,252,3010,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2158,2708,2773,2644,0,0,0,0,0,0,14.54,14.54,14.55,6.28,50.51
$GC,3309,-0.15,0.0,2354,2159,2773,2642,335.5,4.0,267,3310,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2159,2707,2772,2642,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.98
$GC,3609,-0.15,0.0,2354,2159,2773,2643,324.0,3.8,282,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2158,2707,2773,2641,0,0,0,0,0,0,14.80,14.80,14.80,6.28,51.06
$GC,3909,-0.15,0.0,2354,2159,2773,2642,312.4,3.8,297,3910,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2158,2706,2773,2640,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.14
$GC,4209,-0.15,0.0,2354,2159,2774,2640,300.9,3.8,312,4210,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2159,2705,2772,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.14
$GC,4509,-0.15,0.0,2355,2159,2774,2640,290.1,3.6,327,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2158,2706,2773,2640,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.45
$GC,4809,-0.15,0.0,2354,2159,2773,2641,279.8,3.2,342,4810,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2158,2706,2773,2640,0,0,0,0,0,0,14.95,14.95,14.95,6.27,51.33
$GC,5109,-0.15,0.0,2354,2159,2774,2640,269.9,3.1,357,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2158,2706,2773,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.22
$GC,5410,-0.15,0.0,2354,2159,2773,2641,261.1,2.8,372,5410,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2158,2706,2773,2640,0,0,0,0,0,0,14.97,14.98,14.98,6.28,51.45
$GC,5709,-0.15,0.0,2354,2159,2773,2641,253.1,2.7,387,5710,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2158,2705,2772,2639,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.37
$GC,6009,-0.15,0.0,2354,2160,2773,2641,245.6,2.7,402,6010,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2158,2706,2773,2639,0,0,0,0,0,0,15.00,15.01,15.01,6.28,51.33
$STATE,6307,end loiter,LOITER_COMPLETE
$STATE,6307,begin climb
$GC,6309,0.64,146.0,2354,2159,2773,2641,237.4,0.0,417,6450,0.60,2.58,129.50,1.409,11012,0.161,0.082,2593,3550,2120,2142,2098,0,0,0,0,0,0,14.39,13.96,13.35,6.27,51.45
$GC,6490,0.64,146.0,2594,3550,2142,2093,225.0,9.0,426,6493,0.00,2.38,0.00,0.000,1030,0.000,0.041,2598,2153,2114,2137,2092,0,0,0,0,0,0,14.16,14.09,14.19,6.24,49.80
$GC,6805,0.64,146.0,2604,2154,2133,2085,188.0,12.1,442,6808,0.00,2.50,0.00,0.000,516,0.000,0.067,2615,746,2108,2133,2083,0,0,0,0,0,0,14.57,14.20,14.57,6.23,50.51
$GC,6865,0.64,146.0,2615,747,2130,2084,181.5,11.9,445,6868,0.00,2.40,0.00,0.000,5126,0.000,0.053,2615,2142,2106,2129,2083,0,0,0,0,0,0,14.40,14.26,14.42,6.24,51.10
$GC,7175,0.64,146.0,2616,2142,2129,2081,143.7,12.1,461,7179,0.00,2.50,0.00,0.000,4356,0.000,0.083,2615,3554,2104,2128,2081,0,0,0,0,0,0,14.68,14.27,14.69,6.23,51.14
$GC,7250,0.64,146.0,2622,3555,2129,2081,136.5,12.0,464,7254,0.08,2.35,0.00,0.000,5126,0.342,0.044,2600,2153,2104,2128,2081,0,0,0,0,0,0,14.10,14.38,14.38,6.23,50.86
$GC,7571,0.64,146.0,2601,2154,2128,2079,101.9,9.2,481,7575,0.00,2.47,0.00,0.000,516,0.000,0.067,2610,733,2102,2127,2078,0,0,0,0,0,0,14.73,14.35,14.73,6.22,50.23
$GC,7665,0.64,146.0,2610,734,2126,2079,92.5,10.1,495,7669,0.00,2.42,0.00,0.000,5126,0.000,0.054,2610,2162,2101,2125,2078,0,0,0,0,0,0,14.54,14.39,14.56,6.21,50.31
$GC,7792,0.64,146.0,2610,2163,2126,2079,79.0,10.8,520,7797,0.00,2.45,0.00,0.000,4356,0.000,0.083,2610,3551,2101,2125,2078,0,0,0,0,0,0,14.75,14.33,14.75,6.21,49.96
$GC,7865,0.64,146.0,2611,3551,2126,2078,70.9,10.5,535,7869,0.05,2.33,0.00,0.000,5126,0.409,0.044,2603,2148,2101,2125,2078,0,0,0,0,0,0,14.15,14.43,14.42,6.20,49.44
$GC,7990,0.64,146.0,2604,2148,2126,2079,57.7,10.7,560,7994,0.00,2.45,0.00,0.000,516,0.000,0.066,2613,744,2101,2125,2077,0,0,0,0,0,0,14.79,14.36,14.77,6.20,49.44
$GC,8035,0.64,146.0,2614,744,2126,2077,53.2,9.9,569,8038,0.00,2.40,0.00,0.000,5126,0.000,0.053,2613,2159,2100,2124,2077,0,0,0,0,0,0,14.54,14.40,14.57,6.20,50.00
$GC,8162,0.64,146.0,2614,2160,2125,2078,41.1,9.7,594,8165,0.00,0.00,0.00,0.000,4102,0.000,0.000,2614,2159,2100,2124,2077,0,0,0,0,0,0,14.76,14.76,14.76,6.19,49.72
$GC,8285,0.64,146.0,2614,2160,2125,2078,28.9,9.8,619,8288,0.00,0.00,0.00,0.000,4102,0.000,0.000,2613,2158,2101,2125,2077,0,0,0,0,0,0,14.77,14.77,14.77,6.20,50.39
$GC,8410,0.64,146.0,2614,2159,2125,2078,17.0,9.5,644,8413,0.00,0.00,0.00,0.000,4102,0.000,0.000,2614,2158,2100,2124,2076,0,0,0,0,0,0,14.78,14.78,14.78,6.20,50.51
$GC,8535,0.64,146.0,2614,2159,2125,2077,5.5,9.9,669,8538,0.00,0.00,0.00,0.000,4102,0.000,0.000,2612,2158,2100,2124,2076,0,0,0,0,0,0,14.78,14.78,14.78,6.20,51.02
$STATE,8563,end climb,SURFACE_DEPTH_REACHED
$STATE,8563,begin surface coast
$STATE,8593,end surface coast,CONTROL_FINISHED_OK
$STATE,8593,begin surface
$SM_CCo,8609,66.10,0.240,0,0,1822,220.03
$SM_GC,1.22,5.62,0.10,66.10,0.073,0.137,0.240,225,2060,1822,-6.50,0.88,220.03,0,0,0,0,0,0,14.53,14.47,14.14
$IRIDIUM_FIX,-5946.74,0.00,030219,063638
$TT8_MAMPS,0.038948,0.325815
$HUMID,50.35
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,1
$SC_FREEKB,3681248
$24V_AH,12.97,90.437
$10V_AH,13.49,0.000
$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,13.350,73.250,254.300,66.100,0.000,27.534,15.710,137.273,0.250,0.000,20.036,0.000,6827.927,406.910,1569.276,227.659,0.000,1031.775,0.000,1121.000,0.000,0.539,0.000
$DEVICE_MAMPS,433.755,2211.615,1584.315,240.210,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5014.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.518,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17344,681
$CAP_FILE_SIZE,91865,0
$CFSIZE,1023623168,973455360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.057,135.42,1
$GPS,030219,114319,-5946.824,0.226,13,1.0,36,-19.7,0.0,80.0,9,7.6