version: 66.14
glider: 640
mission: 5
dive: 470
start: 2 3 119 14 20 47
data:
$ID,640
$MISSION,5
$DIVE,470
$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,32
$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
$GPS1,030219,141404,-5946.5747,0.4061,13,0.9,28,-19.7,0.6,173.0,8,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-65.4
$GPS2,030219,142028,-5946.5864,0.4273,9,0.9,21,-19.7,0.0,313.5,8,9.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,9.6,12204,-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,-146.0,236,2103,1793,1828,0.0,0.0,0,102,0.00,0.00,-87.35,0.000,16386,0.000,0.000,235,2099,3202,3283,3122,0,0,0,0,0,0,14.54,28.83,14.54,6.18,51.29
$GC,105,-0.64,-146.0,235,2105,3284,3124,3.2,-6.9,18,122,6.18,2.78,-4.12,0.000,18948,0.356,2.207,2180,692,3316,3410,3223,0,0,0,0,0,0,13.87,13.07,14.27,6.30,50.82
$GC,163,-0.64,-146.0,2181,692,3413,3223,13.9,-16.1,30,167,0.08,2.42,0.00,0.000,3078,0.370,0.057,2193,2100,3317,3411,3223,0,0,0,0,0,0,14.00,14.26,14.28,6.32,49.05
$GC,290,-0.64,-146.0,2194,2101,3413,3224,34.0,-15.7,55,294,0.00,2.50,0.00,0.000,2308,0.000,0.083,2182,3512,3317,3412,3223,0,0,0,0,0,0,14.59,14.23,14.59,6.31,49.21
$GC,309,-0.64,-146.0,2182,3512,3412,3225,37.3,-16.8,59,313,0.03,2.38,0.00,0.000,3078,0.603,0.044,2188,2090,3317,3412,3223,0,0,0,0,0,0,14.08,14.26,14.24,6.31,49.60
$GC,436,-0.64,-146.0,2189,2090,3413,3223,57.6,-15.9,84,441,0.00,2.42,0.00,0.000,2564,0.000,0.063,2188,694,3318,3412,3224,0,0,0,0,0,0,14.62,14.28,14.62,6.32,49.68
$GC,459,-0.64,-146.0,2188,695,3413,3224,61.4,-14.9,89,462,0.00,2.42,0.00,0.000,3078,0.000,0.057,2177,2101,3318,3412,3224,0,0,0,0,0,0,14.38,14.24,14.40,6.31,49.64
$GC,584,-0.64,-146.0,2178,2102,3413,3225,78.1,-12.9,114,588,0.05,2.47,0.00,0.000,2308,0.448,0.082,2182,3504,3318,3412,3224,0,0,0,0,0,0,14.14,14.20,14.35,6.35,49.64
$GC,619,-0.64,-146.0,2182,3504,3413,3224,82.6,-12.8,121,622,0.00,2.35,0.00,0.000,3078,0.000,0.043,2180,2095,3318,3412,3224,0,0,0,0,0,0,14.45,14.29,14.42,6.32,48.93
$GC,745,-0.64,-146.0,2181,2094,3413,3225,98.1,-12.3,146,749,0.00,2.45,0.00,0.000,2564,0.000,0.063,2181,685,3318,3412,3224,0,0,0,0,0,0,14.66,14.32,14.66,6.26,48.30
$GC,809,-0.64,-146.0,2182,685,3413,3223,105.3,-13.2,152,813,0.08,2.42,0.00,0.000,3078,0.365,0.057,2193,2100,3317,3412,3223,0,0,0,0,0,0,14.00,14.26,14.27,6.31,48.26
$GC,1119,-0.64,-146.0,2193,2100,3413,3225,145.0,-12.5,168,1123,0.00,2.47,0.00,0.000,2308,0.000,0.083,2183,3504,3318,3412,3224,0,0,0,0,0,0,14.73,14.23,14.73,6.31,49.21
$GC,1154,-0.64,-146.0,2183,3504,3413,3224,149.6,-12.8,170,1158,0.00,2.35,0.00,0.000,3078,0.000,0.042,2182,2089,3318,3412,3224,0,0,0,0,0,0,14.45,14.33,14.47,6.31,49.72
$GC,1474,-0.64,-146.0,2183,2088,3414,3224,192.6,-13.7,186,1477,0.00,2.40,0.00,0.000,2564,0.000,0.062,2181,698,3318,3412,3224,0,0,0,0,0,0,14.76,14.29,14.77,6.32,50.35
$GC,1524,-0.64,-146.0,2183,698,3413,3223,197.5,-13.9,188,1528,0.08,2.40,0.00,0.000,3078,0.360,0.054,2195,2103,3320,3412,3228,0,0,0,0,0,0,14.03,14.32,14.31,6.32,50.31
$GC,1844,-0.64,-146.0,2196,2103,3413,3224,241.4,-13.2,205,1848,0.00,2.47,0.00,0.000,260,0.000,0.083,2185,3505,3318,3412,3224,0,0,0,0,0,0,14.78,14.26,14.78,6.32,50.70
$GC,1864,-0.64,-146.0,2184,3506,3413,3224,244.0,-13.2,206,1868,0.00,2.33,0.00,0.000,3078,0.000,0.044,2185,2099,3318,3412,3224,0,0,0,0,0,0,14.48,14.36,14.50,6.33,50.82
$GC,2184,-0.64,-146.0,2185,2098,3413,3225,287.7,-13.7,222,2188,0.00,2.42,0.00,0.000,2564,0.000,0.062,2184,693,3317,3412,3223,0,0,0,0,0,0,14.79,14.35,14.79,6.31,50.82
$GC,2234,-0.64,-146.0,2185,694,3414,3224,292.6,-13.8,224,2238,0.05,2.40,0.00,0.000,3078,0.428,0.054,2190,2101,3317,3412,3223,0,0,0,0,0,0,14.06,14.33,14.33,6.32,51.10
$GC,2554,-0.64,-146.0,2189,2102,3413,3225,336.0,-12.8,241,2555,0.00,0.00,0.00,0.000,2054,0.000,0.000,2190,2101,3318,3412,3224,0,0,0,0,0,0,14.81,14.80,14.81,6.33,50.94
$STATE,2671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2672,begin apogee
$GC,2677,-0.15,0.0,2190,2167,3413,3225,351.0,-12.4,247,2804,0.45,0.00,124.75,1.584,10246,0.255,0.000,2347,2167,2717,2777,2658,0,0,0,0,0,0,14.10,13.90,13.19,6.33,50.86
$STATE,2806,end apogee,CONTROL_FINISHED_OK
$STATE,2806,begin loiter
$GC,3094,-0.15,0.0,2348,2166,2773,2643,347.7,3.4,268,3095,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2167,2707,2771,2643,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.90
$GC,3394,-0.15,0.0,2347,2168,2773,2640,337.4,3.4,283,3395,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2167,2705,2771,2640,0,0,0,0,0,0,14.70,14.71,14.71,6.28,50.90
$GC,3694,-0.15,0.0,2347,2168,2772,2640,326.5,3.6,298,3695,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2167,2705,2771,2640,0,0,0,0,0,0,14.79,14.79,14.79,6.28,50.82
$GC,3994,-0.15,0.0,2347,2167,2771,2639,315.8,3.5,313,3995,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2705,2771,2639,0,0,0,0,0,0,14.84,14.85,14.85,6.28,50.98
$GC,4294,-0.15,0.0,2347,2167,2772,2638,306.8,2.9,328,4295,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2167,2704,2771,2638,0,0,0,0,0,0,14.88,14.89,14.89,6.28,50.94
$GC,4594,-0.15,0.0,2347,2168,2772,2638,298.9,2.6,343,4595,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2167,2704,2771,2638,0,0,0,0,0,0,14.92,14.92,14.91,6.28,51.33
$GC,4894,-0.15,0.0,2347,2168,2772,2638,291.6,2.3,358,4895,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2167,2704,2771,2638,0,0,0,0,0,0,14.94,14.94,14.94,6.28,51.77
$GC,5194,-0.15,0.0,2347,2168,2772,2637,284.4,2.5,373,5195,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2167,2704,2771,2638,0,0,0,0,0,0,14.96,14.96,14.96,6.28,51.41
$GC,5494,-0.15,0.0,2347,2168,2772,2638,276.6,2.7,388,5495,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2167,2703,2770,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.27,51.18
$GC,5794,-0.15,0.0,2347,2168,2772,2638,267.6,3.0,403,5795,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2167,2704,2771,2637,0,0,0,0,0,0,14.98,14.99,14.99,6.28,51.29
$GC,6094,-0.15,0.0,2347,2168,2772,2637,258.4,3.1,418,6095,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2167,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.45
$STATE,6392,end loiter,LOITER_COMPLETE
$STATE,6392,begin climb
$GC,6394,0.64,146.0,2347,2168,2772,2638,249.5,0.0,433,6532,0.62,2.53,129.23,1.424,11012,0.169,0.081,2592,3545,2119,2141,2097,0,0,0,0,0,0,14.36,13.83,13.33,6.27,51.45
$GC,6566,0.65,152.9,2592,3546,2141,2093,239.1,8.1,440,6579,0.00,2.38,6.78,1.367,11270,0.000,0.041,2603,2150,2091,2113,2069,0,0,0,0,0,0,14.16,14.07,13.28,6.22,49.09
$GC,6893,0.65,152.9,2604,2151,2109,2059,199.6,11.7,457,6899,0.00,2.50,0.00,0.000,2564,0.000,0.066,2614,747,2082,2106,2059,0,0,0,0,0,0,14.54,14.12,14.54,6.23,50.51
$GC,6956,0.65,152.9,2615,747,2105,2059,192.9,11.3,460,6961,0.00,2.38,0.00,0.000,5126,0.000,0.054,2614,2132,2080,2102,2059,0,0,0,0,0,0,14.38,14.25,14.41,6.23,50.66
$GC,7271,0.65,152.9,2615,2132,2103,2057,153.6,12.6,476,7275,0.00,2.53,0.00,0.000,4356,0.000,0.083,2614,3559,2079,2102,2057,0,0,0,0,0,0,14.68,14.27,14.68,6.23,50.86
$GC,7376,0.65,152.9,2615,3559,2103,2057,141.2,12.9,481,7380,0.00,2.35,0.00,0.000,5126,0.000,0.044,2625,2146,2075,2094,2057,0,0,0,0,0,0,14.50,14.38,14.52,6.23,51.06
$GC,7681,0.65,152.9,2627,2147,2102,2056,101.8,11.9,496,7685,0.05,2.45,0.00,0.000,4612,0.423,0.067,2618,742,2078,2101,2055,0,0,0,0,0,0,14.24,14.35,14.45,6.22,50.31
$GC,7701,0.65,152.9,2619,743,2101,2055,100.1,11.8,497,7705,0.00,2.40,0.00,0.000,5126,0.000,0.054,2619,2153,2077,2100,2055,0,0,0,0,0,0,14.53,14.38,14.56,6.21,50.55
$GC,8006,0.65,152.9,2619,2153,2102,2056,67.6,9.3,557,8011,0.00,2.47,0.00,0.000,4356,0.000,0.084,2619,3555,2077,2100,2054,0,0,0,0,0,0,14.76,14.33,14.76,6.21,50.07
$GC,8031,0.65,152.9,2619,3555,2100,2054,65.2,9.9,562,8035,0.08,2.35,0.00,0.000,5126,0.339,0.044,2603,2146,2077,2099,2055,0,0,0,0,0,0,14.15,14.43,14.43,6.20,49.84
$GC,8156,0.67,170.6,2604,2145,2100,2054,54.8,7.7,587,8175,0.00,2.42,14.62,1.307,10756,0.000,0.067,2613,742,2019,2038,2000,0,0,0,0,0,0,14.75,14.42,13.74,6.20,49.60
$GC,8268,0.69,192.9,2612,743,2037,1998,46.3,7.5,609,8295,0.00,2.40,22.27,1.256,11270,0.000,0.053,2613,2153,1933,1947,1920,0,0,0,0,0,0,14.51,14.37,13.67,6.19,50.11
$GC,8417,0.69,192.9,2614,2153,1943,1908,32.7,9.5,639,8420,0.00,2.47,0.00,0.000,2308,0.000,0.083,2613,3553,1922,1938,1907,0,0,0,0,0,0,14.62,14.25,14.62,6.18,49.68
$GC,8461,0.69,192.9,2614,3553,1943,1908,28.2,9.7,648,8465,0.00,2.35,0.00,0.000,1030,0.000,0.044,2624,2148,1925,1942,1908,0,0,0,0,0,0,14.44,14.33,14.45,6.18,50.07
$GC,8586,0.69,192.9,2624,2148,1942,1907,15.4,10.9,673,8591,0.00,2.47,0.00,0.000,516,0.000,0.066,2635,737,1923,1941,1906,0,0,0,0,0,0,14.65,14.29,14.66,6.19,50.78
$GC,8636,0.69,192.9,2635,737,1942,1905,10.2,10.2,683,8640,0.00,2.40,0.00,0.000,5126,0.000,0.054,2635,2150,1923,1940,1906,0,0,0,0,0,0,14.47,14.33,14.50,6.19,50.39
$STATE,8699,end climb,SURFACE_DEPTH_REACHED
$STATE,8699,begin surface coast
$STATE,8724,end surface coast,CONTROL_FINISHED_OK
$STATE,8724,begin surface
$SM_CCo,8741,23.70,0.246,0,0,1823,220.03
$SM_GC,0.87,5.62,0.08,23.70,0.065,0.157,0.246,249,2069,1823,-6.45,0.96,220.03,0,0,0,0,0,0,14.43,14.40,14.11
$IRIDIUM_FIX,-5949.69,0.00,030219,114554
$TT8_MAMPS,0.038948,0.349034
$HUMID,50.59
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3680224
$24V_AH,13.07,90.807
$10V_AH,13.23,0.000
$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,13.350,82.875,297.650,23.700,0.000,32.281,35.708,136.346,0.000,0.000,22.716,0.000,6891.006,396.865,1628.727,232.304,0.000,1041.682,0.000,1148.739,0.000,0.539,0.000
$DEVICE_MAMPS,602.820,2207.025,1584.315,246.330,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5145.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.551,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17324,701
$CAP_FILE_SIZE,94158,0
$CFSIZE,1023623168,973258752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.061,144.60,1
$GPS,030219,164757,-5946.259,0.648,36,0.8,38,-19.7,0.0,0.0,11,9.9