version: 66.14
glider: 640
mission: 5
dive: 471
start: 2 3 119 16 54 20
data:
$ID,640
$MISSION,5
$DIVE,471
$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,60
$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
$GPS1,030219,164757,-5946.2593,0.6479,36,0.8,38,-19.7,0.0,0.0,11,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-70.2
$GPS2,030219,165401,-5946.2720,0.6861,9,0.8,15,-19.7,0.5,15.0,10,10.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,9.0,11633,-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,-146.0,235,2069,1793,1831,0.0,0.0,0,102,0.00,0.00,-87.60,0.000,16386,0.000,0.000,234,2068,3210,3293,3128,0,0,0,0,0,0,14.54,28.83,14.54,6.19,51.33
$GC,105,-0.64,-146.0,235,2069,3294,3129,3.3,-7.4,18,118,6.12,0.00,-3.80,0.000,18694,0.347,0.000,2184,2068,3316,3409,3224,0,0,0,0,0,0,13.89,13.35,14.26,6.30,50.63
$GC,240,-0.64,-146.0,2183,2069,3413,3225,28.3,-18.2,45,245,0.00,2.35,0.00,0.000,2564,0.000,0.062,2183,716,3318,3412,3224,0,0,0,0,0,0,14.61,14.28,14.59,6.32,49.29
$GC,273,-0.64,-146.0,2184,717,3413,3222,34.3,-16.7,52,278,0.08,2.38,0.00,0.000,3078,0.363,0.055,2196,2101,3318,3412,3224,0,0,0,0,0,0,14.00,14.30,14.27,6.31,50.00
$GC,400,-0.64,-146.0,2196,2102,3413,3225,54.4,-15.6,77,405,0.00,2.50,0.00,0.000,260,0.000,0.083,2185,3510,3317,3412,3223,0,0,0,0,0,0,14.64,14.26,14.64,6.31,49.56
$GC,463,-0.64,-146.0,2186,3509,3413,3224,64.5,-13.3,90,467,0.00,2.33,0.00,0.000,3078,0.000,0.042,2185,2117,3318,3412,3224,0,0,0,0,0,0,14.47,14.36,14.50,6.31,49.52
$GC,588,-0.64,-146.0,2186,2116,3414,3224,82.3,-15.5,115,592,0.00,2.45,0.00,0.000,2308,0.000,0.082,2175,3505,3318,3413,3224,0,0,0,0,0,0,14.69,14.23,14.69,6.32,49.44
$GC,618,-0.64,-146.0,2175,3506,3413,3224,87.1,-16.5,121,622,0.05,2.35,0.00,0.000,3078,0.423,0.044,2190,2094,3318,3412,3224,0,0,0,0,0,0,14.06,14.38,14.31,6.31,49.37
$GC,745,-0.64,-146.0,2191,2094,3414,3224,106.4,-15.1,140,748,0.00,2.42,0.00,0.000,2564,0.000,0.064,2190,695,3318,3413,3223,0,0,0,0,0,0,14.70,14.33,14.69,6.31,48.46
$GC,823,-0.64,-146.0,2191,696,3414,3222,118.5,-15.0,144,827,0.00,2.40,0.00,0.000,3078,0.000,0.056,2180,2102,3318,3413,3224,0,0,0,0,0,0,14.45,14.33,14.46,6.31,48.50
$GC,1143,-0.64,-146.0,2180,2102,3413,3225,161.6,-12.4,160,1147,0.00,2.47,0.00,0.000,2308,0.000,0.082,2170,3511,3318,3412,3224,0,0,0,0,0,0,14.76,14.26,14.76,6.31,49.17
$GC,1173,-0.64,-146.0,2170,3512,3414,3219,163.6,-12.6,161,1177,0.08,2.35,0.00,0.000,3078,0.350,0.044,2195,2096,3318,3413,3224,0,0,0,0,0,0,14.05,14.35,14.32,6.31,49.52
$GC,1495,-0.64,-146.0,2195,2096,3413,3225,203.5,-11.7,178,1499,0.00,2.42,0.00,0.000,516,0.000,0.063,2194,697,3318,3412,3224,0,0,0,0,0,0,14.76,14.35,14.77,6.31,50.23
$GC,1574,-0.64,-146.0,2195,697,3414,3223,212.6,-11.2,182,1578,0.00,2.40,0.00,0.000,3078,0.000,0.056,2184,2103,3318,3413,3224,0,0,0,0,0,0,14.45,14.32,14.48,6.32,50.78
$GC,1894,-0.64,-146.0,2185,2103,3414,3224,250.2,-11.8,198,1894,0.00,0.00,0.00,0.000,2054,0.000,0.000,2185,2103,3318,3413,3224,0,0,0,0,0,0,14.79,14.80,14.79,6.32,50.98
$GC,2194,-0.64,-146.0,2185,2104,3413,3225,285.5,-11.8,213,2197,0.00,2.42,0.00,0.000,2564,0.000,0.062,2185,691,3318,3413,3224,0,0,0,0,0,0,14.81,14.31,14.81,6.33,51.22
$GC,2209,-0.64,-146.0,2185,697,3413,3225,287.3,-11.9,214,2213,0.08,2.40,0.00,0.000,3078,0.368,0.056,2197,2100,3318,3413,3224,0,0,0,0,0,0,14.04,14.33,14.33,6.33,51.06
$GC,2524,-0.64,-146.0,2198,2101,3414,3224,323.1,-11.4,230,2528,0.00,2.47,0.00,0.000,260,0.000,0.084,2188,3508,3318,3412,3224,0,0,0,0,0,0,14.81,14.31,14.81,6.33,51.26
$GC,2549,-0.64,-146.0,2188,3509,3414,3224,324.8,-11.5,231,2553,0.00,2.35,0.00,0.000,3078,0.000,0.044,2187,2099,3318,3412,3224,0,0,0,0,0,0,14.49,14.38,14.51,6.33,51.18
$STATE,2756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2756,begin apogee
$GC,2762,-0.15,0.0,2188,2161,3414,3223,351.2,-12.0,242,2890,0.47,0.00,125.07,1.587,10246,0.254,0.000,2353,2160,2715,2775,2655,0,0,0,0,0,0,14.10,13.90,13.21,6.33,51.22
$STATE,2891,end apogee,CONTROL_FINISHED_OK
$STATE,2891,begin loiter
$GC,3179,-0.15,0.0,2354,2161,2772,2643,347.5,3.2,263,3179,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2706,2771,2642,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.39
$GC,3479,-0.15,0.0,2353,2161,2772,2641,338.5,2.8,278,3479,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.59
$GC,3779,-0.15,0.0,2353,2161,2772,2640,330.2,2.7,293,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2705,2771,2639,0,0,0,0,0,0,14.79,14.79,14.79,6.28,50.98
$GC,4079,-0.15,0.0,2353,2161,2772,2639,322.6,2.4,308,4080,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2704,2771,2638,0,0,0,0,0,0,14.84,14.85,14.85,6.28,51.18
$GC,4379,-0.15,0.0,2354,2159,2771,2639,315.7,2.2,323,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2704,2771,2638,0,0,0,0,0,0,14.88,14.89,14.89,6.28,51.18
$GC,4679,-0.15,0.0,2354,2160,2772,2637,309.7,2.0,338,4679,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2160,2704,2771,2637,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.18
$GC,4979,-0.15,0.0,2354,2161,2771,2637,304.3,1.7,353,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2704,2771,2637,0,0,0,0,0,0,14.94,14.94,14.94,6.27,51.18
$GC,5279,-0.15,0.0,2354,2161,2772,2637,298.6,1.8,368,5279,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2704,2771,2637,0,0,0,0,0,0,14.96,14.96,14.96,6.28,51.45
$GC,5579,-0.15,0.0,2354,2161,2772,2637,292.2,2.3,383,5580,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2704,2771,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.61
$GC,5879,-0.15,0.0,2354,2161,2772,2636,284.9,2.5,398,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2703,2771,2636,0,0,0,0,0,0,14.98,14.99,14.99,6.28,51.10
$GC,6179,-0.15,0.0,2353,2160,2772,2636,276.0,3.1,413,6179,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2703,2771,2636,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.49
$STATE,6476,end loiter,LOITER_COMPLETE
$STATE,6476,begin climb
$GC,6479,0.64,146.0,2354,2161,2771,2637,266.3,0.0,428,6619,0.62,2.60,129.40,1.450,10756,0.162,0.064,2612,748,2115,2136,2095,0,0,0,0,0,0,14.38,13.95,13.33,6.28,51.41
$GC,6714,0.64,146.0,2612,749,2131,2088,249.3,10.2,439,6718,0.00,2.42,0.00,0.000,5126,0.000,0.052,2612,2135,2108,2130,2087,0,0,0,0,0,0,14.21,14.09,14.23,6.23,49.48
$GC,7019,0.64,146.0,2613,2141,2127,2081,212.3,11.8,455,7023,0.00,2.55,0.00,0.000,4356,0.000,0.082,2612,3567,2103,2126,2081,0,0,0,0,0,0,14.59,14.20,14.59,6.23,50.86
$GC,7084,0.64,146.0,2612,3567,2126,2082,205.2,11.9,458,7088,0.05,2.38,0.00,0.000,5126,0.411,0.044,2606,2155,2103,2126,2081,0,0,0,0,0,0,14.04,14.31,14.31,6.23,51.14
$GC,7394,0.64,146.0,2606,2155,2125,2077,170.5,11.0,474,7398,0.00,2.47,0.00,0.000,516,0.000,0.067,2615,744,2100,2124,2077,0,0,0,0,0,0,14.70,14.31,14.70,6.23,51.02
$GC,7459,0.64,146.0,2615,745,2121,2078,164.5,11.0,477,7463,0.00,2.42,0.00,0.000,5126,0.000,0.054,2615,2164,2098,2120,2077,0,0,0,0,0,0,14.50,14.35,14.52,6.23,50.90
$GC,7764,0.64,146.0,2615,2165,2121,2077,128.4,11.2,492,7768,0.00,2.45,0.00,0.000,4356,0.000,0.083,2615,3553,2098,2121,2076,0,0,0,0,0,0,14.76,14.33,14.76,6.23,50.70
$GC,7844,0.64,146.0,2615,3554,2121,2077,119.9,11.2,496,7848,0.05,2.35,0.00,0.000,5126,0.412,0.044,2607,2142,2098,2121,2076,0,0,0,0,0,0,14.14,14.43,14.42,6.22,51.41
$GC,8149,0.64,146.0,2607,2142,2121,2077,87.3,10.4,529,8153,0.00,2.45,0.00,0.000,4612,0.000,0.066,2616,734,2098,2120,2076,0,0,0,0,0,0,14.78,14.38,14.78,6.21,50.86
$GC,8179,0.64,146.0,2617,737,2120,2077,84.2,10.3,535,8182,0.00,2.40,0.00,0.000,5126,0.000,0.053,2616,2150,2097,2119,2076,0,0,0,0,0,0,14.56,14.42,14.59,6.21,50.15
$GC,8306,0.64,146.0,2617,2150,2120,2077,71.1,10.3,560,8310,0.00,2.47,0.00,0.000,4356,0.000,0.082,2616,3553,2097,2119,2076,0,0,0,0,0,0,14.78,14.38,14.78,6.20,49.76
$GC,8375,0.64,146.0,2617,3553,2120,2076,63.3,10.8,574,8379,0.08,2.33,0.00,0.000,5126,0.327,0.042,2600,2147,2097,2119,2076,0,0,0,0,0,0,14.17,14.45,14.45,6.20,49.48
$GC,8502,0.65,156.8,2600,2147,2119,2077,52.9,7.9,599,8513,0.00,2.45,6.12,1.270,10756,0.000,0.067,2608,747,2075,2096,2055,0,0,0,0,0,0,14.76,14.42,13.66,6.20,49.68
$GC,8570,0.67,176.1,2609,747,2095,2056,47.5,7.6,613,8595,0.00,2.40,20.48,1.268,11270,0.000,0.053,2609,2156,2000,2016,1984,0,0,0,0,0,0,14.55,14.41,13.71,6.19,49.68
$GC,8715,0.68,181.1,2609,2156,2012,1968,36.2,8.1,642,8724,0.00,2.47,4.57,1.164,10500,0.000,0.084,2615,3562,1977,1994,1961,0,0,0,0,0,0,14.64,14.33,13.51,6.19,49.56
$GC,8775,0.68,181.1,2609,3563,1996,1963,30.8,9.1,654,8778,0.00,2.38,0.00,0.000,1030,0.000,0.044,2619,2143,1978,1995,1962,0,0,0,0,0,0,14.46,14.37,14.47,6.19,49.76
$GC,8900,0.68,181.1,2620,2144,1996,1961,18.3,10.5,679,8903,0.00,2.45,0.00,0.000,516,0.000,0.067,2630,745,1978,1996,1960,0,0,0,0,0,0,14.66,14.31,14.66,6.19,50.31
$GC,8945,0.68,181.1,2630,747,1996,1961,13.8,10.0,688,8949,0.00,2.40,0.00,0.000,5126,0.000,0.054,2630,2153,1977,1995,1959,0,0,0,0,0,0,14.48,14.34,14.50,6.19,51.14
$STATE,9042,end climb,SURFACE_DEPTH_REACHED
$STATE,9042,begin surface coast
$STATE,9068,end surface coast,CONTROL_FINISHED_OK
$STATE,9068,begin surface
$SM_CCo,9083,36.85,0.244,0,0,1821,220.03
$SM_GC,1.44,5.65,0.08,36.85,0.067,0.168,0.244,211,2081,1821,-6.50,1.05,220.03,0,0,0,0,0,0,14.52,14.40,14.11
$IRIDIUM_FIX,-5946.74,0.00,030219,141646
$TT8_MAMPS,0.038948,0.358771
$HUMID,50.66
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3679712
$24V_AH,13.21,90.992
$10V_AH,13.27,0.000
$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,13.325,82.475,285.650,36.850,0.000,26.091,19.997,143.240,0.000,0.000,16.347,0.000,7199.528,402.789,1646.278,234.828,0.000,1062.964,0.000,1182.588,0.000,0.539,0.000
$DEVICE_MAMPS,423.045,168.300,1586.610,244.035,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5490.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.466,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,20775,713
$CAP_FILE_SIZE,95886,0
$CFSIZE,1023623168,973160448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.035,147.75,1
$GPS,030219,192725,-5945.891,0.625,14,0.8,38,-19.7,0.3,216.6,9,6.3