version: 66.14
glider: 640
mission: 5
dive: 479
start: 2 4 119 13 58 9
data:
$ID,640
$MISSION,5
$DIVE,479
$N_DIVES,600
$STOP_T,2121912
$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,43
$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
$GPS1,040219,135131,-5943.6377,0.6321,15,0.9,38,-19.7,0.6,180.2,9,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-64.7
$GPS2,040219,135750,-5943.6338,0.6070,9,1.0,19,-19.7,0.0,260.4,8,9.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,14.9,6754,-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,-146.0,219,2085,1789,1830,0.0,0.0,0,102,0.00,0.00,-87.35,0.000,16386,0.000,0.000,221,2086,3235,3317,3153,0,0,0,0,0,0,14.55,28.83,14.56,6.18,51.57
$GC,105,-0.64,-146.0,221,2086,3318,3154,3.5,-7.4,18,118,6.20,2.67,-2.83,0.000,18948,0.349,2.207,2175,706,3316,3407,3225,0,0,0,0,0,0,13.88,13.21,14.25,6.30,50.63
$GC,183,-0.64,-146.0,2174,707,3410,3226,19.4,-17.1,34,187,0.10,2.40,0.00,0.000,3078,0.335,0.056,2197,2100,3316,3409,3224,0,0,0,0,0,0,13.97,14.24,14.24,6.31,48.85
$GC,310,-0.64,-146.0,2197,2101,3411,3226,39.4,-16.1,59,316,0.00,2.50,0.00,0.000,260,0.000,0.082,2188,3504,3317,3410,3225,0,0,0,0,0,0,14.62,14.23,14.62,6.32,49.33
$GC,353,-0.64,-146.0,2188,3504,3411,3225,46.7,-15.9,68,357,0.00,2.33,0.00,0.000,3078,0.000,0.042,2187,2113,3317,3410,3225,0,0,0,0,0,0,14.45,14.33,14.47,6.32,49.52
$GC,478,-0.64,-146.0,2187,2112,3411,3226,67.5,-15.7,93,481,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2111,3318,3411,3225,0,0,0,0,0,0,14.67,14.67,14.67,6.31,50.03
$GC,603,-0.64,-146.0,2188,2112,3412,3225,85.9,-14.2,118,606,0.00,0.00,0.00,0.000,2054,0.000,0.000,2187,2111,3318,3411,3225,0,0,0,0,0,0,14.69,14.69,14.69,6.31,48.93
$GC,728,-0.64,-146.0,2188,2109,3412,3225,103.3,-13.5,140,732,0.00,2.47,0.00,0.000,2564,0.000,0.063,2187,688,3318,3411,3225,0,0,0,0,0,0,14.71,14.28,14.71,6.31,48.38
$GC,748,-0.64,-146.0,2187,689,3412,3226,106.0,-13.5,141,752,0.05,2.42,0.00,0.000,3078,0.429,0.056,2192,2101,3318,3411,3225,0,0,0,0,0,0,14.04,14.31,14.30,6.31,48.70
$GC,1068,-0.64,-146.0,2192,2102,3412,3225,147.2,-12.3,157,1072,0.00,2.47,0.00,0.000,2308,0.000,0.082,2182,3507,3318,3411,3225,0,0,0,0,0,0,14.76,14.28,14.74,6.31,49.80
$GC,1103,-0.64,-146.0,2182,3508,3406,3226,151.8,-12.8,159,1107,0.00,2.35,0.00,0.000,3078,0.000,0.043,2181,2088,3318,3411,3225,0,0,0,0,0,0,14.53,14.40,14.55,6.31,50.11
$GC,1418,-0.64,-146.0,2182,2089,3412,3226,193.3,-13.3,175,1422,0.00,2.40,0.00,0.000,2564,0.000,0.062,2181,698,3318,3411,3226,0,0,0,0,0,0,14.78,14.33,14.78,6.32,50.98
$GC,1498,-0.64,-146.0,2181,698,3412,3225,204.1,-13.6,179,1502,0.08,2.40,0.00,0.000,3078,0.351,0.054,2194,2108,3318,3411,3225,0,0,0,0,0,0,14.07,14.39,14.33,6.32,50.74
$GC,1818,-0.64,-146.0,2196,2108,3412,3225,244.0,-12.7,195,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2107,3317,3411,3224,0,0,0,0,0,0,14.80,14.81,14.80,6.33,51.53
$GC,2118,-0.64,-146.0,2194,2108,3411,3225,281.3,-12.2,210,2122,0.00,2.45,0.00,0.000,260,0.000,0.082,2185,3502,3318,3411,3225,0,0,0,0,0,0,14.81,14.31,14.81,6.33,51.22
$GC,2148,-0.64,-146.0,2185,3503,3412,3226,283.1,-12.2,211,2152,0.00,2.33,0.00,0.000,3078,0.000,0.041,2184,2094,3318,3411,3225,0,0,0,0,0,0,14.57,14.45,14.59,6.33,51.10
$GC,2453,-0.64,-146.0,2184,2092,3412,3225,324.6,-13.0,227,2457,0.00,2.42,0.00,0.000,2564,0.000,0.062,2184,689,3318,3411,3225,0,0,0,0,0,0,14.82,14.35,14.82,6.33,51.18
$GC,2518,-0.64,-146.0,2184,690,3412,3226,332.4,-13.0,230,2522,0.08,2.42,0.00,0.000,3078,0.360,0.055,2198,2105,3320,3411,3229,0,0,0,0,0,0,14.06,14.36,14.35,6.33,50.94
$STATE,2666,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2666,begin apogee
$GC,2671,-0.15,0.0,2198,2160,3412,3226,351.0,-12.0,238,2799,0.43,0.00,124.22,1.588,10246,0.256,0.000,2346,2159,2716,2776,2656,0,0,0,0,0,0,14.09,13.89,13.19,6.34,51.10
$STATE,2800,end apogee,CONTROL_FINISHED_OK
$STATE,2800,begin loiter
$GC,3088,-0.15,0.0,2347,2160,2772,2644,350.7,2.5,259,3089,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2707,2772,2643,0,0,0,0,0,0,14.56,14.56,14.56,6.29,51.22
$GC,3388,-0.15,0.0,2347,2160,2772,2642,342.9,2.7,274,3389,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.72,6.28,51.29
$GC,3688,-0.15,0.0,2348,2158,2772,2640,334.3,3.0,289,3689,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2705,2771,2640,0,0,0,0,0,0,14.81,14.81,14.81,6.28,51.37
$GC,3988,-0.15,0.0,2347,2158,2772,2640,324.4,3.5,304,3989,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2705,2771,2639,0,0,0,0,0,0,14.86,14.86,14.86,6.28,50.90
$GC,4288,-0.15,0.0,2347,2160,2771,2639,313.6,3.6,319,4289,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.41
$GC,4588,-0.15,0.0,2347,2159,2772,2639,301.9,4.0,334,4589,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2704,2770,2638,0,0,0,0,0,0,14.93,14.93,14.93,6.29,51.61
$GC,4888,-0.15,0.0,2347,2160,2772,2639,289.8,4.0,349,4889,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2704,2771,2638,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.37
$GC,5188,-0.15,0.0,2347,2159,2772,2638,278.0,3.8,364,5189,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2704,2771,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.28,52.16
$GC,5488,-0.15,0.0,2348,2159,2772,2638,267.3,3.3,379,5489,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2704,2771,2638,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.37
$GC,5788,-0.15,0.0,2348,2159,2772,2637,258.1,2.9,394,5789,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2704,2771,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.81
$GC,6088,-0.15,0.0,2347,2160,2772,2638,250.2,2.5,409,6089,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2704,2771,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.28,52.08
$STATE,6386,end loiter,LOITER_COMPLETE
$STATE,6386,begin climb
$GC,6388,0.64,146.0,2347,2160,2772,2638,244.2,0.0,424,6525,0.65,2.55,128.75,1.412,10756,0.174,0.064,2610,744,2122,2147,2098,0,0,0,0,0,0,14.34,13.85,13.34,6.27,51.57
$GC,6595,0.65,155.6,2611,744,2134,2091,232.5,8.0,433,6610,0.00,2.42,8.45,1.425,9222,0.000,0.053,2611,2137,2080,2099,2062,0,0,0,0,0,0,14.19,14.09,13.32,6.24,49.37
$GC,6927,0.65,155.6,2612,2137,2097,2052,195.5,11.2,450,6933,0.00,2.55,0.00,0.000,260,0.000,0.083,2611,3557,2073,2095,2052,0,0,0,0,0,0,14.55,14.12,14.55,6.23,50.63
$GC,7010,0.65,155.6,2611,3558,2096,2053,186.7,10.9,454,7014,0.00,2.38,0.00,0.000,5126,0.000,0.042,2621,2149,2073,2095,2051,0,0,0,0,0,0,14.41,14.31,14.43,6.23,51.18
$GC,7325,0.65,155.6,2622,2150,2095,2049,148.4,12.2,470,7329,0.00,2.45,0.00,0.000,4612,0.000,0.068,2635,745,2070,2093,2048,0,0,0,0,0,0,14.70,14.31,14.69,6.23,50.90
$GC,7375,0.65,155.6,2632,746,2092,2049,144.1,12.3,472,7380,0.08,2.40,0.00,0.000,5126,0.320,0.055,2606,2151,2069,2091,2048,0,0,0,0,0,0,14.12,14.34,14.39,6.23,51.14
$GC,7680,0.65,155.6,2606,2152,2092,2047,109.8,10.9,488,7684,0.00,2.47,0.00,0.000,260,0.000,0.083,2606,3555,2069,2091,2047,0,0,0,0,0,0,14.76,14.32,14.76,6.22,50.94
$GC,7780,0.65,155.6,2607,3556,2091,2049,99.4,10.2,493,7785,0.00,2.35,0.00,0.000,5126,0.000,0.041,2615,2142,2069,2090,2048,0,0,0,0,0,0,14.55,14.43,14.57,6.21,51.10
$GC,7907,0.65,155.6,2615,2138,2091,2048,86.2,10.6,518,7913,0.00,2.45,0.00,0.000,4612,0.000,0.067,2626,739,2068,2090,2047,0,0,0,0,0,0,14.73,14.27,14.73,6.21,50.27
$GC,7935,0.65,155.6,2628,739,2090,2048,83.1,10.6,524,7939,0.05,2.42,0.00,0.000,5126,0.380,0.054,2608,2154,2068,2090,2047,0,0,0,0,0,0,14.17,14.38,14.44,6.21,50.11
$GC,8062,0.65,155.6,2607,2154,2091,2047,70.7,9.7,549,8066,0.00,2.47,0.00,0.000,260,0.000,0.083,2608,3557,2068,2090,2046,0,0,0,0,0,0,14.75,14.33,14.76,6.20,50.19
$GC,8106,0.65,155.6,2608,3558,2091,2046,66.2,9.8,558,8109,0.00,2.35,0.00,0.000,5126,0.000,0.043,2617,2146,2065,2084,2046,0,0,0,0,0,0,14.56,14.42,14.58,6.21,49.44
$GC,8232,0.65,155.6,2617,2147,2091,2047,54.6,9.6,583,8238,0.00,2.45,0.00,0.000,4612,0.000,0.067,2628,741,2068,2090,2046,0,0,0,0,0,0,14.75,14.35,14.75,6.20,50.15
$GC,8281,0.65,155.6,2629,741,2091,2045,49.8,9.3,593,8285,0.05,2.40,0.00,0.000,5126,0.379,0.054,2610,2151,2067,2089,2045,0,0,0,0,0,0,14.17,14.39,14.43,6.20,49.64
$GC,8408,0.65,155.6,2610,2152,2090,2045,38.1,9.5,618,8410,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2151,2067,2089,2045,0,0,0,0,0,0,14.74,14.74,14.74,6.20,50.00
$GC,8531,0.65,155.6,2610,2152,2090,2045,26.5,9.4,643,8534,0.00,2.50,0.00,0.000,260,0.000,0.083,2609,3561,2066,2089,2044,0,0,0,0,0,0,14.77,14.33,14.77,6.20,51.14
$GC,8556,0.65,155.6,2610,3563,2090,2046,24.0,10.4,648,8559,0.00,2.35,0.00,0.000,5126,0.000,0.044,2619,2150,2066,2089,2044,0,0,0,0,0,0,14.55,14.43,14.58,6.21,50.82
$GC,8681,0.65,155.6,2618,2150,2090,2044,11.7,9.8,673,8685,0.00,2.45,0.00,0.000,4612,0.000,0.067,2629,742,2066,2089,2044,0,0,0,0,0,0,14.76,14.35,14.77,6.21,50.70
$GC,8726,0.65,155.6,2631,742,2089,2044,7.2,9.9,682,8730,0.08,2.40,0.00,0.000,5126,0.317,0.053,2603,2153,2066,2089,2044,0,0,0,0,0,0,14.16,14.39,14.43,6.21,50.78
$STATE,8768,end climb,SURFACE_DEPTH_REACHED
$STATE,8768,begin surface coast
$STATE,8798,end surface coast,CONTROL_FINISHED_OK
$STATE,8800,begin surface
$SM_CCo,8815,58.12,0.241,0,0,1823,220.03
$SM_GC,1.14,5.50,0.08,58.12,0.066,0.168,0.241,276,2085,1823,-6.44,1.07,220.03,0,0,0,0,0,0,14.54,14.45,14.13
$IRIDIUM_FIX,-5941.93,0.00,040219,111613
$TT8_MAMPS,0.039697,0.2996
$HUMID,50.51
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,1
$SC_FREEKB,3675616
$24V_AH,13.19,92.423
$10V_AH,13.33,0.000
$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,13.325,78.000,261.425,58.125,0.000,26.881,37.900,133.711,0.250,0.000,20.311,0.000,6975.612,406.228,1634.371,235.258,0.000,1052.581,0.000,1161.490,0.000,0.539,0.000
$DEVICE_MAMPS,429.165,2207.025,1588.140,240.975,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5222.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.511,0.000,0.000,0.000
$MEM,344112
$DATA_FILE_SIZE,17304,697
$CAP_FILE_SIZE,93987,0
$CFSIZE,1023623168,972374016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.085,200.65,1
$GPS,040219,162705,-5943.482,0.265,31,0.8,36,-19.7,0.3,96.5,11,10.0