version: 66.14
glider: 640
mission: 5
dive: 484
start: 2 5 119 3 4 10
data:
$ID,640
$MISSION,5
$DIVE,484
$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,59
$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
$GPS1,050219,025725,-5942.3799,0.6076,11,0.9,40,-19.7,0.7,200.7,9,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-68.9
$GPS2,050219,030351,-5942.3774,0.5955,8,0.9,14,-19.7,0.5,187.0,9,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,14.8,4438,-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,-146.0,233,2072,1792,1828,0.0,0.0,0,97,0.00,0.00,-82.40,0.000,16386,0.000,0.000,232,2071,3157,3237,3077,0,0,0,0,0,0,14.54,28.83,14.55,6.19,51.81
$GC,100,-0.64,-146.0,232,2071,3239,3077,3.3,-6.5,17,117,6.20,2.65,-5.80,0.000,18948,0.352,2.210,2192,719,3317,3413,3222,0,0,0,0,0,0,13.86,12.97,14.24,6.29,50.15
$GC,210,-0.64,-146.0,2192,720,3415,3225,21.4,-16.7,39,215,0.00,2.38,0.00,0.000,3078,0.000,0.054,2182,2100,3319,3414,3224,0,0,0,0,0,0,14.41,14.27,14.42,6.31,48.81
$GC,338,-0.64,-146.0,2182,2101,3415,3225,44.0,-17.8,65,342,0.00,2.50,0.00,0.000,2308,0.000,0.083,2171,3503,3321,3414,3229,0,0,0,0,0,0,14.64,14.16,14.64,6.32,49.48
$GC,373,-0.64,-146.0,2172,3503,3416,3224,50.3,-17.6,72,377,0.08,2.30,0.00,0.000,3078,0.359,0.043,2196,2129,3319,3415,3224,0,0,0,0,0,0,13.98,14.31,14.26,6.32,49.92
$GC,500,-0.64,-146.0,2197,2128,3415,3225,70.4,-15.1,97,506,0.00,2.53,0.00,0.000,516,0.000,0.064,2196,689,3319,3414,3224,0,0,0,0,0,0,14.65,14.28,14.66,6.32,49.68
$GC,533,-0.64,-146.0,2197,689,3415,3224,75.8,-15.4,104,537,0.00,2.42,0.00,0.000,3078,0.000,0.057,2187,2101,3319,3414,3224,0,0,0,0,0,0,14.42,14.27,14.44,6.32,49.52
$GC,660,-0.64,-146.0,2187,2102,3416,3224,93.8,-14.7,129,666,0.00,2.50,0.00,0.000,2308,0.000,0.083,2175,3513,3319,3414,3224,0,0,0,0,0,0,14.68,14.26,14.68,6.31,48.62
$GC,693,-0.64,-146.0,2176,3513,3415,3224,99.1,-15.3,136,697,0.03,2.38,0.00,0.000,3078,0.597,0.043,2185,2095,3319,3414,3224,0,0,0,0,0,0,14.11,14.36,14.31,6.31,48.81
$GC,823,-0.64,-146.0,2186,2095,3416,3224,117.7,-13.8,144,827,0.00,2.42,0.00,0.000,2564,0.000,0.063,2185,696,3319,3414,3224,0,0,0,0,0,0,14.72,14.26,14.72,6.31,48.70
$GC,863,-0.64,-146.0,2185,705,3415,3223,122.7,-13.9,146,867,0.05,2.40,0.00,0.000,3078,0.431,0.055,2189,2103,3320,3415,3225,0,0,0,0,0,0,14.03,14.31,14.28,6.31,48.58
$GC,1173,-0.64,-146.0,2190,2103,3416,3224,163.9,-13.1,162,1174,0.00,0.00,0.00,0.000,2054,0.000,0.000,2190,2103,3319,3414,3224,0,0,0,0,0,0,14.76,14.76,14.76,6.31,50.59
$GC,1473,-0.64,-146.0,2190,2103,3416,3224,205.9,-14.3,177,1474,0.00,0.00,0.00,0.000,2054,0.000,0.000,2189,2102,3319,3414,3225,0,0,0,0,0,0,14.78,14.78,14.79,6.32,50.82
$GC,1773,-0.64,-146.0,2190,2104,3415,3225,248.4,-13.9,192,1777,0.00,2.45,0.00,0.000,2564,0.000,0.063,2189,693,3319,3414,3224,0,0,0,0,0,0,14.81,14.33,14.81,6.32,50.90
$GC,1808,-0.64,-146.0,2189,694,3415,3225,253.3,-13.9,194,1812,0.00,2.40,0.00,0.000,3078,0.000,0.054,2179,2102,3320,3415,3225,0,0,0,0,0,0,14.52,14.40,14.54,6.32,50.70
$GC,2128,-0.64,-146.0,2179,2102,3415,3225,296.7,-13.4,210,2132,0.00,2.45,0.00,0.000,2308,0.000,0.082,2168,3502,3319,3414,3225,0,0,0,0,0,0,14.81,14.26,14.81,6.33,50.94
$GC,2153,-0.64,-146.0,2168,3503,3415,3224,298.7,-13.4,211,2158,0.08,2.33,0.00,0.000,3078,0.366,0.043,2193,2100,3319,3414,3225,0,0,0,0,0,0,14.07,14.45,14.35,6.33,51.14
$GC,2463,-0.64,-146.0,2187,2099,3415,3225,337.7,-11.9,227,2467,0.00,2.45,0.00,0.000,2564,0.000,0.063,2192,687,3319,3414,3224,0,0,0,0,0,0,14.82,14.30,14.82,6.33,51.92
$GC,2538,-0.64,-146.0,2193,688,3415,3224,346.5,-11.9,231,2542,0.00,2.40,0.00,0.000,3078,0.000,0.055,2182,2100,3319,3414,3224,0,0,0,0,0,0,14.52,14.37,14.54,6.33,50.82
$STATE,2576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2576,begin apogee
$GC,2582,-0.15,0.0,2183,2163,3414,3225,351.2,-11.5,233,2709,0.47,0.00,124.55,1.583,10246,0.257,0.000,2347,2163,2719,2779,2659,0,0,0,0,0,0,14.08,13.90,13.19,6.33,51.02
$STATE,2710,end apogee,CONTROL_FINISHED_OK
$STATE,2710,begin loiter
$GC,2998,-0.15,0.0,2347,2164,2772,2644,347.3,3.5,254,2999,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2163,2706,2770,2643,0,0,0,0,0,0,14.56,14.56,14.56,6.28,50.43
$GC,3298,-0.15,0.0,2347,2164,2772,2642,337.1,3.4,269,3299,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2163,2706,2772,2641,0,0,0,0,0,0,14.71,14.72,14.71,6.28,50.66
$GC,3598,-0.15,0.0,2348,2163,2772,2640,327.0,3.3,284,3599,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2163,2705,2771,2640,0,0,0,0,0,0,14.81,14.81,14.81,6.28,51.18
$GC,3898,-0.15,0.0,2347,2163,2773,2640,317.4,2.9,299,3899,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2163,2706,2772,2640,0,0,0,0,0,0,14.85,14.86,14.86,6.28,51.53
$GC,4198,-0.15,0.0,2348,2164,2772,2640,308.7,2.8,314,4199,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2163,2705,2771,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.45
$GC,4498,-0.15,0.0,2345,2163,2772,2640,300.2,3.0,329,4499,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2163,2705,2772,2639,0,0,0,0,0,0,14.92,14.93,14.93,6.28,51.37
$GC,4798,-0.15,0.0,2348,2163,2773,2638,291.5,2.9,344,4799,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2162,2705,2771,2639,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.49
$GC,5098,-0.15,0.0,2348,2163,2773,2638,283.2,2.8,359,5099,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2163,2705,2772,2638,0,0,0,0,0,0,14.97,14.97,14.97,6.28,52.04
$GC,5398,-0.15,0.0,2347,2164,2772,2639,275.2,2.5,374,5399,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2163,2704,2772,2637,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.65
$GC,5698,-0.15,0.0,2348,2163,2773,2638,267.9,2.3,389,5699,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2163,2705,2772,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.57
$GC,5998,-0.15,0.0,2347,2164,2772,2639,261.7,1.8,404,5999,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2163,2704,2771,2638,0,0,0,0,0,0,15.01,15.02,15.01,6.28,51.65
$STATE,6296,end loiter,LOITER_COMPLETE
$STATE,6296,begin climb
$GC,6298,0.64,146.0,2347,2164,2772,2639,256.1,0.0,419,6439,0.65,2.60,129.95,1.428,10756,0.174,0.063,2611,744,2116,2137,2096,0,0,0,0,0,0,14.34,13.97,13.34,6.28,51.53
$GC,6489,0.64,146.0,2612,744,2133,2090,245.2,8.3,428,6492,0.00,2.42,0.00,0.000,5126,0.000,0.053,2612,2135,2111,2132,2090,0,0,0,0,0,0,14.18,14.07,14.19,6.19,49.52
$GC,6799,0.64,146.0,2608,2136,2128,2083,209.5,11.4,444,6803,0.00,2.53,0.00,0.000,4356,0.000,0.081,2612,3554,2104,2127,2082,0,0,0,0,0,0,14.57,14.18,14.57,6.23,50.82
$GC,6874,0.64,146.0,2612,3555,2128,2083,202.6,11.5,447,6878,0.05,2.38,0.00,0.000,5126,0.414,0.043,2605,2142,2104,2126,2082,0,0,0,0,0,0,14.02,14.30,14.29,6.23,50.86
$GC,7194,0.64,146.0,2606,2142,2127,2077,164.7,11.5,464,7198,0.00,2.45,0.00,0.000,516,0.000,0.067,2615,744,2101,2125,2077,0,0,0,0,0,0,14.69,14.29,14.69,6.23,50.86
$GC,7254,0.64,146.0,2615,744,2123,2078,158.8,10.9,467,7257,0.00,2.40,0.00,0.000,5126,0.000,0.054,2615,2157,2099,2122,2077,0,0,0,0,0,0,14.48,14.34,14.51,6.23,50.90
$GC,7564,0.64,146.0,2616,2151,2122,2077,122.2,12.1,483,7567,0.00,2.47,0.00,0.000,4356,0.000,0.084,2616,3551,2099,2122,2076,0,0,0,0,0,0,14.75,14.31,14.75,6.22,50.70
$GC,7644,0.64,146.0,2616,3552,2123,2079,113.3,11.9,487,7648,0.08,2.33,0.00,0.000,5126,0.342,0.043,2601,2148,2099,2122,2076,0,0,0,0,0,0,14.12,14.42,14.41,6.22,50.31
$GC,7949,0.64,146.0,2600,2148,2122,2076,82.3,9.3,529,7952,0.00,2.45,0.00,0.000,2564,0.000,0.067,2610,744,2098,2121,2075,0,0,0,0,0,0,14.76,14.35,14.76,6.21,49.96
$GC,8029,0.64,149.5,2610,747,2121,2076,75.4,8.2,545,8033,0.00,2.38,0.00,0.000,5126,0.000,0.053,2610,2142,2097,2120,2075,0,0,0,0,0,0,14.54,14.39,14.57,6.21,50.07
$GC,8156,0.65,156.9,2609,2144,2121,2077,64.9,8.0,570,8167,0.00,2.50,6.15,1.287,8452,0.000,0.084,2610,3555,2076,2097,2055,0,0,0,0,0,0,14.75,14.43,13.63,6.21,49.44
$GC,8229,0.65,159.8,2611,3556,2097,2056,58.5,8.2,585,8233,0.00,2.35,0.00,0.000,5126,0.000,0.043,2620,2143,2076,2097,2056,0,0,0,0,0,0,14.55,14.47,14.57,6.20,49.92
$GC,8356,0.65,159.8,2620,2142,2097,2057,48.2,8.4,610,8362,0.00,2.42,0.00,0.000,4612,0.000,0.067,2631,744,2076,2097,2056,0,0,0,0,0,0,14.73,14.35,14.73,6.20,49.40
$GC,8394,0.65,159.8,2632,745,2098,2055,44.7,8.7,618,8398,0.08,2.40,0.00,0.000,5126,0.308,0.054,2604,2161,2076,2097,2055,0,0,0,0,0,0,14.16,14.38,14.40,6.20,49.48
$GC,8519,0.65,159.8,2603,2161,2098,2055,34.3,8.7,643,8523,0.00,2.45,0.00,0.000,2308,0.000,0.083,2604,3550,2076,2097,2055,0,0,0,0,0,0,14.74,14.32,14.74,6.20,49.80
$GC,8564,0.65,159.8,2604,3552,2097,2056,30.3,8.7,652,8567,0.00,2.35,0.00,0.000,5126,0.000,0.043,2609,2143,2075,2096,2055,0,0,0,0,0,0,14.54,14.42,14.56,6.19,50.07
$GC,8691,0.65,159.8,2614,2142,2098,2054,18.6,9.8,677,8696,0.00,2.42,0.00,0.000,4612,0.000,0.067,2624,744,2075,2097,2054,0,0,0,0,0,0,14.73,14.34,14.74,6.20,50.47
$GC,8734,0.65,159.8,2625,744,2098,2053,14.3,9.4,686,8737,0.00,2.40,0.00,0.000,5126,0.000,0.053,2624,2157,2074,2096,2053,0,0,0,0,0,0,14.53,14.38,14.55,6.20,50.82
$STATE,8846,end climb,SURFACE_DEPTH_REACHED
$STATE,8846,begin surface coast
$STATE,8871,end surface coast,CONTROL_FINISHED_OK
$STATE,8871,begin surface
$SM_CCo,8887,60.53,0.241,0,0,1821,220.03
$SM_GC,1.30,5.43,0.10,60.53,0.034,0.134,0.241,264,2057,1821,-6.45,0.79,220.03,0,0,0,0,0,0,14.55,14.46,14.12
$IRIDIUM_FIX,-5943.02,4.27,050219,002103
$TT8_MAMPS,0.038199,0.358771
$HUMID,50.07
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3673056
$24V_AH,12.97,93.316
$10V_AH,13.51,0.000
$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,13.175,82.825,260.650,60.525,0.000,24.436,48.250,137.091,0.000,0.000,15.599,0.000,7043.646,415.025,1634.122,239.588,0.000,1053.954,0.000,1152.894,0.000,0.539,0.000
$DEVICE_MAMPS,596.700,2210.085,1582.785,240.975,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5293.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.377,0.000,0.000,0.000
$MEM,344024
$DATA_FILE_SIZE,20750,714
$CAP_FILE_SIZE,95202,0
$CFSIZE,1023623168,971882496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.072,205.28,1
$GPS,050219,053437,-5942.122,0.170,13,1.0,53,-19.7,0.2,222.3,7,4.3