version: 66.14
glider: 640
mission: 5
dive: 491
start: 2 5 119 21 18 56
data:
$ID,640
$MISSION,5
$DIVE,491
$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,31
$R_STBD_OVSHOOT,31
$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
$GPS1,050219,211252,-5943.7710,0.7839,39,0.7,42,-19.7,0.6,158.8,11,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-66.0
$GPS2,050219,211837,-5943.7876,0.8476,12,0.7,12,-19.7,0.0,121.8,12,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,202.5,67070,-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,-146.0,231,2102,1790,1831,0.0,0.0,0,97,0.00,0.00,-82.35,0.000,16386,0.000,0.000,231,2102,3146,3227,3066,0,0,0,0,0,0,14.57,28.83,14.57,6.18,51.26
$GC,100,-0.64,-146.0,230,2102,3227,3067,3.1,-5.5,17,117,6.20,2.72,-6.28,0.000,19204,0.351,2.211,2193,690,3316,3412,3220,0,0,0,0,0,0,13.90,12.97,14.26,6.30,49.96
$GC,123,-0.64,-146.0,2193,692,3414,3221,7.4,-16.8,22,127,0.00,2.42,0.00,0.000,3078,0.000,0.055,2183,2106,3316,3413,3220,0,0,0,0,0,0,14.40,14.29,14.41,6.32,50.07
$GC,250,-0.64,-146.0,2183,2105,3414,3219,28.0,-17.8,47,255,0.00,2.47,0.00,0.000,2308,0.000,0.081,2180,3505,3317,3412,3222,0,0,0,0,0,0,14.61,14.22,14.62,6.32,49.17
$GC,373,-0.64,-146.0,2172,3506,3414,3223,47.4,-15.1,72,377,0.08,2.35,0.00,0.000,3078,0.355,0.041,2197,2097,3317,3412,3222,0,0,0,0,0,0,14.00,14.34,14.26,6.32,49.92
$GC,500,-0.64,-146.0,2198,2096,3414,3223,65.5,-13.4,97,504,0.00,2.50,0.00,0.000,260,0.000,0.080,2187,3503,3317,3414,3221,0,0,0,0,0,0,14.69,14.26,14.66,6.32,49.56
$GC,539,-0.64,-146.0,2188,3505,3414,3222,71.4,-14.4,105,543,0.00,2.35,0.00,0.000,3078,0.000,0.041,2187,2092,3317,3413,3222,0,0,0,0,0,0,14.40,14.28,14.41,6.31,50.11
$GC,666,-0.64,-146.0,2189,2091,3414,3222,89.1,-14.1,130,671,0.00,2.42,0.00,0.000,2564,0.000,0.060,2186,697,3317,3413,3222,0,0,0,0,0,0,14.67,14.31,14.70,6.31,48.62
$GC,694,-0.64,-146.0,2186,698,3414,3222,93.4,-14.2,136,698,0.05,2.40,0.00,0.000,3078,0.435,0.054,2190,2100,3318,3413,3223,0,0,0,0,0,0,13.98,14.26,14.25,6.31,49.17
$GC,824,-0.64,-146.0,2191,2101,3414,3223,111.4,-13.9,150,827,0.00,2.47,0.00,0.000,2308,0.000,0.083,2180,3506,3317,3413,3222,0,0,0,0,0,0,14.71,14.20,14.71,6.31,48.42
$GC,869,-0.64,-146.0,2180,3506,3414,3224,116.0,-13.7,152,872,0.00,2.33,0.00,0.000,3078,0.000,0.042,2179,2099,3318,3413,3223,0,0,0,0,0,0,14.46,14.31,14.44,6.31,48.66
$GC,1174,-0.64,-146.0,2179,2098,3413,3224,158.1,-13.4,167,1177,0.00,2.42,0.00,0.000,2564,0.000,0.062,2180,697,3318,3413,3223,0,0,0,0,0,0,14.76,14.26,14.76,6.31,49.88
$GC,1234,-0.64,-146.0,2180,697,3413,3223,165.5,-13.4,170,1238,0.08,2.40,0.00,0.000,3078,0.363,0.054,2192,2102,3318,3413,3223,0,0,0,0,0,0,14.00,14.29,14.28,6.32,49.84
$GC,1544,-0.64,-146.0,2192,2102,3414,3222,204.6,-12.8,186,1547,0.00,2.47,0.00,0.000,2308,0.000,0.082,2181,3502,3318,3413,3223,0,0,0,0,0,0,14.78,14.23,14.78,6.32,50.66
$GC,1599,-0.64,-146.0,2180,3503,3414,3223,211.8,-13.0,189,1602,0.00,2.33,0.00,0.000,3078,0.000,0.041,2180,2098,3317,3412,3223,0,0,0,0,0,0,14.47,14.34,14.47,6.32,50.94
$GC,1919,-0.64,-146.0,2181,2098,3414,3224,253.6,-13.1,205,1922,0.00,2.42,0.00,0.000,2564,0.000,0.061,2181,691,3317,3413,3222,0,0,0,0,0,0,14.79,14.28,14.79,6.33,50.78
$GC,1989,-0.64,-146.0,2180,692,3413,3224,261.0,-13.3,208,1993,0.08,2.40,0.00,0.000,3078,0.360,0.054,2193,2099,3317,3413,3222,0,0,0,0,0,0,14.01,14.31,14.29,6.32,51.06
$GC,2311,-0.64,-146.0,2196,2100,3414,3224,302.4,-12.4,225,2316,0.00,2.47,0.00,0.000,2308,0.000,0.083,2182,3507,3318,3413,3223,0,0,0,0,0,0,14.78,14.33,14.78,6.33,51.37
$GC,2354,-0.64,-146.0,2182,3508,3414,3224,307.5,-12.5,227,2357,0.00,2.33,0.00,0.000,3078,0.000,0.041,2182,2101,3318,3413,3223,0,0,0,0,0,0,14.47,14.35,14.49,6.34,50.98
$GC,2664,-0.64,-146.0,2182,2100,3414,3223,347.4,-12.7,243,2668,0.00,2.42,0.00,0.000,2564,0.000,0.060,2182,691,3318,3413,3223,0,0,0,0,0,0,14.81,14.28,14.81,6.33,51.29
$STATE,2681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2682,begin apogee
$GC,2690,-0.15,0.0,2171,2155,3416,3224,350.1,-12.8,244,2817,0.52,0.00,124.45,1.582,10246,0.256,0.000,2353,2154,2715,2775,2655,0,0,0,0,0,0,14.07,13.90,13.17,6.33,50.70
$STATE,2818,end apogee,CONTROL_FINISHED_OK
$STATE,2818,begin loiter
$GC,3104,-0.15,0.0,2353,2155,2772,2644,347.2,3.3,265,3105,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2154,2707,2772,2642,0,0,0,0,0,0,14.54,14.54,14.54,6.28,51.06
$GC,3404,-0.15,0.0,2354,2155,2773,2640,337.8,3.1,280,3404,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2154,2705,2771,2640,0,0,0,0,0,0,14.70,14.71,14.71,6.28,51.33
$GC,3704,-0.15,0.0,2353,2155,2772,2641,328.8,2.9,295,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2154,2705,2771,2639,0,0,0,0,0,0,14.79,14.80,14.80,6.28,51.57
$GC,4004,-0.15,0.0,2352,2154,2772,2639,320.3,2.8,310,4005,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2154,2704,2771,2638,0,0,0,0,0,0,14.85,14.85,14.85,6.28,50.98
$GC,4304,-0.15,0.0,2353,2155,2772,2639,312.3,2.8,325,4305,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2154,2704,2771,2637,0,0,0,0,0,0,14.89,14.89,14.89,6.28,51.37
$GC,4604,-0.15,0.0,2353,2154,2773,2637,304.3,2.7,340,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2154,2705,2772,2638,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.96
$GC,4904,-0.15,0.0,2353,2155,2772,2637,295.8,2.9,355,4904,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2154,2704,2771,2637,0,0,0,0,0,0,14.94,14.94,14.94,6.28,51.33
$GC,5204,-0.15,0.0,2354,2155,2773,2637,286.7,3.1,370,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2154,2704,2771,2637,0,0,0,0,0,0,14.96,14.96,14.96,6.28,51.53
$GC,5504,-0.15,0.0,2354,2155,2773,2637,278.0,3.0,385,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2154,2704,2772,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.27,51.45
$GC,5804,-0.15,0.0,2354,2155,2772,2639,270.0,2.5,400,5804,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2154,2704,2771,2637,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.61
$GC,6104,-0.15,0.0,2353,2155,2773,2637,263.0,2.3,415,6104,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2154,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.28,52.00
$STATE,6401,end loiter,LOITER_COMPLETE
$STATE,6401,begin climb
$GC,6404,0.64,146.0,2354,2155,2773,2638,256.8,0.0,430,6544,0.62,2.58,129.35,1.433,11012,0.169,0.063,2608,750,2117,2138,2096,0,0,0,0,0,0,14.34,13.97,13.32,6.28,51.33
$GC,6624,0.64,146.0,2610,750,2133,2089,242.3,9.0,441,6628,0.00,2.45,0.00,0.000,5126,0.000,0.052,2609,2157,2109,2131,2087,0,0,0,0,0,0,14.20,14.08,14.22,6.24,49.29
$GC,6939,0.64,146.0,2609,2157,2128,2083,207.7,11.4,457,6943,0.00,2.50,0.00,0.000,4356,0.000,0.082,2609,3556,2104,2127,2082,0,0,0,0,0,0,14.59,14.19,14.59,6.24,50.55
$GC,7024,0.64,146.0,2610,3556,2128,2082,198.9,11.6,461,7029,0.05,2.35,0.00,0.000,5126,0.409,0.041,2603,2155,2104,2126,2082,0,0,0,0,0,0,14.04,14.31,14.31,6.23,51.14
$GC,7334,0.64,146.0,2604,2155,2127,2077,162.3,11.6,477,7338,0.00,2.47,0.00,0.000,516,0.000,0.064,2613,747,2101,2125,2077,0,0,0,0,0,0,14.70,14.31,14.71,6.23,51.14
$GC,7394,0.64,146.0,2614,748,2124,2076,156.3,11.1,480,7398,0.00,2.40,0.00,0.000,5126,0.000,0.054,2613,2149,2103,2129,2077,0,0,0,0,0,0,14.49,14.34,14.52,6.22,51.57
$GC,7704,0.64,146.0,2614,2150,2122,2077,122.2,10.2,496,7708,0.00,2.50,0.00,0.000,4356,0.000,0.084,2613,3557,2099,2122,2076,0,0,0,0,0,0,14.76,14.31,14.76,6.22,51.26
$GC,7804,0.64,146.0,2613,3558,2123,2077,112.0,10.7,501,7808,0.05,2.35,0.00,0.000,5126,0.415,0.041,2607,2142,2099,2122,2076,0,0,0,0,0,0,14.14,14.43,14.42,6.22,50.59
$GC,8109,0.64,146.0,2608,2142,2122,2076,79.7,11.1,543,8113,0.00,2.42,0.00,0.000,4612,0.000,0.064,2616,747,2098,2121,2075,0,0,0,0,0,0,14.78,14.36,14.78,6.22,50.47
$GC,8134,0.64,146.0,2617,747,2121,2076,76.9,10.6,548,8138,0.00,2.40,0.00,0.000,5126,0.000,0.052,2616,2160,2097,2120,2075,0,0,0,0,0,0,14.54,14.40,14.57,6.21,50.39
$GC,8261,0.64,146.0,2617,2161,2121,2075,63.6,10.4,573,8267,0.00,2.45,0.00,0.000,4356,0.000,0.084,2617,3551,2097,2120,2075,0,0,0,0,0,0,14.77,14.33,14.77,6.21,50.00
$GC,8330,0.64,146.0,2618,3552,2121,2074,56.2,10.3,587,8333,0.08,2.33,0.00,0.000,5126,0.336,0.042,2602,2148,2098,2120,2076,0,0,0,0,0,0,14.14,14.44,14.42,6.21,49.33
$GC,8454,0.64,146.0,2602,2148,2122,2075,45.3,8.5,612,8458,0.00,2.45,0.00,0.000,516,0.000,0.064,2611,745,2097,2120,2075,0,0,0,0,0,0,14.77,14.36,14.78,6.20,49.76
$GC,8494,0.64,146.0,2611,746,2121,2075,41.8,8.7,620,8498,0.00,2.40,0.00,0.000,5126,0.000,0.053,2611,2154,2097,2120,2074,0,0,0,0,0,0,14.54,14.40,14.57,6.20,50.00
$GC,8621,0.64,146.0,2611,2154,2120,2076,30.3,9.4,645,8627,0.00,2.47,0.00,0.000,4356,0.000,0.085,2610,3553,2097,2120,2075,0,0,0,0,0,0,14.77,14.32,14.77,6.21,49.92
$GC,8674,0.64,146.0,2612,3553,2121,2075,24.6,10.0,656,8678,0.05,2.33,0.00,0.000,5126,0.411,0.042,2604,2149,2097,2120,2075,0,0,0,0,0,0,14.15,14.44,14.42,6.21,50.11
$GC,8799,0.64,146.0,2604,2150,2121,2075,13.8,9.0,681,8803,0.00,2.45,0.00,0.000,516,0.000,0.064,2614,747,2097,2120,2074,0,0,0,0,0,0,14.77,14.36,14.77,6.21,50.55
$GC,8864,0.67,174.3,2614,747,2120,2075,8.3,7.2,694,8889,0.00,2.40,20.92,0.275,9222,0.000,0.051,2614,2158,2009,2026,1992,0,0,0,0,0,0,14.52,14.39,14.12,6.21,50.31
$STATE,8922,end climb,SURFACE_DEPTH_REACHED
$STATE,8922,begin surface coast
$STATE,8949,end surface coast,CONTROL_FINISHED_OK
$STATE,8949,begin surface
$SM_CCo,8965,43.15,0.242,0,0,1821,220.03
$SM_GC,1.24,5.57,0.10,43.15,0.071,0.135,0.242,219,2073,1821,-6.45,0.88,220.03,0,0,0,0,0,0,14.55,14.45,14.12
$IRIDIUM_FIX,-5943.02,4.27,050219,184046
$TT8_MAMPS,0.039697,0.346038
$HUMID,50.47
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3669472
$24V_AH,12.97,94.577
$10V_AH,13.50,0.000
$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,13.425,92.500,274.725,43.150,0.000,24.452,15.816,131.906,0.000,0.000,13.178,0.000,7060.072,404.591,1642.613,246.567,0.000,1072.168,0.000,1195.837,0.000,0.542,0.000
$DEVICE_MAMPS,435.285,2210.850,1582.020,241.740,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5375.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.383,0.000,0.000,0.000
$MEM,344112
$DATA_FILE_SIZE,17306,711
$CAP_FILE_SIZE,98056,0
$CFSIZE,1023623168,971194368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.049,128.05,1
$GPS,050219,235001,-5944.338,1.305,18,0.7,29,-19.7,0.6,300.8,11,8.1