version: 66.14
glider: 640
mission: 5
dive: 515
start: 2 8 119 12 16 7
data:
$ID,640
$MISSION,5
$DIVE,515
$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,36
$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
$GPS1,080219,120931,-5956.5034,2.6082,15,0.8,38,-19.7,1.1,310.9,10,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-65.0
$GPS2,080219,121548,-5956.5073,2.5961,9,0.8,13,-19.7,0.0,48.0,10,9.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,198.8,43573,-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,13,-0.64,-146.0,220,2091,1788,1831,0.0,0.0,0,102,0.00,0.00,-86.95,0.000,16386,0.000,0.000,219,2091,3198,3278,3119,0,0,0,0,0,0,14.54,28.83,14.54,6.19,51.29
$GC,105,-0.64,-146.0,220,2090,3281,3118,3.2,-6.5,18,122,6.18,2.72,-4.25,0.000,18948,0.340,2.199,2189,697,3317,3412,3223,0,0,0,0,0,0,13.90,12.93,14.23,6.31,50.27
$GC,143,-0.64,-146.0,2190,698,3414,3218,10.7,-16.2,26,147,0.00,2.42,0.00,0.000,3078,0.000,0.054,2179,2108,3318,3413,3223,0,0,0,0,0,0,14.40,14.27,14.40,6.32,49.68
$GC,270,-0.64,-146.0,2179,2110,3414,3225,31.9,-17.4,51,274,0.00,2.50,0.00,0.000,2308,0.000,0.081,2168,3514,3318,3413,3223,0,0,0,0,0,0,14.59,14.21,14.59,6.32,49.29
$GC,289,-0.64,-146.0,2168,3515,3414,3224,35.5,-17.6,55,293,0.08,2.38,0.00,0.000,3078,0.363,0.044,2193,2103,3318,3413,3224,0,0,0,0,0,0,13.93,14.23,14.21,6.32,49.60
$GC,416,-0.64,-146.0,2193,2102,3414,3225,56.7,-17.3,80,422,0.00,2.47,0.00,0.000,2564,0.000,0.064,2192,686,3318,3413,3224,0,0,0,0,0,0,14.62,14.26,14.62,6.27,49.56
$GC,529,-0.64,-146.0,2193,686,3413,3225,73.2,-13.3,103,533,0.00,2.45,0.00,0.000,3078,0.000,0.055,2183,2113,3319,3414,3224,0,0,0,0,0,0,14.36,14.22,14.38,6.32,49.64
$GC,656,-0.64,-146.0,2183,2113,3414,3225,91.1,-14.1,128,661,0.00,2.47,0.00,0.000,2308,0.000,0.082,2172,3509,3319,3414,3224,0,0,0,0,0,0,14.66,14.26,14.66,6.32,48.66
$GC,694,-0.64,-146.0,2173,3509,3415,3224,97.0,-15.0,136,698,0.08,2.38,0.00,0.000,3078,0.351,0.044,2197,2097,3318,3413,3224,0,0,0,0,0,0,13.99,14.27,14.28,6.32,48.70
$GC,834,-0.64,-146.0,2197,2097,3414,3225,116.1,-13.3,146,838,0.00,2.45,0.00,0.000,516,0.000,0.063,2197,694,3318,3413,3224,0,0,0,0,0,0,14.70,14.22,14.71,6.31,48.50
$GC,874,-0.64,-146.0,2197,695,3414,3225,120.9,-13.5,148,878,0.00,2.40,0.00,0.000,3078,0.000,0.055,2187,2098,3318,3413,3224,0,0,0,0,0,0,14.40,14.25,14.41,6.31,48.18
$GC,1184,-0.64,-146.0,2187,2100,3415,3224,163.5,-13.4,164,1188,0.00,2.50,0.00,0.000,2308,0.000,0.082,2176,3513,3318,3413,3224,0,0,0,0,0,0,14.74,14.21,14.74,6.33,49.56
$GC,1239,-0.64,-146.0,2176,3514,3414,3225,168.8,-13.4,166,1243,0.05,2.38,0.00,0.000,3078,0.427,0.042,2192,2087,3318,3413,3224,0,0,0,0,0,0,14.01,14.31,14.28,6.31,49.76
$GC,1561,-0.64,-146.0,2192,2087,3415,3224,210.6,-12.2,183,1566,0.00,2.40,0.00,0.000,2564,0.000,0.062,2191,700,3318,3413,3224,0,0,0,0,0,0,14.75,14.35,14.75,6.32,50.70
$GC,1669,-0.64,-146.0,2191,701,3414,3225,222.5,-11.8,188,1673,0.00,2.40,0.00,0.000,3078,0.000,0.054,2181,2105,3315,3407,3224,0,0,0,0,0,0,14.43,14.28,14.45,6.32,50.39
$GC,1979,-0.64,-146.0,2182,2106,3415,3224,262.0,-12.8,204,1980,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2104,3319,3414,3224,0,0,0,0,0,0,14.78,14.78,14.78,6.33,50.63
$GC,2279,-0.64,-146.0,2181,2106,3414,3225,300.2,-12.9,219,2283,0.00,2.45,0.00,0.000,2564,0.000,0.061,2181,693,3318,3413,3224,0,0,0,0,0,0,14.80,14.27,14.80,6.33,51.02
$GC,2304,-0.64,-146.0,2181,694,3414,3225,302.9,-13.0,220,2308,0.08,2.40,0.00,0.000,3078,0.356,0.056,2194,2099,3319,3414,3224,0,0,0,0,0,0,14.00,14.29,14.32,6.33,50.78
$GC,2614,-0.64,-146.0,2195,2100,3415,3224,341.2,-12.1,236,2618,0.00,2.50,0.00,0.000,260,0.000,0.083,2184,3510,3318,3413,3224,0,0,0,0,0,0,14.80,14.23,14.81,6.34,50.98
$GC,2664,-0.64,-146.0,2185,3511,3416,3224,345.5,-12.2,238,2668,0.00,2.35,0.00,0.000,3078,0.000,0.042,2184,2096,3318,3413,3224,0,0,0,0,0,0,14.45,14.34,14.47,6.33,50.82
$STATE,2687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2687,begin apogee
$GC,2693,-0.15,0.0,2185,2165,3415,3223,350.4,-12.2,240,2820,0.47,0.00,123.78,1.590,10246,0.249,0.000,2350,2166,2720,2781,2660,0,0,0,0,0,0,14.08,13.89,13.16,6.33,50.70
$STATE,2821,end apogee,CONTROL_FINISHED_OK
$STATE,2821,begin loiter
$GC,3109,-0.15,0.0,2350,2167,2774,2645,347.2,3.4,261,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2709,2774,2644,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.27
$GC,3409,-0.15,0.0,2351,2167,2775,2643,336.8,3.5,276,3410,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2708,2774,2642,0,0,0,0,0,0,14.70,14.71,14.71,6.28,51.02
$GC,3709,-0.15,0.0,2351,2167,2774,2642,326.5,3.5,291,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2707,2773,2642,0,0,0,0,0,0,14.79,14.79,14.80,6.28,51.18
$GC,4009,-0.15,0.0,2350,2167,2774,2643,316.2,3.5,306,4010,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2707,2774,2641,0,0,0,0,0,0,14.85,14.85,14.85,6.29,50.98
$GC,4309,-0.15,0.0,2350,2167,2775,2640,305.4,3.6,321,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2707,2773,2641,0,0,0,0,0,0,14.88,14.88,14.88,6.28,51.06
$GC,4609,-0.15,0.0,2351,2167,2775,2640,294.6,3.5,336,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2706,2773,2640,0,0,0,0,0,0,14.91,14.92,14.92,6.28,51.85
$GC,4909,-0.15,0.0,2351,2167,2773,2640,284.4,3.2,351,4910,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2706,2773,2640,0,0,0,0,0,0,14.94,14.94,14.94,6.28,51.29
$GC,5209,-0.15,0.0,2350,2167,2774,2641,275.2,3.0,366,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2706,2773,2640,0,0,0,0,0,0,14.95,14.96,14.96,6.28,51.45
$GC,5509,-0.15,0.0,2351,2167,2773,2640,266.8,2.7,381,5510,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2706,2773,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.57
$GC,5809,-0.15,0.0,2350,2167,2774,2641,258.8,2.6,396,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2706,2773,2640,0,0,0,0,0,0,14.98,14.98,14.98,6.28,51.96
$GC,6109,-0.15,0.0,2350,2167,2774,2641,250.9,2.5,411,6110,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2706,2773,2639,0,0,0,0,0,0,14.99,15.00,15.00,6.28,51.41
$STATE,6407,end loiter,LOITER_COMPLETE
$STATE,6407,begin climb
$GC,6409,0.64,146.0,2351,2167,2775,2639,243.3,0.0,426,6549,0.62,2.60,129.77,1.413,11012,0.171,0.063,2605,751,2117,2138,2097,0,0,0,0,0,0,14.31,13.97,13.33,6.28,51.57
$GC,6584,0.65,157.5,2605,752,2131,2094,233.4,7.9,434,6599,0.00,2.42,10.20,1.418,11270,0.000,0.053,2605,2139,2077,2096,2059,0,0,0,0,0,0,14.16,14.04,13.30,6.24,49.68
$GC,6906,0.65,157.5,2605,2139,2088,2043,195.4,11.6,451,6910,0.00,2.55,0.00,0.000,2308,0.000,0.083,2605,3556,2065,2086,2044,0,0,0,0,0,0,14.54,14.16,14.54,6.23,50.39
$GC,6970,0.65,157.5,2605,3557,2086,2045,188.1,11.9,454,6974,0.00,2.35,0.00,0.000,5126,0.000,0.043,2616,2156,2064,2086,2043,0,0,0,0,0,0,14.39,14.27,14.40,6.23,50.63
$GC,7280,0.65,157.5,2616,2156,2086,2039,150.7,11.9,470,7284,0.00,2.47,0.00,0.000,4612,0.000,0.065,2626,744,2061,2084,2039,0,0,0,0,0,0,14.68,14.28,14.68,6.23,51.06
$GC,7325,0.65,157.5,2627,744,2084,2039,146.7,11.8,472,7329,0.05,2.40,0.00,0.000,5126,0.376,0.054,2608,2151,2060,2082,2038,0,0,0,0,0,0,14.11,14.32,14.37,6.23,51.10
$GC,7630,0.65,157.5,2609,2151,2083,2038,111.5,11.2,487,7634,0.00,2.50,0.00,0.000,260,0.000,0.083,2608,3555,2059,2081,2037,0,0,0,0,0,0,14.73,14.29,14.74,6.22,50.86
$GC,7685,0.65,157.5,2609,3555,2084,2037,105.1,11.6,490,7688,0.00,2.35,0.00,0.000,5126,0.000,0.043,2618,2149,2059,2082,2037,0,0,0,0,0,0,14.53,14.40,14.54,6.23,51.37
$GC,7990,0.65,157.5,2618,2150,2081,2037,70.4,10.6,542,7994,0.00,2.47,0.00,0.000,4612,0.000,0.065,2629,736,2059,2082,2036,0,0,0,0,0,0,14.75,14.33,14.76,6.21,49.92
$GC,8055,0.65,157.5,2625,737,2082,2036,63.8,9.8,555,8059,0.05,2.42,0.00,0.000,5126,0.380,0.053,2610,2165,2058,2081,2036,0,0,0,0,0,0,14.15,14.38,14.42,6.21,50.47
$GC,8180,0.65,157.5,2611,2161,2082,2035,52.7,8.4,580,8183,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2161,2058,2081,2036,0,0,0,0,0,0,14.75,14.76,14.76,6.20,49.44
$GC,8305,0.65,157.5,2610,2161,2081,2035,41.8,9.4,605,8309,0.00,2.45,0.00,0.000,260,0.000,0.082,2611,3547,2058,2081,2035,0,0,0,0,0,0,14.76,14.31,14.78,6.20,49.48
$GC,8330,0.65,157.5,2612,3547,2082,2035,39.3,10.2,610,8333,0.00,2.35,0.00,0.000,5126,0.000,0.044,2620,2147,2058,2081,2035,0,0,0,0,0,0,14.54,14.42,14.57,6.21,49.68
$GC,8457,0.65,157.5,2620,2147,2081,2035,27.4,9.4,635,8462,0.00,2.45,0.00,0.000,4612,0.000,0.066,2631,741,2057,2081,2034,0,0,0,0,0,0,14.74,14.26,14.75,6.21,50.19
$GC,8490,0.65,157.5,2632,742,2082,2034,24.1,9.6,642,8494,0.08,2.40,0.00,0.000,5126,0.310,0.054,2604,2150,2057,2080,2034,0,0,0,0,0,0,14.14,14.38,14.42,6.21,50.31
$GC,8615,0.65,157.5,2604,2152,2080,2035,13.5,8.6,667,8619,0.00,2.47,0.00,0.000,2308,0.000,0.083,2598,3552,2057,2080,2034,0,0,0,0,0,0,14.76,14.31,14.76,6.21,50.35
$GC,8645,0.65,157.5,2604,3552,2081,2035,10.6,9.6,673,8649,0.00,2.35,0.00,0.000,5126,0.000,0.044,2613,2147,2057,2080,2034,0,0,0,0,0,0,14.54,14.41,14.57,6.21,50.59
$STATE,8727,end climb,SURFACE_DEPTH_REACHED
$STATE,8727,begin surface coast
$STATE,8759,end surface coast,CONTROL_FINISHED_OK
$STATE,8759,begin surface
$SM_CCo,8776,56.12,0.239,0,0,1820,220.03
$SM_GC,1.01,5.57,0.05,56.12,0.067,0.210,0.239,232,2068,1820,-6.46,1.07,220.03,0,0,0,0,0,0,14.54,14.47,14.12
$IRIDIUM_FIX,-5954.50,0.00,080219,093824
$TT8_MAMPS,0.03745,0.323568
$HUMID,50.15
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3657152
$24V_AH,12.93,98.956
$10V_AH,13.47,0.000
$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,13.300,83.200,263.750,56.125,0.000,24.115,14.560,156.500,0.000,0.000,14.133,0.000,6935.401,409.510,1608.629,255.620,0.000,1048.443,0.000,1141.992,0.000,0.540,0.000
$DEVICE_MAMPS,426.870,2199.375,1589.670,239.445,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5183.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.499,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17357,696
$CAP_FILE_SIZE,94755,0
$CFSIZE,1023623168,968835072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.030,158.07,1
$GPS,080219,144425,-5957.122,2.794,15,0.7,38,-19.7,0.3,208.5,11,6.4