version: 66.14
glider: 640
mission: 5
dive: 523
start: 2 9 119 9 1 10
data:
$ID,640
$MISSION,5
$DIVE,523
$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,63
$R_STBD_OVSHOOT,27
$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
$GPS1,090219,085503,-6000.7061,2.4879,17,0.8,29,-19.7,0.5,288.0,10,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-69.6
$GPS2,090219,090051,-6000.6860,2.5348,10,0.8,17,-19.7,0.5,287.6,10,8.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,194.3,35845,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-0.64,-146.0,235,2066,1793,1831,0.0,0.0,0,103,0.00,0.00,-88.00,0.000,16386,0.000,0.000,234,2066,3236,3320,3153,0,0,0,0,0,0,14.55,28.83,14.56,6.19,51.45
$GC,106,-0.64,-146.0,234,2066,3321,3154,3.5,-7.6,18,123,6.15,2.88,-2.75,0.000,18692,0.349,2.214,2163,3511,3318,3410,3226,0,0,0,0,0,0,13.91,12.95,14.30,6.30,50.74
$GC,195,-0.64,-146.0,2164,3512,3413,3226,19.5,-15.9,36,202,0.10,2.33,0.00,0.000,3078,0.317,0.041,2197,2132,3319,3412,3226,0,0,0,0,0,0,14.02,14.30,14.28,6.32,49.01
$GC,325,-0.64,-146.0,2198,2130,3413,3228,39.4,-15.6,62,331,0.00,2.55,0.00,0.000,516,0.000,0.063,2197,682,3319,3412,3226,0,0,0,0,0,0,14.61,14.26,14.61,6.32,49.52
$GC,373,-0.64,-146.0,2198,687,3414,3226,46.9,-14.3,72,377,0.00,2.45,0.00,0.000,3078,0.000,0.056,2187,2106,3319,3412,3226,0,0,0,0,0,0,14.40,14.25,14.40,6.32,50.11
$GC,500,-0.64,-146.0,2187,2107,3423,3227,64.5,-13.1,97,504,0.00,2.50,0.00,0.000,2308,0.000,0.082,2176,3509,3319,3413,3226,0,0,0,0,0,0,14.65,14.25,14.65,6.32,49.96
$GC,574,-0.64,-146.0,2176,3509,3413,3226,74.0,-11.8,112,578,0.05,2.38,0.00,0.000,3078,0.425,0.043,2192,2090,3319,3413,3226,0,0,0,0,0,0,13.98,14.27,14.24,6.32,49.80
$GC,699,-0.64,-146.0,2193,2090,3414,3226,90.4,-13.1,137,703,0.00,2.45,0.00,0.000,2564,0.000,0.063,2192,688,3319,3413,3226,0,0,0,0,0,0,14.66,14.23,14.64,6.32,48.85
$GC,774,-0.64,-146.0,2192,689,3413,3227,100.1,-13.3,151,778,0.00,2.42,0.00,0.000,3078,0.000,0.056,2182,2099,3319,3413,3226,0,0,0,0,0,0,14.40,14.26,14.41,6.31,48.54
$GC,1094,-0.64,-146.0,2182,2101,3414,3226,144.9,-14.2,168,1098,0.00,2.45,0.00,0.000,2564,0.000,0.063,2182,690,3319,3412,3226,0,0,0,0,0,0,14.74,14.26,14.74,6.31,49.21
$GC,1134,-0.64,-146.0,2183,690,3415,3226,150.0,-14.5,170,1138,0.08,2.42,0.00,0.000,3078,0.359,0.056,2194,2103,3319,3412,3226,0,0,0,0,0,0,14.00,14.28,14.28,6.31,49.44
$GC,1444,-0.64,-146.0,2195,2104,3414,3226,192.5,-13.3,186,1448,0.00,2.47,0.00,0.000,260,0.000,0.083,2183,3503,3319,3412,3226,0,0,0,0,0,0,14.76,14.23,14.77,6.32,50.35
$GC,1469,-0.64,-146.0,2184,3504,3414,3226,194.5,-13.3,187,1473,0.00,2.33,0.00,0.000,3078,0.000,0.044,2183,2101,3319,3412,3226,0,0,0,0,0,0,14.45,14.33,14.47,6.32,50.55
$GC,1779,-0.64,-146.0,2183,2100,3413,3228,237.7,-13.3,203,1783,0.00,2.45,0.00,0.000,2564,0.000,0.063,2182,690,3319,3413,3226,0,0,0,0,0,0,14.78,14.27,14.78,6.32,51.06
$GC,1849,-0.64,-146.0,2183,690,3414,3226,245.1,-13.3,206,1853,0.08,2.42,0.00,0.000,3078,0.356,0.054,2196,2101,3319,3413,3226,0,0,0,0,0,0,14.01,14.30,14.28,6.32,50.94
$GC,2154,-0.64,-146.0,2197,2102,3414,3226,284.0,-12.1,222,2158,0.00,2.47,0.00,0.000,260,0.000,0.083,2186,3504,3319,3413,3226,0,0,0,0,0,0,14.79,14.31,14.80,6.33,50.78
$GC,2179,-0.64,-146.0,2186,3504,3413,3228,285.8,-12.1,223,2183,0.00,2.35,0.00,0.000,3078,0.000,0.044,2185,2092,3319,3413,3226,0,0,0,0,0,0,14.46,14.34,14.48,6.33,50.86
$GC,2489,-0.64,-146.0,2188,2091,3413,3227,326.3,-12.8,239,2493,0.00,2.42,0.00,0.000,2564,0.000,0.063,2185,691,3319,3413,3226,0,0,0,0,0,0,14.80,14.36,14.81,6.33,51.29
$GC,2554,-0.64,-146.0,2187,691,3413,3227,333.4,-13.0,242,2558,0.05,2.40,0.00,0.000,3078,0.431,0.054,2190,2101,3320,3413,3227,0,0,0,0,0,0,14.03,14.31,14.29,6.34,50.78
$STATE,2676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2677,begin apogee
$GC,2683,-0.15,0.0,2190,2167,3413,3227,350.0,-12.3,248,2810,0.45,0.00,124.68,1.586,10246,0.253,0.000,2347,2166,2717,2777,2658,0,0,0,0,0,0,14.07,13.89,13.17,6.33,50.90
$STATE,2812,end apogee,CONTROL_FINISHED_OK
$STATE,2812,begin loiter
$GC,3099,-0.15,0.0,2348,2167,2773,2645,348.6,2.8,269,3100,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2708,2772,2644,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.78
$GC,3399,-0.15,0.0,2348,2166,2773,2643,340.4,2.7,284,3400,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2707,2772,2643,0,0,0,0,0,0,14.71,14.70,14.71,6.28,50.63
$GC,3699,-0.15,0.0,2348,2166,2773,2642,332.5,2.6,299,3700,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2707,2772,2642,0,0,0,0,0,0,14.80,14.80,14.80,6.28,51.65
$GC,3999,-0.15,0.0,2347,2167,2773,2643,324.5,2.7,314,4000,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2706,2772,2641,0,0,0,0,0,0,14.85,14.85,14.85,6.28,50.94
$GC,4299,-0.15,0.0,2347,2167,2772,2642,316.1,2.9,329,4300,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2706,2772,2641,0,0,0,0,0,0,14.89,14.89,14.90,6.28,51.29
$GC,4599,-0.15,0.0,2347,2167,2772,2641,307.4,3.0,344,4600,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2706,2772,2640,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.06
$GC,4899,-0.15,0.0,2348,2166,2773,2640,298.7,2.8,359,4900,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2706,2772,2640,0,0,0,0,0,0,14.94,14.94,14.94,6.28,51.53
$GC,5199,-0.15,0.0,2348,2166,2773,2640,290.2,2.7,374,5200,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2706,2772,2640,0,0,0,0,0,0,14.96,14.96,14.96,6.29,51.49
$GC,5499,-0.15,0.0,2347,2166,2772,2641,281.7,2.9,389,5500,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2706,2772,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.22
$GC,5799,-0.15,0.0,2347,2167,2773,2641,272.8,3.0,404,5800,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2165,2705,2771,2640,0,0,0,0,0,0,14.98,14.99,14.99,6.28,52.08
$GC,6099,-0.15,0.0,2348,2166,2773,2640,263.5,3.1,419,6100,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2705,2771,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.53
$STATE,6396,end loiter,LOITER_COMPLETE
$STATE,6397,begin climb
$GC,6399,0.64,146.0,2347,2167,2773,2641,254.1,0.0,434,6539,0.65,2.55,131.20,1.428,10500,0.173,0.083,2601,3536,2120,2140,2100,0,0,0,0,0,0,14.31,13.84,13.31,6.27,51.69
$GC,6569,0.64,146.0,2601,3536,2140,2096,243.4,8.4,442,6573,0.00,2.38,0.00,0.000,5126,0.000,0.042,2611,2148,2117,2140,2094,0,0,0,0,0,0,14.14,14.05,14.15,6.23,49.29
$GC,6874,0.64,146.0,2612,2148,2132,2086,207.8,11.4,457,6878,0.00,2.47,0.00,0.000,4612,0.000,0.067,2622,745,2108,2131,2085,0,0,0,0,0,0,14.56,14.19,14.56,6.23,50.55
$GC,6904,0.64,146.0,2622,746,2128,2086,206.0,11.4,458,6908,0.05,2.40,0.00,0.000,5126,0.370,0.054,2604,2131,2106,2128,2085,0,0,0,0,0,0,14.03,14.23,14.28,6.23,50.78
$GC,7226,0.64,146.0,2604,2131,2127,2083,171.1,10.5,475,7230,0.00,2.55,0.00,0.000,260,0.000,0.084,2604,3555,2104,2126,2082,0,0,0,0,0,0,14.66,14.25,14.66,6.23,50.70
$GC,7367,0.64,146.0,2605,3555,2128,2082,155.4,11.1,482,7371,0.00,2.35,0.00,0.000,5126,0.000,0.043,2613,2149,2103,2126,2081,0,0,0,0,0,0,14.41,14.30,14.43,6.23,50.82
$GC,7686,0.64,146.0,2614,2149,2127,2080,117.6,11.8,498,7690,0.00,2.50,0.00,0.000,4356,0.000,0.083,2614,3554,2106,2132,2080,0,0,0,0,0,0,14.74,14.30,14.74,6.23,50.94
$GC,7721,0.64,146.0,2614,3555,2126,2080,112.9,12.5,500,7725,0.08,2.35,0.00,0.000,5126,0.340,0.044,2598,2150,2102,2125,2080,0,0,0,0,0,0,14.12,14.41,14.40,6.22,50.43
$GC,8026,0.64,146.0,2598,2150,2126,2080,81.9,9.6,541,8030,0.00,2.50,0.00,0.000,2308,0.000,0.083,2597,3556,2101,2124,2079,0,0,0,0,0,0,14.74,14.31,14.75,6.21,50.19
$GC,8041,0.64,146.0,2597,3556,2125,2079,80.4,10.1,544,8045,0.00,2.38,0.00,0.000,5126,0.000,0.044,2607,2143,2101,2125,2078,0,0,0,0,0,0,14.54,14.42,14.57,6.21,50.35
$GC,8168,0.64,146.0,2608,2144,2126,2078,68.3,9.3,569,8173,0.00,2.45,0.00,0.000,4612,0.000,0.066,2618,744,2100,2123,2078,0,0,0,0,0,0,14.73,14.34,14.73,6.21,49.60
$GC,8186,0.64,146.0,2618,744,2122,2080,66.5,9.0,573,8190,0.00,2.40,0.00,0.000,5126,0.000,0.054,2618,2148,2100,2122,2078,0,0,0,0,0,0,14.53,14.38,14.56,6.20,50.27
$GC,8313,0.64,146.0,2619,2153,2122,2079,55.1,8.9,598,8319,0.00,2.50,0.00,0.000,4356,0.000,0.086,2618,3556,2100,2122,2078,0,0,0,0,0,0,14.74,14.30,14.74,6.20,49.40
$GC,8443,0.64,146.0,2619,3556,2123,2078,42.9,9.1,624,8447,0.08,2.35,0.00,0.000,5126,0.344,0.042,2604,2143,2101,2125,2078,0,0,0,0,0,0,14.11,14.42,14.40,6.20,49.60
$GC,8567,0.64,146.0,2604,2143,2122,2079,31.8,9.2,649,8571,0.00,2.45,0.00,0.000,516,0.000,0.066,2614,742,2100,2122,2078,0,0,0,0,0,0,14.76,14.25,14.76,6.21,50.98
$GC,8607,0.64,146.0,2614,743,2121,2078,28.3,8.8,657,8611,0.00,2.42,0.00,0.000,5126,0.000,0.052,2614,2161,2098,2120,2077,0,0,0,0,0,0,14.44,14.29,14.46,6.21,50.35
$GC,8735,0.64,146.0,2614,2162,2121,2078,17.0,9.4,682,8740,0.00,2.47,0.00,0.000,4356,0.000,0.086,2614,3554,2098,2120,2077,0,0,0,0,0,0,14.76,14.31,14.76,6.21,50.86
$GC,8802,0.64,146.0,2614,3555,2121,2078,10.5,9.5,696,8807,0.08,2.35,0.00,0.000,5126,0.342,0.042,2597,2140,2098,2120,2077,0,0,0,0,0,0,14.11,14.42,14.40,6.21,50.70
$STATE,8895,end climb,SURFACE_DEPTH_REACHED
$STATE,8895,begin surface coast
$STATE,8930,end surface coast,CONTROL_FINISHED_OK
$STATE,8930,begin surface
$SM_CCo,8945,66.28,0.239,0,0,1823,220.03
$SM_GC,1.16,5.50,0.00,66.28,0.059,0.000,0.239,260,2139,1823,-6.48,1.10,220.03,0,0,0,0,0,0,14.56,14.76,14.12
$IRIDIUM_FIX,-6002.25,4.31,090219,062248
$TT8_MAMPS,0.038948,0.397719
$HUMID,50.35
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3653440
$24V_AH,12.95,100.396
$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,13.375,88.050,255.875,66.275,0.000,23.997,19.943,120.857,0.000,0.000,18.799,0.000,7060.478,335.122,1703.348,258.862,0.000,1071.698,0.000,1181.366,0.000,0.538,0.000
$DEVICE_MAMPS,430.695,2213.910,1585.845,238.680,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5339.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.446,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,20757,722
$CAP_FILE_SIZE,96507,0
$CFSIZE,1023623168,968048640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.031,249.34,1
$GPS,090219,113229,-6001.243,2.573,13,1.0,40,-19.7,0.2,31.7,10,9.6