version: 66.14
glider: 640
mission: 5
dive: 537
start: 2 10 119 21 51 30
data:
$ID,640
$MISSION,5
$DIVE,537
$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,50
$R_STBD_OVSHOOT,44
$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
$GPS1,100219,214301,-6008.8911,1.3741,11,0.7,34,-19.7,0.4,273.5,12,5.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-68.1
$GPS2,100219,215110,-6008.9209,1.3604,8,0.9,13,-19.7,0.0,347.7,11,9.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,193.2,20556,-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,-146.0,222,2123,1791,1831,0.0,0.0,0,103,0.00,0.00,-88.53,0.000,16386,0.000,0.000,221,2123,3252,3335,3170,0,0,0,0,0,0,14.56,28.83,14.57,6.18,51.33
$GC,106,-0.64,-146.0,222,2123,3336,3170,3.7,-8.8,18,122,6.22,2.72,-2.12,0.000,18948,0.349,2.196,2190,707,3316,3407,3226,0,0,0,0,0,0,13.88,13.18,14.28,6.31,50.63
$GC,228,-0.64,-146.0,2191,708,3410,3227,26.8,-16.9,43,232,0.00,2.40,0.00,0.000,3078,0.000,0.057,2180,2093,3317,3410,3225,0,0,0,0,0,0,14.33,14.19,14.35,6.32,49.29
$GC,353,-0.64,-146.0,2181,2093,3411,3224,49.7,-19.3,68,357,0.00,2.50,0.00,0.000,2308,0.000,0.083,2169,3507,3317,3410,3225,0,0,0,0,0,0,14.64,14.15,14.64,6.31,49.44
$GC,388,-0.64,-146.0,2169,3507,3411,3226,56.4,-19.3,75,392,0.08,2.33,0.00,0.000,3078,0.361,0.044,2194,2120,3318,3410,3226,0,0,0,0,0,0,13.95,14.25,14.22,6.32,50.19
$GC,515,-0.64,-146.0,2195,2120,3410,3227,77.2,-15.5,100,522,0.00,2.50,0.00,0.000,516,0.000,0.065,2194,693,3318,3410,3226,0,0,0,0,0,0,14.65,14.28,14.66,6.33,49.68
$GC,588,-0.64,-146.0,2194,693,3411,3226,87.8,-12.4,115,592,0.00,2.42,0.00,0.000,3078,0.000,0.054,2184,2108,3318,3410,3226,0,0,0,0,0,0,14.38,14.24,14.39,6.32,48.93
$GC,723,-0.64,-146.0,2184,2108,3411,3227,106.2,-14.4,136,727,0.00,2.47,0.00,0.000,2308,0.000,0.083,2174,3513,3318,3410,3226,0,0,0,0,0,0,14.71,14.19,14.71,6.31,48.42
$GC,758,-0.64,-146.0,2174,3514,3411,3227,111.2,-14.5,138,762,0.08,2.38,0.00,0.000,3078,0.360,0.044,2198,2090,3317,3410,3225,0,0,0,0,0,0,13.97,14.28,14.25,6.31,48.38
$GC,1073,-0.64,-146.0,2199,2090,3412,3226,151.8,-12.4,154,1077,0.00,2.42,0.00,0.000,516,0.000,0.064,2199,698,3318,3411,3226,0,0,0,0,0,0,14.76,14.25,14.76,6.31,49.48
$GC,1128,-0.64,-146.0,2199,698,3412,3226,156.8,-12.5,156,1132,0.00,2.40,0.00,0.000,3078,0.000,0.054,2189,2102,3318,3411,3226,0,0,0,0,0,0,14.42,14.28,14.45,6.31,49.64
$GC,1433,-0.64,-146.0,2189,2103,3410,3227,194.4,-11.5,172,1437,0.00,2.47,0.00,0.000,2308,0.000,0.083,2178,3509,3318,3411,3225,0,0,0,0,0,0,14.78,14.21,14.78,6.34,50.51
$GC,1478,-0.64,-146.0,2178,3509,3412,3225,198.4,-11.5,174,1482,0.05,2.35,0.00,0.000,3078,0.424,0.044,2193,2094,3318,3411,3226,0,0,0,0,0,0,14.02,14.33,14.28,6.32,50.43
$GC,1788,-0.64,-146.0,2193,2093,3411,3226,234.5,-11.5,190,1792,0.00,2.42,0.00,0.000,2564,0.000,0.063,2193,692,3318,3411,3226,0,0,0,0,0,0,14.80,14.26,14.80,6.32,51.49
$GC,1869,-0.64,-146.0,2194,692,3412,3226,243.1,-11.4,194,1872,0.00,2.40,0.00,0.000,3078,0.000,0.054,2182,2094,3318,3411,3226,0,0,0,0,0,0,14.43,14.29,14.45,6.32,50.94
$GC,2178,-0.64,-146.0,2183,2100,3412,3226,280.9,-12.2,210,2182,0.00,2.47,0.00,0.000,2308,0.000,0.083,2172,3509,3318,3411,3226,0,0,0,0,0,0,14.81,14.22,14.81,6.33,51.18
$GC,2223,-0.64,-146.0,2172,3509,3411,3225,285.2,-12.4,212,2227,0.08,2.35,0.00,0.000,3078,0.350,0.044,2197,2092,3318,3411,3225,0,0,0,0,0,0,14.01,14.33,14.28,6.33,50.82
$GC,2528,-0.64,-146.0,2200,2091,3412,3226,321.8,-11.6,227,2532,0.00,2.42,0.00,0.000,516,0.000,0.064,2205,697,3318,3411,3225,0,0,0,0,0,0,14.82,14.27,14.82,6.33,51.22
$GC,2603,-0.64,-146.0,2197,698,3412,3227,330.6,-11.7,231,2607,0.00,2.40,0.00,0.000,3078,0.000,0.054,2185,2105,3318,3411,3226,0,0,0,0,0,0,14.45,14.30,14.47,6.33,51.10
$STATE,2776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2776,begin apogee
$GC,2782,-0.15,0.0,2187,2170,3412,3226,351.6,-12.3,240,2910,0.47,0.00,124.85,1.607,10246,0.252,0.000,2352,2170,2716,2776,2657,0,0,0,0,0,0,14.05,13.88,13.16,6.33,51.10
$STATE,2911,end apogee,CONTROL_FINISHED_OK
$STATE,2911,begin loiter
$GC,3198,-0.15,0.0,2352,2170,2773,2643,349.4,2.8,261,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2170,2707,2771,2643,0,0,0,0,0,0,14.55,14.55,14.56,6.28,51.06
$GC,3498,-0.15,0.0,2352,2170,2772,2640,341.3,2.6,276,3499,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2169,2705,2771,2640,0,0,0,0,0,0,14.71,14.72,14.72,6.29,50.90
$GC,3798,-0.15,0.0,2352,2170,2772,2639,333.3,2.6,291,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2170,2704,2769,2639,0,0,0,0,0,0,14.81,14.81,14.81,6.28,51.02
$GC,4098,-0.15,0.0,2352,2170,2772,2640,325.0,2.7,306,4099,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2170,2705,2771,2639,0,0,0,0,0,0,14.85,14.87,14.86,6.28,51.06
$GC,4398,-0.15,0.0,2352,2170,2772,2639,316.3,2.9,321,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2170,2705,2771,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.26
$GC,4698,-0.15,0.0,2352,2170,2772,2638,307.0,3.2,336,4699,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2170,2704,2771,2638,0,0,0,0,0,0,14.92,14.93,14.93,6.29,51.49
$GC,4998,-0.15,0.0,2352,2170,2772,2638,296.7,3.6,351,4999,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2170,2704,2771,2637,0,0,0,0,0,0,14.95,14.96,14.96,6.28,51.41
$GC,5298,-0.15,0.0,2352,2170,2772,2638,285.8,3.7,366,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2169,2704,2771,2638,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.29
$GC,5598,-0.15,0.0,2352,2170,2771,2637,275.7,3.2,381,5599,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2170,2704,2771,2638,0,0,0,0,0,0,14.98,14.99,14.99,6.28,51.65
$GC,5898,-0.15,0.0,2352,2170,2772,2637,266.4,3.1,396,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2170,2704,2771,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.89
$GC,6198,-0.15,0.0,2352,2171,2771,2638,258.0,2.8,411,6199,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2169,2704,2771,2637,0,0,0,0,0,0,15.01,15.02,15.02,6.28,51.57
$STATE,6496,end loiter,LOITER_COMPLETE
$STATE,6496,begin climb
$GC,6498,0.64,146.0,2352,2171,2771,2638,250.0,0.0,426,6639,0.62,2.55,129.30,1.434,11012,0.167,0.085,2597,3541,2118,2139,2098,0,0,0,0,0,0,14.33,13.95,13.30,6.28,51.69
$GC,6744,0.64,146.0,2598,3541,2138,2089,232.1,10.1,438,6748,0.00,2.35,0.00,0.000,5126,0.000,0.042,2608,2157,2112,2136,2089,0,0,0,0,0,0,14.21,14.11,14.23,6.24,49.68
$GC,7054,0.64,146.0,2608,2157,2132,2083,199.2,10.3,454,7058,0.00,2.50,0.00,0.000,4612,0.000,0.068,2619,739,2106,2130,2083,0,0,0,0,0,0,14.59,14.19,14.59,6.23,50.55
$GC,7099,0.64,146.0,2621,740,2127,2083,195.7,10.2,456,7103,0.00,2.40,0.00,0.000,5126,0.000,0.053,2619,2132,2104,2126,2083,0,0,0,0,0,0,14.40,14.26,14.43,6.23,50.90
$GC,7409,0.64,146.0,2619,2133,2126,2081,162.0,10.5,472,7413,0.00,2.53,0.00,0.000,4356,0.000,0.084,2619,3555,2103,2125,2081,0,0,0,0,0,0,14.69,14.26,14.70,6.23,50.94
$GC,7489,0.64,146.0,2620,3557,2126,2082,153.8,11.0,476,7493,0.08,2.35,0.00,0.000,5126,0.343,0.044,2604,2151,2103,2125,2081,0,0,0,0,0,0,14.08,14.37,14.37,6.24,51.02
$GC,7799,0.64,146.0,2604,2152,2125,2079,121.8,9.9,492,7803,0.00,2.47,0.00,0.000,516,0.000,0.068,2614,737,2101,2124,2078,0,0,0,0,0,0,14.75,14.33,14.76,6.23,50.78
$GC,7859,0.64,146.0,2614,737,2123,2078,116.7,9.5,495,7863,0.00,2.42,0.00,0.000,5126,0.000,0.053,2614,2155,2099,2121,2078,0,0,0,0,0,0,14.52,14.37,14.55,6.23,50.98
$GC,8164,0.64,146.0,2614,2155,2122,2078,84.9,9.6,531,8168,0.00,2.50,0.00,0.000,4356,0.000,0.086,2614,3565,2099,2121,2078,0,0,0,0,0,0,14.76,14.30,14.74,6.22,50.59
$GC,8224,0.64,146.0,2614,3566,2122,2079,79.2,9.1,543,8228,0.08,2.35,0.00,0.000,5126,0.340,0.044,2599,2150,2098,2121,2076,0,0,0,0,0,0,14.12,14.42,14.41,6.21,49.48
$GC,8349,0.69,186.9,2599,2150,2121,2079,70.1,6.8,568,8393,0.00,2.55,36.03,1.268,10756,0.000,0.067,2608,736,1952,1967,1937,0,0,0,0,0,0,14.76,14.30,13.68,6.21,49.52
$GC,8414,0.71,203.4,2609,737,1967,1934,65.5,7.7,581,8434,0.00,2.42,15.90,1.244,11270,0.000,0.053,2608,2149,1893,1905,1881,0,0,0,0,0,0,14.42,14.30,13.56,6.20,49.17
$GC,8555,0.71,203.4,2609,2149,1899,1870,53.7,8.4,609,8558,0.00,2.50,0.00,0.000,2308,0.000,0.085,2608,3553,1884,1899,1870,0,0,0,0,0,0,14.55,14.18,14.55,6.18,48.38
$GC,8604,0.71,203.4,2609,3554,1898,1872,49.1,9.4,619,8608,0.00,2.38,0.00,0.000,3078,0.000,0.044,2618,2148,1883,1897,1870,0,0,0,0,0,0,14.40,14.28,14.42,6.18,49.25
$GC,8731,0.71,203.4,2619,2149,1898,1869,35.7,11.4,644,8736,0.00,2.50,0.00,0.000,2564,0.000,0.068,2630,735,1882,1897,1867,0,0,0,0,0,0,14.61,14.25,14.61,6.18,50.39
$GC,8786,0.71,203.4,2630,736,1895,1868,29.6,10.5,655,8789,0.00,2.42,0.00,0.000,5126,0.000,0.054,2630,2150,1881,1895,1867,0,0,0,0,0,0,14.44,14.29,14.46,6.19,50.00
$GC,8913,0.71,203.4,2630,2151,1895,1866,15.4,11.7,680,8917,0.00,2.50,0.00,0.000,260,0.000,0.087,2630,3553,1880,1894,1866,0,0,0,0,0,0,14.65,14.24,14.65,6.19,50.51
$GC,8957,0.71,203.4,2630,3554,1895,1868,9.8,11.6,689,8960,0.00,2.35,0.00,0.000,5126,0.000,0.044,2640,2149,1880,1894,1866,0,0,0,0,0,0,14.38,14.27,14.41,6.19,51.26
$STATE,9019,end climb,SURFACE_DEPTH_REACHED
$STATE,9019,begin surface coast
$STATE,9044,end surface coast,CONTROL_FINISHED_OK
$STATE,9044,begin surface
$SM_CCo,9063,13.18,0.255,0,0,1822,220.03
$SM_GC,2.33,5.62,0.08,13.18,0.064,0.157,0.255,231,2059,1822,-6.45,0.88,220.03,0,0,0,0,0,0,14.50,14.41,14.06
$IRIDIUM_FIX,-6011.88,0.00,100219,214548
$TT8_MAMPS,0.038199,0.32956
$HUMID,51.53
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3646272
$24V_AH,13.16,103.012
$10V_AH,13.30,0.000
$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,13.375,88.100,306.075,13.175,0.000,50.351,54.619,139.048,0.000,0.000,14.376,0.000,7201.361,394.174,1707.205,262.841,0.000,1063.527,0.000,1188.278,0.000,0.540,0.000
$DEVICE_MAMPS,423.810,2196.315,1607.265,254.745,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5470.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.494,0.000,0.000,0.000
$MEM,344024
$DATA_FILE_SIZE,17328,707
$CAP_FILE_SIZE,97976,0
$CFSIZE,1023623168,966672384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,8350.14,0x235722,1,24
$CURRENT,0.054,205.55,1
$GPS,110219,002355,-6009.618,1.422,19,0.7,41,-19.7,0.6,180.3,12,8.3