version: 66.14
glider: 640
mission: 5
dive: 548
start: 2 12 119 2 50 59
data:
$ID,640
$MISSION,5
$DIVE,548
$N_DIVES,700
$STOP_T,2171912
$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
$GPS1,120219,024435,-6015.3418,0.7907,13,0.8,40,-19.7,0.2,88.5,10,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-66.1
$GPS2,120219,025040,-6015.3584,0.8467,11,0.8,16,-19.7,0.3,163.5,10,10.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,202.4,8631,-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,-146.0,232,2091,1789,1813,0.0,0.0,0,104,0.00,0.00,-88.72,0.000,16386,0.000,0.000,232,2090,3211,3293,3130,0,0,0,0,0,0,14.57,28.83,14.57,6.19,51.14
$GC,107,-0.64,-146.0,233,2091,3295,3131,3.1,-6.1,18,124,6.15,2.80,-3.78,0.000,18692,0.342,2.218,2185,3498,3318,3411,3226,0,0,0,0,0,0,13.92,12.92,14.30,6.31,50.31
$GC,201,-0.64,-146.0,2186,3499,3414,3226,19.2,-15.8,37,205,0.00,2.35,0.00,0.000,3078,0.000,0.043,2184,2100,3319,3413,3226,0,0,0,0,0,0,14.42,14.30,14.43,6.32,48.81
$GC,325,-0.64,-146.0,2189,2098,3415,3226,39.6,-16.3,62,329,0.00,2.47,0.00,0.000,2564,0.000,0.066,2184,690,3319,3413,3225,0,0,0,0,0,0,14.64,14.26,14.64,6.32,50.03
$GC,380,-0.64,-146.0,2185,690,3414,3226,48.1,-14.4,73,385,0.08,2.45,0.00,0.000,3078,0.363,0.057,2198,2106,3319,3413,3226,0,0,0,0,0,0,14.01,14.29,14.29,6.33,49.60
$GC,507,-0.64,-146.0,2198,2107,3415,3227,65.6,-13.3,98,513,0.00,2.50,0.00,0.000,260,0.000,0.083,2188,3513,3319,3413,3226,0,0,0,0,0,0,14.66,14.25,14.66,6.31,50.07
$GC,586,-0.64,-146.0,2189,3513,3415,3226,76.8,-13.8,114,589,0.00,2.38,0.00,0.000,3078,0.000,0.044,2188,2093,3319,3413,3225,0,0,0,0,0,0,14.47,14.35,14.50,6.32,49.92
$GC,712,-0.64,-146.0,2188,2093,3415,3227,95.2,-14.6,139,718,0.00,2.42,0.00,0.000,2564,0.000,0.064,2187,695,3319,3414,3225,0,0,0,0,0,0,14.69,14.31,14.69,6.30,48.70
$GC,786,-0.64,-146.0,2188,697,3414,3227,104.1,-14.4,148,790,0.05,2.42,0.00,0.000,3078,0.431,0.054,2193,2106,3320,3414,3226,0,0,0,0,0,0,14.06,14.34,14.33,6.31,48.22
$GC,1105,-0.64,-146.0,2193,2108,3415,3227,146.8,-12.6,165,1109,0.00,2.45,0.00,0.000,2308,0.000,0.082,2182,3505,3320,3414,3227,0,0,0,0,0,0,14.76,14.30,14.76,6.31,49.21
$GC,1200,-0.64,-146.0,2182,3506,3415,3226,156.5,-12.1,169,1204,0.00,2.33,0.00,0.000,3078,0.000,0.042,2180,2099,3320,3414,3226,0,0,0,0,0,0,14.53,14.40,14.55,6.31,49.68
$GC,1520,-0.64,-146.0,2181,2098,3415,3226,198.0,-12.4,186,1524,0.00,2.42,0.00,0.000,2564,0.000,0.063,2181,697,3320,3414,3226,0,0,0,0,0,0,14.79,14.35,14.79,6.32,50.74
$GC,1590,-0.64,-146.0,2181,697,3415,3226,204.9,-12.6,189,1595,0.05,2.40,0.00,0.000,3078,0.424,0.054,2189,2103,3320,3414,3226,0,0,0,0,0,0,14.08,14.38,14.35,6.32,50.82
$GC,1895,-0.64,-146.0,2190,2103,3415,3227,242.8,-11.9,205,1899,0.00,2.47,0.00,0.000,2308,0.000,0.082,2179,3504,3320,3414,3226,0,0,0,0,0,0,14.81,14.32,14.81,6.33,51.53
$GC,1915,-0.64,-146.0,2180,3505,3414,3227,245.2,-11.9,206,1919,0.00,2.35,0.00,0.000,3078,0.000,0.044,2179,2098,3320,3414,3226,0,0,0,0,0,0,14.56,14.42,14.57,6.32,50.98
$GC,2236,-0.64,-146.0,2179,2097,3414,3227,284.9,-12.4,222,2239,0.00,2.42,0.00,0.000,2564,0.000,0.063,2181,696,3320,3414,3226,0,0,0,0,0,0,14.81,14.36,14.81,6.33,51.18
$GC,2310,-0.64,-146.0,2179,696,3415,3226,294.2,-12.4,226,2314,0.08,2.42,0.00,0.000,3078,0.360,0.054,2192,2107,3320,3414,3226,0,0,0,0,0,0,14.11,14.39,14.36,6.33,50.90
$GC,2628,-0.64,-146.0,2192,2109,3423,3227,331.5,-12.1,242,2631,0.00,2.45,0.00,0.000,2308,0.000,0.083,2181,3504,3320,3414,3226,0,0,0,0,0,0,14.80,14.32,14.80,6.33,51.14
$GC,2661,-0.64,-146.0,2182,3506,3413,3226,334.0,-12.0,243,2665,0.00,2.33,0.00,0.000,3078,0.000,0.044,2180,2099,3320,3414,3226,0,0,0,0,0,0,14.56,14.43,14.58,6.33,51.06
$STATE,2779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2779,begin apogee
$GC,2785,-0.15,0.0,2182,2157,3414,3227,351.0,-12.7,250,2913,0.47,0.00,124.93,1.590,10246,0.255,0.000,2346,2157,2717,2777,2657,0,0,0,0,0,0,14.04,13.88,13.14,6.33,51.06
$STATE,2914,end apogee,CONTROL_FINISHED_OK
$STATE,2914,begin loiter
$GC,3201,-0.15,0.0,2347,2158,2772,2643,349.1,2.9,271,3202,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2707,2771,2643,0,0,0,0,0,0,14.56,14.56,14.56,6.29,51.14
$GC,3501,-0.15,0.0,2347,2158,2773,2642,340.3,2.9,286,3502,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2707,2772,2642,0,0,0,0,0,0,14.72,14.72,14.73,6.29,50.98
$GC,3801,-0.15,0.0,2346,2158,2772,2642,331.4,3.0,301,3802,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2706,2772,2641,0,0,0,0,0,0,14.81,14.81,14.81,6.28,51.26
$GC,4101,-0.15,0.0,2347,2158,2773,2640,322.4,3.1,316,4102,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2705,2771,2640,0,0,0,0,0,0,14.87,14.87,14.87,6.28,51.85
$GC,4402,-0.15,0.0,2346,2158,2772,2641,313.1,3.0,331,4402,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2705,2771,2640,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.45
$GC,4702,-0.15,0.0,2346,2158,2772,2641,303.7,3.1,346,4702,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2706,2772,2640,0,0,0,0,0,0,14.92,14.93,14.93,6.28,51.37
$GC,5001,-0.15,0.0,2347,2158,2772,2641,294.3,3.1,361,5002,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2705,2771,2640,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.77
$GC,5301,-0.15,0.0,2347,2158,2773,2640,285.2,3.0,376,5302,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2705,2771,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.37
$GC,5601,-0.15,0.0,2347,2158,2773,2640,276.8,2.6,391,5602,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2705,2771,2640,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.49
$GC,5901,-0.15,0.0,2347,2158,2773,2640,269.0,2.6,406,5902,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2705,2771,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.85
$GC,6201,-0.15,0.0,2347,2157,2772,2641,261.0,2.7,421,6202,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2706,2772,2641,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.61
$STATE,6499,end loiter,LOITER_COMPLETE
$STATE,6499,begin climb
$GC,6501,0.64,146.0,2347,2158,2772,2641,252.4,0.0,436,6643,0.62,2.58,129.90,1.429,10500,0.167,0.080,2592,3549,2118,2139,2097,0,0,0,0,0,0,14.32,13.95,13.30,6.28,52.00
$GC,6743,0.64,146.0,2591,3546,2137,2089,233.7,10.4,448,6747,0.00,2.38,0.00,0.000,1030,0.000,0.042,2602,2153,2112,2136,2088,0,0,0,0,0,0,14.20,14.11,14.23,6.23,49.21
$GC,7058,0.64,146.0,2603,2154,2131,2083,199.0,11.2,464,7062,0.00,2.50,0.00,0.000,516,0.000,0.067,2614,742,2106,2129,2083,0,0,0,0,0,0,14.59,14.21,14.59,6.23,50.74
$GC,7098,0.64,146.0,2615,741,2127,2078,195.2,11.0,466,7102,0.00,2.42,0.00,0.000,5126,0.000,0.053,2614,2144,2104,2126,2082,0,0,0,0,0,0,14.40,14.26,14.42,6.24,50.82
$GC,7408,0.64,146.0,2614,2144,2126,2080,159.6,11.2,482,7412,0.00,2.50,0.00,0.000,4356,0.000,0.084,2614,3553,2103,2125,2081,0,0,0,0,0,0,14.69,14.26,14.70,6.23,51.22
$GC,7513,0.64,146.0,2614,3553,2126,2080,148.6,10.8,487,7517,0.08,2.35,0.00,0.000,5126,0.345,0.044,2599,2156,2103,2125,2081,0,0,0,0,0,0,14.08,14.38,14.36,6.23,51.29
$GC,7823,0.64,146.0,2599,2148,2126,2079,117.0,9.8,503,7827,0.00,2.47,0.00,0.000,2564,0.000,0.068,2608,731,2100,2124,2077,0,0,0,0,0,0,14.76,14.33,14.76,6.23,50.98
$GC,7853,0.64,146.0,2608,731,2123,2078,115.6,9.8,504,7857,0.00,2.42,0.00,0.000,5126,0.000,0.054,2608,2152,2099,2122,2077,0,0,0,0,0,0,14.52,14.37,14.55,6.23,50.70
$GC,8158,0.64,146.0,2609,2153,2122,2078,84.6,10.4,541,8162,0.00,2.47,0.00,0.000,4356,0.000,0.084,2608,3553,2099,2122,2077,0,0,0,0,0,0,14.76,14.31,14.76,6.21,50.47
$GC,8248,0.64,146.0,2609,3554,2121,2078,74.5,11.2,559,8252,0.00,2.35,0.00,0.000,5126,0.000,0.044,2619,2141,2099,2121,2077,0,0,0,0,0,0,14.54,14.42,14.57,6.21,50.35
$GC,8375,0.64,146.0,2619,2142,2122,2078,60.0,11.8,584,8379,0.00,2.45,0.00,0.000,4612,0.000,0.067,2630,738,2099,2121,2077,0,0,0,0,0,0,14.76,14.33,14.76,6.21,49.68
$GC,8419,0.64,146.0,2630,739,2121,2078,55.0,10.3,593,8423,0.08,2.42,0.00,0.000,5126,0.310,0.053,2603,2160,2098,2120,2076,0,0,0,0,0,0,14.08,14.33,14.34,6.20,50.19
$GC,8544,0.65,158.0,2604,2160,2121,2076,43.9,7.9,618,8558,0.00,2.50,7.35,1.292,10500,0.000,0.082,2603,3560,2071,2092,2051,0,0,0,0,0,0,14.73,14.44,13.60,6.21,49.48
$GC,8641,0.66,168.2,2604,3561,2093,2052,35.9,7.9,637,8659,0.00,2.35,11.38,1.274,9222,0.000,0.043,2612,2148,2029,2047,2011,0,0,0,0,0,0,14.52,14.42,13.64,6.20,50.11
$GC,8779,0.68,177.8,2613,2148,2048,2008,23.7,8.0,665,8792,0.00,2.47,7.62,1.225,10756,0.000,0.067,2624,751,1990,2006,1975,0,0,0,0,0,0,14.67,14.35,13.58,6.20,50.31
$GC,8839,0.68,177.8,2623,752,2006,1974,17.7,11.0,677,8843,0.00,2.40,0.00,0.000,5126,0.000,0.051,2624,2157,1989,2005,1973,0,0,0,0,0,0,14.41,14.33,14.43,6.20,50.39
$GC,8966,0.68,177.8,2624,2157,2006,1969,5.4,10.9,702,8972,0.00,2.47,0.00,0.000,4356,0.000,0.083,2624,3556,1987,2005,1970,0,0,0,0,0,0,14.66,14.28,14.66,6.20,50.55
$STATE,8986,end climb,SURFACE_DEPTH_REACHED
$STATE,8986,begin surface coast
$STATE,9006,end surface coast,CONTROL_FINISHED_OK
$STATE,9006,begin surface
$SM_CCo,9025,39.67,0.244,0,0,1822,220.03
$SM_GC,1.36,5.68,2.50,39.67,0.083,0.043,0.244,215,2082,1822,-6.46,1.07,220.03,0,0,0,0,0,0,14.49,14.41,14.08
$IRIDIUM_FIX,-6016.69,0.00,120219,001625
$TT8_MAMPS,0.038199,0.343042
$HUMID,50.35
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3640640
$24V_AH,12.92,105.061
$10V_AH,13.45,0.000
$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,13.325,87.950,281.175,39.675,0.000,25.141,14.357,135.607,0.000,0.000,17.871,0.000,7102.006,408.684,1651.059,267.470,0.000,1077.128,0.000,1198.513,0.000,0.539,0.000
$DEVICE_MAMPS,431.460,2217.735,1590.435,244.035,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5433.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.533,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17356,711
$CAP_FILE_SIZE,96290,0
$CFSIZE,1023623168,965591040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.027,151.00,1
$GPS,120219,052301,-6015.847,1.152,12,0.8,29,-19.7,0.5,182.6,10,8.8