version: 66.14
glider: 640
mission: 5
dive: 549
start: 2 12 119 5 29 52
data:
$ID,640
$MISSION,5
$DIVE,549
$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,50
$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
$GPS1,120219,052301,-6015.8472,1.1517,12,0.8,29,-19.7,0.5,182.6,10,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-63.4
$GPS2,120219,052933,-6015.8218,1.2727,9,0.8,15,-19.7,0.5,57.6,11,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,212.1,7826,-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,-146.0,215,2081,1790,1829,0.0,0.0,0,104,0.00,0.00,-88.72,0.000,16386,0.000,0.000,215,2081,3234,3316,3153,0,0,0,0,0,0,14.54,28.83,14.54,6.19,50.90
$GC,107,-0.64,-146.0,216,2088,3317,3153,3.2,-6.6,18,118,6.22,0.00,-2.90,0.000,18950,0.345,0.000,2186,2081,3317,3409,3225,0,0,0,0,0,0,13.89,12.83,14.28,6.31,50.03
$GC,241,-0.64,-146.0,2186,2082,3413,3226,29.3,-17.1,45,245,0.00,2.53,0.00,0.000,2308,0.000,0.079,2175,3505,3319,3413,3225,0,0,0,0,0,0,14.62,14.21,14.62,6.32,49.21
$GC,276,-0.64,-146.0,2174,3506,3414,3226,35.7,-16.6,52,280,0.08,2.35,0.00,0.000,3078,0.366,0.044,2199,2110,3319,3413,3225,0,0,0,0,0,0,13.99,14.31,14.27,6.32,48.93
$GC,403,-0.64,-146.0,2200,2110,3414,3226,55.3,-15.2,77,406,0.00,2.47,0.00,0.000,516,0.000,0.064,2199,696,3316,3413,3220,0,0,0,0,0,0,14.65,14.27,14.65,6.32,49.96
$GC,431,-0.64,-146.0,2199,696,3414,3226,59.9,-15.4,83,435,0.00,2.40,0.00,0.000,3078,0.000,0.055,2189,2098,3319,3413,3225,0,0,0,0,0,0,14.45,14.30,14.47,6.33,49.48
$GC,559,-0.64,-146.0,2189,2098,3414,3226,77.4,-14.0,108,562,0.00,0.00,0.00,0.000,2054,0.000,0.000,2189,2097,3319,3413,3225,0,0,0,0,0,0,14.66,14.66,14.66,6.32,49.44
$GC,682,-0.64,-146.0,2189,2098,3414,3227,95.0,-14.5,133,686,0.00,2.50,0.00,0.000,2308,0.000,0.081,2178,3511,3319,3413,3226,0,0,0,0,0,0,14.69,14.26,14.70,6.32,49.09
$GC,707,-0.64,-146.0,2178,3511,3416,3227,98.6,-14.1,138,711,0.05,2.38,0.00,0.000,3078,0.428,0.044,2194,2094,3319,3413,3225,0,0,0,0,0,0,14.06,14.35,14.32,6.32,48.42
$GC,837,-0.64,-146.0,2195,2093,3415,3225,116.2,-13.4,146,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2092,3319,3413,3225,0,0,0,0,0,0,14.72,14.72,14.72,6.31,48.22
$GC,1137,-0.64,-146.0,2194,2093,3415,3225,155.3,-12.6,161,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2092,3320,3414,3226,0,0,0,0,0,0,14.76,14.76,14.76,6.32,49.80
$GC,1437,-0.64,-146.0,2193,2093,3414,3227,191.6,-11.9,176,1440,0.00,2.45,0.00,0.000,516,0.000,0.064,2192,698,3319,3414,3225,0,0,0,0,0,0,14.78,14.35,14.78,6.32,50.63
$GC,1507,-0.64,-146.0,2194,692,3415,3225,198.3,-12.2,179,1510,0.00,2.40,0.00,0.000,3078,0.000,0.054,2183,2101,3319,3413,3226,0,0,0,0,0,0,14.53,14.38,14.55,6.32,50.86
$GC,1827,-0.64,-146.0,2183,2102,3415,3225,240.3,-12.7,196,1830,0.00,2.47,0.00,0.000,2308,0.000,0.082,2173,3512,3316,3413,3220,0,0,0,0,0,0,14.80,14.31,14.80,6.32,50.82
$GC,1862,-0.64,-146.0,2172,3512,3414,3232,242.9,-12.7,197,1866,0.08,2.35,0.00,0.000,3078,0.347,0.044,2198,2099,3323,3421,3225,0,0,0,0,0,0,14.09,14.42,14.36,6.33,51.26
$GC,2184,-0.64,-146.0,2198,2098,3414,3221,282.2,-11.6,214,2189,0.00,2.45,0.00,0.000,516,0.000,0.064,2198,695,3319,3414,3225,0,0,0,0,0,0,14.79,14.27,14.79,6.33,51.69
$GC,2267,-0.64,-146.0,2198,695,3415,3225,291.5,-11.6,218,2270,0.00,2.40,0.00,0.000,3078,0.000,0.054,2189,2102,3320,3414,3226,0,0,0,0,0,0,14.54,14.39,14.57,6.34,51.06
$GC,2577,-0.64,-146.0,2188,2103,3414,3227,328.7,-12.0,234,2580,0.00,2.45,0.00,0.000,2308,0.000,0.083,2177,3504,3319,3414,3225,0,0,0,0,0,0,14.81,14.31,14.81,6.33,51.53
$GC,2612,-0.64,-146.0,2178,3505,3414,3227,331.2,-12.0,235,2616,0.05,2.33,0.00,0.000,3078,0.419,0.044,2193,2095,3319,3413,3225,0,0,0,0,0,0,14.12,14.42,14.37,6.33,51.57
$STATE,2769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2769,begin apogee
$GC,2775,-0.15,0.0,2194,2165,3415,3225,351.6,-11.6,244,2903,0.45,0.00,124.70,1.590,10246,0.252,0.000,2350,2165,2715,2775,2656,0,0,0,0,0,0,14.01,13.87,13.14,6.34,50.86
$STATE,2904,end apogee,CONTROL_FINISHED_OK
$STATE,2904,begin loiter
$GC,3192,-0.15,0.0,2350,2165,2771,2644,346.7,3.8,265,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2164,2707,2771,2643,0,0,0,0,0,0,14.55,14.55,14.55,6.28,50.19
$GC,3492,-0.15,0.0,2350,2165,2772,2641,335.2,3.9,280,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2706,2771,2641,0,0,0,0,0,0,14.71,14.72,14.72,6.28,51.41
$GC,3792,-0.15,0.0,2350,2166,2771,2641,323.2,4.0,295,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2705,2771,2640,0,0,0,0,0,0,14.80,14.81,14.81,6.28,50.90
$GC,4092,-0.15,0.0,2350,2165,2772,2639,311.1,4.0,310,4092,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2704,2770,2639,0,0,0,0,0,0,14.85,14.86,14.86,6.28,51.22
$GC,4392,-0.15,0.0,2350,2165,2771,2639,299.8,3.6,325,4393,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.41
$GC,4692,-0.15,0.0,2350,2165,2772,2638,289.3,3.3,340,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2704,2771,2638,0,0,0,0,0,0,14.92,14.93,14.92,6.28,51.61
$GC,4992,-0.15,0.0,2350,2165,2772,2638,278.9,3.4,355,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2704,2771,2638,0,0,0,0,0,0,14.95,14.95,14.95,6.29,51.33
$GC,5292,-0.15,0.0,2350,2165,2771,2639,268.2,3.5,370,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2704,2771,2638,0,0,0,0,0,0,14.96,14.97,14.97,6.28,51.22
$GC,5592,-0.15,0.0,2350,2165,2772,2638,258.3,3.1,385,5592,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2703,2770,2637,0,0,0,0,0,0,14.98,14.98,14.99,6.28,51.33
$GC,5892,-0.15,0.0,2350,2166,2771,2639,249.1,3.0,400,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2704,2771,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.33
$GC,6192,-0.15,0.0,2350,2166,2772,2638,239.7,3.2,415,6193,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2704,2771,2637,0,0,0,0,0,0,15.00,15.01,15.00,6.27,51.45
$STATE,6489,end loiter,LOITER_COMPLETE
$STATE,6489,begin climb
$GC,6492,0.64,146.0,2350,2166,2772,2639,230.3,0.0,430,6632,0.62,2.60,129.73,1.410,11012,0.168,0.065,2605,754,2116,2136,2097,0,0,0,0,0,0,14.31,13.97,13.31,6.27,51.45
$GC,6657,0.65,157.4,2606,755,2133,2096,220.3,7.9,438,6671,0.00,2.42,10.45,1.401,9222,0.000,0.051,2606,2141,2077,2095,2060,0,0,0,0,0,0,14.13,14.03,13.27,6.24,49.48
$GC,6989,0.65,157.4,2606,2141,2085,2043,181.5,11.9,455,6993,0.00,2.53,0.00,0.000,2308,0.000,0.083,2606,3553,2063,2083,2043,0,0,0,0,0,0,14.53,14.16,14.54,6.23,50.47
$GC,7073,0.65,157.4,2606,3553,2085,2042,171.7,12.0,459,7077,0.00,2.35,0.00,0.000,5126,0.000,0.044,2616,2158,2062,2083,2042,0,0,0,0,0,0,14.40,14.27,14.41,6.23,50.66
$GC,7383,0.65,157.4,2617,2157,2083,2039,133.0,12.0,475,7387,0.00,2.50,0.00,0.000,4612,0.000,0.068,2627,742,2060,2081,2039,0,0,0,0,0,0,14.69,14.28,14.69,6.23,51.26
$GC,7428,0.65,157.4,2628,743,2081,2039,129.1,11.6,477,7432,0.05,2.42,0.00,0.000,5126,0.374,0.053,2609,2158,2059,2081,2038,0,0,0,0,0,0,14.11,14.32,14.37,6.23,51.37
$GC,7735,0.65,157.4,2610,2158,2082,2037,96.9,9.2,495,7740,0.00,2.47,0.00,0.000,260,0.000,0.083,2608,3554,2058,2080,2037,0,0,0,0,0,0,14.72,14.29,14.72,6.22,51.33
$GC,7860,0.65,157.4,2609,3556,2081,2038,85.4,9.1,520,7866,0.00,2.35,0.00,0.000,5126,0.000,0.044,2619,2149,2058,2080,2037,0,0,0,0,0,0,14.46,14.36,14.47,6.22,50.90
$GC,7990,0.65,157.4,2619,2150,2081,2036,72.8,10.1,546,7995,0.00,2.47,0.00,0.000,4612,0.000,0.068,2630,735,2058,2080,2036,0,0,0,0,0,0,14.73,14.24,14.72,6.22,50.11
$GC,8023,0.65,157.4,2629,736,2080,2031,69.4,9.9,553,8027,0.08,2.42,0.00,0.000,5126,0.308,0.054,2603,2156,2057,2079,2036,0,0,0,0,0,0,14.14,14.36,14.40,6.21,50.74
$GC,8150,0.65,157.4,2602,2156,2080,2037,57.0,10.9,578,8155,0.00,2.50,0.00,0.000,2308,0.000,0.083,2602,3560,2057,2080,2035,0,0,0,0,0,0,14.73,14.22,14.73,6.21,49.48
$GC,8183,0.65,157.4,2603,3561,2081,2036,53.1,11.0,585,8187,0.00,2.38,0.00,0.000,5126,0.000,0.045,2612,2142,2060,2079,2041,0,0,0,0,0,0,14.53,14.40,14.55,6.21,49.33
$GC,8310,0.65,157.4,2613,2142,2081,2036,40.0,10.7,610,8315,0.00,2.45,0.00,0.000,4612,0.000,0.065,2623,736,2057,2080,2035,0,0,0,0,0,0,14.73,14.25,14.73,6.20,50.19
$GC,8408,0.65,157.4,2623,737,2080,2036,29.9,9.8,630,8412,0.00,2.40,0.00,0.000,5126,0.000,0.053,2623,2149,2056,2079,2034,0,0,0,0,0,0,14.52,14.37,14.55,6.20,49.68
$GC,8535,0.65,157.4,2630,2149,2080,2036,18.0,9.9,655,8540,0.00,2.47,0.00,0.000,4356,0.000,0.079,2623,3553,2056,2079,2034,0,0,0,0,0,0,14.75,14.31,14.78,6.21,50.19
$GC,8593,0.65,157.4,2623,3554,2080,2036,12.7,8.4,667,8597,0.08,2.33,0.00,0.000,5126,0.356,0.040,2609,2140,2056,2079,2034,0,0,0,0,0,0,14.07,14.42,14.38,6.21,50.47
$STATE,8707,end climb,SURFACE_DEPTH_REACHED
$STATE,8707,begin surface coast
$STATE,8740,end surface coast,CONTROL_FINISHED_OK
$STATE,8740,begin surface
$SM_CCo,8756,55.78,0.238,0,0,1822,220.03
$SM_GC,1.18,5.38,0.00,55.78,0.033,0.000,0.238,244,2138,1822,-6.45,1.07,220.03,0,0,0,0,0,0,14.55,14.74,14.10
$IRIDIUM_FIX,-6014.82,0.00,120219,024724
$TT8_MAMPS,0.038199,0.289114
$HUMID,50.31
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3640128
$24V_AH,12.83,105.237
$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,13.125,73.100,264.875,55.775,0.000,25.632,41.294,135.643,0.000,0.000,16.760,0.000,6940.474,402.220,1590.815,268.399,0.000,1031.374,0.000,1123.212,0.000,0.540,0.000
$DEVICE_MAMPS,427.635,140.760,1589.670,237.915,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5166.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.649,0.000,0.000,0.000
$MEM,344024
$DATA_FILE_SIZE,17303,697
$CAP_FILE_SIZE,91596,0
$CFSIZE,1023623168,965492736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.017,198.23,1
$GPS,120219,075749,-6016.301,1.297,14,0.8,37,-19.7,0.7,75.4,10,7.5