version: 66.14
glider: 640
mission: 5
dive: 553
start: 2 12 119 16 0 55
data:
$ID,640
$MISSION,5
$DIVE,553
$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,57
$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
$GPS1,120219,155225,-6017.8579,0.5223,32,0.9,56,-19.7,0.4,85.3,11,6.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-62.6
$GPS2,120219,160036,-6017.8691,0.5767,13,0.8,15,-19.7,0.6,140.5,11,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,199.8,3982,-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,-146.0,219,2066,1792,1829,0.0,0.0,0,98,0.00,0.00,-82.32,0.000,16386,0.000,0.000,218,2066,3144,3222,3067,0,0,0,0,0,0,14.57,28.83,14.57,6.19,51.10
$GC,101,-0.64,-146.0,220,2066,3224,3067,3.7,-9.0,17,118,6.28,2.85,-5.82,0.000,19204,0.353,2.218,2181,3492,3317,3413,3222,0,0,0,0,0,0,13.88,12.95,14.29,6.31,50.39
$GC,149,-0.64,-146.0,2180,3493,3415,3224,13.0,-15.7,27,153,0.00,2.30,0.00,0.000,3078,0.000,0.041,2188,2122,3318,3414,3223,0,0,0,0,0,0,14.35,14.24,14.36,6.32,49.33
$GC,276,-0.64,-146.0,2181,2121,3416,3224,33.2,-16.7,52,282,0.00,2.50,0.00,0.000,2564,0.000,0.063,2179,694,3318,3414,3223,0,0,0,0,0,0,14.62,14.26,14.62,6.32,49.52
$GC,339,-0.64,-146.0,2180,695,3415,3224,44.2,-16.5,65,343,0.08,2.42,0.00,0.000,3078,0.362,0.057,2192,2099,3319,3415,3224,0,0,0,0,0,0,13.93,14.20,14.21,6.32,49.72
$GC,466,-0.64,-146.0,2193,2099,3415,3225,65.8,-15.0,90,470,0.00,2.50,0.00,0.000,2308,0.000,0.085,2183,3503,3319,3415,3224,0,0,0,0,0,0,14.66,14.23,14.66,6.33,49.96
$GC,536,-0.64,-146.0,2182,3504,3415,3225,76.9,-14.8,104,539,0.00,2.35,0.00,0.000,3078,0.000,0.043,2181,2097,3319,3415,3224,0,0,0,0,0,0,14.47,14.34,14.49,6.32,50.03
$GC,663,-0.64,-146.0,2181,2095,3414,3224,96.0,-15.3,129,669,0.00,2.45,0.00,0.000,2564,0.000,0.062,2181,687,3319,3415,3224,0,0,0,0,0,0,14.69,14.30,14.69,6.32,49.09
$GC,745,-0.64,-146.0,2181,688,3416,3225,108.4,-15.3,138,749,0.08,2.42,0.00,0.000,3078,0.364,0.056,2193,2100,3319,3415,3224,0,0,0,0,0,0,14.02,14.32,14.31,6.32,48.11
$GC,1061,-0.64,-146.0,2193,2101,3416,3224,150.3,-12.6,154,1064,0.00,2.50,0.00,0.000,2308,0.000,0.084,2182,3509,3319,3415,3224,0,0,0,0,0,0,14.76,14.28,14.76,6.32,49.25
$GC,1146,-0.64,-146.0,2182,3510,3415,3225,159.9,-12.8,158,1149,0.00,2.35,0.00,0.000,3078,0.000,0.042,2182,2098,3319,3415,3224,0,0,0,0,0,0,14.52,14.39,14.54,6.32,49.64
$GC,1451,-0.64,-146.0,2182,2097,3415,3225,200.8,-13.0,173,1454,0.00,2.42,0.00,0.000,2564,0.000,0.063,2181,696,3319,3415,3224,0,0,0,0,0,0,14.78,14.34,14.78,6.32,50.47
$GC,1525,-0.64,-146.0,2182,696,3414,3225,210.5,-12.9,177,1529,0.08,2.42,0.00,0.000,3078,0.353,0.055,2195,2108,3319,3415,3224,0,0,0,0,0,0,14.07,14.37,14.35,6.32,50.31
$GC,1841,-0.64,-146.0,2194,2108,3415,3226,248.7,-12.1,193,1844,0.00,2.47,0.00,0.000,260,0.000,0.083,2185,3506,3319,3415,3224,0,0,0,0,0,0,14.80,14.31,14.80,6.33,50.82
$GC,1881,-0.64,-146.0,2185,3506,3415,3225,253.6,-12.2,195,1884,0.00,2.35,0.00,0.000,3078,0.000,0.042,2184,2090,3319,3414,3224,0,0,0,0,0,0,14.54,14.42,14.57,6.33,50.90
$GC,2201,-0.64,-146.0,2185,2089,3415,3225,293.9,-12.7,211,2204,0.00,2.42,0.00,0.000,2564,0.000,0.063,2184,693,3319,3415,3224,0,0,0,0,0,0,14.81,14.35,14.81,6.33,50.82
$GC,2286,-0.64,-146.0,2185,692,3415,3225,303.6,-12.9,215,2290,0.05,2.42,0.00,0.000,3078,0.418,0.054,2189,2108,3319,3415,3224,0,0,0,0,0,0,14.11,14.38,14.36,6.33,51.10
$GC,2596,-0.64,-146.0,2190,2108,3416,3224,343.5,-12.6,231,2599,0.00,2.47,0.00,0.000,2308,0.000,0.084,2179,3510,3319,3415,3224,0,0,0,0,0,0,14.82,14.31,14.82,6.33,51.02
$GC,2630,-0.64,-146.0,2180,3511,3416,3224,348.0,-12.7,233,2634,0.00,2.35,0.00,0.000,3078,0.000,0.043,2179,2092,3319,3415,3224,0,0,0,0,0,0,14.55,14.42,14.57,6.33,51.02
$STATE,2648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2648,begin apogee
$GC,2654,-0.15,0.0,2180,2161,3416,3224,350.6,-12.9,234,2782,0.50,0.00,124.65,1.598,10246,0.251,0.000,2353,2164,2715,2775,2656,0,0,0,0,0,0,14.05,13.88,13.14,6.34,50.94
$STATE,2783,end apogee,CONTROL_FINISHED_OK
$STATE,2783,begin loiter
$GC,3071,-0.15,0.0,2354,2162,2772,2643,348.8,2.9,255,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2162,2707,2771,2643,0,0,0,0,0,0,14.56,14.56,14.56,6.29,50.47
$GC,3371,-0.15,0.0,2354,2163,2772,2642,339.7,3.1,270,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2162,2706,2771,2641,0,0,0,0,0,0,14.72,14.72,14.72,6.28,51.49
$GC,3671,-0.15,0.0,2353,2163,2771,2640,330.3,3.0,285,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2162,2705,2771,2640,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.06
$GC,3971,-0.15,0.0,2353,2163,2771,2641,320.7,3.2,300,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2162,2705,2771,2639,0,0,0,0,0,0,14.85,14.87,14.87,6.28,50.98
$GC,4271,-0.15,0.0,2353,2162,2772,2640,310.5,3.5,315,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2162,2704,2770,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.96
$GC,4571,-0.15,0.0,2354,2163,2771,2640,300.1,3.5,330,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2162,2704,2771,2638,0,0,0,0,0,0,14.92,14.93,14.93,6.28,51.29
$GC,4871,-0.15,0.0,2353,2163,2771,2640,289.5,3.5,345,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2162,2704,2770,2638,0,0,0,0,0,0,14.95,14.95,14.95,6.28,52.00
$GC,5171,-0.15,0.0,2354,2162,2772,2638,279.2,3.4,360,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2162,2704,2770,2638,0,0,0,0,0,0,14.97,14.97,14.97,6.28,52.12
$GC,5471,-0.15,0.0,2354,2162,2771,2638,269.2,3.2,375,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2162,2704,2770,2638,0,0,0,0,0,0,14.98,14.99,14.99,6.28,52.04
$GC,5771,-0.15,0.0,2354,2162,2772,2637,259.3,3.2,390,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2162,2704,2771,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.65
$GC,6071,-0.15,0.0,2354,2163,2771,2639,249.4,3.3,405,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2162,2704,2771,2638,0,0,0,0,0,0,15.01,15.01,15.00,6.28,51.77
$STATE,6368,end loiter,LOITER_COMPLETE
$STATE,6368,begin climb
$GC,6371,0.64,146.0,2354,2163,2770,2639,239.6,0.0,420,6508,0.62,2.53,128.88,1.403,11012,0.164,0.083,2599,3544,2120,2140,2100,0,0,0,0,0,0,14.33,13.83,13.30,6.27,51.89
$GC,6613,0.64,146.0,2601,3545,2138,2092,220.3,10.9,431,6617,0.00,2.35,0.00,0.000,5126,0.000,0.041,2610,2156,2114,2136,2092,0,0,0,0,0,0,14.23,14.12,14.24,6.24,49.56
$GC,6923,0.64,146.0,2610,2155,2131,2087,183.9,11.6,447,6927,0.00,2.50,0.00,0.000,4612,0.000,0.067,2621,744,2107,2130,2085,0,0,0,0,0,0,14.61,14.21,14.61,6.23,50.66
$GC,6989,0.64,146.0,2622,744,2128,2085,177.7,11.3,450,6993,0.05,2.40,0.00,0.000,5126,0.373,0.053,2604,2139,2105,2126,2085,0,0,0,0,0,0,14.01,14.28,14.27,6.23,51.49
$GC,7293,0.64,146.0,2601,2140,2126,2084,142.3,11.3,465,7297,0.00,2.53,0.00,0.000,260,0.000,0.083,2604,3555,2104,2125,2083,0,0,0,0,0,0,14.71,14.27,14.71,6.24,51.53
$GC,7373,0.64,146.0,2605,3555,2126,2084,133.7,11.4,469,7377,0.00,2.35,0.00,0.000,5126,0.000,0.044,2613,2147,2104,2125,2083,0,0,0,0,0,0,14.50,14.38,14.52,6.23,50.94
$GC,7678,0.64,146.0,2613,2150,2126,2081,97.2,12.0,487,7682,0.00,2.45,0.00,0.000,4612,0.000,0.067,2624,744,2103,2125,2082,0,0,0,0,0,0,14.76,14.33,14.76,6.23,51.49
$GC,7693,0.64,146.0,2624,744,2124,2083,95.4,12.0,490,7697,0.05,2.40,0.00,0.000,5126,0.368,0.053,2606,2151,2102,2123,2081,0,0,0,0,0,0,14.16,14.37,14.42,6.22,50.94
$GC,7819,0.64,146.0,2606,2152,2133,2081,80.9,11.5,515,7822,0.00,2.50,0.00,0.000,260,0.000,0.084,2605,3562,2102,2123,2081,0,0,0,0,0,0,14.76,14.22,14.76,6.22,51.26
$GC,7848,0.64,146.0,2606,3562,2123,2081,77.4,11.6,521,7853,0.00,2.35,0.00,0.000,5126,0.000,0.044,2615,2152,2102,2123,2081,0,0,0,0,0,0,14.54,14.42,14.57,6.22,50.31
$GC,7975,0.64,146.0,2615,2152,2123,2082,63.9,10.4,546,7981,0.00,2.45,0.00,0.000,4612,0.000,0.066,2626,745,2103,2126,2081,0,0,0,0,0,0,14.76,14.34,14.76,6.21,50.07
$GC,8003,0.64,146.0,2626,745,2122,2080,60.9,9.7,552,8007,0.08,2.40,0.00,0.000,5126,0.309,0.053,2599,2157,2100,2121,2080,0,0,0,0,0,0,14.14,14.37,14.41,6.21,50.31
$GC,8128,0.69,185.7,2599,2158,2122,2081,51.0,6.8,577,8168,0.00,2.47,35.65,1.243,10500,0.000,0.083,2599,3555,1956,1972,1941,0,0,0,0,0,0,14.76,14.17,13.64,6.20,49.60
$GC,8240,0.69,185.7,2599,3551,1972,1938,42.2,8.9,599,8246,0.00,2.35,0.00,0.000,3078,0.000,0.042,2608,2148,1950,1970,1931,0,0,0,0,0,0,14.42,14.32,14.45,6.20,49.92
$GC,8371,0.69,185.7,2609,2148,1972,1934,30.5,9.1,625,8375,0.00,2.47,0.00,0.000,2564,0.000,0.067,2619,745,1951,1970,1933,0,0,0,0,0,0,14.62,14.26,14.62,6.19,49.84
$GC,8430,0.70,193.8,2620,746,1969,1934,25.7,8.0,637,8439,0.00,2.40,5.20,1.156,11270,0.000,0.049,2619,2154,1928,1942,1915,0,0,0,0,0,0,14.45,14.31,13.49,6.20,50.74
$GC,8560,0.70,193.8,2620,2154,1940,1908,14.3,8.6,663,8564,0.00,2.47,0.00,0.000,2308,0.000,0.083,2620,3550,1923,1939,1908,0,0,0,0,0,0,14.65,14.26,14.65,6.18,50.78
$GC,8615,0.70,193.8,2620,3550,1940,1908,8.5,11.7,674,8618,0.00,2.35,0.00,0.000,5126,0.000,0.043,2630,2145,1923,1939,1908,0,0,0,0,0,0,14.47,14.35,14.49,6.20,50.70
$STATE,8657,end climb,SURFACE_DEPTH_REACHED
$STATE,8657,begin surface coast
$STATE,8682,end surface coast,CONTROL_FINISHED_OK
$STATE,8682,begin surface
$SM_CCo,8699,23.65,0.245,0,0,1821,220.03
$SM_GC,1.04,5.60,0.05,23.65,0.063,0.212,0.245,233,2088,1821,-6.44,1.02,220.03,0,0,0,0,0,0,14.45,14.41,14.07
$IRIDIUM_FIX,-6016.69,0.00,120219,132027
$TT8_MAMPS,0.038948,0.358771
$HUMID,50.98
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3638080
$24V_AH,12.95,105.985
$10V_AH,13.39,0.000
$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,13.450,87.875,294.375,23.650,0.000,49.296,44.662,147.078,0.000,0.000,16.169,0.000,6870.275,392.436,1679.829,269.864,0.000,1049.214,0.000,1165.739,0.000,0.540,0.000
$DEVICE_MAMPS,417.690,2217.735,1598.085,244.800,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5108.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.501,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17318,688
$CAP_FILE_SIZE,96761,0
$CFSIZE,1023623168,965099520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.054,192.89,1
$GPS,120219,182742,-6018.496,0.559,15,1.3,56,-19.7,1.4,14.9,5,6.7