version: 66.14
glider: 640
mission: 5
dive: 555
start: 2 12 119 21 12 45
data:
$ID,640
$MISSION,5
$DIVE,555
$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,32
$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
$GPS1,120219,210551,-6018.1206,0.7084,38,0.8,40,-19.7,0.8,20.1,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-67.0
$GPS2,120219,211226,-6018.0703,0.7394,9,0.8,15,-19.7,1.0,203.4,11,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,18.6,70509,-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,-146.0,232,2102,1798,1829,0.0,0.0,0,93,0.00,0.00,-77.53,0.000,16386,0.000,0.000,232,2101,3051,3134,2968,0,0,0,0,0,0,14.52,28.83,14.53,6.19,51.18
$GC,96,-0.64,-146.0,232,2102,3134,2971,3.1,-6.6,16,118,6.18,2.80,-9.68,0.000,18948,0.348,2.202,2170,694,3316,3414,3219,0,0,0,0,0,0,13.89,12.85,14.27,6.29,50.19
$GC,206,-0.64,-146.0,2170,694,3416,3223,21.0,-15.4,38,212,0.10,2.45,0.00,0.000,3078,0.337,0.057,2191,2103,3318,3415,3221,0,0,0,0,0,0,13.98,14.25,14.26,6.31,48.77
$GC,337,-0.64,-146.0,2192,2104,3417,3222,41.6,-16.4,64,343,0.00,2.50,0.00,0.000,2308,0.000,0.083,2181,3511,3318,3415,3222,0,0,0,0,0,0,14.60,14.21,14.61,6.32,49.72
$GC,379,-0.64,-146.0,2182,3512,3416,3222,49.2,-16.6,73,383,0.00,2.38,0.00,0.000,3078,0.000,0.044,2181,2095,3318,3415,3222,0,0,0,0,0,0,14.35,14.23,14.35,6.31,49.76
$GC,504,-0.64,-146.0,2181,2094,3416,3223,68.4,-15.6,98,508,0.00,2.50,0.00,0.000,2308,0.000,0.080,2170,3504,3319,3416,3222,0,0,0,0,0,0,14.66,14.20,14.66,6.32,49.17
$GC,579,-0.64,-146.0,2170,3505,3416,3224,80.1,-14.5,113,584,0.08,2.35,0.00,0.000,3078,0.355,0.043,2195,2098,3319,3416,3223,0,0,0,0,0,0,13.96,14.26,14.23,6.31,49.64
$GC,706,-0.64,-146.0,2196,2097,3417,3222,98.2,-15.1,138,712,0.00,2.45,0.00,0.000,516,0.000,0.065,2195,696,3318,3415,3221,0,0,0,0,0,0,14.68,14.30,14.68,6.32,48.50
$GC,744,-0.64,-146.0,2196,696,3416,3223,104.3,-15.0,143,748,0.00,2.42,0.00,0.000,3078,0.000,0.054,2184,2107,3319,3415,3223,0,0,0,0,0,0,14.39,14.25,14.41,6.31,48.46
$GC,1059,-0.64,-146.0,2184,2108,3416,3224,149.9,-14.1,159,1063,0.00,2.45,0.00,0.000,2564,0.000,0.063,2184,696,3319,3416,3223,0,0,0,0,0,0,14.76,14.25,14.76,6.31,49.72
$GC,1099,-0.64,-146.0,2185,696,3417,3223,154.9,-14.3,161,1103,0.08,2.40,0.00,0.000,3078,0.366,0.054,2197,2102,3324,3416,3233,0,0,0,0,0,0,13.97,14.27,14.26,6.30,49.72
$GC,1409,-0.64,-146.0,2198,2102,3417,3223,195.8,-12.9,177,1413,0.00,2.47,0.00,0.000,260,0.000,0.083,2188,3502,3319,3415,3223,0,0,0,0,0,0,14.78,14.31,14.78,6.32,51.22
$GC,1434,-0.64,-146.0,2188,3503,3416,3224,198.4,-12.9,178,1438,0.00,2.35,0.00,0.000,3078,0.000,0.044,2187,2090,3318,3415,3222,0,0,0,0,0,0,14.45,14.32,14.46,6.32,50.90
$GC,1744,-0.64,-146.0,2188,2090,3417,3223,239.9,-13.1,194,1748,0.00,2.42,0.00,0.000,2564,0.000,0.063,2186,692,3319,3416,3223,0,0,0,0,0,0,14.80,14.26,14.80,6.33,50.78
$GC,1784,-0.64,-146.0,2187,694,3415,3224,244.6,-13.1,196,1788,0.05,2.40,0.00,0.000,3078,0.430,0.054,2192,2107,3318,3414,3223,0,0,0,0,0,0,14.02,14.30,14.28,6.33,50.74
$GC,2094,-0.64,-146.0,2192,2100,3417,3223,284.0,-12.5,212,2098,0.00,2.47,0.00,0.000,2308,0.000,0.083,2181,3496,3319,3415,3223,0,0,0,0,0,0,14.81,14.28,14.81,6.33,51.02
$GC,2119,-0.64,-146.0,2182,3496,3417,3223,285.9,-12.5,213,2123,0.00,2.33,0.00,0.000,3078,0.000,0.044,2181,2095,3319,3415,3223,0,0,0,0,0,0,14.46,14.33,14.47,6.33,51.06
$GC,2429,-0.64,-146.0,2182,2094,3417,3223,327.2,-12.8,229,2433,0.00,2.42,0.00,0.000,2564,0.000,0.063,2181,694,3319,3415,3223,0,0,0,0,0,0,14.82,14.33,14.82,6.33,51.89
$GC,2484,-0.64,-146.0,2181,695,3416,3224,334.3,-13.0,232,2488,0.08,2.40,0.00,0.000,3078,0.363,0.054,2194,2100,3319,3415,3223,0,0,0,0,0,0,14.00,14.30,14.32,6.33,51.37
$STATE,2622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2622,begin apogee
$GC,2628,-0.15,0.0,2194,2168,3417,3223,351.2,-12.2,239,2756,0.45,0.00,125.07,1.592,10246,0.254,0.000,2350,2167,2717,2776,2658,0,0,0,0,0,0,14.05,13.88,13.13,6.33,51.45
$STATE,2757,end apogee,CONTROL_FINISHED_OK
$STATE,2757,begin loiter
$GC,3044,-0.15,0.0,2351,2168,2772,2643,350.8,2.5,260,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2707,2771,2643,0,0,0,0,0,0,14.56,14.56,14.56,6.28,50.78
$GC,3344,-0.15,0.0,2351,2168,2771,2642,343.1,2.6,275,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2167,2706,2771,2642,0,0,0,0,0,0,14.72,14.73,14.72,6.28,51.14
$GC,3644,-0.15,0.0,2351,2168,2772,2640,335.5,2.6,290,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2705,2771,2640,0,0,0,0,0,0,14.81,14.81,14.81,6.28,51.06
$GC,3944,-0.15,0.0,2351,2168,2772,2640,327.6,2.6,305,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2705,2771,2640,0,0,0,0,0,0,14.86,14.87,14.87,6.29,51.57
$GC,4244,-0.15,0.0,2349,2168,2772,2642,319.5,2.7,320,4245,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2705,2771,2640,0,0,0,0,0,0,14.90,14.90,14.91,6.28,51.33
$GC,4545,-0.15,0.0,2351,2168,2772,2640,311.4,2.7,335,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2167,2705,2771,2640,0,0,0,0,0,0,14.93,14.93,14.93,6.28,51.53
$GC,4845,-0.15,0.0,2350,2168,2770,2641,303.0,2.9,350,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2705,2770,2640,0,0,0,0,0,0,14.95,14.96,14.96,6.28,52.16
$GC,5145,-0.15,0.0,2351,2168,2771,2641,294.0,3.1,365,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2705,2771,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.28,52.20
$GC,5445,-0.15,0.0,2350,2168,2771,2642,284.2,3.3,380,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2705,2770,2640,0,0,0,0,0,0,14.99,15.00,14.99,6.28,51.49
$GC,5744,-0.15,0.0,2351,2168,2772,2641,273.6,3.6,395,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2167,2705,2770,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.69
$GC,6044,-0.15,0.0,2350,2168,2771,2642,263.5,3.3,410,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2706,2771,2641,0,0,0,0,0,0,15.01,15.02,15.02,6.28,52.20
$STATE,6342,end loiter,LOITER_COMPLETE
$STATE,6342,begin climb
$GC,6344,0.64,146.0,2351,2168,2771,2642,254.5,0.0,425,6486,0.62,2.60,130.30,1.431,10756,0.166,0.063,2608,751,2116,2136,2097,0,0,0,0,0,0,14.32,13.95,13.29,6.28,51.73
$GC,6561,0.64,146.0,2608,752,2133,2092,240.9,8.9,435,6565,0.00,2.42,0.00,0.000,1030,0.000,0.052,2608,2140,2113,2136,2090,0,0,0,0,0,0,14.17,14.07,14.20,6.23,49.68
$GC,6866,0.64,146.0,2608,2140,2126,2085,206.2,11.0,451,6870,0.00,2.53,0.00,0.000,4356,0.000,0.082,2608,3554,2104,2125,2084,0,0,0,0,0,0,14.58,14.18,14.58,6.24,50.82
$GC,6946,0.64,146.0,2608,3555,2126,2085,197.3,11.2,455,6950,0.00,2.35,0.00,0.000,5126,0.000,0.043,2618,2156,2104,2125,2084,0,0,0,0,0,0,14.42,14.30,14.44,6.24,51.26
$GC,7266,0.64,146.0,2619,2156,2123,2082,160.7,11.5,471,7270,0.00,2.47,0.00,0.000,4612,0.000,0.067,2629,745,2101,2122,2081,0,0,0,0,0,0,14.70,14.29,14.70,6.23,51.18
$GC,7316,0.64,146.0,2630,746,2121,2082,156.8,11.4,473,7320,0.08,2.40,0.00,0.000,5126,0.319,0.054,2609,2150,2100,2120,2080,0,0,0,0,0,0,14.10,14.33,14.38,6.23,51.02
$GC,7636,0.64,146.0,2603,2151,2121,2080,122.0,10.2,490,7640,0.00,2.50,0.00,0.000,260,0.000,0.083,2603,3562,2099,2120,2078,0,0,0,0,0,0,14.76,14.30,14.76,6.23,50.94
$GC,7716,0.64,146.0,2604,3562,2121,2078,113.7,10.4,494,7720,0.00,2.35,0.00,0.000,5126,0.000,0.043,2612,2153,2099,2120,2079,0,0,0,0,0,0,14.54,14.42,14.56,6.22,50.78
$GC,8021,0.64,146.0,2613,2152,2121,2078,83.4,10.5,534,8025,0.00,2.47,0.00,0.000,4612,0.000,0.066,2623,735,2099,2120,2078,0,0,0,0,0,0,14.76,14.34,14.76,6.22,50.07
$GC,8081,0.64,146.0,2625,736,2120,2078,77.0,10.5,546,8085,0.05,2.40,0.00,0.000,5126,0.377,0.053,2606,2152,2098,2118,2078,0,0,0,0,0,0,14.16,14.38,14.42,6.22,50.19
$GC,8206,0.64,146.0,2606,2153,2119,2079,63.9,9.9,571,8210,0.00,2.50,0.00,0.000,260,0.000,0.084,2606,3555,2098,2118,2078,0,0,0,0,0,0,14.75,14.31,14.75,6.21,49.68
$GC,8261,0.64,146.0,2606,3555,2119,2079,58.1,10.1,582,8265,0.00,2.35,0.00,0.000,5126,0.000,0.043,2615,2139,2097,2118,2077,0,0,0,0,0,0,14.54,14.42,14.57,6.21,50.15
$GC,8389,0.64,150.8,2616,2138,2120,2077,47.1,8.1,607,8392,0.00,0.00,0.00,0.000,4102,0.000,0.000,2615,2137,2097,2118,2077,0,0,0,0,0,0,14.75,14.75,14.75,6.20,49.48
$GC,8512,0.66,161.5,2615,2138,2119,2078,37.1,7.9,632,8527,0.00,2.50,10.60,1.325,12548,0.000,0.079,2615,3562,2056,2074,2038,0,0,0,0,0,0,14.76,14.24,13.65,6.21,49.84
$GC,8562,0.66,161.5,2616,3563,2076,2038,32.1,9.9,642,8566,0.05,2.35,0.00,0.000,5126,0.409,0.043,2608,2147,2055,2074,2037,0,0,0,0,0,0,14.12,14.37,14.38,6.20,50.15
$GC,8687,0.66,161.5,2608,2148,2076,2036,19.7,11.3,667,8691,0.00,2.45,0.00,0.000,516,0.000,0.066,2618,747,2055,2074,2036,0,0,0,0,0,0,14.73,14.33,14.73,6.21,50.43
$GC,8722,0.66,161.5,2618,747,2073,2036,15.9,10.6,674,8726,0.00,2.40,0.00,0.000,5126,0.000,0.052,2618,2151,2054,2074,2035,0,0,0,0,0,0,14.43,14.30,14.45,6.20,50.51
$GC,8849,0.66,161.5,2619,2153,2075,2035,4.2,10.4,699,8853,0.00,2.47,0.00,0.000,4356,0.000,0.085,2619,3553,2054,2074,2035,0,0,0,0,0,0,14.73,14.30,14.73,6.21,51.33
$STATE,8856,end climb,SURFACE_DEPTH_REACHED
$STATE,8856,begin surface coast
$STATE,8881,end surface coast,CONTROL_FINISHED_OK
$STATE,8881,begin surface
$SM_CCo,8900,55.85,0.239,0,0,1822,220.03
$SM_GC,0.98,5.60,2.50,55.85,0.070,0.047,0.239,240,2103,1822,-6.46,1.13,220.03,0,0,0,0,0,0,14.54,14.39,14.10
$IRIDIUM_FIX,-6017.76,0.00,120219,183227
$TT8_MAMPS,0.038948,0.355775
$HUMID,50.51
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,1
$SC_FREEKB,3637056
$24V_AH,12.85,106.359
$10V_AH,13.41,0.000
$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,13.400,88.075,265.975,55.850,0.000,26.540,40.434,140.024,0.250,0.000,16.182,0.000,7026.561,409.658,1646.068,267.961,0.000,1060.432,0.000,1167.409,0.000,0.540,0.000
$DEVICE_MAMPS,429.930,2201.670,1591.965,239.445,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5306.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.414,0.000,0.000,0.000
$MEM,344024
$DATA_FILE_SIZE,17318,706
$CAP_FILE_SIZE,95639,0
$CFSIZE,1023623168,964902912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.032,234.43,1
$GPS,120219,234319,-6017.565,0.463,20,0.8,49,-19.7,1.4,318.5,10,5.9