version: 66.14
glider: 640
mission: 5
dive: 643
start: 2 22 119 14 58 38
data:
$ID,640
$MISSION,5
$DIVE,643
$N_DIVES,700
$STOP_T,2271912
$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,35
$R_STBD_OVSHOOT,28
$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
$GPS1,220219,145133,-6000.0693,1.0837,47,0.8,49,-19.7,0.7,353.8,10,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-63.0
$GPS2,220219,145818,-6000.0244,1.0774,8,0.8,12,-19.7,0.0,21.2,10,9.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6003.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,215.9,5600,-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,-146.0,221,2095,1746,1775,0.0,0.0,0,104,0.00,0.00,-88.35,0.000,16386,0.000,0.000,220,2094,3220,3304,3137,0,0,0,0,0,0,14.59,28.83,14.59,6.17,51.92
$GC,107,-0.64,-146.0,221,2095,3305,3138,3.6,-7.5,18,124,6.20,2.83,-3.20,0.000,18692,0.340,2.202,2181,3503,3317,3411,3224,0,0,0,0,0,0,13.87,12.79,14.28,6.29,50.27
$GC,145,-0.64,-146.0,2182,3504,3414,3226,11.7,-18.2,26,148,0.00,2.35,0.00,0.000,3078,0.000,0.043,2181,2100,3319,3413,3225,0,0,0,0,0,0,14.44,14.32,14.45,6.30,49.60
$GC,272,-0.64,-146.0,2181,2099,3411,3226,32.7,-17.1,51,277,0.00,2.45,0.00,0.000,2564,0.000,0.063,2181,694,3318,3413,3224,0,0,0,0,0,0,14.69,14.28,14.69,6.30,49.40
$GC,359,-0.64,-146.0,2181,695,3414,3226,48.3,-17.3,69,364,0.08,2.42,0.00,0.000,3078,0.356,0.056,2194,2104,3319,3413,3225,0,0,0,0,0,0,14.02,14.31,14.31,6.30,49.52
$GC,487,-0.64,-146.0,2194,2104,3414,3226,70.2,-15.8,94,492,0.00,2.45,0.00,0.000,516,0.000,0.062,2194,688,3319,3414,3225,0,0,0,0,0,0,14.75,14.28,14.75,6.30,50.27
$GC,510,-0.64,-146.0,2194,689,3414,3226,74.1,-15.6,99,513,0.00,2.45,0.00,0.000,3078,0.000,0.057,2184,2107,3319,3414,3225,0,0,0,0,0,0,14.50,14.35,14.52,6.30,49.76
$GC,637,-0.64,-146.0,2184,2107,3414,3226,92.0,-13.5,124,643,0.00,2.42,0.00,0.000,2308,0.000,0.083,2173,3499,3319,3414,3225,0,0,0,0,0,0,14.78,14.26,14.78,6.30,49.25
$GC,670,-0.64,-146.0,2174,3500,3415,3225,97.0,-14.8,131,674,0.08,2.33,0.00,0.000,3078,0.354,0.042,2199,2096,3319,3414,3225,0,0,0,0,0,0,14.07,14.40,14.35,6.29,48.97
$GC,810,-0.64,-146.0,2199,2095,3415,3226,116.9,-13.5,141,813,0.00,2.42,0.00,0.000,516,0.000,0.062,2198,697,3319,3414,3225,0,0,0,0,0,0,14.85,14.35,14.85,6.29,48.22
$GC,869,-0.64,-146.0,2199,698,3415,3226,124.7,-13.3,144,874,0.00,2.40,0.00,0.000,3078,0.000,0.054,2188,2102,3319,3414,3225,0,0,0,0,0,0,14.54,14.39,14.57,6.28,48.46
$GC,1190,-0.64,-146.0,2188,2102,3415,3226,164.5,-12.2,160,1193,0.00,2.45,0.00,0.000,2308,0.000,0.083,2177,3504,3319,3414,3225,0,0,0,0,0,0,14.90,14.35,14.90,6.29,49.88
$GC,1225,-0.64,-146.0,2178,3505,3415,3225,168.9,-12.3,162,1228,0.05,2.33,0.00,0.000,3078,0.419,0.042,2193,2091,3319,3414,3225,0,0,0,0,0,0,14.16,14.47,14.41,6.29,49.96
$GC,1542,-0.64,-146.0,2194,2090,3415,3225,206.9,-12.2,178,1545,0.00,2.40,0.00,0.000,516,0.000,0.062,2193,700,3319,3414,3225,0,0,0,0,0,0,14.91,14.41,14.92,6.30,50.51
$GC,1601,-0.64,-146.0,2194,700,3415,3225,214.4,-12.1,181,1605,0.00,2.40,0.00,0.000,3078,0.000,0.055,2183,2105,3319,3414,3225,0,0,0,0,0,0,14.61,14.44,14.63,6.30,50.66
$GC,1921,-0.64,-146.0,2184,2106,3414,3225,254.8,-12.9,197,1924,0.00,2.45,0.00,0.000,2308,0.000,0.083,2173,3509,3319,3414,3225,0,0,0,0,0,0,14.95,14.38,14.96,6.31,50.78
$GC,1956,-0.64,-146.0,2173,3509,3415,3226,259.4,-13.0,199,1960,0.08,2.33,0.00,0.000,3078,0.347,0.042,2199,2094,3319,3414,3225,0,0,0,0,0,0,14.15,14.50,14.42,6.30,50.94
$GC,2271,-0.64,-146.0,2199,2094,3415,3226,297.3,-12.0,215,2274,0.00,2.40,0.00,0.000,516,0.000,0.062,2197,700,3319,3414,3225,0,0,0,0,0,0,14.97,14.44,14.97,6.31,50.94
$GC,2351,-0.64,-146.0,2199,700,3415,3225,306.8,-11.9,219,2355,0.00,2.38,0.00,0.000,3078,0.000,0.054,2188,2102,3319,3414,3225,0,0,0,0,0,0,14.63,14.46,14.66,6.30,50.98
$GC,2671,-0.64,-146.0,2188,2103,3415,3226,347.0,-12.8,235,2675,0.00,2.45,0.00,0.000,2308,0.000,0.083,2177,3508,3319,3414,3225,0,0,0,0,0,0,14.99,14.38,14.99,6.29,51.22
$STATE,2703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2703,begin apogee
$GC,2712,-0.15,0.0,2178,2145,3414,3226,351.6,-12.9,237,2838,0.50,0.00,123.97,1.593,10246,0.246,0.000,2353,2143,2718,2778,2659,0,0,0,0,0,0,14.09,13.93,13.14,6.30,51.61
$STATE,2838,end apogee,CONTROL_FINISHED_OK
$STATE,2838,begin loiter
$GC,3126,-0.15,0.0,2354,2143,2771,2644,352.4,2.3,258,3127,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2142,2707,2771,2643,0,0,0,0,0,0,14.60,14.60,14.61,6.27,50.94
$GC,3426,-0.15,0.0,2354,2143,2772,2642,345.0,2.6,273,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2142,2706,2771,2642,0,0,0,0,0,0,14.75,14.76,14.76,6.27,51.49
$GC,3726,-0.15,0.0,2354,2143,2772,2640,336.8,2.7,288,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2142,2705,2770,2640,0,0,0,0,0,0,14.83,14.84,14.84,6.27,51.61
$GC,4026,-0.15,0.0,2353,2143,2771,2641,328.3,2.9,303,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2142,2705,2771,2640,0,0,0,0,0,0,14.88,14.89,14.89,6.27,51.29
$GC,4326,-0.15,0.0,2354,2143,2772,2640,319.7,2.9,318,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2142,2705,2770,2640,0,0,0,0,0,0,14.92,14.92,14.92,6.27,51.22
$GC,4626,-0.15,0.0,2354,2143,2772,2639,310.8,3.1,333,4627,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2142,2704,2770,2639,0,0,0,0,0,0,14.95,14.95,14.95,6.26,51.92
$GC,4926,-0.15,0.0,2353,2143,2771,2640,301.7,3.1,348,4927,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2142,2704,2770,2639,0,0,0,0,0,0,14.97,14.97,14.97,6.26,51.41
$GC,5226,-0.15,0.0,2354,2143,2772,2639,292.2,3.1,363,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2142,2704,2770,2639,0,0,0,0,0,0,14.98,14.99,14.98,6.26,51.92
$GC,5526,-0.15,0.0,2353,2143,2770,2640,282.8,3.1,378,5527,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2142,2704,2771,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.26,51.41
$GC,5826,-0.15,0.0,2354,2143,2771,2640,274.1,2.8,393,5827,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2143,2704,2770,2638,0,0,0,0,0,0,15.01,15.01,15.01,6.26,51.57
$GC,6126,-0.15,0.0,2354,2142,2772,2639,266.2,2.5,408,6127,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2142,2704,2770,2638,0,0,0,0,0,0,15.02,15.02,15.02,6.26,52.36
$STATE,6423,end loiter,LOITER_COMPLETE
$STATE,6423,begin climb
$GC,6426,0.64,146.0,2354,2143,2771,2640,259.2,0.0,423,6566,0.62,2.55,130.05,1.440,10756,0.160,0.062,2611,750,2119,2140,2099,0,0,0,0,0,0,14.31,13.80,13.23,6.26,51.37
$GC,6646,0.64,146.0,2612,751,2132,2092,244.5,9.1,434,6650,0.00,2.45,0.00,0.000,5126,0.000,0.052,2611,2154,2111,2131,2092,0,0,0,0,0,0,14.19,14.06,14.21,6.21,49.88
$GC,6961,0.64,146.0,2612,2154,2127,2085,210.9,10.9,450,6965,0.00,2.50,0.00,0.000,4356,0.000,0.083,2611,3556,2105,2125,2085,0,0,0,0,0,0,14.60,14.19,14.60,6.21,50.63
$GC,7032,0.64,146.0,2612,3556,2127,2084,204.7,11.1,453,7036,0.05,2.35,0.00,0.000,5126,0.405,0.042,2605,2154,2105,2126,2085,0,0,0,0,0,0,14.03,14.31,14.31,6.21,50.59
$GC,7354,0.64,146.0,2605,2154,2126,2081,169.1,10.8,470,7357,0.00,2.47,0.00,0.000,516,0.000,0.065,2615,740,2102,2124,2081,0,0,0,0,0,0,14.69,14.20,14.70,6.21,51.18
$GC,7443,0.64,146.0,2615,745,2123,2080,160.9,10.0,474,7446,0.00,2.40,0.00,0.000,5126,0.000,0.052,2615,2148,2101,2122,2081,0,0,0,0,0,0,14.49,14.33,14.49,6.21,51.57
$GC,7748,0.64,146.0,2615,2149,2122,2079,126.2,11.2,489,7751,0.00,2.50,0.00,0.000,4356,0.000,0.084,2614,3560,2100,2122,2078,0,0,0,0,0,0,14.78,14.28,14.78,6.20,51.57
$GC,7798,0.64,146.0,2615,3560,2122,2078,122.4,11.0,491,7802,0.08,2.35,0.00,0.000,5126,0.339,0.044,2599,2151,2098,2120,2077,0,0,0,0,0,0,14.10,14.41,14.39,6.20,51.65
$GC,8103,0.64,146.0,2599,2150,2122,2079,90.2,10.4,519,8107,0.00,2.45,0.00,0.000,2564,0.000,0.065,2608,745,2099,2121,2078,0,0,0,0,0,0,14.78,14.33,14.78,6.19,50.39
$GC,8173,0.64,146.0,2608,746,2121,2077,83.2,9.8,533,8177,0.00,2.40,0.00,0.000,5126,0.000,0.051,2608,2153,2099,2120,2079,0,0,0,0,0,0,14.47,14.38,14.49,6.19,50.23
$GC,8300,0.64,146.0,2609,2153,2122,2077,70.9,9.6,558,8306,0.00,2.47,0.00,0.000,4356,0.000,0.085,2608,3553,2098,2120,2077,0,0,0,0,0,0,14.78,14.26,14.77,6.18,49.84
$GC,8338,0.64,146.0,2609,3554,2121,2077,67.0,9.5,566,8341,0.00,2.35,0.00,0.000,5126,0.000,0.043,2619,2142,2098,2120,2077,0,0,0,0,0,0,14.54,14.42,14.57,6.18,50.39
$GC,8465,0.69,188.1,2619,2143,2121,2078,56.8,6.7,591,8507,0.00,2.45,36.95,1.254,8708,0.000,0.064,2630,743,1948,1963,1933,0,0,0,0,0,0,14.76,14.15,13.59,6.18,49.40
$GC,8563,0.69,188.1,2630,744,1961,1929,48.4,10.4,611,8567,0.00,2.42,0.00,0.000,5126,0.000,0.052,2630,2149,1947,1960,1934,0,0,0,0,0,0,14.42,14.28,14.44,6.16,49.33
$GC,8690,0.69,188.1,2630,2150,1961,1927,34.5,11.1,636,8695,0.00,2.50,0.00,0.000,4356,0.000,0.085,2630,3556,1943,1960,1926,0,0,0,0,0,0,14.63,14.19,14.63,6.17,50.23
$GC,8718,0.69,188.1,2630,3556,1961,1926,31.0,11.7,642,8722,0.08,2.38,0.00,0.000,5126,0.337,0.044,2615,2145,1943,1960,1926,0,0,0,0,0,0,14.04,14.32,14.33,6.17,50.27
$GC,8843,0.69,188.1,2615,2143,1959,1924,19.3,8.6,667,8847,0.00,2.45,0.00,0.000,2564,0.000,0.065,2625,745,1941,1958,1924,0,0,0,0,0,0,14.66,14.26,14.66,6.17,50.59
$GC,8898,0.69,188.1,2625,745,1958,1923,14.0,9.3,678,8901,0.00,2.42,0.00,0.000,5126,0.000,0.054,2625,2158,1940,1957,1923,0,0,0,0,0,0,14.46,14.31,14.49,6.17,51.06
$STATE,9005,end climb,SURFACE_DEPTH_REACHED
$STATE,9005,begin surface coast
$STATE,9030,end surface coast,CONTROL_FINISHED_OK
$STATE,9030,begin surface
$SM_CCo,9047,27.88,0.243,0,0,1822,220.03
$SM_GC,0.98,5.65,0.10,27.88,0.063,0.135,0.243,210,2069,1822,-6.50,0.82,220.03,0,0,0,0,0,0,14.50,14.40,14.04
$IRIDIUM_FIX,-5959.31,0.00,220219,121305
$TT8_MAMPS,0.03745,0.135569
$HUMID,51.53
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3597568
$24V_AH,12.79,122.445
$10V_AH,13.47,0.000
$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,13.450,92.375,290.975,27.875,0.000,27.752,45.461,128.241,0.000,0.000,13.333,0.000,7102.023,320.879,1745.714,308.333,0.000,1071.913,0.000,1188.968,0.000,0.539,0.000
$DEVICE_MAMPS,419.220,2201.670,1592.730,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2616.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.274,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,17310,705
$CAP_FILE_SIZE,97466,0
$CFSIZE,1023623168,956235776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.031,258.40,1
$GPS,220219,173101,-6000.427,0.661,16,0.8,39,-19.7,0.0,53.1,10,8.6