version: 66.14
glider: 640
mission: 5
dive: 657
start: 2 24 119 4 17 46
data:
$ID,640
$MISSION,5
$DIVE,657
$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,45
$R_STBD_OVSHOOT,26
$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
$GPS1,240219,041025,-6000.5425,0.6451,13,0.8,42,-19.7,0.5,183.3,9,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-66.0
$GPS2,240219,041725,-6000.5449,0.7315,10,0.7,18,-19.7,0.5,168.9,11,8.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6003.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,222.0,4597,-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,14,-0.64,-146.0,208,2085,1792,1831,0.0,0.0,0,104,0.00,0.00,-88.07,0.000,16386,0.000,0.000,209,2084,3237,3321,3154,0,0,0,0,0,0,14.57,28.83,14.57,6.17,50.98
$GC,107,-0.64,-146.0,209,2085,3322,3154,3.4,-7.1,18,124,6.25,2.72,-2.67,0.000,18948,0.343,2.186,2166,707,3317,3410,3225,0,0,0,0,0,0,13.87,12.86,14.27,6.29,50.07
$GC,219,-0.64,-146.0,2166,708,3413,3226,24.4,-16.6,41,224,0.12,2.42,0.00,0.000,3078,0.315,0.059,2197,2105,3319,3413,3225,0,0,0,0,0,0,13.97,14.26,14.25,6.30,49.68
$GC,347,-0.64,-146.0,2198,2105,3414,3225,44.5,-15.7,66,352,0.00,2.45,0.00,0.000,260,0.000,0.082,2187,3501,3319,3413,3225,0,0,0,0,0,0,14.63,14.18,14.63,6.30,49.44
$GC,385,-0.64,-146.0,2188,3503,3413,3226,50.6,-15.2,74,388,0.00,2.33,0.00,0.000,3078,0.000,0.044,2187,2114,3318,3412,3225,0,0,0,0,0,0,14.45,14.31,14.46,6.30,49.72
$GC,512,-0.64,-146.0,2187,2113,3413,3226,68.7,-14.3,99,517,0.00,2.45,0.00,0.000,2308,0.000,0.083,2177,3510,3318,3412,3225,0,0,0,0,0,0,14.67,14.19,14.67,6.30,49.92
$GC,560,-0.64,-146.0,2177,3511,3414,3225,76.1,-14.5,109,564,0.05,2.38,0.00,0.000,3078,0.420,0.044,2193,2088,3319,3413,3225,0,0,0,0,0,0,14.04,14.33,14.29,6.29,49.68
$GC,687,-0.64,-146.0,2193,2087,3414,3225,93.3,-13.3,134,690,0.00,0.00,0.00,0.000,2054,0.000,0.000,2193,2087,3319,3413,3225,0,0,0,0,0,0,14.69,14.69,14.69,6.30,48.62
$GC,820,-0.64,-146.0,2193,2088,3414,3225,110.6,-12.6,149,824,0.00,2.45,0.00,0.000,2564,0.000,0.065,2192,681,3319,3413,3225,0,0,0,0,0,0,14.73,14.34,14.73,6.31,48.18
$GC,865,-0.64,-146.0,2193,680,3414,3225,115.7,-12.8,151,869,0.00,2.45,0.00,0.000,3078,0.000,0.055,2183,2105,3319,3413,3225,0,0,0,0,0,0,14.48,14.33,14.51,6.29,48.07
$GC,1175,-0.64,-146.0,2183,2106,3414,3227,151.8,-11.8,167,1176,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2106,3319,3413,3225,0,0,0,0,0,0,14.77,14.77,14.77,6.29,49.09
$GC,1475,-0.64,-146.0,2183,2106,3414,3225,188.4,-12.2,182,1479,0.00,2.45,0.00,0.000,2308,0.000,0.083,2172,3508,3319,3413,3225,0,0,0,0,0,0,14.79,14.28,14.79,6.29,50.63
$GC,1500,-0.64,-146.0,2172,3509,3415,3225,190.3,-12.4,183,1504,0.08,2.33,0.00,0.000,3078,0.345,0.044,2197,2100,3319,3413,3225,0,0,0,0,0,0,14.06,14.40,14.33,6.30,50.47
$GC,1805,-0.64,-146.0,2198,2099,3414,3225,227.8,-11.8,198,1809,0.00,2.42,0.00,0.000,516,0.000,0.065,2197,697,3319,3413,3226,0,0,0,0,0,0,14.79,14.33,14.80,6.30,50.74
$GC,1881,-0.64,-146.0,2197,698,3414,3226,236.6,-11.8,202,1884,0.00,2.40,0.00,0.000,3078,0.000,0.054,2187,2106,3319,3413,3225,0,0,0,0,0,0,14.52,14.36,14.54,6.30,50.47
$GC,2195,-0.64,-146.0,2187,2106,3414,3226,274.9,-12.4,218,2199,0.00,2.45,0.00,0.000,2308,0.000,0.083,2175,3502,3319,3413,3225,0,0,0,0,0,0,14.81,14.28,14.81,6.31,50.74
$GC,2245,-0.64,-146.0,2177,3504,3414,3225,279.4,-12.6,220,2249,0.05,2.33,0.00,0.000,3078,0.419,0.044,2191,2094,3319,3413,3225,0,0,0,0,0,0,14.09,14.40,14.35,6.30,50.82
$GC,2568,-0.64,-146.0,2192,2093,3414,3226,319.9,-12.0,237,2572,0.00,2.40,0.00,0.000,2564,0.000,0.064,2191,698,3319,3413,3225,0,0,0,0,0,0,14.79,14.28,14.79,6.31,51.57
$GC,2652,-0.64,-146.0,2192,699,3414,3226,329.6,-11.8,241,2656,0.00,2.38,0.00,0.000,3078,0.000,0.054,2182,2101,3319,3413,3225,0,0,0,0,0,0,14.52,14.36,14.55,6.31,50.70
$STATE,2819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2819,begin apogee
$GC,2826,-0.15,0.0,2184,2171,3414,3226,350.8,-12.4,250,2953,0.47,0.00,123.68,1.615,10246,0.249,0.000,2345,2171,2717,2776,2658,0,0,0,0,0,0,13.98,13.85,13.07,6.30,51.41
$STATE,2954,end apogee,CONTROL_FINISHED_OK
$STATE,2954,begin loiter
$GC,3242,-0.15,0.0,2346,2172,2772,2647,348.8,2.9,271,3243,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2171,2708,2771,2646,0,0,0,0,0,0,14.58,14.58,14.58,6.27,50.35
$GC,3542,-0.15,0.0,2345,2171,2772,2645,340.3,2.9,286,3543,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2171,2708,2772,2644,0,0,0,0,0,0,14.74,14.75,14.75,6.27,50.78
$GC,3842,-0.15,0.0,2345,2171,2772,2645,331.8,2.9,301,3843,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2170,2707,2772,2643,0,0,0,0,0,0,14.83,14.83,14.83,6.26,51.18
$GC,4142,-0.15,0.0,2346,2171,2773,2643,323.2,2.9,316,4143,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2171,2707,2772,2643,0,0,0,0,0,0,14.88,14.88,14.88,6.27,51.02
$GC,4442,-0.15,0.0,2346,2171,2773,2643,314.6,2.8,331,4443,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2171,2707,2771,2643,0,0,0,0,0,0,14.92,14.92,14.92,6.26,51.89
$GC,4742,-0.15,0.0,2345,2171,2772,2645,306.5,2.7,346,4743,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2171,2708,2772,2644,0,0,0,0,0,0,14.95,14.95,14.95,6.27,51.18
$GC,5042,-0.15,0.0,2346,2171,2773,2643,298.8,2.4,361,5043,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2171,2708,2772,2644,0,0,0,0,0,0,14.97,14.97,14.97,6.26,51.26
$GC,5342,-0.15,0.0,2346,2170,2773,2643,291.1,2.5,376,5343,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2171,2708,2772,2644,0,0,0,0,0,0,14.98,14.99,14.99,6.26,51.41
$GC,5642,-0.15,0.0,2346,2171,2773,2644,283.5,2.4,391,5643,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2171,2707,2771,2644,0,0,0,0,0,0,15.00,15.00,15.00,6.27,52.08
$GC,5942,-0.15,0.0,2346,2171,2773,2644,276.3,2.3,406,5943,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2170,2708,2772,2644,0,0,0,0,0,0,15.01,15.00,15.01,6.27,52.00
$GC,6242,-0.15,0.0,2346,2171,2773,2644,269.1,2.4,421,6243,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2171,2708,2772,2645,0,0,0,0,0,0,15.02,15.02,15.02,6.26,51.37
$STATE,6539,end loiter,LOITER_COMPLETE
$STATE,6539,begin climb
$GC,6543,0.64,146.0,2346,2171,2773,2645,261.3,0.0,436,6682,0.65,2.50,130.95,1.434,10500,0.170,0.082,2599,3527,2120,2140,2100,0,0,0,0,0,0,14.27,13.79,13.22,6.26,52.16
$GC,6698,0.68,178.4,2598,3528,2137,2099,253.4,7.1,443,6735,0.00,2.35,31.17,1.393,11270,0.000,0.042,2609,2146,1986,2003,1970,0,0,0,0,0,0,14.12,14.03,13.14,6.21,49.60
$GC,7045,0.68,178.4,2609,2146,1995,1957,211.1,12.1,461,7049,0.00,2.47,0.00,0.000,2564,0.000,0.067,2620,747,1980,2005,1955,0,0,0,0,0,0,14.51,14.16,14.54,6.20,50.19
$GC,7100,0.68,178.4,2621,747,1992,1954,206.3,11.8,463,7103,0.00,2.38,0.00,0.000,5126,0.000,0.053,2620,2130,1973,1991,1955,0,0,0,0,0,0,14.28,14.15,14.31,6.20,50.43
$GC,7420,0.68,178.4,2620,2130,1991,1954,165.2,12.6,480,7423,0.00,2.53,0.00,0.000,4356,0.000,0.085,2620,3554,1971,1990,1953,0,0,0,0,0,0,14.68,14.16,14.68,6.19,50.90
$GC,7504,0.68,178.4,2621,3555,1991,1953,155.5,12.9,484,7508,0.00,2.33,0.00,0.000,5126,0.000,0.044,2631,2150,1971,1990,1953,0,0,0,0,0,0,14.48,14.34,14.50,6.20,51.33
$GC,7810,0.68,178.4,2631,2150,1990,1951,115.4,12.2,499,7813,0.00,2.45,0.00,0.000,4612,0.000,0.067,2642,745,1969,1988,1950,0,0,0,0,0,0,14.74,14.23,14.75,6.19,51.49
$GC,7874,0.68,178.4,2642,746,1988,1951,109.2,11.4,502,7879,0.08,2.40,0.00,0.000,5126,0.315,0.054,2615,2152,1968,1987,1950,0,0,0,0,0,0,14.12,14.35,14.39,6.19,51.29
$GC,8180,0.68,178.4,2615,2152,1988,1949,75.7,10.4,550,8183,0.00,2.47,0.00,0.000,260,0.000,0.083,2615,3559,1968,1987,1950,0,0,0,0,0,0,14.75,14.21,14.75,6.18,49.80
$GC,8264,0.68,178.4,2615,3559,1988,1950,66.9,9.9,567,8268,0.00,2.33,0.00,0.000,5126,0.000,0.043,2624,2150,1968,1986,1950,0,0,0,0,0,0,14.54,14.41,14.56,6.17,49.21
$GC,8392,0.68,178.4,2625,2150,1987,1950,55.0,9.1,592,8396,0.00,2.42,0.00,0.000,4612,0.000,0.067,2635,751,1968,1987,1949,0,0,0,0,0,0,14.73,14.29,14.73,6.17,49.88
$GC,8471,0.68,183.7,2636,752,1986,1950,48.0,8.1,608,8475,0.05,2.40,0.00,0.000,5126,0.370,0.054,2617,2162,1967,1986,1948,0,0,0,0,0,0,14.14,14.37,14.37,6.17,49.64
$GC,8596,0.69,185.7,2618,2163,1988,1948,37.8,8.3,633,8600,0.00,2.45,0.00,0.000,260,0.000,0.084,2617,3558,1967,1987,1948,0,0,0,0,0,0,14.77,14.28,14.77,6.17,49.88
$GC,8646,0.69,185.7,2626,3559,1988,1948,33.4,8.9,643,8650,0.00,2.33,0.00,0.000,5126,0.000,0.043,2627,2148,1967,1986,1948,0,0,0,0,0,0,14.54,14.40,14.55,6.17,50.27
$GC,8774,0.69,185.7,2627,2149,1987,1948,21.7,10.3,668,8780,0.00,2.45,0.00,0.000,4612,0.000,0.066,2638,741,1964,1986,1943,0,0,0,0,0,0,14.76,14.31,14.76,6.18,50.74
$GC,8826,0.69,185.7,2638,742,1987,1948,16.2,9.3,679,8830,0.05,2.40,0.00,0.000,5126,0.360,0.056,2620,2151,1966,1986,1947,0,0,0,0,0,0,14.14,14.35,14.37,6.18,50.63
$GC,8951,0.69,191.3,2620,2151,1987,1946,4.3,8.1,704,8963,0.00,2.45,6.12,0.273,8452,0.000,0.080,2620,3554,1936,1953,1920,0,0,0,0,0,0,14.77,14.16,13.95,6.18,50.78
$STATE,8968,end climb,SURFACE_DEPTH_REACHED
$STATE,8969,begin surface coast
$STATE,8983,end surface coast,CONTROL_FINISHED_OK
$STATE,8983,begin surface
$SM_CCo,9002,27.05,0.244,0,0,1821,220.03
$SM_GC,0.99,5.57,2.50,27.05,0.064,0.047,0.244,269,2081,1821,-6.45,0.74,220.03,0,0,0,0,0,0,14.56,14.39,14.06
$IRIDIUM_FIX,-6000.39,0.00,240219,013306
$TT8_MAMPS,0.038948,0.877079
$HUMID,50.51
$INTERNAL_PRESSURE,6.10897
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3592896
$24V_AH,12.86,124.919
$10V_AH,13.34,0.000
$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,13.425,82.475,291.925,27.050,0.000,26.447,44.157,135.185,0.000,0.000,19.695,0.000,7076.124,316.229,1745.691,309.443,0.000,1057.563,0.000,1178.690,0.000,0.539,0.000
$DEVICE_MAMPS,419.985,2185.605,1614.915,244.035,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5399.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.678,0.000,0.000,0.000
$MEM,344080
$DATA_FILE_SIZE,17341,711
$CAP_FILE_SIZE,95387,0
$CFSIZE,1023623168,954859520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.021,333.56,1
$GPS,240219,064925,-6000.834,0.433,16,0.7,40,-19.7,0.2,349.9,11,4.7