version: 66.14
glider: 640
mission: 5
dive: 669
start: 2 25 119 12 24 5
data:
$ID,640
$MISSION,5
$DIVE,669
$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,30
$R_STBD_OVSHOOT,27
$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
$GPS1,250219,121707,-5959.1377,-0.3640,19,0.8,37,-19.7,0.6,297.3,10,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-68.3
$GPS2,250219,122345,-5959.1294,-0.4503,8,0.8,15,-19.7,0.0,105.3,10,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6003.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,184.4,7180,-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,-146.0,225,2107,1791,1833,0.0,0.0,0,103,0.00,0.00,-86.80,0.000,16386,0.000,0.000,225,2106,3222,3304,3140,0,0,0,0,0,0,14.59,28.83,14.59,6.16,51.14
$GC,106,-0.64,-146.0,226,2106,3306,3141,3.5,-7.6,18,123,6.20,2.75,-3.25,0.000,18948,0.341,2.181,2186,694,3316,3409,3224,0,0,0,0,0,0,13.87,13.06,14.27,6.28,50.07
$GC,165,-0.64,-146.0,2186,695,3412,3224,14.5,-15.9,30,169,0.05,2.45,0.00,0.000,3078,0.439,0.057,2190,2108,3318,3412,3224,0,0,0,0,0,0,14.01,14.27,14.28,6.29,48.85
$GC,292,-0.64,-146.0,2190,2109,3412,3225,34.8,-16.4,55,298,0.00,2.45,0.00,0.000,2308,0.000,0.083,2180,3509,3318,3412,3224,0,0,0,0,0,0,14.70,14.19,14.70,6.30,49.40
$GC,350,-0.64,-146.0,2180,3509,3413,3223,44.6,-16.0,67,353,0.00,2.35,0.00,0.000,3078,0.000,0.044,2179,2098,3318,3412,3224,0,0,0,0,0,0,14.48,14.35,14.50,6.30,50.27
$GC,477,-0.64,-146.0,2179,2098,3412,3225,64.2,-14.2,92,481,0.00,2.45,0.00,0.000,2564,0.000,0.063,2179,688,3318,3412,3224,0,0,0,0,0,0,14.76,14.31,14.76,6.30,49.84
$GC,547,-0.64,-146.0,2179,689,3412,3225,74.2,-13.6,106,551,0.08,2.42,0.00,0.000,3078,0.364,0.054,2192,2105,3318,3412,3224,0,0,0,0,0,0,14.03,14.35,14.32,6.30,49.96
$GC,675,-0.64,-146.0,2193,2106,3413,3225,91.7,-14.5,131,680,0.00,2.42,0.00,0.000,2308,0.000,0.083,2182,3501,3317,3412,3223,0,0,0,0,0,0,14.79,14.24,14.79,6.29,49.44
$GC,712,-0.64,-146.0,2182,3501,3413,3223,97.4,-14.0,139,715,0.00,2.33,0.00,0.000,3078,0.000,0.044,2181,2094,3318,3412,3224,0,0,0,0,0,0,14.54,14.40,14.56,6.30,48.70
$GC,852,-0.64,-146.0,2181,2093,3413,3225,116.8,-13.9,149,855,0.00,2.40,0.00,0.000,2564,0.000,0.063,2181,696,3317,3412,3223,0,0,0,0,0,0,14.85,14.35,14.85,6.29,48.97
$GC,932,-0.64,-146.0,2181,697,3413,3225,127.1,-13.7,153,936,0.08,2.40,0.00,0.000,3078,0.358,0.054,2193,2103,3318,3412,3224,0,0,0,0,0,0,14.07,14.39,14.36,6.28,48.34
$GC,1242,-0.64,-146.0,2193,2104,3413,3225,165.6,-12.2,169,1245,0.00,2.45,0.00,0.000,260,0.000,0.083,2183,3504,3318,3412,3224,0,0,0,0,0,0,14.91,14.34,14.91,6.28,49.56
$GC,1357,-0.64,-146.0,2183,3505,3413,3225,179.2,-11.6,175,1360,0.00,2.30,0.00,0.000,3078,0.000,0.041,2182,2099,3318,3412,3224,0,0,0,0,0,0,14.60,14.47,14.62,6.29,49.80
$GC,1672,-0.64,-146.0,2183,2099,3414,3224,217.6,-12.5,191,1675,0.00,2.42,0.00,0.000,2564,0.000,0.063,2182,689,3318,3413,3224,0,0,0,0,0,0,14.95,14.41,14.95,6.30,51.37
$GC,1702,-0.64,-146.0,2183,689,3414,3224,219.5,-12.6,192,1706,0.08,2.40,0.00,0.000,3078,0.354,0.055,2196,2101,3318,3412,3224,0,0,0,0,0,0,14.12,14.44,14.40,6.30,50.47
$GC,2024,-0.64,-146.0,2196,2102,3413,3225,258.6,-11.5,209,2028,0.00,2.45,0.00,0.000,260,0.000,0.083,2185,3504,3318,3412,3224,0,0,0,0,0,0,14.94,14.38,14.95,6.30,51.61
$GC,2074,-0.64,-146.0,2187,3505,3414,3224,263.6,-11.7,211,2077,0.00,2.30,0.00,0.000,3078,0.000,0.042,2185,2100,3318,3413,3224,0,0,0,0,0,0,14.64,14.50,14.66,6.30,51.61
$GC,2379,-0.64,-146.0,2185,2099,3413,3225,301.6,-12.1,226,2382,0.00,2.40,0.00,0.000,2564,0.000,0.062,2185,695,3318,3412,3224,0,0,0,0,0,0,14.97,14.42,14.97,6.31,51.22
$GC,2414,-0.64,-146.0,2185,695,3413,3225,305.9,-12.3,228,2417,0.05,2.40,0.00,0.000,3078,0.427,0.055,2190,2109,3318,3412,3224,0,0,0,0,0,0,14.17,14.45,14.42,6.31,51.81
$GC,2729,-0.64,-146.0,2191,2110,3413,3225,343.2,-12.0,244,2732,0.00,2.42,0.00,0.000,2308,0.000,0.082,2180,3505,3317,3411,3223,0,0,0,0,0,0,14.99,14.38,14.99,6.29,51.18
$GC,2763,-0.64,-146.0,2180,3506,3413,3224,347.5,-12.2,246,2767,0.00,2.30,0.00,0.000,3078,0.000,0.043,2179,2100,3318,3412,3224,0,0,0,0,0,0,14.64,14.51,14.67,6.30,51.10
$STATE,2795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2796,begin apogee
$GC,2803,-0.15,0.0,2180,2158,3413,3225,351.9,-12.5,248,2929,0.47,0.00,124.15,1.593,10246,0.254,0.000,2345,2157,2718,2777,2659,0,0,0,0,0,0,14.06,13.93,13.12,6.30,51.65
$STATE,2930,end apogee,CONTROL_FINISHED_OK
$STATE,2930,begin loiter
$GC,3218,-0.15,0.0,2346,2158,2772,2645,351.0,2.7,269,3219,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2158,2707,2770,2645,0,0,0,0,0,0,14.61,14.61,14.61,6.27,50.90
$GC,3519,-0.15,0.0,2346,2158,2772,2643,342.8,2.7,284,3519,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2707,2771,2643,0,0,0,0,0,0,14.76,14.76,14.76,6.27,50.78
$GC,3819,-0.15,0.0,2346,2158,2771,2643,334.3,2.9,299,3819,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2158,2706,2771,2642,0,0,0,0,0,0,14.83,14.83,14.84,6.27,51.22
$GC,4119,-0.15,0.0,2346,2158,2772,2642,325.8,2.7,314,4119,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2158,2706,2770,2642,0,0,0,0,0,0,14.88,14.89,14.88,6.26,51.02
$GC,4419,-0.15,0.0,2346,2158,2771,2643,317.5,2.7,329,4420,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2157,2706,2771,2642,0,0,0,0,0,0,14.92,14.92,14.92,6.26,51.85
$GC,4719,-0.15,0.0,2346,2158,2772,2641,309.4,2.8,344,4719,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2158,2706,2771,2641,0,0,0,0,0,0,14.95,14.95,14.95,6.26,51.53
$GC,5019,-0.15,0.0,2346,2158,2772,2641,301.3,2.8,359,5020,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2705,2770,2641,0,0,0,0,0,0,14.96,14.97,14.97,6.26,51.89
$GC,5319,-0.15,0.0,2345,2158,2771,2642,293.0,2.7,374,5320,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2158,2706,2771,2641,0,0,0,0,0,0,14.98,14.98,14.98,6.26,51.26
$GC,5619,-0.15,0.0,2345,2158,2771,2641,284.9,2.6,389,5620,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2157,2705,2771,2640,0,0,0,0,0,0,14.99,15.00,15.00,6.27,51.37
$GC,5919,-0.15,0.0,2346,2158,2771,2641,277.6,2.4,404,5920,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2705,2770,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.33
$GC,6219,-0.15,0.0,2345,2158,2771,2641,270.8,2.1,419,6220,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2158,2705,2771,2640,0,0,0,0,0,0,15.01,15.02,15.01,6.26,51.33
$STATE,6516,end loiter,LOITER_COMPLETE
$STATE,6516,begin climb
$GC,6519,0.64,146.0,2346,2158,2771,2641,264.8,0.0,434,6656,0.65,2.58,130.93,1.437,10500,0.161,0.081,2602,3548,2119,2138,2101,0,0,0,0,0,0,14.29,13.78,13.20,6.26,51.57
$GC,6674,0.69,193.1,2601,3547,2138,2097,257.7,6.5,441,6725,0.00,2.38,45.30,1.392,11270,0.000,0.043,2612,2154,1926,1940,1913,0,0,0,0,0,0,14.12,14.02,13.07,6.22,49.25
$GC,7039,0.69,193.1,2612,2155,1933,1898,212.8,12.3,460,7042,0.00,2.50,0.00,0.000,2564,0.000,0.067,2623,744,1914,1932,1897,0,0,0,0,0,0,14.51,14.14,14.51,6.19,50.23
$GC,7104,0.69,193.1,2624,744,1929,1897,205.9,11.6,463,7107,0.00,2.42,0.00,0.000,1030,0.000,0.053,2623,2147,1912,1928,1897,0,0,0,0,0,0,14.33,14.20,14.36,6.19,50.39
$GC,7414,0.69,193.1,2624,2148,1927,1895,166.0,12.7,479,7417,0.00,2.50,0.00,0.000,260,0.000,0.083,2623,3555,1909,1926,1893,0,0,0,0,0,0,14.68,14.23,14.68,6.19,51.06
$GC,7479,0.69,193.1,2624,3555,1927,1894,159.1,12.7,482,7482,0.00,2.35,0.00,0.000,5126,0.000,0.045,2634,2152,1909,1925,1893,0,0,0,0,0,0,14.47,14.34,14.50,6.19,50.78
$GC,7784,0.69,193.1,2634,2153,1926,1892,119.1,12.7,497,7787,0.00,2.47,0.00,0.000,4612,0.000,0.067,2645,737,1908,1925,1891,0,0,0,0,0,0,14.75,14.31,14.74,6.18,50.90
$GC,7839,0.69,193.1,2646,737,1923,1892,112.5,12.1,500,7843,0.08,2.42,0.00,0.000,5126,0.317,0.052,2619,2160,1907,1923,1892,0,0,0,0,0,0,14.11,14.35,14.38,6.18,50.86
$GC,8144,0.69,193.1,2620,2159,1924,1891,75.7,12.2,544,8148,0.00,2.45,0.00,0.000,260,0.000,0.082,2619,3551,1906,1923,1890,0,0,0,0,0,0,14.76,14.29,14.76,6.17,50.03
$GC,8193,0.69,193.1,2620,3552,1924,1892,69.4,12.2,554,8197,0.00,2.35,0.00,0.000,5126,0.000,0.046,2629,2142,1906,1923,1890,0,0,0,0,0,0,14.53,14.39,14.55,6.16,49.37
$GC,8321,0.69,193.1,2629,2143,1924,1891,55.1,11.1,579,8328,0.00,2.45,0.00,0.000,4612,0.000,0.068,2636,745,1906,1923,1889,0,0,0,0,0,0,14.74,14.31,14.74,6.16,49.56
$GC,8369,0.69,193.1,2641,746,1924,1890,49.6,10.6,589,8373,0.05,2.40,0.00,0.000,5126,0.370,0.053,2622,2153,1905,1922,1889,0,0,0,0,0,0,14.14,14.35,14.40,6.16,49.44
$GC,8494,0.69,193.1,2623,2153,1923,1889,36.3,10.9,614,8497,0.00,2.47,0.00,0.000,260,0.000,0.083,2622,3553,1905,1922,1889,0,0,0,0,0,0,14.76,14.28,14.76,6.17,50.70
$GC,8543,0.69,193.1,2623,3553,1923,1889,30.7,10.8,624,8547,0.00,2.35,0.00,0.000,5126,0.000,0.045,2631,2145,1905,1922,1889,0,0,0,0,0,0,14.53,14.40,14.55,6.12,50.47
$GC,8671,0.69,193.1,2631,2146,1923,1889,16.4,11.3,649,8676,0.00,2.42,0.00,0.000,4612,0.000,0.068,2643,748,1905,1922,1888,0,0,0,0,0,0,14.74,14.26,14.75,6.17,50.90
$GC,8714,0.69,193.1,2643,748,1922,1889,11.4,11.3,658,8718,0.05,2.40,0.00,0.000,5126,0.376,0.053,2625,2157,1903,1919,1888,0,0,0,0,0,0,14.13,14.35,14.39,6.17,50.82
$STATE,8786,end climb,SURFACE_DEPTH_REACHED
$STATE,8786,begin surface coast
$STATE,8810,end surface coast,CONTROL_FINISHED_OK
$STATE,8810,begin surface
$SM_CCo,8827,19.05,0.247,0,0,1823,220.03
$SM_GC,1.45,5.55,0.10,19.05,0.060,0.143,0.247,276,2078,1823,-6.44,0.79,220.03,0,0,0,0,0,0,14.52,14.44,14.04
$IRIDIUM_FIX,-5959.31,0.00,250219,094010
$TT8_MAMPS,0.038948,0.170772
$HUMID,51.61
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3588672
$24V_AH,13.06,127.063
$10V_AH,13.10,0.000
$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,13.375,87.375,300.375,19.050,0.000,27.007,39.190,126.179,0.000,0.000,16.333,0.000,6927.122,314.075,1686.281,314.957,0.000,1043.353,0.000,1147.748,0.000,0.540,0.000
$DEVICE_MAMPS,439.110,2181.015,1593.495,247.095,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2305.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.314,0.000,0.000,0.000
$MEM,344080
$DATA_FILE_SIZE,17301,678
$CAP_FILE_SIZE,95714,0
$CFSIZE,1023623168,953679872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.027,222.66,1
$GPS,250219,145234,-5959.699,-0.350,29,0.7,32,-19.7,0.2,277.5,11,8.9