version: 66.14
glider: 640
mission: 5
dive: 672
start: 2 25 119 20 22 30
data:
$ID,640
$MISSION,5
$DIVE,672
$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,48
$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
$GPS1,250219,201534,-6000.6499,-0.0544,34,0.6,38,-19.7,0.3,333.7,12,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-64.9
$GPS2,250219,202210,-6000.6357,0.0053,8,0.7,13,-19.7,0.5,103.2,12,9.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6003.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,199.6,4378,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-0.64,-146.0,233,2079,1788,1833,0.0,0.0,0,98,0.00,0.00,-81.18,0.000,16386,0.000,0.000,233,2078,3136,3218,3055,0,0,0,0,0,0,14.60,28.83,14.60,6.17,51.57
$GC,101,-0.64,-146.0,234,2079,3219,3056,3.1,-4.9,17,118,6.15,0.00,-6.68,0.000,18438,0.341,0.000,2191,2078,3318,3414,3222,0,0,0,0,0,0,13.87,12.71,14.28,6.28,50.43
$GC,240,-0.64,-146.0,2191,2078,3417,3224,25.9,-16.2,45,242,0.00,0.00,0.00,0.000,2054,0.000,0.000,2191,2078,3320,3417,3223,0,0,0,0,0,0,14.71,14.71,14.71,6.29,49.64
$GC,365,-0.64,-146.0,2191,2078,3417,3225,46.9,-16.9,70,368,0.00,0.00,0.00,0.000,2054,0.000,0.000,2191,2078,3320,3417,3223,0,0,0,0,0,0,14.78,14.78,14.78,6.30,50.47
$GC,490,-0.64,-146.0,2191,2079,3417,3224,66.7,-14.9,95,493,0.00,2.53,0.00,0.000,2308,0.000,0.083,2179,3509,3320,3417,3224,0,0,0,0,0,0,14.81,14.27,14.81,6.30,50.07
$GC,585,-0.64,-146.0,2179,3509,3418,3223,80.4,-13.3,114,589,0.00,2.33,0.00,0.000,3078,0.000,0.042,2179,2105,3320,3416,3224,0,0,0,0,0,0,14.53,14.40,14.55,6.30,49.64
$GC,712,-0.64,-146.0,2180,2104,3418,3224,98.4,-14.7,139,717,0.00,2.45,0.00,0.000,2564,0.000,0.062,2178,691,3320,3417,3224,0,0,0,0,0,0,14.82,14.34,14.82,6.29,48.74
$GC,775,-0.64,-146.0,2178,692,3417,3225,106.9,-14.3,145,779,0.08,2.42,0.00,0.000,3078,0.349,0.055,2192,2109,3319,3416,3223,0,0,0,0,0,0,14.08,14.38,14.35,6.29,48.22
$GC,1085,-0.64,-146.0,2193,2110,3417,3225,146.6,-12.4,161,1088,0.00,2.45,0.00,0.000,2308,0.000,0.081,2181,3513,3320,3416,3224,0,0,0,0,0,0,14.90,14.35,14.91,6.29,49.01
$GC,1150,-0.64,-146.0,2182,3514,3417,3225,153.3,-12.3,164,1154,0.00,2.33,0.00,0.000,3078,0.000,0.042,2181,2098,3320,3417,3224,0,0,0,0,0,0,14.59,14.45,14.62,6.28,49.76
$GC,1460,-0.64,-146.0,2181,2098,3417,3225,193.1,-13.0,180,1463,0.00,2.40,0.00,0.000,2564,0.000,0.063,2181,696,3320,3417,3224,0,0,0,0,0,0,14.94,14.40,14.94,6.29,50.94
$GC,1545,-0.64,-146.0,2181,696,3418,3224,202.8,-12.9,184,1549,0.08,2.40,0.00,0.000,3078,0.352,0.054,2194,2107,3320,3416,3224,0,0,0,0,0,0,14.12,14.44,14.40,6.29,50.43
$GC,1850,-0.64,-146.0,2195,2108,3418,3224,241.8,-12.5,199,1853,0.00,2.45,0.00,0.000,260,0.000,0.083,2184,3508,3320,3416,3224,0,0,0,0,0,0,14.97,14.36,14.97,6.30,51.02
$GC,1905,-0.64,-146.0,2185,3509,3418,3224,248.7,-12.6,202,1908,0.00,2.33,0.00,0.000,3078,0.000,0.043,2184,2091,3320,3417,3224,0,0,0,0,0,0,14.63,14.50,14.66,6.30,51.06
$GC,2220,-0.64,-146.0,2184,2090,3418,3224,289.2,-12.8,218,2223,0.00,2.38,0.00,0.000,2564,0.000,0.062,2183,698,3320,3417,3224,0,0,0,0,0,0,14.98,14.43,14.99,6.30,50.94
$GC,2275,-0.64,-146.0,2183,700,3417,3225,296.2,-12.9,221,2279,0.08,2.38,0.00,0.000,3078,0.356,0.054,2198,2101,3320,3417,3224,0,0,0,0,0,0,14.13,14.46,14.41,6.31,51.02
$GC,2590,-0.64,-146.0,2199,2102,3418,3224,333.8,-11.9,237,2594,0.00,2.45,0.00,0.000,260,0.000,0.083,2188,3506,3320,3416,3224,0,0,0,0,0,0,15.00,14.38,15.00,6.31,51.85
$GC,2645,-0.64,-146.0,2190,3507,3418,3224,338.6,-12.0,239,2648,0.00,2.30,0.00,0.000,3078,0.000,0.043,2188,2101,3320,3416,3224,0,0,0,0,0,0,14.65,14.51,14.67,6.31,51.61
$STATE,2722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2722,begin apogee
$GC,2729,-0.15,0.0,2189,2157,3418,3223,350.1,-12.2,244,2856,0.45,0.00,123.68,1.607,10246,0.246,0.000,2347,2157,2714,2774,2655,0,0,0,0,0,0,14.07,13.93,13.12,6.31,51.33
$STATE,2856,end apogee,CONTROL_FINISHED_OK
$STATE,2856,begin loiter
$GC,3145,-0.15,0.0,2347,2157,2772,2645,350.1,2.3,265,3145,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2707,2771,2644,0,0,0,0,0,0,14.62,14.62,14.62,6.27,50.47
$GC,3445,-0.15,0.0,2347,2157,2772,2643,343.0,2.4,280,3446,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2706,2770,2643,0,0,0,0,0,0,14.77,14.77,14.77,6.27,51.14
$GC,3745,-0.15,0.0,2347,2157,2772,2643,335.3,2.6,295,3745,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2706,2771,2642,0,0,0,0,0,0,14.85,14.85,14.85,6.27,51.06
$GC,4045,-0.15,0.0,2347,2157,2772,2642,327.2,2.8,310,4045,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2706,2770,2642,0,0,0,0,0,0,14.90,14.90,14.90,6.26,51.29
$GC,4345,-0.15,0.0,2347,2157,2772,2640,318.5,3.0,325,4345,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2706,2771,2641,0,0,0,0,0,0,14.93,14.94,14.94,6.27,51.29
$GC,4645,-0.15,0.0,2347,2157,2772,2640,309.6,3.0,340,4645,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2705,2770,2640,0,0,0,0,0,0,14.96,14.96,14.97,6.27,51.96
$GC,4945,-0.15,0.0,2347,2158,2770,2642,301.0,2.8,355,4946,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2705,2770,2640,0,0,0,0,0,0,14.98,14.98,14.98,6.26,52.20
$GC,5245,-0.15,0.0,2347,2158,2772,2640,293.1,2.5,370,5246,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2705,2770,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.26,51.45
$GC,5545,-0.15,0.0,2347,2158,2772,2640,285.6,2.5,385,5546,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2705,2771,2640,0,0,0,0,0,0,15.01,15.01,15.01,6.26,52.20
$GC,5845,-0.15,0.0,2347,2158,2771,2641,277.8,2.5,400,5846,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2705,2770,2640,0,0,0,0,0,0,15.02,15.02,15.02,6.27,51.57
$GC,6145,-0.15,0.0,2347,2158,2771,2641,269.3,2.9,415,6146,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2705,2770,2640,0,0,0,0,0,0,15.03,15.03,15.03,6.26,51.57
$STATE,6442,end loiter,LOITER_COMPLETE
$STATE,6442,begin climb
$GC,6445,0.64,146.0,2347,2158,2771,2641,260.3,0.0,430,6580,0.62,2.58,129.62,1.439,10500,0.164,0.082,2593,3546,2121,2141,2102,0,0,0,0,0,0,14.28,13.78,13.20,6.26,51.41
$GC,6641,0.64,146.0,2592,3546,2138,2097,247.9,8.9,439,6645,0.00,2.38,0.00,0.000,1030,0.000,0.042,2602,2152,2116,2138,2095,0,0,0,0,0,0,14.16,14.07,14.19,6.21,49.29
$GC,6945,0.64,146.0,2602,2152,2130,2088,212.9,11.0,455,6949,0.00,2.47,0.00,0.000,516,0.000,0.067,2614,745,2108,2129,2087,0,0,0,0,0,0,14.59,14.20,14.59,6.21,50.66
$GC,6985,0.64,146.0,2613,745,2127,2086,208.6,10.9,457,6989,0.00,2.40,0.00,0.000,5126,0.000,0.054,2614,2141,2108,2126,2090,0,0,0,0,0,0,14.40,14.25,14.42,6.21,50.51
$GC,7306,0.64,146.0,2614,2141,2125,2085,172.2,11.3,473,7309,0.00,2.50,0.00,0.000,4356,0.000,0.083,2614,3554,2105,2125,2085,0,0,0,0,0,0,14.71,14.25,14.71,6.21,51.02
$GC,7371,0.64,146.0,2614,3555,2126,2086,165.8,11.6,476,7375,0.08,2.35,0.00,0.000,5126,0.345,0.044,2598,2149,2105,2125,2085,0,0,0,0,0,0,14.06,14.36,14.35,6.21,51.33
$GC,7680,0.64,146.0,2598,2149,2124,2079,133.2,10.7,492,7684,0.00,2.47,0.00,0.000,2308,0.000,0.080,2600,3554,2103,2123,2084,0,0,0,0,0,0,14.76,14.28,14.77,6.20,51.02
$GC,7823,0.64,146.0,2599,3555,2125,2084,118.5,10.6,499,7828,0.00,2.33,0.00,0.000,5126,0.000,0.042,2608,2153,2104,2124,2084,0,0,0,0,0,0,14.40,14.33,14.43,6.20,51.06
$GC,8130,0.64,146.0,2608,2153,2123,2084,85.7,9.7,535,8134,0.00,2.47,0.00,0.000,4612,0.000,0.067,2619,739,2102,2122,2082,0,0,0,0,0,0,14.78,14.33,14.78,6.19,49.96
$GC,8200,0.64,146.0,2619,740,2121,2083,79.4,8.8,549,8204,0.00,2.40,0.00,0.000,5126,0.000,0.052,2619,2152,2101,2120,2082,0,0,0,0,0,0,14.52,14.37,14.56,6.18,50.15
$GC,8328,0.64,146.0,2619,2153,2121,2083,68.4,8.5,574,8333,0.00,2.50,0.00,0.000,4356,0.000,0.085,2619,3568,2101,2120,2082,0,0,0,0,0,0,14.76,14.28,14.76,6.18,49.60
$GC,8380,0.64,146.0,2619,3568,2120,2092,63.5,8.9,585,8384,0.08,2.38,0.00,0.000,5126,0.336,0.044,2604,2141,2101,2120,2082,0,0,0,0,0,0,14.09,14.40,14.38,6.18,49.68
$GC,8505,0.66,165.1,2604,2142,2120,2083,53.6,7.6,610,8523,0.00,0.00,14.62,1.299,10246,0.000,0.000,2604,2141,2043,2061,2026,0,0,0,0,0,0,14.78,14.17,13.59,6.18,49.33
$GC,8648,0.67,169.3,2604,2137,2062,2023,42.6,8.2,638,8655,0.00,0.00,5.25,1.210,10246,0.000,0.000,2604,2141,2028,2045,2011,0,0,0,0,0,0,14.69,14.34,13.39,6.17,49.88
$GC,8778,0.67,171.9,2604,2142,2043,2008,32.1,8.2,664,8782,0.00,2.45,0.00,0.000,2564,0.000,0.066,2614,743,2023,2041,2006,0,0,0,0,0,0,14.69,14.30,14.69,6.17,50.27
$GC,8813,0.67,173.4,2614,742,2041,2007,29.1,8.3,671,8821,0.00,2.42,3.12,0.955,9222,0.000,0.052,2614,2155,2011,2027,1995,0,0,0,0,0,0,14.46,14.33,13.30,6.18,51.06
$GC,8943,0.67,173.4,2614,2156,2028,1996,17.6,8.9,697,8947,0.00,2.50,0.00,0.000,260,0.000,0.086,2614,3557,2011,2027,1995,0,0,0,0,0,0,14.71,14.26,14.70,6.18,51.02
$GC,8988,0.67,173.4,2614,3558,2028,1996,13.2,9.1,706,8991,0.00,2.35,0.00,0.000,5126,0.000,0.045,2625,2153,2014,2027,2001,0,0,0,0,0,0,14.50,14.38,14.52,6.18,51.02
$STATE,9100,end climb,SURFACE_DEPTH_REACHED
$STATE,9102,begin surface coast
$STATE,9125,end surface coast,CONTROL_FINISHED_OK
$STATE,9125,begin surface
$SM_CCo,9143,45.45,0.241,0,0,1822,220.03
$SM_GC,1.49,5.65,0.08,45.45,0.073,0.167,0.241,232,2081,1822,-6.48,0.99,220.03,0,0,0,0,0,0,14.49,14.44,14.06
$IRIDIUM_FIX,-6000.39,0.00,250219,173510
$TT8_MAMPS,0.038199,0.316078
$HUMID,50.59
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3587712
$24V_AH,12.71,127.595
$10V_AH,13.11,0.000
$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,13.250,72.675,276.300,45.450,0.000,27.476,38.013,123.791,0.000,0.000,14.397,0.000,7171.949,313.453,1781.325,313.968,0.000,1073.546,0.000,1240.785,0.000,0.539,0.000
$DEVICE_MAMPS,355.725,172.125,1607.265,240.975,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2695.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.279,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,20782,734
$CAP_FILE_SIZE,97115,0
$CFSIZE,1023623168,953384960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.012,284.69,1
$GPS,250219,225631,-6001.008,-0.172,12,0.7,23,-19.7,0.6,92.5,10,7.7