version: 66.14
glider: 640
mission: 5
dive: 492
start: 2 5 119 23 56 33
data:
$ID,640
$MISSION,5
$DIVE,492
$N_DIVES,600
$STOP_T,2121912
$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,53
$R_STBD_OVSHOOT,31
$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
$GPS1,050219,235001,-5944.3384,1.3051,18,0.7,29,-19.7,0.6,300.8,11,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-63.8
$GPS2,050219,235613,-5944.3369,1.3573,9,0.8,14,-19.7,1.2,165.1,11,9.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,210.1,66060,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,12,-0.64,-146.0,220,2071,1790,1829,0.0,0.0,0,102,0.00,0.00,-87.07,0.000,16386,0.000,0.000,219,2071,3224,3306,3143,0,0,0,0,0,0,14.56,28.83,14.55,6.18,51.14
$GC,105,-0.64,-146.0,220,2071,3307,3143,3.3,-6.7,18,121,6.22,2.80,-3.33,0.000,18692,0.348,2.218,2179,3504,3317,3409,3225,0,0,0,0,0,0,13.88,13.21,14.25,6.30,50.03
$GC,233,-0.64,-146.0,2179,3500,3411,3225,26.0,-16.4,44,238,0.05,2.33,0.00,0.000,3078,0.425,0.041,2195,2120,3318,3411,3225,0,0,0,0,0,0,14.01,14.31,14.27,6.27,48.81
$GC,360,-0.64,-146.0,2195,2122,3412,3226,46.9,-16.6,69,365,0.00,2.50,0.00,0.000,516,0.000,0.061,2195,693,3317,3411,3224,0,0,0,0,0,0,14.62,14.27,14.62,6.31,49.72
$GC,428,-0.64,-146.0,2196,693,3413,3225,57.9,-15.5,83,432,0.00,2.42,0.00,0.000,3078,0.000,0.055,2186,2100,3318,3411,3225,0,0,0,0,0,0,14.45,14.29,14.46,6.32,49.52
$GC,553,-0.64,-146.0,2186,2101,3412,3226,76.8,-14.7,108,557,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2100,3318,3412,3225,0,0,0,0,0,0,14.67,14.68,14.68,6.32,49.72
$GC,678,-0.64,-146.0,2186,2101,3412,3226,94.8,-14.6,133,682,0.00,2.50,0.00,0.000,2308,0.000,0.081,2175,3506,3318,3411,3225,0,0,0,0,0,0,14.69,14.22,14.69,6.32,48.97
$GC,718,-0.64,-146.0,2175,3507,3412,3226,100.4,-13.7,141,722,0.00,2.35,0.00,0.000,3078,0.000,0.042,2175,2090,3318,3412,3224,0,0,0,0,0,0,14.46,14.37,14.47,6.31,49.25
$GC,1033,-0.64,-146.0,2175,2089,3412,3226,143.3,-12.9,157,1037,0.08,2.42,0.00,0.000,2564,0.386,0.061,2198,691,3318,3412,3225,0,0,0,0,0,0,14.10,14.29,14.35,6.31,49.33
$GC,1078,-0.64,-146.0,2197,697,3412,3225,147.6,-12.4,159,1082,0.00,2.40,0.00,0.000,3078,0.000,0.055,2188,2098,3318,3412,3225,0,0,0,0,0,0,14.50,14.36,14.51,6.31,49.25
$GC,1388,-0.64,-146.0,2188,2099,3413,3226,185.7,-12.2,175,1392,0.00,2.47,0.00,0.000,2308,0.000,0.082,2177,3508,3318,3411,3225,0,0,0,0,0,0,14.78,14.28,14.78,6.31,51.14
$GC,1448,-0.64,-146.0,2178,3509,3406,3225,192.4,-12.2,178,1452,0.05,2.35,0.00,0.000,3078,0.425,0.041,2193,2095,3315,3405,3225,0,0,0,0,0,0,14.09,14.42,14.33,6.31,50.86
$GC,1758,-0.64,-146.0,2193,2094,3413,3225,230.6,-12.4,194,1762,0.00,2.40,0.00,0.000,2564,0.000,0.062,2193,699,3318,3412,3225,0,0,0,0,0,0,14.79,14.32,14.80,6.32,50.86
$GC,1843,-0.64,-146.0,2193,699,3413,3225,239.8,-12.3,198,1846,0.00,2.40,0.00,0.000,3078,0.000,0.054,2183,2103,3318,3411,3225,0,0,0,0,0,0,14.54,14.39,14.55,6.32,50.74
$GC,2153,-0.64,-146.0,2183,2103,3413,3225,279.8,-12.6,214,2157,0.00,2.45,0.00,0.000,2308,0.000,0.082,2172,3502,3318,3412,3225,0,0,0,0,0,0,14.81,14.26,14.81,6.33,51.29
$GC,2188,-0.64,-146.0,2173,3503,3413,3224,282.4,-12.7,215,2192,0.08,2.33,0.00,0.000,3078,0.345,0.042,2198,2098,3318,3411,3225,0,0,0,0,0,0,14.03,14.40,14.31,6.32,51.29
$GC,2510,-0.64,-146.0,2197,2098,3412,3226,322.1,-11.8,232,2515,0.00,2.42,0.00,0.000,516,0.000,0.062,2197,697,3318,3412,3225,0,0,0,0,0,0,14.80,14.38,14.80,6.33,51.61
$GC,2593,-0.64,-146.0,2198,698,3413,3225,331.6,-11.9,236,2597,0.00,2.38,0.00,0.000,3078,0.000,0.053,2187,2100,3318,3412,3225,0,0,0,0,0,0,14.52,14.40,14.54,6.33,51.14
$STATE,2741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2741,begin apogee
$GC,2747,-0.15,0.0,2188,2165,3412,3226,350.0,-12.1,244,2875,0.47,0.00,124.85,1.584,10246,0.251,0.000,2353,2164,2715,2775,2655,0,0,0,0,0,0,14.07,13.90,13.19,6.33,51.02
$STATE,2876,end apogee,CONTROL_FINISHED_OK
$STATE,2876,begin loiter
$GC,3163,-0.15,0.0,2354,2164,2772,2644,346.3,3.2,265,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2164,2707,2772,2643,0,0,0,0,0,0,14.55,14.56,14.56,6.28,50.43
$GC,3463,-0.15,0.0,2353,2164,2772,2641,337.1,3.0,280,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2164,2705,2771,2640,0,0,0,0,0,0,14.71,14.72,14.71,6.29,51.65
$GC,3763,-0.15,0.0,2352,2164,2772,2641,328.3,2.8,295,3764,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2164,2706,2772,2640,0,0,0,0,0,0,14.80,14.81,14.81,6.28,51.22
$GC,4063,-0.15,0.0,2353,2165,2773,2640,320.1,2.7,310,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2164,2705,2771,2639,0,0,0,0,0,0,14.85,14.86,14.86,6.28,51.33
$GC,4363,-0.15,0.0,2353,2165,2772,2640,312.1,2.7,325,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2705,2771,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.26
$GC,4663,-0.15,0.0,2353,2165,2772,2639,304.3,2.6,340,4664,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2163,2704,2771,2638,0,0,0,0,0,0,14.92,14.93,14.93,6.28,51.26
$GC,4963,-0.15,0.0,2353,2164,2773,2638,296.6,2.7,355,4964,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2164,2705,2772,2638,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.37
$GC,5263,-0.15,0.0,2353,2165,2772,2639,288.7,2.7,370,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2164,2705,2772,2638,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.73
$GC,5563,-0.15,0.0,2353,2164,2772,2639,280.2,3.0,385,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2164,2705,2772,2638,0,0,0,0,0,0,14.98,14.99,14.99,6.28,51.45
$GC,5863,-0.15,0.0,2353,2164,2773,2637,271.0,3.0,400,5864,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2164,2705,2772,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.57
$GC,6163,-0.15,0.0,2353,2165,2772,2638,261.4,3.1,415,6164,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2164,2704,2771,2637,0,0,0,0,0,0,15.01,15.01,15.01,6.28,51.69
$STATE,6461,end loiter,LOITER_COMPLETE
$STATE,6461,begin climb
$GC,6463,0.64,146.0,2354,2164,2773,2637,251.7,0.0,430,6604,0.62,2.55,129.38,1.426,10500,0.163,0.081,2600,3539,2118,2140,2096,0,0,0,0,0,0,14.35,13.95,13.33,6.28,51.49
$GC,6669,0.64,146.0,2600,3540,2139,2090,235.9,10.7,440,6672,0.00,2.35,0.00,0.000,5126,0.000,0.041,2610,2156,2113,2138,2088,0,0,0,0,0,0,14.20,14.10,14.21,6.19,49.40
$GC,6979,0.64,146.0,2611,2156,2131,2081,198.0,12.0,456,6982,0.00,2.50,0.00,0.000,4612,0.000,0.067,2622,741,2105,2130,2081,0,0,0,0,0,0,14.57,14.20,14.57,6.24,51.22
$GC,7033,0.64,146.0,2622,742,2127,2081,191.5,12.0,459,7038,0.05,2.40,0.00,0.000,5126,0.375,0.053,2604,2134,2103,2126,2081,0,0,0,0,0,0,14.04,14.26,14.31,6.24,50.63
$GC,7350,0.64,146.0,2605,2134,2127,2078,156.1,11.1,475,7354,0.00,2.53,0.00,0.000,260,0.000,0.083,2609,3553,2101,2125,2078,0,0,0,0,0,0,14.67,14.26,14.68,6.22,51.61
$GC,7414,0.64,146.0,2604,3554,2126,2079,149.0,11.6,478,7418,0.00,2.38,0.00,0.000,5126,0.000,0.042,2613,2139,2101,2125,2078,0,0,0,0,0,0,14.49,14.37,14.51,6.24,50.82
$GC,7724,0.64,146.0,2614,2139,2126,2077,112.6,11.7,494,7728,0.00,2.45,0.00,0.000,4612,0.000,0.067,2624,735,2100,2124,2077,0,0,0,0,0,0,14.76,14.33,14.75,6.23,50.98
$GC,7759,0.64,146.0,2624,736,2122,2078,108.6,11.6,496,7763,0.05,2.42,0.00,0.000,5126,0.375,0.054,2605,2156,2098,2121,2076,0,0,0,0,0,0,14.16,14.37,14.42,6.22,51.18
$GC,8064,0.64,146.0,2606,2157,2122,2077,74.1,10.9,543,8068,0.00,2.50,0.00,0.000,260,0.000,0.083,2606,3559,2098,2121,2076,0,0,0,0,0,0,14.77,14.31,14.77,6.22,50.98
$GC,8196,0.64,146.0,2606,3560,2122,2077,60.5,9.9,569,8200,0.00,2.35,0.00,0.000,5126,0.000,0.042,2615,2144,2098,2120,2076,0,0,0,0,0,0,14.55,14.43,14.57,6.22,49.64
$GC,8322,0.64,146.0,2616,2144,2122,2076,48.0,10.5,594,8327,0.00,2.45,0.00,0.000,4612,0.000,0.066,2626,745,2098,2121,2076,0,0,0,0,0,0,14.74,14.26,14.74,6.21,50.35
$GC,8395,0.64,146.0,2626,747,2121,2077,40.9,8.4,609,8399,0.08,2.40,0.00,0.000,5126,0.313,0.053,2599,2154,2098,2120,2076,0,0,0,0,0,0,14.15,14.38,14.42,6.20,49.68
$GC,8523,0.66,165.3,2600,2155,2121,2076,31.5,7.6,634,8540,0.00,2.45,13.23,1.310,10500,0.000,0.083,2599,3552,2042,2063,2022,0,0,0,0,0,0,14.74,14.27,13.71,6.21,49.96
$GC,8575,0.66,165.3,2598,3548,2064,2023,27.0,8.5,645,8579,0.00,2.33,0.00,0.000,1030,0.000,0.042,2609,2151,2043,2064,2022,0,0,0,0,0,0,14.48,14.42,14.53,6.20,49.92
$GC,8702,0.66,165.3,2609,2151,2064,2022,16.7,8.4,670,8707,0.00,2.45,0.00,0.000,516,0.000,0.067,2619,747,2042,2063,2021,0,0,0,0,0,0,14.68,14.26,14.68,6.19,49.92
$GC,8730,0.66,165.3,2619,747,2062,2022,14.1,9.1,676,8734,0.00,2.40,0.00,0.000,5126,0.000,0.053,2620,2157,2041,2062,2020,0,0,0,0,0,0,14.50,14.35,14.52,6.21,50.15
$STATE,8849,end climb,SURFACE_DEPTH_REACHED
$STATE,8850,begin surface coast
$STATE,8873,end surface coast,CONTROL_FINISHED_OK
$STATE,8873,begin surface
$SM_CCo,8888,52.00,0.241,0,0,1822,220.03
$SM_GC,1.19,5.57,0.10,52.00,0.063,0.136,0.241,216,2067,1822,-6.50,0.82,220.03,0,0,0,0,0,0,14.54,14.42,14.11
$IRIDIUM_FIX,-5936.15,-203.33,050219,211530
$TT8_MAMPS,0.038948,0.346038
$HUMID,50.07
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3668960
$24V_AH,13.19,94.757
$10V_AH,13.32,0.000
$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,13.325,78.000,267.450,52.000,0.000,26.586,36.599,132.534,0.000,0.000,15.404,0.000,7040.327,398.425,1631.990,241.710,0.000,1049.157,0.000,1170.125,0.000,0.539,0.000
$DEVICE_MAMPS,425.340,2217.735,1583.550,240.975,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5296.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.518,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17325,705
$CAP_FILE_SIZE,93379,0
$CFSIZE,1023623168,971096064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,83.45,0x235722,0,24
$CURRENT,0.025,100.00,1
$GPS,060219,022636,-5944.766,1.601,12,1.0,35,-19.7,0.5,355.7,8,8.9