version: 66.14
glider: 640
mission: 5
dive: 507
start: 2 7 119 15 21 46
data:
$ID,640
$MISSION,5
$DIVE,507
$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,28
$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
$GPS1,070219,151452,-5952.7251,2.6451,44,1.0,48,-19.7,0.7,128.3,8,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-61.5
$GPS2,070219,152127,-5952.6797,2.6946,12,1.0,20,-19.7,1.0,249.6,8,8.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,207.8,50657,-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,10,begin dive
$GC,13,-0.64,-146.0,210,2093,1791,1829,0.0,0.0,0,103,0.00,0.00,-88.10,0.000,16386,0.000,0.000,209,2096,3198,3280,3116,0,0,0,0,0,0,14.53,28.83,14.53,6.19,50.98
$GC,106,-0.64,-146.0,210,2097,3281,3118,3.0,-5.5,18,123,6.20,2.80,-4.38,0.000,18692,0.338,2.219,2182,3508,3317,3411,3223,0,0,0,0,0,0,13.92,12.93,14.28,6.30,50.03
$GC,168,-0.64,-146.0,2182,3504,3413,3225,14.5,-17.7,31,172,0.00,2.38,0.00,0.000,3078,0.000,0.042,2181,2090,3318,3413,3223,0,0,0,0,0,0,14.43,14.28,14.40,6.32,48.81
$GC,295,-0.64,-146.0,2182,2089,3414,3223,36.8,-16.3,56,301,0.00,2.45,0.00,0.000,2564,0.000,0.063,2181,688,3318,3413,3223,0,0,0,0,0,0,14.59,14.25,14.59,6.32,49.52
$GC,353,-0.64,-146.0,2182,689,3414,3224,45.4,-13.3,68,357,0.08,2.45,0.00,0.000,3078,0.355,0.058,2195,2105,3318,3413,3224,0,0,0,0,0,0,14.00,14.27,14.28,6.32,49.21
$GC,480,-0.64,-146.0,2195,2106,3413,3225,61.4,-13.1,93,484,0.00,2.50,0.00,0.000,260,0.000,0.085,2188,3504,3318,3413,3223,0,0,0,0,0,0,14.64,14.23,14.64,6.31,49.40
$GC,564,-0.64,-146.0,2186,3505,3413,3224,72.8,-12.4,110,568,0.00,2.35,0.00,0.000,3078,0.000,0.042,2184,2098,3318,3413,3224,0,0,0,0,0,0,14.38,14.26,14.39,6.31,49.29
$GC,689,-0.64,-146.0,2185,2098,3415,3224,89.5,-13.5,135,693,0.00,2.45,0.00,0.000,2564,0.000,0.063,2184,688,3318,3413,3224,0,0,0,0,0,0,14.67,14.21,14.67,6.30,48.30
$GC,739,-0.64,-146.0,2184,689,3414,3224,96.5,-13.5,145,744,0.08,2.42,0.00,0.000,3078,0.367,0.056,2197,2102,3318,3413,3224,0,0,0,0,0,0,13.95,14.24,14.23,6.30,48.54
$GC,869,-0.64,-146.0,2197,2103,3413,3226,113.4,-12.8,156,873,0.00,2.47,0.00,0.000,260,0.000,0.084,2188,3500,3318,3413,3224,0,0,0,0,0,0,14.70,14.19,14.71,6.30,48.42
$GC,914,-0.64,-146.0,2188,3503,3414,3225,118.1,-13.0,158,918,0.00,2.35,0.00,0.000,3078,0.000,0.043,2187,2094,3318,3413,3224,0,0,0,0,0,0,14.41,14.29,14.42,6.30,49.09
$GC,1224,-0.64,-146.0,2188,2093,3414,3225,163.4,-13.9,174,1228,0.00,2.42,0.00,0.000,2564,0.000,0.061,2187,694,3318,3413,3224,0,0,0,0,0,0,14.74,14.25,14.74,6.31,50.03
$GC,1279,-0.64,-146.0,2187,695,3414,3224,170.6,-13.4,177,1284,0.05,2.42,0.00,0.000,3078,0.430,0.056,2191,2105,3318,3413,3224,0,0,0,0,0,0,14.00,14.28,14.27,6.31,50.23
$GC,1599,-0.64,-146.0,2192,2106,3414,3224,210.4,-12.4,193,1603,0.00,2.47,0.00,0.000,2308,0.000,0.084,2181,3505,3318,3413,3224,0,0,0,0,0,0,14.77,14.23,14.77,6.32,50.59
$GC,1639,-0.64,-146.0,2182,3505,3414,3225,214.7,-12.3,195,1643,0.00,2.35,0.00,0.000,3078,0.000,0.043,2181,2094,3319,3413,3225,0,0,0,0,0,0,14.45,14.33,14.45,6.32,50.86
$GC,1949,-0.64,-146.0,2181,2093,3414,3224,254.5,-12.6,211,1953,0.00,2.42,0.00,0.000,2564,0.000,0.062,2180,691,3318,3413,3224,0,0,0,0,0,0,14.78,14.27,14.78,6.33,51.22
$GC,2039,-0.64,-146.0,2181,692,3414,3224,264.6,-12.7,215,2043,0.08,2.42,0.00,0.000,3078,0.360,0.055,2194,2107,3318,3413,3224,0,0,0,0,0,0,14.00,14.29,14.27,6.33,50.98
$GC,2344,-0.64,-146.0,2194,2107,3413,3225,303.0,-12.3,230,2348,0.00,2.47,0.00,0.000,260,0.000,0.084,2183,3504,3319,3413,3225,0,0,0,0,0,0,14.79,14.23,14.79,6.33,51.18
$GC,2394,-0.64,-146.0,2183,3505,3413,3225,307.4,-12.4,232,2398,0.00,2.33,0.00,0.000,3078,0.000,0.041,2182,2101,3318,3413,3223,0,0,0,0,0,0,14.46,14.34,14.47,6.33,51.10
$GC,2699,-0.64,-146.0,2183,2100,3414,3224,348.3,-12.9,248,2703,0.00,2.42,0.00,0.000,2564,0.000,0.062,2182,697,3318,3413,3224,0,0,0,0,0,0,14.80,14.27,14.80,6.33,51.06
$STATE,2717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2717,begin apogee
$GC,2725,-0.15,0.0,2172,2150,3415,3224,350.9,-13.0,249,2853,0.50,0.00,125.28,1.584,10246,0.256,0.000,2346,2149,2717,2777,2658,0,0,0,0,0,0,14.06,13.87,13.17,6.34,51.73
$STATE,2854,end apogee,CONTROL_FINISHED_OK
$STATE,2854,begin loiter
$GC,3139,-0.15,0.0,2346,2149,2773,2643,349.7,3.0,270,3140,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2149,2707,2771,2643,0,0,0,0,0,0,14.54,14.54,14.54,6.29,50.59
$GC,3439,-0.15,0.0,2346,2149,2772,2642,341.2,2.8,285,3440,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2149,2706,2771,2641,0,0,0,0,0,0,14.70,14.70,14.71,6.28,50.98
$GC,3739,-0.15,0.0,2346,2149,2773,2640,332.4,2.9,300,3740,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2149,2705,2771,2640,0,0,0,0,0,0,14.79,14.79,14.79,6.28,50.98
$GC,4039,-0.15,0.0,2346,2149,2773,2640,323.2,3.1,315,4040,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2149,2705,2771,2640,0,0,0,0,0,0,14.85,14.85,14.84,6.28,50.98
$GC,4339,-0.15,0.0,2346,2150,2772,2641,313.7,3.2,330,4340,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2149,2705,2771,2640,0,0,0,0,0,0,14.88,14.88,14.88,6.28,51.41
$GC,4639,-0.15,0.0,2346,2149,2772,2640,304.0,3.3,345,4640,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2149,2705,2771,2640,0,0,0,0,0,0,14.91,14.91,14.91,6.28,51.33
$GC,4939,-0.15,0.0,2346,2150,2772,2641,294.6,3.2,360,4940,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2149,2705,2771,2640,0,0,0,0,0,0,14.94,14.94,14.94,6.28,51.37
$GC,5239,-0.15,0.0,2346,2150,2772,2641,285.3,3.0,375,5240,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2149,2705,2771,2640,0,0,0,0,0,0,14.95,14.95,14.96,6.28,52.08
$GC,5539,-0.15,0.0,2347,2149,2772,2641,276.1,3.1,390,5540,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2149,2705,2771,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.81
$GC,5839,-0.15,0.0,2347,2150,2772,2641,267.0,3.1,405,5840,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2149,2706,2771,2641,0,0,0,0,0,0,14.98,14.98,14.98,6.28,51.41
$GC,6139,-0.15,0.0,2346,2148,2773,2640,258.3,2.9,420,6140,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2149,2706,2771,2641,0,0,0,0,0,0,14.99,15.00,15.00,6.27,51.37
$STATE,6437,end loiter,LOITER_COMPLETE
$STATE,6437,begin climb
$GC,6439,0.64,146.0,2346,2149,2772,2643,250.0,0.0,435,6580,0.65,2.60,130.15,1.421,11012,0.171,0.082,2599,3554,2119,2140,2098,0,0,0,0,0,0,14.31,13.95,13.33,6.28,52.24
$GC,6609,0.64,146.0,2600,3555,2140,2095,239.6,8.4,443,6613,0.00,2.40,0.00,0.000,5126,0.000,0.041,2610,2151,2119,2139,2100,0,0,0,0,0,0,14.15,14.06,14.16,6.24,49.44
$GC,6920,0.64,146.0,2611,2151,2131,2084,202.8,11.7,459,6923,0.00,2.47,0.00,0.000,4612,0.000,0.066,2621,745,2107,2131,2084,0,0,0,0,0,0,14.56,14.19,14.56,6.24,50.47
$GC,6950,0.64,146.0,2622,746,2129,2084,201.1,11.5,460,6954,0.05,2.45,0.00,0.000,5126,0.371,0.054,2603,2159,2106,2128,2084,0,0,0,0,0,0,14.02,14.22,14.28,6.23,50.63
$GC,7270,0.64,146.0,2604,2160,2128,2082,163.7,11.1,477,7273,0.00,2.50,0.00,0.000,260,0.000,0.083,2603,3557,2103,2127,2080,0,0,0,0,0,0,14.68,14.25,14.68,6.24,51.18
$GC,7345,0.64,146.0,2604,3557,2128,2080,155.5,10.9,481,7348,0.00,2.35,0.00,0.000,5126,0.000,0.042,2612,2148,2107,2127,2088,0,0,0,0,0,0,14.48,14.37,14.50,6.23,50.98
$GC,7660,0.64,146.0,2613,2148,2127,2079,120.0,11.1,497,7663,0.00,2.45,0.00,0.000,4612,0.000,0.065,2623,744,2102,2126,2078,0,0,0,0,0,0,14.74,14.33,14.74,6.23,50.98
$GC,7740,0.64,146.0,2624,745,2123,2079,112.2,10.4,501,7744,0.05,2.40,0.00,0.000,5126,0.379,0.053,2605,2150,2100,2123,2078,0,0,0,0,0,0,14.14,14.36,14.41,6.23,51.26
$GC,8045,0.64,146.0,2605,2151,2124,2079,84.0,9.6,543,8048,0.00,2.50,0.00,0.000,260,0.000,0.084,2612,3560,2100,2123,2077,0,0,0,0,0,0,14.76,14.31,14.76,6.22,50.70
$GC,8110,0.64,146.0,2605,3561,2124,2078,76.9,11.0,556,8113,0.00,2.38,0.00,0.000,5126,0.000,0.042,2614,2144,2100,2123,2078,0,0,0,0,0,0,14.54,14.42,14.57,6.21,50.00
$GC,8236,0.64,146.0,2614,2144,2124,2078,62.9,11.3,581,8240,0.00,2.45,0.00,0.000,4612,0.000,0.064,2625,738,2100,2123,2077,0,0,0,0,0,0,14.76,14.35,14.75,6.21,49.52
$GC,8275,0.64,146.0,2625,739,2122,2078,58.2,10.9,589,8280,0.08,2.40,0.00,0.000,5126,0.310,0.054,2598,2150,2099,2121,2077,0,0,0,0,0,0,14.15,14.38,14.42,6.20,49.64
$GC,8403,0.64,146.0,2599,2151,2122,2077,47.2,8.9,614,8408,0.00,2.50,0.00,0.000,2308,0.000,0.084,2598,3556,2098,2120,2077,0,0,0,0,0,0,14.76,14.31,14.76,6.20,49.56
$GC,8460,0.64,146.0,2598,3557,2122,2078,40.8,10.1,626,8464,0.00,2.35,0.00,0.000,5126,0.000,0.043,2608,2145,2099,2121,2077,0,0,0,0,0,0,14.55,14.43,14.57,6.20,49.40
$GC,8587,0.65,157.2,2608,2144,2122,2077,30.6,7.9,651,8600,0.00,2.45,6.12,1.239,8708,0.000,0.061,2619,740,2075,2096,2054,0,0,0,0,0,0,14.75,14.45,13.62,6.20,49.37
$GC,8687,0.70,200.3,2619,740,2096,2055,23.1,6.7,671,8734,0.00,2.40,41.72,1.218,11270,0.000,0.054,2619,2150,1901,1914,1888,0,0,0,0,0,0,14.47,14.31,13.64,6.20,50.15
$GC,8856,0.70,200.3,2619,2151,1909,1879,7.3,10.3,705,8860,0.00,2.53,0.00,0.000,2308,0.000,0.085,2619,3559,1892,1908,1877,0,0,0,0,0,0,14.57,14.20,14.57,6.19,50.23
$STATE,8888,end climb,SURFACE_DEPTH_REACHED
$STATE,8888,begin surface coast
$STATE,8903,end surface coast,CONTROL_FINISHED_OK
$STATE,8903,begin surface
$SM_CCo,8921,16.17,0.248,0,0,1822,220.03
$SM_GC,1.20,5.62,2.53,16.17,0.067,0.038,0.248,218,2063,1822,-6.46,0.82,220.03,0,0,0,0,0,0,14.43,14.34,14.04
$IRIDIUM_FIX,-5952.52,42.86,070219,124008
$TT8_MAMPS,0.039697,0.355026
$HUMID,50.35
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3661280
$24V_AH,12.93,97.502
$10V_AH,13.26,0.000
$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,13.425,93.025,303.275,16.175,0.000,26.371,25.734,152.072,0.000,0.000,21.523,0.000,7012.358,408.156,1662.742,248.210,0.000,1066.710,0.000,1174.662,0.000,0.539,0.000
$DEVICE_MAMPS,429.930,2219.265,1583.550,247.860,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5328.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.530,0.000,0.000,0.000
$MEM,344024
$DATA_FILE_SIZE,20748,715
$CAP_FILE_SIZE,95956,0
$CFSIZE,1023623168,969621504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.011,301.04,1
$GPS,070219,175219,-5953.088,2.656,40,1.0,68,-19.7,0.7,109.2,8,6.3