version: 66.14
glider: 640
mission: 5
dive: 509
start: 2 7 119 20 33 26
data:
$ID,640
$MISSION,5
$DIVE,509
$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,60
$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
$GPS1,070219,202642,-5953.5801,2.3131,23,1.0,36,-19.7,0.8,242.3,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-61.3
$GPS2,070219,203307,-5953.5601,2.2600,8,1.0,19,-19.7,1.1,31.0,9,10.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,190.0,49011,-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,13,-0.64,-146.0,212,2073,1798,1828,0.0,0.0,0,98,0.00,0.00,-82.68,0.000,16386,0.000,0.000,211,2072,3127,3206,3048,0,0,0,0,0,0,14.56,28.83,14.57,6.19,51.65
$GC,101,-0.64,-146.0,213,2073,3209,3048,3.4,-7.0,17,119,6.22,2.83,-6.72,0.000,18692,0.345,2.228,2181,3504,3317,3413,3222,0,0,0,0,0,0,13.90,12.95,14.28,6.30,50.27
$GC,154,-0.64,-146.0,2181,3506,3415,3222,14.1,-17.8,28,158,0.00,2.33,0.00,0.000,3078,0.000,0.044,2181,2121,3318,3414,3222,0,0,0,0,0,0,14.35,14.23,14.36,6.32,49.29
$GC,281,-0.64,-146.0,2181,2120,3416,3223,37.1,-17.4,53,285,0.00,2.50,0.00,0.000,2564,0.000,0.063,2181,690,3318,3414,3223,0,0,0,0,0,0,14.62,14.26,14.62,6.31,49.05
$GC,330,-0.64,-146.0,2181,691,3414,3224,46.4,-17.7,63,334,0.08,2.45,0.00,0.000,3078,0.372,0.057,2192,2105,3318,3414,3223,0,0,0,0,0,0,13.99,14.28,14.28,6.32,49.84
$GC,457,-0.64,-146.0,2193,2106,3415,3225,66.4,-14.7,88,463,0.00,2.47,0.00,0.000,2564,0.000,0.062,2192,688,3318,3414,3223,0,0,0,0,0,0,14.65,14.28,14.66,6.32,50.00
$GC,520,-0.64,-146.0,2192,689,3415,3225,75.6,-13.8,101,524,0.00,2.45,0.00,0.000,3078,0.000,0.057,2182,2106,3318,3414,3223,0,0,0,0,0,0,14.46,14.31,14.48,6.32,49.60
$GC,645,-0.64,-146.0,2182,2107,3416,3223,93.6,-15.1,126,649,0.00,2.47,0.00,0.000,2308,0.000,0.083,2171,3507,3319,3414,3224,0,0,0,0,0,0,14.70,14.26,14.70,6.31,48.81
$GC,680,-0.64,-146.0,2172,3507,3416,3224,99.1,-15.7,133,685,0.08,2.35,0.00,0.000,3078,0.363,0.044,2196,2100,3318,3414,3223,0,0,0,0,0,0,14.03,14.36,14.31,6.31,48.54
$GC,810,-0.64,-146.0,2197,2099,3416,3224,118.5,-14.8,141,814,0.00,2.45,0.00,0.000,516,0.000,0.064,2196,694,3319,3414,3224,0,0,0,0,0,0,14.72,14.31,14.73,6.31,48.97
$GC,885,-0.64,-146.0,2196,695,3415,3225,127.0,-14.3,144,889,0.00,2.42,0.00,0.000,3078,0.000,0.054,2186,2105,3319,3414,3224,0,0,0,0,0,0,14.50,14.37,14.52,6.31,48.50
$GC,1205,-0.64,-146.0,2186,2105,3416,3224,173.7,-13.6,161,1209,0.00,2.45,0.00,0.000,2564,0.000,0.061,2185,693,3319,3414,3224,0,0,0,0,0,0,14.76,14.34,14.77,6.31,50.27
$GC,1260,-0.64,-146.0,2186,693,3414,3224,181.0,-13.4,164,1264,0.05,2.42,0.00,0.000,3078,0.433,0.055,2189,2108,3319,3414,3224,0,0,0,0,0,0,14.09,14.37,14.35,6.30,49.92
$GC,1575,-0.64,-146.0,2190,2108,3415,3224,219.9,-12.0,180,1576,0.00,0.00,0.00,0.000,2054,0.000,0.000,2189,2108,3319,3414,3224,0,0,0,0,0,0,14.79,14.79,14.79,6.32,51.10
$GC,1875,-0.64,-146.0,2190,2108,3415,3225,255.2,-11.6,195,1879,0.00,2.47,0.00,0.000,2308,0.000,0.083,2179,3507,3318,3414,3223,0,0,0,0,0,0,14.81,14.32,14.81,6.33,51.06
$GC,1910,-0.64,-146.0,2180,3508,3410,3224,259.4,-11.8,197,1914,0.03,2.35,0.00,0.000,3078,0.590,0.043,2190,2094,3322,3414,3230,0,0,0,0,0,0,14.17,14.43,14.39,6.33,51.57
$GC,2227,-0.64,-146.0,2190,2095,3415,3225,296.9,-12.1,213,2233,0.00,2.42,0.00,0.000,2564,0.000,0.063,2190,695,3319,3414,3224,0,0,0,0,0,0,14.79,14.37,14.80,6.33,51.57
$GC,2300,-0.64,-146.0,2190,695,3415,3224,304.2,-12.2,216,2304,0.00,2.42,0.00,0.000,3078,0.000,0.054,2180,2109,3319,3414,3224,0,0,0,0,0,0,14.54,14.39,14.57,6.33,51.41
$GC,2620,-0.64,-146.0,2187,2110,3415,3225,346.4,-12.9,233,2621,0.00,0.00,0.00,0.000,2054,0.000,0.000,2180,2109,3319,3414,3224,0,0,0,0,0,0,14.82,14.83,14.83,6.33,51.73
$STATE,2658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2658,begin apogee
$GC,2664,-0.15,0.0,2180,2161,3414,3225,351.6,-13.0,235,2792,0.50,0.00,124.95,1.590,10246,0.257,0.000,2353,2160,2716,2776,2656,0,0,0,0,0,0,14.06,13.89,13.17,6.33,51.49
$STATE,2793,end apogee,CONTROL_FINISHED_OK
$STATE,2793,begin loiter
$GC,3080,-0.15,0.0,2353,2161,2772,2644,351.0,2.5,256,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2707,2772,2643,0,0,0,0,0,0,14.55,14.55,14.56,6.28,50.70
$GC,3380,-0.15,0.0,2353,2161,2772,2643,343.9,2.4,271,3381,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2706,2771,2642,0,0,0,0,0,0,14.71,14.71,14.71,6.28,51.18
$GC,3680,-0.15,0.0,2354,2161,2773,2641,337.0,2.2,286,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2706,2772,2641,0,0,0,0,0,0,14.80,14.81,14.80,6.29,50.86
$GC,3980,-0.15,0.0,2354,2161,2773,2641,329.5,2.6,301,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2706,2772,2641,0,0,0,0,0,0,14.85,14.86,14.85,6.29,51.37
$GC,4280,-0.15,0.0,2354,2161,2774,2640,321.1,2.8,316,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2706,2772,2640,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.53
$GC,4580,-0.15,0.0,2353,2161,2772,2641,312.5,3.0,331,4581,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2706,2772,2641,0,0,0,0,0,0,14.92,14.93,14.93,6.28,51.41
$GC,4880,-0.15,0.0,2353,2161,2772,2642,303.0,3.3,346,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2706,2772,2640,0,0,0,0,0,0,14.95,14.95,14.95,6.29,51.22
$GC,5180,-0.15,0.0,2353,2161,2773,2641,293.0,3.3,361,5181,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2706,2772,2641,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.41
$GC,5480,-0.15,0.0,2352,2161,2772,2642,283.8,2.9,376,5481,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2706,2772,2641,0,0,0,0,0,0,14.98,14.99,14.99,6.28,51.53
$GC,5780,-0.15,0.0,2353,2161,2772,2642,275.6,2.5,391,5781,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2706,2772,2641,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.41
$GC,6080,-0.15,0.0,2353,2161,2773,2642,268.5,2.5,406,6081,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2706,2772,2641,0,0,0,0,0,0,15.01,15.01,15.02,6.28,51.45
$STATE,6378,end loiter,LOITER_COMPLETE
$STATE,6378,begin climb
$GC,6380,0.64,146.0,2354,2161,2773,2642,260.6,0.0,421,6522,0.62,2.55,130.18,1.438,11012,0.164,0.083,2600,3542,2119,2139,2099,0,0,0,0,0,0,14.34,13.94,13.31,6.28,51.61
$GC,6612,0.64,146.0,2600,3543,2137,2089,243.1,11.0,432,6615,0.00,2.35,0.00,0.000,5126,0.000,0.041,2610,2152,2111,2136,2087,0,0,0,0,0,0,14.21,14.11,14.23,6.23,49.72
$GC,6917,0.64,146.0,2611,2152,2131,2082,205.2,12.2,447,6920,0.00,2.47,0.00,0.000,4612,0.000,0.065,2621,744,2105,2130,2081,0,0,0,0,0,0,14.58,14.21,14.58,6.24,51.49
$GC,6942,0.64,146.0,2622,745,2127,2083,203.4,12.2,448,6946,0.05,2.40,0.00,0.000,5126,0.367,0.053,2604,2138,2104,2126,2082,0,0,0,0,0,0,14.04,14.25,14.31,6.24,51.41
$GC,7252,0.64,146.0,2603,2139,2126,2080,167.3,11.2,464,7255,0.00,2.53,0.00,0.000,260,0.000,0.083,2610,3554,2102,2126,2079,0,0,0,0,0,0,14.69,14.26,14.69,6.23,51.53
$GC,7362,0.64,146.0,2604,3555,2126,2080,156.7,11.0,469,7365,0.00,2.35,0.00,0.000,5126,0.000,0.042,2613,2142,2101,2125,2078,0,0,0,0,0,0,14.49,14.38,14.52,6.23,51.14
$GC,7682,0.64,146.0,2613,2143,2125,2078,118.9,11.5,486,7685,0.00,2.45,0.00,0.000,4612,0.000,0.065,2624,738,2100,2124,2077,0,0,0,0,0,0,14.75,14.33,14.75,6.23,51.49
$GC,7712,0.64,146.0,2624,738,2122,2079,117.2,11.5,487,7716,0.05,2.42,0.00,0.000,5126,0.374,0.052,2604,2154,2099,2121,2077,0,0,0,0,0,0,14.15,14.37,14.42,6.22,50.82
$GC,8017,0.64,146.0,2607,2149,2122,2077,81.7,11.0,527,8021,0.00,2.50,0.00,0.000,260,0.000,0.084,2606,3559,2098,2121,2076,0,0,0,0,0,0,14.76,14.32,14.76,6.21,50.43
$GC,8092,0.64,146.0,2607,3559,2122,2077,73.0,11.3,542,8095,0.00,2.35,0.00,0.000,5126,0.000,0.043,2615,2147,2099,2121,2077,0,0,0,0,0,0,14.55,14.43,14.57,6.21,49.80
$GC,8219,0.64,146.0,2616,2148,2122,2076,59.2,10.1,567,8223,0.00,2.45,0.00,0.000,4612,0.000,0.065,2626,744,2099,2121,2077,0,0,0,0,0,0,14.75,14.27,14.75,6.21,49.48
$GC,8283,0.64,146.0,2627,744,2121,2076,52.9,9.3,580,8287,0.08,2.40,0.00,0.000,5126,0.316,0.053,2600,2151,2098,2120,2076,0,0,0,0,0,0,14.14,14.38,14.42,6.20,49.56
$GC,8408,0.67,169.3,2600,2152,2121,2076,42.5,7.4,605,8431,0.00,2.50,18.40,1.277,10500,0.000,0.084,2600,3556,2024,2042,2006,0,0,0,0,0,0,14.78,14.38,13.72,6.20,49.56
$GC,8447,0.67,169.3,2600,3557,2042,2007,39.4,8.4,613,8451,0.00,2.35,0.00,0.000,1030,0.000,0.044,2609,2144,2029,2053,2006,0,0,0,0,0,0,14.51,14.42,14.53,6.20,49.40
$GC,8574,0.67,169.3,2610,2143,2042,2002,27.3,11.7,638,8581,0.00,2.42,0.00,0.000,2564,0.000,0.064,2620,745,2022,2041,2003,0,0,0,0,0,0,14.67,14.31,14.67,6.20,49.92
$GC,8643,0.67,169.3,2619,745,2040,2003,20.1,9.9,652,8646,0.00,2.40,0.00,0.000,5126,0.000,0.054,2620,2148,2021,2040,2002,0,0,0,0,0,0,14.49,14.34,14.51,6.20,49.84
$GC,8769,0.67,169.3,2620,2149,2040,2002,6.0,11.6,677,8775,0.00,2.53,0.00,0.000,4356,0.000,0.086,2620,3559,2020,2039,2001,0,0,0,0,0,0,14.69,14.27,14.69,6.20,50.47
$STATE,8795,end climb,SURFACE_DEPTH_REACHED
$STATE,8795,begin surface coast
$STATE,8820,end surface coast,CONTROL_FINISHED_OK
$STATE,8820,begin surface
$SM_CCo,8839,47.33,0.241,0,0,1821,220.03
$SM_GC,1.08,5.65,2.50,47.33,0.081,0.040,0.241,236,2070,1821,-6.45,0.96,220.03,0,0,0,0,0,0,14.52,14.45,14.09
$IRIDIUM_FIX,-5954.50,0.00,070219,175508
$TT8_MAMPS,0.039697,0.311584
$HUMID,50.51
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3660256
$24V_AH,12.95,97.871
$10V_AH,13.46,0.000
$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,13.400,83.250,273.525,47.325,0.000,26.548,38.010,135.807,0.000,0.000,20.044,0.000,7006.845,406.270,1610.814,246.935,0.000,1043.498,0.000,1138.012,0.000,0.539,0.000
$DEVICE_MAMPS,589.815,2227.680,1590.435,240.975,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5244.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.498,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17339,688
$CAP_FILE_SIZE,93850,0
$CFSIZE,1023623168,969424896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.035,214.41,1
$GPS,070219,230231,-5954.151,2.505,15,0.8,31,-19.7,0.5,65.2,10,9.3