version: 66.14
glider: 640
mission: 5
dive: 517
start: 2 8 119 17 27 31
data:
$ID,640
$MISSION,5
$DIVE,517
$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,50
$R_STBD_OVSHOOT,30
$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
$GPS1,080219,172104,-5957.6401,2.9139,16,0.8,30,-19.7,0.4,69.5,10,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-69.2
$GPS2,080219,172712,-5957.6245,2.9389,9,0.9,21,-19.7,0.4,88.5,9,8.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,206.2,41527,-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,-146.0,234,2081,1787,1829,0.0,0.0,0,103,0.00,0.00,-87.57,0.000,16386,0.000,0.000,233,2080,3214,3295,3133,0,0,0,0,0,0,14.56,28.83,14.56,6.19,51.45
$GC,106,-0.64,-146.0,233,2081,3297,3134,3.5,-7.5,18,123,6.18,2.80,-3.62,0.000,18692,0.350,2.220,2180,3507,3317,3410,3224,0,0,0,0,0,0,13.91,13.19,14.29,6.30,49.76
$GC,154,-0.64,-146.0,2179,3508,3413,3225,12.9,-16.4,28,158,0.00,2.35,0.00,0.000,3078,0.000,0.042,2178,2110,3318,3413,3224,0,0,0,0,0,0,14.34,14.24,14.35,6.32,49.17
$GC,279,-0.64,-146.0,2179,2110,3413,3225,34.3,-17.9,53,283,0.00,2.47,0.00,0.000,2564,0.000,0.063,2178,697,3318,3413,3224,0,0,0,0,0,0,14.62,14.17,14.62,6.31,49.68
$GC,379,-0.64,-146.0,2179,697,3414,3225,51.5,-17.0,73,383,0.08,2.42,0.00,0.000,3078,0.352,0.055,2193,2099,3318,3413,3224,0,0,0,0,0,0,13.95,14.21,14.22,6.32,49.40
$GC,506,-0.64,-146.0,2193,2100,3414,3224,69.8,-16.4,98,511,0.00,2.50,0.00,0.000,2308,0.000,0.083,2182,3512,3322,3413,3231,0,0,0,0,0,0,14.66,14.25,14.66,6.32,49.76
$GC,604,-0.64,-146.0,2182,3513,3414,3225,85.2,-14.0,118,608,0.00,2.38,0.00,0.000,3078,0.000,0.042,2182,2091,3318,3413,3224,0,0,0,0,0,0,14.38,14.27,14.40,6.32,49.05
$GC,731,-0.64,-146.0,2182,2090,3414,3224,103.2,-14.2,140,735,0.00,2.42,0.00,0.000,2564,0.000,0.063,2181,696,3318,3412,3224,0,0,0,0,0,0,14.69,14.31,14.69,6.31,48.81
$GC,795,-0.64,-146.0,2182,696,3414,3224,111.3,-13.7,143,799,0.08,2.42,0.00,0.000,3078,0.363,0.054,2194,2109,3318,3413,3224,0,0,0,0,0,0,14.04,14.34,14.32,6.31,48.22
$GC,1105,-0.64,-146.0,2194,2110,3414,3224,150.9,-12.4,159,1108,0.00,2.47,0.00,0.000,260,0.000,0.082,2186,3510,3318,3413,3224,0,0,0,0,0,0,14.75,14.30,14.80,6.31,49.60
$GC,1150,-0.64,-146.0,2184,3511,3414,3224,155.3,-12.5,161,1153,0.00,2.35,0.00,0.000,3078,0.000,0.042,2184,2100,3318,3413,3224,0,0,0,0,0,0,14.51,14.36,14.53,6.31,49.60
$GC,1455,-0.64,-146.0,2183,2099,3414,3225,196.5,-13.1,176,1458,0.00,2.42,0.00,0.000,2564,0.000,0.063,2183,697,3318,3413,3224,0,0,0,0,0,0,14.78,14.35,14.78,6.32,50.35
$GC,1535,-0.64,-146.0,2184,698,3414,3218,206.2,-13.0,180,1539,0.08,2.40,0.00,0.000,3078,0.358,0.054,2197,2103,3318,3413,3224,0,0,0,0,0,0,14.07,14.38,14.35,6.32,50.59
$GC,1845,-0.64,-146.0,2197,2104,3413,3224,243.9,-11.9,196,1849,0.00,2.47,0.00,0.000,260,0.000,0.083,2187,3501,3319,3413,3225,0,0,0,0,0,0,14.79,14.32,14.79,6.33,50.63
$GC,1900,-0.64,-146.0,2187,3502,3420,3225,248.8,-12.0,198,1903,0.00,2.35,0.00,0.000,3078,0.000,0.042,2187,2089,3318,3413,3224,0,0,0,0,0,0,14.55,14.42,14.57,6.33,50.70
$GC,2220,-0.64,-146.0,2187,2089,3414,3225,290.7,-12.8,215,2223,0.00,2.40,0.00,0.000,2564,0.000,0.061,2187,699,3318,3413,3224,0,0,0,0,0,0,14.80,14.36,14.81,6.33,50.98
$GC,2270,-0.64,-146.0,2187,699,3414,3224,295.3,-13.0,217,2274,0.05,2.40,0.00,0.000,3078,0.431,0.054,2191,2108,3318,3413,3224,0,0,0,0,0,0,14.11,14.39,14.38,6.33,51.14
$GC,2575,-0.64,-146.0,2191,2109,3413,3225,334.9,-12.3,233,2579,0.00,2.47,0.00,0.000,2308,0.000,0.082,2181,3507,3319,3413,3226,0,0,0,0,0,0,14.81,14.32,14.81,6.33,51.10
$GC,2620,-0.64,-146.0,2182,3508,3413,3224,339.9,-12.4,235,2623,0.00,2.35,0.00,0.000,3078,0.000,0.042,2180,2098,3318,3413,3224,0,0,0,0,0,0,14.56,14.42,14.58,6.33,51.06
$STATE,2707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2707,begin apogee
$GC,2713,-0.15,0.0,2181,2154,3414,3224,351.7,-12.4,240,2841,0.47,0.00,124.72,1.587,10246,0.256,0.000,2345,2153,2716,2776,2656,0,0,0,0,0,0,14.04,13.89,13.17,6.33,51.06
$STATE,2842,end apogee,CONTROL_FINISHED_OK
$STATE,2842,begin loiter
$GC,3130,-0.15,0.0,2347,2154,2773,2643,348.5,3.3,261,3130,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2153,2707,2772,2643,0,0,0,0,0,0,14.54,14.55,14.55,6.29,50.55
$GC,3430,-0.15,0.0,2345,2154,2773,2640,339.5,3.0,276,3430,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2153,2706,2771,2642,0,0,0,0,0,0,14.71,14.71,14.71,6.29,50.78
$GC,3730,-0.15,0.0,2345,2154,2772,2641,330.3,3.2,291,3730,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2153,2706,2772,2640,0,0,0,0,0,0,14.80,14.80,14.80,6.28,50.94
$GC,4030,-0.15,0.0,2346,2154,2772,2641,320.7,3.1,306,4031,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2153,2705,2771,2640,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.53
$GC,4330,-0.15,0.0,2346,2154,2772,2641,311.6,3.0,321,4330,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2153,2705,2772,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.85
$GC,4630,-0.15,0.0,2346,2154,2773,2639,303.4,2.7,336,4631,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2153,2705,2772,2639,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.49
$GC,4930,-0.15,0.0,2346,2154,2772,2640,295.7,2.6,351,4930,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2153,2705,2772,2639,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.29
$GC,5230,-0.15,0.0,2346,2153,2773,2638,287.6,2.8,366,5231,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2153,2705,2772,2639,0,0,0,0,0,0,14.96,14.97,14.97,6.28,51.29
$GC,5530,-0.15,0.0,2345,2154,2772,2640,278.8,3.1,381,5531,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2153,2705,2771,2639,0,0,0,0,0,0,14.98,14.98,14.98,6.27,51.41
$GC,5830,-0.15,0.0,2346,2153,2773,2638,269.6,3.2,396,5830,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2153,2705,2772,2638,0,0,0,0,0,0,14.99,15.00,15.00,6.28,51.57
$GC,6130,-0.15,0.0,2345,2154,2772,2639,259.9,3.3,411,6131,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2153,2705,2772,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.49
$STATE,6427,end loiter,LOITER_COMPLETE
$STATE,6427,begin climb
$GC,6430,0.64,146.0,2346,2154,2773,2638,250.2,0.0,426,6571,0.65,2.60,129.65,1.430,10500,0.173,0.081,2599,3552,2118,2139,2097,0,0,0,0,0,0,14.31,13.93,13.31,6.28,51.96
$GC,6656,0.64,146.0,2599,3552,2137,2090,232.7,10.9,437,6659,0.00,2.38,0.00,0.000,5126,0.000,0.042,2609,2157,2112,2136,2089,0,0,0,0,0,0,14.21,14.10,14.22,6.23,49.25
$GC,6966,0.64,146.0,2610,2156,2131,2083,196.0,11.9,453,6969,0.00,2.50,0.00,0.000,4612,0.000,0.066,2620,740,2106,2130,2082,0,0,0,0,0,0,14.58,14.21,14.58,6.23,51.22
$GC,7006,0.64,146.0,2620,740,2127,2083,191.9,11.8,455,7010,0.05,2.42,0.00,0.000,5126,0.381,0.054,2602,2144,2104,2126,2082,0,0,0,0,0,0,14.04,14.25,14.30,6.23,51.29
$GC,7316,0.64,146.0,2603,2145,2127,2078,154.9,12.0,471,7320,0.00,2.53,0.00,0.000,260,0.000,0.083,2602,3559,2102,2126,2078,0,0,0,0,0,0,14.69,14.26,14.69,6.23,50.90
$GC,7376,0.64,146.0,2603,3560,2126,2080,147.7,12.0,474,7380,0.00,2.38,0.00,0.000,5126,0.000,0.044,2611,2148,2102,2126,2079,0,0,0,0,0,0,14.49,14.37,14.51,6.23,51.14
$GC,7696,0.64,146.0,2612,2149,2126,2079,110.8,11.2,490,7699,0.00,2.45,0.00,0.000,4612,0.000,0.066,2622,742,2101,2125,2077,0,0,0,0,0,0,14.76,14.33,14.76,6.23,50.82
$GC,7751,0.64,146.0,2622,743,2123,2078,105.0,10.6,493,7755,0.05,2.40,0.00,0.000,5126,0.378,0.053,2605,2152,2099,2122,2077,0,0,0,0,0,0,14.15,14.37,14.41,6.22,51.45
$GC,8056,0.64,146.0,2605,2152,2126,2077,75.3,8.5,546,8059,0.00,2.47,0.00,0.000,260,0.000,0.084,2605,3554,2099,2122,2077,0,0,0,0,0,0,14.76,14.31,14.76,6.21,50.15
$GC,8091,0.64,146.0,2605,3555,2122,2077,72.2,9.0,553,8095,0.00,2.35,0.00,0.000,5126,0.000,0.043,2614,2148,2099,2122,2077,0,0,0,0,0,0,14.54,14.42,14.57,6.21,49.72
$GC,8218,0.64,146.0,2614,2149,2122,2078,59.7,10.8,578,8223,0.00,2.50,0.00,0.000,4356,0.000,0.083,2615,3556,2099,2121,2077,0,0,0,0,0,0,14.75,14.27,14.75,6.21,49.60
$GC,8246,0.64,146.0,2614,3557,2122,2078,56.3,11.8,584,8249,0.08,2.38,0.00,0.000,5126,0.340,0.045,2598,2146,2099,2121,2077,0,0,0,0,0,0,14.12,14.41,14.41,6.20,49.33
$GC,8373,0.64,146.0,2598,2147,2122,2076,44.7,8.8,609,8377,0.00,2.45,0.00,0.000,2564,0.000,0.066,2606,742,2098,2121,2076,0,0,0,0,0,0,14.75,14.34,14.75,6.21,49.52
$GC,8422,0.65,160.6,2608,743,2121,2076,40.6,7.8,619,8436,0.00,2.40,10.12,1.292,9222,0.000,0.054,2607,2155,2062,2082,2043,0,0,0,0,0,0,14.51,14.38,13.69,6.21,49.96
$GC,8557,0.65,160.6,2608,2155,2081,2037,29.5,8.5,646,8561,0.00,2.47,0.00,0.000,260,0.000,0.085,2608,3552,2058,2080,2037,0,0,0,0,0,0,14.71,14.31,14.71,6.20,49.92
$GC,8607,0.65,160.6,2608,3552,2080,2038,25.0,8.9,656,8610,0.00,2.35,0.00,0.000,5126,0.000,0.044,2618,2147,2058,2079,2037,0,0,0,0,0,0,14.52,14.40,14.54,6.21,50.51
$GC,8734,0.65,160.6,2618,2147,2081,2036,14.2,8.8,681,8738,0.00,2.45,0.00,0.000,4612,0.000,0.066,2629,742,2058,2080,2036,0,0,0,0,0,0,14.71,14.33,14.71,6.21,50.70
$GC,8783,0.65,160.6,2629,742,2080,2036,9.5,9.5,691,8787,0.05,2.40,0.00,0.000,5126,0.377,0.054,2611,2150,2057,2079,2036,0,0,0,0,0,0,14.14,14.36,14.38,6.22,50.59
$STATE,8850,end climb,SURFACE_DEPTH_REACHED
$STATE,8850,begin surface coast
$STATE,8880,end surface coast,CONTROL_FINISHED_OK
$STATE,8880,begin surface
$SM_CCo,8896,56.45,0.240,0,0,1822,220.03
$SM_GC,0.99,5.43,0.08,56.45,0.035,0.158,0.240,245,2077,1822,-6.48,1.02,220.03,0,0,0,0,0,0,14.54,14.46,14.11
$IRIDIUM_FIX,-5957.44,4.30,080219,144708
$TT8_MAMPS,0.036701,0.35952
$HUMID,50.27
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3656128
$24V_AH,13.17,99.315
$10V_AH,13.28,0.000
$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,13.225,87.900,264.500,56.450,0.000,28.090,17.360,133.530,0.000,0.000,22.528,0.000,7007.942,409.754,1649.246,252.057,0.000,1069.376,0.000,1188.023,0.000,0.540,0.000
$DEVICE_MAMPS,430.695,2220.030,1587.375,240.210,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5305.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.487,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17381,711
$CAP_FILE_SIZE,97073,0
$CFSIZE,1023623168,968638464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.030,263.68,1
$GPS,080219,195749,-5958.133,2.648,14,0.9,38,-19.7,0.7,328.5,10,7.6