version: 66.14
glider: 640
mission: 5
dive: 519
start: 2 8 119 22 39 54
data:
$ID,640
$MISSION,5
$DIVE,519
$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,29
$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
$GPS1,080219,223325,-5958.6558,2.4770,16,0.9,38,-19.7,0.6,105.3,9,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-66.3
$GPS2,080219,223935,-5958.6348,2.4697,9,1.1,17,-19.7,0.6,236.8,9,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,193.7,39633,-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,-146.0,233,2100,1788,1834,0.0,0.0,0,103,0.00,0.00,-87.43,0.000,16386,0.000,0.000,233,2100,3204,3286,3122,0,0,0,0,0,0,14.54,28.83,14.54,6.18,51.57
$GC,106,-0.64,-146.0,233,2099,3287,3122,3.2,-6.3,18,123,6.12,2.80,-4.10,0.000,18692,0.342,2.220,2161,3504,3317,3410,3224,0,0,0,0,0,0,13.87,12.93,14.23,6.30,50.19
$GC,164,-0.64,-146.0,2161,3505,3413,3228,14.7,-19.2,30,168,0.10,2.38,0.00,0.000,3078,0.313,0.042,2195,2089,3318,3412,3224,0,0,0,0,0,0,13.98,14.24,14.23,6.32,49.01
$GC,291,-0.64,-146.0,2196,2088,3414,3224,35.6,-16.9,55,295,0.00,2.45,0.00,0.000,516,0.000,0.065,2194,697,3318,3413,3224,0,0,0,0,0,0,14.60,14.25,14.60,6.32,49.29
$GC,325,-0.64,-146.0,2195,698,3414,3224,41.8,-16.9,62,329,0.00,2.42,0.00,0.000,3078,0.000,0.057,2185,2100,3318,3413,3224,0,0,0,0,0,0,14.42,14.28,14.45,6.32,49.09
$GC,452,-0.64,-146.0,2185,2101,3413,3225,63.0,-16.2,87,456,0.00,2.50,0.00,0.000,2308,0.000,0.083,2174,3513,3318,3413,3224,0,0,0,0,0,0,14.64,14.23,14.64,6.32,49.56
$GC,476,-0.64,-146.0,2174,3514,3414,3225,67.3,-16.3,92,480,0.08,2.38,0.00,0.000,3078,0.352,0.044,2200,2095,3318,3413,3224,0,0,0,0,0,0,14.03,14.33,14.31,6.32,50.35
$GC,603,-0.64,-146.0,2202,2094,3414,3224,85.6,-15.0,117,608,0.00,2.45,0.00,0.000,4612,0.000,0.063,2200,697,3318,3413,3224,0,0,0,0,0,0,14.65,14.29,14.65,6.32,49.92
$GC,641,-0.64,-146.0,2200,693,3413,3225,91.7,-14.8,125,645,0.00,2.45,0.00,0.000,3078,0.000,0.054,2190,2115,3318,3413,3224,0,0,0,0,0,0,14.47,14.32,14.49,6.32,48.97
$GC,781,-0.64,-146.0,2190,2116,3414,3224,111.9,-14.6,141,785,0.00,2.45,0.00,0.000,2308,0.000,0.082,2179,3504,3318,3413,3224,0,0,0,0,0,0,14.70,14.28,14.70,6.27,48.46
$GC,826,-0.64,-146.0,2180,3505,3414,3224,116.9,-14.3,143,830,0.03,2.35,0.00,0.000,3078,0.591,0.044,2189,2102,3318,3413,3224,0,0,0,0,0,0,14.13,14.37,14.34,6.31,48.62
$GC,1131,-0.64,-146.0,2189,2101,3414,3224,158.6,-13.4,158,1135,0.00,2.45,0.00,0.000,2564,0.000,0.063,2189,692,3318,3413,3224,0,0,0,0,0,0,14.74,14.34,14.75,6.31,49.84
$GC,1221,-0.64,-146.0,2189,692,3414,3224,168.7,-13.5,162,1225,0.00,2.42,0.00,0.000,3078,0.000,0.055,2179,2105,3318,3413,3224,0,0,0,0,0,0,14.52,14.36,14.54,6.32,49.68
$GC,1541,-0.64,-146.0,2180,2105,3414,3224,213.7,-13.3,179,1545,0.00,2.47,0.00,0.000,2308,0.000,0.083,2168,3507,3318,3412,3224,0,0,0,0,0,0,14.77,14.31,14.77,6.32,50.63
$GC,1586,-0.64,-146.0,2169,3508,3413,3225,219.1,-13.5,181,1590,0.08,2.35,0.00,0.000,3078,0.355,0.044,2193,2094,3318,3413,3224,0,0,0,0,0,0,14.09,14.41,14.36,6.32,50.70
$GC,1896,-0.64,-146.0,2193,2093,3413,3225,257.7,-12.0,197,1900,0.00,2.42,0.00,0.000,2564,0.000,0.063,2193,695,3318,3413,3224,0,0,0,0,0,0,14.78,14.36,14.78,6.33,51.06
$GC,1976,-0.64,-146.0,2191,695,3414,3225,266.8,-12.1,201,1980,0.00,2.40,0.00,0.000,3078,0.000,0.054,2183,2102,3319,3413,3225,0,0,0,0,0,0,14.54,14.39,14.57,6.33,50.90
$GC,2286,-0.64,-146.0,2184,2103,3413,3225,304.9,-12.2,217,2290,0.00,2.47,0.00,0.000,2308,0.000,0.083,2172,3507,3318,3413,3224,0,0,0,0,0,0,14.80,14.32,14.80,6.33,50.98
$GC,2326,-0.64,-146.0,2173,3508,3414,3224,309.3,-12.4,219,2330,0.08,2.35,0.00,0.000,3078,0.352,0.044,2198,2097,3318,3413,3224,0,0,0,0,0,0,14.09,14.42,14.37,6.33,51.26
$GC,2636,-0.64,-146.0,2198,2096,3414,3224,346.1,-11.5,235,2640,0.00,2.45,0.00,0.000,516,0.000,0.063,2198,689,3318,3413,3224,0,0,0,0,0,0,14.81,14.36,14.81,6.33,50.82
$STATE,2674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2674,begin apogee
$GC,2682,-0.15,0.0,2188,2148,3415,3224,350.9,-11.7,237,2810,0.47,0.00,125.15,1.580,10246,0.249,0.000,2353,2147,2718,2778,2658,0,0,0,0,0,0,14.07,13.89,13.17,6.33,51.41
$STATE,2811,end apogee,CONTROL_FINISHED_OK
$STATE,2811,begin loiter
$GC,3096,-0.15,0.0,2353,2148,2772,2644,347.7,3.2,258,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2147,2707,2771,2643,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.27
$GC,3396,-0.15,0.0,2354,2148,2773,2640,338.1,3.2,273,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2147,2705,2771,2640,0,0,0,0,0,0,14.70,14.71,14.71,6.28,51.10
$GC,3696,-0.15,0.0,2353,2148,2772,2640,328.4,3.3,288,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2147,2704,2770,2639,0,0,0,0,0,0,14.79,14.79,14.79,6.29,51.02
$GC,3996,-0.15,0.0,2354,2148,2772,2638,318.4,3.5,303,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2147,2704,2771,2638,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.06
$GC,4296,-0.15,0.0,2354,2148,2772,2639,307.6,3.8,318,4297,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2147,2704,2771,2638,0,0,0,0,0,0,14.88,14.89,14.89,6.28,51.45
$GC,4596,-0.15,0.0,2354,2147,2772,2638,297.0,3.6,333,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2147,2704,2771,2638,0,0,0,0,0,0,14.91,14.92,14.92,6.28,51.29
$GC,4896,-0.15,0.0,2353,2148,2772,2638,287.3,3.0,348,4897,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2147,2704,2771,2637,0,0,0,0,0,0,14.94,14.94,14.94,6.28,51.10
$GC,5196,-0.15,0.0,2355,2147,2772,2638,278.3,3.0,363,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2146,2704,2771,2637,0,0,0,0,0,0,14.95,14.96,14.96,6.28,51.22
$GC,5496,-0.15,0.0,2353,2148,2772,2638,268.5,3.4,378,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2147,2704,2771,2637,0,0,0,0,0,0,14.96,14.97,14.97,6.28,51.26
$GC,5796,-0.15,0.0,2353,2148,2772,2638,257.6,3.5,393,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2147,2704,2771,2637,0,0,0,0,0,0,14.98,14.99,14.99,6.28,51.49
$GC,6096,-0.15,0.0,2354,2147,2772,2637,247.0,3.6,408,6097,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2147,2703,2770,2637,0,0,0,0,0,0,14.99,15.00,15.00,6.28,51.53
$STATE,6394,end loiter,LOITER_COMPLETE
$STATE,6394,begin climb
$GC,6396,0.64,146.0,2354,2147,2772,2637,236.8,0.0,423,6537,0.62,2.58,129.90,1.405,10756,0.170,0.066,2609,746,2117,2137,2097,0,0,0,0,0,0,14.32,13.97,13.33,6.28,51.57
$GC,6547,0.65,160.0,2609,748,2136,2095,227.9,7.8,430,6565,0.00,2.47,13.50,1.377,9222,0.000,0.052,2609,2159,2064,2083,2046,0,0,0,0,0,0,14.11,14.02,13.29,6.24,50.03
$GC,6879,0.65,160.0,2609,2159,2074,2028,186.3,12.3,447,6883,0.00,2.50,0.00,0.000,260,0.000,0.083,2609,3551,2050,2074,2027,0,0,0,0,0,0,14.52,14.14,14.52,6.23,51.14
$GC,6953,0.65,160.0,2609,3552,2074,2028,178.8,12.3,450,6957,0.00,2.35,0.00,0.000,5126,0.000,0.043,2619,2155,2050,2074,2027,0,0,0,0,0,0,14.38,14.27,14.40,6.22,50.43
$GC,7273,0.65,160.0,2620,2156,2072,2024,137.4,12.1,467,7277,0.00,2.50,0.00,0.000,4612,0.000,0.067,2631,738,2047,2071,2023,0,0,0,0,0,0,14.67,14.28,14.68,6.22,51.33
$GC,7323,0.65,160.0,2631,739,2070,2024,133.4,11.7,469,7328,0.08,2.42,0.00,0.000,5126,0.318,0.054,2604,2154,2046,2069,2023,0,0,0,0,0,0,14.09,14.31,14.37,6.22,50.86
$GC,7628,0.65,160.0,2604,2155,2069,2023,100.4,9.6,485,7632,0.00,2.47,0.00,0.000,2308,0.000,0.085,2604,3557,2045,2069,2022,0,0,0,0,0,0,14.73,14.29,14.73,6.21,50.66
$GC,7713,0.65,160.0,2604,3553,2069,2023,92.7,8.5,499,7717,0.00,2.35,0.00,0.000,5126,0.000,0.044,2614,2148,2045,2069,2022,0,0,0,0,0,0,14.52,14.40,14.54,6.21,50.82
$GC,7840,0.65,160.0,2614,2148,2069,2021,81.0,10.0,524,7843,0.00,0.00,0.00,0.000,4102,0.000,0.000,2614,2148,2044,2068,2021,0,0,0,0,0,0,14.72,14.72,14.72,6.20,50.00
$GC,7963,0.65,160.0,2614,2148,2069,2022,67.3,10.8,549,7967,0.00,2.45,0.00,0.000,4612,0.000,0.068,2625,744,2044,2068,2021,0,0,0,0,0,0,14.73,14.33,14.73,6.20,49.48
$GC,8003,0.65,160.0,2625,744,2067,2022,63.0,10.6,557,8007,0.00,2.40,0.00,0.000,5126,0.000,0.053,2624,2150,2044,2067,2021,0,0,0,0,0,0,14.52,14.37,14.54,6.20,50.07
$GC,8130,0.65,160.0,2625,2150,2067,2021,50.2,9.8,582,8134,0.00,2.47,0.00,0.000,4612,0.000,0.067,2635,738,2044,2067,2021,0,0,0,0,0,0,14.73,14.33,14.73,6.20,49.33
$GC,8159,0.65,160.0,2636,738,2061,2020,47.2,9.6,588,8163,0.10,2.42,0.00,0.000,5126,0.285,0.055,2599,2150,2043,2067,2020,0,0,0,0,0,0,14.13,14.36,14.41,6.20,49.25
$GC,8284,0.68,179.9,2600,2150,2067,2020,37.5,7.6,613,8304,0.00,2.47,15.68,1.294,10500,0.000,0.082,2600,3552,1982,2001,1963,0,0,0,0,0,0,14.75,14.24,13.70,6.20,50.39
$GC,8329,0.68,179.9,2600,3555,2001,1965,33.8,8.7,622,8333,0.00,2.35,0.00,0.000,3078,0.000,0.044,2609,2148,1981,2000,1963,0,0,0,0,0,0,14.51,14.40,14.52,6.19,50.19
$GC,8456,0.68,179.9,2609,2149,2000,1962,22.8,9.3,647,8462,0.00,2.47,0.00,0.000,2564,0.000,0.066,2620,737,1979,1998,1961,0,0,0,0,0,0,14.68,14.31,14.68,6.20,50.31
$GC,8504,0.68,179.9,2619,737,2000,1960,18.2,9.2,657,8508,0.00,2.42,0.00,0.000,1030,0.000,0.053,2620,2155,1979,1998,1960,0,0,0,0,0,0,14.42,14.31,14.45,6.19,50.78
$GC,8631,0.68,179.9,2615,2156,2000,1961,5.9,11.0,682,8635,0.00,2.50,0.00,0.000,260,0.000,0.086,2620,3561,1978,1998,1959,0,0,0,0,0,0,14.70,14.28,14.71,6.20,50.31
$STATE,8653,end climb,SURFACE_DEPTH_REACHED
$STATE,8653,begin surface coast
$STATE,8668,end surface coast,CONTROL_FINISHED_OK
$STATE,8668,begin surface
$SM_CCo,8686,37.20,0.244,0,0,1823,220.03
$SM_GC,1.28,5.62,2.53,37.20,0.070,0.042,0.244,232,2096,1823,-6.45,0.82,220.03,0,0,0,0,0,0,14.47,14.39,14.11
$IRIDIUM_FIX,-5957.44,0.00,080219,200034
$TT8_MAMPS,0.038948,0.334803
$HUMID,51.14
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3655104
$24V_AH,12.93,99.680
$10V_AH,13.47,0.000
$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,13.375,93.150,284.225,37.200,0.000,23.959,20.065,140.852,0.000,0.000,18.743,0.000,6826.541,408.265,1600.631,256.677,0.000,1053.384,0.000,1140.829,0.000,0.541,0.000
$DEVICE_MAMPS,591.345,2220.030,1579.725,244.035,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5094.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.660,0.000,0.000,0.000
$MEM,344024
$DATA_FILE_SIZE,17309,690
$CAP_FILE_SIZE,96059,0
$CFSIZE,1023623168,968441856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.034,218.05,1
$GPS,090219,010628,-5959.204,2.662,40,0.8,43,-19.7,0.5,140.3,10,10.0