version: 66.14
glider: 640
mission: 5
dive: 520
start: 2 9 119 1 13 10
data:
$ID,640
$MISSION,5
$DIVE,520
$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
$GPS1,090219,010628,-5959.2036,2.6623,40,0.8,43,-19.7,0.5,140.3,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-65.4
$GPS2,090219,011251,-5959.1968,2.6506,9,0.9,15,-19.7,0.8,189.5,9,9.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,198.9,38604,-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,13,-0.64,-146.0,233,2095,1792,1831,0.0,0.0,0,97,0.00,0.00,-81.95,0.000,16386,0.000,0.000,232,2094,3124,3206,3042,0,0,0,0,0,0,14.54,28.83,14.55,6.19,51.10
$GC,100,-0.64,-146.0,233,2095,3207,3043,3.2,-6.4,17,118,6.20,2.80,-7.07,0.000,18692,0.350,2.226,2179,3509,3318,3414,3222,0,0,0,0,0,0,13.85,12.91,14.23,6.30,50.23
$GC,200,-0.64,-146.0,2179,3510,3415,3225,19.0,-16.4,37,206,0.03,2.40,0.00,0.000,3078,0.602,0.043,2190,2086,3318,3415,3222,0,0,0,0,0,0,14.03,14.30,14.27,6.31,48.93
$GC,330,-0.64,-146.0,2190,2085,3415,3224,41.7,-17.6,63,334,0.00,2.45,0.00,0.000,2564,0.000,0.065,2190,687,3319,3415,3224,0,0,0,0,0,0,14.62,14.26,14.62,6.32,49.17
$GC,439,-0.64,-146.0,2190,688,3416,3222,60.0,-16.1,85,443,0.00,2.45,0.00,0.000,3078,0.000,0.056,2180,2108,3320,3415,3225,0,0,0,0,0,0,14.36,14.21,14.38,6.32,50.31
$GC,566,-0.64,-146.0,2181,2108,3417,3224,78.0,-13.5,110,572,0.00,2.47,0.00,0.000,2564,0.000,0.063,2180,687,3319,3415,3223,0,0,0,0,0,0,14.65,14.29,14.65,6.32,49.40
$GC,624,-0.64,-146.0,2180,688,3415,3225,87.0,-14.6,122,628,0.08,2.45,0.00,0.000,3078,0.369,0.056,2192,2106,3319,3415,3224,0,0,0,0,0,0,13.99,14.23,14.29,6.32,49.09
$GC,761,-0.64,-146.0,2192,2106,3416,3224,105.5,-13.3,143,765,0.00,2.47,0.00,0.000,2308,0.000,0.082,2182,3509,3319,3415,3224,0,0,0,0,0,0,14.69,14.27,14.69,6.32,48.18
$GC,845,-0.64,-146.0,2182,3509,3415,3225,117.3,-14.8,147,848,0.00,2.38,0.00,0.000,3078,0.000,0.043,2181,2089,3319,3414,3224,0,0,0,0,0,0,14.50,14.36,14.51,6.31,48.22
$GC,1155,-0.64,-146.0,2181,2089,3415,3225,164.2,-14.2,163,1158,0.00,2.42,0.00,0.000,2564,0.000,0.063,2181,694,3319,3414,3224,0,0,0,0,0,0,14.75,14.33,14.76,6.31,49.52
$GC,1235,-0.64,-146.0,2181,695,3416,3225,174.4,-13.6,167,1239,0.08,2.42,0.00,0.000,3078,0.368,0.055,2193,2106,3319,3414,3224,0,0,0,0,0,0,14.04,14.36,14.34,6.38,50.43
$GC,1545,-0.64,-146.0,2194,2106,3416,3224,214.0,-12.4,183,1548,0.00,2.45,0.00,0.000,2308,0.000,0.083,2182,3503,3319,3414,3224,0,0,0,0,0,0,14.78,14.31,14.78,6.32,50.94
$GC,1590,-0.64,-146.0,2183,3504,3415,3225,218.4,-12.6,185,1593,0.00,2.35,0.00,0.000,3078,0.000,0.044,2182,2095,3316,3409,3224,0,0,0,0,0,0,14.54,14.40,14.56,6.32,50.03
$GC,1900,-0.64,-146.0,2182,2094,3415,3225,259.4,-12.9,201,1903,0.00,2.42,0.00,0.000,2564,0.000,0.063,2181,696,3319,3415,3224,0,0,0,0,0,0,14.79,14.35,14.79,6.32,50.63
$GC,1975,-0.64,-146.0,2182,696,3416,3224,269.1,-13.0,205,1979,0.08,2.40,0.00,0.000,3078,0.360,0.054,2196,2101,3319,3414,3224,0,0,0,0,0,0,14.07,14.38,14.36,6.33,50.82
$GC,2295,-0.64,-146.0,2196,2102,3415,3225,308.4,-12.4,221,2298,0.00,2.50,0.00,0.000,260,0.000,0.083,2186,3512,3319,3415,3224,0,0,0,0,0,0,14.81,14.31,14.81,6.33,51.41
$GC,2330,-0.64,-146.0,2185,3512,3415,3225,312.8,-12.4,223,2333,0.00,2.35,0.00,0.000,3078,0.000,0.043,2185,2102,3319,3414,3224,0,0,0,0,0,0,14.56,14.43,14.57,6.33,50.86
$STATE,2622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2622,begin apogee
$GC,2628,-0.15,0.0,2186,2157,3415,3225,350.2,-12.8,238,2756,0.47,0.00,124.97,1.590,10246,0.252,0.000,2351,2157,2717,2777,2657,0,0,0,0,0,0,14.05,13.89,13.16,6.34,51.14
$STATE,2757,end apogee,CONTROL_FINISHED_OK
$STATE,2757,begin loiter
$GC,3045,-0.15,0.0,2352,2157,2773,2644,348.9,2.8,259,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2157,2707,2772,2643,0,0,0,0,0,0,14.55,14.55,14.55,6.28,50.19
$GC,3345,-0.15,0.0,2352,2157,2773,2641,340.0,3.0,274,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2156,2706,2772,2641,0,0,0,0,0,0,14.71,14.71,14.71,6.29,50.90
$GC,3645,-0.15,0.0,2352,2157,2773,2641,330.6,3.1,289,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2156,2706,2772,2640,0,0,0,0,0,0,14.80,14.80,14.80,6.28,51.06
$GC,3945,-0.15,0.0,2353,2157,2773,2640,321.5,3.0,304,3946,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2156,2705,2771,2640,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.61
$GC,4245,-0.15,0.0,2352,2157,2773,2640,313.0,2.8,319,4245,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2705,2771,2640,0,0,0,0,0,0,14.89,14.90,14.90,6.28,51.37
$GC,4545,-0.15,0.0,2351,2156,2772,2642,305.3,2.6,334,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2705,2772,2639,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.49
$GC,4845,-0.15,0.0,2352,2157,2773,2640,297.6,2.6,349,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2156,2706,2772,2640,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.57
$GC,5145,-0.15,0.0,2352,2157,2773,2641,289.4,2.9,364,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2706,2772,2640,0,0,0,0,0,0,14.96,14.97,14.96,6.27,51.41
$GC,5445,-0.15,0.0,2352,2157,2773,2642,280.2,3.3,379,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2706,2772,2640,0,0,0,0,0,0,14.97,14.98,14.98,6.27,51.53
$GC,5745,-0.15,0.0,2352,2157,2773,2640,270.1,3.5,394,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2156,2706,2772,2640,0,0,0,0,0,0,14.99,15.00,15.00,6.28,51.57
$GC,6045,-0.15,0.0,2352,2157,2773,2640,259.8,3.5,409,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2706,2772,2641,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.45
$STATE,6342,end loiter,LOITER_COMPLETE
$STATE,6342,begin climb
$GC,6345,0.64,146.0,2352,2157,2772,2642,250.4,0.0,424,6485,0.62,2.60,131.35,1.423,10756,0.159,0.064,2612,746,2117,2137,2098,0,0,0,0,0,0,14.35,13.84,13.31,6.28,51.61
$GC,6555,0.64,146.0,2611,746,2132,2093,236.4,9.2,434,6559,0.00,2.45,0.00,0.000,5126,0.000,0.053,2611,2147,2111,2131,2091,0,0,0,0,0,0,14.19,14.07,14.20,6.23,49.29
$GC,6860,0.64,146.0,2611,2148,2124,2084,200.4,11.7,449,6864,0.00,2.53,0.00,0.000,4356,0.000,0.083,2611,3555,2105,2127,2084,0,0,0,0,0,0,14.57,14.18,14.57,6.23,51.10
$GC,6950,0.64,146.0,2612,3555,2128,2084,191.5,11.7,453,6954,0.05,2.35,0.00,0.000,5126,0.402,0.043,2605,2154,2102,2127,2077,0,0,0,0,0,0,14.03,14.30,14.31,6.23,50.51
$GC,7272,0.64,146.0,2605,2154,2126,2078,153.2,11.7,470,7276,0.00,2.47,0.00,0.000,516,0.000,0.066,2614,745,2101,2125,2078,0,0,0,0,0,0,14.68,14.29,14.68,6.23,50.94
$GC,7326,0.64,146.0,2614,746,2123,2080,148.5,11.7,472,7329,0.00,2.42,0.00,0.000,5126,0.000,0.054,2614,2156,2100,2123,2078,0,0,0,0,0,0,14.48,14.33,14.51,6.23,50.82
$GC,7646,0.64,146.0,2615,2156,2123,2077,109.4,11.2,489,7650,0.00,2.47,0.00,0.000,4356,0.000,0.086,2614,3553,2099,2122,2077,0,0,0,0,0,0,14.75,14.30,14.76,6.24,50.59
$GC,7706,0.64,146.0,2614,3553,2123,2078,103.2,11.4,492,7710,0.08,2.35,0.00,0.000,5126,0.342,0.044,2599,2147,2099,2122,2077,0,0,0,0,0,0,14.12,14.41,14.40,6.22,51.10
$GC,8011,0.64,146.0,2599,2147,2122,2076,74.6,8.7,549,8015,0.00,2.45,0.00,0.000,2564,0.000,0.067,2608,742,2098,2121,2076,0,0,0,0,0,0,14.76,14.34,14.76,6.21,49.68
$GC,8076,0.65,157.0,2608,743,2121,2080,69.2,7.9,562,8088,0.00,2.40,6.57,1.300,9222,0.000,0.052,2608,2150,2075,2095,2055,0,0,0,0,0,0,14.51,14.38,13.59,6.21,50.59
$GC,8211,0.65,157.0,2608,2151,2096,2056,57.8,8.5,589,8215,0.00,2.45,0.00,0.000,516,0.000,0.066,2619,742,2075,2096,2055,0,0,0,0,0,0,14.75,14.35,14.72,6.20,49.72
$GC,8236,0.65,157.0,2619,743,2097,2056,55.7,8.5,594,8239,0.00,2.42,0.00,0.000,5126,0.000,0.054,2619,2154,2075,2096,2054,0,0,0,0,0,0,14.52,14.37,14.54,6.21,49.52
$GC,8363,0.65,157.0,2619,2156,2097,2055,44.7,9.1,619,8368,0.00,2.47,0.00,0.000,4356,0.000,0.087,2618,3555,2075,2096,2054,0,0,0,0,0,0,14.71,14.23,14.76,6.20,49.52
$GC,8386,0.65,157.0,2619,3555,2097,2054,42.2,11.0,624,8390,0.08,2.35,0.00,0.000,5126,0.340,0.044,2603,2146,2075,2096,2054,0,0,0,0,0,0,14.13,14.41,14.38,6.20,49.68
$GC,8511,0.67,174.0,2604,2147,2097,2053,31.8,7.7,649,8535,0.00,2.47,17.45,1.272,10756,0.000,0.068,2614,748,2005,2022,1988,0,0,0,0,0,0,14.71,14.38,13.69,6.21,50.78
$GC,8596,0.67,174.0,2615,748,2022,1986,24.4,9.6,666,8600,0.00,2.40,0.00,0.000,1030,0.000,0.051,2614,2152,2003,2021,1985,0,0,0,0,0,0,14.45,14.33,14.48,6.20,50.11
$GC,8723,0.67,174.0,2614,2154,2021,1984,11.2,10.6,691,8728,0.00,2.50,0.00,0.000,260,0.000,0.087,2614,3553,2002,2021,1984,0,0,0,0,0,0,14.66,14.20,14.66,6.20,50.74
$GC,8791,0.67,174.0,2614,3554,2021,1985,3.4,12.2,705,8795,0.00,2.35,0.00,0.000,5126,0.000,0.043,2625,2146,2002,2021,1984,0,0,0,0,0,0,14.50,14.38,14.52,6.20,50.70
$STATE,8798,end climb,SURFACE_DEPTH_REACHED
$STATE,8798,begin surface coast
$STATE,8823,end surface coast,CONTROL_FINISHED_OK
$STATE,8823,begin surface
$SM_CCo,8839,43.00,0.241,0,0,1820,220.03
$SM_GC,1.16,5.43,0.05,43.00,0.031,0.201,0.241,251,2076,1820,-6.45,1.05,220.03,0,0,0,0,0,0,14.52,14.42,14.09
$IRIDIUM_FIX,-6000.39,0.00,080219,223610
$TT8_MAMPS,0.038948,0.567742
$HUMID,50.31
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3654592
$24V_AH,12.91,99.865
$10V_AH,13.45,0.000
$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,13.175,83.250,280.350,43.000,0.000,26.991,33.399,139.859,0.000,0.000,16.326,0.000,6942.811,325.267,1743.036,253.291,0.000,1066.202,0.000,1193.950,0.000,0.539,0.000
$DEVICE_MAMPS,602.055,2226.150,1589.670,240.975,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5236.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.446,0.000,0.000,0.000
$MEM,344112
$DATA_FILE_SIZE,20767,712
$CAP_FILE_SIZE,95455,0
$CFSIZE,1023623168,968343552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.024,204.28,1
$GPS,090219,034221,-5959.688,2.818,16,0.8,42,-19.7,0.5,344.2,10,9.5