version: 66.14
glider: 640
mission: 5
dive: 521
start: 2 9 119 3 48 48
data:
$ID,640
$MISSION,5
$DIVE,521
$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,54
$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
$GPS1,090219,034221,-5959.6875,2.8178,16,0.8,42,-19.7,0.5,344.2,10,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.7
$GPS2,090219,034829,-5959.6860,2.8138,13,0.8,17,-19.7,0.5,43.5,10,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,201.7,37710,-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,14,-0.64,-146.0,210,2075,1789,1831,0.0,0.0,0,98,0.00,0.00,-81.95,0.000,16386,0.000,0.000,210,2075,3126,3207,3045,0,0,0,0,0,0,14.57,28.83,14.57,6.18,50.74
$GC,101,-0.64,-146.0,210,2076,3208,3046,3.2,-6.3,17,119,6.22,2.83,-6.85,0.000,18692,0.343,2.224,2163,3505,3317,3414,3221,0,0,0,0,0,0,13.88,12.88,14.29,6.30,50.74
$GC,224,-0.64,-146.0,2163,3506,3415,3223,23.9,-17.2,42,228,0.10,2.33,0.00,0.000,3078,0.320,0.041,2196,2123,3318,3414,3223,0,0,0,0,0,0,14.02,14.34,14.29,6.31,48.97
$GC,351,-0.64,-146.0,2197,2122,3415,3223,43.1,-15.8,67,356,0.00,2.50,0.00,0.000,516,0.000,0.064,2196,693,3318,3414,3223,0,0,0,0,0,0,14.70,14.29,14.71,6.32,49.84
$GC,474,-0.64,-146.0,2196,694,3415,3225,63.6,-16.4,92,478,0.00,2.42,0.00,0.000,3078,0.000,0.055,2186,2106,3318,3414,3223,0,0,0,0,0,0,14.50,14.35,14.52,6.31,49.56
$GC,601,-0.64,-146.0,2187,2107,3415,3224,83.5,-15.2,117,605,0.00,2.47,0.00,0.000,2308,0.000,0.082,2176,3513,3318,3414,3223,0,0,0,0,0,0,14.76,14.31,14.76,6.31,49.17
$GC,635,-0.64,-146.0,2176,3514,3416,3222,89.1,-15.9,124,639,0.05,2.38,0.00,0.000,3078,0.428,0.044,2191,2089,3319,3414,3224,0,0,0,0,0,0,14.10,14.40,14.36,6.31,49.09
$GC,772,-0.64,-146.0,2191,2088,3415,3225,109.0,-14.5,142,778,0.00,2.42,0.00,0.000,2564,0.000,0.063,2191,688,3319,3414,3224,0,0,0,0,0,0,14.80,14.36,14.80,6.31,48.97
$GC,820,-0.64,-146.0,2191,689,3415,3225,115.0,-15.0,144,824,0.00,2.42,0.00,0.000,3078,0.000,0.056,2181,2109,3319,3414,3224,0,0,0,0,0,0,14.54,14.39,14.57,6.31,48.38
$GC,1125,-0.64,-146.0,2181,2110,3415,3225,158.1,-13.3,159,1129,0.00,2.45,0.00,0.000,2308,0.000,0.081,2170,3514,3319,3414,3224,0,0,0,0,0,0,14.88,14.36,14.88,6.31,50.23
$GC,1155,-0.64,-146.0,2170,3515,3415,3225,160.1,-13.2,160,1159,0.08,2.35,0.00,0.000,3078,0.353,0.043,2195,2094,3319,3414,3224,0,0,0,0,0,0,14.13,14.46,14.41,6.31,49.76
$GC,1477,-0.64,-146.0,2195,2093,3416,3225,200.2,-11.6,177,1481,0.00,2.42,0.00,0.000,516,0.000,0.064,2195,694,3319,3414,3224,0,0,0,0,0,0,14.89,14.42,14.90,6.31,50.70
$GC,1571,-0.64,-146.0,2196,693,3415,3223,209.9,-12.1,181,1574,0.00,2.40,0.00,0.000,3078,0.000,0.055,2185,2106,3319,3414,3224,0,0,0,0,0,0,14.61,14.45,14.63,6.32,50.63
$GC,1891,-0.64,-146.0,2186,2106,3415,3223,251.7,-13.0,198,1892,0.00,0.00,0.00,0.000,2054,0.000,0.000,2185,2106,3318,3414,3223,0,0,0,0,0,0,14.94,14.94,14.94,6.31,51.53
$GC,2191,-0.64,-146.0,2185,2107,3415,3225,291.1,-13.1,213,2194,0.00,2.42,0.00,0.000,2564,0.000,0.062,2185,694,3319,3414,3224,0,0,0,0,0,0,14.95,14.46,14.95,6.33,51.26
$GC,2226,-0.64,-146.0,2186,695,3415,3224,295.8,-13.2,215,2230,0.05,2.40,0.00,0.000,3078,0.425,0.056,2190,2108,3319,3414,3224,0,0,0,0,0,0,14.21,14.48,14.46,6.33,51.49
$GC,2546,-0.64,-146.0,2189,2108,3415,3224,336.3,-12.7,231,2549,0.00,2.45,0.00,0.000,2308,0.000,0.083,2179,3509,3319,3414,3224,0,0,0,0,0,0,14.97,14.41,14.97,6.32,51.26
$GC,2571,-0.64,-146.0,2180,3510,3415,3223,338.2,-12.7,232,2575,0.00,2.33,0.00,0.000,3078,0.000,0.044,2179,2098,3319,3415,3224,0,0,0,0,0,0,14.66,14.53,14.69,6.33,51.02
$STATE,2658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2658,begin apogee
$GC,2664,-0.15,0.0,2180,2158,3415,3224,351.3,-13.1,237,2792,0.47,0.00,125.10,1.581,10246,0.253,0.000,2345,2157,2716,2776,2657,0,0,0,0,0,0,14.14,13.95,13.21,6.33,51.37
$STATE,2793,end apogee,CONTROL_FINISHED_OK
$STATE,2793,begin loiter
$GC,3081,-0.15,0.0,2346,2157,2772,2642,350.3,2.7,258,3082,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2157,2706,2771,2642,0,0,0,0,0,0,14.57,14.57,14.57,6.28,50.59
$GC,3381,-0.15,0.0,2345,2158,2773,2641,342.2,2.8,273,3382,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2157,2705,2771,2640,0,0,0,0,0,0,14.72,14.73,14.72,6.28,51.18
$GC,3681,-0.15,0.0,2345,2158,2771,2640,333.8,2.8,288,3682,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2157,2705,2771,2639,0,0,0,0,0,0,14.81,14.81,14.81,6.28,50.94
$GC,3981,-0.15,0.0,2346,2158,2772,2638,325.6,2.8,303,3982,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2157,2705,2771,2639,0,0,0,0,0,0,14.85,14.86,14.85,6.28,51.73
$GC,4281,-0.15,0.0,2346,2158,2772,2638,317.3,2.8,318,4282,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2157,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.22
$GC,4581,-0.15,0.0,2345,2158,2772,2639,309.1,2.8,333,4582,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2157,2704,2771,2638,0,0,0,0,0,0,14.92,14.93,14.93,6.28,51.49
$GC,4881,-0.15,0.0,2346,2158,2771,2639,299.9,3.2,348,4882,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2704,2771,2638,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.26
$GC,5181,-0.15,0.0,2345,2158,2771,2638,290.1,3.3,363,5182,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2157,2704,2771,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.33
$GC,5481,-0.15,0.0,2346,2158,2772,2637,280.8,3.0,378,5482,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2157,2704,2771,2637,0,0,0,0,0,0,14.98,14.98,14.98,6.27,51.61
$GC,5781,-0.15,0.0,2346,2158,2772,2637,272.8,2.5,393,5782,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2157,2704,2771,2637,0,0,0,0,0,0,14.99,15.00,14.99,6.28,52.08
$GC,6081,-0.15,0.0,2346,2158,2770,2638,265.9,2.3,408,6082,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2157,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.96
$STATE,6378,end loiter,LOITER_COMPLETE
$STATE,6378,begin climb
$GC,6381,0.64,146.0,2346,2157,2772,2637,259.4,0.0,423,6521,0.65,2.58,130.02,1.438,11012,0.175,0.080,2598,3546,2118,2140,2097,0,0,0,0,0,0,14.31,13.95,13.30,6.27,51.53
$GC,6571,0.64,146.0,2598,3546,2138,2092,248.3,8.3,432,6575,0.00,2.40,0.00,0.000,5126,0.000,0.042,2608,2150,2114,2138,2091,0,0,0,0,0,0,14.17,14.07,14.19,6.23,49.21
$GC,6876,0.64,146.0,2608,2148,2131,2083,213.6,11.3,447,6880,0.00,2.50,0.00,0.000,4612,0.000,0.067,2614,742,2106,2130,2082,0,0,0,0,0,0,14.56,14.19,14.57,6.23,50.39
$GC,6921,0.64,146.0,2619,743,2127,2084,209.7,11.3,449,6925,0.00,2.42,0.00,0.000,5126,0.000,0.053,2619,2139,2104,2126,2082,0,0,0,0,0,0,14.38,14.24,14.40,6.23,50.55
$GC,7226,0.64,146.0,2619,2140,2124,2081,172.5,12.2,464,7230,0.00,2.53,0.00,0.000,4356,0.000,0.084,2628,3554,2103,2126,2080,0,0,0,0,0,0,14.68,14.25,14.68,6.23,50.98
$GC,7306,0.64,146.0,2619,3555,2126,2080,163.1,12.4,468,7310,0.08,2.38,0.00,0.000,5126,0.340,0.044,2604,2146,2103,2126,2080,0,0,0,0,0,0,14.07,14.35,14.36,6.23,51.57
$GC,7616,0.64,146.0,2605,2146,2127,2078,128.5,10.6,484,7620,0.00,2.45,0.00,0.000,516,0.000,0.067,2614,745,2101,2125,2078,0,0,0,0,0,0,14.74,14.32,14.74,6.22,51.33
$GC,7686,0.64,146.0,2615,745,2121,2078,123.0,10.1,487,7690,0.00,2.40,0.00,0.000,5126,0.000,0.053,2615,2155,2099,2121,2077,0,0,0,0,0,0,14.52,14.36,14.54,6.22,50.82
$GC,7991,0.64,146.0,2615,2156,2122,2078,90.9,10.7,516,7995,0.00,2.50,0.00,0.000,4356,0.000,0.086,2615,3557,2100,2124,2077,0,0,0,0,0,0,14.76,14.31,14.77,6.22,50.63
$GC,8071,0.64,146.0,2615,3558,2122,2078,82.0,10.7,532,8075,0.08,2.35,0.00,0.000,5126,0.340,0.044,2599,2146,2099,2121,2077,0,0,0,0,0,0,14.12,14.42,14.41,6.21,50.00
$GC,8196,0.64,146.0,2600,2148,2121,2078,70.4,9.5,557,8200,0.00,2.45,0.00,0.000,2564,0.000,0.067,2609,745,2098,2121,2076,0,0,0,0,0,0,14.74,14.34,14.74,6.20,49.60
$GC,8236,0.64,146.0,2609,745,2121,2076,66.7,9.1,565,8240,0.00,2.40,0.00,0.000,1030,0.000,0.054,2616,2152,2098,2120,2077,0,0,0,0,0,0,14.51,14.38,14.54,6.19,50.39
$GC,8363,0.64,146.0,2610,2153,2121,2076,55.5,9.0,590,8368,0.00,2.50,0.00,0.000,260,0.000,0.086,2609,3560,2098,2120,2077,0,0,0,0,0,0,14.75,14.30,14.75,6.20,49.44
$GC,8416,0.64,146.0,2610,3561,2121,2076,50.7,8.5,601,8420,0.05,2.35,0.00,0.000,5126,0.409,0.044,2603,2151,2098,2120,2077,0,0,0,0,0,0,14.13,14.41,14.40,6.20,49.37
$GC,8541,0.69,187.9,2603,2150,2121,2076,41.6,6.7,626,8584,0.00,2.53,37.05,1.249,10756,0.000,0.066,2612,742,1948,1963,1933,0,0,0,0,0,0,14.74,14.30,13.66,6.20,49.76
$GC,8653,0.70,193.8,2613,743,1963,1928,33.2,8.1,648,8664,0.00,2.42,5.62,1.193,11270,0.000,0.054,2612,2150,1925,1940,1911,0,0,0,0,0,0,14.40,14.27,13.48,6.19,49.52
$GC,8786,0.70,193.8,2613,2151,1941,1908,20.9,9.1,675,8790,0.00,2.47,0.00,0.000,2308,0.000,0.082,2612,3553,1924,1940,1908,0,0,0,0,0,0,14.59,14.22,14.59,6.19,50.27
$GC,8831,0.70,193.8,2613,3555,1941,1908,16.1,10.1,684,8835,0.00,2.38,0.00,0.000,1030,0.000,0.046,2622,2149,1924,1940,1908,0,0,0,0,0,0,14.41,14.31,14.43,6.19,50.47
$STATE,8956,end climb,SURFACE_DEPTH_REACHED
$STATE,8956,begin surface coast
$STATE,8974,end surface coast,CONTROL_FINISHED_OK
$STATE,8974,begin surface
$SM_CCo,8990,23.40,0.245,0,0,1822,220.03
$SM_GC,0.86,5.65,0.08,23.40,0.075,0.161,0.245,251,2058,1822,-6.45,0.88,220.03,0,0,0,0,0,0,14.43,14.38,14.07
$IRIDIUM_FIX,-6000.29,38.72,090219,010931
$TT8_MAMPS,0.03745,0.301098
$HUMID,51.10
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3654272
$24V_AH,12.88,100.043
$10V_AH,13.13,0.000
$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,13.475,83.150,297.800,23.400,0.000,26.188,16.063,140.292,0.000,0.000,18.332,0.000,7097.537,398.604,1622.836,262.125,0.000,1051.260,0.000,1164.423,0.000,0.540,0.000
$DEVICE_MAMPS,427.635,2223.855,1581.255,244.800,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2616.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.136,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,20782,713
$CAP_FILE_SIZE,95532,0
$CFSIZE,1023623168,968245248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,74.35,0x235724,0,24
$CURRENT,0.018,262.95,1
$GPS,090219,062008,-6000.177,2.725,32,0.7,39,-19.7,0.6,294.3,12,9.8