version: 66.14
glider: 640
mission: 5
dive: 527
start: 2 9 119 19 35 3
data:
$ID,640
$MISSION,5
$DIVE,527
$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,30
$R_STBD_OVSHOOT,22
$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
$GPS1,090219,192831,-6002.9971,2.4474,17,0.7,35,-19.7,0.8,171.1,11,6.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-68.9
$GPS2,090219,193443,-6003.0210,2.4902,9,0.8,16,-19.7,0.0,335.7,10,8.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,197.9,31528,-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,-146.0,233,2105,1794,1832,0.0,0.0,0,102,0.00,0.00,-86.68,0.000,16386,0.000,0.000,232,2105,3189,3272,3107,0,0,0,0,0,0,14.54,28.83,14.54,6.18,50.98
$GC,105,-0.64,-146.0,232,2105,3273,3110,3.1,-6.2,18,122,6.15,2.78,-4.65,0.000,18692,0.347,2.214,2175,3510,3317,3412,3223,0,0,0,0,0,0,13.88,12.90,14.23,6.30,49.96
$GC,210,-0.64,-146.0,2174,3510,3413,3225,20.7,-15.1,39,214,0.05,2.40,0.00,0.000,3078,0.427,0.045,2190,2092,3318,3413,3224,0,0,0,0,0,0,14.01,14.29,14.27,6.31,49.17
$GC,337,-0.64,-146.0,2190,2091,3414,3225,40.8,-16.4,64,342,0.00,2.45,0.00,0.000,2564,0.000,0.067,2190,693,3318,3413,3224,0,0,0,0,0,0,14.62,14.26,14.62,6.32,49.29
$GC,394,-0.64,-146.0,2190,693,3414,3225,50.8,-15.9,76,398,0.00,2.45,0.00,0.000,3078,0.000,0.057,2179,2110,3318,3413,3224,0,0,0,0,0,0,14.42,14.25,14.45,6.32,50.19
$GC,521,-0.64,-146.0,2180,2111,3415,3224,68.4,-12.1,101,527,0.00,2.47,0.00,0.000,2308,0.000,0.083,2174,3510,3318,3413,3224,0,0,0,0,0,0,14.65,14.25,14.66,6.32,49.92
$GC,656,-0.64,-146.0,2169,3506,3414,3225,85.1,-11.6,128,662,0.08,2.38,0.00,0.000,3078,0.355,0.044,2194,2094,3319,3413,3225,0,0,0,0,0,0,14.04,14.35,14.32,6.32,49.33
$GC,787,-0.64,-146.0,2194,2093,3414,3226,100.4,-12.0,154,790,0.00,2.45,0.00,0.000,516,0.000,0.065,2194,693,3318,3413,3224,0,0,0,0,0,0,14.69,14.31,14.69,6.32,49.17
$GC,830,-0.64,-146.0,2194,694,3412,3226,105.5,-12.5,156,834,0.00,2.42,0.00,0.000,3078,0.000,0.054,2184,2108,3319,3414,3225,0,0,0,0,0,0,14.49,14.34,14.51,6.31,48.77
$GC,1145,-0.64,-146.0,2184,2108,3414,3226,143.4,-12.1,172,1149,0.00,2.47,0.00,0.000,2564,0.000,0.064,2184,687,3319,3414,3225,0,0,0,0,0,0,14.74,14.34,14.75,6.30,49.56
$GC,1180,-0.64,-146.0,2188,688,3414,3226,147.9,-12.4,174,1184,0.08,2.42,0.00,0.000,3078,0.363,0.056,2197,2100,3318,3412,3225,0,0,0,0,0,0,14.06,14.37,14.35,6.31,49.76
$GC,1495,-0.64,-146.0,2197,2101,3414,3226,182.7,-11.0,190,1499,0.00,2.47,0.00,0.000,260,0.000,0.083,2187,3504,3319,3413,3225,0,0,0,0,0,0,14.77,14.31,14.77,6.31,50.43
$GC,1545,-0.64,-146.0,2188,3504,3414,3225,186.7,-11.2,192,1549,0.00,2.35,0.00,0.000,3078,0.000,0.044,2186,2092,3319,3413,3225,0,0,0,0,0,0,14.54,14.41,14.56,6.31,50.27
$GC,1865,-0.64,-146.0,2187,2091,3414,3226,225.6,-11.7,209,1869,0.00,2.42,0.00,0.000,2564,0.000,0.064,2186,696,3319,3413,3225,0,0,0,0,0,0,14.78,14.36,14.78,6.32,50.90
$GC,1950,-0.64,-146.0,2187,697,3414,3226,234.8,-11.6,213,1954,0.05,2.42,0.00,0.000,3078,0.428,0.055,2192,2107,3319,3413,3225,0,0,0,0,0,0,14.11,14.38,14.37,6.33,50.55
$GC,2260,-0.64,-146.0,2192,2108,3414,3226,271.4,-11.8,229,2264,0.00,2.47,0.00,0.000,2308,0.000,0.083,2181,3512,3319,3413,3225,0,0,0,0,0,0,14.80,14.32,14.80,6.33,50.90
$GC,2320,-0.64,-146.0,2181,3512,3414,3226,278.0,-12.1,232,2324,0.00,2.35,0.00,0.000,3078,0.000,0.044,2180,2103,3319,3413,3225,0,0,0,0,0,0,14.55,14.42,14.57,6.33,50.82
$GC,2630,-0.64,-146.0,2181,2103,3415,3225,317.6,-12.7,248,2634,0.00,2.45,0.00,0.000,2564,0.000,0.064,2181,694,3319,3413,3225,0,0,0,0,0,0,14.81,14.36,14.81,6.33,51.06
$GC,2705,-0.64,-146.0,2181,694,3415,3225,327.3,-13.0,252,2709,0.08,2.40,0.00,0.000,3078,0.359,0.055,2194,2100,3319,3413,3225,0,0,0,0,0,0,14.08,14.39,14.36,6.34,51.18
$STATE,2897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2898,begin apogee
$GC,2904,-0.15,0.0,2194,2165,3414,3225,351.1,-12.3,262,3032,0.45,0.00,125.43,1.590,10246,0.253,0.000,2350,2165,2718,2778,2658,0,0,0,0,0,0,14.04,13.88,13.15,6.33,51.02
$STATE,3033,end apogee,CONTROL_FINISHED_OK
$STATE,3033,begin loiter
$GC,3320,-0.15,0.0,2351,2165,2773,2643,349.8,2.6,283,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2707,2771,2643,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.39
$GC,3620,-0.15,0.0,2351,2165,2773,2641,342.0,2.5,298,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2706,2771,2641,0,0,0,0,0,0,14.70,14.71,14.71,6.28,50.78
$GC,3920,-0.15,0.0,2350,2165,2773,2639,334.6,2.4,313,3921,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2164,2705,2771,2640,0,0,0,0,0,0,14.79,14.79,14.79,6.28,50.90
$GC,4220,-0.15,0.0,2349,2166,2772,2641,327.2,2.6,328,4221,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2706,2772,2640,0,0,0,0,0,0,14.84,14.85,14.85,6.28,50.98
$GC,4520,-0.15,0.0,2350,2166,2772,2641,320.1,2.3,343,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2706,2772,2640,0,0,0,0,0,0,14.88,14.89,14.89,6.29,51.49
$GC,4820,-0.15,0.0,2351,2165,2772,2640,313.3,2.2,358,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2705,2771,2640,0,0,0,0,0,0,14.91,14.92,14.91,6.28,51.45
$GC,5120,-0.15,0.0,2351,2165,2773,2640,306.6,2.3,373,5121,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2706,2772,2640,0,0,0,0,0,0,14.94,14.94,14.93,6.28,51.57
$GC,5420,-0.15,0.0,2350,2165,2773,2638,299.3,2.6,388,5421,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2706,2772,2640,0,0,0,0,0,0,14.95,14.96,14.96,6.28,52.08
$GC,5720,-0.15,0.0,2351,2165,2773,2640,290.5,3.1,403,5721,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2706,2772,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.22
$GC,6020,-0.15,0.0,2350,2165,2772,2641,279.6,3.8,418,6021,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2705,2771,2640,0,0,0,0,0,0,14.98,14.98,14.98,6.28,51.45
$GC,6320,-0.15,0.0,2350,2166,2772,2641,268.2,3.8,433,6321,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2705,2771,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.28,52.00
$STATE,6618,end loiter,LOITER_COMPLETE
$STATE,6618,begin climb
$GC,6620,0.64,146.0,2350,2165,2772,2642,257.2,0.0,448,6762,0.62,2.53,130.45,1.431,10500,0.171,0.081,2594,3535,2118,2139,2097,0,0,0,0,0,0,14.31,13.93,13.30,6.28,51.89
$GC,6882,0.64,146.0,2595,3536,2136,2089,234.1,11.6,461,6886,0.00,2.38,0.00,0.000,1030,0.000,0.044,2605,2148,2111,2136,2087,0,0,0,0,0,0,14.21,14.12,14.23,6.24,49.56
$GC,7197,0.64,146.0,2606,2148,2130,2082,194.1,13.0,477,7201,0.00,2.50,0.00,0.000,516,0.000,0.069,2617,737,2109,2136,2082,0,0,0,0,0,0,14.59,14.21,14.59,6.23,50.51
$GC,7242,0.64,146.0,2617,736,2136,2082,189.7,12.9,479,7246,0.00,2.40,0.00,0.000,5126,0.000,0.053,2617,2136,2103,2125,2082,0,0,0,0,0,0,14.41,14.27,14.43,6.23,50.94
$GC,7552,0.64,146.0,2617,2133,2126,2078,148.8,12.0,495,7555,0.00,2.53,0.00,0.000,4356,0.000,0.085,2616,3551,2102,2125,2079,0,0,0,0,0,0,14.70,14.26,14.70,6.23,50.90
$GC,7652,0.64,146.0,2617,3552,2126,2080,137.7,11.5,500,7656,0.08,2.38,0.00,0.000,5126,0.343,0.046,2602,2140,2101,2125,2078,0,0,0,0,0,0,14.09,14.37,14.38,6.23,51.14
$GC,7962,0.64,146.0,2602,2141,2125,2078,107.7,9.0,516,7965,0.00,2.45,0.00,0.000,516,0.000,0.069,2612,741,2100,2124,2077,0,0,0,0,0,0,14.76,14.33,14.76,6.22,50.82
$GC,8037,0.64,146.0,2612,741,2122,2076,101.3,8.5,520,8040,0.00,2.40,0.00,0.000,5126,0.000,0.054,2612,2149,2098,2121,2076,0,0,0,0,0,0,14.52,14.38,14.55,6.22,50.59
$GC,8342,0.64,146.0,2612,2150,2122,2077,70.7,10.1,579,8345,0.00,2.50,0.00,0.000,4356,0.000,0.085,2612,3559,2098,2121,2076,0,0,0,0,0,0,14.77,14.31,14.77,6.21,50.00
$GC,8427,0.64,146.0,2612,3559,2121,2078,62.0,9.9,596,8431,0.05,2.38,0.00,0.000,5126,0.412,0.044,2606,2142,2098,2121,2076,0,0,0,0,0,0,14.13,14.42,14.41,6.20,49.60
$GC,8552,0.64,146.0,2606,2142,2121,2077,51.2,8.4,621,8556,0.00,2.53,0.00,0.000,260,0.000,0.081,2606,3554,2098,2121,2076,0,0,0,0,0,0,14.75,14.31,14.75,6.20,49.92
$GC,8592,0.64,146.0,2606,3556,2120,2077,47.6,8.9,629,8596,0.00,2.38,0.00,0.000,5126,0.000,0.045,2615,2141,2098,2121,2076,0,0,0,0,0,0,14.54,14.42,14.57,6.19,49.68
$GC,8719,0.64,146.0,2616,2141,2122,2076,37.0,8.5,654,8724,0.00,2.45,0.00,0.000,4612,0.000,0.068,2627,743,2098,2120,2076,0,0,0,0,0,0,14.75,14.25,14.75,6.20,50.39
$GC,8747,0.64,146.0,2627,744,2121,2075,34.5,9.0,660,8751,0.08,2.40,0.00,0.000,5126,0.309,0.054,2599,2151,2098,2120,2076,0,0,0,0,0,0,14.15,14.38,14.42,6.20,50.11
$GC,8872,0.66,164.7,2599,2152,2121,2075,24.9,7.6,685,8889,0.00,2.47,11.35,1.270,10500,0.000,0.081,2599,3562,2044,2064,2025,0,0,0,0,0,0,14.76,14.25,13.67,6.21,50.51
$GC,8937,0.66,164.7,2600,3562,2065,2025,19.5,8.5,698,8940,0.00,2.38,0.00,0.000,1030,0.000,0.045,2608,2145,2044,2064,2024,0,0,0,0,0,0,14.51,14.40,14.53,6.20,50.43
$GC,9064,0.66,164.7,2609,2144,2066,2022,8.9,9.1,723,9069,0.00,2.47,0.00,0.000,516,0.000,0.070,2619,736,2043,2065,2022,0,0,0,0,0,0,14.70,14.32,14.71,6.20,50.70
$GC,9107,0.66,164.7,2619,737,2064,2023,4.9,9.5,732,9110,0.00,2.42,0.00,0.000,5126,0.000,0.054,2619,2157,2042,2063,2022,0,0,0,0,0,0,14.51,14.36,14.53,6.21,50.90
$STATE,9124,end climb,SURFACE_DEPTH_REACHED
$STATE,9124,begin surface coast
$STATE,9149,end surface coast,CONTROL_FINISHED_OK
$STATE,9149,begin surface
$SM_CCo,9166,53.03,0.243,0,0,1822,220.03
$SM_GC,1.08,5.57,0.10,53.03,0.069,0.142,0.243,235,2077,1822,-6.44,0.85,220.03,0,0,0,0,0,0,14.51,14.42,14.10
$IRIDIUM_FIX,-6002.25,4.31,090219,165238
$TT8_MAMPS,0.038948,0.345289
$HUMID,50.23
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3651392
$24V_AH,12.90,101.140
$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,13.325,88.150,267.225,53.025,0.000,27.065,22.084,135.759,0.000,0.000,17.265,0.000,7194.775,407.630,1725.995,261.870,0.000,1100.036,0.000,1256.067,0.000,0.539,0.000
$DEVICE_MAMPS,428.400,2213.910,1590.435,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5574.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.520,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,20769,741
$CAP_FILE_SIZE,99264,0
$CFSIZE,1023623168,967639040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.051,218.40,1
$GPS,090219,220949,-6003.611,2.331,17,0.8,39,-19.7,0.9,121.4,10,9.8