version: 66.14
glider: 640
mission: 5
dive: 536
start: 2 10 119 19 16 53
data:
$ID,640
$MISSION,5
$DIVE,536
$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,51
$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
$GPS1,100219,191001,-6008.2549,1.4830,14,0.7,31,-19.7,0.0,165.3,12,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.9
$GPS2,100219,191634,-6008.2705,1.4745,8,0.7,15,-19.7,0.5,188.9,12,9.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,194.8,21765,-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,10,begin dive
$GC,13,-0.64,-146.0,223,2080,1785,1835,0.0,0.0,0,103,0.00,0.00,-87.90,0.000,16386,0.000,0.000,223,2079,3234,3317,3152,0,0,0,0,0,0,14.54,28.83,14.55,6.19,51.41
$GC,106,-0.64,-146.0,223,2079,3318,3152,3.3,-6.9,18,123,6.20,2.70,-2.90,0.000,18948,0.346,2.202,2177,710,3318,3412,3225,0,0,0,0,0,0,13.89,12.97,14.28,6.30,50.11
$GC,263,-0.64,-146.0,2177,711,3415,3226,31.3,-16.0,50,267,0.08,2.40,0.00,0.000,3078,0.366,0.056,2190,2101,3319,3413,3226,0,0,0,0,0,0,13.93,14.23,14.21,6.31,49.09
$GC,390,-0.64,-146.0,2191,2101,3415,3226,51.5,-16.5,75,396,0.00,2.50,0.00,0.000,2308,0.000,0.083,2180,3504,3319,3413,3226,0,0,0,0,0,0,14.62,14.21,14.63,6.32,49.80
$GC,453,-0.64,-146.0,2181,3505,3415,3233,61.9,-15.1,88,457,0.00,2.33,0.00,0.000,3078,0.000,0.043,2188,2122,3320,3414,3226,0,0,0,0,0,0,14.45,14.33,14.47,6.32,50.47
$GC,580,-0.64,-146.0,2183,2121,3414,3226,79.9,-14.0,113,584,0.00,2.50,0.00,0.000,2564,0.000,0.063,2179,693,3320,3414,3226,0,0,0,0,0,0,14.66,14.28,14.66,6.32,49.60
$GC,604,-0.64,-146.0,2180,692,3415,3226,83.5,-14.1,118,608,0.08,2.42,0.00,0.000,3078,0.369,0.054,2191,2104,3320,3414,3226,0,0,0,0,0,0,14.00,14.30,14.29,6.32,48.89
$GC,732,-0.64,-146.0,2188,2104,3414,3227,99.6,-12.7,143,737,0.00,2.47,0.00,0.000,2308,0.000,0.084,2181,3506,3320,3414,3226,0,0,0,0,0,0,14.68,14.25,14.68,6.31,48.22
$GC,759,-0.64,-146.0,2181,3507,3414,3227,102.2,-13.1,145,763,0.00,2.38,0.00,0.000,3078,0.000,0.045,2180,2096,3320,3414,3226,0,0,0,0,0,0,14.42,14.26,14.45,6.31,48.18
$GC,1070,-0.64,-146.0,2181,2095,3407,3227,145.5,-13.0,161,1073,0.00,2.42,0.00,0.000,2564,0.000,0.063,2180,696,3319,3414,3225,0,0,0,0,0,0,14.75,14.32,14.74,6.31,49.48
$GC,1129,-0.64,-146.0,2180,696,3415,3221,152.9,-13.4,164,1133,0.08,2.42,0.00,0.000,3078,0.368,0.055,2192,2106,3320,3414,3226,0,0,0,0,0,0,14.03,14.32,14.33,6.31,49.76
$GC,1440,-0.64,-146.0,2192,2107,3415,3227,193.1,-12.8,180,1443,0.00,2.47,0.00,0.000,2308,0.000,0.083,2189,3512,3320,3414,3226,0,0,0,0,0,0,14.76,14.29,14.78,6.32,50.66
$GC,1479,-0.64,-146.0,2183,3512,3414,3226,197.6,-12.9,182,1483,0.00,2.35,0.00,0.000,3078,0.000,0.044,2181,2096,3320,3414,3226,0,0,0,0,0,0,14.47,14.31,14.51,6.32,50.59
$GC,1789,-0.64,-146.0,2182,2094,3415,3226,238.8,-13.2,198,1793,0.00,2.42,0.00,0.000,2564,0.000,0.063,2181,693,3320,3415,3226,0,0,0,0,0,0,14.80,14.34,14.80,6.32,50.82
$GC,1849,-0.64,-146.0,2182,693,3416,3223,246.1,-13.3,201,1853,0.08,2.42,0.00,0.000,3078,0.360,0.055,2194,2108,3319,3414,3225,0,0,0,0,0,0,14.06,14.32,14.35,6.32,51.18
$GC,2160,-0.64,-146.0,2194,2109,3415,3227,284.5,-12.2,217,2164,0.00,2.47,0.00,0.000,260,0.000,0.083,2184,3507,3320,3414,3226,0,0,0,0,0,0,14.80,14.31,14.81,6.33,50.78
$GC,2184,-0.64,-146.0,2184,3508,3416,3226,287.0,-12.2,218,2188,0.00,2.35,0.00,0.000,3078,0.000,0.044,2183,2100,3320,3414,3226,0,0,0,0,0,0,14.52,14.35,14.55,6.33,51.41
$GC,2495,-0.64,-146.0,2184,2099,3415,3226,326.5,-12.5,234,2498,0.00,2.42,0.00,0.000,2564,0.000,0.063,2183,698,3320,3414,3226,0,0,0,0,0,0,14.81,14.35,14.81,6.33,51.06
$GC,2569,-0.64,-146.0,2183,698,3415,3227,335.9,-12.5,238,2573,0.08,2.40,0.00,0.000,3078,0.361,0.054,2197,2105,3320,3414,3226,0,0,0,0,0,0,14.06,14.36,14.35,6.33,50.98
$STATE,2702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2702,begin apogee
$GC,2708,-0.15,0.0,2197,2161,3418,3227,351.6,-11.8,245,2836,0.43,0.00,125.38,1.611,10246,0.255,0.000,2345,2160,2718,2778,2659,0,0,0,0,0,0,14.05,13.88,13.15,6.33,51.06
$STATE,2837,end apogee,CONTROL_FINISHED_OK
$STATE,2837,begin loiter
$GC,3124,-0.15,0.0,2347,2161,2772,2645,349.5,2.9,266,3125,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2160,2707,2772,2643,0,0,0,0,0,0,14.55,14.55,14.55,6.28,50.51
$GC,3424,-0.15,0.0,2347,2161,2772,2642,340.8,2.9,281,3425,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2160,2706,2771,2641,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.86
$GC,3724,-0.15,0.0,2347,2161,2772,2641,332.6,2.7,296,3725,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2160,2705,2771,2640,0,0,0,0,0,0,14.81,14.81,14.81,6.28,51.22
$GC,4024,-0.15,0.0,2346,2160,2772,2640,324.3,2.7,311,4025,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2160,2705,2771,2640,0,0,0,0,0,0,14.86,14.86,14.86,6.28,51.22
$GC,4324,-0.15,0.0,2347,2161,2771,2641,316.0,2.8,326,4325,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2160,2705,2771,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.18
$GC,4625,-0.15,0.0,2347,2161,2772,2639,307.1,3.0,341,4626,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2160,2705,2771,2639,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.18
$GC,4925,-0.15,0.0,2347,2160,2773,2639,297.4,3.3,356,4925,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2160,2705,2771,2639,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.41
$GC,5224,-0.15,0.0,2347,2161,2772,2640,287.6,3.3,371,5225,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2160,2704,2771,2638,0,0,0,0,0,0,14.97,14.97,14.97,6.27,51.81
$GC,5524,-0.15,0.0,2346,2161,2772,2639,278.1,3.1,386,5525,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2160,2704,2771,2638,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.96
$GC,5824,-0.15,0.0,2347,2161,2772,2639,269.8,2.6,401,5825,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2160,2705,2772,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.73
$GC,6125,-0.15,0.0,2347,2161,2771,2639,263.1,2.1,416,6125,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2160,2705,2771,2639,0,0,0,0,0,0,15.01,15.01,15.01,6.28,51.53
$STATE,6422,end loiter,LOITER_COMPLETE
$STATE,6422,begin climb
$GC,6425,0.64,146.0,2347,2161,2772,2639,257.0,0.0,431,6565,0.62,2.60,129.88,1.463,11012,0.169,0.066,2602,749,2117,2137,2097,0,0,0,0,0,0,14.31,13.95,13.28,6.27,52.04
$GC,6600,0.68,181.7,2602,749,2133,2094,248.4,7.0,439,6639,0.00,2.45,33.70,1.427,11270,0.000,0.054,2602,2143,1975,1991,1959,0,0,0,0,0,0,14.14,14.03,13.23,6.24,49.88
$GC,6947,0.68,181.7,2602,2144,1994,1944,206.5,12.3,457,6952,0.00,2.55,0.00,0.000,2308,0.000,0.085,2602,3555,1962,1982,1943,0,0,0,0,0,0,14.49,14.12,14.49,6.22,50.98
$GC,7030,0.68,181.7,2602,3556,1982,1944,196.9,12.0,461,7033,0.00,2.38,0.00,0.000,3078,0.000,0.044,2613,2149,1962,1982,1942,0,0,0,0,0,0,14.36,14.25,14.38,6.22,50.94
$GC,7340,0.68,181.7,2613,2149,1981,1940,155.7,13.5,477,7343,0.00,2.47,0.00,0.000,2564,0.000,0.070,2630,742,1959,1980,1939,0,0,0,0,0,0,14.67,14.26,14.67,6.22,51.14
$GC,7390,0.68,181.7,2624,743,1978,1941,151.1,13.4,479,7393,0.00,2.42,0.00,0.000,5126,0.000,0.055,2624,2153,1958,1977,1939,0,0,0,0,0,0,14.46,14.31,14.48,6.22,51.41
$GC,7710,0.68,181.7,2624,2154,1977,1938,108.5,12.4,496,7714,0.00,2.50,0.00,0.000,4356,0.000,0.086,2624,3562,1957,1977,1938,0,0,0,0,0,0,14.74,14.29,14.74,6.21,50.55
$GC,7785,0.68,181.7,2625,3562,1978,1938,100.9,12.6,499,7789,0.05,2.38,0.00,0.000,5126,0.405,0.044,2618,2147,1957,1976,1938,0,0,0,0,0,0,14.13,14.40,14.40,6.21,49.96
$GC,7910,0.68,181.7,2618,2147,1978,1937,84.4,12.0,524,7914,0.00,2.45,0.00,0.000,516,0.000,0.069,2627,742,1957,1977,1937,0,0,0,0,0,0,14.73,14.33,14.74,6.20,49.60
$GC,7950,0.68,181.7,2627,742,1976,1938,79.8,11.1,532,7954,0.00,2.40,0.00,0.000,5126,0.000,0.053,2628,2152,1958,1979,1937,0,0,0,0,0,0,14.52,14.37,14.54,6.20,50.11
$GC,8077,0.68,181.7,2627,2152,1976,1937,64.6,12.2,557,8082,0.00,2.50,0.00,0.000,4356,0.000,0.086,2628,3560,1956,1976,1937,0,0,0,0,0,0,14.73,14.30,14.73,6.18,49.05
$GC,8115,0.68,181.7,2628,3561,1976,1938,59.8,12.0,565,8119,0.08,2.38,0.00,0.000,5126,0.343,0.045,2612,2145,1956,1975,1937,0,0,0,0,0,0,14.12,14.41,14.40,6.19,49.25
$GC,8240,0.68,181.7,2613,2146,1976,1938,46.9,10.5,590,8244,0.00,2.47,0.00,0.000,2564,0.000,0.068,2622,737,1955,1975,1936,0,0,0,0,0,0,14.72,14.33,14.73,6.19,49.33
$GC,8285,0.68,181.7,2623,738,1976,1935,42.1,10.2,599,8288,0.00,2.42,0.00,0.000,5126,0.000,0.054,2622,2153,1955,1975,1935,0,0,0,0,0,0,14.52,14.36,14.54,6.19,50.00
$GC,8412,0.68,181.7,2622,2155,1975,1936,28.6,10.9,624,8416,0.00,2.50,0.00,0.000,4356,0.000,0.086,2622,3561,1955,1975,1935,0,0,0,0,0,0,14.74,14.29,14.74,6.20,50.15
$GC,8451,0.68,181.7,2622,3561,1976,1934,23.9,11.2,632,8455,0.00,2.38,0.00,0.000,5126,0.000,0.044,2633,2145,1955,1975,1935,0,0,0,0,0,0,14.54,14.41,14.56,6.19,51.14
$GC,8578,0.68,181.7,2633,2146,1975,1936,9.8,11.4,657,8583,0.00,2.45,0.00,0.000,4612,0.000,0.068,2644,742,1955,1976,1934,0,0,0,0,0,0,14.74,14.33,14.74,6.26,51.26
$GC,8626,0.68,181.7,2645,743,1975,1934,3.9,11.7,667,8630,0.08,2.40,0.00,0.000,5126,0.317,0.053,2617,2153,1954,1974,1934,0,0,0,0,0,0,14.13,14.38,14.41,6.20,50.66
$STATE,8633,end climb,SURFACE_DEPTH_REACHED
$STATE,8633,begin surface coast
$STATE,8658,end surface coast,CONTROL_FINISHED_OK
$STATE,8658,begin surface
$SM_CCo,8675,31.42,0.246,0,0,1821,220.03
$SM_GC,1.41,5.60,0.10,31.42,0.074,0.142,0.246,221,2070,1821,-6.44,0.68,220.03,0,0,0,0,0,0,14.52,14.43,14.10
$IRIDIUM_FIX,-6005.20,0.00,100219,163623
$TT8_MAMPS,0.038199,0.316827
$HUMID,50.63
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3646784
$24V_AH,12.97,102.817
$10V_AH,13.43,0.000
$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,13.425,88.125,288.950,31.425,0.000,34.805,35.500,135.023,0.000,0.000,16.250,0.000,6824.920,405.666,1602.588,263.771,0.000,1044.614,0.000,1126.549,0.000,0.539,0.000
$DEVICE_MAMPS,404.685,2202.435,1611.090,246.330,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5084.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.555,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17324,674
$CAP_FILE_SIZE,94694,0
$CFSIZE,1023623168,966770688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.056,233.10,1
$GPS,100219,214301,-6008.891,1.374,11,0.7,34,-19.7,0.4,273.5,12,5.6