version: 66.14
glider: 640
mission: 5
dive: 547
start: 2 12 119 0 20 38
data:
$ID,640
$MISSION,5
$DIVE,547
$N_DIVES,700
$STOP_T,2171912
$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,27
$R_STBD_OVSHOOT,29
$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
$GPS1,120219,001333,-6014.6587,0.7069,40,0.7,43,-19.7,0.0,3.9,12,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-65.7
$GPS2,120219,002019,-6014.6685,0.6550,9,0.7,13,-19.7,0.4,153.3,12,8.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,192.3,9892,-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,-146.0,235,2102,1792,1828,0.0,0.0,0,103,0.00,0.00,-87.57,0.000,16386,0.000,0.000,233,2102,3213,3295,3132,0,0,0,0,0,0,14.54,28.83,14.55,6.19,51.41
$GC,106,-0.64,-146.0,234,2103,3296,3134,3.6,-8.6,18,123,6.18,2.75,-3.58,0.000,18692,0.347,2.213,2169,3503,3317,3410,3224,0,0,0,0,0,0,13.88,13.16,14.27,6.30,50.15
$GC,154,-0.64,-146.0,2169,3503,3412,3225,13.3,-17.1,28,159,0.08,2.38,0.00,0.000,3078,0.350,0.044,2193,2100,3317,3411,3224,0,0,0,0,0,0,13.95,14.21,14.21,6.32,49.29
$GC,282,-0.64,-146.0,2193,2099,3413,3225,33.7,-16.0,53,287,0.00,2.47,0.00,0.000,2564,0.000,0.065,2193,687,3318,3412,3224,0,0,0,0,0,0,14.59,14.23,14.59,6.32,49.60
$GC,344,-0.64,-146.0,2194,687,3413,3223,43.8,-14.6,66,348,0.00,2.45,0.00,0.000,3078,0.000,0.056,2184,2103,3318,3413,3223,0,0,0,0,0,0,14.33,14.19,14.35,6.32,49.56
$GC,469,-0.64,-146.0,2183,2104,3414,3225,62.0,-13.9,91,472,0.00,0.00,0.00,0.000,2054,0.000,0.000,2183,2103,3318,3412,3224,0,0,0,0,0,0,14.66,14.66,14.66,6.32,49.56
$GC,594,-0.64,-146.0,2184,2104,3414,3224,78.9,-13.8,116,598,0.00,2.45,0.00,0.000,2564,0.000,0.063,2183,690,3318,3412,3224,0,0,0,0,0,0,14.69,14.23,14.69,6.39,48.81
$GC,630,-0.64,-146.0,2183,690,3413,3224,83.8,-14.3,123,634,0.08,2.45,0.00,0.000,3078,0.365,0.057,2195,2105,3318,3412,3224,0,0,0,0,0,0,14.00,14.28,14.29,6.31,48.74
$GC,769,-0.64,-146.0,2196,2105,3412,3225,103.2,-13.3,148,773,0.00,2.47,0.00,0.000,260,0.000,0.083,2185,3503,3318,3413,3224,0,0,0,0,0,0,14.71,14.17,14.71,6.31,48.50
$GC,829,-0.64,-146.0,2186,3503,3413,3224,110.9,-13.0,151,833,0.00,2.38,0.00,0.000,3078,0.000,0.044,2185,2088,3318,3412,3224,0,0,0,0,0,0,14.39,14.27,14.40,6.31,48.46
$GC,1149,-0.64,-146.0,2186,2087,3414,3224,152.2,-12.9,167,1153,0.00,2.42,0.00,0.000,2564,0.000,0.063,2184,691,3318,3413,3224,0,0,0,0,0,0,14.76,14.23,14.76,6.30,49.64
$GC,1234,-0.64,-146.0,2185,692,3413,3225,162.1,-13.2,171,1239,0.05,2.42,0.00,0.000,3078,0.425,0.056,2189,2100,3318,3413,3224,0,0,0,0,0,0,14.05,14.26,14.33,6.31,49.80
$GC,1545,-0.64,-146.0,2189,2101,3413,3222,203.3,-12.7,187,1545,0.00,0.00,0.00,0.000,2054,0.000,0.000,2190,2100,3318,3412,3224,0,0,0,0,0,0,14.78,14.78,14.78,6.32,50.66
$GC,1844,-0.64,-146.0,2191,2101,3413,3224,240.2,-12.1,202,1845,0.00,0.00,0.00,0.000,2054,0.000,0.000,2190,2100,3318,3412,3224,0,0,0,0,0,0,14.80,14.81,14.81,6.32,51.26
$GC,2144,-0.64,-146.0,2190,2101,3413,3225,276.4,-12.1,217,2148,0.00,2.50,0.00,0.000,2308,0.000,0.083,2179,3503,3318,3412,3224,0,0,0,0,0,0,14.82,14.23,14.82,6.32,51.49
$GC,2174,-0.64,-146.0,2180,3503,3413,3224,278.2,-12.1,218,2178,0.00,2.35,0.00,0.000,3078,0.000,0.044,2179,2089,3318,3412,3224,0,0,0,0,0,0,14.45,14.32,14.46,6.33,51.02
$GC,2494,-0.64,-146.0,2179,2089,3413,3225,320.2,-12.5,235,2498,0.00,2.40,0.00,0.000,2564,0.000,0.063,2178,697,3318,3412,3224,0,0,0,0,0,0,14.82,14.35,14.82,6.33,51.10
$GC,2569,-0.64,-146.0,2179,700,3414,3224,327.7,-12.6,238,2573,0.08,2.40,0.00,0.000,3078,0.359,0.054,2191,2105,3318,3413,3224,0,0,0,0,0,0,13.98,14.28,14.31,6.33,51.77
$STATE,2747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2747,begin apogee
$GC,2753,-0.15,0.0,2192,2172,3414,3224,350.4,-11.8,248,2881,0.45,0.00,125.32,1.580,10246,0.251,0.000,2348,2172,2718,2778,2659,0,0,0,0,0,0,14.04,13.89,13.16,6.33,51.61
$STATE,2882,end apogee,CONTROL_FINISHED_OK
$STATE,2882,begin loiter
$GC,3169,-0.15,0.0,2348,2173,2772,2644,346.8,3.3,269,3170,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2171,2707,2771,2643,0,0,0,0,0,0,14.56,14.56,14.56,6.28,50.39
$GC,3469,-0.15,0.0,2348,2172,2772,2641,336.8,3.3,284,3470,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2172,2706,2771,2641,0,0,0,0,0,0,14.72,14.72,14.72,6.28,51.45
$GC,3769,-0.15,0.0,2348,2172,2772,2640,326.4,3.6,299,3770,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2172,2705,2771,2640,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.41
$GC,4069,-0.15,0.0,2348,2173,2772,2641,315.1,3.8,314,4070,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2172,2705,2771,2640,0,0,0,0,0,0,14.87,14.87,14.85,6.28,51.89
$GC,4369,-0.15,0.0,2349,2172,2772,2639,303.6,3.7,329,4370,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2172,2705,2771,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.53
$GC,4669,-0.15,0.0,2349,2172,2772,2639,293.0,3.4,344,4670,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2172,2705,2771,2639,0,0,0,0,0,0,14.93,14.93,14.93,6.28,51.89
$GC,4969,-0.15,0.0,2348,2172,2772,2639,282.9,3.3,359,4970,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2172,2705,2771,2639,0,0,0,0,0,0,14.95,14.96,14.95,6.28,51.41
$GC,5269,-0.15,0.0,2348,2172,2772,2638,272.9,3.3,374,5270,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2172,2704,2771,2638,0,0,0,0,0,0,14.97,14.97,14.97,6.28,52.16
$GC,5569,-0.15,0.0,2348,2173,2771,2639,262.7,3.5,389,5570,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2172,2704,2771,2638,0,0,0,0,0,0,14.99,15.00,15.00,6.28,51.61
$GC,5869,-0.15,0.0,2348,2172,2772,2639,253.0,3.2,404,5870,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2172,2704,2771,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.45
$GC,6169,-0.15,0.0,2349,2172,2772,2638,244.4,2.8,419,6170,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2172,2704,2771,2638,0,0,0,0,0,0,15.01,15.02,15.02,6.28,51.96
$STATE,6467,end loiter,LOITER_COMPLETE
$STATE,6467,begin climb
$GC,6470,0.64,146.0,2349,2172,2772,2638,236.9,0.0,434,6611,0.62,2.60,130.07,1.404,10756,0.174,0.065,2602,748,2117,2136,2098,0,0,0,0,0,0,14.29,13.96,13.31,6.28,51.65
$GC,6621,0.70,195.9,2602,749,2135,2098,229.8,6.4,441,6674,0.00,2.42,48.00,1.359,11270,0.000,0.051,2602,2134,1918,1932,1904,0,0,0,0,0,0,14.12,14.02,13.20,6.24,49.48
$GC,6991,0.70,195.9,2603,2134,1921,1884,184.8,12.5,460,6995,0.00,2.47,0.00,0.000,2564,0.000,0.067,2613,742,1902,1919,1885,0,0,0,0,0,0,14.49,14.14,14.50,6.22,50.43
$GC,7011,0.70,195.9,2614,742,1919,1885,182.4,12.4,461,7015,0.00,2.42,0.00,0.000,3078,0.000,0.053,2613,2148,1901,1918,1884,0,0,0,0,0,0,14.31,14.17,14.33,6.21,50.23
$GC,7331,0.70,195.9,2613,2149,1918,1881,140.8,13.0,477,7335,0.00,2.50,0.00,0.000,2308,0.000,0.084,2613,3555,1899,1917,1881,0,0,0,0,0,0,14.65,14.22,14.64,6.22,51.06
$GC,7401,0.70,195.9,2613,3556,1917,1881,133.7,13.1,480,7405,0.00,2.35,0.00,0.000,1030,0.000,0.045,2624,2152,1898,1916,1881,0,0,0,0,0,0,14.44,14.33,14.47,6.21,50.94
$GC,7706,0.70,195.9,2625,2152,1916,1878,91.5,13.0,503,7708,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2152,1896,1915,1878,0,0,0,0,0,0,14.69,14.69,14.69,6.19,50.31
$GC,7831,0.70,195.9,2625,2148,1916,1878,76.0,12.3,528,7833,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2152,1896,1915,1878,0,0,0,0,0,0,14.72,14.73,14.73,6.19,50.19
$GC,7956,0.70,195.9,2624,2153,1916,1878,60.8,11.8,553,7960,0.00,2.47,0.00,0.000,516,0.000,0.068,2635,740,1896,1915,1878,0,0,0,0,0,0,14.72,14.31,14.73,6.19,49.44
$GC,7981,0.70,195.9,2635,740,1914,1879,57.9,12.2,558,7984,0.00,2.42,0.00,0.000,5126,0.000,0.053,2635,2153,1895,1912,1878,0,0,0,0,0,0,14.51,14.36,14.54,6.19,49.60
$GC,8108,0.70,195.9,2636,2153,1914,1878,43.9,10.5,583,8113,0.00,2.50,0.00,0.000,4356,0.000,0.085,2635,3557,1895,1913,1878,0,0,0,0,0,0,14.71,14.21,14.72,6.19,49.72
$GC,8131,0.70,195.9,2635,3558,1913,1879,41.1,11.6,588,8135,0.08,2.35,0.00,0.000,5126,0.340,0.046,2620,2151,1895,1912,1878,0,0,0,0,0,0,14.10,14.39,14.39,6.19,49.64
$GC,8256,0.70,195.9,2621,2151,1912,1878,28.3,11.3,613,8260,0.00,2.47,0.00,0.000,516,0.000,0.068,2630,738,1895,1913,1877,0,0,0,0,0,0,14.71,14.32,14.72,6.19,50.15
$GC,8306,0.73,221.6,2630,737,1912,1877,23.9,7.3,623,8329,0.00,2.42,18.80,1.246,11270,0.000,0.053,2630,2160,1814,1822,1807,0,0,0,0,0,0,14.52,14.36,13.69,6.19,50.66
$GC,8451,0.73,221.6,2628,2160,1817,1800,7.3,11.1,652,8454,0.00,2.47,0.00,0.000,2308,0.000,0.084,2630,3553,1807,1816,1799,0,0,0,0,0,0,14.66,14.26,14.66,6.19,50.39
$STATE,8483,end climb,SURFACE_DEPTH_REACHED
$STATE,8483,begin surface coast
$STATE,8493,end surface coast,CONTROL_FINISHED_OK
$STATE,8493,begin surface
$SM_CCo,8572,0.00,0.000,0,0,1805,224.45
$SM_GC,1.14,5.55,2.53,0.00,0.047,0.046,0.000,232,2093,1805,-6.45,0.76,224.45,0,0,0,0,0,0,14.45,14.35,14.49
$IRIDIUM_FIX,-6014.82,0.00,110219,213440
$TT8_MAMPS,0.038948,0.360269
$HUMID,50.63
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3641152
$24V_AH,13.16,104.876
$10V_AH,13.28,0.000
$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,13.150,68.800,322.200,0.000,0.000,27.426,44.777,141.965,0.000,0.000,14.363,0.000,6780.271,384.521,1555.503,252.364,0.000,1001.322,0.000,1083.844,0.000,0.539,0.000
$DEVICE_MAMPS,424.575,2213.145,1579.725,0.000,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4920.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.763,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17337,661
$CAP_FILE_SIZE,86900,0
$CFSIZE,1023623168,965689344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.040,199.97,1
$GPS,120219,024435,-6015.342,0.791,13,0.8,40,-19.7,0.2,88.5,10,8.9