version: 66.14
glider: 640
mission: 5
dive: 552
start: 2 12 119 13 24 42
data:
$ID,640
$MISSION,5
$DIVE,552
$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,62
$R_STBD_OVSHOOT,50
$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
$GPS1,120219,131731,-6017.2612,0.6395,15,0.9,38,-19.7,0.3,13.1,9,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-64.4
$GPS2,120219,132422,-6017.2681,0.6053,9,0.9,21,-19.7,1.0,48.3,9,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,197.7,5090,-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,-146.0,210,2122,1793,1830,0.0,0.0,0,92,0.00,0.00,-76.80,0.000,16386,0.000,0.000,210,2121,3026,3105,2947,0,0,0,0,0,0,14.53,28.83,14.54,6.19,51.65
$GC,95,-0.64,-146.0,210,2123,3106,2948,3.2,-7.6,16,117,6.18,2.70,-10.52,0.000,18692,0.338,2.212,2165,3479,3317,3415,3219,0,0,0,0,0,0,13.85,12.86,14.21,6.29,50.35
$GC,148,-0.64,-146.0,2166,3479,3415,3222,12.2,-17.3,27,152,0.10,2.28,0.00,0.000,3078,0.319,0.043,2199,2127,3318,3415,3221,0,0,0,0,0,0,13.95,14.26,14.21,6.32,49.33
$GC,275,-0.64,-146.0,2199,2121,3416,3222,31.2,-16.6,52,281,0.00,2.53,0.00,0.000,516,0.000,0.063,2199,687,3318,3415,3222,0,0,0,0,0,0,14.60,14.24,14.60,6.32,49.72
$GC,333,-0.64,-146.0,2199,688,3416,3222,40.6,-15.2,64,337,0.00,2.40,0.00,0.000,3078,0.000,0.057,2189,2080,3318,3415,3222,0,0,0,0,0,0,14.35,14.22,14.36,6.32,49.76
$GC,460,-0.64,-146.0,2190,2080,3416,3222,59.7,-14.8,89,467,0.00,2.55,0.00,0.000,2308,0.000,0.083,2178,3512,3318,3415,3221,0,0,0,0,0,0,14.64,14.23,14.64,6.32,50.00
$GC,513,-0.64,-146.0,2179,3512,3416,3223,68.8,-16.3,100,517,0.05,2.38,0.00,0.000,3078,0.422,0.044,2194,2092,3318,3415,3222,0,0,0,0,0,0,13.97,14.27,14.23,6.32,50.00
$GC,638,-0.64,-146.0,2195,2091,3417,3222,87.3,-14.9,125,642,0.00,2.45,0.00,0.000,516,0.000,0.064,2194,689,3323,3415,3231,0,0,0,0,0,0,14.68,14.21,14.68,6.31,48.81
$GC,703,-0.64,-146.0,2195,689,3413,3223,97.0,-14.2,138,708,0.00,2.42,0.00,0.000,3078,0.000,0.055,2184,2101,3318,3415,3222,0,0,0,0,0,0,14.38,14.23,14.40,6.31,48.54
$GC,828,-0.64,-146.0,2185,2102,3416,3224,115.4,-15.2,148,832,0.00,2.47,0.00,0.000,2308,0.000,0.083,2174,3506,3318,3414,3223,0,0,0,0,0,0,14.72,14.19,14.72,6.31,48.30
$GC,898,-0.64,-146.0,2174,3506,3416,3223,124.3,-16.2,151,903,0.08,2.35,0.00,0.000,3078,0.356,0.044,2199,2098,3319,3415,3223,0,0,0,0,0,0,13.97,14.28,14.25,6.30,48.58
$GC,1203,-0.64,-146.0,2199,2097,3415,3224,168.8,-13.1,167,1207,0.00,2.45,0.00,0.000,516,0.000,0.064,2199,690,3319,3415,3223,0,0,0,0,0,0,14.76,14.25,14.76,6.31,49.92
$GC,1318,-0.64,-146.0,2200,689,3416,3218,181.0,-12.0,172,1322,0.00,2.42,0.00,0.000,3078,0.000,0.055,2189,2106,3319,3415,3223,0,0,0,0,0,0,14.43,14.30,14.45,6.32,49.88
$GC,1638,-0.64,-146.0,2189,2106,3417,3222,221.2,-12.0,189,1642,0.00,2.47,0.00,0.000,2308,0.000,0.083,2178,3506,3319,3415,3223,0,0,0,0,0,0,14.79,14.23,14.79,6.32,50.78
$GC,1693,-0.64,-146.0,2178,3506,3416,3223,227.9,-12.2,192,1697,0.05,2.35,0.00,0.000,3078,0.422,0.043,2194,2090,3319,3415,3223,0,0,0,0,0,0,14.02,14.34,14.28,6.32,50.90
$GC,2010,-0.64,-146.0,2194,2090,3416,3224,265.3,-11.8,208,2016,0.00,2.42,0.00,0.000,516,0.000,0.063,2193,699,3319,3415,3223,0,0,0,0,0,0,14.78,14.35,14.79,6.33,51.22
$GC,2083,-0.64,-146.0,2194,699,3417,3223,272.4,-12.0,211,2087,0.00,2.40,0.00,0.000,3078,0.000,0.053,2182,2103,3319,3415,3223,0,0,0,0,0,0,14.45,14.29,14.47,6.33,50.90
$GC,2403,-0.64,-146.0,2183,2103,3418,3224,312.6,-12.1,228,2407,0.00,2.45,0.00,0.000,2308,0.000,0.081,2172,3503,3319,3415,3223,0,0,0,0,0,0,14.81,14.23,14.82,6.33,51.29
$GC,2448,-0.64,-146.0,2172,3504,3416,3222,316.9,-12.3,230,2452,0.08,2.33,0.00,0.000,3078,0.344,0.043,2198,2102,3319,3415,3223,0,0,0,0,0,0,14.04,14.38,14.28,6.33,51.14
$STATE,2731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2731,begin apogee
$GC,2737,-0.15,0.0,2199,2158,3416,3223,350.4,-11.2,244,2865,0.43,0.00,124.53,1.585,10246,0.250,0.000,2348,2157,2718,2778,2659,0,0,0,0,0,0,14.06,13.89,13.14,6.33,51.92
$STATE,2866,end apogee,CONTROL_FINISHED_OK
$STATE,2866,begin loiter
$GC,3153,-0.15,0.0,2348,2158,2774,2646,345.8,3.5,265,3154,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2709,2773,2646,0,0,0,0,0,0,14.56,14.56,14.56,6.28,50.51
$GC,3453,-0.15,0.0,2348,2158,2774,2644,335.9,3.2,280,3454,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2708,2773,2643,0,0,0,0,0,0,14.73,14.72,14.73,6.28,50.78
$GC,3753,-0.15,0.0,2348,2158,2774,2644,326.6,3.0,295,3754,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2157,2708,2773,2643,0,0,0,0,0,0,14.81,14.81,14.81,6.28,51.29
$GC,4053,-0.15,0.0,2348,2159,2774,2642,317.2,3.2,310,4054,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2708,2773,2643,0,0,0,0,0,0,14.87,14.87,14.87,6.28,51.29
$GC,4353,-0.15,0.0,2348,2158,2774,2643,307.5,3.3,325,4354,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2708,2773,2643,0,0,0,0,0,0,14.90,14.91,14.90,6.28,51.57
$GC,4654,-0.15,0.0,2347,2159,2773,2643,297.1,3.4,340,4654,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2157,2707,2773,2642,0,0,0,0,0,0,14.93,14.93,14.93,6.28,51.37
$GC,4953,-0.15,0.0,2348,2158,2773,2643,287.4,3.1,355,4954,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2157,2707,2773,2642,0,0,0,0,0,0,14.95,14.96,14.95,6.28,51.37
$GC,5253,-0.15,0.0,2348,2158,2773,2643,278.5,2.8,370,5254,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2157,2707,2773,2642,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.49
$GC,5553,-0.15,0.0,2348,2158,2774,2642,270.3,2.8,385,5554,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2157,2707,2773,2642,0,0,0,0,0,0,14.99,15.00,15.00,6.28,51.69
$GC,5853,-0.15,0.0,2348,2158,2773,2643,262.3,2.5,400,5854,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2157,2707,2773,2642,0,0,0,0,0,0,15.00,15.00,15.00,6.28,52.12
$GC,6153,-0.15,0.0,2348,2158,2774,2642,255.3,2.2,415,6154,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2707,2772,2642,0,0,0,0,0,0,15.02,15.02,15.01,6.28,51.49
$STATE,6451,end loiter,LOITER_COMPLETE
$STATE,6451,begin climb
$GC,6453,0.64,146.0,2348,2158,2774,2641,248.8,0.0,430,6595,0.62,2.58,130.40,1.427,11012,0.173,0.067,2602,755,2116,2136,2097,0,0,0,0,0,0,14.30,13.95,13.30,6.28,51.69
$GC,6625,0.68,178.1,2602,751,2133,2093,239.9,7.1,438,6660,0.00,2.42,30.38,1.398,11270,0.000,0.052,2602,2140,1992,2008,1977,0,0,0,0,0,0,14.14,14.03,13.25,6.24,49.96
$GC,6970,0.68,178.1,2603,2141,1998,1958,199.4,11.6,456,6974,0.00,2.55,0.00,0.000,2308,0.000,0.083,2602,3556,1977,1997,1958,0,0,0,0,0,0,14.52,14.13,14.52,6.22,50.39
$GC,7040,0.68,178.1,2602,3557,1997,1959,193.0,11.7,459,7044,0.00,2.38,0.00,0.000,3078,0.000,0.044,2613,2149,1977,1997,1957,0,0,0,0,0,0,14.36,14.25,14.39,6.23,51.02
$GC,7360,0.68,178.1,2613,2151,1995,1953,150.9,12.6,476,7364,0.00,2.47,0.00,0.000,2564,0.000,0.068,2624,736,1973,1994,1953,0,0,0,0,0,0,14.67,14.27,14.67,6.22,50.90
$GC,7420,0.68,178.1,2624,737,1993,1953,143.7,12.2,479,7424,0.00,2.45,0.00,0.000,5126,0.000,0.053,2624,2160,1972,1992,1953,0,0,0,0,0,0,14.47,14.32,14.50,6.22,51.02
$GC,7740,0.68,178.1,2624,2161,1992,1954,103.0,12.2,495,7744,0.00,2.45,0.00,0.000,4356,0.000,0.082,2624,3551,1972,1991,1953,0,0,0,0,0,0,14.73,14.29,14.74,6.21,51.22
$GC,7780,0.68,178.1,2624,3554,1992,1954,98.2,12.0,498,7784,0.05,2.35,0.00,0.000,5126,0.400,0.044,2617,2142,1972,1991,1953,0,0,0,0,0,0,14.13,14.40,14.40,6.21,50.98
$GC,7905,0.68,178.1,2618,2143,1992,1953,84.2,11.1,523,7909,0.00,2.45,0.00,0.000,516,0.000,0.067,2627,739,1971,1991,1951,0,0,0,0,0,0,14.71,14.33,14.72,6.21,50.63
$GC,7940,0.68,178.1,2627,740,1992,1952,80.4,10.8,530,7943,0.00,2.40,0.00,0.000,5126,0.000,0.053,2627,2149,1970,1991,1950,0,0,0,0,0,0,14.52,14.37,14.54,6.27,50.27
$GC,8067,0.68,178.1,2628,2149,1991,1947,66.8,10.8,555,8070,0.00,0.00,0.00,0.000,4102,0.000,0.000,2627,2149,1971,1991,1951,0,0,0,0,0,0,14.73,14.73,14.73,6.20,49.56
$GC,8191,0.68,178.1,2627,2149,1991,1951,53.7,11.0,580,8194,0.00,2.50,0.00,0.000,4356,0.000,0.084,2627,3560,1970,1991,1950,0,0,0,0,0,0,14.75,14.30,14.75,6.19,49.48
$GC,8246,0.68,178.1,2628,3561,1992,1950,48.0,9.8,591,8250,0.08,2.35,0.00,0.000,5126,0.343,0.043,2612,2148,1970,1991,1950,0,0,0,0,0,0,14.13,14.42,14.40,6.20,49.25
$GC,8371,0.68,178.1,2612,2149,1991,1951,36.7,8.5,616,8374,0.00,2.45,0.00,0.000,2564,0.000,0.067,2622,744,1970,1991,1950,0,0,0,0,0,0,14.74,14.33,14.74,6.19,50.27
$GC,8431,0.68,178.1,2624,744,1990,1951,31.4,9.0,628,8434,0.00,2.40,0.00,0.000,5126,0.000,0.053,2623,2151,1969,1990,1949,0,0,0,0,0,0,14.53,14.37,14.55,6.19,50.59
$GC,8558,0.68,178.1,2623,2152,1991,1948,17.9,8.6,653,8563,0.00,2.50,0.00,0.000,4356,0.000,0.086,2622,3553,1969,1990,1949,0,0,0,0,0,0,14.76,14.30,14.76,6.20,50.39
$GC,8601,0.68,178.1,2623,3553,1991,1949,14.0,11.0,662,8605,0.05,2.35,0.00,0.000,5126,0.398,0.044,2616,2147,1969,1990,1949,0,0,0,0,0,0,14.14,14.40,14.40,6.20,50.78
$STATE,8705,end climb,SURFACE_DEPTH_REACHED
$STATE,8705,begin surface coast
$STATE,8728,end surface coast,CONTROL_FINISHED_OK
$STATE,8728,begin surface
$SM_CCo,8744,34.62,0.242,0,0,1821,220.03
$SM_GC,1.25,5.50,0.08,34.62,0.057,0.160,0.242,274,2067,1821,-6.44,0.79,220.03,0,0,0,0,0,0,14.56,14.47,14.10
$IRIDIUM_FIX,-6016.69,0.00,120219,103900
$TT8_MAMPS,0.03745,0.351281
$HUMID,50.51
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3638592
$24V_AH,12.86,105.797
$10V_AH,13.46,0.000
$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,13.250,83.075,285.300,34.625,0.000,28.052,39.767,141.319,0.000,0.000,22.061,0.000,6871.885,396.971,1650.465,268.409,0.000,1047.103,0.000,1159.113,0.000,0.540,0.000
$DEVICE_MAMPS,422.280,2212.380,1585.080,241.740,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5154.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.620,0.000,0.000,0.000
$MEM,344076
$DATA_FILE_SIZE,17342,688
$CAP_FILE_SIZE,95106,0
$CFSIZE,1023623168,965197824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.053,225.46,1
$GPS,120219,155225,-6017.858,0.522,32,0.9,56,-19.7,0.4,85.3,11,6.5