version: 66.14
glider: 640
mission: 5
dive: 629
start: 2 21 119 1 33 43
data:
$ID,640
$MISSION,5
$DIVE,629
$N_DIVES,700
$STOP_T,2271912
$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,37
$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
$GPS1,210219,012655,-5952.8447,-1.1371,13,1.0,42,-19.7,0.3,20.3,8,6.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-66.6
$GPS2,210219,013323,-5952.8564,-1.1621,13,0.9,19,-19.7,0.7,320.8,9,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6003.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,199.9,18817,-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,-146.0,226,2090,1789,1830,0.0,0.0,0,103,0.00,0.00,-87.00,0.000,16386,0.000,0.000,226,2089,3196,3278,3115,0,0,0,0,0,0,14.60,28.83,14.60,6.16,51.26
$GC,106,-0.64,-146.0,227,2089,3278,3117,3.5,-8.3,18,123,6.15,2.78,-4.15,0.000,18948,0.337,2.192,2160,696,3317,3412,3223,0,0,0,0,0,0,13.88,12.86,14.28,6.28,50.03
$GC,212,-0.64,-146.0,2160,697,3414,3225,22.6,-17.0,39,218,0.12,2.42,0.00,0.000,3078,0.329,0.057,2195,2100,3318,3413,3223,0,0,0,0,0,0,13.95,14.28,14.13,6.30,48.85
$GC,342,-0.64,-146.0,2194,2101,3414,3225,43.8,-15.6,65,347,0.00,2.50,0.00,0.000,260,0.000,0.084,2185,3503,3318,3413,3224,0,0,0,0,0,0,14.72,14.21,14.72,6.30,49.92
$GC,380,-0.64,-146.0,2185,3503,3413,3225,49.8,-14.5,73,383,0.00,2.35,0.00,0.000,3078,0.000,0.044,2184,2102,3318,3413,3224,0,0,0,0,0,0,14.48,14.35,14.50,6.30,49.64
$GC,507,-0.64,-146.0,2184,2100,3415,3224,66.6,-13.2,98,512,0.00,2.42,0.00,0.000,2564,0.000,0.062,2184,695,3318,3413,3224,0,0,0,0,0,0,14.76,14.29,14.76,6.30,49.76
$GC,575,-0.64,-146.0,2184,695,3414,3225,76.2,-13.3,112,579,0.05,2.40,0.00,0.000,3078,0.416,0.055,2190,2100,3318,3413,3224,0,0,0,0,0,0,14.07,14.34,14.33,6.30,49.29
$GC,702,-0.64,-146.0,2190,2101,3414,3225,92.4,-13.3,137,707,0.00,2.47,0.00,0.000,2308,0.000,0.085,2179,3501,3318,3413,3224,0,0,0,0,0,0,14.80,14.24,14.80,6.29,49.09
$GC,789,-0.64,-146.0,2180,3501,3415,3224,102.8,-12.7,150,793,0.00,2.35,0.00,0.000,3078,0.000,0.043,2179,2089,3318,3413,3224,0,0,0,0,0,0,14.54,14.41,14.57,6.29,48.54
$GC,1094,-0.64,-146.0,2180,2088,3415,3224,145.8,-13.2,165,1098,0.00,2.40,0.00,0.000,2564,0.000,0.063,2179,697,3319,3414,3224,0,0,0,0,0,0,14.89,14.38,14.90,6.29,49.40
$GC,1179,-0.64,-146.0,2179,697,3416,3224,155.2,-12.6,169,1184,0.08,2.40,0.00,0.000,3078,0.360,0.055,2192,2104,3319,3414,3224,0,0,0,0,0,0,14.09,14.40,14.37,6.29,49.68
$GC,1490,-0.64,-146.0,2193,2104,3416,3224,191.8,-11.2,185,1493,0.00,2.45,0.00,0.000,2308,0.000,0.083,2182,3504,3319,3414,3224,0,0,0,0,0,0,14.92,14.35,14.93,6.29,50.31
$GC,1514,-0.64,-146.0,2183,3505,3415,3224,193.5,-11.2,186,1518,0.00,2.33,0.00,0.000,3078,0.000,0.043,2181,2096,3318,3413,3224,0,0,0,0,0,0,14.61,14.47,14.63,6.30,50.59
$GC,1819,-0.64,-146.0,2182,2095,3415,3224,230.4,-12.0,201,1823,0.00,2.40,0.00,0.000,2564,0.000,0.063,2181,698,3319,3414,3224,0,0,0,0,0,0,14.95,14.41,14.96,6.30,51.18
$GC,1900,-0.64,-146.0,2182,699,3415,3224,239.5,-12.1,205,1904,0.08,2.40,0.00,0.000,3078,0.352,0.055,2195,2107,3319,3414,3224,0,0,0,0,0,0,14.12,14.44,14.40,6.30,51.69
$GC,2210,-0.64,-146.0,2195,2107,3415,3224,276.4,-12.0,221,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2107,3318,3414,3223,0,0,0,0,0,0,14.97,14.97,14.97,6.31,50.98
$GC,2510,-0.64,-146.0,2196,2107,3415,3222,312.4,-11.9,236,2513,0.00,2.42,0.00,0.000,516,0.000,0.063,2195,698,3319,3414,3224,0,0,0,0,0,0,14.99,14.43,14.99,6.31,51.18
$GC,2539,-0.64,-146.0,2195,699,3415,3224,314.3,-12.1,237,2544,0.00,2.40,0.00,0.000,3078,0.000,0.055,2185,2106,3319,3414,3224,0,0,0,0,0,0,14.64,14.47,14.66,6.31,51.14
$STATE,2822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2822,begin apogee
$GC,2828,-0.15,0.0,2186,2156,3415,3224,352.4,-12.7,252,2956,0.47,0.00,124.40,1.578,10246,0.247,0.000,2353,2155,2716,2776,2657,0,0,0,0,0,0,14.08,13.95,13.16,6.31,51.61
$STATE,2956,end apogee,CONTROL_FINISHED_OK
$STATE,2956,begin loiter
$GC,3244,-0.15,0.0,2352,2156,2772,2645,351.1,2.9,273,3245,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2155,2707,2770,2644,0,0,0,0,0,0,14.61,14.61,14.61,6.27,50.35
$GC,3544,-0.15,0.0,2353,2155,2772,2642,342.3,3.0,288,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2155,2706,2771,2642,0,0,0,0,0,0,14.76,14.76,14.76,6.27,51.02
$GC,3844,-0.15,0.0,2352,2156,2771,2642,333.2,3.1,303,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2155,2705,2770,2641,0,0,0,0,0,0,14.83,14.84,14.84,6.27,51.14
$GC,4145,-0.15,0.0,2353,2157,2771,2641,323.7,3.2,318,4145,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2155,2705,2771,2640,0,0,0,0,0,0,14.88,14.89,14.89,6.26,51.33
$GC,4444,-0.15,0.0,2353,2156,2772,2641,314.5,2.8,333,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2155,2705,2771,2640,0,0,0,0,0,0,14.92,14.92,14.92,6.26,51.85
$GC,4745,-0.15,0.0,2353,2156,2771,2640,306.4,2.5,348,4746,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2155,2704,2770,2639,0,0,0,0,0,0,14.95,14.95,14.95,6.26,51.89
$GC,5045,-0.15,0.0,2352,2156,2771,2641,298.6,2.6,363,5046,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2155,2704,2769,2639,0,0,0,0,0,0,14.97,14.97,14.97,6.26,51.69
$GC,5345,-0.15,0.0,2352,2155,2771,2640,290.2,2.9,378,5346,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2156,2704,2770,2639,0,0,0,0,0,0,14.98,14.99,14.99,6.26,51.96
$GC,5645,-0.15,0.0,2352,2156,2772,2639,281.2,3.1,393,5646,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2155,2704,2770,2639,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.57
$GC,5945,-0.15,0.0,2353,2154,2772,2638,272.2,2.9,408,5946,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2155,2704,2770,2639,0,0,0,0,0,0,15.01,15.02,15.02,6.26,52.20
$GC,6245,-0.15,0.0,2353,2156,2772,2639,263.2,3.0,423,6246,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2155,2704,2770,2639,0,0,0,0,0,0,15.02,15.02,15.02,6.27,51.57
$STATE,6542,end loiter,LOITER_COMPLETE
$STATE,6542,begin climb
$GC,6545,0.64,146.0,2353,2156,2772,2639,253.9,0.0,438,6685,0.62,2.58,129.73,1.429,10756,0.161,0.063,2609,751,2117,2136,2098,0,0,0,0,0,0,14.30,13.97,13.25,6.26,51.73
$GC,6746,0.64,146.0,2609,752,2131,2094,239.3,9.5,448,6749,0.00,2.45,0.00,0.000,5126,0.000,0.054,2609,2148,2111,2131,2092,0,0,0,0,0,0,14.17,14.04,14.19,6.21,49.56
$GC,7060,0.64,146.0,2610,2148,2126,2084,203.4,11.4,464,7064,0.00,2.53,0.00,0.000,4356,0.000,0.083,2610,3560,2104,2125,2084,0,0,0,0,0,0,14.59,14.17,14.59,6.21,50.47
$GC,7136,0.64,146.0,2610,3561,2126,2085,194.8,11.5,468,7140,0.05,2.35,0.00,0.000,5126,0.399,0.042,2603,2154,2104,2125,2084,0,0,0,0,0,0,14.02,14.30,14.29,6.27,50.51
$GC,7456,0.64,146.0,2604,2155,2124,2080,158.4,11.8,484,7459,0.00,2.47,0.00,0.000,516,0.000,0.065,2614,742,2101,2122,2080,0,0,0,0,0,0,14.70,14.28,14.68,6.21,51.18
$GC,7515,0.64,146.0,2614,742,2121,2079,152.3,11.3,487,7519,0.00,2.42,0.00,0.000,5126,0.000,0.054,2613,2152,2099,2120,2079,0,0,0,0,0,0,14.48,14.33,14.50,6.21,50.98
$GC,7826,0.64,146.0,2614,2153,2121,2079,115.4,11.4,503,7830,0.00,2.50,0.00,0.000,4356,0.000,0.085,2614,3560,2099,2120,2078,0,0,0,0,0,0,14.76,14.28,14.76,6.20,51.10
$GC,7900,0.64,146.0,2614,3561,2121,2078,108.6,11.4,506,7904,0.05,2.35,0.00,0.000,5126,0.412,0.043,2607,2150,2099,2120,2078,0,0,0,0,0,0,14.10,14.40,14.38,6.20,50.94
$GC,8205,0.64,146.0,2608,2150,2121,2077,77.3,10.0,556,8209,0.00,2.45,0.00,0.000,4612,0.000,0.065,2617,745,2098,2120,2077,0,0,0,0,0,0,14.76,14.31,14.76,6.19,50.11
$GC,8275,0.64,146.0,2617,745,2120,2077,70.5,9.4,570,8279,0.00,2.42,0.00,0.000,5126,0.000,0.053,2617,2154,2098,2119,2077,0,0,0,0,0,0,14.51,14.35,14.54,6.19,49.84
$GC,8403,0.64,146.0,2617,2159,2119,2079,58.3,10.3,595,8408,0.00,2.47,0.00,0.000,4356,0.000,0.086,2617,3559,2097,2118,2077,0,0,0,0,0,0,14.74,14.14,14.72,6.18,49.37
$GC,8471,0.64,146.0,2617,3560,2119,2078,50.8,10.2,609,8475,0.08,2.35,0.00,0.000,5126,0.339,0.042,2603,2146,2097,2118,2077,0,0,0,0,0,0,14.08,14.40,14.38,6.18,49.21
$GC,8595,0.70,199.8,2602,2146,2119,2076,41.9,6.3,634,8648,0.00,2.45,48.38,1.235,10756,0.000,0.066,2612,748,1900,1913,1887,0,0,0,0,0,0,14.73,14.24,13.54,6.17,49.44
$GC,8676,0.73,220.6,2613,748,1911,1879,36.3,7.5,650,8703,0.00,2.42,21.02,1.210,11270,0.000,0.054,2613,2153,1815,1822,1808,0,0,0,0,0,0,14.36,14.23,13.45,6.16,49.44
$GC,8826,0.73,220.6,2613,2154,1819,1801,21.4,10.6,680,8829,0.00,2.53,0.00,0.000,2308,0.000,0.085,2612,3557,1810,1819,1801,0,0,0,0,0,0,14.51,14.14,14.52,6.16,50.00
$GC,8861,0.73,220.6,2613,3558,1819,1801,17.4,11.5,687,8864,0.00,2.38,0.00,0.000,3078,0.000,0.044,2622,2154,1809,1818,1800,0,0,0,0,0,0,14.36,14.23,14.38,6.16,50.15
$GC,8988,0.73,220.6,2623,2154,1818,1798,3.4,11.9,712,8992,0.00,2.25,0.00,0.000,2563,0.000,0.067,2633,839,1812,1817,1807,0,0,0,0,0,0,14.57,14.58,14.58,6.16,50.39
$STATE,8992,end climb,SURFACE_DEPTH_REACHED
$STATE,8992,begin surface coast
$STATE,9014,end surface coast,CONTROL_FINISHED_OK
$STATE,9014,begin surface
$SM_CCo,9094,0.00,0.000,0,0,1805,224.45
$SM_GC,1.06,5.55,2.25,0.00,0.042,0.054,0.000,211,2105,1805,-6.49,-0.74,224.45,0,0,0,0,0,0,14.42,14.28,14.45
$IRIDIUM_FIX,-5952.63,0.00,200219,224917
$TT8_MAMPS,0.038948,0.354277
$HUMID,50.74
$INTERNAL_PRESSURE,6.08944
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3602048
$24V_AH,12.86,119.996
$10V_AH,13.39,0.000
$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,13.300,82.575,323.525,0.000,0.000,26.011,37.170,121.352,0.000,0.000,20.490,0.000,7154.811,395.288,1637.096,288.826,0.000,1057.206,0.000,1176.359,0.000,0.539,0.000
$DEVICE_MAMPS,416.160,2192.490,1578.195,0.000,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2495.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.265,0.000,0.000,0.000
$MEM,344120
$DATA_FILE_SIZE,20743,718
$CAP_FILE_SIZE,93546,0
$CFSIZE,1023623168,957612032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.009,144.01,1
$GPS,210219,040619,-5953.347,-0.955,14,0.8,37,-19.7,0.6,85.4,10,5.6