version: 66.14
glider: 640
mission: 5
dive: 636
start: 2 21 119 20 18 8
data:
$ID,640
$MISSION,5
$DIVE,636
$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,30
$R_STBD_OVSHOOT,28
$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
$GPS1,210219,201125,-5956.5088,-0.2691,41,0.7,46,-19.7,0.3,29.9,11,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-67.4
$GPS2,210219,201748,-5956.5020,-0.2163,6,0.7,12,-19.7,0.4,30.0,12,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6003.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,193.7,12036,-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,-146.0,210,2092,1790,1829,0.0,0.0,0,104,0.00,0.00,-88.38,0.000,16386,0.000,0.000,209,2092,3222,3306,3139,0,0,0,0,0,0,14.59,28.83,14.60,6.17,51.10
$GC,107,-0.64,-146.0,210,2093,3307,3141,3.2,-7.4,18,124,6.22,2.78,-3.25,0.000,18948,0.339,2.190,2164,691,3317,3411,3224,0,0,0,0,0,0,13.87,12.86,14.27,6.29,49.92
$GC,145,-0.64,-146.0,2164,692,3413,3225,11.7,-20.1,26,149,0.12,2.45,0.00,0.000,3078,0.327,0.059,2195,2103,3319,3413,3225,0,0,0,0,0,0,14.00,14.28,14.29,6.30,49.13
$GC,272,-0.64,-146.0,2195,2103,3414,3224,31.0,-15.9,51,275,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2103,3318,3413,3224,0,0,0,0,0,0,14.69,14.69,14.69,6.30,49.33
$GC,395,-0.64,-146.0,2194,2104,3414,3226,50.9,-15.8,76,399,0.00,2.47,0.00,0.000,260,0.000,0.083,2185,3506,3318,3413,3224,0,0,0,0,0,0,14.74,14.25,14.74,6.30,49.72
$GC,450,-0.64,-146.0,2185,3508,3414,3225,59.5,-15.0,87,454,0.00,2.35,0.00,0.000,3078,0.000,0.042,2185,2093,3319,3413,3225,0,0,0,0,0,0,14.50,14.36,14.51,6.30,49.76
$GC,578,-0.64,-146.0,2185,2092,3415,3225,77.9,-14.5,112,584,0.00,2.45,0.00,0.000,2308,0.000,0.079,2174,3496,3319,3414,3225,0,0,0,0,0,0,14.76,14.23,14.76,6.30,49.40
$GC,610,-0.64,-146.0,2174,3498,3414,3225,82.9,-14.4,119,614,0.05,2.33,0.00,0.000,3078,0.412,0.042,2190,2098,3319,3413,3225,0,0,0,0,0,0,14.09,14.39,14.34,6.29,49.09
$GC,750,-0.64,-146.0,2191,2096,3415,3225,103.0,-14.6,144,754,0.00,2.42,0.00,0.000,2564,0.000,0.063,2189,698,3319,3414,3225,0,0,0,0,0,0,14.83,14.33,14.83,6.28,48.22
$GC,790,-0.64,-146.0,2190,698,3414,3225,108.3,-14.8,146,794,0.00,2.40,0.00,0.000,3078,0.000,0.056,2180,2101,3319,3414,3225,0,0,0,0,0,0,14.52,14.36,14.54,6.29,48.85
$GC,1100,-0.64,-146.0,2181,2102,3415,3225,152.0,-13.9,162,1101,0.00,0.00,0.00,0.000,2054,0.000,0.000,2180,2102,3319,3414,3225,0,0,0,0,0,0,14.88,14.89,14.88,6.29,49.56
$GC,1400,-0.64,-146.0,2180,2102,3415,3226,192.3,-13.2,177,1404,0.00,2.42,0.00,0.000,2564,0.000,0.062,2180,693,3319,3413,3225,0,0,0,0,0,0,14.92,14.40,14.92,6.29,50.78
$GC,1420,-0.64,-146.0,2180,694,3414,3226,194.3,-13.2,178,1424,0.08,2.40,0.00,0.000,3078,0.364,0.056,2193,2102,3319,3414,3225,0,0,0,0,0,0,14.09,14.42,14.38,6.29,50.70
$GC,1730,-0.64,-146.0,2194,2103,3415,3225,233.3,-12.4,194,1731,0.00,0.00,0.00,0.000,2054,0.000,0.000,2193,2102,3319,3413,3225,0,0,0,0,0,0,14.94,14.95,14.95,6.30,50.82
$GC,2030,-0.64,-146.0,2194,2103,3415,3225,270.7,-12.5,209,2034,0.00,2.45,0.00,0.000,2308,0.000,0.083,2182,3505,3319,3413,3225,0,0,0,0,0,0,14.97,14.37,14.97,6.30,51.10
$GC,2060,-0.64,-146.0,2183,3506,3415,3225,272.6,-12.5,210,2064,0.00,2.33,0.00,0.000,3078,0.000,0.042,2182,2090,3319,3414,3225,0,0,0,0,0,0,14.64,14.51,14.66,6.30,50.94
$GC,2380,-0.64,-146.0,2182,2090,3414,3226,315.3,-12.6,227,2384,0.00,2.40,0.00,0.000,2564,0.000,0.062,2182,693,3319,3413,3225,0,0,0,0,0,0,14.98,14.42,14.98,6.31,51.06
$GC,2440,-0.64,-146.0,2182,693,3415,3225,323.0,-12.8,230,2444,0.08,2.40,0.00,0.000,3078,0.357,0.056,2195,2101,3319,3414,3225,0,0,0,0,0,0,14.12,14.46,14.40,6.31,51.14
$STATE,2677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2677,begin apogee
$GC,2684,-0.15,0.0,2196,2169,3415,3225,351.3,-11.8,242,2811,0.45,0.00,124.15,1.592,10246,0.249,0.000,2354,2169,2717,2776,2658,0,0,0,0,0,0,14.07,13.93,13.16,6.31,51.10
$STATE,2812,end apogee,CONTROL_FINISHED_OK
$STATE,2812,begin loiter
$GC,3100,-0.15,0.0,2354,2169,2773,2644,349.5,2.9,263,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2169,2707,2771,2644,0,0,0,0,0,0,14.60,14.60,14.60,6.27,50.43
$GC,3400,-0.15,0.0,2354,2169,2772,2642,341.3,2.8,278,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2169,2707,2771,2643,0,0,0,0,0,0,14.75,14.76,14.76,6.27,51.57
$GC,3700,-0.15,0.0,2354,2169,2771,2643,333.4,2.6,293,3701,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2169,2706,2771,2642,0,0,0,0,0,0,14.83,14.83,14.83,6.27,50.90
$GC,4000,-0.15,0.0,2354,2169,2771,2641,325.9,2.4,308,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2169,2706,2771,2641,0,0,0,0,0,0,14.88,14.88,14.88,6.27,51.18
$GC,4300,-0.15,0.0,2354,2169,2771,2642,318.8,2.4,323,4301,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2169,2705,2771,2640,0,0,0,0,0,0,14.92,14.92,14.92,6.27,51.81
$GC,4600,-0.15,0.0,2354,2169,2773,2640,311.0,2.7,338,4601,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2169,2705,2770,2640,0,0,0,0,0,0,14.94,14.95,14.95,6.27,51.89
$GC,4900,-0.15,0.0,2354,2169,2771,2641,302.4,2.9,353,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2168,2705,2770,2640,0,0,0,0,0,0,14.96,14.97,14.97,6.27,51.85
$GC,5200,-0.15,0.0,2354,2169,2771,2641,294.1,2.8,368,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2169,2705,2771,2640,0,0,0,0,0,0,14.97,14.98,14.98,6.27,51.41
$GC,5500,-0.15,0.0,2354,2169,2773,2640,286.1,2.7,383,5501,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2169,2705,2771,2640,0,0,0,0,0,0,14.99,15.00,15.00,6.27,51.33
$GC,5800,-0.15,0.0,2354,2169,2771,2641,278.2,2.8,398,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2168,2705,2771,2640,0,0,0,0,0,0,15.00,15.01,15.01,6.27,52.16
$GC,6100,-0.15,0.0,2354,2169,2771,2641,269.6,3.0,413,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2168,2704,2770,2639,0,0,0,0,0,0,15.01,15.02,15.02,6.27,51.26
$STATE,6397,end loiter,LOITER_COMPLETE
$STATE,6398,begin climb
$GC,6400,0.64,146.0,2353,2169,2770,2641,260.6,0.0,428,6540,0.62,2.53,130.12,1.436,11012,0.161,0.083,2601,3532,2120,2140,2100,0,0,0,0,0,0,14.29,13.80,13.24,6.26,51.49
$GC,6621,0.64,146.0,2600,3532,2137,2092,243.8,10.5,439,6624,0.00,2.35,0.00,0.000,5126,0.000,0.042,2610,2150,2113,2135,2092,0,0,0,0,0,0,14.20,14.09,14.21,6.21,49.17
$GC,6936,0.64,146.0,2610,2151,2129,2085,208.8,11.1,455,6939,0.00,2.47,0.00,0.000,4612,0.000,0.066,2621,746,2107,2128,2086,0,0,0,0,0,0,14.60,14.21,14.60,6.21,50.74
$GC,6971,0.64,146.0,2622,746,2127,2085,205.0,11.0,457,6975,0.05,2.40,0.00,0.000,5126,0.372,0.054,2603,2133,2105,2126,2085,0,0,0,0,0,0,14.04,14.26,14.30,6.21,50.59
$GC,7288,0.64,146.0,2604,2135,2126,2083,171.8,10.4,473,7292,0.00,2.55,0.00,0.000,260,0.000,0.083,2603,3563,2103,2125,2082,0,0,0,0,0,0,14.69,14.16,14.69,6.21,50.90
$GC,7382,0.64,146.0,2603,3564,2125,2083,163.4,10.2,477,7386,0.00,2.38,0.00,0.000,5126,0.000,0.042,2613,2146,2103,2125,2082,0,0,0,0,0,0,14.50,14.38,14.52,6.21,50.98
$GC,7702,0.64,146.0,2613,2147,2125,2081,129.0,10.1,494,7706,0.00,2.45,0.00,0.000,4612,0.000,0.066,2624,745,2099,2125,2074,0,0,0,0,0,0,14.77,14.32,14.76,6.20,50.90
$GC,7742,0.64,146.0,2624,745,2123,2079,125.7,10.0,496,7746,0.05,2.42,0.00,0.000,5126,0.369,0.054,2606,2162,2100,2121,2079,0,0,0,0,0,0,14.14,14.35,14.40,6.21,51.65
$GC,8050,0.64,146.0,2606,2162,2123,2078,97.1,9.5,514,8055,0.00,2.45,0.00,0.000,260,0.000,0.083,2605,3553,2100,2122,2078,0,0,0,0,0,0,14.75,14.26,14.76,6.20,50.43
$GC,8132,0.64,146.0,2606,3554,2121,2080,88.9,9.3,531,8136,0.00,2.33,0.00,0.000,5126,0.000,0.041,2615,2149,2100,2121,2079,0,0,0,0,0,0,14.54,14.42,14.57,6.19,50.07
$GC,8259,0.64,146.0,2615,2149,2123,2080,77.0,9.9,556,8266,0.00,2.42,0.00,0.000,4612,0.000,0.065,2626,751,2101,2121,2081,0,0,0,0,0,0,14.76,14.28,14.76,6.18,49.76
$GC,8317,0.64,146.0,2627,751,2121,2078,71.3,9.5,568,8321,0.08,2.40,0.00,0.000,5126,0.311,0.054,2600,2157,2099,2120,2078,0,0,0,0,0,0,14.06,14.36,14.34,6.18,49.84
$GC,8443,0.64,146.1,2600,2158,2121,2079,60.2,8.3,593,8447,0.00,2.47,0.00,0.000,2308,0.000,0.083,2600,3556,2099,2120,2078,0,0,0,0,0,0,14.74,14.28,14.75,6.18,49.72
$GC,8517,0.64,146.1,2601,3556,2122,2078,53.7,9.0,608,8521,0.00,2.35,0.00,0.000,5126,0.000,0.042,2609,2141,2099,2121,2078,0,0,0,0,0,0,14.54,14.41,14.54,6.18,49.68
$GC,8645,0.64,146.1,2609,2142,2121,2079,42.9,8.6,633,8649,0.00,2.45,0.00,0.000,4612,0.000,0.066,2620,742,2099,2120,2078,0,0,0,0,0,0,14.76,14.32,14.76,6.17,50.31
$GC,8679,0.64,146.1,2621,742,2121,2077,39.7,8.7,640,8683,0.05,2.42,0.00,0.000,5126,0.368,0.053,2602,2159,2098,2120,2077,0,0,0,0,0,0,14.14,14.36,14.40,6.18,50.03
$GC,8804,0.64,151.7,2602,2160,2122,2078,29.7,8.1,665,8808,0.00,2.45,0.00,0.000,2308,0.000,0.083,2602,3551,2098,2120,2077,0,0,0,0,0,0,14.76,14.26,14.76,6.19,50.86
$GC,8859,0.64,151.7,2603,3551,2121,2077,24.8,9.1,676,8862,0.00,2.35,0.00,0.000,5126,0.000,0.041,2611,2140,2098,2120,2077,0,0,0,0,0,0,14.53,14.40,14.55,6.19,50.74
$GC,8986,0.64,151.7,2612,2139,2121,2078,14.5,9.0,701,8991,0.00,2.42,0.00,0.000,4612,0.000,0.066,2622,746,2098,2120,2077,0,0,0,0,0,0,14.76,14.31,14.76,6.19,50.98
$GC,9041,0.67,171.7,2623,747,2121,2076,9.4,7.6,712,9064,0.00,2.40,18.73,0.281,13318,0.000,0.056,2622,2147,2019,2035,2003,0,0,0,0,0,0,14.51,14.35,14.02,6.19,51.14
$STATE,9108,end climb,SURFACE_DEPTH_REACHED
$STATE,9108,begin surface coast
$STATE,9135,end surface coast,CONTROL_FINISHED_OK
$STATE,9136,begin surface
$SM_CCo,9153,45.65,0.239,0,0,1823,220.03
$SM_GC,1.08,5.65,0.05,45.65,0.078,0.206,0.239,228,2077,1823,-6.44,1.19,220.03,0,0,0,0,0,0,14.53,14.47,14.07
$IRIDIUM_FIX,-5955.58,0.00,210219,173051
$TT8_MAMPS,0.038199,0.220955
$HUMID,50.70
$INTERNAL_PRESSURE,6.10897
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3599808
$24V_AH,12.86,121.202
$10V_AH,13.48,0.000
$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,13.500,82.650,273.000,45.650,0.000,25.982,34.893,125.502,0.000,0.000,13.176,0.000,7236.302,321.637,1715.200,306.102,0.000,1061.380,0.000,1178.552,0.000,0.540,0.000
$DEVICE_MAMPS,411.570,2190.195,1591.965,239.445,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2748.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.226,0.000,0.000,0.000
$MEM,344068
$DATA_FILE_SIZE,20784,731
$CAP_FILE_SIZE,97216,0
$CFSIZE,1023623168,956923904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.006,161.12,1
$GPS,210219,225231,-5957.068,0.109,11,0.7,35,-19.7,0.0,9.2,10,7.3