version: 66.14
glider: 640
mission: 5
dive: 640
start: 2 22 119 7 1 11
data:
$ID,640
$MISSION,5
$DIVE,640
$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,59
$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
$GPS1,220219,065431,-5958.4893,0.2374,15,0.7,32,-19.7,0.4,90.2,11,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-68.0
$GPS2,220219,070050,-5958.5034,0.2192,7,0.7,19,-19.7,0.5,184.0,10,7.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6003.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,190.9,8330,-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,-146.0,231,2069,1788,1831,0.0,0.0,0,98,0.00,0.00,-81.72,0.000,16386,0.000,0.000,231,2068,3121,3204,3039,0,0,0,0,0,0,14.60,28.83,14.60,6.17,51.29
$GC,101,-0.64,-146.0,231,2069,3205,3041,3.1,-5.6,17,122,6.20,2.85,-7.15,0.000,18692,0.344,2.207,2180,3502,3316,3413,3220,0,0,0,0,0,0,13.87,13.09,14.28,6.28,50.51
$GC,165,-0.64,-146.0,2180,3503,3415,3223,13.5,-15.1,30,169,0.00,2.30,0.00,0.000,3078,0.000,0.042,2179,2128,3317,3414,3221,0,0,0,0,0,0,14.44,14.33,14.46,6.29,49.33
$GC,290,-0.64,-146.0,2179,2127,3415,3223,34.1,-16.8,55,294,0.00,2.50,0.00,0.000,2564,0.000,0.063,2179,692,3318,3414,3222,0,0,0,0,0,0,14.72,14.27,14.72,6.30,49.76
$GC,319,-0.64,-146.0,2180,693,3415,3222,38.8,-15.2,61,323,0.08,2.45,0.00,0.000,3078,0.356,0.060,2192,2100,3318,3414,3222,0,0,0,0,0,0,14.01,14.29,14.29,6.30,49.37
$GC,447,-0.64,-146.0,2193,2101,3415,3224,57.2,-14.7,86,451,0.00,2.50,0.00,0.000,2308,0.000,0.085,2182,3514,3318,3414,3222,0,0,0,0,0,0,14.75,14.25,14.75,6.30,50.55
$GC,496,-0.64,-146.0,2182,3515,3415,3223,64.5,-13.2,96,500,0.00,2.38,0.00,0.000,3078,0.000,0.044,2181,2092,3318,3414,3222,0,0,0,0,0,0,14.50,14.37,14.52,6.30,50.55
$GC,624,-0.64,-146.0,2181,2092,3415,3223,80.3,-13.1,121,630,0.00,2.40,0.00,0.000,2564,0.000,0.063,2181,699,3318,3414,3222,0,0,0,0,0,0,14.77,14.28,14.77,6.30,49.84
$GC,759,-0.64,-146.0,2181,700,3415,3223,98.8,-13.9,148,764,0.05,2.40,0.00,0.000,3078,0.415,0.054,2191,2102,3317,3413,3222,0,0,0,0,0,0,14.03,14.35,14.19,6.29,48.42
$GC,886,-0.64,-146.0,2192,2102,3415,3223,117.3,-14.2,156,890,0.00,2.50,0.00,0.000,2308,0.000,0.084,2181,3508,3318,3414,3222,0,0,0,0,0,0,14.85,14.30,14.84,6.29,47.99
$GC,946,-0.64,-146.0,2181,3509,3416,3223,125.4,-14.5,159,950,0.00,2.35,0.00,0.000,3078,0.000,0.042,2180,2092,3318,3414,3223,0,0,0,0,0,0,14.56,14.42,14.58,6.28,48.70
$GC,1256,-0.64,-146.0,2181,2091,3414,3224,170.5,-13.1,175,1260,0.00,2.40,0.00,0.000,2564,0.000,0.062,2180,695,3318,3414,3223,0,0,0,0,0,0,14.90,14.38,14.90,6.29,49.33
$GC,1356,-0.64,-146.0,2180,696,3414,3224,182.4,-12.3,180,1360,0.08,2.40,0.00,0.000,3078,0.363,0.055,2193,2102,3318,3414,3223,0,0,0,0,0,0,14.08,14.40,14.37,6.29,49.76
$GC,1666,-0.64,-146.0,2193,2103,3415,3224,219.8,-12.2,196,1670,0.00,2.45,0.00,0.000,2308,0.000,0.083,2182,3504,3318,3414,3222,0,0,0,0,0,0,14.93,14.35,14.93,6.30,50.78
$GC,1696,-0.64,-146.0,2183,3505,3415,3223,222.3,-12.3,197,1700,0.00,2.33,0.00,0.000,3078,0.000,0.043,2181,2094,3318,3414,3223,0,0,0,0,0,0,14.61,14.47,14.63,6.29,50.55
$GC,2001,-0.64,-146.0,2181,2093,3415,3224,261.4,-12.4,212,2005,0.00,2.40,0.00,0.000,2564,0.000,0.062,2181,696,3318,3414,3223,0,0,0,0,0,0,14.95,14.42,14.95,6.31,51.45
$GC,2081,-0.64,-146.0,2182,696,3415,3223,270.9,-12.6,216,2085,0.08,2.40,0.00,0.000,3078,0.357,0.055,2194,2105,3318,3414,3223,0,0,0,0,0,0,14.11,14.43,14.39,6.31,50.86
$GC,2391,-0.64,-146.0,2195,2106,3414,3224,307.8,-11.4,232,2395,0.00,2.45,0.00,0.000,260,0.000,0.083,2184,3504,3318,3414,3223,0,0,0,0,0,0,14.97,14.37,14.97,6.31,51.06
$GC,2446,-0.64,-146.0,2185,3505,3415,3222,314.0,-11.3,235,2450,0.00,2.33,0.00,0.000,3078,0.000,0.042,2184,2089,3318,3414,3223,0,0,0,0,0,0,14.64,14.50,14.66,6.30,51.45
$STATE,2758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2758,begin apogee
$GC,2765,-0.15,0.0,2184,2159,3415,3224,350.7,-11.6,251,2893,0.47,0.00,124.72,1.581,10246,0.253,0.000,2349,2157,2715,2774,2656,0,0,0,0,0,0,14.04,13.93,13.14,6.31,51.18
$STATE,2894,end apogee,CONTROL_FINISHED_OK
$STATE,2894,begin loiter
$GC,3181,-0.15,0.0,2350,2158,2772,2644,346.9,3.3,272,3182,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2707,2771,2644,0,0,0,0,0,0,14.60,14.60,14.60,6.27,51.29
$GC,3481,-0.15,0.0,2349,2159,2771,2644,337.4,3.2,287,3482,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2706,2770,2643,0,0,0,0,0,0,14.75,14.76,14.75,6.27,51.22
$GC,3781,-0.15,0.0,2350,2158,2772,2642,328.0,3.1,302,3782,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2158,2706,2771,2642,0,0,0,0,0,0,14.83,14.83,14.83,6.26,51.14
$GC,4081,-0.15,0.0,2350,2159,2771,2642,318.9,3.0,317,4082,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2157,2705,2770,2641,0,0,0,0,0,0,14.88,14.88,14.88,6.26,51.69
$GC,4381,-0.15,0.0,2349,2158,2771,2642,309.9,3.1,332,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2158,2705,2770,2640,0,0,0,0,0,0,14.92,14.92,14.92,6.27,51.89
$GC,4681,-0.15,0.0,2350,2158,2771,2641,300.3,3.3,347,4682,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2705,2770,2640,0,0,0,0,0,0,14.94,14.95,14.95,6.26,51.10
$GC,4981,-0.15,0.0,2349,2158,2772,2640,290.3,3.4,362,4982,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2705,2770,2640,0,0,0,0,0,0,14.96,14.97,14.96,6.26,51.18
$GC,5281,-0.15,0.0,2350,2158,2770,2641,280.7,3.0,377,5282,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2705,2771,2640,0,0,0,0,0,0,14.97,14.98,14.98,6.26,51.45
$GC,5581,-0.15,0.0,2350,2158,2771,2640,272.1,2.8,392,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2158,2705,2770,2640,0,0,0,0,0,0,14.99,15.00,15.00,6.26,51.85
$GC,5881,-0.15,0.0,2350,2158,2772,2640,264.0,2.6,407,5882,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2705,2770,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.26,51.77
$GC,6181,-0.15,0.0,2350,2158,2771,2639,256.3,2.5,422,6182,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2705,2770,2640,0,0,0,0,0,0,15.01,15.02,15.02,6.26,51.29
$STATE,6479,end loiter,LOITER_COMPLETE
$STATE,6479,begin climb
$GC,6482,0.64,146.0,2350,2158,2772,2638,248.9,0.0,437,6621,0.62,2.58,131.00,1.424,10756,0.170,0.061,2605,752,2117,2135,2099,0,0,0,0,0,0,14.26,13.80,13.24,6.27,51.45
$GC,6717,0.64,146.0,2604,751,2131,2093,234.7,8.6,448,6721,0.00,2.42,0.00,0.000,1030,0.000,0.052,2604,2140,2110,2130,2091,0,0,0,0,0,0,14.19,14.08,14.21,6.21,49.76
$GC,7022,0.64,146.0,2605,2140,2127,2085,202.0,10.7,464,7025,0.00,2.53,0.00,0.000,260,0.000,0.085,2600,3554,2105,2125,2085,0,0,0,0,0,0,14.61,14.19,14.61,6.21,50.51
$GC,7092,0.64,146.0,2604,3556,2127,2087,195.3,11.0,467,7096,0.00,2.35,0.00,0.000,5126,0.000,0.043,2615,2154,2105,2125,2085,0,0,0,0,0,0,14.42,14.31,14.45,6.21,50.15
$GC,7397,0.64,146.0,2615,2153,2123,2082,160.5,11.1,482,7400,0.00,2.47,0.00,0.000,4612,0.000,0.065,2626,739,2102,2123,2081,0,0,0,0,0,0,14.71,14.28,14.72,6.21,50.86
$GC,7437,0.64,146.0,2626,739,2122,2080,156.7,11.0,484,7441,0.08,2.42,0.00,0.000,5126,0.310,0.054,2599,2154,2100,2121,2080,0,0,0,0,0,0,14.09,14.32,14.37,6.21,50.98
$GC,7747,0.64,146.0,2602,2155,2122,2078,124.0,10.1,500,7750,0.00,2.47,0.00,0.000,2308,0.000,0.083,2599,3553,2099,2121,2078,0,0,0,0,0,0,14.77,14.28,14.77,6.21,50.78
$GC,7817,0.64,146.0,2600,3554,2121,2080,118.0,10.8,503,7820,0.00,2.33,0.00,0.000,5126,0.000,0.042,2608,2149,2099,2121,2078,0,0,0,0,0,0,14.53,14.40,14.55,6.20,50.59
$GC,8122,0.64,146.0,2608,2149,2121,2078,82.8,10.2,541,8125,0.00,2.45,0.00,0.000,4612,0.000,0.064,2619,745,2098,2119,2078,0,0,0,0,0,0,14.78,14.33,14.78,6.19,50.00
$GC,8162,0.64,146.0,2620,744,2120,2078,78.8,9.9,549,8166,0.05,2.40,0.00,0.000,5126,0.371,0.052,2601,2152,2096,2120,2072,0,0,0,0,0,0,14.15,14.37,14.40,6.18,50.19
$GC,8287,0.64,148.6,2602,2152,2121,2077,67.8,8.2,574,8290,0.00,2.47,0.00,0.000,260,0.000,0.085,2601,3553,2098,2120,2077,0,0,0,0,0,0,14.74,14.28,14.75,6.18,50.19
$GC,8352,0.65,156.2,2602,3553,2121,2077,62.4,8.0,587,8362,0.00,2.35,5.35,1.260,9222,0.000,0.043,2611,2141,2082,2102,2063,0,0,0,0,0,0,14.52,14.42,13.45,6.18,49.76
$GC,8482,0.66,167.4,2611,2142,2101,2063,52.3,7.9,613,8496,0.00,0.00,12.88,1.301,8198,0.000,0.000,2611,2141,2036,2053,2019,0,0,0,0,0,0,14.72,14.40,13.60,6.18,49.68
$GC,8620,0.67,174.6,2611,2141,2050,2012,41.3,8.1,640,8630,0.00,0.00,7.80,1.278,10246,0.000,0.000,2610,2141,2004,2020,1988,0,0,0,0,0,0,14.68,14.11,13.50,6.17,49.96
$GC,8755,0.68,181.6,2610,2142,2019,1986,30.7,8.1,667,8766,0.00,2.42,7.10,1.252,10756,0.000,0.063,2621,745,1974,1990,1959,0,0,0,0,0,0,14.66,14.11,13.47,6.17,50.59
$GC,8792,0.68,181.6,2616,746,1990,1959,27.4,8.4,675,8796,0.00,2.40,0.00,0.000,5126,0.000,0.053,2622,2149,1973,1988,1959,0,0,0,0,0,0,14.47,14.33,14.48,6.18,50.63
$GC,8919,0.68,181.6,2622,2149,1990,1957,16.2,8.4,700,8924,0.00,2.50,0.00,0.000,4356,0.000,0.086,2621,3555,1973,1989,1957,0,0,0,0,0,0,14.66,14.21,14.66,6.18,50.82
$GC,8979,0.68,181.6,2622,3553,1990,1957,9.9,10.3,712,8983,0.00,2.30,0.00,0.000,5126,0.000,0.043,2632,2149,1973,1990,1957,0,0,0,0,0,0,14.39,14.25,14.40,6.18,51.33
$STATE,9041,end climb,SURFACE_DEPTH_REACHED
$STATE,9041,begin surface coast
$STATE,9066,end surface coast,CONTROL_FINISHED_OK
$STATE,9066,begin surface
$SM_CCo,9083,36.12,0.241,0,0,1823,220.03
$SM_GC,1.53,5.55,0.08,36.12,0.043,0.161,0.241,252,2064,1823,-6.50,0.90,220.03,0,0,0,0,0,0,14.52,14.40,14.04
$IRIDIUM_FIX,-5952.21,121.43,220219,041457
$TT8_MAMPS,0.038948,1.05085
$HUMID,51.53
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3598528
$24V_AH,13.09,121.898
$10V_AH,13.13,0.000
$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,13.250,82.825,288.850,36.125,0.000,41.188,13.178,121.731,0.000,0.000,21.160,0.000,7128.870,316.741,1749.987,300.863,0.000,1074.001,0.000,1215.019,0.000,0.540,0.000
$DEVICE_MAMPS,414.630,2207.025,1581.255,240.975,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2598.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.233,0.000,0.000,0.000
$MEM,344080
$DATA_FILE_SIZE,20780,730
$CAP_FILE_SIZE,98018,0
$CFSIZE,1023623168,956530688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.052,191.28,1
$GPS,220219,093419,-5959.203,0.446,16,1.0,40,-19.7,0.6,67.4,10,9.1