version: 66.14
glider: 640
mission: 5
dive: 586
start: 2 16 119 6 59 19
data:
$ID,640
$MISSION,5
$DIVE,586
$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,40
$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
$GPS1,160219,065249,-6006.4873,-2.0173,16,0.8,39,-19.7,0.3,7.5,9,5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.7
$GPS2,160219,065900,-6006.4829,-1.9796,6,1.0,13,-19.7,0.0,156.7,10,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,21.7,49081,-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,-146.0,214,2085,1783,1835,0.0,0.0,0,98,0.00,0.00,-82.03,0.000,16386,0.000,0.000,214,2084,3138,3217,3060,0,0,0,0,0,0,14.54,28.83,14.55,6.17,51.06
$GC,101,-0.64,-146.0,215,2085,3220,3062,3.1,-6.2,17,118,6.25,2.70,-6.53,0.000,18948,0.345,2.199,2174,698,3317,3413,3222,0,0,0,0,0,0,13.89,12.90,14.27,6.27,50.15
$GC,154,-0.64,-146.0,2174,699,3415,3224,12.9,-16.6,28,158,0.10,2.42,0.00,0.000,3078,0.332,0.055,2196,2100,3318,3414,3223,0,0,0,0,0,0,13.96,14.19,14.26,6.29,49.48
$GC,282,-0.64,-146.0,2197,2101,3415,3224,33.1,-15.9,53,284,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2100,3318,3414,3223,0,0,0,0,0,0,14.62,14.62,14.62,6.29,49.52
$GC,404,-0.64,-146.0,2197,2101,3415,3225,52.5,-14.1,78,408,0.00,2.50,0.00,0.000,260,0.000,0.081,2187,3504,3319,3415,3223,0,0,0,0,0,0,14.66,14.21,14.66,6.29,49.72
$GC,414,-0.64,-146.0,2187,3505,3414,3225,54.0,-14.2,80,418,0.00,2.38,0.00,0.000,3078,0.000,0.044,2186,2098,3319,3415,3223,0,0,0,0,0,0,14.37,14.23,14.40,6.29,50.31
$GC,542,-0.64,-146.0,2186,2097,3415,3225,71.3,-13.6,105,547,0.00,2.45,0.00,0.000,2564,0.000,0.063,2186,690,3319,3416,3223,0,0,0,0,0,0,14.66,14.27,14.67,6.30,50.11
$GC,615,-0.64,-146.0,2186,691,3415,3225,81.6,-13.2,120,619,0.05,2.45,0.00,0.000,3078,0.430,0.054,2191,2109,3319,3415,3224,0,0,0,0,0,0,14.03,14.31,14.29,6.29,48.74
$GC,742,-0.64,-146.0,2191,2110,3418,3224,98.3,-13.6,145,747,0.00,2.47,0.00,0.000,2308,0.000,0.083,2180,3506,3319,3414,3224,0,0,0,0,0,0,14.69,14.24,14.69,6.28,48.26
$GC,764,-0.64,-146.0,2181,3506,3416,3224,101.1,-13.7,149,768,0.00,2.35,0.00,0.000,3078,0.000,0.044,2180,2101,3319,3415,3224,0,0,0,0,0,0,14.38,14.26,14.40,6.29,48.42
$GC,1074,-0.64,-146.0,2180,2101,3416,3225,146.3,-14.3,165,1078,0.00,2.45,0.00,0.000,2564,0.000,0.062,2179,693,3319,3415,3224,0,0,0,0,0,0,14.76,14.30,14.76,6.28,49.25
$GC,1129,-0.64,-146.0,2180,692,3415,3225,151.9,-14.1,167,1133,0.08,2.42,0.00,0.000,3078,0.363,0.054,2193,2102,3319,3414,3224,0,0,0,0,0,0,14.02,14.27,14.32,6.29,49.84
$GC,1450,-0.64,-146.0,2193,2102,3416,3224,194.8,-12.9,184,1453,0.00,2.50,0.00,0.000,2308,0.000,0.083,2182,3503,3319,3414,3224,0,0,0,0,0,0,14.78,14.28,14.79,6.30,50.63
$GC,1494,-0.64,-146.0,2182,3502,3416,3224,199.4,-12.9,186,1498,0.00,2.35,0.00,0.000,3078,0.000,0.043,2182,2095,3319,3415,3224,0,0,0,0,0,0,14.42,14.30,14.46,6.29,50.55
$GC,1799,-0.64,-146.0,2183,2094,3416,3224,240.7,-13.3,201,1803,0.00,2.42,0.00,0.000,2564,0.000,0.062,2181,697,3319,3414,3224,0,0,0,0,0,0,14.81,14.32,14.81,6.30,50.82
$GC,1839,-0.64,-146.0,2181,697,3416,3223,245.6,-13.6,203,1843,0.08,2.42,0.00,0.000,3078,0.353,0.054,2195,2108,3319,3414,3224,0,0,0,0,0,0,14.05,14.32,14.33,6.30,50.82
$GC,2149,-0.64,-146.0,2195,2108,3415,3225,286.6,-13.0,219,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2107,3319,3414,3224,0,0,0,0,0,0,14.81,14.81,14.81,6.30,51.57
$GC,2450,-0.64,-146.0,2195,2108,3415,3225,324.3,-12.3,234,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2107,3319,3415,3224,0,0,0,0,0,0,14.83,14.83,14.82,6.30,51.14
$STATE,2667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2667,begin apogee
$GC,2673,-0.15,0.0,2196,2156,3415,3224,351.0,-12.0,245,2802,0.45,0.00,125.95,1.582,10246,0.249,0.000,2352,2156,2718,2778,2659,0,0,0,0,0,0,14.02,13.88,13.12,6.31,51.14
$STATE,2803,end apogee,CONTROL_FINISHED_OK
$STATE,2803,begin loiter
$GC,3089,-0.15,0.0,2352,2156,2771,2644,347.9,3.3,266,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2156,2707,2771,2643,0,0,0,0,0,0,14.56,14.57,14.57,6.27,50.31
$GC,3390,-0.15,0.0,2353,2156,2773,2641,338.6,3.2,281,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2156,2706,2771,2641,0,0,0,0,0,0,14.73,14.73,14.73,6.26,50.94
$GC,3690,-0.15,0.0,2352,2157,2771,2641,329.7,3.0,296,3690,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2156,2705,2771,2640,0,0,0,0,0,0,14.81,14.81,14.81,6.27,50.98
$GC,3989,-0.15,0.0,2352,2156,2771,2641,320.5,3.0,311,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2156,2705,2771,2639,0,0,0,0,0,0,14.87,14.87,14.87,6.26,51.57
$GC,4289,-0.15,0.0,2353,2156,2771,2640,311.8,2.8,326,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2156,2704,2770,2639,0,0,0,0,0,0,14.90,14.91,14.91,6.27,51.53
$GC,4590,-0.15,0.0,2353,2156,2772,2639,303.5,2.5,341,4591,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2156,2704,2770,2638,0,0,0,0,0,0,14.93,14.93,14.94,6.26,51.45
$GC,4890,-0.15,0.0,2352,2156,2771,2639,296.4,2.2,356,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2156,2704,2771,2638,0,0,0,0,0,0,14.95,14.96,14.96,6.27,51.49
$GC,5190,-0.15,0.0,2353,2157,2771,2639,290.4,2.0,371,5191,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2156,2704,2771,2638,0,0,0,0,0,0,14.97,14.97,14.97,6.27,51.77
$GC,5490,-0.15,0.0,2352,2157,2771,2639,285.4,1.6,386,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2156,2704,2771,2638,0,0,0,0,0,0,14.99,14.99,14.99,6.26,51.41
$GC,5790,-0.15,0.0,2353,2157,2771,2639,279.6,2.0,401,5790,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2156,2704,2771,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.26,51.45
$GC,6089,-0.15,0.0,2353,2157,2771,2639,271.9,2.9,416,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2156,2704,2771,2638,0,0,0,0,0,0,15.01,15.02,15.02,6.26,51.57
$STATE,6387,end loiter,LOITER_COMPLETE
$STATE,6387,begin climb
$GC,6390,0.64,146.0,2353,2156,2771,2638,261.8,0.0,431,6530,0.62,2.58,130.45,1.435,11012,0.164,0.065,2608,755,2117,2136,2099,0,0,0,0,0,0,14.30,13.95,13.26,6.26,51.57
$GC,6565,0.64,146.0,2609,756,2133,2094,250.1,9.0,439,6569,0.00,2.45,0.00,0.000,5126,0.000,0.052,2609,2150,2112,2131,2093,0,0,0,0,0,0,14.14,14.02,14.15,6.21,49.56
$GC,6886,0.64,146.0,2609,2151,2127,2086,209.4,12.2,456,6889,0.00,2.53,0.00,0.000,4356,0.000,0.083,2609,3558,2105,2125,2085,0,0,0,0,0,0,14.57,14.16,14.57,6.21,50.63
$GC,6975,0.64,146.0,2609,3560,2126,2086,199.5,12.4,460,6979,0.00,2.38,0.00,0.000,5126,0.000,0.044,2619,2152,2108,2126,2090,0,0,0,0,0,0,14.40,14.29,14.42,6.21,50.74
$GC,7281,0.64,146.0,2620,2153,2125,2084,159.6,12.4,475,7284,0.00,2.47,0.00,0.000,4612,0.000,0.067,2630,744,2102,2123,2081,0,0,0,0,0,0,14.69,14.27,14.69,6.21,50.82
$GC,7346,0.64,146.0,2631,745,2120,2082,153.1,12.0,478,7350,0.08,2.42,0.00,0.000,5126,0.318,0.052,2604,2160,2100,2120,2081,0,0,0,0,0,0,14.09,14.32,14.36,6.21,50.90
$GC,7650,0.64,146.0,2604,2161,2121,2080,120.0,10.2,493,7654,0.00,2.47,0.00,0.000,260,0.000,0.082,2604,3556,2099,2120,2079,0,0,0,0,0,0,14.75,14.28,14.75,6.20,50.90
$GC,7735,0.64,146.0,2603,3557,2121,2079,112.4,10.2,497,7739,0.00,2.35,0.00,0.000,5126,0.000,0.044,2613,2149,2100,2122,2078,0,0,0,0,0,0,14.52,14.40,14.54,6.20,50.63
$GC,8040,0.64,146.0,2614,2150,2121,2078,82.8,9.8,539,8044,0.00,2.47,0.00,0.000,4612,0.000,0.067,2625,736,2099,2120,2078,0,0,0,0,0,0,14.76,14.32,14.76,6.19,50.15
$GC,8105,0.64,146.0,2625,737,2120,2079,76.7,9.4,552,8110,0.05,2.42,0.00,0.000,5126,0.378,0.052,2606,2153,2098,2119,2078,0,0,0,0,0,0,14.14,14.37,14.40,6.18,50.15
$GC,8233,0.64,146.0,2607,2153,2123,2078,65.0,9.3,577,8242,0.00,2.50,0.00,0.000,260,0.000,0.084,2606,3560,2098,2118,2078,0,0,0,0,0,0,14.73,14.28,14.75,6.18,49.33
$GC,8297,0.64,146.0,2607,3561,2120,2078,58.6,9.2,590,8300,0.00,2.38,0.00,0.000,5126,0.000,0.044,2616,2142,2098,2118,2078,0,0,0,0,0,0,14.53,14.40,14.56,6.17,48.89
$GC,8424,0.64,146.0,2617,2143,2119,2079,47.5,9.0,615,8430,0.00,2.45,0.00,0.000,4612,0.000,0.067,2627,742,2097,2118,2077,0,0,0,0,0,0,14.75,14.31,14.76,6.17,49.33
$GC,8467,0.65,154.0,2628,743,2119,2077,43.7,8.0,624,8471,0.08,2.40,0.00,0.000,5126,0.315,0.052,2601,2150,2097,2117,2077,0,0,0,0,0,0,14.07,14.27,14.33,6.17,49.25
$GC,8595,0.69,192.0,2601,2150,2117,2078,35.0,6.9,649,8640,0.00,2.50,40.88,1.241,10500,0.000,0.083,2601,3551,1932,1946,1919,0,0,0,0,0,0,14.75,14.27,13.62,6.17,49.80
$GC,8692,0.69,192.0,2601,3552,1946,1917,26.8,8.9,669,8696,0.00,2.38,0.00,0.000,3078,0.000,0.044,2610,2149,1931,1946,1916,0,0,0,0,0,0,14.40,14.31,14.41,6.16,49.76
$GC,8819,0.69,192.0,2611,2149,1945,1912,15.4,9.5,694,8824,0.00,2.47,0.00,0.000,2564,0.000,0.067,2621,741,1927,1943,1912,0,0,0,0,0,0,14.59,14.23,14.59,6.16,50.86
$GC,8882,0.69,192.0,2622,743,1943,1911,9.4,9.2,707,8886,0.00,2.42,0.00,0.000,1030,0.000,0.052,2621,2149,1926,1942,1911,0,0,0,0,0,0,14.40,14.28,14.43,6.17,50.55
$STATE,8944,end climb,SURFACE_DEPTH_REACHED
$STATE,8944,begin surface coast
$STATE,8971,end surface coast,CONTROL_FINISHED_OK
$STATE,8972,begin surface
$SM_CCo,8988,24.58,0.247,0,0,1821,220.03
$SM_GC,0.88,5.47,0.08,24.58,0.039,0.164,0.247,275,2079,1821,-6.44,0.99,220.03,0,0,0,0,0,0,14.47,14.35,14.03
$IRIDIUM_FIX,-6007.06,-4.32,160219,041400
$TT8_MAMPS,0.03745,0.346038
$HUMID,51.49
$INTERNAL_PRESSURE,6.10897
$TCM_TEMP,0.00
$XPDR_PINGS,1
$SC_FREEKB,3621184
$24V_AH,12.90,112.017
$10V_AH,13.44,0.000
$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,13.300,78.475,297.275,24.575,0.000,26.063,15.189,136.168,0.250,0.000,14.171,0.000,7090.753,393.048,1612.811,284.357,0.000,1049.206,0.000,1167.513,0.000,0.539,0.000
$DEVICE_MAMPS,429.930,2199.375,1582.020,247.095,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5400.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.435,0.000,0.000,0.000
$MEM,344112
$DATA_FILE_SIZE,20770,725
$CAP_FILE_SIZE,94174,0
$CFSIZE,1023623168,961855488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,8235.09,0x235724,1,24
$CURRENT,0.024,147.37,1
$GPS,160219,093035,-6005.991,-1.875,20,0.7,35,-19.7,0.6,248.3,11,9.8