version: 66.14
glider: 640
mission: 5
dive: 598
start: 2 17 119 15 33 52
data:
$ID,640
$MISSION,5
$DIVE,598
$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,36
$R_STBD_OVSHOOT,30
$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
$GPS1,170219,152411,-6002.5259,-1.6565,40,0.7,50,-19.7,0.8,225.6,11,9.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-62.6
$GPS2,170219,153333,-6002.6460,-1.6837,9,0.8,14,-19.7,0.5,130.3,10,9.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,25.5,41970,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-0.64,-146.0,210,2116,1787,1830,0.0,0.0,0,108,0.00,0.00,-91.40,0.000,16386,0.000,0.000,209,2115,3270,3351,3189,0,0,0,0,0,0,14.56,28.83,14.56,6.17,51.53
$GC,111,-0.64,-146.0,210,2116,3354,3190,3.7,-8.8,19,124,6.28,2.70,-1.62,0.000,18948,0.352,2.183,2188,695,3317,3407,3227,0,0,0,0,0,0,13.85,12.88,14.26,6.29,49.96
$GC,139,-0.64,-146.0,2189,695,3410,3227,10.2,-21.5,25,144,0.05,2.40,0.00,0.000,3078,0.445,0.055,2192,2100,3318,3409,3227,0,0,0,0,0,0,14.00,14.28,14.28,6.30,49.25
$GC,267,-0.64,-146.0,2193,2100,3410,3228,32.5,-13.4,50,269,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2100,3318,3410,3227,0,0,0,0,0,0,14.68,14.68,14.68,6.30,48.97
$GC,390,-0.64,-146.0,2192,2100,3410,3228,52.0,-16.0,75,393,0.00,2.47,0.00,0.000,2308,0.000,0.083,2182,3507,3318,3410,3227,0,0,0,0,0,0,14.73,14.24,14.74,6.30,49.72
$GC,419,-0.64,-146.0,2182,3508,3410,3229,56.0,-12.5,81,424,0.00,2.35,0.00,0.000,3078,0.000,0.044,2181,2100,3318,3410,3227,0,0,0,0,0,0,14.48,14.35,14.50,6.30,49.44
$GC,545,-0.64,-146.0,2182,2099,3412,3227,73.4,-15.4,106,547,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2099,3318,3410,3227,0,0,0,0,0,0,14.78,14.78,14.78,6.30,49.92
$GC,669,-0.64,-146.0,2181,2100,3411,3229,92.4,-15.4,131,673,0.00,2.47,0.00,0.000,2308,0.000,0.082,2171,3507,3318,3410,3227,0,0,0,0,0,0,14.81,14.28,14.81,6.30,49.40
$GC,719,-0.64,-146.0,2171,3508,3411,3229,100.3,-15.9,141,724,0.08,2.35,0.00,0.000,3078,0.355,0.043,2196,2089,3318,3409,3227,0,0,0,0,0,0,14.05,14.40,14.33,6.29,48.66
$GC,1024,-0.64,-146.0,2197,2087,3412,3228,136.7,-13.0,157,1028,0.00,2.42,0.00,0.000,516,0.000,0.063,2196,686,3318,3410,3227,0,0,0,0,0,0,14.88,14.36,14.88,6.29,49.21
$GC,1084,-0.64,-146.0,2196,687,3412,3227,144.4,-13.0,160,1088,0.00,2.42,0.00,0.000,3078,0.000,0.057,2185,2107,3319,3411,3228,0,0,0,0,0,0,14.57,14.40,14.59,6.29,49.56
$GC,1405,-0.64,-146.0,2185,2108,3411,3229,184.1,-11.7,176,1408,0.00,2.42,0.00,0.000,2564,0.000,0.062,2185,695,3318,3410,3227,0,0,0,0,0,0,14.92,14.40,14.92,6.29,50.66
$GC,1424,-0.64,-146.0,2185,696,3412,3227,185.9,-11.8,177,1428,0.08,2.40,0.00,0.000,3078,0.369,0.055,2198,2105,3319,3411,3227,0,0,0,0,0,0,14.09,14.42,14.38,6.30,50.82
$GC,1735,-0.64,-146.0,2198,2105,3411,3226,221.8,-11.7,193,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2105,3318,3410,3227,0,0,0,0,0,0,14.94,14.94,14.94,6.30,50.66
$GC,2035,-0.64,-146.0,2198,2106,3411,3228,258.1,-12.2,208,2038,0.00,2.42,0.00,0.000,516,0.000,0.063,2198,696,3318,3410,3227,0,0,0,0,0,0,14.96,14.43,14.96,6.30,50.90
$GC,2059,-0.64,-146.0,2198,696,3411,3228,260.0,-12.2,209,2063,0.00,2.40,0.00,0.000,3078,0.000,0.055,2188,2106,3318,3410,3227,0,0,0,0,0,0,14.62,14.45,14.65,6.30,51.06
$GC,2370,-0.64,-146.0,2189,2107,3411,3229,300.0,-12.5,225,2371,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2106,3319,3410,3228,0,0,0,0,0,0,14.98,14.98,14.98,6.31,51.57
$GC,2670,-0.64,-146.0,2188,2107,3412,3228,337.6,-12.5,240,2671,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2106,3319,3410,3228,0,0,0,0,0,0,15.00,15.00,15.00,6.31,51.41
$STATE,2767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2767,begin apogee
$GC,2774,-0.15,0.0,2189,2160,3411,3228,350.0,-12.4,245,2899,0.47,0.00,122.25,1.633,10246,0.254,0.000,2354,2160,2716,2775,2657,0,0,0,0,0,0,14.07,13.94,13.16,6.31,51.18
$STATE,2899,end apogee,CONTROL_FINISHED_OK
$STATE,2899,begin loiter
$GC,3189,-0.15,0.0,2354,2160,2772,2643,347.7,3.0,266,3190,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2159,2707,2771,2643,0,0,0,0,0,0,14.59,14.60,14.60,6.27,50.86
$GC,3489,-0.15,0.0,2355,2160,2772,2642,339.0,2.9,281,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2706,2771,2642,0,0,0,0,0,0,14.75,14.75,14.75,6.27,50.98
$GC,3789,-0.15,0.0,2354,2160,2772,2640,330.8,2.7,296,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2160,2705,2770,2640,0,0,0,0,0,0,14.83,14.83,14.83,6.27,51.73
$GC,4089,-0.15,0.0,2355,2160,2772,2640,322.5,2.8,311,4090,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2159,2705,2770,2640,0,0,0,0,0,0,14.88,14.88,14.88,6.26,51.33
$GC,4389,-0.15,0.0,2354,2160,2772,2639,313.6,3.1,326,4390,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2159,2705,2771,2639,0,0,0,0,0,0,14.92,14.92,14.92,6.26,51.33
$GC,4690,-0.15,0.0,2354,2160,2772,2639,303.5,3.5,341,4690,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2160,2704,2770,2639,0,0,0,0,0,0,14.94,14.95,14.95,6.27,51.77
$GC,4990,-0.15,0.0,2354,2159,2772,2639,293.9,3.1,356,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2160,2705,2771,2639,0,0,0,0,0,0,14.96,14.97,14.97,6.26,51.41
$GC,5290,-0.15,0.0,2354,2160,2771,2639,285.5,2.6,371,5290,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2159,2704,2770,2639,0,0,0,0,0,0,14.98,14.98,14.98,6.27,51.81
$GC,5590,-0.15,0.0,2354,2160,2771,2640,277.7,2.6,386,5590,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2159,2705,2771,2639,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.65
$GC,5890,-0.15,0.0,2354,2160,2771,2640,269.3,2.7,401,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2159,2704,2770,2638,0,0,0,0,0,0,15.01,15.01,15.01,6.26,51.96
$GC,6189,-0.15,0.0,2354,2160,2772,2638,260.4,2.9,416,6190,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2159,2704,2770,2639,0,0,0,0,0,0,15.02,15.02,15.02,6.26,51.69
$STATE,6487,end loiter,LOITER_COMPLETE
$STATE,6487,begin climb
$GC,6490,0.64,146.0,2354,2160,2772,2640,252.0,0.0,431,6625,0.62,2.58,128.02,1.441,10756,0.170,0.062,2608,756,2117,2137,2098,0,0,0,0,0,0,14.28,13.82,13.26,6.26,51.49
$GC,6685,0.64,146.0,2609,756,2132,2093,240.2,8.5,440,6689,0.00,2.42,0.00,0.000,5126,0.000,0.052,2609,2142,2111,2130,2092,0,0,0,0,0,0,14.17,14.05,14.19,6.21,49.56
$GC,7005,0.64,146.0,2609,2142,2126,2078,203.1,11.6,457,7009,0.00,2.53,0.00,0.000,4356,0.000,0.083,2608,3556,2104,2124,2085,0,0,0,0,0,0,14.59,14.17,14.59,6.21,50.66
$GC,7085,0.64,146.0,2607,3557,2125,2084,194.2,11.9,461,7089,0.00,2.35,0.00,0.000,5126,0.000,0.044,2619,2153,2105,2125,2085,0,0,0,0,0,0,14.42,14.29,14.44,6.20,50.70
$GC,7395,0.64,146.0,2619,2153,2122,2081,159.6,9.6,477,7399,0.00,2.47,0.00,0.000,4612,0.000,0.066,2630,740,2101,2121,2081,0,0,0,0,0,0,14.71,14.28,14.71,6.21,51.02
$GC,7440,0.64,146.0,2631,741,2121,2081,156.5,9.1,479,7444,0.08,2.42,0.00,0.000,5126,0.313,0.054,2604,2157,2100,2120,2081,0,0,0,0,0,0,14.09,14.32,14.36,6.21,51.06
$GC,7745,0.64,146.0,2604,2157,2121,2080,131.3,8.8,494,7749,0.00,2.47,0.00,0.000,260,0.000,0.083,2604,3559,2099,2120,2079,0,0,0,0,0,0,14.76,14.28,14.76,6.20,51.33
$GC,7810,0.64,146.0,2604,3560,2121,2080,126.1,9.3,497,7814,0.00,2.35,0.00,0.000,5126,0.000,0.044,2613,2148,2099,2120,2079,0,0,0,0,0,0,14.52,14.40,14.55,6.21,51.29
$GC,8115,0.64,146.0,2613,2148,2121,2079,95.2,11.2,518,8119,0.00,2.45,0.00,0.000,4612,0.000,0.067,2623,745,2099,2120,2078,0,0,0,0,0,0,14.78,14.33,14.78,6.19,50.82
$GC,8165,0.64,146.0,2623,745,2119,2079,89.6,10.8,528,8169,0.05,2.40,0.00,0.000,5126,0.376,0.053,2605,2157,2098,2118,2078,0,0,0,0,0,0,14.15,14.37,14.41,6.19,50.55
$GC,8292,0.64,146.0,2606,2157,2119,2078,77.3,9.5,553,8298,0.00,2.45,0.00,0.000,260,0.000,0.084,2605,3551,2097,2117,2078,0,0,0,0,0,0,14.76,14.26,14.76,6.18,49.92
$GC,8365,0.64,146.0,2606,3554,2119,2078,70.4,8.5,568,8369,0.00,2.33,0.00,0.000,5126,0.000,0.043,2615,2149,2098,2118,2078,0,0,0,0,0,0,14.54,14.41,14.57,6.18,49.48
$GC,8493,0.65,159.1,2615,2149,2118,2079,60.3,7.8,593,8508,0.00,2.47,8.73,1.312,12804,0.000,0.066,2625,744,2065,2083,2048,0,0,0,0,0,0,14.76,14.45,13.61,6.17,49.52
$GC,8645,0.70,200.0,2626,744,2084,2047,49.3,6.8,624,8689,0.00,2.40,40.10,1.242,9222,0.000,0.054,2626,2154,1909,1916,1902,0,0,0,0,0,0,14.48,14.38,13.58,6.17,49.88
$GC,8810,0.77,253.7,2626,2154,1906,1881,34.4,6.3,657,8865,0.00,2.53,50.38,1.205,10500,0.000,0.086,2626,3551,1681,1677,1685,0,0,0,0,0,0,14.57,13.94,13.42,6.16,49.80
$GC,8945,0.77,253.7,2626,3552,1677,1677,21.3,8.4,684,8949,0.00,2.40,0.00,0.000,3078,0.000,0.046,2637,2141,1675,1676,1675,0,0,0,0,0,0,14.28,14.16,14.30,6.15,50.74
$GC,9071,0.77,253.7,2637,2140,1677,1670,6.1,12.8,709,9074,0.00,2.47,0.00,0.000,2564,0.000,0.067,2647,752,1673,1676,1670,0,0,0,0,0,0,14.52,14.16,14.52,6.15,50.63
$STATE,9093,end climb,SURFACE_DEPTH_REACHED
$STATE,9093,begin surface coast
$STATE,9113,end surface coast,CONTROL_FINISHED_OK
$STATE,9113,begin surface
$SM_CCo,9192,0.00,0.000,0,0,1669,257.81
$SM_GC,1.03,5.70,2.40,0.00,0.065,0.053,0.000,248,2101,1669,-6.50,-0.99,257.81,0,0,0,0,0,0,14.33,14.26,14.38
$IRIDIUM_FIX,-6002.25,0.00,170219,152712
$TT8_MAMPS,0.03745,0.352779
$HUMID,50.51
$INTERNAL_PRESSURE,6.0992
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3615424
$24V_AH,12.88,114.283
$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,13.400,73.200,349.475,0.000,0.000,48.889,92.212,157.229,0.000,0.000,15.366,0.000,7358.892,333.513,1778.896,276.109,0.000,1052.913,0.000,1127.769,0.000,0.540,0.000
$DEVICE_MAMPS,445.230,2183.310,1632.510,0.000,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2637.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.089,0.000,0.000,0.000
$MEM,344036
$DATA_FILE_SIZE,20726,718
$CAP_FILE_SIZE,91310,0
$CFSIZE,1023623168,960675840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.076,191.12,1
$GPS,170219,180819,-6002.414,-1.741,20,1.0,49,-19.7,0.9,255.9,8,6.7