version: 66.14
glider: 640
mission: 5
dive: 661
start: 2 24 119 15 1 21
data:
$ID,640
$MISSION,5
$DIVE,661
$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,57
$R_STBD_OVSHOOT,23
$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
$GPS1,240219,145433,-6001.8257,0.1083,39,0.7,41,-19.7,0.0,202.1,11,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-67.1
$GPS2,240219,150101,-6001.8667,0.1563,9,0.7,14,-19.7,0.4,53.5,11,10.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5957.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,14.4,9014,-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,-146.0,216,2074,1789,1828,0.0,0.0,0,104,0.00,0.00,-88.40,0.000,16386,0.000,0.000,216,2073,3238,3320,3156,0,0,0,0,0,0,14.57,28.83,14.62,6.16,51.29
$GC,108,-0.64,-146.0,217,2074,3322,3156,3.6,-8.2,18,124,6.30,2.83,-2.58,0.000,18692,0.349,2.195,2182,3506,3318,3410,3226,0,0,0,0,0,0,13.82,12.88,14.25,6.28,49.96
$GC,260,-0.64,-146.0,2182,3506,3412,3227,28.8,-13.8,49,263,0.00,2.33,0.00,0.000,3078,0.000,0.041,2182,2116,3316,3412,3220,0,0,0,0,0,0,14.42,14.31,14.44,6.30,49.17
$GC,385,-0.64,-146.0,2181,2115,3412,3227,48.6,-16.1,74,388,0.00,2.47,0.00,0.000,2564,0.000,0.062,2181,694,3319,3412,3226,0,0,0,0,0,0,14.67,14.26,14.67,6.30,49.68
$GC,435,-0.64,-146.0,2182,695,3413,3228,56.6,-15.3,84,439,0.08,2.42,0.00,0.000,3078,0.358,0.054,2195,2107,3319,3412,3226,0,0,0,0,0,0,13.98,14.29,14.27,6.30,49.56
$GC,562,-0.64,-146.0,2195,2107,3414,3227,73.6,-13.7,109,566,0.00,2.47,0.00,0.000,516,0.000,0.063,2194,688,3318,3410,3226,0,0,0,0,0,0,14.68,14.28,14.68,6.30,49.60
$GC,587,-0.64,-146.0,2194,689,3414,3226,77.2,-13.9,114,590,0.00,2.42,0.00,0.000,3078,0.000,0.056,2184,2102,3320,3413,3227,0,0,0,0,0,0,14.46,14.31,14.48,6.30,49.56
$GC,712,-0.64,-146.0,2183,2102,3413,3227,95.2,-15.6,139,715,0.00,2.47,0.00,0.000,2308,0.000,0.084,2173,3510,3320,3413,3227,0,0,0,0,0,0,14.70,14.23,14.70,6.29,48.89
$GC,761,-0.64,-146.0,2174,3510,3414,3226,100.7,-15.2,146,766,0.08,2.35,0.00,0.000,3078,0.356,0.043,2199,2090,3319,3412,3226,0,0,0,0,0,0,14.01,14.35,14.28,6.27,48.22
$GC,1066,-0.64,-146.0,2199,2089,3415,3227,141.7,-11.8,162,1070,0.00,2.42,0.00,0.000,516,0.000,0.063,2198,691,3323,3413,3233,0,0,0,0,0,0,14.76,14.31,14.76,6.28,48.89
$GC,1146,-0.64,-146.0,2198,692,3414,3226,150.9,-11.5,166,1150,0.00,2.40,0.00,0.000,3078,0.000,0.054,2188,2099,3320,3413,3227,0,0,0,0,0,0,14.50,14.34,14.51,6.28,49.84
$GC,1466,-0.64,-146.0,2189,2100,3414,3228,188.6,-12.3,182,1470,0.00,2.45,0.00,0.000,2308,0.000,0.083,2178,3504,3319,3413,3226,0,0,0,0,0,0,14.78,14.28,14.78,6.30,50.19
$GC,1532,-0.64,-146.0,2178,3504,3414,3227,195.7,-12.8,185,1536,0.05,2.33,0.00,0.000,3078,0.419,0.042,2194,2094,3319,3413,3226,0,0,0,0,0,0,14.08,14.40,14.33,6.29,50.39
$GC,1841,-0.64,-146.0,2194,2093,3414,3226,235.0,-12.3,201,1845,0.00,2.42,0.00,0.000,516,0.000,0.063,2194,692,3319,3413,3226,0,0,0,0,0,0,14.81,14.33,14.80,6.30,50.66
$GC,1906,-0.64,-146.0,2194,692,3407,3227,241.8,-12.5,204,1910,0.00,2.40,0.00,0.000,3078,0.000,0.054,2182,2100,3319,3413,3226,0,0,0,0,0,0,14.52,14.35,14.54,6.30,51.33
$GC,2211,-0.64,-146.0,2183,2101,3414,3225,281.3,-12.6,219,2215,0.00,2.45,0.00,0.000,2308,0.000,0.081,2173,3504,3319,3413,3226,0,0,0,0,0,0,14.81,14.28,14.81,6.31,50.74
$GC,2261,-0.64,-146.0,2174,3504,3414,3227,285.8,-12.7,221,2266,0.08,2.33,0.00,0.000,3078,0.349,0.043,2198,2094,3319,3413,3226,0,0,0,0,0,0,14.04,14.40,14.33,6.30,51.10
$GC,2566,-0.64,-146.0,2199,2093,3414,3227,323.4,-11.6,237,2570,0.00,2.42,0.00,0.000,516,0.000,0.063,2198,694,3319,3413,3226,0,0,0,0,0,0,14.81,14.33,14.81,6.31,51.06
$GC,2632,-0.64,-146.0,2199,695,3413,3228,330.3,-11.5,240,2635,0.00,2.40,0.00,0.000,3078,0.000,0.053,2189,2103,3319,3413,3226,0,0,0,0,0,0,14.52,14.35,14.54,6.31,50.98
$STATE,2798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2798,begin apogee
$GC,2805,-0.15,0.0,2189,2169,3414,3226,350.5,-11.8,249,2932,0.47,0.00,123.80,1.620,10246,0.248,0.000,2353,2168,2716,2775,2657,0,0,0,0,0,0,13.90,13.86,13.07,6.31,50.98
$STATE,2933,end apogee,CONTROL_FINISHED_OK
$STATE,2933,begin loiter
$GC,3221,-0.15,0.0,2354,2168,2772,2644,346.8,3.4,270,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2168,2708,2771,2645,0,0,0,0,0,0,14.57,14.58,14.58,6.27,50.27
$GC,3521,-0.15,0.0,2353,2168,2771,2643,336.9,3.3,285,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2168,2707,2771,2643,0,0,0,0,0,0,14.74,14.74,14.74,6.27,50.94
$GC,3821,-0.15,0.0,2353,2169,2771,2644,327.2,3.2,300,3822,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2168,2707,2771,2643,0,0,0,0,0,0,14.83,14.83,14.83,6.26,51.22
$GC,4121,-0.15,0.0,2354,2168,2772,2643,318.1,3.0,315,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2168,2707,2771,2643,0,0,0,0,0,0,14.88,14.88,14.88,6.27,51.65
$GC,4421,-0.15,0.0,2353,2169,2772,2644,309.7,2.8,330,4422,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2168,2707,2771,2643,0,0,0,0,0,0,14.91,14.92,14.92,6.27,50.98
$GC,4721,-0.15,0.0,2353,2168,2772,2643,301.4,2.7,345,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2168,2706,2770,2642,0,0,0,0,0,0,14.94,14.94,14.95,6.26,51.18
$GC,5022,-0.15,0.0,2353,2168,2772,2643,293.2,2.8,360,5022,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2168,2707,2771,2643,0,0,0,0,0,0,14.96,14.96,14.96,6.27,51.06
$GC,5322,-0.15,0.0,2353,2168,2773,2643,284.7,2.9,375,5322,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2168,2706,2771,2642,0,0,0,0,0,0,14.97,14.98,14.97,6.26,51.10
$GC,5622,-0.15,0.0,2353,2169,2772,2644,276.4,2.7,390,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2168,2707,2771,2643,0,0,0,0,0,0,14.99,15.00,15.00,6.26,51.37
$GC,5922,-0.15,0.0,2353,2168,2773,2643,268.7,2.4,405,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2168,2707,2771,2643,0,0,0,0,0,0,15.00,15.00,15.00,6.26,51.41
$GC,6222,-0.15,0.0,2352,2169,2772,2643,261.5,2.4,420,6222,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2707,2771,2643,0,0,0,0,0,0,15.01,15.02,15.01,6.26,51.85
$STATE,6519,end loiter,LOITER_COMPLETE
$STATE,6519,begin climb
$GC,6522,0.64,146.0,2353,2168,2772,2643,254.2,0.0,435,6661,0.62,2.58,131.12,1.426,10756,0.165,0.063,2609,756,2118,2138,2099,0,0,0,0,0,0,14.28,13.79,13.21,6.27,51.29
$GC,6747,0.64,146.0,2609,757,2123,2093,239.1,9.2,446,6751,0.00,2.40,0.00,0.000,5126,0.000,0.051,2609,2135,2110,2129,2092,0,0,0,0,0,0,14.20,14.07,14.21,6.21,49.68
$GC,7057,0.64,146.0,2609,2136,2124,2086,205.2,10.7,462,7061,0.00,2.53,0.00,0.000,4356,0.000,0.082,2609,3560,2104,2123,2086,0,0,0,0,0,0,14.60,14.19,14.62,6.21,50.47
$GC,7157,0.64,146.0,2609,3561,2125,2087,195.1,10.5,467,7161,0.00,2.35,0.00,0.000,5126,0.000,0.042,2619,2152,2104,2123,2085,0,0,0,0,0,0,14.43,14.31,14.46,6.21,50.70
$GC,7467,0.64,146.0,2620,2152,2121,2084,159.7,11.4,483,7471,0.05,2.47,0.00,0.000,4612,0.416,0.063,2614,741,2101,2120,2083,0,0,0,0,0,0,14.21,14.29,14.35,6.20,51.41
$GC,7517,0.64,146.0,2614,746,2121,2083,155.5,10.9,485,7521,0.00,2.42,0.00,0.000,5126,0.000,0.053,2614,2165,2100,2119,2082,0,0,0,0,0,0,14.49,14.33,14.52,6.21,50.94
$GC,7822,0.64,146.0,2615,2165,2121,2079,121.1,11.0,500,7826,0.00,2.45,0.00,0.000,4356,0.000,0.084,2614,3558,2099,2119,2080,0,0,0,0,0,0,14.78,14.28,14.77,6.20,51.49
$GC,7907,0.64,146.0,2615,3558,2120,2080,112.9,10.9,504,7911,0.08,2.33,0.00,0.000,5126,0.346,0.042,2599,2148,2099,2119,2080,0,0,0,0,0,0,14.09,14.41,14.38,6.20,50.82
$GC,8212,0.64,146.0,2599,2149,2120,2079,83.4,9.9,543,8216,0.00,2.42,0.00,0.000,2564,0.000,0.066,2608,746,2099,2119,2079,0,0,0,0,0,0,14.79,14.33,14.79,6.19,50.35
$GC,8312,0.64,146.0,2609,747,2120,2074,74.0,9.3,563,8315,0.00,2.38,0.00,0.000,5126,0.000,0.051,2617,2149,2098,2118,2078,0,0,0,0,0,0,14.53,14.37,14.56,6.18,50.78
$GC,8439,0.64,146.0,2609,2150,2119,2079,62.2,9.0,588,8444,0.00,2.50,0.00,0.000,4356,0.000,0.086,2608,3559,2098,2118,2078,0,0,0,0,0,0,14.76,14.22,14.76,6.18,49.84
$GC,8474,0.64,146.0,2609,3559,2119,2078,58.7,9.5,595,8478,0.00,2.35,0.00,0.000,5126,0.000,0.044,2619,2144,2097,2118,2077,0,0,0,0,0,0,14.54,14.41,14.57,6.18,50.23
$GC,8602,0.64,150.2,2619,2145,2119,2079,48.3,8.2,620,8606,0.00,2.42,0.00,0.000,4612,0.000,0.066,2630,744,2097,2118,2077,0,0,0,0,0,0,14.76,14.32,14.76,6.18,49.92
$GC,8711,0.65,160.1,2631,744,2118,2077,39.0,8.0,642,8725,0.05,2.40,9.05,1.297,13318,0.374,0.052,2611,2156,2065,2083,2047,0,0,0,0,0,0,14.13,14.36,13.55,6.18,50.27
$GC,8846,0.65,160.7,2611,2157,2082,2041,28.5,8.3,669,8850,0.00,2.47,0.00,0.000,260,0.000,0.086,2611,3560,2062,2081,2043,0,0,0,0,0,0,14.74,14.29,14.74,6.27,50.59
$GC,8901,0.66,166.5,2611,3561,2082,2045,23.7,8.1,680,8910,0.00,2.35,5.12,1.151,13318,0.000,0.043,2621,2141,2040,2058,2023,0,0,0,0,0,0,14.53,14.40,13.44,6.18,51.10
$GC,9031,0.66,166.5,2621,2142,2055,2020,11.2,9.8,706,9035,0.00,2.42,0.00,0.000,4612,0.000,0.067,2632,743,2036,2054,2019,0,0,0,0,0,0,14.73,14.31,14.73,6.18,50.90
$GC,9076,0.67,174.9,2626,743,2054,2019,7.4,8.0,715,9089,0.05,2.40,7.12,0.283,13318,0.379,0.054,2614,2152,2001,2017,1986,0,0,0,0,0,0,14.13,14.34,13.99,6.19,51.57
$STATE,9123,end climb,SURFACE_DEPTH_REACHED
$STATE,9123,begin surface coast
$STATE,9153,end surface coast,CONTROL_FINISHED_OK
$STATE,9153,begin surface
$SM_CCo,9171,42.97,0.240,0,0,1823,220.03
$SM_GC,1.21,5.57,0.08,42.97,0.066,0.162,0.240,215,2075,1823,-6.45,1.05,220.03,0,0,0,0,0,0,14.54,14.43,14.06
$IRIDIUM_FIX,-6002.25,0.00,240219,121622
$TT8_MAMPS,0.038199,0.343042
$HUMID,50.70
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3591232
$24V_AH,12.88,125.647
$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,13.475,87.600,276.225,42.975,0.000,27.789,37.783,120.344,0.000,0.000,15.347,0.000,7199.302,322.321,1772.785,306.604,0.000,1082.015,0.000,1230.608,0.000,0.539,0.000
$DEVICE_MAMPS,419.220,2194.785,1619.505,240.210,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5570.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.597,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,20800,731
$CAP_FILE_SIZE,98938,0
$CFSIZE,1023623168,954449920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.037,108.24,1
$GPS,240219,173601,-6001.459,0.524,18,0.8,35,-19.7,0.0,94.2,11,5.9