version: 66.14
glider: 640
mission: 5
dive: 691
start: 2 27 119 23 17 8
data:
$ID,640
$MISSION,5
$DIVE,691
$N_DIVES,750
$STOP_T,3041912
$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,58
$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
$GPS1,270219,231025,-5959.6021,-0.2355,14,0.7,50,-19.7,0.8,233.4,11,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-65.6
$GPS2,270219,231648,-5959.6479,-0.3069,12,0.7,19,-19.7,0.5,295.7,11,10.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5957.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,27.2,4912,-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,-146.0,218,2070,1789,1831,0.0,0.0,0,108,0.00,0.00,-91.22,0.000,16386,0.000,0.000,218,2069,3286,3370,3203,0,0,0,0,0,0,14.62,28.83,14.62,6.17,51.85
$GC,111,-0.64,-146.0,219,2070,3373,3204,3.7,-8.2,19,124,6.20,2.83,-1.00,0.000,18692,0.342,2.190,2158,3505,3317,3406,3229,0,0,0,0,0,0,13.85,12.81,14.27,6.29,50.39
$GC,185,-0.64,-146.0,2158,3506,3410,3229,17.6,-14.5,34,189,0.10,2.33,0.00,0.000,3078,0.313,0.042,2191,2116,3318,3409,3228,0,0,0,0,0,0,14.02,14.34,14.29,6.30,49.33
$GC,312,-0.64,-146.0,2192,2115,3411,3229,36.4,-16.1,59,318,0.00,2.45,0.00,0.000,2564,0.000,0.063,2192,697,3319,3410,3228,0,0,0,0,0,0,14.73,14.23,14.73,6.30,49.68
$GC,355,-0.64,-146.0,2192,698,3410,3230,43.1,-13.2,68,359,0.00,2.42,0.00,0.000,3078,0.000,0.057,2182,2103,3319,3410,3229,0,0,0,0,0,0,14.48,14.31,14.50,6.30,50.00
$GC,480,-0.64,-146.0,2182,2104,3410,3230,61.5,-15.1,93,483,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2103,3319,3410,3229,0,0,0,0,0,0,14.80,14.80,14.80,6.30,49.72
$GC,605,-0.64,-146.0,2183,2103,3411,3229,78.2,-12.9,118,609,0.00,2.47,0.00,0.000,2308,0.000,0.084,2171,3508,3319,3410,3229,0,0,0,0,0,0,14.83,14.28,14.83,6.30,49.76
$GC,655,-0.64,-146.0,2171,3509,3410,3230,84.7,-13.2,128,659,0.08,2.35,0.00,0.000,3078,0.345,0.042,2197,2092,3319,3410,3229,0,0,0,0,0,0,14.07,14.41,14.34,6.31,49.96
$GC,783,-0.64,-146.0,2197,2091,3411,3228,100.5,-13.2,153,786,0.00,2.42,0.00,0.000,516,0.000,0.063,2196,697,3319,3410,3228,0,0,0,0,0,0,14.82,14.35,14.83,6.30,48.97
$GC,837,-0.64,-146.0,2197,696,3411,3229,106.0,-13.2,155,841,0.00,2.40,0.00,0.000,3078,0.000,0.056,2187,2101,3319,3410,3229,0,0,0,0,0,0,14.54,14.38,14.57,6.29,48.66
$GC,1142,-0.64,-146.0,2187,2102,3412,3228,146.1,-12.5,171,1145,0.00,2.47,0.00,0.000,2308,0.000,0.083,2176,3512,3320,3411,3229,0,0,0,0,0,0,14.91,14.33,14.91,6.29,49.17
$GC,1197,-0.64,-146.0,2176,3513,3411,3229,151.4,-12.8,173,1201,0.05,2.33,0.00,0.000,3078,0.422,0.042,2192,2099,3319,3410,3229,0,0,0,0,0,0,14.14,14.47,14.40,6.29,49.64
$GC,1517,-0.64,-146.0,2192,2099,3411,3230,191.8,-12.1,190,1521,0.00,2.42,0.00,0.000,2564,0.000,0.062,2191,689,3320,3411,3229,0,0,0,0,0,0,14.95,14.40,14.95,6.29,50.51
$GC,1592,-0.64,-146.0,2191,689,3411,3230,200.8,-12.0,194,1595,0.00,2.42,0.00,0.000,3078,0.000,0.056,2181,2111,3320,3411,3229,0,0,0,0,0,0,14.60,14.43,14.63,6.30,51.06
$GC,1907,-0.64,-146.0,2181,2111,3412,3230,240.6,-13.0,210,1908,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2111,3319,3410,3228,0,0,0,0,0,0,14.97,14.97,14.97,6.30,51.10
$GC,2207,-0.64,-146.0,2181,2111,3411,3230,280.6,-13.4,225,2210,0.00,2.42,0.00,0.000,2564,0.000,0.062,2181,697,3319,3411,3228,0,0,0,0,0,0,15.00,14.43,14.99,6.31,51.22
$GC,2227,-0.64,-146.0,2181,697,3412,3229,282.6,-13.4,226,2231,0.08,2.40,0.00,0.000,3078,0.366,0.055,2194,2106,3319,3411,3228,0,0,0,0,0,0,14.11,14.45,14.40,6.31,51.06
$GC,2537,-0.64,-146.0,2194,2107,3411,3230,321.8,-12.3,242,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2106,3320,3411,3229,0,0,0,0,0,0,15.00,15.00,15.00,6.31,51.02
$STATE,2774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2774,begin apogee
$GC,2781,-0.15,0.0,2195,2159,3412,3228,351.7,-12.4,254,2907,0.45,0.00,122.25,1.737,10246,0.250,0.000,2352,2159,2715,2774,2657,0,0,0,0,0,0,14.07,13.90,13.07,6.31,51.45
$STATE,2907,end apogee,CONTROL_FINISHED_OK
$STATE,2907,begin loiter
$GC,3197,-0.15,0.0,2352,2159,2772,2645,352.7,2.2,275,3197,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2159,2707,2771,2644,0,0,0,0,0,0,14.61,14.61,14.62,6.27,50.86
$GC,3497,-0.15,0.0,2352,2160,2771,2644,346.0,2.2,290,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2159,2707,2771,2643,0,0,0,0,0,0,14.77,14.78,14.77,6.27,51.53
$GC,3797,-0.15,0.0,2352,2160,2771,2643,338.8,2.4,305,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2159,2706,2771,2642,0,0,0,0,0,0,14.85,14.85,14.85,6.27,51.26
$GC,4097,-0.15,0.0,2352,2159,2772,2642,331.0,2.7,320,4098,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2159,2706,2771,2642,0,0,0,0,0,0,14.90,14.90,14.90,6.27,51.10
$GC,4397,-0.15,0.0,2352,2159,2772,2641,322.6,2.9,335,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2159,2706,2770,2642,0,0,0,0,0,0,14.94,14.94,14.94,6.27,51.85
$GC,4697,-0.15,0.0,2352,2160,2771,2642,314.1,2.8,350,4698,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2159,2705,2770,2641,0,0,0,0,0,0,14.96,14.97,14.97,6.27,51.37
$GC,4997,-0.15,0.0,2352,2159,2772,2641,306.1,2.7,365,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2158,2705,2770,2640,0,0,0,0,0,0,14.98,14.98,14.98,6.27,51.49
$GC,5297,-0.15,0.0,2352,2160,2771,2642,298.3,2.6,380,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2159,2705,2770,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.26,51.73
$GC,5597,-0.15,0.0,2352,2159,2770,2640,290.8,2.7,395,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2159,2705,2771,2640,0,0,0,0,0,0,15.01,15.02,15.01,6.26,51.65
$GC,5897,-0.15,0.0,2352,2160,2771,2641,283.3,2.5,410,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2159,2705,2771,2640,0,0,0,0,0,0,15.02,15.02,15.02,6.27,51.53
$GC,6197,-0.15,0.0,2352,2159,2772,2640,276.2,2.4,425,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2159,2705,2771,2640,0,0,0,0,0,0,15.03,15.03,15.03,6.26,51.61
$STATE,6494,end loiter,LOITER_COMPLETE
$STATE,6494,begin climb
$GC,6497,0.64,146.0,2352,2159,2772,2640,269.3,0.0,440,6632,0.62,2.60,128.18,1.460,11012,0.164,0.064,2609,753,2117,2135,2100,0,0,0,0,0,0,14.29,13.77,13.17,6.27,51.69
$GC,6740,0.64,146.0,2608,752,2128,2093,252.6,9.2,452,6745,0.00,2.42,0.00,0.000,5126,0.000,0.053,2610,2142,2105,2120,2090,0,0,0,0,0,0,14.12,14.06,14.16,6.17,49.80
$GC,7057,0.64,146.0,2609,2144,2122,2087,218.1,10.9,468,7061,0.00,2.53,0.00,0.000,4356,0.000,0.084,2609,3556,2104,2122,2086,0,0,0,0,0,0,14.63,14.19,14.63,6.21,50.74
$GC,7148,0.64,146.0,2610,3556,2123,2086,209.3,11.1,472,7151,0.00,2.35,0.00,0.000,5126,0.000,0.042,2619,2151,2103,2121,2086,0,0,0,0,0,0,14.44,14.32,14.47,6.21,50.94
$GC,7453,0.64,146.0,2620,2151,2121,2083,171.5,12.4,487,7456,0.00,2.45,0.00,0.000,4612,0.000,0.065,2630,746,2101,2120,2083,0,0,0,0,0,0,14.73,14.30,14.77,6.21,51.14
$GC,7512,0.64,146.0,2631,747,2118,2084,164.9,12.2,490,7517,0.08,2.42,0.00,0.000,5126,0.308,0.054,2604,2163,2100,2117,2083,0,0,0,0,0,0,14.11,14.33,14.38,6.21,50.98
$GC,7822,0.64,146.0,2604,2164,2118,2084,129.1,11.3,506,7826,0.00,2.45,0.00,0.000,260,0.000,0.083,2604,3549,2098,2117,2080,0,0,0,0,0,0,14.77,14.28,14.78,6.20,50.78
$GC,7877,0.64,146.0,2603,3550,2118,2082,123.1,11.1,509,7881,0.00,2.35,0.00,0.000,5126,0.000,0.043,2613,2144,2099,2117,2081,0,0,0,0,0,0,14.54,14.40,14.56,6.20,50.74
$GC,8182,0.64,146.0,2612,2142,2118,2080,90.6,10.7,535,8186,0.00,2.45,0.00,0.000,4612,0.000,0.065,2624,741,2098,2118,2079,0,0,0,0,0,0,14.78,14.33,14.79,6.19,50.31
$GC,8258,0.64,146.0,2624,742,2117,2079,83.1,9.8,550,8261,0.05,2.40,0.00,0.000,5126,0.366,0.052,2605,2150,2094,2110,2078,0,0,0,0,0,0,14.16,14.37,14.40,6.19,50.47
$GC,8382,0.64,146.0,2605,2151,2117,2079,71.3,8.8,575,8386,0.00,2.50,0.00,0.000,260,0.000,0.085,2605,3560,2097,2117,2078,0,0,0,0,0,0,14.75,14.28,14.76,6.18,49.80
$GC,8438,0.64,146.0,2606,3561,2118,2078,66.3,8.8,586,8441,0.00,2.35,0.00,0.000,5126,0.000,0.042,2615,2146,2097,2117,2078,0,0,0,0,0,0,14.54,14.42,14.57,6.19,49.64
$GC,8565,0.66,167.1,2616,2147,2118,2078,56.2,7.5,611,8586,0.00,2.42,16.25,1.284,8708,0.000,0.066,2626,745,2034,2050,2019,0,0,0,0,0,0,14.76,14.42,13.58,6.18,49.72
$GC,8682,0.66,167.1,2626,746,2049,2015,46.4,8.7,635,8686,0.00,2.40,0.00,0.000,5126,0.000,0.053,2626,2147,2031,2049,2014,0,0,0,0,0,0,14.50,14.34,14.52,6.17,49.96
$GC,8810,0.66,167.1,2626,2148,2049,2014,35.9,9.0,660,8816,0.00,2.47,0.00,0.000,4356,0.000,0.086,2626,3554,2030,2048,2013,0,0,0,0,0,0,14.70,14.21,14.70,6.17,50.11
$GC,8868,0.68,177.6,2627,3554,2049,2012,30.9,7.9,672,8882,0.05,2.35,10.38,1.258,13318,0.405,0.043,2621,2145,1994,2007,1981,0,0,0,0,0,0,14.09,14.38,13.50,6.17,50.63
$GC,9003,0.68,177.6,2621,2144,2004,1973,19.9,10.9,699,9006,0.00,2.45,0.00,0.000,4612,0.000,0.064,2630,736,1988,2003,1974,0,0,0,0,0,0,14.69,14.29,14.68,6.17,50.74
$GC,9053,0.68,177.6,2631,737,2002,1974,14.7,10.5,709,9057,0.00,2.42,0.00,0.000,5126,0.000,0.053,2630,2150,1987,2002,1973,0,0,0,0,0,0,14.48,14.33,14.51,6.17,50.86
$STATE,9155,end climb,SURFACE_DEPTH_REACHED
$STATE,9155,begin surface coast
$STATE,9177,end surface coast,CONTROL_FINISHED_OK
$STATE,9177,begin surface
$SM_CCo,9196,38.90,0.243,0,0,1821,220.03
$SM_GC,1.18,5.62,0.08,38.90,0.067,0.154,0.243,248,2058,1821,-6.44,0.99,220.03,0,0,0,0,0,0,14.47,14.42,14.04
$IRIDIUM_FIX,-6000.39,0.00,270219,203008
$TT8_MAMPS,0.038948,0.843374
$HUMID,50.70
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3581632
$24V_AH,12.81,130.948
$10V_AH,13.40,0.000
$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,13.375,78.075,277.050,38.900,0.000,27.424,15.891,128.212,0.000,0.000,20.351,0.000,7255.107,314.196,1723.302,322.534,0.000,1057.709,0.000,1203.906,0.000,0.540,0.000
$DEVICE_MAMPS,422.280,2190.195,1737.315,242.505,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2695.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.285,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,20738,734
$CAP_FILE_SIZE,95861,0
$CFSIZE,1023623168,951517184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.055,186.03,1
$GPS,280219,015204,-5959.346,-0.155,16,0.8,30,-19.7,1.1,67.3,10,9.5