version: 66.14
glider: 640
mission: 5
dive: 575
start: 2 15 119 1 51 57
data:
$ID,640
$MISSION,5
$DIVE,575
$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,67
$R_STBD_OVSHOOT,66
$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
$GPS1,150219,014511,-6010.2842,-0.9401,35,1.0,76,-19.7,0.5,1.2,7,3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-65.2
$GPS2,150219,015137,-6010.2603,-0.8997,9,0.9,22,-19.7,0.0,33.6,8,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,26.7,56048,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,13,-0.64,-146.0,233,2141,1790,1834,0.0,0.0,0,97,0.00,0.00,-81.75,0.000,16386,0.000,0.000,231,2141,3138,3218,3059,0,0,0,0,0,0,14.56,28.83,14.56,6.19,51.53
$GC,100,-0.64,-146.0,232,2143,3221,3060,3.0,-5.3,17,117,6.18,2.75,-6.62,0.000,18948,0.344,2.202,2188,740,3316,3414,3219,0,0,0,0,0,0,13.87,12.90,14.23,6.30,50.55
$GC,213,-0.64,-146.0,2189,733,3416,3222,20.6,-15.2,40,217,0.00,2.30,0.00,0.000,3078,0.000,0.057,2179,2061,3318,3414,3223,0,0,0,0,0,0,14.35,14.23,14.37,6.31,49.05
$GC,341,-0.64,-146.0,2179,2061,3416,3222,40.6,-16.9,65,347,0.00,2.58,0.00,0.000,2308,0.000,0.083,2167,3514,3319,3415,3223,0,0,0,0,0,0,14.64,14.22,14.64,6.32,49.96
$GC,388,-0.64,-146.0,2168,3515,3415,3224,49.1,-16.6,75,392,0.08,2.33,0.00,0.000,3078,0.359,0.043,2192,2130,3318,3414,3222,0,0,0,0,0,0,13.93,14.26,14.21,6.32,49.64
$GC,515,-0.64,-146.0,2192,2130,3415,3223,66.4,-13.3,100,521,0.00,2.53,0.00,0.000,2564,0.000,0.063,2192,690,3318,3414,3222,0,0,0,0,0,0,14.67,14.28,14.67,6.32,49.80
$GC,643,-0.64,-146.0,2192,690,3416,3223,84.3,-13.0,126,647,0.00,2.42,0.00,0.000,3078,0.000,0.055,2182,2103,3319,3414,3224,0,0,0,0,0,0,14.38,14.23,14.40,6.32,48.85
$GC,780,-0.64,-146.0,2182,2103,3415,3232,103.2,-14.1,150,784,0.00,2.50,0.00,0.000,2308,0.000,0.082,2171,3510,3318,3413,3223,0,0,0,0,0,0,14.71,14.26,14.71,6.31,48.26
$GC,794,-0.64,-146.0,2171,3511,3415,3224,103.2,-14.1,150,798,0.08,2.38,0.00,0.000,3078,0.355,0.044,2196,2094,3318,3414,3223,0,0,0,0,0,0,14.04,14.36,14.31,6.31,48.42
$GC,1117,-0.64,-146.0,2197,2093,3415,3224,148.0,-12.7,167,1122,0.00,2.45,0.00,0.000,516,0.000,0.063,2196,693,3318,3414,3223,0,0,0,0,0,0,14.74,14.32,14.74,6.30,49.44
$GC,1184,-0.64,-146.0,2197,693,3416,3223,155.3,-12.3,170,1188,0.00,2.42,0.00,0.000,3078,0.000,0.054,2186,2105,3318,3414,3223,0,0,0,0,0,0,14.51,14.35,14.53,6.31,49.92
$GC,1494,-0.64,-146.0,2186,2105,3416,3223,194.5,-12.5,186,1495,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2105,3318,3414,3223,0,0,0,0,0,0,14.79,14.80,14.79,6.32,50.82
$GC,1794,-0.64,-146.0,2185,2105,3415,3224,232.4,-12.7,201,1795,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2104,3318,3414,3223,0,0,0,0,0,0,14.81,14.81,14.81,6.32,50.98
$GC,2094,-0.64,-146.0,2186,2105,3415,3223,271.0,-13.0,216,2095,0.00,0.00,0.00,0.000,2054,0.000,0.000,2185,2104,3319,3415,3223,0,0,0,0,0,0,14.82,14.82,14.82,6.33,51.22
$GC,2394,-0.64,-146.0,2186,2105,3416,3223,309.9,-13.0,231,2395,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2104,3319,3415,3223,0,0,0,0,0,0,14.83,14.83,14.83,6.33,51.69
$GC,2695,-0.64,-146.0,2187,2105,3416,3224,348.8,-13.0,246,2696,0.00,0.00,0.00,0.000,2054,0.000,0.000,2184,2105,3318,3414,3223,0,0,0,0,0,0,14.83,14.83,14.83,6.33,51.45
$STATE,2712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2712,begin apogee
$GC,2718,-0.15,0.0,2186,2159,3416,3223,351.4,-13.0,247,2846,0.47,0.00,124.97,1.580,10246,0.252,0.000,2351,2159,2723,2788,2658,0,0,0,0,0,0,14.02,13.89,13.14,6.33,51.29
$STATE,2847,end apogee,CONTROL_FINISHED_OK
$STATE,2847,begin loiter
$GC,3134,-0.15,0.0,2352,2160,2773,2644,350.9,2.7,268,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2159,2707,2771,2644,0,0,0,0,0,0,14.57,14.57,14.57,6.28,50.66
$GC,3434,-0.15,0.0,2352,2160,2772,2642,342.8,2.8,283,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2159,2706,2771,2642,0,0,0,0,0,0,14.73,14.73,14.73,6.28,51.41
$GC,3734,-0.15,0.0,2351,2160,2772,2643,334.1,2.8,298,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2159,2706,2771,2642,0,0,0,0,0,0,14.81,14.82,14.82,6.28,51.33
$GC,4034,-0.15,0.0,2352,2160,2772,2643,325.3,2.8,313,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2159,2706,2771,2641,0,0,0,0,0,0,14.87,14.87,14.87,6.28,51.33
$GC,4334,-0.15,0.0,2351,2159,2772,2642,317.2,2.7,328,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2706,2771,2641,0,0,0,0,0,0,14.90,14.91,14.91,6.28,51.89
$GC,4635,-0.15,0.0,2351,2160,2771,2642,309.1,2.7,343,4636,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2159,2706,2771,2641,0,0,0,0,0,0,14.93,14.93,14.93,6.28,51.65
$GC,4935,-0.15,0.0,2352,2159,2772,2642,299.9,3.2,358,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2159,2706,2771,2642,0,0,0,0,0,0,14.95,14.95,14.96,6.28,51.49
$GC,5235,-0.15,0.0,2351,2160,2772,2643,290.2,3.4,373,5235,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2159,2706,2771,2642,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.65
$GC,5534,-0.15,0.0,2352,2159,2773,2642,280.4,3.2,388,5535,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2159,2706,2771,2642,0,0,0,0,0,0,14.99,15.00,14.99,6.27,51.57
$GC,5834,-0.15,0.0,2352,2159,2772,2642,271.4,2.9,403,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2159,2706,2771,2642,0,0,0,0,0,0,15.00,15.01,15.00,6.28,51.61
$GC,6135,-0.15,0.0,2351,2160,2772,2643,263.5,2.6,418,6135,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2159,2706,2771,2642,0,0,0,0,0,0,15.01,15.02,15.01,6.27,51.65
$STATE,6432,end loiter,LOITER_COMPLETE
$STATE,6432,begin climb
$GC,6435,0.64,146.0,2351,2159,2772,2643,257.2,0.0,433,6576,0.62,2.58,130.40,1.431,10756,0.161,0.065,2609,754,2117,2136,2098,0,0,0,0,0,0,14.31,13.95,13.28,6.28,51.65
$GC,6696,0.64,146.0,2609,754,2129,2090,239.9,8.7,446,6700,0.00,2.42,0.00,0.000,5126,0.000,0.052,2609,2143,2108,2128,2089,0,0,0,0,0,0,14.22,14.09,14.24,6.23,50.43
$GC,7011,0.64,146.0,2610,2143,2126,2084,208.0,10.2,462,7015,0.00,2.53,0.00,0.000,4356,0.000,0.083,2609,3555,2104,2124,2085,0,0,0,0,0,0,14.60,14.16,14.60,6.24,50.74
$GC,7106,0.64,146.0,2610,3555,2125,2085,197.9,10.5,467,7110,0.00,2.35,0.00,0.000,5126,0.000,0.043,2619,2155,2104,2124,2084,0,0,0,0,0,0,14.43,14.31,14.45,6.23,50.59
$GC,7421,0.64,146.0,2620,2155,2122,2082,163.3,11.2,483,7425,0.05,2.47,0.00,0.000,4612,0.421,0.066,2614,744,2101,2120,2082,0,0,0,0,0,0,14.20,14.29,14.40,6.24,50.78
$GC,7471,0.64,146.0,2615,745,2121,2082,159.2,10.8,485,7475,0.00,2.40,0.00,0.000,5126,0.000,0.053,2614,2151,2101,2120,2082,0,0,0,0,0,0,14.49,14.33,14.52,6.23,51.14
$GC,7776,0.64,146.0,2615,2154,2121,2079,124.7,10.7,500,7780,0.00,2.50,0.00,0.000,4356,0.000,0.085,2614,3562,2101,2120,2083,0,0,0,0,0,0,14.76,14.28,14.76,6.23,50.98
$GC,7861,0.64,146.0,2614,3562,2121,2079,117.1,10.1,504,7865,0.08,2.35,0.00,0.000,5126,0.346,0.044,2599,2149,2100,2120,2080,0,0,0,0,0,0,14.09,14.41,14.39,6.23,50.90
$GC,8166,0.66,163.3,2600,2150,2121,2078,90.8,7.7,534,8184,0.00,2.47,12.62,1.379,10756,0.000,0.066,2608,741,2049,2067,2032,0,0,0,0,0,0,14.78,14.42,13.66,6.21,50.23
$GC,8261,0.68,184.7,2608,741,2068,2029,83.5,7.5,553,8289,0.00,2.40,21.98,1.284,11270,0.000,0.051,2608,2152,1961,1974,1949,0,0,0,0,0,0,14.51,14.37,13.62,6.20,50.00
$GC,8411,0.68,184.7,2608,2153,1976,1942,69.6,9.9,583,8415,0.00,2.50,0.00,0.000,2308,0.000,0.084,2607,3553,1958,1974,1943,0,0,0,0,0,0,14.62,14.23,14.62,6.19,49.09
$GC,8461,0.68,184.7,2609,3553,1975,1943,64.4,10.2,593,8464,0.00,2.35,0.00,0.000,1030,0.000,0.044,2618,2145,1958,1974,1943,0,0,0,0,0,0,14.32,14.26,14.34,6.19,48.93
$GC,8586,0.68,184.7,2620,2146,1974,1942,51.5,11.5,618,8590,0.00,2.47,0.00,0.000,516,0.000,0.067,2629,745,1957,1973,1941,0,0,0,0,0,0,14.66,14.27,14.66,6.19,49.80
$GC,8636,0.68,184.7,2630,745,1972,1941,46.2,10.5,628,8640,0.00,2.40,0.00,0.000,5126,0.000,0.050,2630,2150,1956,1972,1940,0,0,0,0,0,0,14.46,14.32,14.49,6.19,49.64
$GC,8764,0.68,184.7,2630,2157,1973,1939,32.6,10.5,653,8769,0.00,2.50,0.00,0.000,4356,0.000,0.086,2630,3553,1955,1972,1939,0,0,0,0,0,0,14.66,14.26,14.66,6.20,50.07
$GC,8801,0.68,184.7,2630,3554,1973,1940,28.0,11.5,661,8805,0.08,2.35,0.00,0.000,5126,0.336,0.044,2614,2148,1955,1972,1939,0,0,0,0,0,0,14.08,14.37,14.37,6.20,50.39
$GC,8926,0.68,184.7,2614,2148,1972,1939,14.0,11.7,686,8930,0.00,2.45,0.00,0.000,2564,0.000,0.068,2624,746,1955,1972,1938,0,0,0,0,0,0,14.71,14.29,14.71,6.20,50.94
$GC,8976,0.68,184.7,2623,746,1972,1939,8.5,10.7,696,8980,0.00,2.40,0.00,0.000,5126,0.000,0.052,2624,2155,1954,1971,1938,0,0,0,0,0,0,14.49,14.35,14.52,6.20,50.66
$STATE,9033,end climb,SURFACE_DEPTH_REACHED
$STATE,9034,begin surface coast
$STATE,9059,end surface coast,CONTROL_FINISHED_OK
$STATE,9059,begin surface
$SM_CCo,9075,31.75,0.243,0,0,1822,220.03
$SM_GC,1.49,5.53,0.08,31.75,0.047,0.168,0.243,248,2081,1822,-6.50,1.07,220.03,0,0,0,0,0,0,14.52,14.40,14.08
$IRIDIUM_FIX,-6010.01,0.00,140219,230828
$TT8_MAMPS,0.039697,0.335552
$HUMID,50.63
$INTERNAL_PRESSURE,6.14803
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3626816
$24V_AH,12.90,110.006
$10V_AH,13.35,0.000
$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,13.150,68.725,289.975,31.750,0.000,27.663,15.414,141.668,0.000,0.000,23.624,0.000,7220.200,387.484,1612.141,272.329,0.000,1029.964,0.000,1154.964,0.000,0.539,0.000
$DEVICE_MAMPS,420.750,2202.435,1580.490,242.505,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5486.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.455,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17330,713
$CAP_FILE_SIZE,91318,0
$CFSIZE,1023623168,962936832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.049,227.45,1
$GPS,150219,042449,-6009.910,-1.159,14,0.8,37,-19.7,0.5,317.0,11,6.2