version: 66.14
glider: 640
mission: 5
dive: 576
start: 2 15 119 4 31 27
data:
$ID,640
$MISSION,5
$DIVE,576
$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,51
$R_STBD_OVSHOOT,32
$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
$GPS1,150219,042449,-6009.9097,-1.1586,14,0.8,37,-19.7,0.5,317.0,11,6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-63.7
$GPS2,150219,043107,-6009.8921,-1.1696,9,0.7,17,-19.7,0.7,128.9,10,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,29.1,55371,-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,-146.0,208,2079,1791,1831,0.0,0.0,0,98,0.00,0.00,-82.30,0.000,16386,0.000,0.000,207,2078,3149,3230,3068,0,0,0,0,0,0,14.54,28.83,14.56,6.19,51.22
$GC,101,-0.64,-146.0,207,2079,3231,3071,3.2,-5.7,17,118,6.25,2.65,-6.20,0.000,18948,0.344,2.196,2194,714,3318,3414,3222,0,0,0,0,0,0,13.88,12.89,14.25,6.30,50.19
$GC,235,-0.64,-146.0,2194,714,3416,3224,23.8,-14.8,44,238,0.00,2.40,0.00,0.000,3078,0.000,0.055,2183,2100,3319,3414,3224,0,0,0,0,0,0,14.41,14.26,14.43,6.32,49.64
$GC,361,-0.64,-146.0,2184,2097,3416,3224,44.8,-17.6,69,365,0.00,2.53,0.00,0.000,2308,0.000,0.083,2173,3509,3319,3414,3224,0,0,0,0,0,0,14.64,14.22,14.64,6.32,49.80
$GC,400,-0.64,-146.0,2172,3510,3415,3225,52.2,-17.7,77,405,0.08,2.35,0.00,0.000,3078,0.353,0.044,2198,2116,3319,3414,3224,0,0,0,0,0,0,14.01,14.33,14.29,6.32,49.60
$GC,528,-0.64,-146.0,2199,2115,3416,3224,72.5,-15.4,102,533,0.00,2.50,0.00,0.000,516,0.000,0.063,2198,686,3319,3414,3224,0,0,0,0,0,0,14.66,14.28,14.67,6.32,49.60
$GC,606,-0.64,-146.0,2198,688,3415,3225,83.1,-11.7,118,609,0.00,2.45,0.00,0.000,3078,0.000,0.054,2189,2108,3319,3414,3224,0,0,0,0,0,0,14.47,14.32,14.49,6.32,49.33
$GC,731,-0.64,-146.0,2188,2108,3416,3224,98.7,-12.7,143,735,0.00,2.47,0.00,0.000,2308,0.000,0.083,2177,3506,3319,3415,3224,0,0,0,0,0,0,14.71,14.26,14.71,6.31,48.38
$GC,766,-0.64,-146.0,2178,3507,3415,3225,103.2,-13.1,147,770,0.05,2.38,0.00,0.000,3078,0.421,0.044,2193,2089,3319,3415,3224,0,0,0,0,0,0,14.06,14.36,14.32,6.32,48.58
$GC,1081,-0.64,-146.0,2194,2089,3415,3224,142.6,-12.6,163,1084,0.00,2.42,0.00,0.000,2564,0.000,0.063,2192,695,3319,3414,3224,0,0,0,0,0,0,14.76,14.33,14.76,6.31,49.13
$GC,1186,-0.64,-146.0,2192,697,3415,3226,154.3,-12.1,168,1189,0.00,2.42,0.00,0.000,3078,0.000,0.054,2184,2108,3319,3415,3224,0,0,0,0,0,0,14.51,14.36,14.54,6.31,49.60
$GC,1496,-0.64,-146.0,2184,2108,3417,3224,194.6,-13.0,184,1496,0.00,0.00,0.00,0.000,2054,0.000,0.000,2183,2107,3319,3414,3224,0,0,0,0,0,0,14.78,14.78,14.79,6.32,50.35
$GC,1796,-0.64,-146.0,2184,2107,3416,3224,233.4,-12.8,199,1799,0.00,2.45,0.00,0.000,2564,0.000,0.062,2183,696,3319,3414,3224,0,0,0,0,0,0,14.81,14.35,14.81,6.33,51.49
$GC,1830,-0.64,-146.0,2184,696,3416,3224,236.1,-12.9,200,1834,0.08,2.40,0.00,0.000,3078,0.363,0.053,2195,2098,3319,3414,3224,0,0,0,0,0,0,14.05,14.38,14.35,6.33,50.90
$GC,2153,-0.64,-146.0,2197,2098,3417,3224,276.5,-12.0,217,2158,0.00,2.50,0.00,0.000,260,0.000,0.083,2186,3509,3319,3414,3224,0,0,0,0,0,0,14.79,14.31,14.80,6.33,51.18
$GC,2176,-0.64,-146.0,2186,3510,3414,3225,278.9,-12.0,218,2179,0.00,2.35,0.00,0.000,3078,0.000,0.043,2186,2099,3319,3414,3224,0,0,0,0,0,0,14.55,14.42,14.57,6.33,50.98
$GC,2486,-0.64,-146.0,2186,2098,3415,3225,318.5,-12.7,234,2489,0.00,2.42,0.00,0.000,2564,0.000,0.063,2185,696,3319,3415,3224,0,0,0,0,0,0,14.82,14.35,14.82,6.34,51.18
$GC,2531,-0.64,-146.0,2186,696,3416,3224,323.6,-12.8,236,2535,0.05,2.42,0.00,0.000,3078,0.434,0.054,2190,2112,3319,3415,3224,0,0,0,0,0,0,14.09,14.38,14.35,6.33,51.06
$STATE,2758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2758,begin apogee
$GC,2764,-0.15,0.0,2191,2156,3416,3224,352.1,-12.2,248,2893,0.45,0.00,125.65,1.577,10246,0.254,0.000,2347,2156,2715,2775,2656,0,0,0,0,0,0,14.03,13.88,13.14,6.33,51.33
$STATE,2894,end apogee,CONTROL_FINISHED_OK
$STATE,2894,begin loiter
$GC,3180,-0.15,0.0,2347,2158,2771,2645,349.1,3.2,269,3181,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2706,2770,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.28,51.18
$GC,3481,-0.15,0.0,2347,2158,2771,2643,339.4,3.3,284,3481,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2706,2771,2642,0,0,0,0,0,0,14.73,14.73,14.73,6.29,50.82
$GC,3781,-0.15,0.0,2347,2157,2772,2640,329.7,3.3,299,3781,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2705,2771,2640,0,0,0,0,0,0,14.81,14.81,14.81,6.28,51.69
$GC,4081,-0.15,0.0,2347,2157,2771,2641,320.0,3.2,314,4081,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2705,2770,2640,0,0,0,0,0,0,14.87,14.87,14.87,6.28,51.06
$GC,4381,-0.15,0.0,2347,2158,2771,2641,310.5,3.2,329,4381,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2705,2770,2640,0,0,0,0,0,0,14.91,14.90,14.90,6.28,51.45
$GC,4681,-0.15,0.0,2348,2157,2770,2639,300.9,3.1,344,4682,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2705,2770,2640,0,0,0,0,0,0,14.93,14.93,14.93,6.28,51.18
$GC,4981,-0.15,0.0,2347,2158,2771,2640,291.1,3.2,359,4982,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2704,2770,2639,0,0,0,0,0,0,14.95,14.96,14.96,6.28,52.08
$GC,5281,-0.15,0.0,2347,2158,2771,2640,281.3,3.3,374,5282,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2704,2770,2639,0,0,0,0,0,0,14.97,14.97,14.97,6.28,52.12
$GC,5581,-0.15,0.0,2347,2157,2771,2640,271.6,3.4,389,5581,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2704,2770,2638,0,0,0,0,0,0,15.00,14.99,15.00,6.28,51.81
$GC,5881,-0.15,0.0,2347,2158,2771,2640,261.5,3.5,404,5881,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2704,2770,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.49
$GC,6181,-0.15,0.0,2347,2158,2772,2638,251.1,3.5,419,6181,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2704,2770,2638,0,0,0,0,0,0,15.02,15.01,15.02,6.28,51.73
$STATE,6478,end loiter,LOITER_COMPLETE
$STATE,6478,begin climb
$GC,6481,0.64,146.0,2347,2157,2771,2638,240.9,0.0,434,6622,0.62,2.58,130.00,1.416,11012,0.168,0.067,2603,751,2116,2135,2097,0,0,0,0,0,0,14.30,13.95,13.29,6.28,51.81
$GC,6702,0.64,146.0,2603,751,2130,2093,224.9,9.4,445,6706,0.00,2.45,0.00,0.000,1030,0.000,0.051,2603,2153,2110,2129,2091,0,0,0,0,0,0,14.18,14.07,14.21,6.25,49.68
$GC,7017,0.64,146.0,2603,2153,2125,2084,191.5,10.6,461,7021,0.00,2.50,0.00,0.000,260,0.000,0.084,2602,3551,2104,2124,2085,0,0,0,0,0,0,14.59,14.18,14.59,6.24,50.66
$GC,7102,0.64,146.0,2603,3553,2125,2086,183.3,10.9,465,7106,0.00,2.35,0.00,0.000,5126,0.000,0.044,2613,2154,2103,2123,2084,0,0,0,0,0,0,14.42,14.31,14.44,6.23,50.74
$GC,7413,0.64,146.0,2614,2153,2122,2081,147.2,11.4,481,7416,0.00,2.47,0.00,0.000,4612,0.000,0.068,2624,744,2101,2121,2081,0,0,0,0,0,0,14.71,14.29,14.72,6.23,51.57
$GC,7457,0.64,146.0,2625,744,2120,2082,143.2,11.4,483,7461,0.08,2.40,0.00,0.000,5126,0.316,0.054,2598,2148,2100,2120,2081,0,0,0,0,0,0,14.10,14.33,14.37,6.23,51.06
$GC,7762,0.64,146.0,2598,2149,2121,2080,110.2,10.3,498,7766,0.00,2.50,0.00,0.000,2308,0.000,0.084,2598,3558,2098,2119,2078,0,0,0,0,0,0,14.77,14.29,14.76,6.23,50.98
$GC,7857,0.64,146.0,2598,3558,2121,2078,100.5,10.1,503,7861,0.00,2.35,0.00,0.000,5126,0.000,0.044,2607,2147,2099,2120,2078,0,0,0,0,0,0,14.54,14.40,14.56,6.22,50.82
$GC,8162,0.64,146.0,2608,2147,2121,2077,71.5,9.1,562,8166,0.00,2.47,0.00,0.000,4612,0.000,0.067,2618,738,2098,2120,2077,0,0,0,0,0,0,14.78,14.33,14.78,6.21,50.15
$GC,8227,0.64,146.0,2619,739,2119,2078,65.8,8.4,575,8231,0.00,2.40,0.00,0.000,5126,0.000,0.053,2618,2150,2097,2118,2077,0,0,0,0,0,0,14.53,14.38,14.56,6.21,50.35
$GC,8355,0.66,164.9,2619,2150,2119,2077,55.7,7.6,600,8373,0.00,2.50,13.95,1.306,12548,0.000,0.084,2618,3559,2043,2061,2025,0,0,0,0,0,0,14.77,14.24,13.66,6.21,49.92
$GC,8433,0.66,164.9,2619,3560,2062,2026,48.8,8.9,616,8437,0.05,2.35,0.00,0.000,5126,0.409,0.044,2612,2150,2042,2061,2024,0,0,0,0,0,0,14.13,14.40,14.38,6.20,49.52
$GC,8560,0.66,164.9,2612,2151,2062,2022,38.1,8.6,641,8566,0.00,2.47,0.00,0.000,516,0.000,0.067,2621,742,2041,2061,2022,0,0,0,0,0,0,14.69,14.31,14.70,6.23,50.19
$GC,8588,0.66,164.9,2622,743,2061,2022,35.5,9.0,647,8591,0.00,2.40,0.00,0.000,5126,0.000,0.052,2621,2153,2041,2060,2022,0,0,0,0,0,0,14.50,14.35,14.53,6.21,50.78
$GC,8715,0.66,164.9,2622,2153,2060,2022,23.8,9.3,672,8719,0.00,2.50,0.00,0.000,4356,0.000,0.086,2621,3559,2044,2059,2030,0,0,0,0,0,0,14.72,14.28,14.71,6.20,50.82
$GC,8760,0.66,164.9,2621,3560,2059,2022,19.3,9.4,681,8764,0.08,2.35,0.00,0.000,5126,0.339,0.044,2606,2150,2040,2059,2022,0,0,0,0,0,0,14.02,14.31,14.28,6.21,50.98
$GC,8884,0.66,164.9,2606,2151,2060,2022,7.9,9.6,706,8888,0.00,2.45,0.00,0.000,2564,0.000,0.067,2616,742,2040,2059,2021,0,0,0,0,0,0,14.75,14.33,14.76,6.21,51.26
$GC,8929,0.66,164.9,2617,743,2060,2021,3.7,8.8,715,8933,0.00,2.40,0.00,0.000,5126,0.000,0.053,2617,2149,2039,2058,2021,0,0,0,0,0,0,14.42,14.28,14.45,6.21,51.14
$STATE,8937,end climb,SURFACE_DEPTH_REACHED
$STATE,8937,begin surface coast
$STATE,8972,end surface coast,CONTROL_FINISHED_OK
$STATE,8972,begin surface
$SM_CCo,8989,52.28,0.239,0,0,1822,220.03
$SM_GC,1.16,5.68,0.10,52.28,0.086,0.144,0.239,250,2070,1822,-6.49,0.59,220.03,0,0,0,0,0,0,14.49,14.43,14.09
$IRIDIUM_FIX,-6011.88,0.00,150219,014809
$TT8_MAMPS,0.038948,0.32956
$HUMID,50.66
$INTERNAL_PRESSURE,6.10897
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3626304
$24V_AH,12.89,110.187
$10V_AH,13.43,0.000
$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,13.450,83.175,269.600,52.275,0.000,25.926,17.708,139.216,0.000,0.000,18.920,0.000,7084.051,400.624,1655.988,277.349,0.000,1063.371,0.000,1197.212,0.000,0.539,0.000
$DEVICE_MAMPS,433.755,2195.550,1577.430,239.445,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5399.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.564,0.000,0.000,0.000
$MEM,344076
$DATA_FILE_SIZE,20766,724
$CAP_FILE_SIZE,95815,0
$CFSIZE,1023623168,962838528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.050,225.98,1
$GPS,150219,070306,-6009.522,-1.429,25,1.0,30,-19.7,0.5,134.6,8,9.4