version: 66.14
glider: 640
mission: 5
dive: 577
start: 2 15 119 7 10 3
data:
$ID,640
$MISSION,5
$DIVE,577
$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,47
$R_STBD_OVSHOOT,27
$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
$GPS1,150219,070306,-6009.5225,-1.4292,25,1.0,30,-19.7,0.5,134.6,8,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-67.7
$GPS2,150219,070944,-6009.5269,-1.4528,9,1.0,16,-19.7,0.6,145.8,9,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,29.4,54700,-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,-146.0,234,2068,1785,1831,0.0,0.0,0,98,0.00,0.00,-82.28,0.000,16386,0.000,0.000,233,2068,3154,3235,3073,0,0,0,0,0,0,14.54,28.83,14.55,6.16,51.33
$GC,101,-0.64,-146.0,233,2068,3237,3074,3.2,-5.6,17,118,6.20,2.65,-6.05,0.000,18948,0.353,2.199,2182,710,3317,3413,3222,0,0,0,0,0,0,13.90,12.91,14.28,6.28,50.07
$GC,224,-0.64,-146.0,2182,711,3418,3224,23.0,-15.5,42,228,0.08,2.40,0.00,0.000,3078,0.356,0.056,2199,2101,3318,3414,3223,0,0,0,0,0,0,13.92,14.18,14.22,6.29,49.13
$GC,351,-0.64,-146.0,2196,2102,3416,3224,43.6,-16.9,67,357,0.00,2.50,0.00,0.000,260,0.000,0.083,2186,3505,3318,3414,3223,0,0,0,0,0,0,14.63,14.21,14.64,6.30,49.72
$GC,374,-0.64,-146.0,2187,3508,3416,3223,47.8,-16.1,72,378,0.00,2.35,0.00,0.000,3078,0.000,0.045,2186,2113,3319,3415,3223,0,0,0,0,0,0,14.35,14.23,14.37,6.30,49.76
$GC,501,-0.64,-146.0,2186,2112,3415,3225,68.6,-15.8,97,505,0.00,2.50,0.00,0.000,2308,0.000,0.083,2176,3509,3318,3414,3223,0,0,0,0,0,0,14.66,14.23,14.67,6.30,50.00
$GC,526,-0.64,-146.0,2177,3509,3415,3223,72.6,-14.7,102,529,0.03,2.38,0.00,0.000,3078,0.600,0.044,2187,2094,3319,3415,3224,0,0,0,0,0,0,14.07,14.33,14.31,6.30,50.35
$GC,653,-0.64,-146.0,2187,2094,3415,3225,89.6,-13.8,127,658,0.00,2.42,0.00,0.000,2564,0.000,0.063,2186,698,3319,3414,3224,0,0,0,0,0,0,14.69,14.28,14.66,6.29,49.09
$GC,695,-0.64,-146.0,2186,699,3415,3225,95.7,-13.4,136,699,0.05,2.42,0.00,0.000,3078,0.433,0.055,2191,2104,3319,3414,3224,0,0,0,0,0,0,14.04,14.31,14.31,6.30,48.85
$GC,830,-0.64,-146.0,2192,2105,3416,3224,113.3,-13.1,148,834,0.00,2.45,0.00,0.000,2564,0.000,0.063,2191,697,3319,3414,3224,0,0,0,0,0,0,14.73,14.31,14.73,6.29,48.22
$GC,860,-0.64,-146.0,2191,698,3415,3225,115.4,-13.5,149,864,0.00,2.42,0.00,0.000,3078,0.000,0.055,2181,2105,3319,3414,3224,0,0,0,0,0,0,14.48,14.33,14.51,6.28,48.11
$GC,1180,-0.64,-146.0,2181,2106,3416,3224,159.2,-13.0,166,1184,0.03,2.50,0.00,0.000,2308,0.616,0.083,2179,3504,3319,3414,3224,0,0,0,0,0,0,14.36,14.28,14.45,6.29,49.88
$GC,1221,-0.64,-146.0,2179,3505,3416,3224,164.5,-13.0,168,1225,0.05,2.35,0.00,0.000,3078,0.425,0.043,2195,2094,3319,3414,3224,0,0,0,0,0,0,14.08,14.39,14.34,6.29,49.72
$GC,1541,-0.64,-146.0,2195,2094,3416,3224,203.8,-12.2,184,1544,0.00,2.42,0.00,0.000,516,0.000,0.063,2195,699,3319,3414,3224,0,0,0,0,0,0,14.78,14.33,14.79,6.30,50.51
$GC,1615,-0.64,-146.0,2195,700,3416,3224,212.8,-12.0,188,1619,0.00,2.40,0.00,0.000,3078,0.000,0.054,2184,2101,3318,3414,3223,0,0,0,0,0,0,14.52,14.37,14.54,6.30,50.59
$GC,1931,-0.64,-146.0,2185,2102,3416,3223,251.1,-12.3,204,1931,0.00,0.00,0.00,0.000,2054,0.000,0.000,2184,2102,3319,3414,3224,0,0,0,0,0,0,14.81,14.81,14.81,6.30,51.14
$GC,2230,-0.64,-146.0,2185,2101,3415,3225,287.7,-12.1,219,2231,0.00,0.00,0.00,0.000,2054,0.000,0.000,2184,2103,3319,3414,3224,0,0,0,0,0,0,14.82,14.82,14.82,6.31,51.53
$GC,2531,-0.64,-146.0,2185,2102,3415,3225,323.9,-12.1,234,2531,0.00,0.00,0.00,0.000,2054,0.000,0.000,2184,2101,3319,3414,3224,0,0,0,0,0,0,14.83,14.83,14.83,6.31,50.98
$STATE,2748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2748,begin apogee
$GC,2755,-0.15,0.0,2184,2166,3415,3225,350.5,-12.1,245,2883,0.47,0.00,125.00,1.586,10246,0.252,0.000,2350,2165,2715,2775,2656,0,0,0,0,0,0,14.02,13.88,13.14,6.31,51.49
$STATE,2884,end apogee,CONTROL_FINISHED_OK
$STATE,2884,begin loiter
$GC,3170,-0.15,0.0,2350,2166,2773,2644,346.8,3.3,266,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2165,2707,2771,2644,0,0,0,0,0,0,14.57,14.57,14.57,6.27,50.66
$GC,3470,-0.15,0.0,2350,2166,2771,2642,337.7,3.1,281,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2165,2706,2771,2642,0,0,0,0,0,0,14.73,14.73,14.73,6.27,51.10
$GC,3770,-0.15,0.0,2349,2166,2771,2642,329.0,2.8,296,3771,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2165,2706,2771,2641,0,0,0,0,0,0,14.81,14.81,14.81,6.27,51.29
$GC,4070,-0.15,0.0,2350,2166,2772,2640,320.6,2.8,311,4071,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2165,2705,2771,2640,0,0,0,0,0,0,14.87,14.87,14.87,6.27,51.14
$GC,4370,-0.15,0.0,2350,2166,2772,2640,312.3,2.9,326,4371,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2165,2705,2771,2640,0,0,0,0,0,0,14.91,14.91,14.91,6.27,51.29
$GC,4671,-0.15,0.0,2350,2166,2771,2641,303.6,2.9,341,4672,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2165,2705,2771,2640,0,0,0,0,0,0,14.94,14.94,14.94,6.27,51.92
$GC,4971,-0.15,0.0,2350,2166,2771,2640,294.9,2.9,356,4972,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2165,2705,2771,2639,0,0,0,0,0,0,14.95,14.96,14.96,6.26,51.89
$GC,5271,-0.15,0.0,2350,2166,2773,2639,285.8,3.0,371,5272,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2165,2705,2771,2639,0,0,0,0,0,0,14.97,14.97,14.98,6.27,51.49
$GC,5570,-0.15,0.0,2350,2166,2771,2640,275.2,3.7,386,5571,0.00,0.00,0.00,0.000,2054,0.000,0.000,2350,2165,2704,2770,2639,0,0,0,0,0,0,14.99,15.00,15.00,6.27,52.16
$GC,5871,-0.15,0.0,2350,2166,2772,2639,263.2,4.0,401,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2165,2705,2771,2639,0,0,0,0,0,0,15.00,15.00,15.00,6.26,51.45
$GC,6170,-0.15,0.0,2350,2166,2772,2638,251.3,3.9,416,6171,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2704,2770,2639,0,0,0,0,0,0,15.01,15.02,15.02,6.26,51.57
$STATE,6468,end loiter,LOITER_COMPLETE
$STATE,6468,begin climb
$GC,6471,0.64,146.0,2350,2166,2771,2639,241.1,0.0,431,6612,0.62,2.58,129.82,1.409,11012,0.165,0.085,2596,3549,2118,2139,2098,0,0,0,0,0,0,14.30,13.95,13.29,6.26,51.89
$GC,6692,0.64,146.0,2596,3545,2136,2091,224.9,9.8,442,6696,0.00,2.38,0.00,0.000,1030,0.000,0.043,2606,2153,2112,2135,2090,0,0,0,0,0,0,14.19,14.09,14.21,6.21,49.13
$GC,7007,0.64,146.0,2607,2154,2129,2084,191.9,10.4,458,7011,0.00,2.47,0.00,0.000,4612,0.000,0.067,2617,752,2105,2127,2084,0,0,0,0,0,0,14.59,14.21,14.59,6.21,50.66
$GC,7062,0.64,146.0,2618,746,2125,2086,186.4,10.2,461,7066,0.00,2.40,0.00,0.000,5126,0.000,0.054,2618,2132,2104,2125,2083,0,0,0,0,0,0,14.40,14.26,14.42,6.21,50.66
$GC,7377,0.64,146.0,2618,2133,2125,2082,150.6,12.1,477,7381,0.00,2.55,0.00,0.000,4356,0.000,0.086,2618,3560,2102,2123,2082,0,0,0,0,0,0,14.70,14.25,14.70,6.21,51.06
$GC,7477,0.64,146.0,2619,3561,2124,2082,138.6,11.8,482,7481,0.08,2.35,0.00,0.000,5126,0.337,0.043,2602,2152,2102,2123,2082,0,0,0,0,0,0,14.08,14.37,14.36,6.21,51.14
$GC,7797,0.64,146.0,2603,2153,2123,2079,104.8,9.8,498,7801,0.00,2.47,0.00,0.000,516,0.000,0.066,2612,740,2098,2122,2074,0,0,0,0,0,0,14.76,14.33,14.76,6.20,50.94
$GC,7877,0.64,146.0,2612,741,2121,2080,97.5,8.7,506,7881,0.00,2.42,0.00,0.000,5126,0.000,0.054,2612,2161,2099,2120,2079,0,0,0,0,0,0,14.52,14.36,14.54,6.20,51.10
$GC,8004,0.64,146.0,2613,2162,2121,2080,86.2,8.9,531,8008,0.00,2.47,0.00,0.000,4356,0.000,0.086,2612,3555,2099,2120,2079,0,0,0,0,0,0,14.73,14.28,14.74,6.19,50.66
$GC,8058,0.64,146.0,2612,3555,2121,2080,81.1,9.0,542,8062,0.05,2.35,0.00,0.000,5126,0.405,0.044,2605,2149,2099,2120,2079,0,0,0,0,0,0,14.06,14.40,14.34,6.19,50.31
$GC,8186,0.64,147.5,2606,2150,2121,2077,71.0,8.3,567,8190,0.00,2.45,0.00,0.000,516,0.000,0.066,2615,744,2099,2120,2079,0,0,0,0,0,0,14.75,14.33,14.76,6.19,49.48
$GC,8270,0.66,163.6,2616,745,2120,2078,64.2,7.7,584,8289,0.00,2.40,13.05,1.315,13318,0.000,0.053,2615,2149,2052,2065,2040,0,0,0,0,0,0,14.52,14.40,13.65,6.18,49.88
$GC,8410,0.66,165.4,2615,2149,2066,2027,53.0,8.3,612,8414,0.00,2.50,0.00,0.000,4356,0.000,0.086,2615,3556,2045,2065,2026,0,0,0,0,0,0,14.71,14.28,14.70,6.18,49.40
$GC,8485,0.66,165.4,2615,3558,2066,2028,46.5,8.7,627,8489,0.00,2.35,0.00,0.000,5126,0.000,0.044,2625,2149,2046,2065,2028,0,0,0,0,0,0,14.51,14.39,14.53,6.18,49.76
$GC,8610,0.66,165.4,2626,2150,2066,2024,34.9,10.0,652,8614,0.00,2.45,0.00,0.000,4612,0.000,0.065,2637,743,2045,2065,2025,0,0,0,0,0,0,14.73,14.31,14.73,6.17,50.19
$GC,8665,0.66,165.4,2638,743,2066,2024,30.1,8.5,663,8669,0.08,2.40,0.00,0.000,5126,0.322,0.054,2610,2150,2044,2064,2024,0,0,0,0,0,0,14.10,14.35,14.35,6.19,50.39
$GC,8792,0.66,165.4,2611,2151,2065,2025,18.6,9.5,688,8797,0.00,2.50,0.00,0.000,260,0.000,0.083,2610,3553,2044,2064,2024,0,0,0,0,0,0,14.71,14.28,14.72,6.19,50.66
$GC,8850,0.66,165.4,2611,3554,2065,2025,13.0,9.4,700,8853,0.00,2.35,0.00,0.000,5126,0.000,0.043,2620,2148,2043,2064,2022,0,0,0,0,0,0,14.52,14.40,14.54,6.19,50.86
$STATE,8957,end climb,SURFACE_DEPTH_REACHED
$STATE,8957,begin surface coast
$STATE,8992,end surface coast,CONTROL_FINISHED_OK
$STATE,8992,begin surface
$SM_CCo,9009,53.45,0.242,0,0,1821,220.03
$SM_GC,1.16,5.72,0.05,53.45,0.103,0.213,0.242,243,2075,1821,-6.44,1.13,220.03,0,0,0,0,0,0,14.47,14.47,14.09
$IRIDIUM_FIX,-6010.01,-4.32,150219,042744
$TT8_MAMPS,0.03745,0.358771
$HUMID,50.70
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3625792
$24V_AH,12.91,110.368
$10V_AH,13.42,0.000
$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,13.450,78.150,267.875,53.450,0.000,27.553,36.949,136.135,0.000,0.000,17.350,0.000,7124.526,400.156,1657.147,277.374,0.000,1054.541,0.000,1181.196,0.000,0.539,0.000
$DEVICE_MAMPS,615.825,2199.375,1585.845,241.740,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5420.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.517,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,20753,729
$CAP_FILE_SIZE,95112,0
$CFSIZE,1023623168,962740224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.043,211.40,1
$GPS,150219,094202,-6009.166,-1.441,15,0.8,28,-19.7,0.4,80.4,11,8.1