version: 66.14
glider: 640
mission: 5
dive: 580
start: 2 15 119 15 7 8
data:
$ID,640
$MISSION,5
$DIVE,580
$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,33
$R_STBD_OVSHOOT,29
$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
$GPS1,150219,150004,-6008.5205,-1.8969,26,0.7,29,-19.7,0.9,163.2,10,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-69.7
$GPS2,150219,150649,-6008.5269,-1.8772,10,0.7,16,-19.7,0.4,164.8,10,8.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,30.0,52861,-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,-146.0,228,2137,1786,1830,0.0,0.0,0,98,0.00,0.00,-82.03,0.000,16386,0.000,0.000,227,2137,3145,3226,3065,0,0,0,0,0,0,14.54,28.83,14.54,6.16,50.98
$GC,101,-0.64,-146.0,228,2137,3227,3066,3.0,-5.0,17,118,6.12,2.80,-6.40,0.000,18948,0.335,2.196,2171,697,3317,3413,3222,0,0,0,0,0,0,13.89,12.88,14.25,6.28,50.15
$GC,235,-0.64,-146.0,2171,698,3415,3225,25.6,-17.0,44,239,0.10,2.42,0.00,0.000,3078,0.334,0.054,2194,2099,3319,3414,3224,0,0,0,0,0,0,13.97,14.23,14.25,6.30,48.81
$GC,361,-0.64,-146.0,2194,2101,3416,3217,46.0,-15.8,69,365,0.00,2.53,0.00,0.000,260,0.000,0.083,2184,3513,3319,3415,3224,0,0,0,0,0,0,14.64,14.21,14.64,6.30,50.27
$GC,385,-0.64,-146.0,2184,3514,3416,3224,50.2,-16.0,74,389,0.00,2.38,0.00,0.000,3078,0.000,0.044,2183,2100,3319,3415,3223,0,0,0,0,0,0,14.44,14.32,14.46,6.30,50.19
$GC,511,-0.64,-146.0,2184,2100,3416,3224,68.9,-15.1,99,514,0.00,2.45,0.00,0.000,2564,0.000,0.064,2182,695,3319,3415,3224,0,0,0,0,0,0,14.69,14.26,14.69,6.30,49.64
$GC,601,-0.64,-146.0,2182,696,3415,3225,81.1,-11.9,117,605,0.08,2.42,0.00,0.000,3078,0.358,0.054,2197,2106,3319,3414,3224,0,0,0,0,0,0,14.00,14.30,14.28,6.30,49.52
$GC,728,-0.64,-146.0,2198,2106,3416,3224,94.8,-10.9,142,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2106,3319,3414,3224,0,0,0,0,0,0,14.69,14.69,14.69,6.29,48.81
$GC,856,-0.64,-146.0,2197,2107,3415,3225,109.0,-11.1,156,859,0.00,2.47,0.00,0.000,260,0.000,0.080,2182,3504,3319,3415,3224,0,0,0,0,0,0,14.73,14.27,14.73,6.28,48.74
$GC,891,-0.64,-146.0,2188,3505,3415,3226,112.7,-10.6,158,894,0.00,2.35,0.00,0.000,3078,0.000,0.042,2187,2091,3319,3414,3225,0,0,0,0,0,0,14.50,14.36,14.51,6.28,48.58
$GC,1206,-0.64,-146.0,2182,2094,3415,3225,151.2,-12.7,174,1209,0.00,2.42,0.00,0.000,2564,0.000,0.062,2187,701,3317,3414,3221,0,0,0,0,0,0,14.77,14.32,14.75,6.29,49.33
$GC,1326,-0.64,-146.0,2187,702,3416,3224,166.1,-12.3,180,1330,0.05,2.42,0.00,0.000,3078,0.422,0.054,2192,2104,3319,3414,3224,0,0,0,0,0,0,14.07,14.35,14.33,6.29,49.76
$GC,1646,-0.64,-146.0,2193,2105,3416,3224,205.9,-12.6,196,1646,0.00,0.00,0.00,0.000,2054,0.000,0.000,2193,2105,3319,3415,3224,0,0,0,0,0,0,14.80,14.79,14.79,6.29,50.23
$GC,1946,-0.64,-146.0,2193,2102,3415,3224,243.7,-12.7,211,1947,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2105,3319,3415,3224,0,0,0,0,0,0,14.81,14.81,14.81,6.30,50.70
$GC,2246,-0.64,-146.0,2193,2105,3415,3225,281.3,-12.4,226,2247,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2105,3319,3415,3224,0,0,0,0,0,0,14.81,14.83,14.82,6.31,51.45
$GC,2546,-0.64,-146.0,2193,2105,3416,3224,318.8,-12.4,241,2546,0.00,0.00,0.00,0.000,2054,0.000,0.000,2193,2105,3319,3414,3224,0,0,0,0,0,0,14.83,14.83,14.83,6.31,51.29
$STATE,2803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2803,begin apogee
$GC,2809,-0.15,0.0,2193,2172,3415,3225,351.2,-12.3,254,2937,0.45,0.00,125.05,1.589,10246,0.252,0.000,2349,2171,2718,2778,2659,0,0,0,0,0,0,14.02,13.89,13.14,6.31,51.29
$STATE,2938,end apogee,CONTROL_FINISHED_OK
$STATE,2938,begin loiter
$GC,3226,-0.15,0.0,2349,2172,2772,2643,349.4,2.8,275,3226,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2171,2707,2771,2643,0,0,0,0,0,0,14.56,14.57,14.57,6.27,50.98
$GC,3526,-0.15,0.0,2349,2172,2771,2642,341.1,2.8,290,3526,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2171,2706,2771,2642,0,0,0,0,0,0,14.73,14.73,14.73,6.27,51.02
$GC,3826,-0.15,0.0,2349,2172,2771,2641,332.8,2.8,305,3826,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2171,2705,2771,2640,0,0,0,0,0,0,14.81,14.81,14.81,6.27,50.98
$GC,4126,-0.15,0.0,2349,2172,2772,2640,324.6,2.7,320,4126,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2171,2705,2770,2640,0,0,0,0,0,0,14.87,14.87,14.87,6.27,51.37
$GC,4426,-0.15,0.0,2349,2172,2771,2641,316.6,2.6,335,4427,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2171,2704,2770,2639,0,0,0,0,0,0,14.90,14.90,14.91,6.26,51.37
$GC,4726,-0.15,0.0,2349,2172,2773,2638,308.6,2.6,350,4727,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2171,2704,2770,2639,0,0,0,0,0,0,14.93,14.93,14.93,6.27,51.53
$GC,5026,-0.15,0.0,2349,2171,2772,2639,300.4,3.0,365,5027,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2171,2705,2771,2639,0,0,0,0,0,0,14.95,14.95,14.95,6.27,51.33
$GC,5326,-0.15,0.0,2349,2172,2771,2640,290.9,3.2,380,5326,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2171,2704,2770,2638,0,0,0,0,0,0,14.97,14.97,14.97,6.27,51.45
$GC,5626,-0.15,0.0,2349,2172,2771,2639,281.0,3.3,395,5626,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2171,2704,2771,2638,0,0,0,0,0,0,14.99,14.99,14.99,6.26,52.20
$GC,5926,-0.15,0.0,2349,2172,2772,2638,270.9,3.3,410,5926,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2171,2704,2771,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.25,51.41
$GC,6226,-0.15,0.0,2349,2172,2771,2639,261.6,3.0,425,6226,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2171,2703,2770,2637,0,0,0,0,0,0,15.01,15.01,15.01,6.26,51.57
$STATE,6523,end loiter,LOITER_COMPLETE
$STATE,6523,begin climb
$GC,6526,0.64,146.0,2348,2172,2771,2640,251.9,0.0,440,6667,0.62,2.60,129.20,1.431,10756,0.162,0.064,2601,755,2118,2138,2099,0,0,0,0,0,0,14.30,13.96,13.28,6.26,51.61
$GC,6692,0.64,146.0,2606,755,2136,2098,241.0,8.4,448,6695,0.00,2.42,0.00,0.000,1030,0.000,0.052,2606,2137,2115,2134,2097,0,0,0,0,0,0,14.13,14.03,14.15,6.21,49.44
$GC,7002,0.64,146.0,2606,2138,2129,2087,205.1,11.5,464,7005,0.00,2.55,0.00,0.000,260,0.000,0.084,2606,3559,2107,2129,2086,0,0,0,0,0,0,14.56,14.15,14.56,6.21,50.63
$GC,7092,0.64,146.0,2607,3560,2130,2086,196.3,11.8,468,7095,0.00,2.35,0.00,0.000,5126,0.000,0.042,2617,2160,2107,2128,2086,0,0,0,0,0,0,14.40,14.28,14.42,6.21,50.55
$GC,7412,0.64,146.0,2617,2160,2126,2085,157.1,11.6,485,7415,0.00,2.47,0.00,0.000,4612,0.000,0.066,2628,745,2104,2126,2083,0,0,0,0,0,0,14.70,14.28,14.70,6.21,50.90
$GC,7462,0.64,146.0,2628,745,2124,2083,152.7,11.4,487,7466,0.08,2.42,0.00,0.000,5126,0.314,0.054,2601,2158,2103,2123,2083,0,0,0,0,0,0,14.09,14.32,14.36,6.20,51.10
$GC,7767,0.64,146.0,2602,2158,2123,2082,121.4,9.9,502,7770,0.00,2.47,0.00,0.000,260,0.000,0.083,2601,3555,2102,2123,2082,0,0,0,0,0,0,14.75,14.28,14.76,6.20,50.90
$GC,7837,0.64,146.0,2602,3556,2123,2082,115.8,10.1,505,7841,0.00,2.35,0.00,0.000,5126,0.000,0.042,2611,2145,2102,2123,2082,0,0,0,0,0,0,14.53,14.41,14.55,6.20,50.70
$GC,8142,0.64,146.0,2611,2145,2122,2082,84.7,10.1,542,8145,0.00,2.45,0.00,0.000,4612,0.000,0.065,2622,739,2101,2122,2081,0,0,0,0,0,0,14.77,14.33,14.77,6.19,50.35
$GC,8232,0.64,146.0,2622,740,2121,2080,75.7,9.9,560,8236,0.05,2.40,0.00,0.000,5126,0.375,0.054,2603,2150,2100,2120,2080,0,0,0,0,0,0,14.15,14.37,14.41,6.19,50.43
$GC,8357,0.64,146.0,2603,2151,2120,2080,63.3,9.7,585,8361,0.00,2.50,0.00,0.000,260,0.000,0.084,2603,3553,2100,2120,2080,0,0,0,0,0,0,14.76,14.30,14.76,6.18,49.80
$GC,8392,0.64,146.0,2604,3554,2121,2080,59.9,9.9,592,8395,0.00,2.35,0.00,0.000,5126,0.000,0.043,2613,2148,2100,2120,2080,0,0,0,0,0,0,14.54,14.41,14.57,6.18,49.76
$GC,8519,0.64,146.0,2614,2148,2121,2080,48.4,9.2,617,8523,0.00,2.50,0.00,0.000,4356,0.000,0.082,2613,3554,2100,2121,2080,0,0,0,0,0,0,14.76,14.29,14.76,6.18,49.76
$GC,8538,0.64,146.0,2614,3556,2121,2080,46.4,9.7,621,8542,0.05,2.35,0.00,0.000,5126,0.405,0.044,2606,2149,2099,2120,2079,0,0,0,0,0,0,14.12,14.41,14.40,6.18,50.31
$GC,8665,0.64,146.7,2607,2150,2121,2079,36.0,8.3,646,8671,0.00,2.45,0.00,0.000,516,0.000,0.065,2616,747,2099,2120,2079,0,0,0,0,0,0,14.74,14.33,14.75,6.18,50.15
$GC,8728,0.65,153.4,2617,747,2120,2079,30.6,8.1,659,8732,0.00,2.40,0.00,0.000,5126,0.000,0.053,2617,2151,2099,2120,2078,0,0,0,0,0,0,14.52,14.37,14.54,6.18,50.31
$GC,8855,0.65,153.4,2617,2152,2120,2079,19.8,8.5,684,8861,0.00,2.50,0.00,0.000,4356,0.000,0.086,2616,3559,2099,2120,2078,0,0,0,0,0,0,14.74,14.28,14.74,6.19,50.78
$GC,8913,0.65,153.4,2617,3560,2122,2078,14.3,9.2,696,8917,0.05,2.35,0.00,0.000,5126,0.409,0.043,2610,2148,2099,2120,2078,0,0,0,0,0,0,14.12,14.40,14.35,6.19,50.86
$GC,9040,0.65,153.4,2610,2147,2121,2078,3.8,8.4,721,9044,0.00,2.40,0.00,0.000,516,0.000,0.064,2619,739,2099,2120,2078,0,0,0,0,0,0,14.75,14.31,14.76,6.19,51.14
$STATE,9047,end climb,SURFACE_DEPTH_REACHED
$STATE,9047,begin surface coast
$STATE,9082,end surface coast,CONTROL_FINISHED_OK
$STATE,9082,begin surface
$SM_CCo,9100,66.22,0.239,0,0,1822,220.03
$SM_GC,1.40,5.50,2.35,66.22,0.050,0.040,0.239,266,2113,1822,-6.46,-0.88,220.03,0,0,0,0,0,0,14.54,14.42,14.09
$IRIDIUM_FIX,-6007.06,0.00,150219,122433
$TT8_MAMPS,0.038948,0.343042
$HUMID,50.94
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3624256
$24V_AH,12.88,110.907
$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,13.150,73.400,254.250,66.225,0.000,26.398,41.814,140.485,0.000,0.000,17.135,0.000,7245.972,399.576,1646.598,277.049,0.000,1041.939,0.000,1168.800,0.000,0.540,0.000
$DEVICE_MAMPS,421.515,2195.550,1588.905,238.680,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5510.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.423,0.000,0.000,0.000
$MEM,344112
$DATA_FILE_SIZE,20778,730
$CAP_FILE_SIZE,92914,0
$CFSIZE,1023623168,962445312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.058,198.63,1
$GPS,150219,174101,-6008.237,-1.942,14,1.0,38,-19.7,0.6,315.8,9,7.9