version: 66.14
glider: 640
mission: 5
dive: 581
start: 2 15 119 17 48 8
data:
$ID,640
$MISSION,5
$DIVE,581
$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,41
$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
$GPS1,150219,174101,-6008.2373,-1.9416,14,1.0,38,-19.7,0.6,315.8,9,7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-66.6
$GPS2,150219,174748,-6008.2280,-1.9388,9,0.9,19,-19.7,1.5,131.9,9,9.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,25.6,52310,-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,-146.0,216,2116,1783,1833,0.0,0.0,0,102,0.00,0.00,-86.70,0.000,16386,0.000,0.000,216,2115,3241,3322,3161,0,0,0,0,0,0,14.55,28.83,14.55,6.16,51.10
$GC,105,-0.64,-146.0,216,2116,3324,3162,3.7,-7.9,18,118,6.30,2.78,-2.40,0.000,18948,0.356,2.194,2175,694,3313,3404,3222,0,0,0,0,0,0,13.83,13.14,14.26,6.29,49.72
$GC,184,-0.64,-146.0,2176,695,3407,3222,19.3,-17.3,34,188,0.10,2.42,0.00,0.000,3078,0.331,0.057,2198,2090,3314,3406,3222,0,0,0,0,0,0,13.95,14.17,14.25,6.30,48.93
$GC,311,-0.64,-146.0,2197,2091,3406,3224,40.3,-17.3,59,317,0.00,2.53,0.00,0.000,260,0.000,0.082,2188,3503,3314,3406,3222,0,0,0,0,0,0,14.62,14.21,14.62,6.30,49.25
$GC,324,-0.64,-146.0,2188,3504,3406,3224,42.9,-17.7,62,327,0.00,2.38,0.00,0.000,3078,0.000,0.045,2187,2101,3315,3406,3225,0,0,0,0,0,0,14.33,14.21,14.36,6.30,49.17
$GC,451,-0.64,-146.0,2187,2101,3407,3223,65.5,-18.1,87,457,0.00,2.47,0.00,0.000,2564,0.000,0.066,2187,688,3314,3406,3222,0,0,0,0,0,0,14.65,14.25,14.65,6.30,49.68
$GC,488,-0.64,-146.0,2187,689,3407,3222,72.8,-17.5,95,492,0.05,2.45,0.00,0.000,3078,0.426,0.056,2192,2107,3314,3406,3222,0,0,0,0,0,0,13.93,14.20,14.19,6.30,49.37
$GC,616,-0.64,-146.0,2192,2107,3407,3223,90.5,-13.5,120,620,0.00,2.47,0.00,0.000,2308,0.000,0.083,2182,3506,3313,3406,3221,0,0,0,0,0,0,14.67,14.23,14.67,6.30,49.01
$GC,640,-0.64,-146.0,2182,3506,3407,3224,94.3,-14.1,125,643,0.00,2.38,0.00,0.000,3078,0.000,0.044,2181,2094,3314,3406,3222,0,0,0,0,0,0,14.47,14.33,14.48,6.30,48.62
$GC,765,-0.64,-146.0,2182,2094,3408,3222,111.5,-13.7,138,768,0.00,2.45,0.00,0.000,2564,0.000,0.063,2181,687,3314,3406,3222,0,0,0,0,0,0,14.71,14.28,14.72,6.29,48.18
$GC,815,-0.64,-146.0,2181,687,3407,3223,116.5,-13.8,140,819,0.08,2.45,0.00,0.000,3078,0.354,0.055,2195,2109,3314,3406,3222,0,0,0,0,0,0,14.01,14.31,14.30,6.29,48.03
$GC,1120,-0.64,-146.0,2194,2110,3407,3222,156.1,-12.3,156,1123,0.00,2.47,0.00,0.000,260,0.000,0.082,2184,3503,3314,3407,3222,0,0,0,0,0,0,14.76,14.27,14.76,6.29,49.84
$GC,1145,-0.64,-146.0,2185,3504,3408,3223,158.6,-12.4,157,1148,0.00,2.35,0.00,0.000,3078,0.000,0.044,2184,2097,3314,3406,3222,0,0,0,0,0,0,14.51,14.38,14.53,6.29,49.40
$GC,1455,-0.64,-146.0,2185,2096,3408,3222,198.6,-13.0,173,1458,0.00,2.45,0.00,0.000,2564,0.000,0.063,2183,691,3313,3406,3221,0,0,0,0,0,0,14.78,14.33,14.78,6.30,50.63
$GC,1530,-0.64,-146.0,2184,692,3407,3223,208.3,-13.1,177,1534,0.08,2.42,0.00,0.000,3078,0.360,0.055,2198,2105,3314,3406,3222,0,0,0,0,0,0,14.03,14.35,14.33,6.30,50.27
$GC,1845,-0.64,-146.0,2198,2106,3407,3223,245.6,-11.8,193,1848,0.00,2.47,0.00,0.000,260,0.000,0.083,2188,3503,3314,3406,3222,0,0,0,0,0,0,14.79,14.28,14.80,6.30,50.98
$GC,1880,-0.64,-146.0,2189,3503,3408,3222,249.9,-11.9,195,1883,0.00,2.35,0.00,0.000,3078,0.000,0.043,2188,2092,3314,3407,3222,0,0,0,0,0,0,14.54,14.40,14.55,6.30,50.90
$GC,2195,-0.64,-146.0,2188,2092,3406,3223,288.4,-12.4,211,2198,0.00,2.42,0.00,0.000,2564,0.000,0.063,2188,694,3314,3406,3222,0,0,0,0,0,0,14.81,14.34,14.81,6.30,51.41
$GC,2235,-0.64,-146.0,2188,694,3407,3223,293.5,-12.6,213,2239,0.05,2.42,0.00,0.000,3078,0.423,0.055,2193,2106,3314,3406,3222,0,0,0,0,0,0,14.09,14.36,14.35,6.30,50.86
$GC,2555,-0.64,-146.0,2194,2107,3408,3222,331.7,-11.9,229,2556,0.00,0.00,0.00,0.000,2054,0.000,0.000,2193,2106,3314,3407,3222,0,0,0,0,0,0,14.81,14.81,14.81,6.31,50.82
$STATE,2712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2712,begin apogee
$GC,2719,-0.15,0.0,2194,2172,3408,3222,350.5,-11.8,237,2845,0.45,0.00,122.95,1.580,10246,0.251,0.000,2350,2171,2719,2779,2659,0,0,0,0,0,0,14.02,13.90,13.13,6.31,51.18
$STATE,2846,end apogee,CONTROL_FINISHED_OK
$STATE,2846,begin loiter
$GC,3135,-0.15,0.0,2350,2172,2775,2648,348.4,2.9,258,3136,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2171,2711,2775,2647,0,0,0,0,0,0,14.57,14.57,14.57,6.27,50.47
$GC,3435,-0.15,0.0,2350,2172,2775,2646,339.1,3.2,273,3436,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2171,2710,2775,2645,0,0,0,0,0,0,14.72,14.73,14.73,6.27,50.55
$GC,3735,-0.15,0.0,2350,2173,2775,2645,329.3,3.2,288,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2171,2709,2775,2644,0,0,0,0,0,0,14.81,14.81,14.81,6.27,51.14
$GC,4035,-0.15,0.0,2350,2172,2775,2645,319.7,3.2,303,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2171,2709,2775,2644,0,0,0,0,0,0,14.86,14.87,14.87,6.26,51.10
$GC,4335,-0.15,0.0,2350,2171,2775,2645,311.0,2.8,318,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2171,2709,2775,2644,0,0,0,0,0,0,14.90,14.90,14.90,6.27,51.81
$GC,4635,-0.15,0.0,2350,2171,2776,2644,302.7,2.8,333,4636,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2171,2709,2775,2644,0,0,0,0,0,0,14.92,14.93,14.93,6.26,51.18
$GC,4935,-0.15,0.0,2350,2172,2775,2645,294.0,2.8,348,4936,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2171,2708,2775,2642,0,0,0,0,0,0,14.95,14.95,14.95,6.26,51.49
$GC,5235,-0.15,0.0,2350,2171,2776,2644,285.0,3.1,363,5236,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2171,2709,2775,2644,0,0,0,0,0,0,14.97,14.97,14.97,6.26,51.29
$GC,5535,-0.15,0.0,2350,2172,2775,2645,275.0,3.4,378,5536,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2171,2709,2775,2644,0,0,0,0,0,0,14.98,14.99,14.99,6.26,52.08
$GC,5835,-0.15,0.0,2351,2172,2775,2644,265.0,3.4,393,5836,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2171,2709,2775,2644,0,0,0,0,0,0,15.00,15.00,15.00,6.26,51.33
$GC,6135,-0.15,0.0,2351,2172,2776,2644,255.5,3.0,408,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2171,2709,2775,2644,0,0,0,0,0,0,15.01,15.01,15.01,6.26,51.49
$STATE,6432,end loiter,LOITER_COMPLETE
$STATE,6432,begin climb
$GC,6435,0.64,146.0,2350,2172,2775,2646,247.4,0.0,423,6576,0.62,2.60,131.15,1.418,10756,0.166,0.063,2605,752,2117,2136,2098,0,0,0,0,0,0,14.29,13.94,13.28,6.26,51.53
$GC,6587,0.69,189.0,2606,753,2134,2098,239.9,6.7,430,6635,0.00,2.42,41.12,1.368,11270,0.000,0.052,2606,2134,1943,1958,1929,0,0,0,0,0,0,14.12,14.01,13.19,6.21,49.33
$GC,6937,0.69,189.0,2607,2135,1951,1914,197.7,12.1,448,6940,0.00,2.45,0.00,0.000,2564,0.000,0.066,2617,751,1932,1950,1914,0,0,0,0,0,0,14.50,14.16,14.50,6.19,50.39
$GC,7002,0.69,189.0,2617,751,1948,1913,191.1,11.3,451,7006,0.00,2.42,0.00,0.000,3078,0.000,0.053,2617,2149,1930,1946,1914,0,0,0,0,0,0,14.33,14.19,14.35,6.19,50.35
$GC,7312,0.69,189.0,2617,2150,1947,1911,151.6,12.7,467,7315,0.00,2.53,0.00,0.000,2308,0.000,0.085,2617,3562,1928,1946,1910,0,0,0,0,0,0,14.66,14.21,14.66,6.19,50.70
$GC,7392,0.69,189.0,2617,3563,1946,1911,142.5,12.0,471,7395,0.00,2.35,0.00,0.000,5126,0.000,0.043,2628,2155,1928,1946,1910,0,0,0,0,0,0,14.47,14.34,14.49,6.19,50.94
$GC,7702,0.69,189.0,2628,2154,1946,1908,102.1,12.7,487,7705,0.00,2.47,0.00,0.000,4612,0.000,0.067,2639,740,1926,1945,1908,0,0,0,0,0,0,14.73,14.31,14.73,6.18,50.70
$GC,7807,0.69,189.0,2640,741,1944,1907,90.2,10.9,503,7811,0.05,2.42,0.00,0.000,5126,0.373,0.054,2622,2160,1925,1943,1907,0,0,0,0,0,0,14.14,14.35,14.40,6.18,50.27
$GC,7932,0.69,189.0,2622,2161,1943,1908,76.0,11.5,528,7935,0.00,2.47,0.00,0.000,260,0.000,0.083,2621,3554,1924,1942,1907,0,0,0,0,0,0,14.72,14.28,14.72,6.16,49.84
$GC,7987,0.69,189.0,2622,3555,1943,1907,69.8,10.9,539,7991,0.00,2.35,0.00,0.000,5126,0.000,0.043,2630,2150,1924,1942,1907,0,0,0,0,0,0,14.53,14.40,14.55,6.17,49.52
$GC,8112,0.69,189.0,2630,2150,1943,1908,55.4,11.9,564,8115,0.00,2.50,0.00,0.000,4356,0.000,0.083,2631,3555,1924,1942,1907,0,0,0,0,0,0,14.75,14.29,14.75,6.17,49.29
$GC,8157,0.69,189.0,2631,3557,1943,1908,50.1,11.3,573,8160,0.08,2.35,0.00,0.000,5126,0.334,0.043,2615,2147,1924,1942,1907,0,0,0,0,0,0,14.12,14.40,14.40,6.16,49.68
$GC,8284,0.69,189.0,2616,2149,1942,1906,38.2,9.9,598,8290,0.00,2.47,0.00,0.000,2564,0.000,0.067,2626,747,1924,1942,1906,0,0,0,0,0,0,14.73,14.32,14.73,6.16,50.00
$GC,8332,0.69,189.0,2626,742,1943,1905,33.3,9.5,608,8335,0.00,2.40,0.00,0.000,5126,0.000,0.053,2626,2150,1923,1942,1905,0,0,0,0,0,0,14.52,14.36,14.55,6.16,49.96
$GC,8459,0.69,189.0,2626,2151,1942,1906,20.5,10.9,633,8464,0.00,2.50,0.00,0.000,4356,0.000,0.085,2626,3557,1923,1942,1905,0,0,0,0,0,0,14.76,14.28,14.76,6.17,50.55
$GC,8507,0.69,189.0,2626,3557,1943,1906,15.1,10.9,643,8511,0.00,2.35,0.00,0.000,5126,0.000,0.045,2636,2152,1923,1941,1905,0,0,0,0,0,0,14.53,14.40,14.56,6.17,50.86
$STATE,8614,end climb,SURFACE_DEPTH_REACHED
$STATE,8614,begin surface coast
$STATE,8634,end surface coast,CONTROL_FINISHED_OK
$STATE,8634,begin surface
$SM_CCo,8651,23.52,0.246,0,0,1822,220.03
$SM_GC,1.09,5.53,0.08,23.52,0.050,0.166,0.246,212,2072,1822,-6.44,0.96,220.03,0,0,0,0,0,0,14.57,14.46,14.09
$IRIDIUM_FIX,-6007.06,0.00,150219,150301
$TT8_MAMPS,0.03745,0.346787
$HUMID,51.37
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3623744
$24V_AH,13.13,111.095
$10V_AH,13.29,0.000
$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,13.375,83.375,295.225,23.525,0.000,27.325,37.200,144.421,0.000,0.000,20.125,0.000,6836.656,393.809,1574.762,276.350,0.000,1020.667,0.000,1097.867,0.000,0.539,0.000
$DEVICE_MAMPS,426.105,2194.020,1580.490,246.330,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5061.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.704,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17355,669
$CAP_FILE_SIZE,92115,0
$CFSIZE,1023623168,962347008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.021,217.02,1
$GPS,150219,201358,-6007.854,-1.861,37,0.7,46,-19.7,0.6,283.5,12,10.0