version: 66.14
glider: 640
mission: 5
dive: 584
start: 2 16 119 1 39 3
data:
$ID,640
$MISSION,5
$DIVE,584
$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,52
$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
$GPS1,160219,013125,-6007.1562,-2.2105,14,0.9,37,-19.7,0.3,171.3,9,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-68.8
$GPS2,160219,013843,-6007.1685,-2.1722,9,1.0,49,-19.7,0.5,178.1,8,4.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,26.6,50357,-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,-146.0,225,2070,1787,1833,0.0,0.0,0,97,0.00,0.00,-81.97,0.000,16386,0.000,0.000,225,2070,3161,3242,3081,0,0,0,0,0,0,14.55,28.83,14.56,6.16,51.89
$GC,100,-0.64,-146.0,225,2071,3243,3083,3.5,-7.2,17,117,6.22,2.67,-5.45,0.000,18948,0.345,2.199,2182,718,3318,3413,3223,0,0,0,0,0,0,13.87,12.89,14.26,6.27,50.11
$GC,205,-0.64,-146.0,2182,718,3415,3225,21.3,-16.2,38,212,0.08,2.40,0.00,0.000,3078,0.366,0.055,2197,2103,3319,3414,3224,0,0,0,0,0,0,13.97,14.26,14.26,6.29,49.01
$GC,336,-0.64,-146.0,2197,2104,3416,3224,42.3,-16.7,64,341,0.00,2.50,0.00,0.000,260,0.000,0.082,2186,3513,3319,3415,3224,0,0,0,0,0,0,14.63,14.20,14.63,6.29,49.52
$GC,363,-0.64,-146.0,2187,3514,3415,3225,47.4,-18.1,70,367,0.00,2.35,0.00,0.000,3078,0.000,0.044,2187,2123,3319,3415,3224,0,0,0,0,0,0,14.35,14.24,14.37,6.29,49.60
$GC,490,-0.64,-146.0,2187,2123,3415,3225,65.8,-13.6,95,494,0.00,0.00,0.00,0.000,2054,0.000,0.000,2187,2122,3319,3415,3224,0,0,0,0,0,0,14.66,14.66,14.66,6.30,49.52
$GC,614,-0.64,-146.0,2187,2123,3415,3225,83.8,-14.5,120,618,0.00,2.50,0.00,0.000,2564,0.000,0.062,2186,690,3319,3414,3224,0,0,0,0,0,0,14.69,14.28,14.69,6.29,49.13
$GC,649,-0.64,-146.0,2186,691,3415,3225,89.0,-14.7,127,653,0.05,2.42,0.00,0.000,3078,0.436,0.054,2191,2100,3319,3415,3224,0,0,0,0,0,0,14.02,14.25,14.29,6.29,48.62
$GC,789,-0.64,-146.0,2191,2101,3416,3224,108.7,-14.0,146,793,0.00,2.50,0.00,0.000,2308,0.000,0.083,2180,3507,3319,3414,3224,0,0,0,0,0,0,14.72,14.25,14.72,6.28,48.11
$GC,819,-0.64,-146.0,2180,3508,3415,3225,110.8,-14.0,147,822,0.00,2.38,0.00,0.000,3078,0.000,0.044,2180,2093,3320,3415,3225,0,0,0,0,0,0,14.45,14.28,14.48,6.27,48.11
$GC,1139,-0.64,-146.0,2180,2092,3414,3226,156.3,-13.6,164,1142,0.00,2.42,0.00,0.000,2564,0.000,0.062,2179,697,3320,3415,3225,0,0,0,0,0,0,14.76,14.31,14.76,6.29,49.56
$GC,1281,-0.64,-146.0,2179,697,3416,3225,175.2,-13.3,171,1285,0.08,2.42,0.00,0.000,3078,0.362,0.055,2192,2108,3319,3415,3224,0,0,0,0,0,0,14.03,14.35,14.31,6.29,49.80
$GC,1600,-0.64,-146.0,2193,2109,3416,3225,215.4,-12.3,187,1604,0.00,2.47,0.00,0.000,2308,0.000,0.083,2181,3506,3319,3415,3224,0,0,0,0,0,0,14.78,14.28,14.78,6.29,50.55
$GC,1630,-0.64,-146.0,2182,3507,3416,3224,217.3,-12.3,188,1634,0.00,2.35,0.00,0.000,3078,0.000,0.043,2181,2100,3319,3414,3224,0,0,0,0,0,0,14.53,14.40,14.54,6.29,50.94
$GC,1950,-0.64,-146.0,2182,2100,3416,3224,260.1,-12.9,205,1954,0.00,2.42,0.00,0.000,2564,0.000,0.062,2181,697,3319,3414,3224,0,0,0,0,0,0,14.79,14.33,14.79,6.30,50.90
$GC,2010,-0.64,-146.0,2181,698,3416,3224,268.0,-13.0,208,2014,0.08,2.42,0.00,0.000,3078,0.355,0.054,2194,2106,3319,3414,3224,0,0,0,0,0,0,14.05,14.37,14.33,6.29,51.14
$GC,2330,-0.64,-146.0,2196,2107,3415,3224,306.1,-11.7,224,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2106,3319,3414,3224,0,0,0,0,0,0,14.80,14.80,14.80,6.31,50.90
$GC,2631,-0.64,-146.0,2195,2107,3416,3224,341.0,-11.8,239,2634,0.00,2.47,0.00,0.000,260,0.000,0.083,2184,3498,3319,3415,3224,0,0,0,0,0,0,14.81,14.28,14.81,6.31,50.90
$GC,2650,-0.64,-146.0,2185,3503,3416,3224,342.8,-11.7,240,2654,0.00,2.35,0.00,0.000,3078,0.000,0.043,2183,2093,3319,3415,3224,0,0,0,0,0,0,14.54,14.41,14.57,6.31,51.26
$STATE,2718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2718,begin apogee
$GC,2724,-0.15,0.0,2184,2161,3416,3224,351.8,-12.1,244,2853,0.47,0.00,125.80,1.593,10246,0.249,0.000,2350,2160,2716,2776,2657,0,0,0,0,0,0,14.02,13.85,13.11,6.31,51.81
$STATE,2854,end apogee,CONTROL_FINISHED_OK
$STATE,2854,begin loiter
$GC,3140,-0.15,0.0,2350,2161,2772,2643,349.7,2.8,265,3141,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2161,2707,2771,2644,0,0,0,0,0,0,14.54,14.55,14.55,6.27,50.35
$GC,3440,-0.15,0.0,2350,2161,2772,2641,341.1,2.9,280,3441,0.00,0.00,0.00,0.000,2054,0.000,0.000,2350,2160,2706,2771,2641,0,0,0,0,0,0,14.71,14.71,14.72,6.26,51.18
$GC,3740,-0.15,0.0,2350,2161,2771,2641,332.0,3.0,295,3741,0.00,0.00,0.00,0.000,2054,0.000,0.000,2350,2160,2705,2771,2640,0,0,0,0,0,0,14.80,14.81,14.81,6.27,50.86
$GC,4040,-0.15,0.0,2350,2161,2771,2641,322.3,3.3,310,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2161,2705,2770,2640,0,0,0,0,0,0,14.85,14.85,14.85,6.26,51.10
$GC,4340,-0.15,0.0,2350,2161,2771,2640,312.3,3.5,325,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2160,2705,2771,2639,0,0,0,0,0,0,14.89,14.90,14.90,6.26,51.26
$GC,4641,-0.15,0.0,2350,2161,2771,2640,301.9,3.6,340,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2160,2705,2771,2639,0,0,0,0,0,0,14.91,14.92,14.92,6.26,51.18
$GC,4941,-0.15,0.0,2350,2160,2772,2639,291.6,3.4,355,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2161,2705,2771,2639,0,0,0,0,0,0,14.94,14.95,14.95,6.26,51.53
$GC,5241,-0.15,0.0,2350,2161,2772,2638,282.0,3.2,370,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2161,2704,2771,2638,0,0,0,0,0,0,14.95,14.96,14.96,6.26,51.26
$GC,5541,-0.15,0.0,2350,2161,2772,2638,273.2,2.9,385,5541,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2161,2704,2770,2638,0,0,0,0,0,0,14.97,14.97,14.97,6.26,51.81
$GC,5840,-0.15,0.0,2349,2161,2772,2638,265.2,2.7,400,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2161,2704,2771,2638,0,0,0,0,0,0,14.99,14.99,14.99,6.26,51.61
$GC,6140,-0.15,0.0,2350,2161,2772,2638,257.7,2.6,415,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2160,2704,2770,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.26,51.49
$STATE,6438,end loiter,LOITER_COMPLETE
$STATE,6438,begin climb
$GC,6440,0.64,146.0,2350,2161,2772,2638,250.1,0.0,430,6582,0.62,2.58,129.95,1.426,10756,0.163,0.065,2606,756,2117,2136,2098,0,0,0,0,0,0,14.29,13.95,13.28,6.26,51.85
$GC,6627,0.64,146.4,2607,757,2132,2093,238.3,8.3,439,6631,0.00,2.42,0.00,0.000,1030,0.000,0.052,2606,2140,2111,2130,2093,0,0,0,0,0,0,14.14,14.04,14.16,6.21,49.88
$GC,6937,0.64,146.4,2607,2141,2126,2086,203.8,11.1,455,6941,0.00,2.55,0.00,0.000,260,0.000,0.083,2607,3556,2105,2126,2085,0,0,0,0,0,0,14.57,14.16,14.57,6.21,50.78
$GC,7022,0.64,146.4,2607,3557,2128,2085,195.2,11.4,459,7026,0.00,2.38,0.00,0.000,5126,0.000,0.044,2617,2149,2105,2126,2085,0,0,0,0,0,0,14.40,14.28,14.42,6.21,51.14
$GC,7332,0.64,146.4,2618,2149,2124,2081,158.5,11.3,475,7336,0.00,2.47,0.00,0.000,4612,0.000,0.067,2627,738,2102,2123,2081,0,0,0,0,0,0,14.69,14.28,14.70,6.21,50.82
$GC,7377,0.64,146.4,2629,739,2121,2082,154.7,11.1,477,7381,0.08,2.42,0.00,0.000,5126,0.313,0.053,2602,2155,2100,2120,2081,0,0,0,0,0,0,14.09,14.32,14.36,6.20,51.37
$GC,7682,0.64,146.4,2602,2155,2121,2077,122.7,10.2,492,7686,0.00,2.50,0.00,0.000,260,0.000,0.083,2601,3559,2099,2120,2079,0,0,0,0,0,0,14.75,14.28,14.76,6.21,50.86
$GC,7727,0.64,146.4,2602,3560,2121,2080,119.0,10.4,494,7731,0.00,2.38,0.00,0.000,5126,0.000,0.044,2611,2140,2099,2120,2078,0,0,0,0,0,0,14.52,14.40,14.54,6.19,50.78
$GC,8032,0.64,146.4,2612,2141,2121,2073,86.7,9.8,527,8036,0.00,2.45,0.00,0.000,4612,0.000,0.066,2622,738,2099,2120,2078,0,0,0,0,0,0,14.77,14.33,14.77,6.19,50.15
$GC,8077,0.64,146.4,2623,739,2120,2078,82.3,9.4,536,8081,0.05,2.42,0.00,0.000,5126,0.377,0.052,2604,2161,2098,2119,2077,0,0,0,0,0,0,14.14,14.37,14.41,6.19,50.31
$GC,8202,0.64,146.4,2605,2161,2120,2077,70.5,9.4,561,8206,0.00,2.47,0.00,0.000,260,0.000,0.083,2604,3556,2097,2118,2077,0,0,0,0,0,0,14.76,14.29,14.77,6.19,49.92
$GC,8252,0.64,146.4,2605,3556,2120,2077,65.7,9.5,571,8256,0.00,2.35,0.00,0.000,5126,0.000,0.044,2613,2149,2098,2119,2078,0,0,0,0,0,0,14.54,14.41,14.56,6.18,49.17
$GC,8379,0.64,146.4,2614,2148,2120,2077,54.0,9.2,596,8385,0.00,2.42,0.00,0.000,4612,0.000,0.065,2625,742,2094,2112,2077,0,0,0,0,0,0,14.74,14.28,14.74,6.18,49.40
$GC,8473,0.64,146.4,2625,743,2119,2077,46.1,8.4,615,8477,0.05,2.40,0.00,0.000,5126,0.372,0.051,2606,2150,2097,2118,2076,0,0,0,0,0,0,14.14,14.37,14.40,6.17,49.33
$GC,8597,0.68,178.3,2606,2152,2118,2078,36.9,7.1,640,8631,0.00,2.50,27.50,1.255,10500,0.000,0.083,2606,3550,1987,2002,1973,0,0,0,0,0,0,14.76,14.33,13.66,6.18,49.56
$GC,8667,0.68,178.3,2606,3551,2002,1973,31.1,8.6,654,8671,0.00,2.35,0.00,0.000,1030,0.000,0.044,2615,2149,1986,2002,1971,0,0,0,0,0,0,14.45,14.32,14.46,6.17,49.88
$GC,8792,0.68,178.3,2616,2145,2002,1969,20.0,9.2,679,8796,0.00,2.47,0.00,0.000,516,0.000,0.066,2626,740,1984,2001,1968,0,0,0,0,0,0,14.65,14.27,14.66,6.17,50.66
$GC,8847,0.68,178.3,2627,740,2000,1969,15.0,8.9,690,8851,0.00,2.42,0.00,0.000,5126,0.000,0.052,2626,2156,1983,1999,1967,0,0,0,0,0,0,14.45,14.31,14.48,6.17,50.23
$STATE,8964,end climb,SURFACE_DEPTH_REACHED
$STATE,8964,begin surface coast
$STATE,8990,end surface coast,CONTROL_FINISHED_OK
$STATE,8990,begin surface
$SM_CCo,9007,38.40,0.243,0,0,1821,220.03
$SM_GC,1.66,5.60,0.10,38.40,0.065,0.141,0.243,222,2059,1821,-6.45,0.79,220.03,0,0,0,0,0,0,14.50,14.38,14.06
$IRIDIUM_FIX,-6007.06,0.00,150219,225556
$TT8_MAMPS,0.039697,0.32956
$HUMID,50.70
$INTERNAL_PRESSURE,6.10897
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3622208
$24V_AH,12.89,111.645
$10V_AH,13.41,0.000
$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,13.375,83.250,283.250,38.400,0.000,26.543,38.219,141.953,0.000,0.000,50.951,0.000,7099.198,399.580,1699.846,282.532,0.000,1061.084,0.000,1185.412,0.000,0.539,0.000
$DEVICE_MAMPS,436.050,2198.610,1592.730,242.505,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5419.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.516,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,20758,719
$CAP_FILE_SIZE,95725,0
$CFSIZE,1023623168,962052096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.062,193.57,1
$GPS,160219,041059,-6006.901,-2.200,36,0.8,43,-19.7,0.5,38.7,11,8.7