version: 66.14
glider: 640
mission: 5
dive: 592
start: 2 16 119 22 54 49
data:
$ID,640
$MISSION,5
$DIVE,592
$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,35
$R_STBD_OVSHOOT,31
$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
$GPS1,160219,224736,-6004.2212,-1.8520,12,1.1,52,-19.7,0.4,126.0,7,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-65.1
$GPS2,160219,225429,-6004.2402,-1.8764,8,1.1,23,-19.7,0.5,143.1,8,8.7
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,23.5,44927,-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,-146.0,233,2091,1789,1831,0.0,0.0,0,92,0.00,0.00,-76.90,0.000,16386,0.000,0.000,233,2090,3072,3152,2992,0,0,0,0,0,0,14.55,28.83,14.56,6.16,51.37
$GC,95,-0.64,-146.0,234,2091,3154,2993,3.2,-5.8,16,117,6.20,2.85,-8.95,0.000,18692,0.349,2.214,2174,3499,3317,3416,3218,0,0,0,0,0,0,13.85,12.90,14.26,6.27,50.19
$GC,133,-0.64,-146.0,2174,3500,3417,3219,9.4,-14.7,24,137,0.08,2.38,0.00,0.000,3078,0.358,0.044,2199,2090,3317,3415,3219,0,0,0,0,0,0,13.97,14.23,14.23,6.30,49.88
$GC,261,-0.64,-146.0,2200,2089,3417,3221,29.5,-15.0,49,265,0.00,2.45,0.00,0.000,516,0.000,0.064,2199,698,3318,3416,3221,0,0,0,0,0,0,14.60,14.23,14.60,6.29,49.13
$GC,270,-0.64,-146.0,2199,699,3417,3221,31.2,-14.2,51,273,0.00,2.42,0.00,0.000,3078,0.000,0.052,2188,2104,3316,3411,3221,0,0,0,0,0,0,14.41,14.27,14.43,6.30,49.25
$GC,395,-0.64,-146.0,2189,2105,3416,3223,51.2,-15.9,76,398,0.00,2.47,0.00,0.000,2308,0.000,0.082,2177,3502,3319,3416,3222,0,0,0,0,0,0,14.65,14.21,14.66,6.30,50.43
$GC,445,-0.64,-146.0,2177,3503,3417,3223,59.8,-17.2,86,449,0.05,2.35,0.00,0.000,3078,0.430,0.043,2193,2101,3319,3416,3222,0,0,0,0,0,0,14.01,14.32,14.27,6.30,49.48
$GC,572,-0.64,-146.0,2193,2101,3416,3222,78.5,-14.3,111,578,0.00,2.45,0.00,0.000,2564,0.000,0.063,2193,694,3319,3416,3222,0,0,0,0,0,0,14.66,14.27,14.66,6.29,49.33
$GC,625,-0.64,-146.0,2193,695,3417,3222,86.4,-13.9,122,629,0.00,2.42,0.00,0.000,3078,0.000,0.054,2183,2103,3319,3416,3222,0,0,0,0,0,0,14.45,14.30,14.47,6.29,48.70
$GC,760,-0.64,-146.0,2183,2104,3417,3224,106.9,-15.8,143,763,0.00,2.50,0.00,0.000,2308,0.000,0.082,2172,3505,3319,3416,3222,0,0,0,0,0,0,14.71,14.24,14.71,6.29,47.83
$GC,800,-0.64,-146.0,2172,3506,3417,3222,112.5,-16.0,145,804,0.08,2.35,0.00,0.000,3078,0.350,0.043,2197,2102,3319,3416,3222,0,0,0,0,0,0,14.02,14.35,14.30,6.29,48.62
$GC,1110,-0.64,-146.0,2197,2101,3417,3224,155.7,-13.2,161,1113,0.00,2.45,0.00,0.000,516,0.000,0.062,2197,693,3319,3417,3222,0,0,0,0,0,0,14.76,14.31,14.76,6.28,49.37
$GC,1160,-0.64,-146.0,2197,694,3417,3223,160.4,-13.1,163,1164,0.00,2.42,0.00,0.000,3078,0.000,0.053,2186,2104,3319,3416,3222,0,0,0,0,0,0,14.50,14.34,14.52,6.28,49.84
$GC,1480,-0.64,-146.0,2186,2105,3417,3224,203.6,-12.8,180,1481,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2100,3319,3416,3222,0,0,0,0,0,0,14.78,14.78,14.78,6.30,50.35
$GC,1780,-0.64,-146.0,2187,2105,3417,3222,242.0,-12.7,195,1781,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2104,3319,3416,3223,0,0,0,0,0,0,14.80,14.80,14.80,6.30,50.78
$GC,2080,-0.64,-146.0,2187,2104,3417,3222,279.8,-12.5,210,2083,0.00,2.47,0.00,0.000,2308,0.000,0.082,2175,3504,3319,3416,3222,0,0,0,0,0,0,14.81,14.29,14.81,6.30,50.78
$GC,2100,-0.64,-146.0,2176,3505,3417,3222,281.7,-12.5,211,2104,0.05,2.35,0.00,0.000,3078,0.422,0.043,2191,2092,3319,3416,3223,0,0,0,0,0,0,14.10,14.41,14.39,6.31,51.06
$GC,2410,-0.64,-146.0,2192,2091,3417,3223,320.5,-12.2,227,2414,0.00,2.42,0.00,0.000,2564,0.000,0.061,2186,693,3319,3416,3222,0,0,0,0,0,0,14.81,14.34,14.82,6.31,51.49
$GC,2465,-0.64,-146.0,2191,693,3417,3232,327.3,-12.3,230,2468,0.00,2.42,0.00,0.000,3078,0.000,0.054,2180,2101,3319,3416,3222,0,0,0,0,0,0,14.53,14.37,14.56,6.31,51.02
$STATE,2657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2657,begin apogee
$GC,2664,-0.15,0.0,2181,2166,3418,3222,351.8,-12.7,240,2791,0.50,0.00,124.70,1.620,10246,0.252,0.000,2354,2166,2719,2779,2659,0,0,0,0,0,0,14.00,13.87,13.11,6.31,51.22
$STATE,2792,end apogee,CONTROL_FINISHED_OK
$STATE,2792,begin loiter
$GC,3080,-0.15,0.0,2354,2166,2774,2644,348.2,3.4,261,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2166,2708,2773,2644,0,0,0,0,0,0,14.55,14.56,14.55,6.26,50.55
$GC,3380,-0.15,0.0,2354,2166,2774,2643,338.1,3.5,276,3381,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2166,2707,2772,2643,0,0,0,0,0,0,14.72,14.72,14.72,6.26,51.14
$GC,3680,-0.15,0.0,2354,2166,2774,2642,328.5,3.3,291,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2166,2707,2773,2642,0,0,0,0,0,0,14.81,14.81,14.81,6.25,51.33
$GC,3980,-0.15,0.0,2355,2166,2774,2642,319.0,3.1,306,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2166,2707,2772,2642,0,0,0,0,0,0,14.86,14.87,14.86,6.26,51.14
$GC,4280,-0.15,0.0,2354,2166,2774,2642,310.1,2.9,321,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2166,2707,2772,2642,0,0,0,0,0,0,14.90,14.90,14.90,6.26,51.41
$GC,4580,-0.15,0.0,2354,2166,2773,2643,301.5,2.8,336,4581,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2165,2707,2772,2642,0,0,0,0,0,0,14.92,14.93,14.93,6.26,51.18
$GC,4880,-0.15,0.0,2354,2167,2773,2644,293.4,2.7,351,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2166,2707,2773,2642,0,0,0,0,0,0,14.95,14.95,14.95,6.27,51.81
$GC,5180,-0.15,0.0,2354,2167,2773,2643,285.5,2.6,366,5181,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2166,2707,2772,2642,0,0,0,0,0,0,14.97,14.97,14.97,6.26,51.37
$GC,5480,-0.15,0.0,2354,2166,2774,2642,277.8,2.5,381,5481,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2166,2707,2772,2642,0,0,0,0,0,0,14.98,14.99,14.99,6.26,51.29
$GC,5780,-0.15,0.0,2354,2167,2774,2644,270.3,2.5,396,5781,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2166,2707,2773,2642,0,0,0,0,0,0,15.00,15.00,15.00,6.26,51.45
$GC,6080,-0.15,0.0,2354,2166,2774,2642,263.4,2.1,411,6081,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2166,2707,2773,2642,0,0,0,0,0,0,15.00,15.01,15.01,6.26,51.61
$STATE,6377,end loiter,LOITER_COMPLETE
$STATE,6377,begin climb
$GC,6380,0.64,146.0,2354,2166,2773,2644,257.7,0.0,426,6521,0.62,2.60,130.70,1.449,10756,0.163,0.065,2611,749,2117,2136,2098,0,0,0,0,0,0,14.29,13.93,13.26,6.26,51.45
$GC,6567,0.67,170.0,2611,750,2135,2094,247.7,7.4,435,6595,0.00,2.42,22.40,1.425,9222,0.000,0.050,2611,2133,2023,2038,2008,0,0,0,0,0,0,14.14,14.03,13.23,6.21,49.33
$GC,6904,0.67,170.0,2612,2133,2031,1993,211.2,11.1,452,6908,0.00,2.58,0.00,0.000,260,0.000,0.082,2611,3558,2011,2030,1993,0,0,0,0,0,0,14.53,14.15,14.52,6.20,50.43
$GC,6998,0.67,170.0,2612,3559,2031,1993,202.1,11.1,456,7002,0.00,2.38,0.00,0.000,5126,0.000,0.043,2621,2155,2011,2030,1993,0,0,0,0,0,0,14.32,14.23,14.34,6.20,50.59
$GC,7318,0.67,170.0,2622,2155,2029,1990,162.5,11.8,473,7322,0.00,2.47,0.00,0.000,4612,0.000,0.065,2633,744,2008,2028,1989,0,0,0,0,0,0,14.69,14.21,14.69,6.20,50.90
$GC,7373,0.67,170.0,2633,744,2026,1990,156.5,11.2,476,7377,0.05,2.42,0.00,0.000,5126,0.378,0.053,2615,2161,2007,2025,1989,0,0,0,0,0,0,14.11,14.32,14.37,6.19,50.98
$GC,7690,0.67,170.0,2616,2161,2027,1988,123.0,10.5,492,7696,0.00,2.47,0.00,0.000,260,0.000,0.081,2615,3553,2006,2026,1987,0,0,0,0,0,0,14.73,14.29,14.73,6.19,50.98
$GC,7788,0.67,170.0,2616,3553,2026,1987,113.0,9.8,497,7791,0.00,2.35,0.00,0.000,5126,0.000,0.042,2620,2148,2006,2025,1988,0,0,0,0,0,0,14.45,14.36,14.47,6.19,50.82
$GC,8093,0.67,170.0,2626,2148,2026,1986,83.1,9.8,538,8097,0.00,2.47,0.00,0.000,4612,0.000,0.066,2635,737,2005,2025,1986,0,0,0,0,0,0,14.77,14.33,14.77,6.17,49.72
$GC,8138,0.67,170.0,2636,738,2026,1986,78.9,9.4,547,8142,0.08,2.40,0.00,0.000,5126,0.314,0.051,2608,2148,2005,2025,1985,0,0,0,0,0,0,14.05,14.31,14.33,6.17,49.64
$GC,8263,0.67,170.0,2609,2149,2027,1986,67.8,9.5,572,8267,0.00,2.47,0.00,0.000,2308,0.000,0.083,2608,3553,2005,2024,1986,0,0,0,0,0,0,14.81,14.31,14.78,6.16,49.48
$GC,8333,0.67,170.0,2609,3554,2026,1986,60.6,10.5,586,8337,0.00,2.35,0.00,0.000,5126,0.000,0.043,2618,2141,2005,2025,1986,0,0,0,0,0,0,14.54,14.42,14.57,6.17,49.92
$GC,8460,0.67,170.0,2619,2142,2027,1986,47.7,10.0,611,8467,0.00,2.42,0.00,0.000,4612,0.000,0.067,2629,745,2005,2025,1985,0,0,0,0,0,0,14.75,14.31,14.75,6.17,50.03
$GC,8493,0.67,170.0,2630,745,2026,1985,44.1,10.3,618,8496,0.00,2.40,0.00,0.000,5126,0.000,0.051,2629,2155,2004,2024,1984,0,0,0,0,0,0,14.53,14.38,14.56,6.17,50.47
$GC,8620,0.67,170.0,2629,2156,2032,1986,30.3,11.4,643,8626,0.00,2.50,0.00,0.000,4356,0.000,0.085,2629,3554,2004,2024,1985,0,0,0,0,0,0,14.75,14.29,14.75,6.18,50.43
$GC,8648,0.67,170.0,2629,3555,2025,1986,26.9,11.8,649,8652,0.08,2.35,0.00,0.000,5126,0.344,0.044,2615,2149,2004,2024,1985,0,0,0,0,0,0,14.01,14.32,14.31,6.17,50.66
$GC,8775,0.67,170.0,2616,2149,2025,1984,14.7,8.7,674,8781,0.00,2.45,0.00,0.000,516,0.000,0.063,2625,742,2004,2024,1984,0,0,0,0,0,0,14.75,14.33,14.76,6.18,50.94
$GC,8853,0.79,272.9,2624,742,2024,1984,9.0,4.4,690,8922,0.00,2.40,63.55,0.266,11266,0.000,0.050,2626,2156,1739,1740,1738,0,0,0,0,0,0,14.52,14.37,14.55,6.18,50.86
$STATE,8922,end climb,SURFACE_DEPTH_REACHED
$STATE,8922,begin surface coast
$STATE,8947,end surface coast,CONTROL_FINISHED_OK
$STATE,8947,begin surface
$SM_CCo,9025,0.00,0.000,0,0,1730,242.84
$SM_GC,1.31,5.62,0.10,0.00,0.066,0.130,0.000,287,2059,1730,-6.47,0.74,242.84,0,0,0,0,0,0,14.35,14.40,14.45
$IRIDIUM_FIX,-6005.10,-38.82,160219,201101
$TT8_MAMPS,0.03745,0.297353
$HUMID,50.23
$INTERNAL_PRESSURE,6.0992
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3618304
$24V_AH,12.90,113.092
$10V_AH,13.39,0.000
$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,13.400,83.300,341.350,0.000,0.000,25.880,39.585,143.463,0.000,0.000,24.150,0.000,7097.911,398.125,1651.702,286.105,0.000,1064.524,0.000,1163.909,0.000,0.539,0.000
$DEVICE_MAMPS,429.930,2213.910,1619.505,0.000,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5376.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.433,0.000,0.000,0.000
$MEM,344112
$DATA_FILE_SIZE,17380,709
$CAP_FILE_SIZE,94439,0
$CFSIZE,1023623168,961265664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.050,219.82,1
$GPS,170219,012624,-6003.891,-2.061,40,0.9,45,-19.7,1.0,180.2,9,9.7