version: 66.14
glider: 640
mission: 5
dive: 593
start: 2 17 119 1 33 46
data:
$ID,640
$MISSION,5
$DIVE,593
$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,64
$R_STBD_OVSHOOT,56
$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
$GPS1,170219,012624,-6003.8906,-2.0606,40,0.9,45,-19.7,1.0,180.2,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-61.5
$GPS2,170219,013326,-6003.9531,-2.1103,8,0.9,23,-19.7,1.3,334.3,9,9.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,29.5,44405,-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,-146.0,234,2128,1702,1741,0.0,0.0,0,104,0.00,0.00,-88.62,0.000,16386,0.000,0.000,233,2127,3179,3262,3096,0,0,0,0,0,0,14.55,28.83,14.56,6.16,51.37
$GC,107,-0.64,-146.0,234,2127,3262,3097,3.5,-7.1,18,124,6.20,2.65,-4.88,0.000,18692,0.353,2.206,2164,3480,3317,3411,3224,0,0,0,0,0,0,13.90,12.90,14.27,6.28,50.15
$GC,134,-0.64,-146.0,2162,3481,3413,3225,9.1,-18.4,24,138,0.10,2.28,0.00,0.000,3078,0.311,0.043,2196,2126,3318,3412,3224,0,0,0,0,0,0,14.06,14.27,14.31,6.30,49.68
$GC,262,-0.64,-146.0,2197,2125,3415,3224,29.7,-14.2,49,265,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2124,3319,3414,3224,0,0,0,0,0,0,14.62,14.62,14.62,6.30,49.21
$GC,385,-0.64,-146.0,2197,2125,3415,3225,49.0,-15.4,74,389,0.00,2.53,0.00,0.000,516,0.000,0.061,2195,686,3319,3414,3224,0,0,0,0,0,0,14.64,14.25,14.65,6.30,49.76
$GC,405,-0.64,-146.0,2197,686,3414,3225,52.0,-14.7,78,409,0.00,2.40,0.00,0.000,3078,0.000,0.054,2187,2076,3318,3414,3222,0,0,0,0,0,0,14.44,14.29,14.45,6.30,49.72
$GC,533,-0.64,-146.0,2187,2077,3415,3225,68.4,-13.7,103,538,0.00,2.50,0.00,0.000,2308,0.000,0.083,2175,3501,3319,3414,3224,0,0,0,0,0,0,14.66,14.19,14.66,6.29,50.27
$GC,605,-0.64,-146.0,2176,3501,3415,3225,78.4,-12.7,118,609,0.08,2.38,0.00,0.000,3078,0.358,0.041,2204,2084,3319,3414,3224,0,0,0,0,0,0,14.00,14.34,14.28,6.29,49.76
$GC,730,-0.64,-146.0,2202,2084,3415,3224,94.2,-13.0,143,734,0.00,2.42,0.00,0.000,4612,0.000,0.063,2201,693,3319,3414,3225,0,0,0,0,0,0,14.67,14.28,14.68,6.29,48.18
$GC,780,-0.64,-146.0,2202,693,3415,3225,100.2,-13.0,152,784,0.00,2.42,0.00,0.000,3078,0.000,0.054,2191,2101,3319,3414,3225,0,0,0,0,0,0,14.47,14.32,14.49,6.29,47.55
$GC,1085,-0.64,-146.0,2192,2102,3414,3226,142.5,-14.1,168,1086,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2101,3319,3413,3225,0,0,0,0,0,0,14.76,14.76,14.76,6.29,49.48
$GC,1385,-0.64,-146.0,2192,2102,3415,3226,183.5,-13.4,183,1386,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2101,3319,3414,3225,0,0,0,0,0,0,14.78,14.82,14.78,6.28,50.00
$GC,1685,-0.64,-146.0,2193,2101,3415,3226,221.9,-12.5,198,1689,0.00,2.42,0.00,0.000,2564,0.000,0.060,2191,699,3319,3414,3225,0,0,0,0,0,0,14.80,14.34,14.80,6.29,50.63
$GC,1725,-0.64,-146.0,2192,701,3415,3226,226.2,-12.4,200,1729,0.00,2.40,0.00,0.000,3078,0.000,0.054,2181,2102,3319,3414,3225,0,0,0,0,0,0,14.52,14.36,14.54,6.30,51.02
$GC,2035,-0.64,-146.0,2180,2102,3415,3225,265.8,-12.5,216,2036,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2102,3319,3414,3225,0,0,0,0,0,0,14.81,14.81,14.81,6.30,51.02
$GC,2335,-0.64,-146.0,2180,2102,3414,3226,302.9,-12.1,231,2339,0.00,2.42,0.00,0.000,2564,0.000,0.060,2181,699,3319,3413,3225,0,0,0,0,0,0,14.82,14.35,14.82,6.30,50.90
$GC,2375,-0.64,-146.0,2181,698,3414,3225,307.2,-12.2,233,2379,0.08,2.40,0.00,0.000,3078,0.360,0.054,2194,2101,3319,3414,3225,0,0,0,0,0,0,14.04,14.37,14.33,6.30,51.37
$GC,2685,-0.64,-146.0,2194,2101,3414,3226,343.1,-11.5,249,2686,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2101,3319,3414,3225,0,0,0,0,0,0,14.82,14.82,14.82,6.31,50.98
$STATE,2742,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2742,begin apogee
$GC,2749,-0.15,0.0,2193,2164,3414,3226,350.0,-11.5,252,2876,0.45,0.00,124.78,1.599,10246,0.252,0.000,2350,2164,2717,2778,2657,0,0,0,0,0,0,14.02,13.88,13.13,6.31,51.14
$STATE,2877,end apogee,CONTROL_FINISHED_OK
$STATE,2877,begin loiter
$GC,3165,-0.15,0.0,2351,2164,2773,2643,345.9,3.3,273,3166,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2163,2708,2772,2644,0,0,0,0,0,0,14.56,14.56,14.56,6.27,50.35
$GC,3465,-0.15,0.0,2351,2164,2773,2642,336.7,3.0,288,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2164,2707,2772,2642,0,0,0,0,0,0,14.72,14.73,14.72,6.27,50.86
$GC,3765,-0.15,0.0,2351,2164,2772,2642,328.0,2.8,303,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2164,2705,2771,2640,0,0,0,0,0,0,14.81,14.81,14.81,6.26,51.10
$GC,4065,-0.15,0.0,2351,2165,2772,2641,320.0,2.7,318,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2164,2705,2771,2640,0,0,0,0,0,0,14.86,14.86,14.86,6.26,51.53
$GC,4365,-0.15,0.0,2350,2164,2772,2640,312.0,2.8,333,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2164,2706,2772,2640,0,0,0,0,0,0,14.90,14.90,14.90,6.27,51.33
$GC,4665,-0.15,0.0,2351,2164,2773,2639,302.7,3.2,348,4666,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2163,2705,2771,2639,0,0,0,0,0,0,14.92,14.93,14.92,6.26,51.22
$GC,4965,-0.15,0.0,2350,2164,2772,2641,292.6,3.3,363,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2163,2705,2771,2639,0,0,0,0,0,0,14.95,14.95,14.95,6.26,51.14
$GC,5265,-0.15,0.0,2352,2164,2772,2639,282.8,3.2,378,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2163,2705,2772,2639,0,0,0,0,0,0,14.97,14.97,14.97,6.26,51.37
$GC,5565,-0.15,0.0,2351,2163,2774,2638,273.9,2.8,393,5566,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2164,2705,2771,2639,0,0,0,0,0,0,14.98,14.98,14.98,6.26,51.53
$GC,5865,-0.15,0.0,2351,2164,2773,2638,266.0,2.7,408,5866,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2164,2704,2772,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.26,51.45
$GC,6165,-0.15,0.0,2351,2164,2773,2638,257.2,3.2,423,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2163,2705,2772,2638,0,0,0,0,0,0,15.00,15.01,15.00,6.26,51.49
$STATE,6462,end loiter,LOITER_COMPLETE
$STATE,6462,begin climb
$GC,6465,0.64,146.0,2351,2164,2773,2638,246.6,0.0,438,6606,0.62,2.58,129.20,1.411,10500,0.160,0.085,2598,3542,2119,2140,2099,0,0,0,0,0,0,14.30,13.95,13.26,6.26,51.49
$GC,6641,0.64,146.0,2598,3542,2140,2095,235.0,9.0,446,6645,0.00,2.38,0.00,0.000,5126,0.000,0.041,2608,2152,2116,2139,2094,0,0,0,0,0,0,14.16,14.06,14.17,6.20,49.25
$GC,6946,0.64,146.0,2609,2152,2132,2086,199.2,10.6,462,6950,0.00,2.50,0.00,0.000,4612,0.000,0.066,2619,739,2108,2130,2086,0,0,0,0,0,0,14.58,14.19,14.58,6.21,50.31
$GC,7001,0.64,146.0,2620,740,2128,2086,195.1,10.3,464,7005,0.00,2.42,0.00,0.000,5126,0.000,0.052,2620,2141,2106,2127,2086,0,0,0,0,0,0,14.38,14.25,14.41,6.21,50.59
$GC,7321,0.64,146.0,2620,2141,2128,2083,160.8,10.4,481,7325,0.05,2.53,0.00,0.000,4356,0.414,0.080,2604,3560,2102,2127,2077,0,0,0,0,0,0,14.19,14.25,14.34,6.20,50.90
$GC,7407,0.64,146.0,2604,3561,2127,2084,153.3,9.9,485,7410,0.00,2.35,0.00,0.000,5126,0.000,0.042,2613,2151,2105,2127,2083,0,0,0,0,0,0,14.50,14.38,14.52,6.20,50.90
$GC,7712,0.64,146.0,2612,2148,2127,2081,120.0,10.5,500,7715,0.00,2.45,0.00,0.000,4612,0.000,0.065,2624,745,2103,2125,2081,0,0,0,0,0,0,14.80,14.32,14.76,6.20,51.61
$GC,7781,0.64,146.0,2625,745,2125,2080,114.4,10.3,503,7785,0.05,2.40,0.00,0.000,5126,0.373,0.051,2606,2152,2102,2124,2080,0,0,0,0,0,0,14.14,14.36,14.40,6.20,50.86
$GC,8086,0.64,146.0,2607,2153,2125,2079,84.3,8.6,544,8090,0.00,2.50,0.00,0.000,260,0.000,0.084,2606,3560,2102,2124,2080,0,0,0,0,0,0,14.78,14.29,14.79,6.19,50.11
$GC,8166,0.64,146.0,2606,3561,2124,2081,77.4,8.6,560,8170,0.00,2.35,0.00,0.000,5126,0.000,0.042,2616,2150,2102,2124,2080,0,0,0,0,0,0,14.54,14.42,14.57,6.16,49.64
$GC,8292,0.64,146.0,2617,2149,2119,2079,66.8,8.4,585,8295,0.00,2.45,0.00,0.000,4612,0.000,0.065,2627,746,2101,2124,2079,0,0,0,0,0,0,14.83,14.33,14.78,6.17,50.66
$GC,8331,0.64,146.0,2627,746,2123,2079,63.3,9.0,593,8335,0.08,2.40,0.00,0.000,5126,0.308,0.052,2600,2154,2100,2122,2078,0,0,0,0,0,0,14.14,14.37,14.40,6.18,50.00
$GC,8457,0.64,146.0,2600,2155,2123,2079,52.5,9.8,618,8460,0.00,2.47,0.00,0.000,2308,0.000,0.084,2600,3553,2100,2122,2078,0,0,0,0,0,0,14.77,14.28,14.77,6.17,49.84
$GC,8579,0.64,146.0,2600,3555,2123,2079,40.7,8.9,642,8584,0.00,2.33,0.00,0.000,5126,0.000,0.041,2609,2147,2100,2122,2078,0,0,0,0,0,0,14.54,14.42,14.57,6.17,50.63
$GC,8709,0.64,146.0,2610,2146,2123,2078,30.3,9.5,668,8713,0.00,2.42,0.00,0.000,4612,0.000,0.063,2620,746,2099,2122,2077,0,0,0,0,0,0,14.77,14.33,14.76,6.18,50.74
$GC,8809,0.64,146.0,2620,747,2121,2078,20.8,8.9,688,8813,0.05,2.38,0.00,0.000,5126,0.382,0.049,2603,2151,2098,2120,2077,0,0,0,0,0,0,14.14,14.38,14.40,6.18,50.94
$GC,8936,0.64,146.0,2603,2153,2121,2078,13.3,8.6,713,8941,0.00,2.50,0.00,0.000,260,0.000,0.083,2602,3559,2098,2120,2077,0,0,0,0,0,0,14.77,14.29,14.78,6.19,51.33
$GC,8988,0.64,146.0,2603,3560,2121,2079,7.2,11.2,724,8992,0.00,2.35,0.00,0.000,5126,0.000,0.045,2612,2143,2098,2120,2077,0,0,0,0,0,0,14.54,14.40,14.57,6.19,51.53
$STATE,9026,end climb,SURFACE_DEPTH_REACHED
$STATE,9026,begin surface coast
$STATE,9051,end surface coast,CONTROL_FINISHED_OK
$STATE,9051,begin surface
$SM_CCo,9067,66.60,0.236,0,0,1821,220.03
$SM_GC,1.25,5.50,0.00,66.60,0.050,0.000,0.236,258,2141,1821,-6.48,1.16,220.03,0,0,0,0,0,0,14.59,14.77,14.10
$IRIDIUM_FIX,-6005.20,0.00,160219,225034
$TT8_MAMPS,0.038948,0.33705
$HUMID,51.10
$INTERNAL_PRESSURE,6.10897
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3617792
$24V_AH,12.90,113.270
$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,13.250,73.100,253.975,66.600,0.000,26.239,38.777,148.962,0.000,0.000,24.311,0.000,7209.123,404.358,1658.986,281.766,0.000,1048.653,0.000,1164.665,0.000,0.540,0.000
$DEVICE_MAMPS,413.865,2206.260,1598.850,236.385,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5480.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.434,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,20741,737
$CAP_FILE_SIZE,93627,0
$CFSIZE,1023623168,961167360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.065,195.30,1
$GPS,170219,040723,-6003.693,-2.030,32,0.7,55,-19.7,0.0,204.0,11,9.7