version: 66.14
glider: 640
mission: 5
dive: 594
start: 2 17 119 4 14 33
data:
$ID,640
$MISSION,5
$DIVE,594
$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,39
$R_STBD_OVSHOOT,28
$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
$GPS1,170219,040723,-6003.6934,-2.0301,32,0.7,55,-19.7,0.0,204.0,11,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-66.1
$GPS2,170219,041413,-6003.7686,-1.9916,8,0.7,17,-19.7,0.4,280.8,11,8.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,25.5,44059,-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,-146.0,210,2140,1789,1828,0.0,0.0,0,93,0.00,0.00,-77.05,0.000,16386,0.000,0.000,210,2140,3088,3169,3007,0,0,0,0,0,0,14.56,28.83,14.55,6.16,51.57
$GC,96,-0.64,-146.0,210,2141,3170,3009,3.5,-6.8,16,118,6.38,2.70,-8.10,0.000,18692,0.362,2.213,2162,3501,3315,3412,3218,0,0,0,0,0,0,13.85,13.12,14.26,6.27,50.39
$GC,244,-0.64,-146.0,2162,3501,3413,3221,29.7,-15.1,46,248,0.10,2.35,0.00,0.000,3078,0.320,0.041,2196,2108,3316,3413,3219,0,0,0,0,0,0,13.91,14.21,14.18,6.29,49.33
$GC,371,-0.64,-146.0,2196,2103,3413,3221,49.3,-16.0,71,377,0.00,2.47,0.00,0.000,516,0.000,0.062,2196,691,3316,3413,3220,0,0,0,0,0,0,14.63,14.25,14.63,6.30,49.68
$GC,399,-0.64,-146.0,2196,690,3414,3219,54.1,-16.5,77,403,0.00,2.45,0.00,0.000,3078,0.000,0.057,2186,2106,3316,3413,3220,0,0,0,0,0,0,14.33,14.18,14.35,6.30,49.80
$GC,524,-0.64,-146.0,2186,2106,3413,3222,75.3,-17.2,102,528,0.00,2.47,0.00,0.000,2564,0.000,0.061,2186,688,3316,3412,3220,0,0,0,0,0,0,14.68,14.20,14.68,6.30,49.48
$GC,544,-0.64,-146.0,2186,688,3413,3220,78.7,-16.9,106,548,0.05,2.45,0.00,0.000,3078,0.430,0.057,2190,2103,3316,3412,3220,0,0,0,0,0,0,13.97,14.19,14.26,6.30,49.40
$GC,672,-0.64,-146.0,2190,2103,3414,3220,97.9,-14.9,131,677,0.00,2.50,0.00,0.000,2308,0.000,0.083,2179,3509,3317,3413,3221,0,0,0,0,0,0,14.69,14.23,14.69,6.29,48.66
$GC,709,-0.64,-146.0,2180,3509,3413,3220,103.7,-14.1,136,713,0.00,2.38,0.00,0.000,3078,0.000,0.043,2179,2088,3317,3413,3221,0,0,0,0,0,0,14.37,14.25,14.38,6.29,48.66
$GC,1024,-0.64,-146.0,2179,2088,3413,3223,144.5,-12.5,152,1028,0.00,2.42,0.00,0.000,2564,0.000,0.061,2179,697,3317,3413,3221,0,0,0,0,0,0,14.76,14.21,14.76,6.28,49.25
$GC,1075,-0.64,-146.0,2178,698,3413,3223,149.9,-13.1,154,1079,0.08,2.42,0.00,0.000,3078,0.365,0.054,2192,2107,3317,3413,3222,0,0,0,0,0,0,14.01,14.26,14.31,6.28,49.09
$GC,1380,-0.64,-146.0,2192,2108,3413,3222,191.3,-13.1,169,1383,0.00,2.47,0.00,0.000,2308,0.000,0.083,2181,3505,3317,3413,3221,0,0,0,0,0,0,14.78,14.28,14.78,6.29,51.02
$GC,1444,-0.64,-146.0,2182,3506,3413,3221,198.4,-13.0,172,1448,0.00,2.35,0.00,0.000,3078,0.000,0.042,2181,2091,3317,3413,3221,0,0,0,0,0,0,14.41,14.29,14.43,6.29,50.94
$GC,1749,-0.64,-146.0,2181,2090,3414,3221,237.7,-12.5,187,1753,0.00,2.42,0.00,0.000,2564,0.000,0.061,2181,692,3317,3413,3221,0,0,0,0,0,0,14.81,14.23,14.81,6.30,50.66
$GC,1829,-0.64,-146.0,2181,693,3414,3221,247.3,-12.8,191,1833,0.08,2.42,0.00,0.000,3078,0.356,0.055,2193,2104,3317,3413,3221,0,0,0,0,0,0,13.93,14.26,14.26,6.30,50.70
$GC,2140,-0.64,-146.0,2193,2105,3413,3222,285.7,-12.3,207,2143,0.00,2.45,0.00,0.000,2308,0.000,0.083,2182,3504,3317,3413,3221,0,0,0,0,0,0,14.81,14.28,14.81,6.30,51.10
$GC,2174,-0.64,-146.0,2183,3505,3424,3221,288.2,-12.3,208,2178,0.00,2.33,0.00,0.000,3078,0.000,0.042,2182,2105,3317,3413,3221,0,0,0,0,0,0,14.43,14.31,14.45,6.30,51.02
$GC,2494,-0.64,-146.0,2182,2101,3413,3222,330.2,-12.5,225,2498,0.00,2.45,0.00,0.000,2564,0.000,0.061,2182,687,3317,3414,3221,0,0,0,0,0,0,14.82,14.26,14.82,6.31,51.18
$GC,2554,-0.64,-146.0,2183,686,3413,3222,337.2,-12.7,228,2558,0.08,2.45,0.00,0.000,3078,0.356,0.056,2195,2113,3317,3413,3221,0,0,0,0,0,0,13.97,14.26,14.29,6.30,51.26
$STATE,2662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2662,begin apogee
$GC,2668,-0.15,0.0,2196,2147,3413,3229,350.7,-11.7,234,2795,0.45,0.00,123.15,1.613,10246,0.252,0.000,2352,2147,2716,2776,2657,0,0,0,0,0,0,14.02,13.88,13.12,6.31,51.29
$STATE,2796,end apogee,CONTROL_FINISHED_OK
$STATE,2796,begin loiter
$GC,3084,-0.15,0.0,2353,2148,2772,2645,347.6,3.1,255,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2146,2708,2772,2644,0,0,0,0,0,0,14.57,14.57,14.57,6.27,51.02
$GC,3384,-0.15,0.0,2353,2147,2773,2642,338.4,3.1,270,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2147,2707,2772,2642,0,0,0,0,0,0,14.73,14.73,14.73,6.26,50.90
$GC,3684,-0.15,0.0,2353,2148,2772,2643,328.9,3.2,285,3685,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2146,2707,2772,2642,0,0,0,0,0,0,14.82,14.82,14.82,6.26,51.14
$GC,3984,-0.15,0.0,2352,2147,2772,2642,319.0,3.3,300,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2147,2706,2772,2641,0,0,0,0,0,0,14.87,14.88,14.88,6.26,51.14
$GC,4284,-0.15,0.0,2353,2147,2773,2640,309.3,3.2,315,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2147,2706,2772,2640,0,0,0,0,0,0,14.91,14.92,14.91,6.26,51.41
$GC,4585,-0.15,0.0,2352,2147,2772,2641,299.5,3.3,330,4586,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2147,2706,2772,2640,0,0,0,0,0,0,14.94,14.94,14.94,6.26,51.37
$GC,4885,-0.15,0.0,2352,2147,2773,2641,289.8,3.3,345,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2147,2705,2771,2640,0,0,0,0,0,0,14.96,14.96,14.96,6.26,51.61
$GC,5185,-0.15,0.0,2353,2147,2772,2641,280.0,3.2,360,5185,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2146,2706,2772,2640,0,0,0,0,0,0,14.97,14.98,14.98,6.26,51.89
$GC,5484,-0.15,0.0,2353,2146,2773,2640,270.3,3.2,375,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2147,2706,2772,2640,0,0,0,0,0,0,14.99,15.00,15.00,6.26,51.37
$GC,5784,-0.15,0.0,2352,2148,2772,2640,262.1,2.7,390,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2147,2706,2772,2640,0,0,0,0,0,0,15.00,15.01,15.01,6.26,51.57
$GC,6084,-0.15,0.0,2353,2147,2773,2639,255.0,2.3,405,6085,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2147,2706,2772,2640,0,0,0,0,0,0,15.02,15.02,15.02,6.26,51.89
$STATE,6382,end loiter,LOITER_COMPLETE
$STATE,6382,begin climb
$GC,6384,0.64,146.0,2352,2148,2773,2640,248.6,0.0,420,6520,0.62,0.00,129.52,1.418,10758,0.166,0.000,2598,2147,2123,2143,2103,0,0,0,0,0,0,14.30,13.97,13.28,6.26,51.77
$GC,6819,0.64,146.0,2598,2147,2128,2087,212.9,9.7,441,6823,0.00,2.53,0.00,0.000,2308,0.000,0.083,2598,3555,2106,2128,2085,0,0,0,0,0,0,14.55,14.14,14.56,6.20,50.82
$GC,6879,0.64,146.0,2599,3554,2128,2086,207.4,10.0,444,6883,0.00,2.38,0.00,0.000,5126,0.000,0.042,2609,2150,2106,2127,2085,0,0,0,0,0,0,14.42,14.26,14.40,6.21,50.74
$GC,7190,0.64,146.0,2617,2150,2127,2081,173.8,11.5,460,7193,0.00,2.47,0.00,0.000,4612,0.000,0.066,2620,739,2103,2126,2081,0,0,0,0,0,0,14.69,14.27,14.69,6.20,51.41
$GC,7249,0.64,146.0,2621,740,2125,2080,167.0,11.4,463,7253,0.05,2.42,0.00,0.000,5126,0.384,0.054,2603,2149,2101,2123,2080,0,0,0,0,0,0,14.09,14.31,14.35,6.20,51.06
$GC,7569,0.64,146.0,2603,2150,2123,2078,130.5,11.5,479,7573,0.00,2.50,0.00,0.000,260,0.000,0.084,2603,3559,2100,2123,2078,0,0,0,0,0,0,14.76,14.28,14.76,6.21,51.69
$GC,7679,0.64,146.0,2604,3560,2124,2078,119.6,11.2,484,7683,0.00,2.35,0.00,0.000,5126,0.000,0.042,2612,2148,2100,2123,2078,0,0,0,0,0,0,14.52,14.40,14.55,6.20,51.37
$GC,7984,0.64,146.0,2612,2148,2123,2077,83.1,11.2,522,7988,0.00,2.47,0.00,0.000,4612,0.000,0.066,2623,742,2101,2122,2080,0,0,0,0,0,0,14.78,14.33,14.78,6.19,50.35
$GC,8050,0.64,146.0,2624,742,2121,2077,76.4,10.0,535,8054,0.05,2.40,0.00,0.000,5126,0.373,0.052,2603,2151,2098,2120,2077,0,0,0,0,0,0,14.15,14.38,14.41,6.19,50.15
$GC,8174,0.64,151.3,2605,2151,2121,2077,65.6,8.1,560,8178,0.00,2.50,0.00,0.000,260,0.000,0.084,2604,3556,2095,2120,2070,0,0,0,0,0,0,14.78,14.29,14.78,6.19,49.80
$GC,8245,0.64,151.3,2605,3557,2120,2079,58.6,10.9,574,8248,0.00,2.35,0.00,0.000,5126,0.000,0.043,2613,2146,2098,2120,2077,0,0,0,0,0,0,14.54,14.42,14.56,6.18,49.52
$GC,8372,0.64,151.3,2614,2146,2121,2079,46.1,8.9,599,8377,0.00,2.42,0.00,0.000,4612,0.000,0.064,2625,745,2098,2120,2077,0,0,0,0,0,0,14.78,14.33,14.78,6.18,50.23
$GC,8480,0.71,206.2,2626,745,2121,2076,38.5,6.2,621,8539,0.00,2.40,54.78,1.228,9222,0.000,0.051,2625,2155,1879,1891,1868,0,0,0,0,0,0,14.51,14.42,13.57,6.18,49.96
$GC,8660,0.71,206.2,2625,2156,1883,1857,19.3,12.0,657,8663,0.00,2.50,0.00,0.000,260,0.000,0.083,2625,3551,1869,1883,1855,0,0,0,0,0,0,14.57,14.17,14.57,6.16,49.80
$GC,8695,0.71,206.2,2626,3552,1882,1857,14.9,12.1,664,8698,0.00,2.38,0.00,0.000,5126,0.000,0.046,2636,2146,1868,1882,1855,0,0,0,0,0,0,14.38,14.25,14.40,6.15,50.03
$STATE,8782,end climb,SURFACE_DEPTH_REACHED
$STATE,8782,begin surface coast
$STATE,8804,end surface coast,CONTROL_FINISHED_OK
$STATE,8804,begin surface
$SM_CCo,8821,10.05,0.252,0,0,1822,220.03
$SM_GC,1.96,5.68,0.03,10.05,0.068,0.325,0.252,213,2097,1822,-6.48,1.22,220.03,0,0,0,0,0,0,14.40,14.34,14.00
$IRIDIUM_FIX,-6005.20,0.00,170219,012924
$TT8_MAMPS,0.039697,0.330309
$HUMID,50.82
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,1
$SC_FREEKB,3617280
$24V_AH,13.12,113.462
$10V_AH,13.25,0.000
$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,13.600,78.100,307.450,10.050,0.000,25.378,37.443,145.899,0.250,0.000,18.786,0.000,6960.257,377.030,1625.800,277.307,0.000,1023.109,0.000,1146.467,0.000,0.539,0.000
$DEVICE_MAMPS,429.930,2213.145,1613.385,251.685,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5230.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.554,0.000,0.000,0.000
$MEM,344076
$DATA_FILE_SIZE,17336,686
$CAP_FILE_SIZE,91869,0
$CFSIZE,1023623168,961069056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.059,180.77,1
$GPS,170219,064253,-6003.480,-1.787,36,0.8,40,-19.7,0.7,5.3,10,9.0