version: 66.14
glider: 640
mission: 5
dive: 596
start: 2 17 119 9 32 31
data:
$ID,640
$MISSION,5
$DIVE,596
$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,31
$R_STBD_OVSHOOT,21
$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
$GPS1,170219,092522,-6003.0723,-1.4018,71,1.0,85,-19.7,0.5,248.9,8,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-60.2
$GPS2,170219,093211,-6003.1016,-1.3448,9,1.0,19,-19.7,1.8,310.1,8,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,14.7,42802,-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,-146.0,233,2102,1792,1831,0.0,0.0,0,102,0.00,0.00,-86.62,0.000,16386,0.000,0.000,233,2101,3195,3276,3114,0,0,0,0,0,0,14.54,28.83,14.54,6.17,51.81
$GC,105,-0.64,-146.0,234,2103,3278,3114,3.4,-7.5,18,117,6.12,0.00,-4.35,0.000,18694,0.337,0.000,2190,2101,3317,3412,3222,0,0,0,0,0,0,13.87,12.82,14.25,6.28,50.51
$GC,239,-0.64,-146.0,2190,2102,3416,3223,22.0,-14.7,45,242,0.00,2.53,0.00,0.000,2308,0.000,0.084,2179,3519,3318,3415,3222,0,0,0,0,0,0,14.63,14.15,14.63,6.29,49.17
$GC,253,-0.64,-146.0,2179,3520,3416,3223,24.3,-14.9,48,257,0.00,2.40,0.00,0.000,3078,0.000,0.041,2179,2088,3318,3415,3222,0,0,0,0,0,0,14.33,14.22,14.35,6.29,49.33
$GC,381,-0.64,-146.0,2179,2087,3417,3222,47.4,-17.9,73,383,0.00,0.00,0.00,0.000,2054,0.000,0.000,2178,2086,3318,3415,3222,0,0,0,0,0,0,14.65,14.65,14.65,6.30,49.76
$GC,504,-0.64,-146.0,2179,2087,3416,3224,67.8,-13.5,98,507,0.00,2.42,0.00,0.000,2564,0.000,0.060,2179,693,3319,3415,3223,0,0,0,0,0,0,14.69,14.19,14.69,6.30,49.68
$GC,619,-0.64,-146.0,2179,693,3417,3223,84.4,-14.0,121,623,0.08,2.45,0.00,0.000,3078,0.363,0.055,2191,2113,3319,3415,3223,0,0,0,0,0,0,13.97,14.21,14.27,6.30,49.96
$GC,746,-0.64,-146.0,2191,2112,3416,3222,100.4,-12.9,146,749,0.00,2.47,0.00,0.000,2308,0.000,0.083,2183,3514,3319,3415,3223,0,0,0,0,0,0,14.70,14.24,14.70,6.35,48.74
$GC,770,-0.64,-146.0,2181,3515,3416,3223,103.4,-13.8,147,773,0.00,2.38,0.00,0.000,3078,0.000,0.043,2180,2100,3319,3415,3223,0,0,0,0,0,0,14.49,14.36,14.50,6.29,49.09
$GC,1085,-0.64,-146.0,2180,2098,3416,3223,147.1,-13.2,163,1088,0.00,2.42,0.00,0.000,2564,0.000,0.060,2180,698,3319,3415,3223,0,0,0,0,0,0,14.76,14.32,14.76,6.28,49.05
$GC,1115,-0.64,-146.0,2180,699,3416,3224,149.1,-13.1,164,1119,0.08,2.42,0.00,0.000,3078,0.369,0.055,2193,2102,3319,3415,3224,0,0,0,0,0,0,14.02,14.34,14.31,6.28,49.33
$GC,1420,-0.64,-146.0,2193,2103,3416,3225,188.6,-12.1,180,1421,0.00,0.00,0.00,0.000,2054,0.000,0.000,2191,2102,3319,3415,3224,0,0,0,0,0,0,14.78,14.79,14.78,6.29,50.47
$GC,1720,-0.64,-146.0,2193,2103,3417,3224,224.4,-12.1,195,1721,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2102,3319,3415,3223,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.49
$GC,2020,-0.64,-146.0,2193,2103,3416,3223,260.8,-12.0,210,2023,0.00,2.47,0.00,0.000,2308,0.000,0.083,2182,3504,3319,3415,3223,0,0,0,0,0,0,14.82,14.29,14.81,6.30,51.33
$GC,2040,-0.64,-146.0,2182,3505,3415,3225,262.6,-12.0,211,2043,0.00,2.35,0.00,0.000,3078,0.000,0.042,2181,2091,3319,3416,3223,0,0,0,0,0,0,14.55,14.42,14.57,6.30,51.02
$GC,2350,-0.64,-146.0,2182,2090,3417,3223,302.2,-12.6,227,2353,0.00,2.40,0.00,0.000,2564,0.000,0.060,2181,697,3319,3415,3223,0,0,0,0,0,0,14.83,14.35,14.83,6.30,51.22
$GC,2390,-0.64,-146.0,2182,698,3417,3223,306.8,-12.7,229,2394,0.08,2.42,0.00,0.000,3078,0.361,0.055,2194,2109,3319,3415,3223,0,0,0,0,0,0,14.04,14.37,14.33,6.30,51.10
$GC,2700,-0.64,-146.0,2193,2109,3416,3225,343.3,-11.5,245,2703,0.00,2.47,0.00,0.000,260,0.000,0.084,2183,3506,3319,3415,3224,0,0,0,0,0,0,14.82,14.28,14.83,6.30,51.14
$GC,2735,-0.64,-146.0,2184,3501,3416,3221,345.6,-11.5,246,2738,0.00,2.35,0.00,0.000,3078,0.000,0.042,2183,2090,3319,3415,3223,0,0,0,0,0,0,14.55,14.42,14.57,6.31,51.61
$STATE,2772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2772,begin apogee
$GC,2779,-0.15,0.0,2184,2162,3416,3223,352.0,-11.7,249,2905,0.47,0.00,124.00,1.602,10246,0.256,0.000,2348,2161,2718,2778,2659,0,0,0,0,0,0,14.01,13.88,13.11,6.31,51.45
$STATE,2906,end apogee,CONTROL_FINISHED_OK
$STATE,2906,begin loiter
$GC,3195,-0.15,0.0,2348,2162,2772,2645,346.1,4.0,270,3195,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2161,2707,2771,2644,0,0,0,0,0,0,14.57,14.57,14.57,6.27,50.43
$GC,3495,-0.15,0.0,2348,2161,2772,2642,334.2,4.1,285,3495,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2161,2706,2771,2642,0,0,0,0,0,0,14.73,14.73,14.73,6.27,51.45
$GC,3795,-0.15,0.0,2348,2162,2772,2642,322.0,4.1,300,3795,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2161,2706,2771,2641,0,0,0,0,0,0,14.82,14.82,14.82,6.26,50.98
$GC,4095,-0.15,0.0,2348,2162,2772,2640,309.8,4.0,315,4095,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2161,2705,2771,2640,0,0,0,0,0,0,14.87,14.87,14.87,6.27,51.10
$GC,4395,-0.15,0.0,2348,2161,2772,2640,298.2,3.8,330,4395,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2161,2705,2771,2640,0,0,0,0,0,0,14.91,14.90,14.91,6.26,51.89
$GC,4695,-0.15,0.0,2348,2162,2772,2640,287.8,3.2,345,4696,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2161,2705,2771,2640,0,0,0,0,0,0,14.93,14.93,14.93,6.26,51.37
$GC,4995,-0.15,0.0,2348,2162,2772,2641,278.4,3.0,360,4996,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2161,2705,2771,2640,0,0,0,0,0,0,14.95,14.96,14.95,6.26,51.45
$GC,5295,-0.15,0.0,2348,2161,2772,2639,269.6,2.8,375,5296,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2161,2705,2771,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.26,51.45
$GC,5595,-0.15,0.0,2348,2162,2772,2641,260.4,3.1,390,5596,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2161,2705,2771,2640,0,0,0,0,0,0,14.99,14.99,14.99,6.24,51.65
$GC,5895,-0.15,0.0,2348,2161,2772,2639,250.5,3.4,405,5895,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2161,2705,2771,2639,0,0,0,0,0,0,15.00,15.00,15.00,6.26,51.57
$GC,6195,-0.15,0.0,2348,2161,2772,2639,240.2,3.6,420,6195,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2161,2705,2771,2639,0,0,0,0,0,0,15.01,15.01,15.01,6.26,51.81
$STATE,6492,end loiter,LOITER_COMPLETE
$STATE,6492,begin climb
$GC,6495,0.64,146.0,2348,2162,2772,2640,230.1,0.0,435,6636,0.62,2.60,129.18,1.401,11012,0.174,0.065,2601,750,2116,2135,2098,0,0,0,0,0,0,14.27,13.97,13.27,6.26,52.36
$GC,6731,0.64,146.0,2602,750,2130,2092,213.9,9.5,446,6735,0.00,2.42,0.00,0.000,1030,0.000,0.053,2602,2141,2109,2128,2090,0,0,0,0,0,0,14.19,14.08,14.22,6.21,50.31
$GC,7036,0.64,146.0,2603,2142,2125,2085,179.7,10.6,462,7040,0.00,2.55,0.00,0.000,260,0.000,0.083,2602,3557,2104,2124,2085,0,0,0,0,0,0,14.60,14.18,14.60,6.21,50.66
$GC,7126,0.64,146.0,2602,3559,2125,2087,171.3,10.5,466,7130,0.00,2.38,0.00,0.000,5126,0.000,0.041,2613,2145,2102,2120,2085,0,0,0,0,0,0,14.42,14.31,14.45,6.21,51.18
$GC,7431,0.64,146.0,2613,2141,2122,2083,139.5,10.0,481,7435,0.00,2.45,0.00,0.000,4612,0.000,0.065,2623,746,2101,2121,2082,0,0,0,0,0,0,14.71,14.29,14.71,6.20,51.53
$GC,7511,0.64,146.0,2624,747,2121,2081,132.5,9.3,485,7515,0.05,2.42,0.00,0.000,5126,0.376,0.053,2606,2161,2100,2120,2081,0,0,0,0,0,0,14.11,14.33,14.38,6.20,50.98
$GC,7821,0.64,146.0,2607,2161,2121,2078,104.9,9.0,501,7825,0.00,2.47,0.00,0.000,260,0.000,0.084,2606,3557,2099,2120,2079,0,0,0,0,0,0,14.77,14.28,14.77,6.20,50.63
$GC,7896,0.64,146.0,2606,3558,2121,2080,97.8,9.3,508,7900,0.00,2.35,0.00,0.000,5126,0.000,0.041,2615,2146,2100,2122,2079,0,0,0,0,0,0,14.53,14.41,14.56,6.20,50.82
$GC,8023,0.64,146.0,2616,2146,2121,2078,85.1,10.9,533,8029,0.00,2.45,0.00,0.000,4612,0.000,0.065,2626,744,2099,2120,2078,0,0,0,0,0,0,14.74,14.28,14.75,6.19,50.74
$GC,8086,0.64,146.0,2626,745,2119,2079,78.4,10.1,546,8091,0.08,2.42,0.00,0.000,5126,0.314,0.053,2599,2156,2098,2119,2077,0,0,0,0,0,0,14.12,14.36,14.40,6.18,50.07
$GC,8213,0.64,146.0,2600,2156,2120,2077,65.9,11.1,571,8219,0.00,2.47,0.00,0.000,2308,0.000,0.083,2600,3553,2097,2118,2077,0,0,0,0,0,0,14.75,14.23,14.73,6.18,49.56
$GC,8246,0.64,146.0,2600,3549,2120,2076,62.0,10.9,578,8250,0.00,2.35,0.00,0.000,5126,0.000,0.042,2609,2144,2097,2118,2077,0,0,0,0,0,0,14.53,14.41,14.56,6.18,49.72
$GC,8373,0.69,187.2,2608,2144,2119,2079,51.8,6.8,603,8414,0.00,2.47,35.58,1.252,10756,0.000,0.061,2619,742,1953,1968,1939,0,0,0,0,0,0,14.74,14.30,13.62,6.18,50.19
$GC,8484,0.72,212.9,2620,742,1966,1934,44.3,7.3,625,8514,0.00,2.40,25.88,1.225,11270,0.000,0.051,2620,2146,1850,1859,1842,0,0,0,0,0,0,14.23,14.17,13.47,6.16,49.40
$GC,8636,0.72,212.9,2620,2147,1856,1832,32.2,10.7,656,8640,0.00,2.55,0.00,0.000,2308,0.000,0.090,2620,3559,1842,1853,1831,0,0,0,0,0,0,14.54,14.15,14.54,6.16,49.96
$GC,8676,0.72,212.9,2621,3565,1854,1831,27.1,12.9,664,8680,0.00,2.38,0.00,0.000,1030,0.000,0.042,2630,2148,1842,1853,1831,0,0,0,0,0,0,14.37,14.27,14.37,6.16,50.66
$GC,8803,0.74,231.6,2631,2148,1852,1830,16.0,7.6,689,8824,0.00,2.50,15.32,0.324,10756,0.000,0.065,2642,747,1771,1773,1769,0,0,0,0,0,0,14.59,14.20,13.92,6.16,50.43
$GC,8856,0.74,231.6,2642,747,1772,1770,9.1,15.0,700,8860,0.00,2.42,0.00,0.000,5126,0.000,0.056,2642,2149,1770,1771,1770,0,0,0,0,0,0,14.40,14.25,14.42,6.17,50.74
$STATE,8913,end climb,SURFACE_DEPTH_REACHED
$STATE,8913,begin surface coast
$STATE,8955,end surface coast,CONTROL_FINISHED_OK
$STATE,8956,begin surface
$SM_CCo,9033,0.00,0.000,0,0,1765,233.77
$SM_GC,1.23,5.68,0.08,0.00,0.065,0.160,0.000,223,2068,1765,-6.48,0.99,233.77,0,0,0,0,0,0,14.45,14.35,14.48
$IRIDIUM_FIX,-6002.25,0.00,170219,064552
$TT8_MAMPS,0.03745,0.334803
$HUMID,50.78
$INTERNAL_PRESSURE,6.10897
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3616256
$24V_AH,12.82,113.849
$10V_AH,13.20,0.000
$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,13.250,78.225,329.950,0.000,0.000,24.945,23.015,151.690,0.000,0.000,20.617,0.000,7107.846,386.822,1654.185,288.239,0.000,1053.231,0.000,1171.443,0.000,0.539,0.000
$DEVICE_MAMPS,375.615,159.885,1601.910,0.000,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5382.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.553,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,20777,720
$CAP_FILE_SIZE,94161,0
$CFSIZE,1023623168,960872448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.024,163.20,1
$GPS,170219,120403,-6002.660,-1.364,32,0.8,34,-19.7,0.7,25.9,10,9.5