version: 66.14
glider: 640
mission: 5
dive: 597
start: 2 17 119 12 48 12
data:
$ID,640
$MISSION,5
$DIVE,597
$N_DIVES,700
$STOP_T,2271912
$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,26
$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
$GPS1,170219,124401,-6002.7534,-1.5386,6,0.9,17,-19.7,1.5,192.9,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-63.0
$GPS2,170219,124752,-6002.7622,-1.5609,9,0.9,15,-19.7,0.5,312.8,9,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,19.9,42181,-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,-146.0,209,2067,1733,1777,0.0,0.0,0,116,0.00,0.00,-99.50,0.000,16390,0.000,0.000,209,2066,3315,3404,3227,0,0,0,0,0,0,14.65,13.26,14.62,6.17,50.55
$GC,119,-0.64,-146.0,209,2068,3405,3229,3.3,-8.3,21,131,6.20,2.50,0.00,0.000,2308,0.353,0.047,2162,3516,3316,3405,3228,0,0,0,0,0,0,14.00,14.35,14.30,6.30,48.81
$GC,199,-0.64,-146.0,2162,3516,3409,3228,12.9,-15.5,37,203,0.10,2.33,0.00,0.000,3078,0.307,0.041,2196,2124,3318,3408,3228,0,0,0,0,0,0,13.97,14.28,14.23,6.31,48.07
$GC,326,-0.64,-146.0,2197,2123,3409,3229,26.6,-11.0,62,331,0.00,2.50,0.00,0.000,516,0.000,0.063,2196,698,3317,3408,3227,0,0,0,0,0,0,14.69,14.28,14.69,6.31,48.34
$GC,353,-0.64,-146.0,2197,699,3409,3228,30.4,-12.7,68,357,0.00,2.42,0.00,0.000,3078,0.000,0.057,2187,2104,3318,3408,3228,0,0,0,0,0,0,14.38,14.23,14.40,6.30,48.58
$GC,481,-0.64,-146.0,2186,2104,3409,3227,48.6,-16.8,93,484,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2104,3318,3408,3228,0,0,0,0,0,0,14.71,14.71,14.71,6.31,48.89
$GC,604,-0.64,-146.0,2188,2104,3409,3228,71.7,-18.2,118,608,0.00,2.47,0.00,0.000,2308,0.000,0.082,2176,3505,3318,3408,3228,0,0,0,0,0,0,14.74,14.26,14.74,6.31,48.85
$GC,679,-0.64,-146.0,2177,3506,3409,3227,83.9,-14.9,133,684,0.05,2.35,0.00,0.000,3078,0.428,0.042,2191,2102,3318,3408,3228,0,0,0,0,0,0,14.06,14.38,14.31,6.30,48.97
$GC,819,-0.64,-146.0,2191,2102,3409,3229,103.2,-13.5,158,823,0.00,2.45,0.00,0.000,2564,0.000,0.063,2191,694,3318,3408,3228,0,0,0,0,0,0,14.76,14.31,14.76,6.29,47.71
$GC,874,-0.64,-146.0,2192,693,3409,3227,110.5,-13.3,161,878,0.00,2.42,0.00,0.000,3078,0.000,0.054,2181,2107,3318,3408,3228,0,0,0,0,0,0,14.50,14.34,14.52,6.29,47.75
$GC,1195,-0.64,-146.0,2181,2107,3409,3229,155.8,-12.0,177,1198,0.00,2.45,0.00,0.000,2308,0.000,0.083,2169,3503,3318,3409,3228,0,0,0,0,0,0,14.79,14.28,14.79,6.29,48.70
$GC,1304,-0.64,-146.0,2170,3504,3409,3228,166.6,-11.3,182,1308,0.08,2.35,0.00,0.000,3078,0.353,0.041,2195,2089,3318,3409,3228,0,0,0,0,0,0,14.04,14.40,14.33,6.29,49.56
$GC,1627,-0.64,-146.0,2196,2088,3410,3228,202.9,-11.3,199,1630,0.00,2.42,0.00,0.000,516,0.000,0.063,2195,694,3321,3409,3233,0,0,0,0,0,0,14.78,14.33,14.79,6.30,50.27
$GC,1726,-0.64,-146.0,2196,695,3409,3229,213.9,-10.8,204,1729,0.00,2.40,0.00,0.000,3078,0.000,0.054,2185,2101,3317,3409,3226,0,0,0,0,0,0,14.52,14.36,14.54,6.30,50.43
$GC,2046,-0.64,-146.0,2186,2101,3409,3227,250.5,-11.7,220,2050,0.00,2.47,0.00,0.000,2308,0.000,0.082,2174,3509,3318,3408,3228,0,0,0,0,0,0,14.81,14.29,14.81,6.30,50.59
$GC,2066,-0.64,-146.0,2174,3511,3409,3229,252.3,-11.7,221,2070,0.05,2.35,0.00,0.000,3078,0.412,0.044,2189,2099,3317,3408,3227,0,0,0,0,0,0,14.11,14.41,14.35,6.31,50.90
$GC,2376,-0.64,-146.0,2190,2098,3410,3228,288.2,-11.3,237,2379,0.00,2.42,0.00,0.000,2564,0.000,0.062,2190,695,3317,3408,3227,0,0,0,0,0,0,14.83,14.34,14.82,6.31,50.66
$GC,2451,-0.64,-146.0,2190,697,3409,3229,295.1,-11.5,240,2454,0.00,2.40,0.00,0.000,3078,0.000,0.054,2178,2100,3317,3408,3227,0,0,0,0,0,0,14.53,14.37,14.55,6.31,51.26
$GC,2771,-0.64,-146.0,2179,2100,3409,3228,334.1,-11.9,257,2774,0.00,2.50,0.00,0.000,2308,0.000,0.083,2174,3502,3317,3408,3227,0,0,0,0,0,0,14.83,14.29,14.83,6.31,50.82
$GC,2806,-0.64,-146.0,2170,3503,3409,3227,338.4,-12.1,259,2810,0.08,2.35,0.00,0.000,3078,0.353,0.043,2194,2090,3317,3408,3227,0,0,0,0,0,0,14.06,14.42,14.33,6.31,50.74
$STATE,2918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2918,begin apogee
$GC,2925,-0.15,0.0,2195,2157,3410,3227,351.6,-11.4,265,3050,0.45,0.00,122.62,1.805,10246,0.255,0.000,2350,2158,2718,2777,2659,0,0,0,0,0,0,14.00,13.81,12.97,6.31,51.10
$STATE,3051,end apogee,CONTROL_FINISHED_OK
$STATE,3051,begin loiter
$GC,3341,-0.15,0.0,2350,2158,2772,2645,346.8,3.4,286,3341,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2157,2708,2772,2644,0,0,0,0,0,0,14.54,14.54,14.54,6.27,50.63
$GC,3641,-0.15,0.0,2350,2158,2772,2644,337.1,3.1,301,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2157,2707,2772,2643,0,0,0,0,0,0,14.71,14.72,14.72,6.27,50.63
$GC,3941,-0.15,0.0,2350,2158,2771,2643,328.3,2.9,316,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2157,2706,2772,2641,0,0,0,0,0,0,14.81,14.81,14.81,6.27,50.74
$GC,4241,-0.15,0.0,2350,2158,2772,2642,319.9,2.7,331,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2157,2707,2773,2641,0,0,0,0,0,0,14.86,14.87,14.87,6.27,51.29
$GC,4541,-0.15,0.0,2350,2158,2772,2641,312.2,2.4,346,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2157,2706,2772,2640,0,0,0,0,0,0,14.90,14.90,14.91,6.27,51.49
$GC,4841,-0.15,0.0,2351,2158,2773,2640,305.3,2.1,361,4842,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2157,2705,2771,2640,0,0,0,0,0,0,14.93,14.93,14.93,6.27,51.29
$GC,5141,-0.15,0.0,2351,2158,2773,2640,298.8,2.1,376,5142,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2157,2706,2772,2640,0,0,0,0,0,0,14.95,14.96,14.95,6.27,51.65
$GC,5441,-0.15,0.0,2350,2158,2772,2640,291.9,2.5,391,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2157,2705,2772,2639,0,0,0,0,0,0,14.97,14.98,14.98,6.26,51.26
$GC,5741,-0.15,0.0,2350,2157,2772,2640,283.7,2.9,406,5741,0.00,0.00,0.00,0.000,2054,0.000,0.000,2350,2157,2705,2772,2639,0,0,0,0,0,0,14.99,15.00,15.00,6.26,52.00
$GC,6041,-0.15,0.0,2350,2158,2773,2639,274.0,3.5,421,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2157,2705,2772,2639,0,0,0,0,0,0,15.00,15.01,15.00,6.27,51.29
$GC,6341,-0.15,0.0,2350,2158,2773,2638,263.2,3.7,436,6341,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2157,2705,2772,2639,0,0,0,0,0,0,15.01,15.02,15.02,6.27,51.53
$STATE,6638,end loiter,LOITER_COMPLETE
$STATE,6638,begin climb
$GC,6641,0.64,146.0,2350,2158,2773,2639,252.1,0.0,451,6776,0.62,2.58,125.43,1.457,10756,0.178,0.065,2602,755,2117,2138,2096,0,0,0,0,0,0,14.24,13.93,13.26,6.26,51.65
$GC,6821,0.64,146.0,2601,756,2132,2093,239.3,9.0,460,6825,0.00,2.45,0.00,0.000,1030,0.000,0.053,2602,2149,2112,2132,2093,0,0,0,0,0,0,14.14,14.04,14.15,6.21,49.80
$GC,7137,0.64,146.0,2602,2149,2126,2086,205.0,10.8,476,7140,0.00,2.53,0.00,0.000,260,0.000,0.084,2602,3553,2105,2125,2085,0,0,0,0,0,0,14.55,14.16,14.58,6.22,50.78
$GC,7221,0.64,146.0,2603,3554,2126,2085,196.8,11.0,480,7225,0.00,2.35,0.00,0.000,5126,0.000,0.043,2613,2156,2105,2125,2085,0,0,0,0,0,0,14.41,14.28,14.43,6.21,50.59
$GC,7531,0.64,146.0,2613,2155,2125,2082,163.9,10.1,496,7535,0.00,2.47,0.00,0.000,4612,0.000,0.066,2624,745,2102,2123,2081,0,0,0,0,0,0,14.70,14.28,14.71,6.21,50.86
$GC,7586,0.64,146.0,2624,745,2122,2081,158.4,10.0,499,7591,0.05,2.42,0.00,0.000,5126,0.372,0.054,2606,2155,2101,2121,2081,0,0,0,0,0,0,14.10,14.32,14.36,6.21,50.74
$GC,7906,0.64,146.0,2606,2155,2122,2079,121.7,12.0,515,7910,0.00,2.47,0.00,0.000,260,0.000,0.083,2606,3554,2099,2120,2079,0,0,0,0,0,0,14.76,14.28,14.76,6.20,50.55
$GC,7976,0.64,146.0,2606,3555,2121,2079,115.7,11.1,518,7980,0.00,2.35,0.00,0.000,5126,0.000,0.043,2615,2147,2099,2120,2079,0,0,0,0,0,0,14.52,14.40,14.54,6.21,50.55
$GC,8281,0.64,146.0,2616,2148,2121,2078,86.7,8.4,556,8285,0.00,2.47,0.00,0.000,4612,0.000,0.067,2626,738,2099,2120,2078,0,0,0,0,0,0,14.77,14.32,14.77,6.19,50.15
$GC,8366,0.65,153.2,2626,738,2121,2077,79.5,8.1,573,8370,0.05,2.42,0.00,0.000,5126,0.375,0.053,2608,2158,2099,2120,2078,0,0,0,0,0,0,14.14,14.36,14.37,6.19,50.07
$GC,8491,0.65,154.8,2608,2159,2121,2079,69.5,8.3,598,8500,0.00,2.45,4.50,1.198,8452,0.000,0.084,2608,3562,2086,2106,2066,0,0,0,0,0,0,14.73,14.42,13.45,6.18,49.60
$GC,8571,0.65,154.8,2608,3563,2107,2068,62.2,9.9,614,8575,0.00,2.38,0.00,0.000,5126,0.000,0.044,2618,2141,2086,2106,2067,0,0,0,0,0,0,14.54,14.42,14.56,6.18,49.48
$GC,8698,0.65,154.8,2619,2141,2100,2066,51.4,8.8,639,8702,0.00,2.42,0.00,0.000,4612,0.000,0.066,2635,745,2086,2106,2066,0,0,0,0,0,0,14.73,14.26,14.73,6.17,49.96
$GC,8853,0.69,191.1,2630,743,2107,2065,39.6,6.9,670,8895,0.00,2.40,36.17,1.245,13318,0.000,0.054,2629,2145,1936,1949,1923,0,0,0,0,0,0,14.52,14.36,13.61,6.18,49.92
$GC,9018,0.69,191.1,2630,2151,1948,1916,24.9,9.9,703,9022,0.00,2.53,0.00,0.000,4356,0.000,0.085,2630,3562,1931,1945,1917,0,0,0,0,0,0,14.60,14.20,14.59,6.16,49.96
$GC,9068,0.69,191.1,2629,3563,1947,1918,19.6,10.9,713,9072,0.05,2.38,0.00,0.000,5126,0.405,0.046,2622,2145,1931,1946,1917,0,0,0,0,0,0,14.04,14.31,14.31,6.17,50.82
$GC,9193,0.69,191.1,2623,2144,1946,1916,4.8,13.3,738,9196,0.00,2.47,0.00,0.000,516,0.000,0.067,2633,743,1930,1946,1914,0,0,0,0,0,0,14.66,14.26,14.66,6.17,50.63
$STATE,9210,end climb,SURFACE_DEPTH_REACHED
$STATE,9210,begin surface coast
$STATE,9235,end surface coast,CONTROL_FINISHED_OK
$STATE,9235,begin surface
$SM_CCo,9254,24.52,0.246,0,0,1823,220.03
$SM_GC,0.92,6.30,2.42,24.52,0.186,0.056,0.246,214,2114,1823,-6.50,-0.57,220.03,0,0,0,0,0,0,14.47,14.33,14.04
$IRIDIUM_FIX,-6002.25,0.00,170219,123925
$TT8_MAMPS,0.03745,0.330309
$HUMID,50.70
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3615744
$24V_AH,12.97,114.082
$10V_AH,12.89,0.000
$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,14.075,87.650,288.725,24.525,0.000,0.000,0.000,0.000,0.000,0.000,16.336,0.000,7240.659,397.576,1541.771,166.046,0.000,1096.127,0.000,1262.376,0.000,0.539,0.000
$DEVICE_MAMPS,427.635,139.230,1805.400,246.330,0.000,0.000,0.000,0.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5628.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.498,0.000,0.000,0.000
$MEM,344020
$DATA_FILE_SIZE,20741,747
$CAP_FILE_SIZE,115553,0
$CFSIZE,1023623168,960741376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.060,197.33,1
$GPS,170219,152411,-6002.526,-1.656,40,0.7,50,-19.7,0.8,225.6,11,9.1