version: 66.14
glider: 640
mission: 5
dive: 602
start: 2 18 119 2 3 21
data:
$ID,640
$MISSION,5
$DIVE,602
$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,65
$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
$GPS1,180219,015612,-6001.1426,-1.6137,13,1.4,53,-19.7,0.2,155.6,7,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-70.3
$GPS2,180219,020301,-6001.1382,-1.7045,12,1.0,27,-19.7,0.0,265.2,8,6.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,28.0,39180,-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,-146.0,232,2139,1753,1782,0.0,0.0,0,103,0.00,0.00,-87.22,0.000,16386,0.000,0.000,231,2139,3163,3245,3082,0,0,0,0,0,0,14.55,28.83,14.55,6.16,51.33
$GC,106,-0.64,-146.0,232,2139,3246,3083,3.3,-7.4,18,123,6.28,2.65,-5.43,0.000,18692,0.360,2.209,2183,3462,3317,3413,3222,0,0,0,0,0,0,13.93,12.86,14.29,6.28,50.74
$GC,174,-0.64,-146.0,2183,3464,3415,3224,15.7,-16.2,32,178,0.00,2.25,0.00,0.000,3078,0.000,0.042,2182,2132,3318,3414,3222,0,0,0,0,0,0,14.40,14.27,14.42,6.30,49.64
$GC,299,-0.64,-146.0,2182,2132,3415,3224,35.7,-16.1,57,303,0.00,2.53,0.00,0.000,2564,0.000,0.062,2182,689,3318,3414,3223,0,0,0,0,0,0,14.67,14.26,14.64,6.29,49.37
$GC,334,-0.64,-146.0,2182,688,3416,3223,41.1,-14.8,64,338,0.08,2.38,0.00,0.000,3078,0.356,0.057,2196,2062,3318,3414,3222,0,0,0,0,0,0,14.00,14.27,14.28,6.30,49.88
$GC,462,-0.64,-146.0,2196,2063,3415,3222,55.3,-10.2,89,468,0.00,2.58,0.00,0.000,260,0.000,0.085,2186,3506,3319,3414,3224,0,0,0,0,0,0,14.66,14.23,14.66,6.30,49.88
$GC,559,-0.64,-146.0,2186,3506,3415,3224,66.2,-10.4,109,563,0.00,2.38,0.00,0.000,3078,0.000,0.042,2185,2091,3318,3414,3223,0,0,0,0,0,0,14.47,14.35,14.50,6.30,49.84
$GC,687,-0.64,-146.0,2185,2089,3416,3224,79.6,-10.7,134,691,0.00,2.42,0.00,0.000,2564,0.000,0.063,2185,696,3319,3414,3224,0,0,0,0,0,0,14.69,14.30,14.69,6.29,48.93
$GC,756,-0.64,-146.0,2185,696,3414,3225,87.9,-11.6,148,760,0.05,2.42,0.00,0.000,3078,0.425,0.054,2190,2107,3319,3415,3224,0,0,0,0,0,0,14.06,14.33,14.32,6.29,49.05
$GC,898,-0.64,-146.0,2190,2108,3415,3224,106.3,-14.7,170,902,0.00,2.47,0.00,0.000,2308,0.000,0.083,2180,3511,3319,3414,3225,0,0,0,0,0,0,14.71,14.19,14.71,6.29,48.26
$GC,947,-0.64,-146.0,2180,3512,3416,3224,112.5,-15.1,172,951,0.00,2.35,0.00,0.000,3078,0.000,0.043,2179,2094,3319,3414,3224,0,0,0,0,0,0,14.50,14.36,14.52,6.29,48.70
$GC,1252,-0.64,-146.0,2180,2093,3416,3224,167.3,-17.6,187,1256,0.00,2.42,0.00,0.000,2564,0.000,0.063,2178,693,3319,3414,3224,0,0,0,0,0,0,14.76,14.33,14.76,6.29,50.11
$GC,1347,-0.64,-146.0,2179,693,3415,3225,183.5,-16.9,192,1351,0.08,2.42,0.00,0.000,3078,0.360,0.055,2192,2107,3318,3414,3223,0,0,0,0,0,0,14.05,14.35,14.33,6.29,50.00
$GC,1662,-0.64,-146.0,2192,2107,3416,3224,226.5,-12.2,208,1663,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2107,3319,3414,3224,0,0,0,0,0,0,14.78,14.78,14.78,6.30,50.55
$GC,1963,-0.64,-146.0,2192,2108,3415,3224,260.9,-11.4,223,1966,0.00,2.45,0.00,0.000,2308,0.000,0.083,2182,3504,3319,3414,3224,0,0,0,0,0,0,14.79,14.31,14.79,6.30,50.94
$GC,1982,-0.64,-146.0,2182,3505,3415,3225,262.6,-11.5,224,1986,0.00,2.33,0.00,0.000,3078,0.000,0.044,2181,2100,3318,3414,3223,0,0,0,0,0,0,14.56,14.42,14.57,6.30,50.98
$GC,2292,-0.64,-146.0,2181,2099,3415,3225,302.8,-13.3,240,2296,0.00,2.42,0.00,0.000,2564,0.000,0.062,2180,694,3319,3414,3224,0,0,0,0,0,0,14.81,14.35,14.81,6.31,51.02
$GC,2368,-0.64,-146.0,2182,695,3417,3224,313.0,-13.5,244,2372,0.08,2.40,0.00,0.000,3078,0.352,0.054,2195,2102,3318,3414,3223,0,0,0,0,0,0,14.07,14.38,14.35,6.31,50.78
$STATE,2659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2660,begin apogee
$GC,2666,-0.15,0.0,2195,2169,3415,3225,351.1,-13.0,259,2792,0.45,0.00,122.80,1.802,10246,0.253,0.000,2345,2168,2719,2779,2659,0,0,0,0,0,0,14.02,13.81,12.97,6.30,51.41
$STATE,2793,end apogee,CONTROL_FINISHED_OK
$STATE,2793,begin loiter
$GC,3082,-0.15,0.0,2352,2169,2774,2644,350.9,2.9,280,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2168,2708,2772,2644,0,0,0,0,0,0,14.52,14.53,14.53,6.26,50.74
$GC,3382,-0.15,0.0,2351,2169,2773,2644,340.7,3.7,295,3383,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2168,2707,2772,2643,0,0,0,0,0,0,14.71,14.71,14.71,6.27,50.98
$GC,3682,-0.15,0.0,2351,2169,2773,2643,329.6,3.8,310,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2168,2707,2772,2642,0,0,0,0,0,0,14.80,14.80,14.80,6.27,51.57
$GC,3982,-0.15,0.0,2350,2169,2773,2643,320.3,2.6,325,3983,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2168,2707,2772,2642,0,0,0,0,0,0,14.85,14.85,14.85,6.27,51.22
$GC,4282,-0.15,0.0,2350,2169,2773,2642,314.1,1.7,340,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2168,2707,2772,2642,0,0,0,0,0,0,14.89,14.90,14.90,6.26,51.14
$GC,4583,-0.15,0.0,2351,2168,2773,2642,308.6,2.0,355,4583,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2707,2772,2642,0,0,0,0,0,0,14.92,14.92,14.92,6.27,51.29
$GC,4883,-0.15,0.0,2351,2169,2773,2642,300.5,3.2,370,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2707,2772,2642,0,0,0,0,0,0,14.94,14.95,14.95,6.27,51.26
$GC,5182,-0.15,0.0,2351,2169,2773,2643,290.0,3.6,385,5183,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2168,2707,2773,2642,0,0,0,0,0,0,14.96,14.97,14.96,6.27,51.73
$GC,5482,-0.15,0.0,2351,2169,2773,2642,279.7,3.2,400,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2168,2707,2772,2642,0,0,0,0,0,0,14.98,14.98,14.98,6.26,51.92
$GC,5782,-0.15,0.0,2351,2169,2773,2643,269.8,3.5,415,5783,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2707,2772,2642,0,0,0,0,0,0,14.99,14.99,15.00,6.26,51.29
$GC,6082,-0.15,0.0,2351,2168,2773,2642,258.2,4.2,430,6083,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2168,2707,2772,2643,0,0,0,0,0,0,15.00,15.00,15.00,6.26,51.81
$STATE,6380,end loiter,LOITER_COMPLETE
$STATE,6380,begin climb
$GC,6382,0.64,146.0,2351,2168,2773,2643,245.9,0.0,445,6517,0.62,0.00,127.22,1.424,10758,0.172,0.000,2596,2168,2120,2143,2097,0,0,0,0,0,0,14.28,13.97,13.27,6.27,52.00
$GC,6823,0.64,146.0,2594,2169,2128,2084,205.2,10.2,467,6826,0.00,2.47,0.00,0.000,2308,0.000,0.084,2594,3541,2105,2128,2083,0,0,0,0,0,0,14.56,14.15,14.56,6.21,50.90
$GC,6868,0.64,146.0,2594,3542,2132,2084,201.0,10.2,469,6871,0.00,2.35,0.00,0.000,1030,0.000,0.042,2604,2147,2105,2128,2083,0,0,0,0,0,0,14.37,14.27,14.40,6.21,50.82
$GC,7178,0.64,146.0,2605,2147,2127,2078,167.3,10.8,485,7181,0.00,2.45,0.00,0.000,2564,0.000,0.065,2616,745,2101,2125,2078,0,0,0,0,0,0,14.69,14.28,14.66,6.21,51.10
$GC,7243,0.64,146.0,2616,746,2124,2079,161.7,10.4,488,7247,0.00,2.40,0.00,0.000,5126,0.000,0.054,2616,2136,2100,2122,2078,0,0,0,0,0,0,14.47,14.32,14.50,6.21,51.02
$GC,7548,0.67,174.0,2616,2138,2124,2077,136.4,7.3,503,7576,0.00,2.55,23.33,1.351,8452,0.000,0.086,2616,3554,2005,2022,1989,0,0,0,0,0,0,14.76,14.31,13.60,6.21,51.18
$GC,7638,0.67,174.0,2617,3555,2023,1987,129.1,9.2,507,7641,0.00,2.35,0.00,0.000,5126,0.000,0.043,2626,2150,2004,2022,1986,0,0,0,0,0,0,14.45,14.31,14.47,6.19,50.55
$GC,7945,0.67,174.0,2627,2150,2021,1983,91.0,13.1,531,7950,0.00,2.47,0.00,0.000,4612,0.000,0.065,2638,739,2001,2020,1983,0,0,0,0,0,0,14.69,14.31,14.69,6.18,50.11
$GC,8033,0.67,174.0,2638,740,2018,1984,79.6,12.8,549,8037,0.08,2.42,0.00,0.000,5126,0.316,0.054,2611,2154,2000,2018,1982,0,0,0,0,0,0,14.11,14.35,14.38,6.18,50.11
$GC,8158,0.67,174.0,2610,2154,2018,1983,63.5,12.9,574,8162,0.00,2.47,0.00,0.000,2308,0.000,0.084,2611,3553,1999,2017,1982,0,0,0,0,0,0,14.71,14.28,14.71,6.17,49.60
$GC,8218,0.67,174.0,2611,3553,2018,1982,55.7,12.5,586,8221,0.00,2.35,0.00,0.000,5126,0.000,0.043,2620,2144,1999,2017,1982,0,0,0,0,0,0,14.52,14.40,14.54,6.17,49.44
$GC,8345,0.67,174.0,2620,2145,2018,1982,41.6,10.0,611,8350,0.00,2.53,0.00,0.000,4356,0.000,0.083,2620,3557,1999,2017,1981,0,0,0,0,0,0,14.73,14.29,14.73,6.17,49.56
$GC,8428,0.67,174.0,2620,3558,2017,1982,33.0,9.3,628,8431,0.00,2.35,0.00,0.000,5126,0.000,0.042,2631,2148,1999,2017,1981,0,0,0,0,0,0,14.50,14.41,14.55,6.17,49.72
$GC,8556,0.67,174.0,2631,2148,2017,1981,21.8,9.2,653,8560,0.05,2.45,0.00,0.000,4612,0.408,0.063,2632,743,1998,2016,1980,0,0,0,0,0,0,14.24,14.33,14.39,6.18,50.23
$GC,8580,0.69,191.2,2625,744,2016,1980,19.6,7.7,658,8599,0.00,2.42,13.30,0.350,13318,0.000,0.054,2625,2158,1937,1951,1923,0,0,0,0,0,0,14.45,14.31,13.94,6.18,50.43
$GC,8720,0.69,191.2,2625,2158,1951,1919,6.0,10.8,686,8724,0.00,2.47,0.00,0.000,4356,0.000,0.083,2625,3559,1934,1950,1919,0,0,0,0,0,0,14.73,14.23,14.73,6.17,50.98
$STATE,8747,end climb,SURFACE_DEPTH_REACHED
$STATE,8747,begin surface coast
$STATE,8767,end surface coast,CONTROL_FINISHED_OK
$STATE,8767,begin surface
$SM_CCo,8786,25.90,0.247,0,0,1821,220.03
$SM_GC,0.70,5.65,2.50,25.90,0.080,0.043,0.247,247,2098,1821,-6.45,1.07,220.03,0,0,0,0,0,0,14.50,14.40,14.09
$IRIDIUM_FIX,-6002.25,0.00,170219,232417
$TT8_MAMPS,0.035203,0.343042
$HUMID,50.78
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3613376
$24V_AH,12.86,115.055
$10V_AH,13.33,0.000
$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,13.400,78.025,286.650,25.900,0.000,27.651,16.877,150.392,0.000,0.000,28.873,0.000,6949.239,384.688,1605.413,281.101,0.000,1020.913,0.000,1130.707,0.000,0.539,0.000
$DEVICE_MAMPS,425.340,2209.320,1801.575,247.095,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5194.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.512,0.000,0.000,0.000
$MEM,344048
$DATA_FILE_SIZE,17329,696
$CAP_FILE_SIZE,91524,0
$CFSIZE,1023623168,960282624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.068,211.53,1
$GPS,180219,043125,-6000.843,-1.892,14,0.8,43,-19.7,0.4,243.9,8,7.4