version: 66.14
glider: 640
mission: 5
dive: 606
start: 2 18 119 12 27 45
data:
$ID,640
$MISSION,5
$DIVE,606
$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,46
$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
$GPS1,180219,122101,-5959.7100,-1.1782,19,0.8,41,-19.7,0.5,13.7,10,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-71.2
$GPS2,180219,122726,-5959.6597,-1.1600,9,0.8,15,-19.7,0.6,290.6,10,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,13.3,36426,-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,-146.0,223,2083,1783,1830,0.0,0.0,0,103,0.00,0.00,-86.75,0.000,16386,0.000,0.000,223,2082,3184,3261,3107,0,0,0,0,0,0,14.57,28.83,14.57,6.16,51.92
$GC,106,-0.64,-146.0,224,2083,3270,3107,3.4,-6.8,18,123,6.28,2.83,-4.60,0.000,18692,0.355,2.208,2160,3498,3319,3414,3224,0,0,0,0,0,0,13.85,12.92,14.28,6.28,50.19
$GC,219,-0.64,-146.0,2160,3499,3415,3226,22.7,-17.0,41,223,0.10,2.33,0.00,0.000,3078,0.312,0.041,2193,2114,3319,3414,3224,0,0,0,0,0,0,13.93,14.22,14.19,6.29,49.25
$GC,347,-0.64,-146.0,2193,2114,3415,3226,43.8,-16.7,66,353,0.00,2.47,0.00,0.000,2564,0.000,0.065,2193,694,3319,3414,3224,0,0,0,0,0,0,14.63,14.21,14.64,6.29,50.23
$GC,469,-0.64,-146.0,2193,695,3415,3226,64.7,-16.2,91,473,0.00,2.42,0.00,0.000,3078,0.000,0.055,2178,2101,3319,3414,3225,0,0,0,0,0,0,14.35,14.20,14.37,6.30,49.80
$GC,594,-0.64,-146.0,2185,2101,3417,3225,85.5,-17.2,116,598,0.00,2.47,0.00,0.000,2564,0.000,0.062,2183,690,3320,3415,3225,0,0,0,0,0,0,14.69,14.24,14.70,6.29,49.44
$GC,629,-0.64,-146.0,2184,690,3416,3226,91.4,-16.8,123,634,0.08,2.45,0.00,0.000,3078,0.353,0.057,2193,2102,3320,3415,3225,0,0,0,0,0,0,13.93,14.21,14.23,6.29,49.01
$GC,769,-0.64,-146.0,2198,2104,3415,3226,112.6,-15.2,139,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2103,3319,3414,3225,0,0,0,0,0,0,14.72,14.75,14.72,6.28,48.22
$GC,1069,-0.64,-146.0,2198,2103,3416,3226,152.7,-12.4,154,1073,0.00,2.50,0.00,0.000,260,0.000,0.085,2187,3510,3320,3415,3226,0,0,0,0,0,0,14.76,14.18,14.76,6.28,49.56
$GC,1129,-0.64,-146.0,2188,3506,3416,3226,159.4,-12.2,157,1133,0.00,2.35,0.00,0.000,3078,0.000,0.042,2187,2096,3319,3414,3225,0,0,0,0,0,0,14.41,14.28,14.42,6.28,49.92
$GC,1439,-0.64,-146.0,2183,2096,3416,3226,201.6,-13.5,173,1443,0.00,2.42,0.00,0.000,2564,0.000,0.063,2187,696,3320,3415,3226,0,0,0,0,0,0,14.76,14.23,14.78,6.29,50.74
$GC,1500,-0.64,-146.0,2187,696,3416,3225,209.6,-13.3,176,1504,0.05,2.42,0.00,0.000,3078,0.425,0.055,2195,2102,3320,3415,3225,0,0,0,0,0,0,14.06,14.26,14.33,6.29,50.78
$GC,1819,-0.64,-146.0,2192,2103,3415,3226,248.8,-12.3,192,1820,0.00,0.00,0.00,0.000,2054,0.000,0.000,2193,2102,3320,3414,3226,0,0,0,0,0,0,14.81,14.81,14.80,6.30,51.69
$GC,2120,-0.64,-146.0,2193,2102,3415,3225,284.6,-11.7,207,2123,0.00,2.45,0.00,0.000,2564,0.000,0.062,2192,694,3320,3414,3226,0,0,0,0,0,0,14.81,14.34,14.81,6.30,51.14
$GC,2139,-0.64,-146.0,2192,694,3415,3226,286.4,-11.7,208,2143,0.00,2.42,0.00,0.000,3078,0.000,0.056,2182,2102,3319,3414,3225,0,0,0,0,0,0,14.42,14.26,14.45,6.30,51.26
$GC,2450,-0.64,-146.0,2183,2111,3416,3225,323.8,-11.9,224,2453,0.00,2.45,0.00,0.000,2564,0.000,0.062,2182,694,3319,3414,3225,0,0,0,0,0,0,14.82,14.33,14.82,6.31,51.33
$GC,2469,-0.64,-146.0,2183,694,3416,3225,325.7,-11.9,225,2473,0.08,2.42,0.00,0.000,3078,0.355,0.055,2195,2102,3319,3414,3225,0,0,0,0,0,0,13.98,14.27,14.30,6.30,51.37
$STATE,2697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2697,begin apogee
$GC,2704,-0.15,0.0,2196,2168,3416,3225,352.1,-11.2,237,2830,0.45,0.00,123.50,1.623,10246,0.251,0.000,2352,2168,2718,2778,2659,0,0,0,0,0,0,14.02,13.87,13.09,6.31,51.85
$STATE,2831,end apogee,CONTROL_FINISHED_OK
$STATE,2831,begin loiter
$GC,3119,-0.15,0.0,2352,2169,2772,2645,349.1,2.8,258,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2707,2771,2644,0,0,0,0,0,0,14.55,14.57,14.57,6.27,51.18
$GC,3419,-0.15,0.0,2352,2169,2770,2643,341.8,2.3,273,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2706,2770,2642,0,0,0,0,0,0,14.73,14.73,14.73,6.27,51.10
$GC,3719,-0.15,0.0,2352,2168,2771,2642,335.5,2.0,288,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2705,2770,2640,0,0,0,0,0,0,14.82,14.82,14.82,6.27,51.29
$GC,4019,-0.15,0.0,2354,2168,2770,2640,328.9,2.3,303,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2705,2770,2640,0,0,0,0,0,0,14.88,14.88,14.88,6.26,51.26
$GC,4319,-0.15,0.0,2352,2168,2771,2641,321.2,2.8,318,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2705,2770,2640,0,0,0,0,0,0,14.91,14.92,14.91,6.27,51.53
$GC,4620,-0.15,0.0,2353,2168,2771,2639,312.6,3.0,333,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2704,2770,2639,0,0,0,0,0,0,14.94,14.94,14.94,6.27,51.65
$GC,4920,-0.15,0.0,2353,2168,2772,2639,303.5,3.1,348,4920,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2704,2770,2639,0,0,0,0,0,0,14.96,14.96,14.96,6.27,51.33
$GC,5220,-0.15,0.0,2353,2169,2771,2638,294.4,3.0,363,5220,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2704,2770,2639,0,0,0,0,0,0,14.97,14.98,14.98,6.27,51.89
$GC,5520,-0.15,0.0,2353,2168,2772,2639,285.9,2.7,378,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2704,2770,2639,0,0,0,0,0,0,15.00,15.00,14.99,6.27,51.49
$GC,5820,-0.15,0.0,2353,2168,2772,2638,278.0,2.5,393,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2704,2770,2639,0,0,0,0,0,0,15.00,15.00,15.01,6.26,51.73
$GC,6120,-0.15,0.0,2352,2168,2771,2640,270.3,2.6,408,6121,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2704,2770,2638,0,0,0,0,0,0,15.01,15.02,15.02,6.26,51.53
$STATE,6417,end loiter,LOITER_COMPLETE
$STATE,6417,begin climb
$GC,6420,0.64,146.0,2352,2169,2771,2640,262.4,0.0,423,6556,0.62,2.50,127.22,1.447,11012,0.167,0.083,2597,3538,2118,2139,2098,0,0,0,0,0,0,14.30,13.95,13.25,6.26,52.40
$GC,6601,0.64,146.0,2598,3538,2137,2092,250.0,9.1,432,6605,0.00,2.38,0.00,0.000,5126,0.000,0.042,2608,2152,2114,2136,2092,0,0,0,0,0,0,14.16,14.06,14.18,6.22,49.64
$GC,6917,0.64,146.0,2608,2151,2128,2084,212.9,12.3,448,6920,0.00,2.50,0.00,0.000,4612,0.000,0.067,2619,744,2105,2127,2084,0,0,0,0,0,0,14.58,14.19,14.58,6.21,50.74
$GC,6977,0.64,146.0,2619,744,2125,2084,205.8,12.0,451,6980,0.00,2.40,0.00,0.000,5126,0.000,0.054,2619,2130,2103,2124,2082,0,0,0,0,0,0,14.40,14.25,14.42,6.21,50.74
$GC,7297,0.64,146.0,2619,2130,2124,2079,164.4,13.2,467,7300,0.00,2.55,0.00,0.000,4356,0.000,0.086,2619,3556,2101,2123,2079,0,0,0,0,0,0,14.70,14.24,14.70,6.21,51.18
$GC,7381,0.64,146.0,2620,3556,2123,2081,154.4,13.3,471,7386,0.08,2.35,0.00,0.000,5126,0.337,0.043,2604,2148,2101,2122,2080,0,0,0,0,0,0,14.07,14.36,14.35,6.21,50.94
$GC,7692,0.66,161.1,2605,2156,2123,2080,124.8,7.8,487,7710,0.00,2.42,11.20,1.359,10756,0.000,0.063,2614,745,2058,2077,2039,0,0,0,0,0,0,14.76,14.18,13.59,6.21,51.10
$GC,7787,0.66,167.6,2614,746,2077,2037,118.3,8.1,491,7799,0.00,2.42,6.88,1.304,9222,0.000,0.054,2614,2161,2033,2051,2015,0,0,0,0,0,0,14.47,14.35,13.51,6.20,50.74
$GC,8102,0.66,167.6,2615,2161,2052,2011,86.1,9.6,527,8105,0.00,2.47,0.00,0.000,260,0.000,0.085,2614,3553,2031,2051,2012,0,0,0,0,0,0,14.72,14.28,14.72,6.18,50.63
$GC,8162,0.66,167.6,2615,3554,2052,2013,80.3,9.3,539,8165,0.00,2.35,0.00,0.000,5126,0.000,0.043,2625,2150,2031,2051,2012,0,0,0,0,0,0,14.52,14.39,14.53,6.18,49.76
$GC,8289,0.66,167.6,2625,2150,2052,2011,68.5,9.7,564,8293,0.00,2.45,0.00,0.000,4612,0.000,0.066,2636,745,2031,2051,2011,0,0,0,0,0,0,14.71,14.32,14.71,6.17,49.48
$GC,8328,0.66,167.6,2636,746,2050,2012,64.6,9.1,572,8332,0.08,2.42,0.00,0.000,5126,0.314,0.054,2609,2158,2030,2049,2011,0,0,0,0,0,0,14.04,14.26,14.28,6.18,50.35
$GC,8455,0.71,206.0,2609,2158,2050,2011,54.8,6.9,597,8498,0.00,2.47,38.05,1.252,10500,0.000,0.082,2609,3553,1874,1886,1862,0,0,0,0,0,0,14.73,14.10,13.56,6.17,49.68
$GC,8533,0.71,206.0,2609,3553,1886,1861,48.3,9.3,613,8537,0.00,2.38,0.00,0.000,3078,0.000,0.044,2618,2146,1873,1886,1860,0,0,0,0,0,0,14.40,14.28,14.40,6.16,49.40
$GC,8661,0.71,206.0,2619,2147,1885,1855,35.8,10.6,638,8666,0.00,2.47,0.00,0.000,2564,0.000,0.067,2629,739,1869,1883,1855,0,0,0,0,0,0,14.57,14.19,14.57,6.16,49.84
$GC,8718,0.71,206.0,2631,740,1881,1856,29.6,10.1,650,8722,0.00,2.45,0.00,0.000,1030,0.000,0.053,2629,2157,1866,1877,1855,0,0,0,0,0,0,14.34,14.19,14.39,6.17,50.23
$GC,8845,0.71,206.0,2629,2158,1881,1854,15.0,12.4,675,8852,0.00,2.50,0.00,0.000,260,0.000,0.085,2629,3554,1866,1880,1853,0,0,0,0,0,0,14.63,14.23,14.64,6.17,50.70
$GC,8908,0.71,206.0,2629,3557,1881,1854,6.8,11.9,688,8912,0.00,2.38,0.00,0.000,5126,0.000,0.044,2641,2144,1866,1880,1853,0,0,0,0,0,0,14.36,14.26,14.40,6.16,51.29
$STATE,8940,end climb,SURFACE_DEPTH_REACHED
$STATE,8940,begin surface coast
$STATE,8965,end surface coast,CONTROL_FINISHED_OK
$STATE,8965,begin surface
$SM_CCo,8982,9.57,0.255,0,0,1822,220.03
$SM_GC,1.93,5.53,0.05,9.57,0.041,0.207,0.255,276,2070,1822,-6.44,1.02,220.03,0,0,0,0,0,0,14.47,14.40,14.04
$IRIDIUM_FIX,-6002.25,0.00,180219,094620
$TT8_MAMPS,0.03745,0.331058
$HUMID,51.65
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3611328
$24V_AH,12.92,115.824
$10V_AH,13.42,0.000
$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,13.325,78.425,306.850,9.575,0.000,28.178,13.619,143.846,0.000,0.000,16.347,0.000,7110.792,386.598,1594.473,283.309,0.000,1031.001,0.000,1140.891,0.000,0.540,0.000
$DEVICE_MAMPS,425.340,2207.790,1622.565,254.745,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5393.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.584,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17353,700
$CAP_FILE_SIZE,92260,0
$CFSIZE,1023623168,959889408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.017,242.27,1
$GPS,180219,145833,-5959.105,-1.462,26,0.7,28,-19.7,0.6,177.3,11,9.6