version: 66.14
glider: 640
mission: 5
dive: 609
start: 2 18 119 20 23 39
data:
$ID,640
$MISSION,5
$DIVE,609
$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,56
$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
$GPS1,180219,201634,-5958.2705,-2.0705,39,0.7,49,-19.7,0.8,235.0,11,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-67.7
$GPS2,180219,202320,-5958.3213,-2.0751,5,0.7,11,-19.7,0.4,172.2,12,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,29.7,33986,-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,-146.0,234,2071,1795,1828,0.0,0.0,0,104,0.00,0.00,-88.03,0.000,16386,0.000,0.000,233,2070,3211,3293,3129,0,0,0,0,0,0,14.55,28.83,14.56,6.17,51.37
$GC,107,-0.64,-146.0,233,2073,3294,3132,3.3,-7.6,18,124,6.12,2.85,-3.62,0.000,18692,0.341,2.202,2165,3501,3318,3410,3226,0,0,0,0,0,0,13.89,12.86,14.28,6.28,50.07
$GC,212,-0.64,-146.0,2166,3501,3414,3226,23.2,-17.3,39,217,0.10,2.33,0.00,0.000,3078,0.322,0.044,2199,2125,3319,3412,3226,0,0,0,0,0,0,13.99,14.31,14.26,6.30,49.68
$GC,342,-0.64,-146.0,2199,2125,3413,3227,45.6,-17.7,65,346,0.00,2.53,0.00,0.000,516,0.000,0.064,2199,690,3319,3412,3226,0,0,0,0,0,0,14.62,14.26,14.62,6.30,50.00
$GC,391,-0.64,-146.0,2199,690,3413,3227,54.1,-14.9,75,395,0.00,2.45,0.00,0.000,3078,0.000,0.056,2189,2103,3319,3412,3226,0,0,0,0,0,0,14.44,14.26,14.46,6.30,49.72
$GC,516,-0.64,-146.0,2190,2104,3413,3227,71.7,-14.9,100,519,0.00,0.00,0.00,0.000,2054,0.000,0.000,2189,2103,3319,3412,3226,0,0,0,0,0,0,14.67,14.67,14.67,6.30,49.76
$GC,641,-0.64,-146.0,2190,2104,3414,3226,90.3,-15.1,125,645,0.00,2.50,0.00,0.000,2308,0.000,0.083,2179,3507,3319,3412,3226,0,0,0,0,0,0,14.69,14.25,14.69,6.29,49.52
$GC,661,-0.64,-146.0,2179,3508,3413,3226,93.3,-15.3,129,665,0.05,2.38,0.00,0.000,3078,0.427,0.044,2194,2093,3319,3412,3226,0,0,0,0,0,0,14.05,14.35,14.31,6.30,49.17
$GC,791,-0.64,-146.0,2195,2093,3414,3227,111.1,-13.3,143,795,0.00,2.45,0.00,0.000,516,0.000,0.065,2194,694,3319,3412,3226,0,0,0,0,0,0,14.71,14.30,14.71,6.28,48.54
$GC,861,-0.64,-146.0,2194,695,3413,3234,118.3,-12.8,146,865,0.00,2.42,0.00,0.000,3078,0.000,0.054,2183,2102,3319,3413,3226,0,0,0,0,0,0,14.49,14.33,14.51,6.29,48.14
$GC,1166,-0.64,-146.0,2184,2103,3413,3227,159.4,-13.3,162,1170,0.00,2.47,0.00,0.000,2308,0.000,0.083,2173,3507,3319,3412,3226,0,0,0,0,0,0,14.76,14.28,14.76,6.28,49.09
$GC,1206,-0.64,-146.0,2173,3507,3413,3226,164.9,-13.6,164,1210,0.08,2.35,0.00,0.000,3078,0.356,0.044,2198,2099,3319,3412,3226,0,0,0,0,0,0,14.06,14.39,14.34,6.28,49.56
$GC,1526,-0.64,-146.0,2198,2099,3413,3227,205.4,-12.7,180,1530,0.00,2.45,0.00,0.000,516,0.000,0.063,2198,694,3319,3413,3226,0,0,0,0,0,0,14.78,14.34,14.78,6.29,50.63
$GC,1606,-0.64,-146.0,2199,693,3414,3226,214.9,-12.7,184,1610,0.00,2.42,0.00,0.000,3078,0.000,0.054,2188,2106,3319,3413,3226,0,0,0,0,0,0,14.52,14.37,14.54,6.29,50.23
$GC,1916,-0.64,-146.0,2189,2106,3414,3226,256.1,-13.1,200,1917,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2105,3319,3413,3226,0,0,0,0,0,0,14.80,14.80,14.80,6.30,51.45
$GC,2216,-0.64,-146.0,2189,2106,3410,3226,293.7,-12.1,215,2220,0.00,2.45,0.00,0.000,2564,0.000,0.062,2188,693,3319,3412,3226,0,0,0,0,0,0,14.81,14.35,14.81,6.31,51.65
$GC,2246,-0.64,-146.0,2189,693,3414,3226,295.6,-12.2,216,2250,0.05,2.42,0.00,0.000,3078,0.430,0.055,2192,2106,3319,3413,3226,0,0,0,0,0,0,14.09,14.38,14.35,6.30,51.26
$GC,2566,-0.64,-146.0,2192,2106,3413,3227,334.6,-11.6,233,2567,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2105,3319,3412,3226,0,0,0,0,0,0,14.81,14.81,14.81,6.30,51.49
$STATE,2703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2703,begin apogee
$GC,2710,-0.15,0.0,2193,2160,3414,3225,350.9,-11.7,240,2836,0.45,0.00,123.05,1.797,10246,0.252,0.000,2349,2159,2716,2775,2657,0,0,0,0,0,0,14.04,13.81,12.97,6.31,51.18
$STATE,2837,end apogee,CONTROL_FINISHED_OK
$STATE,2837,begin loiter
$GC,3126,-0.15,0.0,2350,2160,2772,2644,347.7,3.1,261,3127,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2707,2771,2644,0,0,0,0,0,0,14.53,14.54,14.53,6.27,50.59
$GC,3426,-0.15,0.0,2350,2160,2772,2642,338.5,3.2,276,3427,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2160,2706,2771,2642,0,0,0,0,0,0,14.71,14.71,14.71,6.27,51.41
$GC,3726,-0.15,0.0,2349,2160,2772,2642,328.5,3.3,291,3727,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2160,2706,2771,2642,0,0,0,0,0,0,14.81,14.81,14.81,6.26,51.10
$GC,4026,-0.15,0.0,2350,2160,2772,2641,318.7,3.2,306,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2159,2706,2771,2641,0,0,0,0,0,0,14.86,14.86,14.86,6.26,51.33
$GC,4326,-0.15,0.0,2349,2160,2771,2641,310.0,2.8,321,4327,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2705,2771,2640,0,0,0,0,0,0,14.90,14.90,14.90,6.26,51.33
$GC,4626,-0.15,0.0,2350,2160,2772,2640,301.9,2.7,336,4627,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2705,2771,2640,0,0,0,0,0,0,14.92,14.93,14.93,6.26,51.18
$GC,4926,-0.15,0.0,2350,2160,2772,2640,293.7,2.7,351,4927,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2160,2705,2771,2640,0,0,0,0,0,0,14.95,14.95,14.95,6.27,51.41
$GC,5226,-0.15,0.0,2349,2160,2771,2641,285.2,3.0,366,5227,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2160,2705,2771,2639,0,0,0,0,0,0,14.97,14.97,14.97,6.26,51.29
$GC,5526,-0.15,0.0,2349,2160,2771,2640,275.3,3.6,381,5527,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2160,2704,2770,2639,0,0,0,0,0,0,14.98,14.98,14.98,6.26,51.57
$GC,5826,-0.15,0.0,2350,2160,2772,2639,263.7,4.1,396,5827,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2160,2705,2771,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.26,51.49
$GC,6126,-0.15,0.0,2350,2160,2772,2639,252.6,3.4,411,6127,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2705,2771,2639,0,0,0,0,0,0,15.00,15.00,15.00,6.26,51.81
$STATE,6424,end loiter,LOITER_COMPLETE
$STATE,6424,begin climb
$GC,6426,0.64,146.0,2349,2160,2771,2640,244.1,0.0,426,6562,0.62,2.53,126.55,1.435,11012,0.169,0.086,2594,3542,2119,2141,2098,0,0,0,0,0,0,14.31,13.95,13.26,6.26,51.37
$GC,6602,0.65,158.0,2594,3543,2140,2103,233.3,7.9,434,6620,0.00,2.38,11.27,1.447,11270,0.000,0.043,2605,2152,2072,2093,2051,0,0,0,0,0,0,14.16,14.06,13.20,6.21,49.21
$GC,6922,0.65,158.0,2606,2152,2086,2037,198.1,11.6,450,6926,0.00,2.50,0.00,0.000,2564,0.000,0.066,2616,740,2062,2087,2037,0,0,0,0,0,0,14.55,14.16,14.55,6.20,50.74
$GC,6977,0.65,158.0,2616,740,2085,2036,192.0,11.3,453,6981,0.00,2.42,0.00,0.000,5126,0.000,0.054,2616,2136,2060,2083,2038,0,0,0,0,0,0,14.38,14.24,14.40,6.21,50.59
$GC,7293,0.65,158.0,2616,2137,2083,2034,156.8,10.3,469,7296,0.00,2.45,0.00,0.000,4612,0.000,0.066,2627,743,2058,2082,2034,0,0,0,0,0,0,14.68,14.28,14.69,6.20,51.26
$GC,7413,0.66,160.8,2627,743,2082,2033,146.5,8.2,475,7417,0.05,2.42,0.00,0.000,5126,0.378,0.054,2608,2157,2057,2081,2033,0,0,0,0,0,0,14.11,14.32,14.35,6.20,51.45
$GC,7735,0.69,185.8,2609,2158,2080,2033,123.4,7.4,491,7765,0.00,2.53,24.50,1.325,10500,0.000,0.085,2609,3553,1957,1975,1940,0,0,0,0,0,0,14.73,14.33,13.60,6.19,50.70
$GC,7833,0.69,185.8,2609,3554,1975,1938,114.2,9.5,496,7836,0.00,2.35,0.00,0.000,1030,0.000,0.043,2618,2150,1955,1974,1937,0,0,0,0,0,0,14.43,14.34,14.45,6.18,50.39
$GC,8138,0.69,185.8,2618,2151,1974,1933,80.2,12.1,534,8141,0.00,2.47,0.00,0.000,516,0.000,0.066,2629,737,1952,1973,1932,0,0,0,0,0,0,14.69,14.30,14.69,6.17,49.40
$GC,8197,0.69,185.8,2629,739,1972,1933,72.7,12.3,546,8201,0.00,2.42,0.00,0.000,5126,0.000,0.053,2629,2152,1951,1971,1932,0,0,0,0,0,0,14.52,14.34,14.52,6.17,49.48
$GC,8325,0.69,185.8,2630,2153,1972,1932,55.9,13.8,571,8329,0.00,2.53,0.00,0.000,4356,0.000,0.087,2629,3565,1950,1970,1931,0,0,0,0,0,0,14.69,14.19,14.69,6.16,49.60
$GC,8451,0.69,185.8,2629,3560,1972,1933,39.5,11.7,596,8457,0.05,2.35,0.00,0.000,5126,0.412,0.043,2631,2150,1951,1971,1931,0,0,0,0,0,0,14.11,14.40,14.39,6.16,50.00
$GC,8582,0.69,185.8,2623,2150,1972,1930,25.7,10.5,622,8588,0.00,2.45,0.00,0.000,516,0.000,0.064,2640,741,1950,1971,1930,0,0,0,0,0,0,14.71,14.28,14.72,6.17,50.59
$GC,8639,0.69,185.8,2632,742,1971,1931,20.0,9.5,634,8643,0.00,2.42,0.00,0.000,5126,0.000,0.054,2632,2160,1950,1970,1930,0,0,0,0,0,0,14.51,14.35,14.54,6.17,50.47
$GC,8766,0.69,185.8,2633,2160,1971,1929,6.5,11.0,659,8770,0.00,2.50,0.00,0.000,4356,0.000,0.083,2632,3559,1950,1970,1930,0,0,0,0,0,0,14.73,14.28,14.73,6.16,51.18
$STATE,8798,end climb,SURFACE_DEPTH_REACHED
$STATE,8798,begin surface coast
$STATE,8818,end surface coast,CONTROL_FINISHED_OK
$STATE,8818,begin surface
$SM_CCo,8837,29.35,0.243,0,0,1823,220.03
$SM_GC,0.97,5.65,2.50,29.35,0.070,0.041,0.243,233,2096,1823,-6.45,1.05,220.03,0,0,0,0,0,0,14.54,14.42,14.09
$IRIDIUM_FIX,-5957.44,0.00,180219,173804
$TT8_MAMPS,0.038199,0.298851
$HUMID,50.78
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3609792
$24V_AH,12.86,116.432
$10V_AH,13.32,0.000
$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,13.225,73.750,285.375,29.350,0.000,33.142,34.969,141.329,0.000,0.000,13.194,0.000,7012.546,386.415,1590.135,280.968,0.000,1018.072,0.000,1123.543,0.000,0.539,0.000
$DEVICE_MAMPS,429.930,2201.670,1796.985,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5246.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.722,0.000,0.000,0.000
$MEM,344112
$DATA_FILE_SIZE,17368,670
$CAP_FILE_SIZE,89797,0
$CFSIZE,1023623168,959594496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.043,145.13,1
$GPS,180219,225231,-5958.035,-1.689,14,0.7,37,-19.7,0.8,74.9,11,6.6