version: 66.14
glider: 640
mission: 5
dive: 624
start: 2 20 119 12 6 24
data:
$ID,640
$MISSION,5
$DIVE,624
$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,59
$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
$GPS1,200219,120001,-5951.2100,-1.6000,13,0.8,37,-19.7,0.0,291.1,10,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-65.9
$GPS2,200219,120605,-5951.2407,-1.6102,10,0.8,14,-19.7,0.5,314.7,10,9.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,21.2,20872,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,15,-0.64,-146.0,218,2070,1788,1830,0.0,0.0,0,104,0.00,0.00,-86.75,0.000,16386,0.000,0.000,218,2071,3195,3276,3115,0,0,0,0,0,0,14.60,28.83,14.61,6.17,51.33
$GC,107,-0.64,-146.0,219,2071,3277,3117,3.3,-7.5,18,124,6.20,2.88,-4.25,0.000,18692,0.340,2.209,2176,3504,3318,3412,3224,0,0,0,0,0,0,13.88,12.88,14.29,6.28,50.03
$GC,186,-0.64,-146.0,2176,3505,3415,3224,17.1,-14.6,34,190,0.05,2.30,0.00,0.000,3078,0.422,0.042,2192,2129,3319,3414,3224,0,0,0,0,0,0,14.03,14.33,14.29,6.29,48.93
$GC,313,-0.64,-146.0,2193,2126,3415,3224,36.3,-15.8,59,317,0.00,2.50,0.00,0.000,2564,0.000,0.065,2191,693,3319,3414,3224,0,0,0,0,0,0,14.71,14.28,14.72,6.30,49.48
$GC,367,-0.64,-146.0,2192,693,3415,3224,45.4,-15.6,70,371,0.00,2.45,0.00,0.000,3078,0.000,0.057,2182,2106,3319,3414,3224,0,0,0,0,0,0,14.47,14.31,14.50,6.30,49.64
$GC,494,-0.64,-146.0,2182,2107,3415,3224,65.4,-15.0,95,498,0.00,2.47,0.00,0.000,2308,0.000,0.085,2171,3508,3319,3414,3224,0,0,0,0,0,0,14.76,14.26,14.76,6.30,50.47
$GC,569,-0.64,-146.0,2171,3509,3415,3225,76.6,-13.8,110,573,0.08,2.35,0.00,0.000,3078,0.349,0.042,2196,2095,3319,3414,3224,0,0,0,0,0,0,14.05,14.39,14.33,6.30,49.96
$GC,693,-0.64,-146.0,2197,2094,3415,3224,93.0,-12.6,135,697,0.00,2.42,0.00,0.000,516,0.000,0.064,2197,697,3319,3414,3224,0,0,0,0,0,0,14.76,14.33,14.76,6.30,48.89
$GC,753,-0.64,-146.0,2197,698,3415,3226,100.1,-10.5,147,758,0.00,2.42,0.00,0.000,3078,0.000,0.055,2187,2109,3318,3414,3223,0,0,0,0,0,0,14.52,14.33,14.54,6.30,48.81
$GC,1073,-0.64,-146.0,2187,2109,3415,3224,137.1,-11.5,163,1074,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2109,3319,3414,3224,0,0,0,0,0,0,14.88,14.88,14.88,6.27,49.01
$GC,1374,-0.64,-146.0,2187,2109,3415,3224,172.3,-11.7,178,1377,0.00,2.45,0.00,0.000,2564,0.000,0.063,2186,687,3319,3414,3224,0,0,0,0,0,0,14.91,14.39,14.91,6.30,50.74
$GC,1414,-0.64,-146.0,2186,688,3414,3225,176.6,-11.9,180,1418,0.05,2.42,0.00,0.000,3078,0.428,0.055,2191,2106,3319,3414,3224,0,0,0,0,0,0,14.14,14.42,14.40,6.29,50.55
$GC,1723,-0.64,-146.0,2191,2107,3415,3223,213.1,-11.9,196,1724,0.00,0.00,0.00,0.000,2054,0.000,0.000,2191,2106,3319,3414,3224,0,0,0,0,0,0,14.94,14.94,14.94,6.31,50.90
$GC,2023,-0.64,-146.0,2191,2106,3415,3224,250.2,-12.6,211,2027,0.00,2.42,0.00,0.000,2564,0.000,0.062,2190,695,3319,3414,3224,0,0,0,0,0,0,14.95,14.42,14.96,6.30,51.14
$GC,2063,-0.64,-146.0,2191,696,3415,3225,254.7,-12.7,213,2067,0.00,2.40,0.00,0.000,3078,0.000,0.055,2181,2106,3318,3414,3223,0,0,0,0,0,0,14.62,14.45,14.64,6.30,51.02
$GC,2373,-0.64,-146.0,2181,2106,3415,3224,295.8,-13.1,229,2374,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2106,3319,3414,3224,0,0,0,0,0,0,14.97,14.97,14.97,6.31,51.29
$GC,2673,-0.64,-146.0,2181,2107,3415,3225,333.7,-12.4,244,2677,0.00,2.42,0.00,0.000,2564,0.000,0.061,2180,691,3319,3414,3224,0,0,0,0,0,0,14.99,14.44,14.99,6.31,51.77
$GC,2708,-0.64,-146.0,2181,692,3415,3224,338.1,-12.5,246,2712,0.08,2.40,0.00,0.000,3078,0.356,0.055,2194,2103,3319,3414,3224,0,0,0,0,0,0,14.14,14.46,14.42,6.31,50.98
$STATE,2821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2821,begin apogee
$GC,2827,-0.15,0.0,2195,2168,3415,3224,351.3,-11.4,252,2954,0.45,0.00,123.50,1.587,10246,0.248,0.000,2353,2168,2717,2776,2659,0,0,0,0,0,0,14.08,13.95,13.16,6.31,51.02
$STATE,2954,end apogee,CONTROL_FINISHED_OK
$STATE,2954,begin loiter
$GC,3243,-0.15,0.0,2353,2169,2772,2644,348.1,3.0,273,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2707,2771,2644,0,0,0,0,0,0,14.59,14.59,14.59,6.27,50.82
$GC,3543,-0.15,0.0,2353,2168,2771,2642,339.1,2.9,288,3544,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2706,2770,2643,0,0,0,0,0,0,14.74,14.74,14.75,6.27,50.98
$GC,3843,-0.15,0.0,2352,2169,2771,2643,329.9,3.0,303,3844,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2705,2770,2641,0,0,0,0,0,0,14.83,14.83,14.83,6.26,50.98
$GC,4143,-0.15,0.0,2353,2169,2771,2642,320.6,3.1,318,4144,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2705,2770,2641,0,0,0,0,0,0,14.88,14.88,14.88,6.27,51.26
$GC,4443,-0.15,0.0,2352,2169,2771,2641,311.4,3.1,333,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2704,2769,2640,0,0,0,0,0,0,14.91,14.91,14.91,6.26,51.06
$GC,4744,-0.15,0.0,2352,2169,2771,2641,302.7,2.9,348,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2705,2771,2639,0,0,0,0,0,0,14.93,14.94,14.94,6.27,51.14
$GC,5044,-0.15,0.0,2353,2169,2771,2641,294.5,2.7,363,5044,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2705,2770,2640,0,0,0,0,0,0,14.95,14.96,14.96,6.27,51.10
$GC,5344,-0.15,0.0,2353,2169,2772,2640,287.2,2.4,378,5345,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2168,2705,2770,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.26,52.08
$GC,5644,-0.15,0.0,2353,2168,2772,2639,280.5,2.1,393,5644,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2704,2770,2639,0,0,0,0,0,0,14.98,14.99,14.98,6.27,51.77
$GC,5944,-0.15,0.0,2353,2169,2772,2639,274.2,2.1,408,5944,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2704,2770,2639,0,0,0,0,0,0,15.00,15.00,15.00,6.26,51.33
$GC,6244,-0.15,0.0,2352,2168,2771,2638,268.1,2.0,423,6244,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2704,2770,2639,0,0,0,0,0,0,15.00,15.01,15.00,6.26,51.33
$GC,6544,-0.15,0.0,2353,2169,2772,2639,260.8,2.6,438,6544,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2704,2770,2639,0,0,0,0,0,0,15.01,15.02,15.02,6.26,51.85
$STATE,6560,end loiter,LOITER_COMPLETE
$STATE,6560,begin climb
$GC,6563,0.64,146.0,2353,2169,2772,2639,260.2,0.0,439,6701,0.62,2.58,129.02,1.438,11012,0.160,0.062,2610,745,2118,2138,2098,0,0,0,0,0,0,14.29,13.78,13.23,6.26,52.32
$GC,6751,0.64,146.0,2611,745,2133,2092,248.1,8.6,447,6755,0.00,2.45,0.00,0.000,5126,0.000,0.053,2610,2132,2111,2131,2092,0,0,0,0,0,0,14.12,14.02,14.14,6.21,49.60
$GC,7057,0.64,146.0,2610,2133,2127,2086,211.4,11.8,462,7060,0.00,2.55,0.00,0.000,4356,0.000,0.083,2610,3556,2105,2126,2084,0,0,0,0,0,0,14.59,14.16,14.59,6.20,50.59
$GC,7136,0.64,146.0,2611,3556,2126,2086,202.5,11.8,466,7140,0.05,2.38,0.00,0.000,5126,0.406,0.043,2604,2150,2105,2126,2084,0,0,0,0,0,0,14.02,14.30,14.29,6.21,50.55
$GC,7447,0.64,146.0,2605,2151,2125,2081,168.6,10.6,482,7450,0.00,2.47,0.00,0.000,516,0.000,0.066,2614,739,2102,2123,2081,0,0,0,0,0,0,14.71,14.28,14.71,6.21,50.78
$GC,7521,0.64,146.0,2615,739,2122,2080,162.6,10.1,485,7525,0.00,2.42,0.00,0.000,5126,0.000,0.054,2614,2152,2100,2120,2080,0,0,0,0,0,0,14.40,14.28,14.42,6.21,51.65
$GC,7842,0.64,146.0,2615,2153,2120,2080,127.6,10.3,502,7845,0.00,2.50,0.00,0.000,4356,0.000,0.087,2615,3554,2098,2117,2079,0,0,0,0,0,0,14.76,14.19,14.77,6.21,51.77
$GC,7937,0.64,146.0,2615,3555,2121,2078,117.6,10.4,507,7941,0.08,2.35,0.00,0.000,5126,0.343,0.043,2599,2146,2099,2120,2078,0,0,0,0,0,0,14.09,14.40,14.38,6.21,50.82
$GC,8242,0.67,169.2,2600,2145,2121,2079,91.7,7.4,536,8266,0.00,2.47,18.60,1.310,10756,0.000,0.066,2609,742,2026,2042,2010,0,0,0,0,0,0,14.78,14.40,13.64,6.19,50.35
$GC,8321,0.67,169.2,2610,743,2041,2006,85.3,8.4,552,8326,0.00,2.42,0.00,0.000,3078,0.000,0.053,2609,2157,2022,2040,2005,0,0,0,0,0,0,14.42,14.31,14.44,6.18,50.11
$GC,8449,0.67,169.2,2609,2156,2041,2006,74.0,9.1,577,8454,0.00,2.45,0.00,0.000,2308,0.000,0.086,2609,3546,2022,2040,2004,0,0,0,0,0,0,14.69,14.24,14.69,6.18,49.92
$GC,8522,0.67,169.2,2609,3546,2041,2006,66.6,9.6,592,8526,0.00,2.35,0.00,0.000,5126,0.000,0.043,2619,2141,2022,2040,2004,0,0,0,0,0,0,14.42,14.30,14.44,6.18,49.52
$GC,8647,0.67,169.2,2619,2142,2040,2004,54.4,10.1,617,8650,0.00,2.47,0.00,0.000,4612,0.000,0.067,2630,738,2021,2040,2003,0,0,0,0,0,0,14.73,14.31,14.73,6.17,49.88
$GC,8757,0.67,169.2,2631,738,2040,2002,43.2,10.0,639,8761,0.05,2.42,0.00,0.000,5126,0.376,0.053,2619,2157,2020,2039,2002,0,0,0,0,0,0,14.13,14.33,14.39,6.17,50.31
$GC,8882,0.67,169.2,2613,2157,2040,2002,31.2,9.6,664,8885,0.00,2.47,0.00,0.000,260,0.000,0.084,2612,3551,2020,2039,2002,0,0,0,0,0,0,14.73,14.20,14.74,6.18,50.55
$GC,8947,0.67,169.2,2611,3553,2039,2003,24.8,9.6,677,8950,0.00,2.35,0.00,0.000,5126,0.000,0.043,2622,2142,2020,2038,2002,0,0,0,0,0,0,14.52,14.40,14.55,6.18,51.33
$GC,9074,0.67,169.2,2623,2142,2043,2001,12.9,10.2,702,9079,0.00,2.42,0.00,0.000,4612,0.000,0.066,2632,747,2020,2039,2001,0,0,0,0,0,0,14.74,14.26,14.74,6.18,51.06
$GC,9136,0.67,169.2,2633,747,2039,2000,6.7,9.3,715,9140,0.05,2.40,0.00,0.000,5126,0.375,0.055,2614,2150,2019,2038,2000,0,0,0,0,0,0,14.14,14.35,14.40,6.18,51.61
$STATE,9179,end climb,SURFACE_DEPTH_REACHED
$STATE,9179,begin surface coast
$STATE,9216,end surface coast,CONTROL_FINISHED_OK
$STATE,9216,begin surface
$SM_CCo,9233,47.12,0.241,0,0,1823,220.03
$SM_GC,1.14,5.62,0.08,47.12,0.077,0.154,0.241,225,2075,1823,-6.45,0.93,220.03,0,0,0,0,0,0,14.55,14.48,14.09
$IRIDIUM_FIX,-5949.69,0.00,200219,092602
$TT8_MAMPS,0.035952,0.330309
$HUMID,51.45
$INTERNAL_PRESSURE,6.10897
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3603648
$24V_AH,12.88,119.113
$10V_AH,13.48,0.000
$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,13.375,78.425,271.125,47.125,0.000,24.753,19.889,122.453,0.000,0.000,15.747,0.000,7335.517,398.865,1617.508,290.196,0.000,1050.517,0.000,1175.292,0.000,0.540,0.000
$DEVICE_MAMPS,427.635,2208.555,1586.610,240.975,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2677.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.317,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,20785,731
$CAP_FILE_SIZE,95436,0
$CFSIZE,1023623168,958119936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.040,131.73,1
$GPS,200219,144203,-5950.787,-1.294,27,0.7,30,-19.7,0.0,116.3,11,9.6