version: 66.14
glider: 640
mission: 5
dive: 651
start: 2 23 119 12 15 33
data:
$ID,640
$MISSION,5
$DIVE,651
$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,51
$R_STBD_OVSHOOT,29
$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
$GPS1,230219,120902,-5959.9497,0.1315,12,0.8,25,-19.7,0.0,16.1,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.6
$GPS2,230219,121512,-5959.9937,0.1775,8,0.9,15,-19.7,0.4,130.2,9,9.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5957.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,15.2,5546,-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,-146.0,226,2079,1788,1832,0.0,0.0,0,104,0.00,0.00,-88.05,0.000,16386,0.000,0.000,225,2079,3259,3341,3177,0,0,0,0,0,0,14.61,28.83,14.62,6.16,51.10
$GC,107,-0.64,-146.0,225,2080,3342,3178,3.7,-8.6,18,124,6.20,2.80,-1.85,0.000,18692,0.342,2.195,2157,3510,3316,3407,3225,0,0,0,0,0,0,13.87,13.09,14.28,6.28,49.96
$GC,217,-0.64,-146.0,2157,3510,3410,3226,25.2,-17.0,40,223,0.10,2.33,0.00,0.000,3078,0.330,0.042,2198,2120,3317,3409,3225,0,0,0,0,0,0,13.97,14.33,14.14,6.29,48.66
$GC,347,-0.64,-146.0,2199,2119,3411,3225,46.4,-16.5,66,352,0.00,2.47,0.00,0.000,516,0.000,0.065,2198,698,3317,3410,3225,0,0,0,0,0,0,14.71,14.23,14.71,6.29,49.29
$GC,400,-0.64,-146.0,2198,699,3410,3226,55.2,-14.9,77,403,0.00,2.40,0.00,0.000,3078,0.000,0.055,2188,2102,3317,3410,3225,0,0,0,0,0,0,14.47,14.32,14.50,6.30,49.48
$GC,525,-0.64,-146.0,2189,2102,3410,3226,74.3,-15.1,102,527,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2101,3317,3410,3225,0,0,0,0,0,0,14.79,14.79,14.79,6.30,49.76
$GC,650,-0.64,-146.0,2189,2102,3411,3225,92.3,-14.1,127,652,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2101,3317,3410,3225,0,0,0,0,0,0,14.81,14.81,14.81,6.29,49.09
$GC,785,-0.64,-146.0,2188,2102,3411,3226,111.1,-13.9,142,788,0.00,2.47,0.00,0.000,2308,0.000,0.083,2177,3508,3317,3410,3225,0,0,0,0,0,0,14.85,14.30,14.85,6.29,48.30
$GC,835,-0.64,-146.0,2178,3509,3412,3225,116.3,-14.1,144,839,0.05,2.35,0.00,0.000,3078,0.423,0.042,2194,2090,3317,3410,3225,0,0,0,0,0,0,14.11,14.42,14.35,6.28,48.46
$GC,1157,-0.64,-146.0,2193,2089,3411,3227,160.3,-13.0,161,1162,0.00,2.38,0.00,0.000,2564,0.000,0.063,2193,701,3317,3410,3225,0,0,0,0,0,0,14.88,14.32,14.88,6.29,49.72
$GC,1220,-0.64,-146.0,2193,702,3411,3226,168.1,-12.9,164,1223,0.00,2.40,0.00,0.000,3078,0.000,0.055,2184,2107,3317,3410,3225,0,0,0,0,0,0,14.57,14.40,14.60,6.29,49.72
$GC,1530,-0.64,-146.0,2184,2108,3411,3226,210.3,-13.3,180,1530,0.00,0.00,0.00,0.000,2054,0.000,0.000,2184,2107,3317,3410,3225,0,0,0,0,0,0,14.94,14.94,14.94,6.30,51.26
$GC,1830,-0.64,-146.0,2184,2108,3411,3226,249.5,-12.9,195,1830,0.00,0.00,0.00,0.000,2054,0.000,0.000,2184,2107,3317,3410,3225,0,0,0,0,0,0,14.97,14.97,14.97,6.30,51.22
$GC,2130,-0.64,-146.0,2184,2108,3411,3225,287.6,-12.7,210,2133,0.00,2.42,0.00,0.000,2308,0.000,0.083,2173,3503,3317,3410,3225,0,0,0,0,0,0,14.99,14.37,14.98,6.31,51.37
$GC,2155,-0.64,-146.0,2173,3504,3410,3226,289.5,-12.7,211,2158,0.08,2.30,0.00,0.000,3078,0.346,0.043,2199,2101,3317,3410,3225,0,0,0,0,0,0,14.14,14.50,14.41,6.30,51.06
$GC,2460,-0.64,-146.0,2200,2101,3412,3225,327.1,-11.8,226,2463,0.00,2.42,0.00,0.000,516,0.000,0.064,2199,698,3317,3410,3225,0,0,0,0,0,0,15.00,14.42,15.00,6.31,51.06
$GC,2525,-0.64,-146.0,2200,699,3412,3225,333.7,-11.9,229,2528,0.00,2.40,0.00,0.000,3078,0.000,0.055,2189,2105,3317,3410,3225,0,0,0,0,0,0,14.63,14.45,14.65,6.31,51.18
$STATE,2652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2652,begin apogee
$GC,2659,-0.15,0.0,2190,2170,3411,3225,350.1,-12.1,236,2786,0.45,0.00,123.72,1.600,10246,0.249,0.000,2347,2169,2715,2774,2657,0,0,0,0,0,0,14.06,13.93,13.14,6.31,51.29
$STATE,2786,end apogee,CONTROL_FINISHED_OK
$STATE,2786,begin loiter
$GC,3075,-0.15,0.0,2347,2170,2772,2645,346.3,3.7,257,3075,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2170,2707,2771,2644,0,0,0,0,0,0,14.61,14.62,14.61,6.27,51.02
$GC,3375,-0.15,0.0,2347,2170,2772,2644,335.5,3.7,272,3375,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2169,2706,2770,2643,0,0,0,0,0,0,14.76,14.76,14.76,6.26,50.98
$GC,3675,-0.15,0.0,2347,2170,2771,2643,325.1,3.3,287,3675,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2706,2770,2642,0,0,0,0,0,0,14.84,14.85,14.85,6.26,51.45
$GC,3975,-0.15,0.0,2347,2170,2772,2641,315.4,3.1,302,3975,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2169,2705,2770,2641,0,0,0,0,0,0,14.90,14.90,14.90,6.27,51.85
$GC,4275,-0.15,0.0,2347,2170,2772,2640,306.6,2.8,317,4275,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2169,2705,2770,2641,0,0,0,0,0,0,14.92,14.93,14.93,6.27,51.96
$GC,4575,-0.15,0.0,2347,2170,2772,2640,298.5,2.6,332,4575,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2170,2705,2770,2640,0,0,0,0,0,0,14.96,14.96,14.96,6.26,52.20
$GC,4875,-0.15,0.0,2347,2170,2772,2640,290.7,2.4,347,4876,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2169,2705,2770,2640,0,0,0,0,0,0,14.97,14.98,14.98,6.27,51.73
$GC,5175,-0.15,0.0,2347,2170,2771,2641,283.2,2.4,362,5176,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2169,2705,2770,2640,0,0,0,0,0,0,14.99,15.00,15.00,6.26,51.81
$GC,5475,-0.15,0.0,2346,2171,2771,2641,275.5,2.4,377,5476,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2169,2705,2771,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.45
$GC,5775,-0.15,0.0,2347,2170,2771,2641,267.7,2.6,392,5776,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2705,2770,2640,0,0,0,0,0,0,15.02,15.02,15.02,6.26,51.69
$GC,6075,-0.15,0.0,2347,2170,2772,2640,260.1,2.4,407,6076,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2170,2705,2770,2640,0,0,0,0,0,0,15.02,15.03,15.03,6.26,51.61
$GC,6375,-0.15,0.0,2347,2170,2771,2640,253.1,2.3,422,6376,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2169,2705,2771,2640,0,0,0,0,0,0,15.03,15.03,15.04,6.26,51.45
$STATE,6392,end loiter,LOITER_COMPLETE
$STATE,6392,begin climb
$GC,6395,0.64,146.0,2347,2170,2771,2641,252.7,0.0,423,6535,0.65,2.53,130.70,1.430,11012,0.166,0.082,2599,3534,2118,2138,2098,0,0,0,0,0,0,14.27,13.80,13.22,6.26,51.69
$GC,6581,0.65,153.7,2600,3534,2137,2094,242.0,8.0,432,6594,0.00,2.35,7.15,1.389,13318,0.000,0.042,2611,2155,2088,2108,2068,0,0,0,0,0,0,14.16,14.06,13.12,6.21,49.40
$GC,6895,0.65,153.7,2611,2156,2103,2061,208.2,10.8,448,6899,0.00,2.50,0.00,0.000,4612,0.000,0.067,2622,745,2080,2102,2059,0,0,0,0,0,0,14.57,14.19,14.57,6.21,50.51
$GC,6975,0.65,153.7,2622,745,2100,2059,200.0,10.2,452,6979,0.00,2.40,0.00,0.000,5126,0.000,0.053,2622,2135,2079,2099,2059,0,0,0,0,0,0,14.40,14.25,14.42,6.21,50.39
$GC,7295,0.65,153.7,2623,2136,2098,2057,162.8,11.9,468,7299,0.00,2.53,0.00,0.000,4356,0.000,0.083,2622,3557,2077,2097,2057,0,0,0,0,0,0,14.71,14.25,14.71,6.21,51.10
$GC,7361,0.65,153.7,2623,3558,2098,2057,156.2,12.2,471,7365,0.08,2.35,0.00,0.000,5126,0.340,0.044,2607,2150,2076,2095,2058,0,0,0,0,0,0,14.05,14.36,14.35,6.20,51.02
$GC,7671,0.65,153.7,2608,2151,2097,2056,121.4,11.0,487,7674,0.00,2.47,0.00,0.000,516,0.000,0.067,2617,736,2076,2096,2056,0,0,0,0,0,0,14.76,14.31,14.75,6.20,50.90
$GC,7765,0.65,153.7,2618,737,2096,2055,111.7,10.0,492,7769,0.00,2.42,0.00,0.000,5126,0.000,0.053,2617,2152,2074,2094,2055,0,0,0,0,0,0,14.51,14.35,14.54,6.20,50.78
$GC,8070,0.65,153.7,2618,2156,2096,2054,80.0,10.0,535,8074,0.00,2.47,0.00,0.000,4356,0.000,0.085,2617,3557,2074,2094,2054,0,0,0,0,0,0,14.77,14.28,14.78,6.19,49.88
$GC,8150,0.65,153.7,2617,3558,2095,2056,71.9,10.0,551,8154,0.08,2.35,0.00,0.000,5126,0.332,0.043,2603,2142,2074,2094,2055,0,0,0,0,0,0,14.09,14.40,14.38,6.18,49.60
$GC,8278,0.67,176.3,2603,2142,2095,2054,61.5,7.5,576,8304,0.00,2.45,19.62,1.276,10756,0.000,0.067,2613,750,1996,2010,1982,0,0,0,0,0,0,14.75,14.37,13.62,6.18,49.33
$GC,8383,0.69,187.4,2613,751,2011,1978,53.4,7.9,597,8398,0.00,2.40,11.12,1.265,11270,0.000,0.053,2613,2153,1955,1969,1942,0,0,0,0,0,0,14.39,14.26,13.50,6.17,49.37
$GC,8520,0.69,187.4,2613,2154,1966,1936,41.2,9.0,625,8524,0.00,2.47,0.00,0.000,2308,0.000,0.085,2613,3553,1949,1965,1934,0,0,0,0,0,0,14.64,14.23,14.64,6.17,49.44
$GC,8571,0.69,187.4,2613,3554,1965,1936,36.5,9.3,635,8574,0.00,2.35,0.00,0.000,1030,0.000,0.044,2623,2150,1949,1964,1934,0,0,0,0,0,0,14.45,14.34,14.47,6.17,50.07
$GC,8698,0.69,187.4,2624,2149,1965,1933,24.1,10.4,660,8704,0.00,2.47,0.00,0.000,4612,0.000,0.067,2634,732,1948,1963,1933,0,0,0,0,0,0,14.66,14.26,14.66,6.17,50.90
$GC,8750,0.69,187.4,2634,733,1964,1933,18.6,9.8,671,8754,0.00,2.42,0.00,0.000,5126,0.000,0.053,2634,2149,1947,1963,1932,0,0,0,0,0,0,14.47,14.32,14.50,6.17,50.78
$GC,8878,0.69,187.4,2635,2149,1964,1931,5.2,11.0,696,8884,0.00,2.47,0.00,0.000,4356,0.000,0.084,2634,3554,1947,1963,1931,0,0,0,0,0,0,14.69,14.21,14.69,6.18,50.94
$STATE,8893,end climb,SURFACE_DEPTH_REACHED
$STATE,8893,begin surface coast
$STATE,8917,end surface coast,CONTROL_FINISHED_OK
$STATE,8917,begin surface
$SM_CCo,8937,29.65,0.242,0,0,1822,220.03
$SM_GC,1.19,5.57,2.50,29.65,0.052,0.043,0.242,221,2095,1822,-6.44,0.96,220.03,0,0,0,0,0,0,14.50,14.38,14.04
$IRIDIUM_FIX,-6002.25,0.00,230219,093440
$TT8_MAMPS,0.03745,0.405958
$HUMID,50.59
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3595008
$24V_AH,13.09,123.849
$10V_AH,13.10,0.000
$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,13.250,73.150,292.325,29.650,0.000,27.080,22.536,120.398,0.000,0.000,16.337,0.000,7044.691,318.378,1672.690,299.368,0.000,1050.506,0.000,1161.740,0.000,0.539,0.000
$DEVICE_MAMPS,423.045,2194.785,1600.380,241.740,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2536.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.174,0.000,0.000,0.000
$MEM,344080
$DATA_FILE_SIZE,17365,705
$CAP_FILE_SIZE,92073,0
$CFSIZE,1023623168,955449344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.058,107.25,1
$GPS,230219,144603,-5959.561,0.619,30,0.8,33,-19.7,0.6,117.7,10,9.8