version: 66.14
glider: 640
mission: 5
dive: 677
start: 2 26 119 9 47 30
data:
$ID,640
$MISSION,5
$DIVE,677
$N_DIVES,750
$STOP_T,3041912
$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,31
$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
$GPS1,260219,094055,-6000.0127,0.0840,13,0.9,36,-19.7,0.6,158.6,10,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-67.8
$GPS2,260219,094710,-6000.0132,0.1226,14,1.0,16,-19.7,0.6,88.7,9,10.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5957.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,18.7,5582,-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,-146.0,211,2111,1788,1834,0.0,0.0,0,98,0.00,0.00,-81.65,0.000,16386,0.000,0.000,210,2110,3162,3244,3081,0,0,0,0,0,0,14.61,28.83,14.62,6.16,51.37
$GC,101,-0.64,-146.0,210,2111,3244,3083,3.3,-6.3,17,118,6.20,2.80,-5.50,0.000,18948,0.339,2.186,2170,697,3318,3414,3223,0,0,0,0,0,0,13.84,12.80,14.27,6.27,50.43
$GC,230,-0.64,-146.0,2170,698,3415,3225,25.8,-16.4,43,234,0.10,2.42,0.00,0.000,3078,0.339,0.056,2192,2101,3319,3414,3224,0,0,0,0,0,0,13.97,14.29,14.28,6.29,49.37
$GC,357,-0.64,-146.0,2192,2101,3415,3225,47.0,-17.4,68,362,0.00,2.50,0.00,0.000,2308,0.000,0.086,2182,3506,3319,3415,3224,0,0,0,0,0,0,14.74,14.20,14.75,6.30,50.00
$GC,380,-0.64,-146.0,2182,3506,3415,3225,51.4,-17.5,73,383,0.00,2.35,0.00,0.000,3078,0.000,0.045,2181,2101,3319,3414,3224,0,0,0,0,0,0,14.50,14.36,14.52,6.30,50.07
$GC,505,-0.64,-146.0,2181,2100,3415,3225,71.2,-16.3,98,508,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2099,3319,3415,3224,0,0,0,0,0,0,14.81,14.81,14.81,6.30,50.00
$GC,630,-0.64,-146.0,2182,2100,3416,3224,91.2,-15.7,123,633,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2100,3319,3415,3224,0,0,0,0,0,0,14.83,14.83,14.83,6.29,49.25
$GC,770,-0.64,-146.0,2181,2101,3415,3226,113.4,-15.9,139,773,0.00,2.42,0.00,0.000,2564,0.000,0.062,2181,694,3320,3415,3225,0,0,0,0,0,0,14.86,14.35,14.86,6.29,48.85
$GC,800,-0.64,-146.0,2181,694,3415,3225,115.8,-15.9,140,804,0.08,2.40,0.00,0.000,3078,0.364,0.055,2194,2102,3319,3414,3225,0,0,0,0,0,0,14.05,14.38,14.34,6.29,48.42
$GC,1122,-0.64,-146.0,2196,2102,3416,3225,164.0,-13.8,157,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2101,3319,3414,3225,0,0,0,0,0,0,14.88,14.89,14.89,6.28,49.76
$GC,1420,-0.64,-146.0,2195,2103,3416,3226,204.6,-13.2,172,1423,0.00,2.47,0.00,0.000,260,0.000,0.085,2184,3505,3319,3414,3225,0,0,0,0,0,0,14.94,14.35,14.95,6.29,50.90
$GC,1460,-0.64,-146.0,2184,3506,3415,3225,209.2,-13.0,174,1463,0.00,2.33,0.00,0.000,3078,0.000,0.044,2184,2094,3319,3414,3225,0,0,0,0,0,0,14.62,14.47,14.64,6.30,50.82
$GC,1770,-0.64,-146.0,2184,2093,3415,3226,248.0,-12.2,190,1773,0.00,2.40,0.00,0.000,2564,0.000,0.062,2184,695,3320,3415,3225,0,0,0,0,0,0,14.97,14.42,14.97,6.29,51.06
$GC,1820,-0.64,-146.0,2184,696,3415,3226,252.4,-12.3,192,1824,0.08,2.40,0.00,0.000,3078,0.363,0.055,2198,2105,3319,3414,3225,0,0,0,0,0,0,14.10,14.45,14.39,6.30,51.65
$GC,2125,-0.64,-146.0,2198,2105,3415,3224,288.9,-11.3,208,2128,0.00,2.45,0.00,0.000,260,0.000,0.084,2188,3505,3319,3414,3224,0,0,0,0,0,0,14.98,14.37,14.99,6.30,51.06
$GC,2180,-0.64,-146.0,2189,3506,3416,3224,293.5,-11.4,210,2183,0.00,2.33,0.00,0.000,3078,0.000,0.043,2188,2095,3320,3415,3225,0,0,0,0,0,0,14.64,14.50,14.66,6.30,51.61
$GC,2500,-0.64,-146.0,2188,2095,3415,3226,332.5,-12.0,227,2503,0.00,2.40,0.00,0.000,2564,0.000,0.062,2188,695,3319,3414,3224,0,0,0,0,0,0,15.00,14.43,15.00,6.31,51.26
$GC,2535,-0.64,-146.0,2188,695,3416,3225,336.8,-12.1,229,2539,0.05,2.40,0.00,0.000,3078,0.431,0.055,2193,2106,3319,3414,3225,0,0,0,0,0,0,14.16,14.45,14.42,6.31,51.69
$STATE,2667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2667,begin apogee
$GC,2674,-0.15,0.0,2194,2160,3415,3225,352.2,-11.4,236,2802,0.45,0.00,124.82,1.577,10246,0.253,0.000,2351,2160,2716,2775,2657,0,0,0,0,0,0,14.05,13.93,13.12,6.31,51.37
$STATE,2802,end apogee,CONTROL_FINISHED_OK
$STATE,2802,begin loiter
$GC,3090,-0.15,0.0,2351,2161,2771,2645,349.0,3.3,257,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2161,2707,2771,2644,0,0,0,0,0,0,14.62,14.62,14.62,6.27,50.74
$GC,3390,-0.15,0.0,2351,2161,2771,2644,339.9,3.1,272,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2161,2707,2771,2643,0,0,0,0,0,0,14.77,14.77,14.78,6.27,51.22
$GC,3690,-0.15,0.0,2351,2161,2771,2643,330.8,2.9,287,3690,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2160,2706,2770,2642,0,0,0,0,0,0,14.85,14.85,14.85,6.27,51.65
$GC,3990,-0.15,0.0,2351,2161,2771,2643,321.6,3.1,302,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2706,2770,2642,0,0,0,0,0,0,14.90,14.90,14.90,6.26,51.65
$GC,4290,-0.15,0.0,2351,2161,2771,2642,312.6,3.0,317,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2161,2705,2770,2641,0,0,0,0,0,0,14.93,14.94,14.94,6.26,51.57
$GC,4590,-0.15,0.0,2351,2161,2772,2641,303.2,3.0,332,4591,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2706,2771,2641,0,0,0,0,0,0,14.96,14.97,14.96,6.26,51.37
$GC,4890,-0.15,0.0,2351,2161,2771,2641,293.4,3.2,347,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2705,2770,2641,0,0,0,0,0,0,14.98,14.98,14.98,6.26,52.12
$GC,5190,-0.15,0.0,2351,2161,2772,2640,283.3,3.4,362,5191,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2160,2705,2770,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.26,51.92
$GC,5490,-0.15,0.0,2352,2159,2772,2640,272.7,3.5,377,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2161,2705,2770,2640,0,0,0,0,0,0,15.01,15.01,15.01,6.26,51.49
$GC,5790,-0.15,0.0,2351,2161,2772,2640,262.6,3.2,392,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2160,2705,2770,2640,0,0,0,0,0,0,15.02,15.02,15.02,6.26,51.96
$GC,6090,-0.15,0.0,2351,2161,2772,2641,253.1,3.2,407,6091,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2161,2705,2771,2640,0,0,0,0,0,0,15.03,15.03,15.03,6.26,51.69
$STATE,6387,end loiter,LOITER_COMPLETE
$STATE,6387,begin climb
$GC,6390,0.64,146.0,2350,2161,2771,2641,244.0,0.0,422,6527,0.62,2.58,130.57,1.413,10756,0.165,0.063,2607,757,2121,2139,2103,0,0,0,0,0,0,14.28,13.79,13.22,6.26,51.57
$GC,6632,0.64,146.0,2607,757,2132,2093,226.8,9.3,434,6637,0.00,2.38,0.00,0.000,1030,0.000,0.052,2607,2128,2112,2131,2093,0,0,0,0,0,0,14.12,14.07,14.16,6.21,50.03
$GC,6950,0.64,146.0,2607,2129,2126,2089,192.9,10.8,450,6954,0.00,2.55,0.00,0.000,4356,0.000,0.083,2607,3559,2106,2125,2087,0,0,0,0,0,0,14.63,14.19,14.63,6.20,50.74
$GC,7035,0.64,146.0,2608,3560,2126,2089,184.2,10.9,454,7038,0.00,2.35,0.00,0.000,5126,0.000,0.043,2618,2154,2107,2126,2088,0,0,0,0,0,0,14.44,14.32,14.47,6.21,51.37
$GC,7345,0.64,146.0,2619,2154,2124,2086,149.6,10.9,470,7349,0.00,2.47,0.00,0.000,4612,0.000,0.067,2629,741,2104,2123,2086,0,0,0,0,0,0,14.73,14.28,14.73,6.21,51.14
$GC,7385,0.64,146.0,2629,742,2115,2087,145.8,11.1,472,7389,0.08,2.42,0.00,0.000,5126,0.310,0.054,2602,2158,2103,2121,2085,0,0,0,0,0,0,14.10,14.33,14.38,6.21,51.22
$GC,7695,0.64,146.0,2602,2159,2121,2085,115.0,9.7,488,7698,0.00,2.47,0.00,0.000,260,0.000,0.084,2602,3559,2103,2123,2084,0,0,0,0,0,0,14.78,14.28,14.78,6.20,51.65
$GC,7755,0.64,146.0,2602,3559,2122,2084,109.7,9.7,491,7758,0.00,2.35,0.00,0.000,5126,0.000,0.043,2611,2143,2102,2121,2084,0,0,0,0,0,0,14.54,14.41,14.57,6.20,51.06
$GC,8060,0.65,157.0,2611,2144,2122,2084,84.4,7.9,533,8073,0.00,2.45,7.35,1.331,8708,0.000,0.066,2622,746,2075,2092,2058,0,0,0,0,0,0,14.80,14.37,13.50,6.19,50.27
$GC,8140,0.67,173.2,2623,747,2094,2058,78.1,7.7,549,8162,0.00,2.40,17.27,1.284,13318,0.000,0.052,2622,2157,2008,2022,1995,0,0,0,0,0,0,14.53,14.38,13.55,6.18,50.35
$GC,8285,0.67,173.2,2621,2158,2021,1991,64.9,9.6,578,8288,0.00,2.47,0.00,0.000,4356,0.000,0.086,2622,3552,2005,2021,1990,0,0,0,0,0,0,14.69,14.26,14.69,6.17,49.56
$GC,8335,0.67,173.2,2622,3552,2021,1991,59.8,9.7,588,8339,0.05,2.35,0.00,0.000,5126,0.397,0.044,2615,2144,2005,2021,1990,0,0,0,0,0,0,14.10,14.37,14.37,6.17,49.60
$GC,8463,0.69,186.4,2615,2147,2021,1990,49.4,7.8,613,8482,0.00,2.50,13.35,1.281,10756,0.000,0.066,2625,740,1954,1967,1941,0,0,0,0,0,0,14.70,14.35,13.52,6.17,50.03
$GC,8515,0.69,186.4,2625,741,1968,1940,45.0,8.4,624,8519,0.00,2.42,0.00,0.000,5126,0.000,0.054,2625,2156,1953,1967,1939,0,0,0,0,0,0,14.45,14.31,14.47,6.17,50.19
$GC,8642,0.69,186.4,2625,2163,1967,1938,32.8,10.0,649,8647,0.00,2.47,0.00,0.000,4356,0.000,0.086,2625,3556,1951,1966,1937,0,0,0,0,0,0,14.66,14.21,14.66,6.17,50.19
$GC,8695,0.69,186.4,2626,3556,1967,1939,27.1,10.4,660,8699,0.05,2.35,0.00,0.000,5126,0.399,0.044,2619,2149,1951,1966,1937,0,0,0,0,0,0,14.09,14.36,14.36,6.17,50.82
$GC,8820,0.69,186.4,2619,2150,1966,1936,14.5,10.3,685,8823,0.00,2.47,0.00,0.000,516,0.000,0.067,2628,742,1950,1965,1935,0,0,0,0,0,0,14.71,14.28,14.72,6.17,51.61
$GC,8885,0.69,186.4,2628,743,1965,1936,8.2,9.6,698,8888,0.00,2.42,0.00,0.000,5126,0.000,0.054,2629,2156,1949,1964,1935,0,0,0,0,0,0,14.49,14.33,14.52,6.18,51.22
$STATE,8937,end climb,SURFACE_DEPTH_REACHED
$STATE,8937,begin surface coast
$STATE,8962,end surface coast,CONTROL_FINISHED_OK
$STATE,8962,begin surface
$SM_CCo,8980,30.33,0.243,0,0,1822,220.03
$SM_GC,1.44,5.55,0.10,30.33,0.054,0.139,0.243,209,2077,1822,-6.45,0.82,220.03,0,0,0,0,0,0,14.53,14.41,14.04
$IRIDIUM_FIX,-5957.44,0.00,260219,070429
$TT8_MAMPS,0.038948,0.340795
$HUMID,51.69
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,1
$SC_FREEKB,3586112
$24V_AH,12.80,128.467
$10V_AH,13.18,0.000
$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,13.300,78.125,293.375,30.325,0.000,28.785,20.452,119.979,0.250,0.000,17.675,0.000,7070.556,311.973,1687.972,312.354,0.000,1048.673,0.000,1174.619,0.000,0.541,0.000
$DEVICE_MAMPS,430.695,2186.370,1577.430,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2587.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.273,0.000,0.000,0.000
$MEM,344068
$DATA_FILE_SIZE,17337,714
$CAP_FILE_SIZE,95165,0
$CFSIZE,1023623168,952893440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.021,154.31,1
$GPS,260219,121849,-5959.521,0.173,16,0.8,39,-19.7,0.0,62.7,10,6.9