version: 66.14
glider: 640
mission: 5
dive: 686
start: 2 27 119 9 52 54
data:
$ID,640
$MISSION,5
$DIVE,686
$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,57
$R_STBD_OVSHOOT,27
$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
$GPS1,270219,094555,-6001.6050,0.4900,18,0.8,41,-19.7,0.3,88.4,11,6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-64.3
$GPS2,270219,095234,-6001.6411,0.4636,11,1.0,18,-19.7,0.5,330.4,9,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5957.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,23.0,8606,-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,11,begin dive
$GC,14,-0.64,-146.0,212,2074,1791,1830,0.0,0.0,0,98,0.00,0.00,-81.25,0.000,16386,0.000,0.000,211,2073,3123,3204,3043,0,0,0,0,0,0,14.60,28.83,14.61,6.17,51.14
$GC,101,-0.64,-146.0,211,2073,3206,3044,3.0,-5.5,17,118,6.22,0.00,-7.00,0.000,18694,0.340,0.000,2187,2071,3315,3412,3218,0,0,0,0,0,0,13.88,13.31,14.28,6.27,50.23
$GC,240,-0.64,-146.0,2187,2072,3415,3220,27.1,-15.6,45,242,0.00,0.00,0.00,0.000,2054,0.000,0.000,2187,2071,3316,3413,3219,0,0,0,0,0,0,14.71,14.71,14.71,6.29,49.68
$GC,365,-0.64,-146.0,2187,2073,3413,3221,47.6,-15.9,70,368,0.00,0.00,0.00,0.000,2054,0.000,0.000,2187,2072,3316,3413,3219,0,0,0,0,0,0,14.78,14.78,14.78,6.29,49.92
$GC,490,-0.64,-146.0,2186,2073,3414,3222,66.6,-13.8,95,493,0.00,2.53,0.00,0.000,2308,0.000,0.082,2176,3506,3317,3414,3220,0,0,0,0,0,0,14.81,14.28,14.81,6.30,49.96
$GC,540,-0.64,-146.0,2176,3506,3413,3221,74.0,-14.6,105,544,0.05,2.30,0.00,0.000,3078,0.420,0.041,2191,2119,3316,3413,3220,0,0,0,0,0,0,14.09,14.41,14.34,6.30,50.03
$GC,665,-0.64,-146.0,2192,2118,3414,3221,91.9,-15.1,130,669,0.00,2.47,0.00,0.000,2564,0.000,0.063,2191,693,3316,3413,3220,0,0,0,0,0,0,14.81,14.33,14.81,6.29,48.89
$GC,715,-0.64,-146.0,2192,693,3415,3221,99.2,-14.0,140,718,0.00,2.42,0.00,0.000,3078,0.000,0.056,2181,2107,3317,3413,3221,0,0,0,0,0,0,14.54,14.38,14.56,6.29,49.17
$GC,845,-0.64,-146.0,2182,2108,3415,3222,117.5,-14.2,148,848,0.00,2.45,0.00,0.000,2308,0.000,0.083,2171,3506,3317,3413,3221,0,0,0,0,0,0,14.88,14.32,14.88,6.28,48.30
$GC,885,-0.64,-146.0,2171,3506,3414,3222,122.1,-13.4,150,888,0.08,2.33,0.00,0.000,3078,0.343,0.043,2197,2100,3317,3413,3221,0,0,0,0,0,0,14.09,14.44,14.37,6.29,48.58
$GC,1195,-0.64,-146.0,2198,2099,3415,3222,158.1,-11.3,166,1198,0.00,2.42,0.00,0.000,516,0.000,0.063,2197,697,3317,3413,3221,0,0,0,0,0,0,14.92,14.38,14.92,6.28,49.52
$GC,1340,-0.64,-146.0,2197,697,3414,3222,173.3,-10.8,173,1343,0.00,2.40,0.00,0.000,3078,0.000,0.056,2187,2103,3317,3413,3221,0,0,0,0,0,0,14.59,14.42,14.62,6.29,50.43
$GC,1650,-0.64,-146.0,2187,2103,3414,3222,212.0,-12.7,189,1653,0.00,2.45,0.00,0.000,2308,0.000,0.083,2175,3505,3317,3413,3221,0,0,0,0,0,0,14.95,14.36,14.96,6.29,50.59
$GC,1675,-0.64,-146.0,2177,3505,3415,3221,213.9,-12.7,190,1679,0.05,2.33,0.00,0.000,3078,0.421,0.043,2192,2094,3317,3413,3221,0,0,0,0,0,0,14.17,14.49,14.42,6.30,50.98
$GC,1980,-0.64,-146.0,2192,2094,3411,3222,252.4,-12.0,205,1983,0.00,2.40,0.00,0.000,2564,0.000,0.063,2192,697,3317,3413,3221,0,0,0,0,0,0,14.97,14.42,14.98,6.30,51.41
$GC,2055,-0.64,-146.0,2192,698,3414,3222,261.4,-12.0,209,2059,0.00,2.40,0.00,0.000,3078,0.000,0.055,2182,2109,3317,3413,3221,0,0,0,0,0,0,14.62,14.45,14.65,6.30,51.14
$GC,2370,-0.64,-146.0,2182,2110,3414,3222,299.8,-12.3,225,2373,0.00,2.42,0.00,0.000,2308,0.000,0.082,2172,3505,3317,3413,3221,0,0,0,0,0,0,14.99,14.38,15.00,6.30,51.85
$GC,2390,-0.64,-146.0,2171,3506,3414,3222,301.7,-12.3,226,2394,0.08,2.33,0.00,0.000,3078,0.342,0.043,2197,2093,3317,3413,3221,0,0,0,0,0,0,14.15,14.51,14.42,6.30,51.18
$GC,2700,-0.64,-146.0,2197,2092,3414,3223,339.3,-11.9,242,2703,0.00,2.40,0.00,0.000,516,0.000,0.063,2197,698,3317,3413,3221,0,0,0,0,0,0,15.00,14.43,15.01,6.31,51.41
$GC,2765,-0.64,-146.0,2197,699,3414,3221,346.5,-12.1,245,2768,0.00,2.38,0.00,0.000,3078,0.000,0.054,2187,2101,3317,3413,3221,0,0,0,0,0,0,14.64,14.47,14.66,6.31,51.41
$STATE,2792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2792,begin apogee
$GC,2799,-0.15,0.0,2186,2165,3414,3222,350.6,-11.8,247,2926,0.47,0.00,123.62,1.620,10246,0.249,0.000,2353,2164,2716,2775,2657,0,0,0,0,0,0,14.07,13.93,13.12,6.31,51.53
$STATE,2926,end apogee,CONTROL_FINISHED_OK
$STATE,2926,begin loiter
$GC,3215,-0.15,0.0,2353,2165,2772,2646,350.4,2.4,268,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2164,2707,2771,2644,0,0,0,0,0,0,14.62,14.62,14.62,6.27,51.18
$GC,3515,-0.15,0.0,2353,2165,2771,2644,343.4,2.5,283,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2164,2707,2771,2643,0,0,0,0,0,0,14.77,14.77,14.78,6.27,50.86
$GC,3815,-0.15,0.0,2353,2165,2772,2643,335.6,2.7,298,3815,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2165,2706,2771,2642,0,0,0,0,0,0,14.85,14.85,14.85,6.27,51.61
$GC,4115,-0.15,0.0,2353,2165,2771,2643,328.4,2.8,313,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2164,2706,2771,2642,0,0,0,0,0,0,14.90,14.90,14.90,6.27,51.22
$GC,4415,-0.15,0.0,2354,2165,2772,2641,320.1,2.7,328,4416,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2164,2706,2771,2641,0,0,0,0,0,0,14.93,14.94,14.94,6.27,51.22
$GC,4715,-0.15,0.0,2353,2165,2771,2642,311.4,2.9,343,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2164,2705,2769,2641,0,0,0,0,0,0,14.96,14.97,14.97,6.27,51.41
$GC,5015,-0.15,0.0,2353,2165,2771,2642,302.3,3.1,358,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2164,2705,2771,2640,0,0,0,0,0,0,14.98,14.99,14.98,6.27,51.57
$GC,5315,-0.15,0.0,2353,2165,2771,2641,292.9,3.3,373,5316,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2164,2705,2771,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.89
$GC,5615,-0.15,0.0,2354,2165,2772,2640,282.5,3.6,388,5616,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2164,2705,2771,2640,0,0,0,0,0,0,15.01,15.01,15.01,6.26,51.65
$GC,5915,-0.15,0.0,2353,2165,2771,2641,271.9,3.6,403,5916,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2164,2705,2770,2640,0,0,0,0,0,0,15.02,15.02,15.02,6.26,51.37
$GC,6215,-0.15,0.0,2354,2165,2772,2640,261.5,3.4,418,6216,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2164,2705,2771,2640,0,0,0,0,0,0,15.03,15.03,15.03,6.26,51.61
$STATE,6512,end loiter,LOITER_COMPLETE
$STATE,6512,begin climb
$GC,6515,0.64,146.0,2354,2165,2771,2640,251.6,0.0,433,6652,0.62,2.60,130.43,1.430,10756,0.161,0.062,2611,750,2118,2136,2101,0,0,0,0,0,0,14.30,13.80,13.20,6.26,51.65
$GC,6747,0.64,146.0,2610,750,2128,2094,235.0,9.9,444,6753,0.00,2.40,0.00,0.000,5126,0.000,0.052,2610,2131,2109,2127,2092,0,0,0,0,0,0,14.12,14.05,14.14,6.21,49.96
$GC,7055,0.64,146.0,2610,2131,2115,2087,199.6,11.1,460,7059,0.00,2.55,0.00,0.000,4356,0.000,0.083,2610,3560,2104,2122,2086,0,0,0,0,0,0,14.63,14.19,14.63,6.21,50.63
$GC,7140,0.64,146.0,2611,3560,2122,2086,190.6,11.2,464,7144,0.05,2.35,0.00,0.000,5126,0.405,0.042,2604,2155,2103,2121,2086,0,0,0,0,0,0,14.04,14.31,14.31,6.21,50.82
$GC,7450,0.64,146.0,2604,2154,2124,2085,159.6,9.6,480,7453,0.00,2.47,0.00,0.000,516,0.000,0.065,2614,741,2102,2120,2084,0,0,0,0,0,0,14.73,14.29,14.73,6.20,51.85
$GC,7525,0.64,146.0,2614,741,2118,2084,152.5,9.4,484,7528,0.00,2.42,0.00,0.000,5126,0.000,0.054,2609,2155,2100,2118,2082,0,0,0,0,0,0,14.50,14.34,14.52,6.20,51.06
$GC,7840,0.64,146.0,2613,2155,2118,2082,118.7,10.7,500,7843,0.00,2.47,0.00,0.000,4612,0.000,0.067,2625,743,2099,2118,2080,0,0,0,0,0,0,14.79,14.33,14.79,6.20,51.33
$GC,7880,0.64,146.0,2625,744,2118,2074,114.9,10.8,502,7884,0.08,2.40,0.00,0.000,5126,0.308,0.053,2598,2151,2098,2117,2079,0,0,0,0,0,0,14.13,14.37,14.40,6.20,51.41
$GC,8185,0.66,162.4,2598,2152,2119,2080,88.1,7.7,538,8202,0.00,2.50,11.77,1.317,10500,0.000,0.084,2598,3559,2053,2070,2036,0,0,0,0,0,0,14.81,14.40,13.58,6.19,50.35
$GC,8265,0.66,162.4,2598,3559,2071,2036,81.3,8.9,554,8269,0.00,2.35,0.00,0.000,3078,0.000,0.041,2608,2142,2052,2069,2036,0,0,0,0,0,0,14.54,14.42,14.55,6.18,49.92
$GC,8392,0.67,168.9,2608,2142,2070,2035,71.1,8.1,579,8403,0.00,2.45,7.03,1.297,10756,0.000,0.064,2619,736,2026,2042,2011,0,0,0,0,0,0,14.73,14.14,13.47,6.18,49.72
$GC,8450,0.70,195.8,2619,736,2042,2012,66.5,7.3,591,8482,0.00,2.42,27.85,1.248,11270,0.000,0.053,2619,2157,1918,1928,1908,0,0,0,0,0,0,14.51,14.36,13.50,6.18,49.64
$GC,8605,0.70,195.8,2619,2157,1926,1899,52.5,9.7,622,8609,0.00,2.50,0.00,0.000,2308,0.000,0.086,2618,3556,1912,1924,1900,0,0,0,0,0,0,14.62,14.21,14.62,6.16,49.44
$GC,8685,0.70,195.8,2619,3556,1925,1898,44.0,10.8,638,8689,0.00,2.38,0.00,0.000,5126,0.000,0.043,2629,2147,1911,1924,1899,0,0,0,0,0,0,14.45,14.33,14.47,6.17,49.76
$GC,8812,0.70,195.8,2629,2146,1924,1898,30.1,11.2,663,8817,0.00,2.45,0.00,0.000,4612,0.000,0.067,2640,747,1910,1923,1897,0,0,0,0,0,0,14.66,14.14,14.66,6.17,51.10
$GC,8875,0.70,195.8,2641,748,1923,1898,23.1,8.8,676,8879,0.05,2.42,0.00,0.000,5126,0.372,0.054,2623,2151,1909,1922,1897,0,0,0,0,0,0,14.09,14.31,14.36,6.17,50.70
$GC,9000,0.70,195.8,2623,2151,1923,1897,10.1,10.8,701,9003,0.00,2.50,0.00,0.000,260,0.000,0.083,2623,3560,1908,1922,1895,0,0,0,0,0,0,14.68,14.25,14.69,6.17,50.90
$GC,9050,0.70,195.8,2623,3561,1923,1897,4.6,11.6,711,9054,0.00,2.35,0.00,0.000,5126,0.000,0.042,2632,2147,1909,1922,1896,0,0,0,0,0,0,14.48,14.38,14.52,6.18,51.29
$STATE,9062,end climb,SURFACE_DEPTH_REACHED
$STATE,9062,begin surface coast
$STATE,9087,end surface coast,CONTROL_FINISHED_OK
$STATE,9087,begin surface
$SM_CCo,9105,20.10,0.243,0,0,1821,220.03
$SM_GC,1.03,5.75,0.05,20.10,0.083,0.222,0.243,284,2092,1821,-6.49,1.10,220.03,0,0,0,0,0,0,14.35,14.43,14.03
$IRIDIUM_FIX,-5959.31,0.00,270219,070712
$TT8_MAMPS,0.038948,0.573734
$HUMID,51.37
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3583232
$24V_AH,13.06,130.067
$10V_AH,13.06,0.000
$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,13.500,82.550,300.700,20.100,0.000,26.802,20.367,136.778,0.000,0.000,19.706,0.000,7130.612,311.941,1755.916,322.441,0.000,1069.754,0.000,1213.975,0.000,0.539,0.000
$DEVICE_MAMPS,420.750,221.850,1619.505,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,10.227,0.000,0.000,0.000
$MEM,344072
$DATA_FILE_SIZE,20750,719
$CAP_FILE_SIZE,98021,0
$CFSIZE,1023623168,952008704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.059,178.18,1
$GPS,270219,122601,-6001.406,0.377,15,0.9,32,-19.7,0.0,240.0,9,9.5