version: 66.14
glider: 640
mission: 5
dive: 687
start: 2 27 119 12 32 41
data:
$ID,640
$MISSION,5
$DIVE,687
$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,38
$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
$GPS1,270219,122601,-6001.4062,0.3769,15,0.9,32,-19.7,0.0,240.0,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-64.5
$GPS2,270219,123220,-6001.4468,0.4110,10,0.9,18,-19.7,0.5,118.3,8,10.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5957.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,17.2,8244,-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,-146.0,233,2090,1792,1833,0.0,0.0,0,99,0.00,0.00,-81.78,0.000,16386,0.000,0.000,233,2090,3135,3217,3054,0,0,0,0,0,0,14.62,28.83,14.62,6.17,52.24
$GC,102,-0.64,-146.0,234,2091,3218,3055,3.1,-5.2,17,120,6.20,2.83,-6.68,0.000,18692,0.345,2.200,2175,3505,3317,3414,3221,0,0,0,0,0,0,13.88,12.74,14.28,6.28,51.02
$GC,141,-0.64,-146.0,2176,3506,3415,3222,9.7,-14.9,25,145,0.05,2.35,0.00,0.000,3078,0.422,0.044,2191,2102,3318,3415,3222,0,0,0,0,0,0,14.06,14.35,14.31,6.30,49.80
$GC,268,-0.64,-146.0,2191,2101,3417,3222,29.6,-15.1,50,272,0.00,2.47,0.00,0.000,2564,0.000,0.064,2190,686,3319,3415,3223,0,0,0,0,0,0,14.73,14.28,14.73,6.29,49.80
$GC,303,-0.64,-146.0,2190,687,3416,3224,35.6,-16.3,57,306,0.00,2.42,0.00,0.000,3078,0.000,0.055,2180,2101,3319,3415,3223,0,0,0,0,0,0,14.48,14.32,14.50,6.30,49.48
$GC,428,-0.64,-146.0,2180,2102,3416,3224,55.5,-16.0,82,432,0.00,2.45,0.00,0.000,2564,0.000,0.063,2180,690,3319,3415,3223,0,0,0,0,0,0,14.79,14.32,14.79,6.29,50.55
$GC,478,-0.64,-146.0,2181,690,3417,3223,62.7,-13.5,92,482,0.08,2.42,0.00,0.000,3078,0.360,0.056,2193,2103,3319,3415,3223,0,0,0,0,0,0,14.04,14.35,14.33,6.30,50.27
$GC,605,-0.64,-146.0,2193,2103,3416,3224,79.1,-13.9,117,611,0.00,2.45,0.00,0.000,2308,0.000,0.082,2182,3507,3319,3415,3223,0,0,0,0,0,0,14.80,14.28,14.81,6.30,49.76
$GC,638,-0.64,-146.0,2183,3507,3417,3223,84.1,-14.5,124,641,0.00,2.35,0.00,0.000,3078,0.000,0.043,2182,2093,3319,3415,3223,0,0,0,0,0,0,14.54,14.41,14.57,6.30,49.44
$GC,770,-0.64,-146.0,2182,2092,3417,3224,103.2,-15.0,147,771,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2091,3320,3416,3224,0,0,0,0,0,0,14.83,14.83,14.83,6.29,48.77
$GC,1068,-0.64,-146.0,2182,2093,3416,3225,145.1,-13.5,162,1072,0.00,2.40,0.00,0.000,2564,0.000,0.061,2182,697,3319,3415,3224,0,0,0,0,0,0,14.90,14.39,14.90,6.28,49.25
$GC,1210,-0.64,-146.0,2182,698,3416,3225,163.4,-12.6,169,1215,0.08,2.40,0.00,0.000,3078,0.355,0.054,2195,2103,3319,3415,3224,0,0,0,0,0,0,14.10,14.42,14.38,6.29,50.27
$GC,1530,-0.64,-146.0,2194,2104,3416,3225,202.5,-12.0,185,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2103,3320,3416,3224,0,0,0,0,0,0,14.94,14.95,14.95,6.29,50.43
$GC,1830,-0.64,-146.0,2195,2104,3417,3225,238.0,-11.8,200,1834,0.00,2.45,0.00,0.000,260,0.000,0.083,2184,3504,3319,3415,3223,0,0,0,0,0,0,14.96,14.38,14.97,6.30,50.94
$GC,1855,-0.64,-146.0,2185,3504,3416,3224,239.8,-11.8,201,1859,0.00,2.33,0.00,0.000,3078,0.000,0.043,2184,2099,3319,3415,3224,0,0,0,0,0,0,14.64,14.50,14.66,6.30,50.78
$GC,2160,-0.64,-146.0,2184,2099,3416,3225,278.1,-12.1,216,2164,0.00,2.42,0.00,0.000,2564,0.000,0.062,2184,690,3319,3415,3224,0,0,0,0,0,0,14.98,14.43,14.98,6.30,51.57
$GC,2200,-0.64,-146.0,2184,690,3416,3225,282.4,-12.3,218,2204,0.08,2.40,0.00,0.000,3078,0.362,0.054,2198,2100,3319,3415,3224,0,0,0,0,0,0,14.12,14.46,14.41,6.30,51.57
$GC,2510,-0.64,-146.0,2198,2100,3417,3224,318.6,-11.6,234,2514,0.00,2.45,0.00,0.000,260,0.000,0.083,2189,3506,3319,3415,3224,0,0,0,0,0,0,14.99,14.38,15.00,6.31,51.18
$GC,2535,-0.64,-146.0,2188,3506,3416,3225,320.9,-11.6,235,2539,0.00,2.33,0.00,0.000,3078,0.000,0.043,2188,2099,3319,3415,3224,0,0,0,0,0,0,14.66,14.52,14.68,6.31,51.49
$STATE,2782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2782,begin apogee
$GC,2789,-0.15,0.0,2188,2156,3417,3224,352.1,-12.2,248,2916,0.45,0.00,123.50,1.607,10246,0.248,0.000,2347,2155,2716,2775,2657,0,0,0,0,0,0,14.07,13.93,13.12,6.31,51.41
$STATE,2916,end apogee,CONTROL_FINISHED_OK
$STATE,2916,begin loiter
$GC,3205,-0.15,0.0,2346,2156,2772,2646,351.0,2.6,269,3206,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2155,2708,2771,2645,0,0,0,0,0,0,14.62,14.62,14.62,6.27,51.22
$GC,3505,-0.15,0.0,2346,2157,2771,2644,343.7,2.5,284,3506,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2156,2707,2771,2643,0,0,0,0,0,0,14.77,14.77,14.78,6.27,51.49
$GC,3805,-0.15,0.0,2346,2156,2772,2644,336.6,2.4,299,3806,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2155,2707,2771,2643,0,0,0,0,0,0,14.85,14.85,14.85,6.27,51.02
$GC,4105,-0.15,0.0,2346,2156,2772,2642,329.1,2.6,314,4106,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2155,2706,2770,2642,0,0,0,0,0,0,14.90,14.90,14.90,6.27,51.26
$GC,4405,-0.15,0.0,2346,2156,2771,2643,320.8,2.9,329,4406,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2155,2706,2770,2642,0,0,0,0,0,0,14.93,14.93,14.94,6.27,52.04
$GC,4705,-0.15,0.0,2346,2156,2772,2642,311.7,3.1,344,4706,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2155,2705,2770,2641,0,0,0,0,0,0,14.96,14.96,14.96,6.26,51.26
$GC,5005,-0.15,0.0,2346,2157,2771,2643,302.4,3.2,359,5006,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2156,2706,2771,2641,0,0,0,0,0,0,14.97,14.98,14.97,6.26,51.96
$GC,5305,-0.15,0.0,2346,2156,2771,2642,293.0,3.1,374,5306,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2155,2706,2771,2641,0,0,0,0,0,0,15.00,15.00,15.00,6.26,51.53
$GC,5605,-0.15,0.0,2346,2156,2771,2642,283.7,3.1,389,5606,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2155,2705,2770,2641,0,0,0,0,0,0,15.01,15.01,15.01,6.27,51.41
$GC,5905,-0.15,0.0,2346,2155,2772,2640,274.9,2.9,404,5906,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2155,2706,2771,2641,0,0,0,0,0,0,15.02,15.02,15.02,6.26,52.00
$GC,6205,-0.15,0.0,2346,2156,2772,2641,266.2,2.9,419,6206,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2155,2705,2771,2640,0,0,0,0,0,0,15.03,15.02,15.02,6.26,51.85
$STATE,6502,end loiter,LOITER_COMPLETE
$STATE,6502,begin climb
$GC,6506,0.64,146.0,2347,2156,2772,2640,257.4,0.0,434,6643,0.65,2.60,130.62,1.427,11012,0.168,0.083,2600,3550,2119,2137,2101,0,0,0,0,0,0,14.28,13.78,13.19,6.26,51.65
$GC,6695,0.64,146.0,2600,3551,2136,2095,245.3,8.9,443,6699,0.00,2.40,0.00,0.000,5126,0.000,0.042,2610,2152,2114,2135,2093,0,0,0,0,0,0,14.17,14.07,14.19,6.21,49.33
$GC,7000,0.64,146.0,2610,2152,2128,2086,211.0,10.8,458,7004,0.00,2.50,0.00,0.000,4612,0.000,0.067,2621,742,2106,2126,2086,0,0,0,0,0,0,14.60,14.21,14.60,6.21,50.78
$GC,7060,0.64,146.0,2622,741,2124,2086,205.2,10.6,461,7064,0.05,2.42,0.00,0.000,5126,0.369,0.054,2603,2145,2104,2123,2086,0,0,0,0,0,0,14.04,14.26,14.30,6.21,50.82
$GC,7370,0.64,146.0,2603,2146,2122,2085,172.0,10.8,477,7374,0.00,2.50,0.00,0.000,260,0.000,0.083,2604,3556,2103,2122,2084,0,0,0,0,0,0,14.71,14.25,14.72,6.21,51.02
$GC,7455,0.64,146.0,2605,3556,2122,2085,163.1,11.1,481,7459,0.00,2.35,0.00,0.000,5126,0.000,0.043,2613,2149,2102,2121,2084,0,0,0,0,0,0,14.50,14.38,14.52,6.21,51.06
$GC,7765,0.64,146.0,2613,2149,2121,2082,127.1,11.3,497,7766,0.00,0.00,0.00,0.000,4102,0.000,0.000,2613,2149,2101,2120,2083,0,0,0,0,0,0,14.78,14.78,14.83,6.20,51.02
$GC,8065,0.64,146.0,2614,2149,2122,2082,94.8,9.9,518,8069,0.00,2.45,0.00,0.000,4612,0.000,0.065,2618,743,2100,2120,2081,0,0,0,0,0,0,14.80,14.33,14.80,6.19,50.59
$GC,8125,0.64,146.0,2624,744,2120,2081,89.2,9.1,530,8129,0.05,2.42,0.00,0.000,5126,0.367,0.053,2603,2157,2100,2118,2082,0,0,0,0,0,0,14.16,14.38,14.41,6.19,50.59
$GC,8250,0.66,163.8,2605,2159,2118,2082,79.2,7.7,555,8268,0.00,2.47,13.43,1.300,10500,0.000,0.084,2605,3547,2047,2064,2031,0,0,0,0,0,0,14.76,14.39,13.58,6.18,50.07
$GC,8335,0.66,163.8,2605,3547,2065,2032,72.1,8.5,572,8339,0.00,2.33,0.00,0.000,5126,0.000,0.042,2615,2149,2046,2063,2030,0,0,0,0,0,0,14.52,14.40,14.54,6.17,49.60
$GC,8463,0.66,163.8,2615,2149,2065,2027,60.4,9.7,597,8468,0.00,2.42,0.00,0.000,4612,0.000,0.065,2626,748,2045,2064,2027,0,0,0,0,0,0,14.72,14.20,14.72,6.17,49.76
$GC,8545,0.66,163.8,2626,748,2064,2027,52.1,9.9,614,8549,0.00,2.40,0.00,0.000,5126,0.000,0.053,2626,2151,2044,2063,2026,0,0,0,0,0,0,14.51,14.35,14.54,6.18,49.72
$GC,8673,0.66,163.8,2626,2152,2064,2026,38.8,11.3,639,8677,0.00,2.50,0.00,0.000,4356,0.000,0.085,2624,3557,2044,2063,2026,0,0,0,0,0,0,14.73,14.18,14.73,6.17,50.19
$GC,8718,0.66,163.8,2627,3557,2064,2027,33.1,11.4,648,8721,0.08,2.35,0.00,0.000,5126,0.338,0.044,2610,2147,2044,2062,2026,0,0,0,0,0,0,14.09,14.40,14.38,6.17,50.11
$GC,8842,0.66,163.8,2611,2146,2058,2025,22.3,8.5,673,8846,0.00,2.45,0.00,0.000,516,0.000,0.063,2620,742,2044,2063,2025,0,0,0,0,0,0,14.72,14.23,14.72,6.17,51.22
$GC,8922,0.66,163.8,2621,743,2064,2024,15.4,8.7,689,8926,0.00,2.40,0.00,0.000,5126,0.000,0.053,2620,2150,2043,2062,2024,0,0,0,0,0,0,14.42,14.26,14.45,6.18,50.70
$GC,9050,0.66,163.8,2620,2147,2063,2023,5.4,9.4,714,9056,0.00,2.47,0.00,0.000,4356,0.000,0.087,2620,3550,2043,2062,2024,0,0,0,0,0,0,14.74,14.22,14.75,6.18,51.77
$STATE,9069,end climb,SURFACE_DEPTH_REACHED
$STATE,9069,begin surface coast
$STATE,9094,end surface coast,CONTROL_FINISHED_OK
$STATE,9094,begin surface
$SM_CCo,9115,53.03,0.238,0,0,1823,220.03
$SM_GC,1.01,5.62,2.50,53.03,0.075,0.044,0.238,251,2078,1823,-6.44,0.76,220.03,0,0,0,0,0,0,14.48,14.45,14.07
$IRIDIUM_FIX,-6000.39,0.00,270219,094905
$TT8_MAMPS,0.038948,0.189497
$HUMID,50.90
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3582912
$24V_AH,12.74,130.238
$10V_AH,13.00,0.000
$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,13.375,82.950,267.550,53.025,0.000,26.250,15.197,123.719,0.000,0.000,20.906,0.000,7220.795,320.368,1683.350,320.164,0.000,1049.186,0.000,1166.839,0.000,0.539,0.000
$DEVICE_MAMPS,422.280,2200.140,1606.500,237.915,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2605.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.321,0.000,0.000,0.000
$MEM,344080
$DATA_FILE_SIZE,20766,724
$CAP_FILE_SIZE,95416,0
$CFSIZE,1023623168,951910400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.029,121.00,1
$GPS,270219,150633,-6000.961,0.609,32,0.8,34,-19.7,0.0,36.5,11,9.8