version: 66.14
glider: 640
mission: 5
dive: 557
start: 2 13 119 2 27 21
data:
$ID,640
$MISSION,5
$DIVE,557
$N_DIVES,700
$STOP_T,2171912
$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,32
$R_STBD_OVSHOOT,32
$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
$GPS1,130219,022019,-6017.1948,0.1488,18,0.9,41,-19.7,0.8,272.0,9,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.2
$GPS2,130219,022701,-6017.2046,0.1099,9,0.9,18,-19.7,0.7,352.7,9,9.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,27.7,68903,-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,13,-0.64,-146.0,220,2108,1784,1831,0.0,0.0,0,103,0.00,0.00,-87.45,0.000,16386,0.000,0.000,219,2109,3215,3297,3134,0,0,0,0,0,0,14.55,28.83,14.56,6.19,51.89
$GC,106,-0.64,-146.0,220,2109,3299,3135,3.6,-8.8,18,123,6.22,2.75,-3.42,0.000,18948,0.345,2.201,2186,695,3316,3409,3224,0,0,0,0,0,0,13.90,13.16,14.27,6.31,50.78
$GC,189,-0.64,-146.0,2186,695,3412,3224,20.3,-17.9,35,194,0.05,2.42,0.00,0.000,3078,0.438,0.054,2190,2099,3317,3411,3224,0,0,0,0,0,0,13.97,14.17,14.24,6.31,48.81
$GC,316,-0.64,-146.0,2191,2100,3405,3225,40.7,-17.1,60,322,0.00,2.50,0.00,0.000,2308,0.000,0.080,2180,3513,3318,3412,3224,0,0,0,0,0,0,14.61,14.21,14.61,6.32,49.37
$GC,364,-0.64,-146.0,2179,3514,3411,3225,49.1,-16.2,70,368,0.00,2.38,0.00,0.000,3078,0.000,0.043,2179,2094,3317,3412,3223,0,0,0,0,0,0,14.34,14.21,14.35,6.32,50.19
$GC,489,-0.64,-146.0,2179,2094,3412,3225,68.1,-14.5,95,493,0.00,0.00,0.00,0.000,2054,0.000,0.000,2180,2093,3318,3412,3224,0,0,0,0,0,0,14.67,14.67,14.67,6.32,49.92
$GC,614,-0.64,-146.0,2180,2093,3412,3225,86.0,-14.2,120,618,0.00,2.50,0.00,0.000,2308,0.000,0.080,2169,3505,3318,3412,3224,0,0,0,0,0,0,14.69,14.23,14.69,6.32,49.64
$GC,644,-0.64,-146.0,2169,3506,3412,3225,90.3,-14.6,126,648,0.08,2.35,0.00,0.000,3078,0.365,0.044,2194,2099,3317,3412,3223,0,0,0,0,0,0,13.93,14.26,14.21,6.31,48.97
$GC,779,-0.64,-146.0,2194,2098,3413,3224,108.6,-13.5,144,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2098,3318,3412,3224,0,0,0,0,0,0,14.71,14.72,14.71,6.31,48.42
$GC,1079,-0.64,-146.0,2194,2098,3413,3224,147.4,-12.7,159,1083,0.00,2.45,0.00,0.000,516,0.000,0.063,2201,694,3318,3412,3224,0,0,0,0,0,0,14.76,14.31,14.76,6.31,49.60
$GC,1119,-0.64,-146.0,2194,695,3413,3224,152.5,-12.7,161,1123,0.00,2.40,0.00,0.000,3078,0.000,0.054,2183,2100,3318,3412,3224,0,0,0,0,0,0,14.47,14.26,14.50,6.31,50.11
$GC,1439,-0.64,-146.0,2184,2101,3413,3224,192.5,-12.5,177,1443,0.00,2.45,0.00,0.000,2564,0.000,0.063,2183,690,3318,3412,3224,0,0,0,0,0,0,14.78,14.28,14.79,6.37,50.55
$GC,1469,-0.64,-146.0,2184,690,3413,3224,194.4,-12.6,178,1473,0.08,2.42,0.00,0.000,3078,0.367,0.055,2196,2106,3318,3412,3224,0,0,0,0,0,0,14.03,14.28,14.33,6.32,50.78
$GC,1789,-0.64,-146.0,2197,2106,3413,3224,233.8,-11.6,195,1793,0.00,2.47,0.00,0.000,260,0.000,0.083,2186,3509,3318,3412,3224,0,0,0,0,0,0,14.80,14.22,14.81,6.33,50.82
$GC,1819,-0.64,-146.0,2186,3508,3411,3225,236.1,-11.7,196,1823,0.00,2.35,0.00,0.000,3078,0.000,0.044,2185,2092,3318,3412,3224,0,0,0,0,0,0,14.44,14.31,14.46,6.30,51.49
$GC,2124,-0.64,-146.0,2186,2091,3412,3224,274.8,-12.4,211,2128,0.00,2.42,0.00,0.000,2564,0.000,0.063,2185,695,3317,3412,3223,0,0,0,0,0,0,14.81,14.25,14.81,6.32,50.98
$GC,2200,-0.64,-146.0,2185,695,3412,3225,284.2,-12.6,215,2204,0.05,2.40,0.00,0.000,3078,0.435,0.054,2190,2106,3318,3412,3224,0,0,0,0,0,0,14.09,14.38,14.33,6.33,51.69
$GC,2514,-0.64,-146.0,2191,2107,3413,3224,323.3,-12.6,231,2518,0.00,2.45,0.00,0.000,2308,0.000,0.083,2180,3502,3318,3412,3224,0,0,0,0,0,0,14.82,14.27,14.82,6.33,51.77
$GC,2549,-0.64,-146.0,2180,3503,3413,3224,327.8,-12.7,233,2553,0.00,2.33,0.00,0.000,3078,0.000,0.043,2179,2100,3317,3412,3223,0,0,0,0,0,0,14.45,14.32,14.50,6.33,51.89
$STATE,2722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2722,begin apogee
$GC,2728,-0.15,0.0,2180,2157,3413,3224,350.8,-13.2,242,2856,0.50,0.00,124.20,1.587,10246,0.261,0.000,2352,2157,2716,2776,2657,0,0,0,0,0,0,14.02,13.89,13.12,6.34,51.29
$STATE,2857,end apogee,CONTROL_FINISHED_OK
$STATE,2857,begin loiter
$GC,3144,-0.15,0.0,2352,2158,2772,2646,350.2,2.6,263,3145,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2708,2772,2645,0,0,0,0,0,0,14.56,14.57,14.57,6.29,50.86
$GC,3444,-0.15,0.0,2353,2157,2773,2643,341.7,2.9,278,3445,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2708,2772,2644,0,0,0,0,0,0,14.72,14.73,14.73,6.28,51.02
$GC,3744,-0.15,0.0,2353,2157,2772,2644,332.1,3.4,293,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2707,2772,2642,0,0,0,0,0,0,14.81,14.81,14.81,6.28,51.53
$GC,4044,-0.15,0.0,2352,2158,2772,2643,321.8,3.5,308,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2706,2771,2642,0,0,0,0,0,0,14.87,14.87,14.87,6.28,51.18
$GC,4344,-0.15,0.0,2353,2157,2773,2641,311.3,3.4,323,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2706,2771,2642,0,0,0,0,0,0,14.90,14.91,14.91,6.28,52.00
$GC,4645,-0.15,0.0,2353,2157,2773,2641,301.3,3.4,338,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2706,2772,2641,0,0,0,0,0,0,14.93,14.93,14.93,6.28,51.61
$GC,4945,-0.15,0.0,2353,2157,2772,2641,291.4,3.3,353,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2706,2771,2641,0,0,0,0,0,0,14.95,14.96,14.96,6.28,51.49
$GC,5244,-0.15,0.0,2353,2157,2773,2640,281.2,3.5,368,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2705,2771,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.69
$GC,5544,-0.15,0.0,2353,2157,2773,2640,271.2,3.2,383,5545,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2156,2705,2771,2640,0,0,0,0,0,0,14.99,15.00,15.00,6.27,51.89
$GC,5844,-0.15,0.0,2353,2157,2773,2640,262.3,2.8,398,5845,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2156,2706,2772,2640,0,0,0,0,0,0,15.00,15.01,15.00,6.28,51.57
$GC,6144,-0.15,0.0,2352,2158,2772,2641,255.2,2.3,413,6145,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2156,2706,2771,2641,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.85
$STATE,6442,end loiter,LOITER_COMPLETE
$STATE,6442,begin climb
$GC,6444,0.64,146.0,2353,2157,2773,2640,248.2,0.0,428,6586,0.62,2.55,130.27,1.419,11012,0.169,0.083,2598,3537,2121,2137,2105,0,0,0,0,0,0,14.31,13.94,13.31,6.28,52.04
$GC,6671,0.64,146.0,2598,3537,2136,2089,232.3,10.2,439,6675,0.00,2.35,0.00,0.000,5126,0.000,0.042,2609,2153,2112,2135,2089,0,0,0,0,0,0,14.21,14.10,14.22,6.23,49.29
$GC,6981,0.64,146.0,2609,2153,2128,2084,198.2,10.7,455,6985,0.00,2.47,0.00,0.000,4612,0.000,0.067,2620,746,2105,2127,2083,0,0,0,0,0,0,14.59,14.21,14.57,6.23,51.18
$GC,7041,0.64,146.0,2620,747,2125,2084,192.5,10.4,458,7045,0.05,2.40,0.00,0.000,5126,0.376,0.053,2602,2147,2103,2124,2083,0,0,0,0,0,0,14.04,14.26,14.31,6.24,50.86
$GC,7351,0.64,146.0,2602,2148,2124,2082,160.2,10.3,474,7355,0.00,2.50,0.00,0.000,260,0.000,0.083,2602,3553,2101,2123,2079,0,0,0,0,0,0,14.69,14.26,14.70,6.23,51.22
$GC,7431,0.64,146.0,2602,3554,2123,2082,152.0,10.2,478,7435,0.00,2.35,0.00,0.000,5126,0.000,0.043,2611,2151,2101,2123,2080,0,0,0,0,0,0,14.50,14.37,14.52,6.23,50.94
$GC,7751,0.64,146.0,2612,2150,2122,2078,119.1,10.3,494,7755,0.00,2.45,0.00,0.000,4612,0.000,0.066,2622,745,2101,2121,2081,0,0,0,0,0,0,14.76,14.32,14.76,6.23,50.98
$GC,7801,0.64,146.0,2618,746,2121,2078,115.7,9.9,496,7805,0.05,2.38,0.00,0.000,5126,0.376,0.052,2604,2150,2098,2119,2078,0,0,0,0,0,0,14.14,14.37,14.40,6.23,51.57
$GC,8106,0.64,146.0,2605,2150,2121,2078,86.8,9.0,534,8110,0.00,2.47,0.00,0.000,260,0.000,0.083,2604,3555,2098,2119,2078,0,0,0,0,0,0,14.76,14.31,14.77,6.22,50.27
$GC,8216,0.64,146.0,2605,3555,2120,2077,76.6,9.0,556,8219,0.00,2.33,0.00,0.000,5126,0.000,0.043,2613,2149,2098,2119,2078,0,0,0,0,0,0,14.54,14.42,14.57,6.17,49.44
$GC,8343,0.64,146.0,2613,2150,2120,2078,65.3,9.4,581,8347,0.00,2.45,0.00,0.000,4612,0.000,0.067,2625,746,2099,2122,2077,0,0,0,0,0,0,14.75,14.26,14.75,6.21,49.48
$GC,8393,0.64,146.0,2625,747,2119,2077,60.6,8.8,591,8397,0.05,2.38,0.00,0.000,5126,0.371,0.052,2606,2150,2097,2118,2077,0,0,0,0,0,0,14.05,14.29,14.33,6.21,49.40
$GC,8517,0.65,160.1,2606,2151,2117,2078,50.3,7.8,616,8531,0.00,2.50,8.70,1.304,10500,0.000,0.085,2606,3550,2065,2083,2047,0,0,0,0,0,0,14.76,14.40,13.65,6.20,49.40
$GC,8562,0.66,168.1,2606,3551,2084,2048,46.6,8.0,625,8576,0.00,2.33,9.50,1.261,9222,0.000,0.044,2615,2148,2035,2053,2018,0,0,0,0,0,0,14.48,14.38,13.62,6.20,49.68
$GC,8698,0.66,168.1,2616,2149,2047,2011,34.3,9.3,652,8701,0.00,2.45,0.00,0.000,516,0.000,0.069,2626,748,2028,2046,2010,0,0,0,0,0,0,14.69,14.31,14.70,6.19,49.76
$GC,8738,0.67,175.2,2626,749,2046,2011,31.2,8.1,660,8751,0.00,2.38,7.30,1.248,13318,0.000,0.051,2626,2150,2000,2015,1985,0,0,0,0,0,0,14.50,14.35,13.57,6.20,49.88
$GC,8873,0.67,175.2,2627,2150,2016,1983,17.3,11.3,687,8876,0.00,2.47,0.00,0.000,4356,0.000,0.083,2626,3553,1999,2015,1983,0,0,0,0,0,0,14.68,14.21,14.68,6.20,50.66
$GC,8937,0.67,175.2,2627,3554,2015,1983,10.2,9.2,700,8941,0.08,2.33,0.00,0.000,5126,0.350,0.042,2612,2148,1998,2014,1983,0,0,0,0,0,0,14.07,14.38,14.34,6.20,50.59
$STATE,9010,end climb,SURFACE_DEPTH_REACHED
$STATE,9010,begin surface coast
$STATE,9035,end surface coast,CONTROL_FINISHED_OK
$STATE,9035,begin surface
$SM_CCo,9052,42.28,0.245,0,0,1822,220.03
$SM_GC,1.35,5.57,0.05,42.28,0.073,0.221,0.245,258,2096,1822,-6.45,1.10,220.03,0,0,0,0,0,0,14.47,14.44,14.07
$IRIDIUM_FIX,-6017.76,0.00,120219,234616
$TT8_MAMPS,0.038199,0.358022
$HUMID,50.51
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3636032
$24V_AH,13.12,106.722
$10V_AH,13.28,0.000
$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,13.400,82.700,279.975,42.275,0.000,27.613,37.315,144.120,0.000,0.000,19.427,0.000,7152.514,403.085,1672.379,267.365,0.000,1063.228,0.000,1185.397,0.000,0.540,0.000
$DEVICE_MAMPS,438.345,2200.905,1587.375,244.800,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5462.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.427,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,20751,720
$CAP_FILE_SIZE,96508,0
$CFSIZE,1023623168,964706304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.043,184.71,1
$GPS,130219,050003,-6016.872,0.205,16,0.8,40,-19.7,0.8,247.0,9,9.6