version: 66.14
glider: 640
mission: 5
dive: 566
start: 2 14 119 2 5 35
data:
$ID,640
$MISSION,5
$DIVE,566
$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,38
$R_STBD_OVSHOOT,30
$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
$GPS1,140219,015857,-6013.8623,-0.6103,40,0.9,42,-19.7,0.4,93.9,9,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-68.5
$GPS2,140219,020516,-6013.8325,-0.6328,8,0.9,17,-19.7,0.7,333.3,10,9.7
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,26.4,62660,-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,-146.0,213,2091,1786,1833,0.0,0.0,0,104,0.00,0.00,-88.60,0.000,16386,0.000,0.000,212,2090,3249,3330,3168,0,0,0,0,0,0,14.56,28.83,14.56,6.18,50.98
$GC,107,-0.64,-146.0,213,2091,3332,3168,3.4,-7.7,18,124,6.22,2.78,-2.22,0.000,18692,0.345,2.209,2158,3507,3313,3405,3222,0,0,0,0,0,0,13.88,13.15,14.28,6.30,50.03
$GC,274,-0.64,-146.0,2158,3508,3408,3225,35.1,-17.0,52,278,0.10,2.35,0.00,0.000,3078,0.317,0.042,2198,2108,3316,3408,3224,0,0,0,0,0,0,13.94,14.22,14.19,6.31,49.17
$GC,402,-0.64,-146.0,2191,2107,3402,3225,56.2,-16.2,77,405,0.00,2.47,0.00,0.000,2564,0.000,0.067,2190,693,3316,3408,3224,0,0,0,0,0,0,14.63,14.25,14.64,6.32,49.48
$GC,481,-0.64,-146.0,2190,693,3409,3225,69.3,-14.6,93,484,0.00,2.42,0.00,0.000,3078,0.000,0.055,2181,2095,3316,3408,3224,0,0,0,0,0,0,14.44,14.29,14.46,6.32,49.60
$GC,606,-0.64,-146.0,2186,2100,3410,3224,88.1,-15.9,118,610,0.00,2.53,0.00,0.000,2308,0.000,0.083,2170,3513,3316,3408,3224,0,0,0,0,0,0,14.69,14.24,14.68,6.32,48.97
$GC,646,-0.64,-146.0,2170,3514,3409,3225,94.2,-14.9,126,650,0.08,2.38,0.00,0.000,3078,0.347,0.043,2196,2093,3316,3408,3224,0,0,0,0,0,0,14.02,14.35,14.31,6.32,49.09
$GC,771,-0.64,-146.0,2196,2092,3410,3224,112.0,-14.2,139,774,0.00,2.45,0.00,0.000,516,0.000,0.064,2196,692,3316,3409,3224,0,0,0,0,0,0,14.71,14.30,14.71,6.30,48.30
$GC,791,-0.64,-146.0,2196,693,3410,3224,114.1,-14.2,140,794,0.00,2.42,0.00,0.000,3078,0.000,0.054,2185,2104,3316,3409,3224,0,0,0,0,0,0,14.48,14.33,14.50,6.31,48.22
$GC,1101,-0.64,-146.0,2186,2105,3409,3225,159.5,-14.0,156,1101,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2104,3316,3409,3224,0,0,0,0,0,0,14.80,14.76,14.76,6.31,49.72
$GC,1401,-0.64,-146.0,2186,2105,3409,3225,198.9,-12.9,171,1404,0.00,2.45,0.00,0.000,2564,0.000,0.063,2185,697,3316,3408,3224,0,0,0,0,0,0,14.78,14.34,14.78,6.32,50.63
$GC,1426,-0.64,-146.0,2186,697,3410,3223,200.9,-12.9,172,1430,0.05,2.42,0.00,0.000,3078,0.427,0.054,2190,2106,3316,3408,3224,0,0,0,0,0,0,14.09,14.37,14.35,6.32,50.82
$GC,1731,-0.64,-146.0,2191,2110,3410,3223,241.1,-12.6,187,1734,0.00,2.45,0.00,0.000,2308,0.000,0.082,2180,3507,3313,3408,3219,0,0,0,0,0,0,14.80,14.31,14.79,6.32,50.98
$GC,1756,-0.64,-146.0,2180,3508,3409,3225,243.0,-12.6,188,1760,0.00,2.35,0.00,0.000,3078,0.000,0.044,2179,2096,3316,3409,3224,0,0,0,0,0,0,14.54,14.41,14.57,6.32,50.78
$GC,2066,-0.64,-146.0,2180,2095,3410,3224,284.7,-12.8,204,2069,0.00,2.42,0.00,0.000,2564,0.000,0.063,2179,697,3316,3409,3224,0,0,0,0,0,0,14.81,14.35,14.81,6.33,51.33
$GC,2126,-0.64,-146.0,2180,698,3409,3224,291.8,-12.9,207,2130,0.08,2.40,0.00,0.000,3078,0.362,0.054,2192,2106,3316,3409,3224,0,0,0,0,0,0,14.06,14.38,14.34,6.33,51.10
$GC,2436,-0.64,-146.0,2191,2106,3409,3225,328.1,-11.3,223,2439,0.00,2.47,0.00,0.000,2308,0.000,0.083,2182,3507,3316,3409,3224,0,0,0,0,0,0,14.82,14.31,14.82,6.33,51.57
$GC,2471,-0.64,-146.0,2182,3507,3410,3224,332.1,-11.3,225,2474,0.00,2.35,0.00,0.000,3078,0.000,0.043,2182,2096,3316,3408,3224,0,0,0,0,0,0,14.55,14.42,14.57,6.33,51.06
$STATE,2623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2623,begin apogee
$GC,2629,-0.15,0.0,2182,2167,3409,3225,350.1,-11.7,233,2756,0.47,0.00,124.25,1.594,10246,0.252,0.000,2347,2166,2720,2780,2661,0,0,0,0,0,0,14.03,13.88,13.14,6.33,51.10
$STATE,2757,end apogee,CONTROL_FINISHED_OK
$STATE,2757,begin loiter
$GC,3046,-0.15,0.0,2348,2166,2773,2645,344.4,3.8,254,3046,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2708,2771,2645,0,0,0,0,0,0,14.56,14.56,14.56,6.28,50.39
$GC,3346,-0.15,0.0,2348,2166,2773,2643,333.2,3.7,269,3346,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2707,2772,2643,0,0,0,0,0,0,14.72,14.72,14.72,6.28,50.86
$GC,3646,-0.15,0.0,2348,2166,2773,2642,322.6,3.4,284,3647,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2707,2772,2642,0,0,0,0,0,0,14.81,14.81,14.81,6.28,50.86
$GC,3946,-0.15,0.0,2348,2166,2773,2642,312.7,3.2,299,3947,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2707,2772,2642,0,0,0,0,0,0,14.86,14.86,14.86,6.28,51.41
$GC,4246,-0.15,0.0,2348,2166,2772,2643,303.2,3.2,314,4246,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2707,2772,2642,0,0,0,0,0,0,14.90,14.90,14.90,6.27,51.65
$GC,4546,-0.15,0.0,2347,2166,2773,2642,294.5,2.9,329,4547,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2165,2706,2772,2641,0,0,0,0,0,0,14.92,14.93,14.93,6.28,51.18
$GC,4846,-0.15,0.0,2348,2166,2773,2641,286.3,2.6,344,4847,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2165,2706,2772,2641,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.89
$GC,5146,-0.15,0.0,2347,2166,2772,2642,278.3,2.6,359,5147,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2165,2706,2772,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.57
$GC,5446,-0.15,0.0,2348,2166,2773,2640,270.2,2.8,374,5446,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2706,2772,2640,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.96
$GC,5746,-0.15,0.0,2348,2166,2773,2640,261.9,2.7,389,5746,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2165,2706,2772,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.33
$GC,6046,-0.15,0.0,2348,2166,2773,2640,254.3,2.4,404,6046,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2166,2706,2773,2640,0,0,0,0,0,0,15.01,15.01,15.01,6.27,51.77
$STATE,6343,end loiter,LOITER_COMPLETE
$STATE,6343,begin climb
$GC,6346,0.64,146.0,2348,2166,2773,2640,248.4,0.0,419,6487,0.62,2.60,129.57,1.434,10756,0.171,0.064,2602,748,2118,2138,2099,0,0,0,0,0,0,14.29,13.96,13.28,6.28,51.61
$GC,6582,0.64,146.0,2602,749,2135,2094,234.9,8.4,430,6586,0.00,2.42,0.00,0.000,1030,0.000,0.052,2603,2139,2111,2131,2092,0,0,0,0,0,0,14.19,14.08,14.21,6.24,49.52
$GC,6887,0.64,146.0,2603,2140,2128,2086,202.1,10.8,446,6891,0.00,2.55,0.00,0.000,260,0.000,0.083,2602,3560,2106,2127,2086,0,0,0,0,0,0,14.58,14.18,14.59,6.23,50.78
$GC,6987,0.64,146.0,2603,3561,2127,2087,191.0,10.9,451,6991,0.00,2.38,0.00,0.000,5126,0.000,0.044,2613,2146,2106,2127,2086,0,0,0,0,0,0,14.42,14.31,14.45,6.23,51.45
$GC,7307,0.64,146.0,2613,2147,2125,2083,153.4,12.1,467,7311,0.00,2.45,0.00,0.000,4612,0.000,0.067,2624,744,2104,2125,2083,0,0,0,0,0,0,14.71,14.29,14.71,6.23,51.10
$GC,7337,0.64,146.0,2625,744,2124,2083,151.5,12.2,468,7341,0.05,2.42,0.00,0.000,5126,0.373,0.053,2606,2158,2102,2123,2082,0,0,0,0,0,0,14.12,14.33,14.38,6.23,51.02
$GC,7657,0.64,146.0,2607,2159,2124,2081,111.7,11.6,485,7661,0.00,2.47,0.00,0.000,260,0.000,0.083,2607,3556,2102,2123,2081,0,0,0,0,0,0,14.76,14.30,14.76,6.22,50.86
$GC,7742,0.64,146.0,2606,3557,2123,2082,102.4,11.7,489,7746,0.00,2.35,0.00,0.000,5126,0.000,0.043,2615,2143,2102,2123,2081,0,0,0,0,0,0,14.54,14.40,14.56,6.22,50.39
$GC,8047,0.64,146.0,2617,2143,2124,2079,69.4,10.1,546,8051,0.00,2.42,0.00,0.000,4612,0.000,0.066,2622,745,2100,2122,2079,0,0,0,0,0,0,14.76,14.33,14.76,6.21,49.48
$GC,8077,0.64,146.0,2627,745,2122,2077,66.4,9.9,552,8081,0.08,2.40,0.00,0.000,5126,0.311,0.053,2600,2157,2100,2121,2079,0,0,0,0,0,0,14.14,14.37,14.40,6.21,49.60
$GC,8202,0.64,150.8,2600,2158,2121,2080,55.5,8.1,577,8206,0.00,2.45,0.00,0.000,2308,0.000,0.083,2600,3552,2100,2121,2079,0,0,0,0,0,0,14.75,14.30,14.76,6.20,49.52
$GC,8262,0.65,155.2,2599,3552,2121,2080,50.4,8.2,589,8271,0.00,2.33,5.22,1.252,9222,0.000,0.042,2609,2146,2086,2106,2066,0,0,0,0,0,0,14.52,14.41,13.51,6.21,49.40
$GC,8393,0.65,155.2,2610,2146,2103,2065,39.8,9.0,615,8396,0.00,2.45,0.00,0.000,516,0.000,0.066,2620,741,2083,2102,2064,0,0,0,0,0,0,14.73,14.34,14.73,6.20,49.64
$GC,8422,0.65,155.2,2620,741,2103,2065,37.1,8.6,621,8426,0.00,2.40,0.00,0.000,5126,0.000,0.053,2620,2149,2083,2102,2064,0,0,0,0,0,0,14.52,14.38,14.54,6.20,49.68
$GC,8549,0.65,155.2,2620,2150,2103,2063,25.6,9.5,646,8556,0.00,2.47,0.00,0.000,4356,0.000,0.084,2620,3551,2082,2102,2063,0,0,0,0,0,0,14.73,14.30,14.73,6.20,50.59
$GC,8607,0.65,155.2,2620,3552,2104,2064,19.6,10.0,658,8611,0.08,2.33,0.00,0.000,5126,0.339,0.043,2605,2152,2083,2102,2064,0,0,0,0,0,0,14.10,14.40,14.36,6.21,50.59
$GC,8732,0.65,155.2,2605,2151,2103,2063,8.3,9.0,683,8736,0.00,2.45,0.00,0.000,516,0.000,0.063,2615,744,2082,2102,2063,0,0,0,0,0,0,14.73,14.33,14.73,6.20,50.59
$GC,8777,0.65,155.2,2614,744,2102,2063,4.6,8.6,692,8781,0.00,2.40,0.00,0.000,5126,0.000,0.054,2615,2153,2082,2102,2062,0,0,0,0,0,0,14.52,14.37,14.54,6.29,50.63
$STATE,8795,end climb,SURFACE_DEPTH_REACHED
$STATE,8795,begin surface coast
$STATE,8825,end surface coast,CONTROL_FINISHED_OK
$STATE,8825,begin surface
$SM_CCo,8841,62.53,0.240,0,0,1821,220.03
$SM_GC,1.15,5.55,0.08,62.53,0.060,0.158,0.240,225,2070,1821,-6.47,1.07,220.03,0,0,0,0,0,0,14.54,14.47,14.10
$IRIDIUM_FIX,-6012.95,0.00,130219,232501
$TT8_MAMPS,0.038948,0.337799
$HUMID,50.98
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3631424
$24V_AH,13.14,108.362
$10V_AH,13.26,0.000
$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,13.375,83.050,259.050,62.525,0.000,28.002,15.985,139.021,0.000,0.000,18.056,0.000,6997.404,408.279,1607.189,268.409,0.000,1048.118,0.000,1151.421,0.000,0.540,0.000
$DEVICE_MAMPS,426.870,2208.555,1594.260,240.210,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5251.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.386,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17344,702
$CAP_FILE_SIZE,94590,0
$CFSIZE,1023623168,963821568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.056,195.45,1
$GPS,140219,043501,-6013.543,-0.684,17,0.7,34,-19.7,0.0,196.4,11,8.6