version: 66.14
glider: 640
mission: 5
dive: 568
start: 2 14 119 7 22 40
data:
$ID,640
$MISSION,5
$DIVE,568
$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,34
$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
$GPS1,140219,071531,-6013.1333,-0.3215,12,0.8,35,-19.7,0.4,45.3,11,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-65.8
$GPS2,140219,072219,-6013.1543,-0.2649,8,0.8,19,-19.7,0.4,81.3,10,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,18.3,61402,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,12,-0.64,-146.0,224,2091,1784,1833,0.0,0.0,0,102,0.00,0.00,-87.10,0.000,16386,0.000,0.000,224,2090,3228,3310,3147,0,0,0,0,0,0,14.55,28.83,14.55,6.18,51.81
$GC,105,-0.64,-146.0,224,2091,3310,3149,3.6,-8.0,18,119,6.18,2.72,-3.05,0.000,18948,0.341,2.197,2173,691,3316,3408,3224,0,0,0,0,0,0,13.85,13.15,14.26,6.31,49.96
$GC,219,-0.64,-146.0,2174,691,3412,3223,23.9,-15.7,41,223,0.10,2.45,0.00,0.000,3078,0.337,0.057,2194,2104,3318,3412,3224,0,0,0,0,0,0,13.96,14.25,14.24,6.31,48.81
$GC,346,-0.64,-146.0,2196,2105,3412,3225,43.3,-15.6,66,352,0.00,2.50,0.00,0.000,260,0.000,0.083,2186,3507,3317,3411,3224,0,0,0,0,0,0,14.62,14.21,14.62,6.32,49.68
$GC,374,-0.64,-146.0,2186,3508,3412,3223,47.9,-15.5,72,378,0.00,2.38,0.00,0.000,3078,0.000,0.044,2185,2099,3318,3412,3224,0,0,0,0,0,0,14.41,14.26,14.44,6.32,49.80
$GC,499,-0.64,-146.0,2185,2099,3412,3225,65.1,-12.6,97,503,0.00,2.47,0.00,0.000,2564,0.000,0.064,2186,685,3317,3411,3224,0,0,0,0,0,0,14.67,14.26,14.67,6.32,49.64
$GC,534,-0.64,-146.0,2186,686,3414,3224,69.5,-12.5,104,538,0.05,2.45,0.00,0.000,3078,0.431,0.054,2190,2105,3318,3412,3224,0,0,0,0,0,0,14.02,14.28,14.28,6.33,49.72
$GC,661,-0.64,-146.0,2191,2105,3413,3224,84.5,-12.2,129,664,0.00,0.00,0.00,0.000,2054,0.000,0.000,2190,2104,3318,3412,3224,0,0,0,0,0,0,14.67,14.67,14.67,6.32,49.37
$GC,784,-0.64,-146.0,2186,2105,3413,3224,100.3,-12.8,154,785,0.00,0.00,0.00,0.000,2054,0.000,0.000,2191,2104,3318,3412,3224,0,0,0,0,0,0,14.70,14.71,14.71,6.31,48.26
$GC,1084,-0.64,-146.0,2191,2104,3413,3224,141.1,-14.3,169,1088,0.00,2.47,0.00,0.000,2308,0.000,0.083,2180,3503,3318,3412,3224,0,0,0,0,0,0,14.75,14.26,14.75,6.31,48.89
$GC,1109,-0.64,-146.0,2180,3503,3414,3223,143.2,-14.3,170,1112,0.00,2.35,0.00,0.000,3078,0.000,0.043,2179,2094,3318,3412,3224,0,0,0,0,0,0,14.50,14.35,14.52,6.31,48.97
$GC,1414,-0.64,-146.0,2180,2094,3419,3225,188.3,-13.9,185,1418,0.00,2.42,0.00,0.000,2564,0.000,0.063,2179,697,3318,3412,3224,0,0,0,0,0,0,14.77,14.33,14.77,6.32,50.94
$GC,1469,-0.64,-146.0,2180,697,3414,3224,196.1,-14.2,188,1473,0.08,2.40,0.00,0.000,3078,0.366,0.055,2193,2100,3318,3412,3224,0,0,0,0,0,0,14.04,14.35,14.33,6.32,50.55
$GC,1784,-0.64,-146.0,2193,2100,3413,3224,236.9,-12.8,204,1788,0.00,2.53,0.00,0.000,2308,0.000,0.083,2182,3509,3318,3412,3224,0,0,0,0,0,0,14.79,14.28,14.79,6.33,51.41
$GC,1809,-0.64,-146.0,2182,3510,3413,3225,238.8,-12.8,205,1813,0.00,2.35,0.00,0.000,3078,0.000,0.044,2182,2100,3317,3412,3222,0,0,0,0,0,0,14.52,14.38,14.55,6.33,51.37
$GC,2119,-0.64,-146.0,2182,2099,3414,3223,280.0,-12.7,221,2123,0.00,2.45,0.00,0.000,2564,0.000,0.063,2181,688,3318,3412,3224,0,0,0,0,0,0,14.80,14.34,14.81,6.33,50.82
$GC,2164,-0.64,-146.0,2182,689,3413,3224,284.5,-12.8,223,2168,0.08,2.42,0.00,0.000,3078,0.360,0.054,2195,2101,3317,3410,3224,0,0,0,0,0,0,14.04,14.36,14.33,6.33,50.82
$GC,2469,-0.64,-146.0,2195,2102,3413,3225,320.8,-11.4,238,2473,0.00,2.50,0.00,0.000,260,0.000,0.083,2185,3509,3317,3412,3223,0,0,0,0,0,0,14.80,14.29,14.81,6.33,51.14
$GC,2509,-0.64,-146.0,2185,3509,3413,3224,324.9,-11.5,240,2512,0.00,2.35,0.00,0.000,3078,0.000,0.043,2184,2099,3318,3412,3224,0,0,0,0,0,0,14.54,14.38,14.56,6.34,50.90
$STATE,2716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2716,begin apogee
$GC,2723,-0.15,0.0,2185,2157,3413,3224,350.5,-12.1,251,2850,0.47,0.00,124.68,1.624,10246,0.251,0.000,2350,2157,2713,2775,2651,0,0,0,0,0,0,14.02,13.87,13.10,6.33,51.06
$STATE,2851,end apogee,CONTROL_FINISHED_OK
$STATE,2851,begin loiter
$GC,3139,-0.15,0.0,2350,2158,2771,2644,346.8,3.3,272,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2157,2706,2770,2643,0,0,0,0,0,0,14.54,14.55,14.55,6.28,50.51
$GC,3439,-0.15,0.0,2351,2156,2770,2643,337.2,3.2,287,3440,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2157,2706,2770,2642,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.82
$GC,3739,-0.15,0.0,2351,2157,2771,2640,328.1,2.8,302,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2157,2705,2770,2640,0,0,0,0,0,0,14.80,14.81,14.80,6.28,51.10
$GC,4039,-0.15,0.0,2350,2156,2771,2640,319.4,2.9,317,4040,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2157,2705,2770,2640,0,0,0,0,0,0,14.85,14.86,14.85,6.28,51.22
$GC,4339,-0.15,0.0,2350,2158,2770,2640,311.1,2.7,332,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2157,2704,2770,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.10
$GC,4639,-0.15,0.0,2351,2158,2770,2640,302.8,2.8,347,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2157,2704,2770,2639,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.18
$GC,4939,-0.15,0.0,2349,2157,2771,2639,294.9,2.8,362,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2157,2704,2770,2639,0,0,0,0,0,0,14.94,14.95,14.95,6.28,51.37
$GC,5239,-0.15,0.0,2351,2157,2771,2638,287.2,2.5,377,5240,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2157,2704,2770,2638,0,0,0,0,0,0,14.96,14.96,14.97,6.28,52.00
$GC,5539,-0.15,0.0,2350,2157,2771,2638,279.6,2.6,392,5540,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2157,2704,2770,2638,0,0,0,0,0,0,14.97,14.98,14.98,6.27,51.29
$GC,5839,-0.15,0.0,2351,2157,2771,2638,271.5,2.8,407,5840,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2157,2704,2770,2638,0,0,0,0,0,0,14.99,15.00,15.00,6.28,51.41
$GC,6139,-0.15,0.0,2351,2157,2771,2638,262.6,3.1,422,6140,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2157,2704,2770,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.57
$STATE,6436,end loiter,LOITER_COMPLETE
$STATE,6436,begin climb
$GC,6439,0.64,146.0,2351,2157,2771,2638,253.1,0.0,437,6580,0.62,2.60,129.07,1.424,10756,0.169,0.063,2606,742,2118,2138,2099,0,0,0,0,0,0,14.29,13.97,13.28,6.28,51.73
$GC,6685,0.64,146.0,2606,743,2132,2092,234.5,10.0,449,6689,0.00,2.45,0.00,0.000,1030,0.000,0.052,2606,2144,2111,2130,2092,0,0,0,0,0,0,14.19,14.08,14.23,6.23,49.37
$GC,6995,0.64,146.0,2606,2145,2127,2087,199.0,11.3,465,6999,0.00,2.53,0.00,0.000,260,0.000,0.082,2601,3554,2106,2126,2086,0,0,0,0,0,0,14.59,14.19,14.60,6.23,50.78
$GC,7050,0.64,146.0,2607,3555,2127,2087,192.8,11.3,468,7053,0.00,2.38,0.00,0.000,5126,0.000,0.044,2617,2148,2107,2126,2089,0,0,0,0,0,0,14.43,14.30,14.44,6.23,51.10
$GC,7365,0.64,146.0,2617,2148,2125,2083,157.3,11.4,484,7369,0.00,2.47,0.00,0.000,4612,0.000,0.067,2628,737,2103,2124,2083,0,0,0,0,0,0,14.71,14.28,14.71,6.23,50.86
$GC,7425,0.64,146.0,2628,737,2122,2091,150.7,11.2,487,7429,0.08,2.42,0.00,0.000,5126,0.315,0.053,2602,2157,2101,2121,2082,0,0,0,0,0,0,14.09,14.33,14.37,6.23,50.94
$GC,7745,0.64,146.0,2602,2157,2123,2081,116.5,10.5,503,7748,0.00,2.47,0.00,0.000,260,0.000,0.083,2602,3553,2101,2121,2081,0,0,0,0,0,0,14.76,14.30,14.76,6.22,51.18
$GC,7825,0.64,146.0,2602,3554,2122,2081,108.5,10.7,507,7828,0.00,2.35,0.00,0.000,5126,0.000,0.044,2610,2145,2101,2121,2081,0,0,0,0,0,0,14.54,14.40,14.55,6.23,51.22
$GC,8130,0.64,146.0,2611,2145,2121,2080,75.3,10.5,555,8134,0.00,2.45,0.00,0.000,4612,0.000,0.066,2621,745,2104,2128,2080,0,0,0,0,0,0,14.77,14.31,14.78,6.21,49.80
$GC,8200,0.64,146.0,2622,745,2121,2078,68.3,9.8,569,8204,0.05,2.40,0.00,0.000,5126,0.374,0.052,2604,2153,2099,2120,2079,0,0,0,0,0,0,14.15,14.38,14.41,6.22,50.07
$GC,8325,0.64,146.0,2604,2154,2121,2081,56.8,8.8,594,8328,0.00,2.50,0.00,0.000,260,0.000,0.084,2604,3562,2099,2120,2079,0,0,0,0,0,0,14.77,14.29,14.77,6.21,49.33
$GC,8370,0.64,146.0,2604,3562,2121,2080,52.7,9.2,603,8374,0.00,2.35,0.00,0.000,5126,0.000,0.044,2612,2150,2099,2120,2079,0,0,0,0,0,0,14.54,14.41,14.57,6.21,49.21
$GC,8497,0.64,147.9,2613,2151,2120,2079,42.1,8.3,628,8503,0.00,2.45,0.00,0.000,4612,0.000,0.065,2624,745,2099,2120,2079,0,0,0,0,0,0,14.75,14.23,14.73,6.21,50.19
$GC,8590,0.65,153.8,2624,740,2121,2078,34.3,8.1,647,8594,0.05,2.40,0.00,0.000,5126,0.379,0.052,2606,2155,2099,2119,2079,0,0,0,0,0,0,14.14,14.37,14.37,6.20,50.11
$GC,8715,0.66,164.4,2606,2156,2120,2079,24.5,7.9,672,8733,0.00,2.50,11.43,1.296,10500,0.000,0.083,2605,3552,2045,2064,2027,0,0,0,0,0,0,14.74,14.40,13.65,6.21,51.10
$GC,8780,0.66,164.4,2607,3554,2065,2027,19.0,8.8,685,8783,0.00,2.35,0.00,0.000,5126,0.000,0.043,2616,2143,2045,2064,2027,0,0,0,0,0,0,14.52,14.40,14.54,6.21,50.47
$GC,8907,0.66,164.4,2615,2143,2064,2025,7.7,9.8,710,8913,0.00,2.45,0.00,0.000,4612,0.000,0.067,2627,739,2043,2063,2024,0,0,0,0,0,0,14.71,14.23,14.71,6.21,51.14
$GC,8940,0.66,164.4,2627,740,2063,2025,4.5,9.2,717,8944,0.05,2.42,0.00,0.000,5126,0.377,0.054,2608,2157,2043,2062,2024,0,0,0,0,0,0,14.14,14.35,14.37,6.21,50.55
$STATE,8957,end climb,SURFACE_DEPTH_REACHED
$STATE,8957,begin surface coast
$STATE,8987,end surface coast,CONTROL_FINISHED_OK
$STATE,8987,begin surface
$SM_CCo,9003,52.97,0.240,0,0,1822,220.03
$SM_GC,1.06,5.47,0.10,52.97,0.049,0.132,0.240,276,2063,1822,-6.46,0.79,220.03,0,0,0,0,0,0,14.48,14.43,14.09
$IRIDIUM_FIX,-6016.69,0.00,140219,043755
$TT8_MAMPS,0.038199,0.343042
$HUMID,50.43
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,1
$SC_FREEKB,3630400
$24V_AH,13.10,108.724
$10V_AH,13.27,0.000
$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,13.275,83.350,265.175,52.975,0.000,22.768,45.711,140.194,0.250,0.000,20.427,0.000,7107.130,403.824,1680.291,273.945,0.000,1064.514,0.000,1189.318,0.000,0.539,0.000
$DEVICE_MAMPS,431.460,2197.080,1624.095,240.210,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5415.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.467,0.000,0.000,0.000
$MEM,344112
$DATA_FILE_SIZE,20809,727
$CAP_FILE_SIZE,96529,0
$CFSIZE,1023623168,963624960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.030,161.89,1
$GPS,140219,095432,-6012.727,-0.141,18,0.8,27,-19.7,0.5,230.8,11,8.5