version: 66.14
glider: 640
mission: 5
dive: 574
start: 2 14 119 23 12 23
data:
$ID,640
$MISSION,5
$DIVE,574
$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,57
$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
$GPS1,140219,230532,-6010.8350,-0.8453,15,0.9,27,-19.7,0.7,77.2,10,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-67.1
$GPS2,140219,231204,-6010.8267,-0.7654,9,0.8,16,-19.7,0.4,329.3,10,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,23.8,57095,-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,14,-0.64,-146.0,234,2064,1788,1830,0.0,0.0,0,98,0.00,0.00,-82.05,0.000,16386,0.000,0.000,233,2064,3171,3252,3090,0,0,0,0,0,0,14.54,28.83,14.55,6.19,51.61
$GC,101,-0.64,-146.0,233,2061,3254,3092,3.5,-6.2,17,118,6.20,2.65,-5.20,0.000,18948,0.350,2.200,2187,725,3318,3414,3223,0,0,0,0,0,0,13.90,12.91,14.28,6.30,50.35
$GC,211,-0.64,-146.0,2187,726,3415,3225,21.8,-15.0,39,216,0.05,2.38,0.00,0.000,3078,0.434,0.054,2192,2102,3320,3415,3225,0,0,0,0,0,0,13.99,14.26,14.26,6.31,49.80
$GC,338,-0.64,-146.0,2192,2103,3415,3225,42.1,-16.3,64,344,0.00,2.50,0.00,0.000,2308,0.000,0.082,2182,3510,3319,3414,3224,0,0,0,0,0,0,14.62,14.19,14.62,6.33,49.56
$GC,386,-0.64,-146.0,2183,3510,3416,3224,50.1,-15.5,74,389,0.00,2.35,0.00,0.000,3078,0.000,0.044,2181,2118,3319,3415,3224,0,0,0,0,0,0,14.44,14.32,14.45,6.32,49.64
$GC,513,-0.64,-146.0,2182,2118,3416,3224,66.6,-13.3,99,517,0.00,2.50,0.00,0.000,2564,0.000,0.063,2181,692,3319,3415,3224,0,0,0,0,0,0,14.66,14.27,14.66,6.32,50.51
$GC,597,-0.64,-146.0,2181,692,3409,3225,78.3,-13.5,116,601,0.08,2.42,0.00,0.000,3078,0.360,0.055,2194,2100,3319,3415,3224,0,0,0,0,0,0,14.00,14.30,14.28,6.32,49.48
$GC,724,-0.64,-146.0,2195,2101,3415,3224,95.0,-13.7,141,730,0.00,2.47,0.00,0.000,260,0.000,0.082,2183,3503,3319,3415,3224,0,0,0,0,0,0,14.67,14.21,14.67,6.31,48.46
$GC,737,-0.64,-146.0,2184,3503,3416,3224,97.1,-13.6,144,741,0.00,2.38,0.00,0.000,3078,0.000,0.045,2183,2087,3319,3415,3224,0,0,0,0,0,0,14.47,14.35,14.50,6.31,48.22
$GC,862,-0.64,-146.0,2184,2086,3416,3224,114.4,-14.0,154,866,0.00,2.42,0.00,0.000,2564,0.000,0.063,2182,696,3319,3415,3224,0,0,0,0,0,0,14.72,14.30,14.72,6.31,48.34
$GC,887,-0.64,-146.0,2183,696,3416,3224,116.5,-14.1,155,891,0.08,2.42,0.00,0.000,3078,0.353,0.057,2197,2103,3320,3415,3225,0,0,0,0,0,0,14.03,14.32,14.31,6.31,48.30
$GC,1197,-0.64,-146.0,2197,2104,3416,3225,157.2,-12.9,171,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2103,3319,3414,3224,0,0,0,0,0,0,14.75,14.76,14.75,6.31,49.48
$GC,1497,-0.64,-146.0,2198,2103,3416,3225,195.3,-12.4,186,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2103,3319,3415,3224,0,0,0,0,0,0,14.78,14.78,14.78,6.32,50.66
$GC,1797,-0.64,-146.0,2197,2103,3415,3225,232.4,-12.3,201,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2103,3320,3415,3226,0,0,0,0,0,0,14.79,14.79,14.80,6.31,51.45
$GC,2097,-0.64,-146.0,2197,2104,3415,3225,269.3,-12.4,216,2098,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2103,3319,3415,3224,0,0,0,0,0,0,14.81,14.81,14.81,6.32,51.10
$GC,2397,-0.64,-146.0,2197,2104,3416,3226,306.6,-12.4,231,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2103,3320,3415,3225,0,0,0,0,0,0,14.81,14.81,14.81,6.33,51.02
$GC,2697,-0.64,-146.0,2198,2104,3416,3225,343.8,-12.4,246,2698,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2103,3319,3415,3224,0,0,0,0,0,0,14.82,14.82,14.82,6.33,51.29
$STATE,2754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2754,begin apogee
$GC,2761,-0.15,0.0,2197,2169,3415,3226,351.2,-12.3,249,2888,0.45,0.00,124.72,1.587,10246,0.253,0.000,2353,2167,2717,2777,2657,0,0,0,0,0,0,13.96,13.87,13.14,6.33,51.18
$STATE,2889,end apogee,CONTROL_FINISHED_OK
$STATE,2889,begin loiter
$GC,3177,-0.15,0.0,2353,2168,2772,2645,351.1,2.4,270,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2167,2708,2772,2644,0,0,0,0,0,0,14.56,14.56,14.56,6.28,50.47
$GC,3477,-0.15,0.0,2355,2168,2773,2643,343.6,2.5,285,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2168,2706,2771,2642,0,0,0,0,0,0,14.71,14.72,14.72,6.28,50.82
$GC,3777,-0.15,0.0,2354,2168,2773,2642,335.6,2.7,300,3778,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2167,2706,2771,2642,0,0,0,0,0,0,14.81,14.81,14.81,6.28,51.22
$GC,4077,-0.15,0.0,2353,2168,2772,2642,327.1,2.8,315,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2167,2707,2772,2642,0,0,0,0,0,0,14.86,14.86,14.86,6.28,51.65
$GC,4377,-0.15,0.0,2353,2168,2772,2642,318.7,2.8,330,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2167,2706,2771,2641,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.22
$GC,4677,-0.15,0.0,2354,2168,2772,2640,310.2,2.9,345,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2167,2706,2772,2641,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.81
$GC,4977,-0.15,0.0,2353,2168,2772,2641,301.5,3.0,360,4978,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2167,2706,2772,2640,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.29
$GC,5277,-0.15,0.0,2354,2168,2773,2639,292.5,2.9,375,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2168,2705,2771,2640,0,0,0,0,0,0,14.96,14.97,14.97,6.28,51.33
$GC,5577,-0.15,0.0,2354,2167,2773,2640,283.3,3.1,390,5578,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2167,2705,2771,2640,0,0,0,0,0,0,14.98,14.98,14.98,6.28,51.57
$GC,5877,-0.15,0.0,2353,2168,2772,2641,274.1,3.2,405,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2168,2706,2772,2640,0,0,0,0,0,0,14.99,15.00,15.00,6.28,51.49
$GC,6177,-0.15,0.0,2353,2168,2772,2641,264.0,3.6,420,6178,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2168,2706,2772,2640,0,0,0,0,0,0,15.00,15.01,15.00,6.28,51.61
$STATE,6474,end loiter,LOITER_COMPLETE
$STATE,6474,begin climb
$GC,6477,0.64,146.0,2354,2168,2773,2640,253.7,0.0,435,6611,0.62,0.00,130.00,1.435,10758,0.168,0.000,2598,2166,2125,2145,2105,0,0,0,0,0,0,14.30,13.96,13.26,6.27,51.65
$GC,6898,0.64,146.0,2598,2168,2131,2087,214.0,10.9,456,6902,0.00,2.47,0.00,0.000,2308,0.000,0.083,2598,3539,2108,2130,2086,0,0,0,0,0,0,14.53,14.14,14.54,6.23,50.66
$GC,6963,0.64,146.0,2598,3540,2131,2087,208.0,11.0,459,6967,0.00,2.35,0.00,0.000,5126,0.000,0.044,2609,2148,2108,2130,2086,0,0,0,0,0,0,14.37,14.26,14.40,6.24,50.78
$GC,7268,0.64,146.0,2609,2149,2126,2083,172.5,11.3,474,7272,0.00,2.47,0.00,0.000,4612,0.000,0.067,2620,745,2104,2126,2082,0,0,0,0,0,0,14.68,14.26,14.68,6.23,50.94
$GC,7333,0.64,146.0,2621,743,2125,2082,166.7,10.7,477,7337,0.05,2.40,0.00,0.000,5126,0.386,0.054,2602,2139,2103,2124,2082,0,0,0,0,0,0,14.09,14.31,14.35,6.24,51.18
$GC,7638,0.64,146.0,2603,2140,2124,2082,132.7,10.9,492,7642,0.00,2.53,0.00,0.000,260,0.000,0.083,2602,3553,2102,2124,2080,0,0,0,0,0,0,14.74,14.28,14.74,6.23,51.37
$GC,7723,0.64,146.0,2603,3554,2125,2080,124.6,10.8,496,7727,0.00,2.35,0.00,0.000,5126,0.000,0.044,2610,2145,2101,2123,2080,0,0,0,0,0,0,14.52,14.40,14.54,6.23,50.94
$GC,8028,0.64,146.0,2612,2146,2123,2080,91.7,10.9,523,8032,0.00,2.45,0.00,0.000,4612,0.000,0.067,2623,743,2100,2122,2079,0,0,0,0,0,0,14.77,14.33,14.77,6.22,50.82
$GC,8078,0.64,146.0,2622,744,2121,2080,86.5,10.2,533,8082,0.05,2.42,0.00,0.000,5126,0.364,0.054,2604,2161,2099,2120,2078,0,0,0,0,0,0,14.16,14.37,14.42,6.21,50.35
$GC,8203,0.64,146.0,2604,2161,2121,2080,74.6,9.1,558,8207,0.00,2.47,0.00,0.000,260,0.000,0.083,2604,3556,2099,2120,2078,0,0,0,0,0,0,14.76,14.30,14.77,6.22,49.96
$GC,8228,0.64,146.0,2605,3557,2121,2079,72.1,9.7,563,8232,0.00,2.38,0.00,0.000,5126,0.000,0.044,2613,2146,2099,2120,2079,0,0,0,0,0,0,14.54,14.41,14.57,6.21,49.68
$GC,8355,0.67,171.8,2614,2147,2121,2078,61.9,7.3,588,8381,0.00,2.45,21.38,1.294,8708,0.000,0.067,2624,735,2014,2030,1998,0,0,0,0,0,0,14.75,14.39,13.67,6.21,49.44
$GC,8423,0.67,171.8,2625,735,2029,1997,55.8,8.7,602,8427,0.00,2.42,0.00,0.000,5126,0.000,0.054,2625,2148,2012,2029,1995,0,0,0,0,0,0,14.47,14.34,14.50,6.20,49.13
$GC,8550,0.67,171.8,2624,2149,2029,1994,43.9,10.0,627,8554,0.00,0.00,0.00,0.000,4102,0.000,0.000,2624,2149,2010,2028,1993,0,0,0,0,0,0,14.66,14.66,14.66,6.20,49.72
$GC,8674,0.67,171.8,2625,2149,2028,1994,32.0,9.1,652,8677,0.00,2.50,0.00,0.000,4356,0.000,0.086,2625,3552,2010,2028,1993,0,0,0,0,0,0,14.70,14.26,14.69,6.20,50.23
$GC,8714,0.67,171.8,2625,3553,2029,1993,28.1,10.2,660,8718,0.08,2.35,0.00,0.000,5126,0.337,0.044,2609,2149,2009,2027,1992,0,0,0,0,0,0,14.09,14.38,14.37,6.20,50.23
$GC,8841,0.67,171.8,2609,2148,2028,1992,16.8,8.9,685,8847,0.00,2.47,0.00,0.000,2564,0.000,0.068,2619,742,2009,2027,1992,0,0,0,0,0,0,14.70,14.30,14.71,6.20,51.37
$GC,8894,0.67,171.8,2619,743,2027,1992,11.6,9.4,696,8897,0.00,2.42,0.00,0.000,5126,0.000,0.054,2619,2160,2008,2026,1991,0,0,0,0,0,0,14.49,14.33,14.52,6.20,51.06
$STATE,8976,end climb,SURFACE_DEPTH_REACHED
$STATE,8976,begin surface coast
$STATE,9003,end surface coast,CONTROL_FINISHED_OK
$STATE,9003,begin surface
$SM_CCo,9019,44.53,0.240,0,0,1822,220.03
$SM_GC,1.57,5.47,0.10,44.53,0.043,0.135,0.240,274,2061,1822,-6.47,0.90,220.03,0,0,0,0,0,0,14.45,14.41,14.08
$IRIDIUM_FIX,-6010.00,8.65,140219,202952
$TT8_MAMPS,0.03745,0.334803
$HUMID,50.94
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3627328
$24V_AH,12.91,109.819
$10V_AH,13.47,0.000
$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,13.125,63.600,276.100,44.525,0.000,26.499,22.093,148.153,0.000,0.000,17.578,0.000,7221.610,393.517,1563.391,275.298,0.000,1005.175,0.000,1103.826,0.000,0.540,0.000
$DEVICE_MAMPS,433.755,2200.140,1586.610,240.210,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5430.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.539,0.000,0.000,0.000
$MEM,344112
$DATA_FILE_SIZE,20766,718
$CAP_FILE_SIZE,89968,0
$CFSIZE,1023623168,963035136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.032,236.22,1
$GPS,150219,014511,-6010.284,-0.940,35,1.0,76,-19.7,0.5,1.2,7,3.9