version: 66.14
glider: 640
mission: 5
dive: 559
start: 2 13 119 7 46 12
data:
$ID,640
$MISSION,5
$DIVE,559
$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,46
$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
$GPS1,130219,073902,-6016.6235,0.2397,15,0.9,28,-19.7,1.0,158.6,8,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-64.1
$GPS2,130219,074552,-6016.6123,0.3380,11,0.9,21,-19.7,0.0,19.1,9,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,18.0,67806,-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,-146.0,230,2081,1784,1831,0.0,0.0,0,103,0.00,0.00,-88.45,0.000,16386,0.000,0.000,229,2080,3226,3307,3146,0,0,0,0,0,0,14.55,28.83,14.55,6.19,51.18
$GC,106,-0.64,-146.0,229,2081,3308,3148,3.2,-6.6,18,123,6.20,2.70,-3.12,0.000,18948,0.347,2.199,2178,707,3317,3409,3225,0,0,0,0,0,0,13.87,12.94,14.27,6.31,50.59
$GC,205,-0.64,-146.0,2179,707,3413,3225,22.0,-16.8,38,211,0.08,2.40,0.00,0.000,3078,0.368,0.057,2192,2100,3318,3412,3225,0,0,0,0,0,0,13.96,14.24,14.25,6.32,49.13
$GC,336,-0.64,-146.0,2192,2101,3412,3227,43.3,-17.1,64,342,0.00,2.53,0.00,0.000,2308,0.000,0.083,2181,3512,3318,3412,3225,0,0,0,0,0,0,14.62,14.21,14.62,6.32,49.76
$GC,358,-0.64,-146.0,2182,3512,3413,3225,47.8,-18.1,69,362,0.00,2.35,0.00,0.000,3078,0.000,0.044,2181,2116,3319,3412,3226,0,0,0,0,0,0,14.35,14.23,14.36,6.32,49.48
$GC,483,-0.64,-146.0,2182,2116,3413,3226,68.2,-15.6,94,487,0.00,2.47,0.00,0.000,2564,0.000,0.063,2181,692,3318,3412,3225,0,0,0,0,0,0,14.66,14.18,14.66,6.32,49.60
$GC,533,-0.64,-146.0,2181,692,3414,3225,76.3,-15.7,104,537,0.08,2.42,0.00,0.000,3078,0.367,0.055,2193,2110,3319,3412,3226,0,0,0,0,0,0,13.92,14.21,14.20,6.32,49.25
$GC,660,-0.64,-146.0,2193,2108,3413,3227,95.2,-15.1,129,664,0.00,2.47,0.00,0.000,2308,0.000,0.083,2182,3504,3318,3412,3225,0,0,0,0,0,0,14.68,14.24,14.68,6.31,49.17
$GC,680,-0.64,-146.0,2182,3505,3412,3227,98.6,-15.6,133,684,0.00,2.35,0.00,0.000,3078,0.000,0.044,2182,2097,3319,3412,3226,0,0,0,0,0,0,14.47,14.34,14.49,6.31,49.21
$GC,810,-0.64,-146.0,2182,2097,3413,3227,118.0,-14.3,141,813,0.00,2.45,0.00,0.000,2564,0.000,0.063,2181,685,3319,3412,3226,0,0,0,0,0,0,14.72,14.30,14.72,6.31,48.85
$GC,880,-0.64,-146.0,2182,685,3413,3227,126.4,-14.0,144,884,0.08,2.42,0.00,0.000,3078,0.366,0.055,2194,2103,3319,3412,3226,0,0,0,0,0,0,14.01,14.33,14.31,6.31,48.30
$GC,1185,-0.64,-146.0,2194,2104,3413,3227,165.9,-12.8,159,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2103,3318,3412,3225,0,0,0,0,0,0,14.76,14.76,14.76,6.31,50.11
$GC,1485,-0.64,-146.0,2194,2104,3413,3227,204.1,-12.5,174,1488,0.00,2.45,0.00,0.000,516,0.000,0.063,2193,694,3318,3412,3225,0,0,0,0,0,0,14.78,14.33,14.78,6.32,50.86
$GC,1525,-0.64,-146.0,2193,695,3412,3227,208.6,-12.8,176,1528,0.00,2.40,0.00,0.000,3078,0.000,0.055,2183,2100,3322,3412,3232,0,0,0,0,0,0,14.52,14.37,14.55,6.32,50.82
$GC,1835,-0.64,-146.0,2184,2099,3413,3226,250.2,-13.3,192,1838,0.00,2.50,0.00,0.000,2308,0.000,0.083,2173,3504,3318,3412,3225,0,0,0,0,0,0,14.81,14.30,14.81,6.33,50.98
$GC,1865,-0.64,-146.0,2174,3505,3413,3226,252.2,-13.3,193,1869,0.08,2.35,0.00,0.000,3078,0.359,0.044,2198,2093,3318,3412,3225,0,0,0,0,0,0,14.06,14.41,14.35,6.40,51.06
$GC,2170,-0.64,-146.0,2198,2093,3413,3227,292.1,-12.3,209,2173,0.00,2.42,0.00,0.000,516,0.000,0.064,2198,699,3318,3412,3225,0,0,0,0,0,0,14.81,14.32,14.81,6.32,51.02
$GC,2239,-0.64,-146.0,2199,699,3413,3225,299.4,-12.3,212,2243,0.00,2.40,0.00,0.000,3078,0.000,0.054,2188,2107,3318,3412,3225,0,0,0,0,0,0,14.54,14.38,14.56,6.33,50.98
$GC,2545,-0.64,-146.0,2188,2108,3413,3226,338.6,-12.5,227,2548,0.00,2.45,0.00,0.000,2308,0.000,0.082,2177,3503,3319,3413,3225,0,0,0,0,0,0,14.82,14.31,14.82,6.32,51.33
$GC,2569,-0.64,-146.0,2177,3504,3413,3227,340.4,-12.5,228,2573,0.05,2.33,0.00,0.000,3078,0.421,0.044,2193,2101,3319,3412,3226,0,0,0,0,0,0,14.11,14.42,14.36,6.33,51.02
$STATE,2652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2652,begin apogee
$GC,2658,-0.15,0.0,2193,2158,3414,3226,352.2,-12.4,232,2787,0.45,0.00,125.43,1.582,10246,0.256,0.000,2349,2158,2716,2775,2657,0,0,0,0,0,0,14.04,13.88,13.14,6.34,51.49
$STATE,2788,end apogee,CONTROL_FINISHED_OK
$STATE,2788,begin loiter
$GC,3075,-0.15,0.0,2349,2159,2772,2645,349.3,3.1,253,3075,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2708,2772,2644,0,0,0,0,0,0,14.55,14.56,14.56,6.28,50.39
$GC,3375,-0.15,0.0,2349,2159,2772,2644,339.9,3.1,268,3375,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2707,2771,2643,0,0,0,0,0,0,14.72,14.72,14.72,6.28,50.82
$GC,3675,-0.15,0.0,2350,2159,2772,2642,330.6,3.1,283,3675,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2706,2771,2642,0,0,0,0,0,0,14.81,14.80,14.81,6.28,51.02
$GC,3975,-0.15,0.0,2349,2159,2772,2642,321.5,3.0,298,3975,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2706,2771,2641,0,0,0,0,0,0,14.86,14.87,14.87,6.28,51.18
$GC,4275,-0.15,0.0,2348,2159,2771,2641,312.8,2.9,313,4275,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2706,2771,2641,0,0,0,0,0,0,14.90,14.90,14.91,6.28,51.37
$GC,4575,-0.15,0.0,2348,2159,2771,2641,304.5,2.7,328,4576,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2705,2771,2640,0,0,0,0,0,0,14.93,14.93,14.92,6.28,52.00
$GC,4875,-0.15,0.0,2349,2159,2772,2640,296.7,2.6,343,4876,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2705,2770,2640,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.61
$GC,5175,-0.15,0.0,2349,2159,2772,2640,289.2,2.5,358,5176,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2705,2771,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.45
$GC,5475,-0.15,0.0,2349,2159,2772,2641,281.6,2.5,373,5475,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2705,2771,2640,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.37
$GC,5775,-0.15,0.0,2349,2159,2772,2640,274.4,2.4,388,5775,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2705,2771,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.85
$GC,6075,-0.15,0.0,2349,2159,2771,2641,267.1,2.5,403,6075,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2705,2771,2639,0,0,0,0,0,0,15.01,15.01,15.01,6.28,51.45
$STATE,6372,end loiter,LOITER_COMPLETE
$STATE,6372,begin climb
$GC,6375,0.64,146.0,2349,2159,2772,2641,259.4,0.0,418,6516,0.62,2.60,129.75,1.437,11012,0.175,0.067,2602,750,2118,2138,2099,0,0,0,0,0,0,14.28,13.95,13.28,6.28,52.16
$GC,6586,0.64,146.0,2602,751,2132,2094,245.9,8.9,428,6590,0.00,2.42,0.00,0.000,1030,0.000,0.052,2603,2143,2111,2131,2092,0,0,0,0,0,0,14.16,14.06,14.19,6.23,49.33
$GC,6891,0.64,146.0,2603,2143,2128,2085,211.6,11.0,443,6895,0.00,2.53,0.00,0.000,260,0.000,0.083,2603,3556,2106,2127,2085,0,0,0,0,0,0,14.57,14.17,14.58,6.23,50.74
$GC,6971,0.64,146.0,2603,3557,2128,2085,203.2,11.2,447,6975,0.00,2.35,0.00,0.000,5126,0.000,0.044,2613,2155,2106,2127,2085,0,0,0,0,0,0,14.41,14.29,14.43,6.23,50.82
$GC,7282,0.64,146.0,2613,2156,2126,2083,167.0,11.6,463,7285,0.00,2.47,0.00,0.000,4612,0.000,0.067,2624,745,2103,2125,2082,0,0,0,0,0,0,14.70,14.28,14.70,6.24,50.90
$GC,7326,0.64,146.0,2625,746,2124,2083,162.6,11.3,465,7330,0.05,2.40,0.00,0.000,5126,0.376,0.053,2606,2160,2102,2123,2082,0,0,0,0,0,0,14.12,14.33,14.37,6.23,50.82
$GC,7636,0.71,203.7,2607,2162,2123,2080,133.9,6.1,481,7695,0.00,2.50,52.20,1.308,10500,0.000,0.081,2606,3552,1882,1890,1875,0,0,0,0,0,0,14.76,14.18,13.54,6.23,51.18
$GC,7754,0.73,224.8,2606,3552,1898,1872,126.9,7.5,486,7779,0.00,2.38,21.33,1.299,11270,0.000,0.044,2615,2151,1801,1807,1796,0,0,0,0,0,0,14.28,14.17,13.43,6.21,50.07
$GC,8081,0.73,224.8,2615,2152,1799,1782,97.1,9.4,507,8085,0.00,2.47,0.00,0.000,2564,0.000,0.069,2627,744,1789,1798,1781,0,0,0,0,0,0,14.60,14.23,14.60,6.19,50.00
$GC,8121,0.73,225.3,2627,744,1796,1782,93.6,8.3,515,8125,0.00,2.40,0.00,0.000,3078,0.000,0.053,2627,2149,1787,1794,1781,0,0,0,0,0,0,14.42,14.28,14.45,6.19,50.15
$GC,8248,0.73,225.3,2627,2150,1795,1782,77.2,14.0,540,8254,0.00,2.50,0.00,0.000,2308,0.000,0.083,2626,3553,1785,1790,1781,0,0,0,0,0,0,14.64,14.24,14.64,6.18,50.03
$GC,8281,0.73,225.3,2627,3554,1796,1781,72.3,13.3,547,8286,0.00,2.38,0.00,0.000,1030,0.000,0.046,2637,2139,1787,1794,1781,0,0,0,0,0,0,14.44,14.33,14.47,6.18,49.80
$GC,8409,0.73,225.3,2638,2140,1795,1781,54.3,15.0,572,8414,0.00,2.45,0.00,0.000,516,0.000,0.070,2649,743,1787,1794,1780,0,0,0,0,0,0,14.67,14.29,14.67,6.18,49.17
$GC,8476,0.73,225.3,2649,745,1792,1784,45.0,13.1,586,8480,0.00,2.40,0.00,0.000,5126,0.000,0.053,2649,2149,1786,1792,1780,0,0,0,0,0,0,14.48,14.33,14.51,6.18,49.88
$GC,8603,0.73,225.3,2649,2150,1792,1781,29.2,11.7,611,8607,0.00,0.00,0.00,0.000,4102,0.000,0.000,2648,2149,1786,1792,1780,0,0,0,0,0,0,14.69,14.69,14.69,6.18,50.47
$GC,8727,0.73,225.3,2651,2150,1792,1782,11.3,13.6,636,8730,0.00,0.00,0.00,0.000,4102,0.000,0.000,2649,2149,1785,1791,1780,0,0,0,0,0,0,14.72,14.72,14.72,6.17,50.43
$STATE,8789,end climb,SURFACE_DEPTH_REACHED
$STATE,8789,begin surface coast
$STATE,8809,end surface coast,CONTROL_FINISHED_OK
$STATE,8809,begin surface
$SM_CCo,8886,0.00,0.000,0,0,1783,229.84
$SM_GC,1.26,5.68,0.08,0.00,0.073,0.173,0.000,256,2090,1783,-6.45,0.99,229.84,0,0,0,0,0,0,14.49,14.42,14.54
$IRIDIUM_FIX,-6017.75,13.02,130219,050310
$TT8_MAMPS,0.038948,0.354277
$HUMID,50.90
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,1
$SC_FREEKB,3635008
$24V_AH,12.94,107.101
$10V_AH,13.44,0.000
$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,13.350,78.275,328.700,0.000,0.000,28.373,36.111,147.924,0.250,0.000,22.241,0.000,7046.786,397.067,1581.276,265.481,0.000,1031.660,0.000,1101.307,0.000,0.539,0.000
$DEVICE_MAMPS,420.750,2198.610,1582.020,0.000,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5237.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.516,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17303,653
$CAP_FILE_SIZE,90762,0
$CFSIZE,1023623168,964509696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.032,175.91,1
$GPS,130219,101531,-6016.187,0.248,37,1.3,48,-19.7,0.5,53.2,8,9.5