version: 66.14
glider: 640
mission: 5
dive: 567
start: 2 14 119 4 42 3
data:
$ID,640
$MISSION,5
$DIVE,567
$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,63
$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
$GPS1,140219,043501,-6013.5430,-0.6841,17,0.7,34,-19.7,0.0,196.4,11,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-65.9
$GPS2,140219,044143,-6013.5474,-0.7074,8,0.8,15,-19.7,0.0,132.3,9,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,23.6,62133,-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,-146.0,226,2070,1786,1831,0.0,0.0,0,104,0.00,0.00,-88.65,0.000,16386,0.000,0.000,224,2069,3243,3325,3161,0,0,0,0,0,0,14.54,28.83,14.54,6.19,51.77
$GC,107,-0.64,-146.0,226,2070,3326,3162,3.3,-7.1,18,124,6.20,2.65,-2.55,0.000,18948,0.346,2.199,2185,725,3318,3411,3226,0,0,0,0,0,0,13.88,12.93,14.26,6.30,49.72
$GC,224,-0.64,-146.0,2185,727,3413,3227,24.6,-15.4,42,228,0.05,2.38,0.00,0.000,3078,0.437,0.055,2190,2101,3319,3413,3226,0,0,0,0,0,0,13.90,14.17,14.19,6.31,48.74
$GC,352,-0.64,-146.0,2189,2102,3414,3227,45.4,-17.7,67,357,0.00,2.50,0.00,0.000,2308,0.000,0.082,2179,3513,3321,3413,3229,0,0,0,0,0,0,14.62,14.21,14.62,6.32,49.48
$GC,379,-0.64,-146.0,2179,3514,3414,3227,50.7,-17.8,73,384,0.00,2.33,0.00,0.000,3078,0.000,0.044,2179,2134,3319,3413,3226,0,0,0,0,0,0,14.35,14.21,14.36,6.32,50.11
$GC,504,-0.64,-146.0,2180,2133,3415,3226,69.5,-13.9,98,507,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2133,3320,3413,3227,0,0,0,0,0,0,14.66,14.67,14.67,6.32,49.48
$GC,629,-0.64,-146.0,2177,2134,3414,3227,86.4,-13.4,123,632,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2133,3319,3413,3226,0,0,0,0,0,0,14.69,14.69,14.69,6.32,48.85
$GC,754,-0.64,-146.0,2180,2133,3415,3226,102.8,-13.1,145,758,0.00,2.53,0.00,0.000,2564,0.000,0.062,2179,683,3320,3414,3226,0,0,0,0,0,0,14.71,14.28,14.71,6.31,48.58
$GC,774,-0.64,-146.0,2179,683,3415,3227,105.5,-13.2,146,778,0.08,2.42,0.00,0.000,3078,0.373,0.054,2191,2100,3320,3414,3226,0,0,0,0,0,0,13.94,14.23,14.26,6.31,48.46
$GC,1094,-0.64,-146.0,2191,2100,3415,3226,146.8,-13.1,162,1098,0.00,2.47,0.00,0.000,2308,0.000,0.083,2180,3502,3320,3414,3226,0,0,0,0,0,0,14.76,14.24,14.76,6.31,49.80
$GC,1119,-0.64,-146.0,2181,3503,3415,3226,148.8,-13.2,163,1123,0.00,2.35,0.00,0.000,3078,0.000,0.043,2179,2090,3320,3414,3226,0,0,0,0,0,0,14.42,14.29,14.43,6.31,49.84
$GC,1429,-0.64,-146.0,2180,2089,3415,3226,192.8,-13.6,179,1433,0.00,2.42,0.00,0.000,2564,0.000,0.063,2180,692,3320,3414,3226,0,0,0,0,0,0,14.78,14.32,14.78,6.32,50.47
$GC,1519,-0.64,-146.0,2180,693,3415,3227,202.9,-13.5,183,1523,0.08,2.42,0.00,0.000,3078,0.367,0.054,2192,2107,3319,3413,3226,0,0,0,0,0,0,13.98,14.27,14.30,6.32,50.55
$GC,1839,-0.64,-146.0,2193,2108,3415,3226,244.0,-12.1,200,1840,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2110,3320,3414,3226,0,0,0,0,0,0,14.81,14.81,14.80,6.32,51.65
$GC,2139,-0.64,-146.0,2193,2107,3414,3227,280.2,-12.1,215,2140,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2107,3320,3414,3226,0,0,0,0,0,0,14.81,14.81,14.82,6.33,51.14
$GC,2439,-0.64,-146.0,2193,2108,3415,3227,317.4,-12.5,230,2440,0.00,0.00,0.00,0.000,2054,0.000,0.000,2193,2107,3316,3406,3226,0,0,0,0,0,0,14.83,14.83,14.83,6.33,51.06
$STATE,2697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2697,begin apogee
$GC,2703,-0.15,0.0,2193,2159,3415,3226,350.5,-12.9,243,2832,0.45,0.00,124.97,1.595,10246,0.255,0.000,2349,2158,2716,2775,2657,0,0,0,0,0,0,14.03,13.89,13.14,6.34,51.53
$STATE,2833,end apogee,CONTROL_FINISHED_OK
$STATE,2833,begin loiter
$GC,3119,-0.15,0.0,2349,2159,2772,2646,351.9,2.0,264,3120,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2707,2771,2644,0,0,0,0,0,0,14.57,14.57,14.57,6.28,50.43
$GC,3419,-0.15,0.0,2349,2159,2772,2644,346.3,2.0,279,3420,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2707,2771,2643,0,0,0,0,0,0,14.73,14.73,14.73,6.28,50.94
$GC,3719,-0.15,0.0,2349,2159,2772,2642,340.1,2.3,294,3720,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2706,2771,2642,0,0,0,0,0,0,14.81,14.81,14.82,6.28,51.29
$GC,4019,-0.15,0.0,2349,2159,2772,2642,332.5,2.7,309,4020,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2706,2771,2642,0,0,0,0,0,0,14.87,14.87,14.87,6.28,52.04
$GC,4319,-0.15,0.0,2349,2159,2772,2641,322.6,3.6,324,4320,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2706,2772,2641,0,0,0,0,0,0,14.90,14.91,14.91,6.28,51.22
$GC,4620,-0.15,0.0,2349,2159,2770,2642,311.8,3.6,339,4620,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2706,2772,2640,0,0,0,0,0,0,14.93,14.93,14.93,6.28,51.57
$GC,4920,-0.15,0.0,2349,2159,2771,2641,301.6,3.3,354,4920,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2705,2771,2640,0,0,0,0,0,0,14.95,14.96,14.96,6.29,51.61
$GC,5219,-0.15,0.0,2349,2159,2772,2641,292.2,2.9,369,5220,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2705,2771,2640,0,0,0,0,0,0,14.98,14.98,14.98,6.28,51.77
$GC,5519,-0.15,0.0,2349,2159,2772,2640,283.4,2.9,384,5520,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2705,2771,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.29
$GC,5819,-0.15,0.0,2349,2159,2772,2640,275.0,2.8,399,5820,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2706,2772,2640,0,0,0,0,0,0,15.00,15.01,15.00,6.28,51.37
$GC,6119,-0.15,0.0,2349,2159,2772,2640,265.8,3.6,414,6120,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2705,2771,2639,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.61
$STATE,6417,end loiter,LOITER_COMPLETE
$STATE,6417,begin climb
$GC,6419,0.64,146.0,2349,2159,2772,2642,255.0,0.0,429,6560,0.62,2.60,129.70,1.463,10756,0.162,0.063,2606,746,2116,2135,2098,0,0,0,0,0,0,14.32,13.95,13.26,6.28,52.24
$GC,6666,0.64,146.0,2607,747,2129,2090,236.9,9.6,441,6669,0.00,2.42,0.00,0.000,5126,0.000,0.051,2606,2139,2108,2128,2089,0,0,0,0,0,0,14.21,14.08,14.23,6.23,49.68
$GC,6976,0.64,146.0,2607,2140,2125,2084,202.4,11.0,457,6979,0.00,2.45,0.00,0.000,516,0.000,0.066,2617,750,2104,2124,2084,0,0,0,0,0,0,14.59,14.21,14.59,6.23,50.86
$GC,7041,0.64,146.0,2618,750,2123,2084,196.6,10.7,460,7045,0.00,2.42,0.00,0.000,5126,0.000,0.054,2617,2158,2102,2121,2083,0,0,0,0,0,0,14.40,14.26,14.43,6.23,50.86
$GC,7351,0.64,146.0,2617,2159,2121,2082,159.8,11.7,476,7354,0.00,2.47,0.00,0.000,4612,0.000,0.067,2628,749,2100,2120,2081,0,0,0,0,0,0,14.71,14.29,14.71,6.23,51.49
$GC,7391,0.64,146.0,2628,750,2121,2082,155.7,11.6,478,7395,0.08,2.40,0.00,0.000,5126,0.312,0.054,2601,2152,2100,2120,2081,0,0,0,0,0,0,14.11,14.33,14.38,6.23,51.61
$GC,7701,0.64,146.0,2602,2154,2121,2080,121.4,10.8,494,7704,0.00,2.50,0.00,0.000,260,0.000,0.082,2602,3567,2099,2120,2078,0,0,0,0,0,0,14.76,14.30,14.76,6.23,51.14
$GC,7756,0.64,146.0,2602,3563,2119,2080,115.4,10.9,497,7759,0.00,2.35,0.00,0.000,5126,0.000,0.043,2611,2150,2099,2120,2078,0,0,0,0,0,0,14.53,14.40,14.59,6.23,50.82
$GC,8061,0.64,146.0,2612,2151,2121,2078,85.6,9.0,535,8064,0.00,2.45,0.00,0.000,4612,0.000,0.067,2622,743,2099,2120,2078,0,0,0,0,0,0,14.78,14.33,14.78,6.22,50.19
$GC,8126,0.64,146.0,2622,745,2119,2078,79.9,8.7,548,8130,0.05,2.40,0.00,0.000,5126,0.372,0.052,2604,2155,2097,2117,2078,0,0,0,0,0,0,14.16,14.38,14.42,6.22,51.10
$GC,8251,0.64,146.0,2604,2155,2118,2079,69.0,8.9,573,8254,0.00,2.47,0.00,0.000,260,0.000,0.083,2604,3554,2098,2118,2078,0,0,0,0,0,0,14.78,14.31,14.78,6.24,50.23
$GC,8316,0.64,146.0,2604,3555,2119,2078,63.0,8.9,586,8320,0.00,2.35,0.00,0.000,5126,0.000,0.044,2613,2143,2098,2118,2078,0,0,0,0,0,0,14.54,14.42,14.57,6.21,49.52
$GC,8441,0.64,146.0,2613,2144,2118,2079,52.0,9.2,611,8444,0.00,2.45,0.00,0.000,4612,0.000,0.067,2624,737,2097,2117,2078,0,0,0,0,0,0,14.78,14.33,14.78,6.21,49.37
$GC,8521,0.64,149.2,2625,737,2118,2077,45.1,8.2,627,8525,0.05,2.40,0.00,0.000,5126,0.375,0.052,2606,2150,2097,2117,2077,0,0,0,0,0,0,14.15,14.38,14.41,6.21,49.68
$GC,8646,0.64,150.8,2607,2150,2118,2076,35.0,8.3,652,8649,0.00,2.47,0.00,0.000,260,0.000,0.083,2606,3551,2096,2117,2076,0,0,0,0,0,0,14.75,14.31,14.75,6.20,49.96
$GC,8711,0.64,150.8,2606,3552,2117,2078,29.3,8.5,665,8715,0.00,2.33,0.00,0.000,5126,0.000,0.043,2616,2148,2097,2117,2077,0,0,0,0,0,0,14.54,14.42,14.57,6.21,50.90
$GC,8838,0.64,150.8,2616,2148,2117,2076,18.5,9.5,690,8842,0.00,2.45,0.00,0.000,4612,0.000,0.067,2627,748,2097,2117,2077,0,0,0,0,0,0,14.76,14.23,14.76,6.21,50.74
$GC,8897,0.64,150.8,2626,748,2117,2076,13.0,8.8,702,8901,0.08,2.40,0.00,0.000,5126,0.312,0.052,2600,2154,2096,2116,2076,0,0,0,0,0,0,14.13,14.38,14.33,6.21,51.33
$GC,9024,0.64,150.8,2603,2154,2117,2076,3.1,8.8,727,9028,0.00,2.10,0.00,0.000,2307,0.000,0.079,2600,3354,2096,2116,2076,0,0,0,0,0,0,14.76,14.76,14.76,6.21,51.14
$STATE,9028,end climb,SURFACE_DEPTH_REACHED
$STATE,9028,begin surface coast
$STATE,9060,end surface coast,CONTROL_FINISHED_OK
$STATE,9060,begin surface
$SM_CCo,9079,65.60,0.246,0,0,1821,220.03
$SM_GC,1.21,5.55,2.17,65.60,0.074,0.050,0.246,223,2093,1821,-6.45,0.90,220.03,0,0,0,0,0,0,14.54,14.43,14.09
$IRIDIUM_FIX,-6014.82,0.00,140219,020153
$TT8_MAMPS,0.039697,0.338548
$HUMID,50.23
$INTERNAL_PRESSURE,6.14803
$TCM_TEMP,0.00
$XPDR_PINGS,1
$SC_FREEKB,3630912
$24V_AH,12.93,108.541
$10V_AH,13.45,0.000
$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,13.275,72.600,254.675,65.600,0.000,26.048,40.662,138.467,0.250,0.000,16.981,0.000,7214.411,405.665,1658.873,266.932,0.000,1052.715,0.000,1179.634,0.000,0.539,0.000
$DEVICE_MAMPS,436.815,2198.610,1595.025,245.565,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5489.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.371,0.000,0.000,0.000
$MEM,344024
$DATA_FILE_SIZE,20780,735
$CAP_FILE_SIZE,93109,0
$CFSIZE,1023623168,963723264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.056,173.41,1
$GPS,140219,071531,-6013.133,-0.322,12,0.8,35,-19.7,0.4,45.3,11,6.0