version: 66.14
glider: 640
mission: 5
dive: 569
start: 2 14 119 10 1 24
data:
$ID,640
$MISSION,5
$DIVE,569
$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,60
$R_STBD_OVSHOOT,31
$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
$GPS1,140219,095432,-6012.7271,-0.1406,18,0.8,27,-19.7,0.5,230.8,11,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-67.3
$GPS2,140219,100105,-6012.7266,-0.0760,11,1.0,14,-19.7,0.0,264.6,9,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,17.5,60609,-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,-146.0,233,2062,1785,1833,0.0,0.0,0,104,0.00,0.00,-88.55,0.000,16386,0.000,0.000,232,2061,3244,3326,3162,0,0,0,0,0,0,14.54,28.83,14.55,6.19,51.06
$GC,107,-0.64,-146.0,233,2062,3328,3163,3.3,-6.9,18,124,6.15,2.60,-2.45,0.000,18948,0.345,2.194,2175,719,3316,3408,3225,0,0,0,0,0,0,13.88,13.14,14.26,6.31,49.96
$GC,245,-0.64,-146.0,2174,720,3411,3226,29.1,-16.7,46,249,0.10,2.40,0.00,0.000,3078,0.332,0.057,2197,2103,3318,3411,3225,0,0,0,0,0,0,13.95,14.21,14.26,6.32,48.85
$GC,371,-0.64,-146.0,2198,2104,3411,3225,49.3,-16.7,71,377,0.00,2.50,0.00,0.000,260,0.000,0.082,2187,3506,3317,3410,3225,0,0,0,0,0,0,14.62,14.21,14.62,6.32,49.40
$GC,394,-0.64,-146.0,2188,3506,3412,3225,53.4,-15.5,76,398,0.00,2.33,0.00,0.000,3078,0.000,0.044,2187,2123,3318,3411,3225,0,0,0,0,0,0,14.35,14.23,14.36,6.32,49.80
$GC,521,-0.64,-146.0,2187,2122,3412,3226,70.9,-14.1,101,525,0.00,2.50,0.00,0.000,2564,0.000,0.063,2187,688,3318,3411,3225,0,0,0,0,0,0,14.66,14.27,14.65,6.33,49.52
$GC,596,-0.64,-146.0,2186,689,3411,3226,81.3,-12.9,116,599,0.05,2.45,0.00,0.000,3078,0.435,0.057,2191,2106,3318,3411,3225,0,0,0,0,0,0,14.02,14.30,14.29,6.31,49.17
$GC,723,-0.64,-146.0,2192,2106,3408,3225,97.2,-12.5,141,726,0.00,2.47,0.00,0.000,2308,0.000,0.084,2181,3504,3318,3411,3225,0,0,0,0,0,0,14.68,14.25,14.68,6.32,48.30
$GC,767,-0.64,-146.0,2181,3505,3412,3225,102.2,-12.8,147,770,0.00,2.35,0.00,0.000,3078,0.000,0.043,2180,2095,3318,3411,3225,0,0,0,0,0,0,14.48,14.35,14.50,6.31,48.89
$GC,1077,-0.64,-146.0,2181,2094,3413,3219,141.3,-12.8,163,1080,0.00,2.42,0.00,0.000,2564,0.000,0.062,2180,697,3318,3411,3225,0,0,0,0,0,0,14.74,14.32,14.75,6.31,49.29
$GC,1107,-0.64,-146.0,2180,698,3412,3226,143.2,-12.9,164,1111,0.08,2.42,0.00,0.000,3078,0.369,0.057,2193,2104,3318,3411,3225,0,0,0,0,0,0,14.03,14.34,14.32,6.31,49.37
$GC,1412,-0.64,-146.0,2192,2107,3412,3226,183.4,-12.6,180,1415,0.00,2.47,0.00,0.000,2308,0.000,0.084,2182,3512,3318,3411,3225,0,0,0,0,0,0,14.78,14.28,14.78,6.31,50.27
$GC,1432,-0.64,-146.0,2182,3508,3412,3226,186.0,-12.7,181,1435,0.00,2.35,0.00,0.000,3078,0.000,0.044,2180,2092,3318,3412,3225,0,0,0,0,0,0,14.53,14.40,14.55,6.32,50.43
$GC,1752,-0.64,-146.0,2182,2089,3413,3225,228.1,-13.2,197,1755,0.00,2.42,0.00,0.000,2564,0.000,0.063,2180,695,3318,3411,3225,0,0,0,0,0,0,14.79,14.34,14.79,6.33,50.86
$GC,1807,-0.64,-146.0,2181,696,3412,3226,235.4,-13.3,200,1811,0.08,2.42,0.00,0.000,3078,0.363,0.056,2194,2104,3318,3411,3225,0,0,0,0,0,0,14.05,14.36,14.34,6.33,50.59
$GC,2122,-0.64,-146.0,2195,2105,3412,3225,273.3,-11.8,216,2126,0.00,2.47,0.00,0.000,260,0.000,0.085,2184,3503,3318,3411,3225,0,0,0,0,0,0,14.80,14.30,14.81,6.32,50.86
$GC,2162,-0.64,-146.0,2186,3504,3412,3226,278.1,-12.0,218,2165,0.00,2.33,0.00,0.000,3078,0.000,0.043,2184,2099,3318,3411,3225,0,0,0,0,0,0,14.54,14.42,14.57,6.33,50.82
$GC,2482,-0.64,-146.0,2184,2099,3413,3226,317.1,-12.4,234,2485,0.00,2.42,0.00,0.000,2564,0.000,0.063,2184,697,3318,3411,3225,0,0,0,0,0,0,14.81,14.35,14.81,6.33,50.98
$GC,2532,-0.64,-146.0,2183,697,3412,3226,321.6,-12.5,236,2536,0.08,2.40,0.00,0.000,3078,0.366,0.055,2197,2101,3318,3412,3225,0,0,0,0,0,0,14.04,14.38,14.34,6.34,50.74
$STATE,2769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2769,begin apogee
$GC,2775,-0.15,0.0,2198,2169,3411,3226,351.3,-11.7,249,2903,0.43,0.00,124.72,1.590,10246,0.256,0.000,2345,2169,2716,2775,2657,0,0,0,0,0,0,13.99,13.88,13.14,6.33,51.26
$STATE,2904,end apogee,CONTROL_FINISHED_OK
$STATE,2904,begin loiter
$GC,3192,-0.15,0.0,2346,2169,2771,2645,348.8,3.0,270,3192,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2168,2707,2771,2644,0,0,0,0,0,0,14.56,14.56,14.56,6.29,50.51
$GC,3492,-0.15,0.0,2346,2168,2771,2642,339.9,2.9,285,3493,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2168,2706,2770,2642,0,0,0,0,0,0,14.72,14.72,14.72,6.28,50.90
$GC,3792,-0.15,0.0,2345,2169,2771,2643,331.6,2.7,300,3792,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2168,2706,2770,2642,0,0,0,0,0,0,14.81,14.81,14.81,6.29,50.94
$GC,4092,-0.15,0.0,2345,2170,2771,2641,323.7,2.4,315,4092,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2169,2705,2770,2641,0,0,0,0,0,0,14.87,14.87,14.87,6.29,51.22
$GC,4392,-0.15,0.0,2346,2169,2771,2640,315.6,2.9,330,4392,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2169,2705,2770,2641,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.29
$GC,4692,-0.15,0.0,2345,2169,2771,2641,306.8,3.1,345,4693,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2705,2770,2640,0,0,0,0,0,0,14.93,14.93,14.93,6.29,51.26
$GC,4992,-0.15,0.0,2346,2169,2771,2640,297.2,3.3,360,4993,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2168,2705,2770,2640,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.29
$GC,5292,-0.15,0.0,2344,2169,2771,2641,287.7,3.1,375,5292,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2168,2705,2770,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.65
$GC,5592,-0.15,0.0,2345,2169,2771,2641,279.4,2.7,390,5592,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2169,2705,2770,2640,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.45
$GC,5892,-0.15,0.0,2345,2169,2771,2641,271.5,2.6,405,5892,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2169,2705,2770,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.53
$GC,6192,-0.15,0.0,2346,2169,2772,2640,264.0,2.5,420,6192,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2169,2705,2770,2640,0,0,0,0,0,0,15.01,15.01,15.01,6.29,51.61
$STATE,6489,end loiter,LOITER_COMPLETE
$STATE,6489,begin climb
$GC,6492,0.64,146.0,2346,2169,2771,2640,256.8,0.0,435,6633,0.65,2.55,129.80,1.435,11012,0.171,0.085,2598,3541,2118,2138,2098,0,0,0,0,0,0,14.29,13.95,13.28,6.27,51.49
$GC,6698,0.64,146.0,2599,3542,2136,2093,243.3,9.3,445,6702,0.00,2.38,0.00,0.000,5126,0.000,0.044,2609,2150,2113,2135,2091,0,0,0,0,0,0,14.18,14.07,14.20,6.24,49.37
$GC,7008,0.64,146.0,2611,2151,2128,2085,210.4,9.5,461,7012,0.00,2.47,0.00,0.000,4612,0.000,0.066,2621,742,2106,2127,2085,0,0,0,0,0,0,14.57,14.20,14.58,6.24,50.82
$GC,7063,0.64,146.0,2621,745,2135,2084,205.3,9.4,464,7067,0.05,2.40,0.00,0.000,5126,0.388,0.055,2604,2136,2104,2124,2084,0,0,0,0,0,0,14.03,14.25,14.29,6.24,50.59
$GC,7380,0.64,146.0,2603,2136,2123,2083,176.2,9.3,480,7384,0.00,2.45,0.00,0.000,516,0.000,0.066,2613,744,2102,2122,2082,0,0,0,0,0,0,14.67,14.20,14.68,6.24,50.82
$GC,7474,0.64,146.0,2613,744,2121,2081,168.9,9.0,484,7478,0.00,2.42,0.00,0.000,5126,0.000,0.054,2612,2155,2100,2120,2081,0,0,0,0,0,0,14.48,14.33,14.51,6.24,50.78
$GC,7795,0.64,146.0,2613,2156,2121,2080,135.6,10.0,501,7798,0.00,2.47,0.00,0.000,4612,0.000,0.067,2624,742,2099,2120,2079,0,0,0,0,0,0,14.77,14.33,14.76,6.23,51.45
$GC,7914,0.64,146.0,2624,743,2120,2078,124.5,9.6,507,7918,0.05,2.40,0.00,0.000,5126,0.376,0.053,2605,2150,2098,2119,2078,0,0,0,0,0,0,14.14,14.37,14.40,6.23,50.94
$GC,8219,0.64,146.0,2606,2149,2120,2078,92.1,10.7,531,8223,0.00,2.47,0.00,0.000,260,0.000,0.085,2605,3553,2097,2119,2075,0,0,0,0,0,0,14.78,14.26,14.78,6.23,50.82
$GC,8284,0.64,146.0,2606,3554,2120,2079,84.7,11.1,544,8289,0.00,2.35,0.00,0.000,5126,0.000,0.044,2615,2144,2098,2119,2078,0,0,0,0,0,0,14.55,14.42,14.57,6.22,50.90
$GC,8410,0.64,146.0,2616,2145,2119,2079,71.2,10.8,569,8413,0.00,2.45,0.00,0.000,4612,0.000,0.067,2627,741,2098,2118,2078,0,0,0,0,0,0,14.78,14.27,14.78,6.21,50.74
$GC,8464,0.64,146.0,2627,741,2119,2077,65.6,9.6,580,8469,0.08,2.40,0.00,0.000,5126,0.314,0.054,2600,2152,2097,2117,2077,0,0,0,0,0,0,14.14,14.38,14.41,6.22,50.74
$GC,8592,0.64,146.6,2601,2153,2118,2078,54.9,8.3,605,8597,0.00,2.47,0.00,0.000,2308,0.000,0.084,2600,3554,2097,2117,2077,0,0,0,0,0,0,14.76,14.26,14.76,6.20,49.84
$GC,8655,0.64,146.7,2601,3555,2118,2077,49.3,8.3,618,8658,0.00,2.35,0.00,0.000,5126,0.000,0.044,2610,2142,2097,2117,2077,0,0,0,0,0,0,14.54,14.42,14.57,6.21,49.84
$GC,8782,0.66,168.7,2609,2142,2118,2077,40.0,7.5,643,8804,0.00,2.42,17.65,1.283,10756,0.000,0.065,2621,745,2027,2043,2011,0,0,0,0,0,0,14.76,14.25,13.69,6.21,50.39
$GC,8850,0.68,181.8,2621,745,2042,2010,34.6,7.8,657,8869,0.00,2.40,13.68,1.261,9222,0.000,0.052,2620,2150,1973,1986,1960,0,0,0,0,0,0,14.45,14.32,13.58,6.20,49.88
$GC,8990,0.68,181.8,2621,2151,1987,1954,22.2,9.4,685,8993,0.00,2.50,0.00,0.000,260,0.000,0.086,2621,3551,1970,1986,1954,0,0,0,0,0,0,14.64,14.19,14.64,6.19,49.88
$GC,9074,0.68,181.8,2621,3552,1987,1954,13.8,9.8,702,9078,0.00,2.35,0.00,0.000,5126,0.000,0.044,2631,2152,1970,1986,1954,0,0,0,0,0,0,14.47,14.35,14.49,6.20,50.11
$STATE,9187,end climb,SURFACE_DEPTH_REACHED
$STATE,9187,begin surface coast
$STATE,9217,end surface coast,CONTROL_FINISHED_OK
$STATE,9217,begin surface
$SM_CCo,9234,34.65,0.243,0,0,1822,220.03
$SM_GC,1.77,5.62,0.08,34.65,0.066,0.165,0.243,219,2072,1822,-6.45,0.96,220.03,0,0,0,0,0,0,14.50,14.40,14.06
$IRIDIUM_FIX,-6012.95,0.00,140219,071821
$TT8_MAMPS,0.038948,0.346787
$HUMID,50.39
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3629888
$24V_AH,13.14,108.912
$10V_AH,13.25,0.000
$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,13.400,87.625,285.850,34.650,0.000,26.531,37.093,134.623,0.000,0.000,16.137,0.000,7285.131,402.132,1693.003,279.648,0.000,1078.543,0.000,1215.224,0.000,0.539,0.000
$DEVICE_MAMPS,435.285,2194.020,1589.670,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5643.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.339,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,20786,731
$CAP_FILE_SIZE,98075,0
$CFSIZE,1023623168,963526656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.027,202.20,1
$GPS,140219,123704,-6012.382,-0.211,40,0.8,43,-19.7,0.3,53.2,10,9.4