version: 66.14
glider: 640
mission: 5
dive: 572
start: 2 14 119 17 56 18
data:
$ID,640
$MISSION,5
$DIVE,572
$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,56
$R_STBD_OVSHOOT,32
$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
$GPS1,140219,174919,-6011.5088,-0.7935,19,0.9,48,-19.7,0.3,352.9,9,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-65.5
$GPS2,140219,175559,-6011.5078,-0.8391,9,0.8,15,-19.7,0.0,238.9,10,9.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,29.3,58357,-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,-146.0,233,2075,1790,1831,0.0,0.0,0,98,0.00,0.00,-82.35,0.000,16386,0.000,0.000,233,2075,3155,3234,3076,0,0,0,0,0,0,14.56,28.83,14.56,6.19,51.14
$GC,101,-0.64,-146.0,233,2075,3236,3077,3.4,-7.1,17,118,6.20,2.67,-5.68,0.000,19204,0.350,2.199,2172,720,3318,3414,3222,0,0,0,0,0,0,13.90,12.90,14.28,6.30,50.19
$GC,259,-0.64,-146.0,2172,720,3415,3223,30.8,-16.8,49,263,0.10,2.38,0.00,0.000,3078,0.332,0.055,2195,2097,3318,3413,3224,0,0,0,0,0,0,13.95,14.18,14.24,6.31,49.68
$GC,386,-0.64,-146.0,2196,2098,3415,3224,51.9,-17.4,74,389,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2097,3319,3414,3224,0,0,0,0,0,0,14.64,14.65,14.66,6.32,49.96
$GC,509,-0.64,-146.0,2195,2098,3415,3225,71.5,-14.3,99,513,0.00,2.50,0.00,0.000,260,0.000,0.083,2185,3503,3319,3414,3224,0,0,0,0,0,0,14.69,14.19,14.69,6.32,50.00
$GC,559,-0.64,-146.0,2185,3503,3414,3225,78.5,-13.7,109,563,0.00,2.30,0.00,0.000,3078,0.000,0.041,2185,2122,3319,3414,3224,0,0,0,0,0,0,14.38,14.26,14.39,6.32,49.80
$GC,686,-0.64,-146.0,2185,2122,3416,3224,95.5,-13.6,134,693,0.00,2.50,0.00,0.000,2564,0.000,0.062,2184,689,3319,3414,3224,0,0,0,0,0,0,14.69,14.29,14.69,6.37,48.85
$GC,714,-0.64,-146.0,2184,690,3415,3224,99.4,-13.4,140,718,0.05,2.42,0.00,0.000,3078,0.422,0.055,2190,2100,3319,3414,3224,0,0,0,0,0,0,14.03,14.23,14.30,6.31,48.38
$GC,844,-0.64,-146.0,2190,2100,3415,3224,115.4,-12.3,148,845,0.00,0.00,0.00,0.000,2054,0.000,0.000,2189,2100,3319,3414,3224,0,0,0,0,0,0,14.73,14.73,14.73,6.31,48.03
$GC,1144,-0.64,-146.0,2191,2101,3416,3224,153.8,-12.1,163,1148,0.00,2.45,0.00,0.000,2564,0.000,0.063,2190,691,3320,3415,3226,0,0,0,0,0,0,14.77,14.28,14.77,6.31,50.27
$GC,1215,-0.64,-146.0,2190,692,3416,3224,161.1,-12.1,166,1218,0.00,2.42,0.00,0.000,3078,0.000,0.054,2180,2101,3319,3414,3224,0,0,0,0,0,0,14.50,14.33,14.53,6.31,49.92
$GC,1519,-0.64,-146.0,2181,2102,3415,3223,200.4,-12.9,181,1520,0.00,0.00,0.00,0.000,2054,0.000,0.000,2180,2101,3319,3414,3224,0,0,0,0,0,0,14.78,14.80,14.79,6.32,50.78
$GC,1820,-0.64,-146.0,2180,2102,3415,3224,240.3,-13.5,196,1820,0.00,0.00,0.00,0.000,2054,0.000,0.000,2180,2102,3319,3414,3224,0,0,0,0,0,0,14.81,14.81,14.81,6.33,50.86
$GC,2120,-0.64,-146.0,2180,2102,3415,3225,280.2,-13.2,211,2120,0.00,0.00,0.00,0.000,2054,0.000,0.000,2180,2101,3319,3414,3224,0,0,0,0,0,0,14.83,14.82,14.82,6.33,51.06
$GC,2419,-0.64,-146.0,2181,2102,3415,3224,319.9,-13.2,226,2423,0.00,2.45,0.00,0.000,2564,0.000,0.061,2179,694,3319,3414,3224,0,0,0,0,0,0,14.83,14.32,14.83,6.33,51.22
$GC,2454,-0.64,-146.0,2180,695,3415,3225,324.6,-13.3,228,2458,0.08,2.42,0.00,0.000,3078,0.362,0.054,2192,2108,3319,3414,3224,0,0,0,0,0,0,14.02,14.28,14.33,6.33,51.26
$STATE,2667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2667,begin apogee
$GC,2673,-0.15,0.0,2193,2159,3416,3224,351.2,-12.3,239,2801,0.45,0.00,124.95,1.592,10246,0.252,0.000,2349,2158,2717,2777,2658,0,0,0,0,0,0,14.03,13.89,13.14,6.34,51.14
$STATE,2802,end apogee,CONTROL_FINISHED_OK
$STATE,2802,begin loiter
$GC,3089,-0.15,0.0,2349,2160,2772,2645,349.4,2.7,260,3090,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2707,2771,2644,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.78
$GC,3389,-0.15,0.0,2349,2159,2771,2643,341.1,2.8,275,3390,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2706,2771,2642,0,0,0,0,0,0,14.73,14.73,14.73,6.29,51.02
$GC,3689,-0.15,0.0,2350,2159,2771,2642,332.7,3.0,290,3690,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2706,2771,2641,0,0,0,0,0,0,14.81,14.82,14.82,6.28,51.10
$GC,3989,-0.15,0.0,2349,2159,2771,2641,322.7,3.6,305,3990,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2705,2771,2640,0,0,0,0,0,0,14.87,14.87,14.87,6.28,51.18
$GC,4289,-0.15,0.0,2349,2159,2771,2640,311.4,3.9,320,4290,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2705,2771,2640,0,0,0,0,0,0,14.90,14.91,14.91,6.28,51.69
$GC,4590,-0.15,0.0,2349,2159,2771,2641,299.5,3.8,335,4590,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2705,2771,2640,0,0,0,0,0,0,14.93,14.94,14.94,6.28,51.37
$GC,4890,-0.15,0.0,2350,2159,2772,2639,288.0,3.8,350,4890,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2705,2770,2640,0,0,0,0,0,0,14.96,14.96,14.96,6.28,51.61
$GC,5190,-0.15,0.0,2350,2159,2772,2639,277.2,3.5,365,5191,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2704,2770,2639,0,0,0,0,0,0,14.97,14.97,14.98,6.28,51.49
$GC,5489,-0.15,0.0,2349,2159,2772,2640,266.7,3.5,380,5490,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2705,2771,2639,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.57
$GC,5789,-0.15,0.0,2350,2159,2772,2639,257.1,3.2,395,5790,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2705,2771,2639,0,0,0,0,0,0,15.00,15.01,15.00,6.28,51.57
$GC,6089,-0.15,0.0,2350,2159,2771,2640,248.5,2.8,410,6090,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2159,2705,2771,2639,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.73
$STATE,6387,end loiter,LOITER_COMPLETE
$STATE,6387,begin climb
$GC,6390,0.64,146.0,2350,2159,2772,2638,240.5,0.0,425,6530,0.62,2.60,129.23,1.413,11012,0.167,0.065,2605,748,2117,2137,2098,0,0,0,0,0,0,14.31,13.97,13.29,6.28,51.57
$GC,6591,0.64,146.0,2606,749,2132,2093,226.9,8.9,435,6595,0.00,2.45,0.00,0.000,1030,0.000,0.052,2605,2146,2111,2130,2093,0,0,0,0,0,0,14.17,14.06,14.19,6.23,49.52
$GC,6906,0.64,146.0,2606,2147,2128,2085,191.4,11.6,451,6909,0.00,2.53,0.00,0.000,260,0.000,0.083,2606,3553,2105,2126,2085,0,0,0,0,0,0,14.59,14.18,14.59,6.23,50.94
$GC,7006,0.64,146.0,2606,3553,2127,2085,180.4,11.4,456,7009,0.00,2.35,0.00,0.000,5126,0.000,0.043,2616,2153,2105,2126,2085,0,0,0,0,0,0,14.42,14.31,14.44,6.24,50.70
$GC,7316,0.64,146.0,2616,2153,2125,2083,143.7,11.2,472,7319,0.00,2.47,0.00,0.000,4612,0.000,0.067,2627,742,2103,2124,2082,0,0,0,0,0,0,14.71,14.29,14.71,6.24,51.26
$GC,7361,0.64,146.0,2628,743,2121,2082,139.4,11.0,474,7365,0.08,2.42,0.00,0.000,5126,0.315,0.054,2601,2155,2101,2121,2081,0,0,0,0,0,0,14.10,14.33,14.38,6.23,51.29
$GC,7671,0.64,146.0,2601,2156,2121,2081,109.0,9.5,490,7674,0.00,2.50,0.00,0.000,260,0.000,0.084,2601,3560,2100,2121,2080,0,0,0,0,0,0,14.76,14.29,14.77,6.23,51.77
$GC,7736,0.64,146.0,2601,3560,2122,2080,103.7,9.7,493,7739,0.00,2.35,0.00,0.000,5126,0.000,0.043,2610,2150,2100,2120,2080,0,0,0,0,0,0,14.54,14.41,14.53,6.23,50.59
$GC,8041,0.64,146.0,2611,2150,2121,2080,75.4,9.0,547,8044,0.00,2.45,0.00,0.000,4612,0.000,0.066,2622,744,2103,2127,2079,0,0,0,0,0,0,14.78,14.33,14.78,6.21,50.51
$GC,8156,0.64,146.0,2622,744,2120,2078,65.5,8.5,570,8160,0.05,2.40,0.00,0.000,5126,0.376,0.053,2604,2151,2098,2119,2078,0,0,0,0,0,0,14.15,14.38,14.41,6.21,49.84
$GC,8281,0.64,146.0,2603,2151,2120,2079,55.1,8.4,595,8284,0.00,2.50,0.00,0.000,260,0.000,0.085,2604,3553,2098,2119,2078,0,0,0,0,0,0,14.76,14.29,14.76,6.21,49.84
$GC,8371,0.65,152.9,2604,3554,2120,2080,47.5,8.1,613,8375,0.00,2.35,0.00,0.000,5126,0.000,0.042,2612,2141,2098,2119,2078,0,0,0,0,0,0,14.54,14.42,14.56,6.20,49.64
$GC,8496,0.65,152.9,2613,2142,2120,2079,37.0,9.1,638,8499,0.00,2.42,0.00,0.000,4612,0.000,0.066,2624,744,2098,2119,2078,0,0,0,0,0,0,14.78,14.31,14.78,6.21,50.82
$GC,8531,0.65,152.9,2625,745,2120,2077,33.6,9.4,645,8535,0.05,2.40,0.00,0.000,5126,0.372,0.053,2605,2150,2102,2118,2086,0,0,0,0,0,0,14.15,14.38,14.38,6.20,50.47
$GC,8658,0.67,170.9,2606,2150,2119,2078,24.5,7.6,670,8680,0.00,2.47,17.77,1.274,10500,0.000,0.084,2606,3552,2018,2034,2003,0,0,0,0,0,0,14.76,14.25,13.67,6.20,50.55
$GC,8736,0.67,170.9,2606,3554,2035,2003,17.6,9.1,686,8739,0.00,2.35,0.00,0.000,1030,0.000,0.043,2615,2148,2018,2034,2003,0,0,0,0,0,0,14.49,14.39,14.50,6.20,51.14
$GC,8863,0.67,170.9,2616,2148,2034,1999,4.6,11.2,711,8868,0.00,2.45,0.00,0.000,516,0.000,0.067,2626,746,2015,2033,1998,0,0,0,0,0,0,14.69,14.30,14.69,6.21,51.69
$STATE,8873,end climb,SURFACE_DEPTH_REACHED
$STATE,8873,begin surface coast
$STATE,8898,end surface coast,CONTROL_FINISHED_OK
$STATE,8898,begin surface
$SM_CCo,8916,46.45,0.244,0,0,1822,220.03
$SM_GC,1.36,5.60,2.38,46.45,0.064,0.050,0.244,227,2098,1822,-6.45,-0.99,220.03,0,0,0,0,0,0,14.50,14.35,14.08
$IRIDIUM_FIX,-6010.01,0.00,140219,151628
$TT8_MAMPS,0.038948,0.289114
$HUMID,50.90
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3628352
$24V_AH,12.90,109.454
$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,13.275,68.425,271.950,46.450,0.000,27.552,36.532,143.170,0.000,0.000,16.148,0.000,7091.667,389.275,1615.748,264.800,0.000,1022.032,0.000,1147.259,0.000,0.539,0.000
$DEVICE_MAMPS,421.515,2199.375,1591.965,244.035,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5324.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.541,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17342,719
$CAP_FILE_SIZE,90458,0
$CFSIZE,1023623168,963231744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.053,205.15,1
$GPS,140219,202659,-6011.228,-0.898,39,0.7,50,-19.7,0.3,216.8,11,9.9