version: 66.14
glider: 640
mission: 5
dive: 300
start: 1 16 119 4 34 26
data:
$ID,640
$MISSION,5
$DIVE,300
$N_DIVES,500
$STOP_T,1171912
$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,61
$R_STBD_OVSHOOT,29
$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
$GPS1,160119,042906,-5943.3135,1.9204,40,0.8,45,-19.8,0.0,263.2,10,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-71.8
$GPS2,160119,043408,-5943.3145,1.9169,9,0.8,14,-19.7,0.0,153.8,10,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,4.1,6395,-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,11,-0.64,-146.0,234,2074,1792,1835,0.0,0.0,0,101,0.00,0.00,-87.50,0.000,16386,0.000,0.000,233,2074,3193,3276,3110,0,0,0,0,0,0,14.62,28.83,14.65,6.19,50.55
$GC,103,-0.64,-146.0,234,2074,3273,3111,3.3,-7.9,18,121,6.05,2.83,-4.55,0.000,18692,0.358,2.248,2177,3506,3316,3410,3223,0,0,0,0,0,0,14.14,13.16,14.42,6.30,50.15
$GC,251,-0.64,-146.0,2177,3506,3413,3224,29.0,-15.5,48,256,0.05,2.35,0.00,0.000,3078,0.428,0.040,2192,2125,3317,3411,3224,0,0,0,0,0,0,14.17,14.38,14.42,6.27,49.05
$GC,378,-0.64,-146.0,2193,2125,3412,3225,48.9,-15.6,73,381,0.00,2.47,0.00,0.000,2564,0.000,0.063,2192,694,3318,3412,3224,0,0,0,0,0,0,14.65,14.40,14.66,6.32,49.29
$GC,426,-0.64,-146.0,2192,695,3413,3224,56.1,-13.1,83,431,0.00,2.45,0.00,0.000,3078,0.000,0.055,2183,2101,3318,3412,3224,0,0,0,0,0,0,14.54,14.38,14.55,6.31,49.60
$GC,552,-0.64,-146.0,2183,2102,3413,3225,72.9,-13.0,108,555,0.00,2.45,0.00,0.000,2564,0.000,0.063,2182,689,3318,3412,3224,0,0,0,0,0,0,14.69,14.43,14.70,6.32,48.89
$GC,617,-0.64,-146.0,2183,689,3413,3224,80.7,-11.5,121,621,0.08,2.40,0.00,0.000,3078,0.376,0.056,2196,2101,3318,3412,3224,0,0,0,0,0,0,14.23,14.45,14.47,6.31,49.21
$GC,743,-0.64,-146.0,2196,2102,3412,3225,94.0,-10.5,146,746,0.00,2.50,0.00,0.000,260,0.000,0.083,2186,3519,3320,3412,3228,0,0,0,0,0,0,14.71,14.45,14.70,6.31,48.50
$GC,816,-0.64,-146.0,2186,3520,3413,3224,101.9,-10.4,159,820,0.00,2.40,0.00,0.000,3078,0.000,0.041,2185,2098,3317,3410,3224,0,0,0,0,0,0,14.51,14.47,14.53,6.30,49.13
$GC,1136,-0.64,-146.0,2186,2097,3413,3224,138.1,-11.8,175,1140,0.00,2.40,0.00,0.000,2564,0.000,0.061,2181,697,3318,3412,3224,0,0,0,0,0,0,14.78,14.49,14.78,6.31,49.96
$GC,1191,-0.64,-146.0,2185,698,3413,3224,143.1,-12.2,177,1196,0.05,2.42,0.00,0.000,3078,0.353,0.055,2202,2098,3317,3411,3224,0,0,0,0,0,0,14.26,14.47,14.53,6.31,50.31
$GC,1497,-0.64,-146.0,2202,2099,3412,3225,180.5,-11.7,193,1501,0.00,2.45,0.00,0.000,4356,0.000,0.083,2192,3505,3318,3412,3224,0,0,0,0,0,0,14.81,14.49,14.80,6.32,50.74
$GC,1562,-0.64,-146.0,2193,3507,3413,3224,187.8,-12.1,196,1565,0.00,2.33,0.00,0.000,3078,0.000,0.041,2192,2098,3318,3412,3224,0,0,0,0,0,0,14.66,14.56,14.66,6.32,50.78
$GC,1876,-0.64,-146.0,2192,2097,3411,3225,228.5,-12.9,212,1880,0.00,2.40,0.00,0.000,2564,0.000,0.062,2192,699,3317,3411,3224,0,0,0,0,0,0,14.82,14.53,14.83,6.33,51.18
$GC,1931,-0.64,-146.0,2192,699,3412,3224,233.8,-13.0,214,1935,0.00,2.42,0.00,0.000,3078,0.000,0.055,2182,2103,3315,3411,3219,0,0,0,0,0,0,14.56,14.50,14.59,6.33,51.06
$GC,2236,-0.64,-146.0,2182,2104,3412,3225,275.6,-13.2,230,2237,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2103,3317,3412,3223,0,0,0,0,0,0,14.83,14.83,14.83,6.34,51.10
$GC,2536,-0.64,-146.0,2182,2104,3412,3225,314.3,-12.8,245,2537,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2103,3318,3412,3224,0,0,0,0,0,0,14.83,14.84,14.84,6.34,51.61
$STATE,2835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2835,begin apogee
$GC,2840,-0.15,0.0,2182,2168,3412,3225,352.2,-12.6,260,2968,0.47,0.00,125.25,1.570,10246,0.265,0.000,2349,2167,2720,2781,2660,0,0,0,0,0,0,14.34,13.95,13.34,6.34,51.14
$STATE,2969,end apogee,CONTROL_FINISHED_OK
$STATE,2969,begin loiter
$GC,3256,-0.15,0.0,2350,2168,2778,2644,347.4,3.7,281,3257,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2709,2775,2644,0,0,0,0,0,0,14.58,14.58,14.58,6.29,50.98
$GC,3556,-0.15,0.0,2349,2168,2776,2644,336.5,3.6,296,3557,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2708,2775,2642,0,0,0,0,0,0,14.73,14.73,14.73,6.29,50.98
$GC,3856,-0.15,0.0,2349,2168,2776,2643,325.9,3.5,311,3857,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2707,2774,2641,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.29
$GC,4157,-0.15,0.0,2349,2168,2775,2642,315.6,3.3,326,4157,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2707,2774,2641,0,0,0,0,0,0,14.87,14.88,14.87,6.29,51.73
$GC,4456,-0.15,0.0,2349,2167,2775,2641,306.0,3.1,341,4457,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2707,2775,2640,0,0,0,0,0,0,14.91,14.91,14.91,6.29,51.89
$GC,4756,-0.15,0.0,2349,2168,2776,2641,297.2,2.7,356,4757,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2707,2775,2640,0,0,0,0,0,0,14.95,14.95,14.95,6.28,52.08
$GC,5056,-0.15,0.0,2350,2168,2776,2640,289.3,2.5,371,5057,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2707,2775,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.49
$GC,5356,-0.15,0.0,2349,2168,2775,2639,281.7,2.6,386,5357,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2707,2775,2639,0,0,0,0,0,0,14.99,14.99,14.99,6.29,51.41
$GC,5657,-0.15,0.0,2349,2168,2775,2641,273.6,2.7,401,5657,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2707,2775,2639,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.41
$GC,5956,-0.15,0.0,2349,2168,2776,2639,265.7,2.6,416,5957,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2707,2775,2639,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.53
$GC,6256,-0.15,0.0,2349,2168,2776,2640,258.3,2.5,431,6257,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2707,2775,2639,0,0,0,0,0,0,15.03,15.03,15.03,6.29,51.45
$STATE,6555,end loiter,LOITER_COMPLETE
$STATE,6555,begin climb
$GC,6557,0.64,146.0,2349,2168,2775,2640,250.2,0.0,446,6693,0.62,0.00,131.25,1.424,10502,0.177,0.000,2597,2167,2123,2147,2099,0,0,0,0,0,0,14.59,14.02,13.45,6.28,51.45
$GC,6991,0.64,146.0,2597,2167,2134,2078,206.5,12.4,467,6995,0.00,2.45,0.00,0.000,2308,0.000,0.082,2601,3543,2104,2130,2078,0,0,0,0,0,0,14.54,14.28,14.57,6.24,50.74
$GC,7036,0.64,146.0,2598,3545,2133,2077,201.3,12.6,469,7041,0.00,2.38,0.00,0.000,5126,0.000,0.041,2608,2158,2105,2132,2078,0,0,0,0,0,0,14.34,14.29,14.35,6.24,50.39
$GC,7351,0.64,146.0,2609,2158,2130,2076,158.9,13.2,485,7355,0.00,2.50,0.00,0.000,4612,0.000,0.064,2619,750,2102,2129,2076,0,0,0,0,0,0,14.70,14.39,14.70,6.23,51.49
$GC,7411,0.64,146.0,2620,750,2128,2075,151.6,12.3,488,7415,0.00,2.40,0.00,0.000,5126,0.000,0.053,2620,2135,2101,2127,2075,0,0,0,0,0,0,14.47,14.44,14.50,6.23,51.57
$GC,7732,0.64,146.0,2620,2136,2128,2074,112.3,11.0,504,7735,0.00,2.42,0.00,0.000,4612,0.000,0.065,2630,740,2100,2126,2074,0,0,0,0,0,0,14.77,14.47,14.77,6.23,51.10
$GC,7851,0.64,146.0,2631,740,2126,2074,101.7,8.3,510,7855,0.08,2.40,0.00,0.000,5126,0.330,0.053,2604,2157,2099,2125,2074,0,0,0,0,0,0,14.33,14.50,14.56,6.23,50.90
$GC,8156,0.64,146.0,2613,2157,2126,2073,77.3,8.5,565,8160,0.00,2.47,0.00,0.000,260,0.000,0.082,2604,3546,2098,2125,2072,0,0,0,0,0,0,14.79,14.45,14.80,6.23,50.35
$GC,8256,0.64,146.0,2605,3546,2126,2072,67.1,10.0,585,8260,0.00,2.35,0.00,0.000,5126,0.000,0.041,2613,2145,2098,2125,2072,0,0,0,0,0,0,14.52,14.48,14.54,6.22,50.11
$GC,8383,0.64,146.0,2614,2145,2124,2073,54.4,10.4,610,8386,0.00,2.42,0.00,0.000,4612,0.000,0.065,2624,740,2101,2125,2078,0,0,0,0,0,0,14.80,14.50,14.80,6.22,50.51
$GC,8416,0.64,146.0,2625,740,2126,2071,50.7,10.1,617,8421,0.05,2.42,0.00,0.000,5126,0.295,0.054,2601,2145,2097,2124,2071,0,0,0,0,0,0,14.31,14.45,14.57,6.22,49.76
$GC,8541,0.64,146.0,2595,2146,2126,2071,39.2,9.0,642,8546,0.00,2.47,0.00,0.000,2308,0.000,0.083,2594,3561,2097,2124,2071,0,0,0,0,0,0,14.81,14.49,14.81,6.21,49.60
$GC,8591,0.64,146.0,2594,3561,2125,2072,34.7,8.6,652,8595,0.00,2.38,0.00,0.000,1030,0.000,0.042,2603,2151,2097,2125,2070,0,0,0,0,0,0,14.57,14.52,14.59,6.22,49.88
$GC,8718,0.64,146.9,2603,2151,2124,2071,24.7,8.3,677,8722,0.00,2.42,0.00,0.000,516,0.000,0.065,2614,746,2097,2124,2070,0,0,0,0,0,0,14.80,14.55,14.80,6.21,50.27
$GC,8791,0.64,146.9,2615,747,2124,2071,18.2,9.1,692,8795,0.00,2.40,0.00,0.000,5126,0.000,0.052,2614,2148,2096,2123,2070,0,0,0,0,0,0,14.57,14.50,14.59,6.21,50.51
$GC,8918,0.64,146.9,2614,2149,2123,2071,6.2,9.8,717,8921,0.00,2.47,0.00,0.000,4356,0.000,0.083,2614,3564,2096,2123,2070,0,0,0,0,0,0,14.81,14.50,14.81,6.22,50.31
$STATE,8950,end climb,SURFACE_DEPTH_REACHED
$STATE,8950,begin surface coast
$STATE,8970,end surface coast,CONTROL_FINISHED_OK
$STATE,8970,begin surface
$SM_CCo,8986,65.95,0.243,0,0,1823,220.03
$SM_GC,1.19,5.55,2.50,65.95,0.076,0.043,0.243,231,2095,1823,-6.44,1.05,220.03,0,0,0,0,0,0,14.64,14.57,14.28
$IRIDIUM_FIX,-5943.02,0.00,160119,020106
$TT8_MAMPS,0.03745,0.23219
$HUMID,49.88
$INTERNAL_PRESSURE,6.14803
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3767264
$24V_AH,13.16,59.895
$10V_AH,13.65,0.000
$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,13.000,73.225,256.500,65.950,0.000,25.627,14.951,122.466,0.000,0.000,15.355,0.000,7183.923,408.392,1608.176,155.869,0.000,1048.380,0.000,1177.266,0.000,0.540,0.000
$DEVICE_MAMPS,428.400,2248.335,1569.780,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5384.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.703,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,20787,728
$CAP_FILE_SIZE,90923,0
$CFSIZE,1023623168,989986816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.086,177.11,1
$GPS,160119,070619,-5943.270,1.657,13,0.9,36,-19.7,0.0,141.5,8,8.3