version: 66.14
glider: 640
mission: 5
dive: 304
start: 1 16 119 14 59 59
data:
$ID,640
$MISSION,5
$DIVE,304
$N_DIVES,500
$STOP_T,1241912
$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,39
$R_STBD_OVSHOOT,27
$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
$GPS1,160119,145419,-5943.0474,2.3134,14,0.9,37,-19.8,0.3,282.4,9,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-69.5
$GPS2,160119,145941,-5943.0195,2.3362,10,0.8,16,-19.8,0.0,21.0,10,9.7
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,349.0,6004,-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,8,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.64,-146.0,233,2092,1792,1829,0.0,0.0,0,101,0.00,0.00,-87.50,0.000,16386,0.000,0.000,232,2092,3199,3278,3121,0,0,0,0,0,0,14.59,28.83,14.62,6.18,50.66
$GC,103,-0.64,-146.0,233,2092,3280,3121,3.4,-7.1,18,120,6.07,2.67,-4.30,0.000,18948,0.355,2.232,2194,699,3317,3410,3224,0,0,0,0,0,0,14.11,13.37,14.42,6.30,50.03
$GC,213,-0.64,-146.0,2194,699,3413,3225,22.7,-17.2,40,216,0.00,2.40,0.00,0.000,3078,0.000,0.055,2184,2103,3318,3412,3225,0,0,0,0,0,0,14.48,14.37,14.49,6.32,48.97
$GC,338,-0.64,-146.0,2185,2104,3412,3226,45.2,-17.9,65,341,0.00,2.47,0.00,0.000,2308,0.000,0.081,2174,3510,3318,3412,3225,0,0,0,0,0,0,14.64,14.36,14.64,6.32,49.56
$GC,401,-0.64,-146.0,2175,3511,3413,3225,56.1,-16.4,78,406,0.05,2.40,0.00,0.000,3078,0.348,0.043,2193,2103,3318,3412,3225,0,0,0,0,0,0,14.15,14.40,14.46,6.32,49.37
$GC,528,-0.64,-146.0,2192,2102,3412,3226,72.7,-12.4,103,531,0.00,0.00,0.00,0.000,2054,0.000,0.000,2191,2102,3318,3411,3225,0,0,0,0,0,0,14.68,14.69,14.69,6.32,49.09
$GC,652,-0.64,-146.0,2192,2103,3412,3227,89.0,-12.8,128,654,0.00,0.00,0.00,0.000,2054,0.000,0.000,2191,2102,3318,3412,3225,0,0,0,0,0,0,14.71,14.71,14.71,6.32,49.05
$GC,781,-0.64,-146.0,2192,2102,3412,3226,105.8,-13.1,148,785,0.00,2.47,0.00,0.000,2564,0.000,0.063,2191,695,3318,3412,3225,0,0,0,0,0,0,14.73,14.42,14.73,6.32,49.48
$GC,851,-0.64,-146.0,2191,698,3413,3227,114.1,-13.8,151,855,0.00,2.40,0.00,0.000,3078,0.000,0.054,2181,2109,3319,3412,3226,0,0,0,0,0,0,14.59,14.46,14.60,6.32,49.25
$GC,1161,-0.64,-146.0,2182,2109,3413,3225,156.3,-12.9,167,1166,0.00,2.45,0.00,0.000,2564,0.000,0.063,2181,687,3319,3412,3226,0,0,0,0,0,0,14.78,14.49,14.78,6.31,49.80
$GC,1201,-0.64,-146.0,2181,688,3413,3225,161.4,-12.9,169,1206,0.05,2.42,0.00,0.000,3078,0.431,0.057,2190,2115,3318,3412,3225,0,0,0,0,0,0,14.27,14.49,14.53,6.32,50.23
$GC,1521,-0.64,-146.0,2189,2115,3412,3227,199.4,-12.4,185,1525,0.00,2.42,0.00,0.000,2308,0.000,0.083,2179,3516,3318,3412,3225,0,0,0,0,0,0,14.81,14.49,14.81,6.33,50.66
$GC,1596,-0.64,-146.0,2179,3514,3412,3226,207.1,-12.8,188,1600,0.00,2.38,0.00,0.000,3078,0.000,0.043,2179,2078,3318,3412,3225,0,0,0,0,0,0,14.65,14.54,14.66,6.33,50.63
$GC,1901,-0.64,-146.0,2179,2078,3413,3225,249.3,-13.2,204,1905,0.00,2.38,0.00,0.000,2564,0.000,0.063,2179,693,3318,3412,3225,0,0,0,0,0,0,14.82,14.52,14.83,6.33,50.94
$GC,1961,-0.64,-146.0,2179,694,3411,3226,257.2,-13.2,207,1965,0.08,2.42,0.00,0.000,3078,0.373,0.055,2191,2128,3318,3411,3225,0,0,0,0,0,0,14.31,14.50,14.56,6.33,50.86
$GC,2281,-0.64,-146.0,2191,2128,3412,3227,296.7,-12.4,223,2285,0.00,2.50,0.00,0.000,2564,0.000,0.063,2192,680,3318,3411,3225,0,0,0,0,0,0,14.83,14.52,14.83,6.33,51.22
$GC,2301,-0.64,-146.0,2192,681,3413,3226,299.3,-12.5,224,2305,0.03,2.40,0.00,0.000,3078,0.613,0.055,2189,2103,3318,3412,3225,0,0,0,0,0,0,14.38,14.54,14.57,6.34,51.14
$GC,2622,-0.64,-146.0,2189,2103,3412,3236,339.6,-12.7,240,2626,0.00,2.45,0.00,0.000,2308,0.000,0.082,2180,3506,3318,3411,3225,0,0,0,0,0,0,14.84,14.51,14.83,6.34,50.98
$GC,2651,-0.64,-146.0,2180,3501,3413,3225,342.2,-12.8,241,2655,0.00,2.35,0.00,0.000,3078,0.000,0.042,2179,2105,3318,3412,3225,0,0,0,0,0,0,14.59,14.54,14.61,6.34,50.98
$STATE,2700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2700,begin apogee
$GC,2704,-0.15,0.0,2180,2156,3413,3225,350.2,-13.2,244,2833,0.47,0.00,125.32,1.570,10246,0.262,0.000,2347,2156,2719,2780,2659,0,0,0,0,0,0,14.33,13.95,13.33,6.33,50.98
$STATE,2834,end apogee,CONTROL_FINISHED_OK
$STATE,2834,begin loiter
$GC,3121,-0.15,0.0,2347,2157,2775,2645,349.3,2.5,265,3122,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2156,2708,2774,2643,0,0,0,0,0,0,14.57,14.58,14.58,6.29,50.82
$GC,3421,-0.15,0.0,2347,2156,2775,2644,341.3,2.6,280,3422,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2155,2708,2774,2642,0,0,0,0,0,0,14.72,14.73,14.73,6.29,50.78
$GC,3721,-0.15,0.0,2348,2156,2775,2641,333.1,2.8,295,3722,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2155,2708,2774,2642,0,0,0,0,0,0,14.81,14.81,14.81,6.29,50.90
$GC,4022,-0.15,0.0,2348,2156,2776,2641,324.9,2.8,310,4022,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2155,2707,2774,2641,0,0,0,0,0,0,14.87,14.87,14.87,6.29,50.82
$GC,4321,-0.15,0.0,2348,2156,2775,2641,316.9,2.8,325,4322,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2707,2774,2641,0,0,0,0,0,0,14.91,14.91,14.91,6.29,51.81
$GC,4621,-0.15,0.0,2347,2156,2774,2642,309.0,2.5,340,4622,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2156,2707,2774,2641,0,0,0,0,0,0,14.95,14.94,14.95,6.28,51.65
$GC,4921,-0.15,0.0,2348,2156,2776,2641,301.7,2.3,355,4922,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2156,2707,2774,2641,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.41
$GC,5221,-0.15,0.0,2348,2156,2775,2641,294.4,2.4,370,5222,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2707,2774,2641,0,0,0,0,0,0,14.99,14.99,14.99,6.27,51.45
$GC,5522,-0.15,0.0,2348,2156,2775,2641,287.3,2.3,385,5522,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2156,2707,2774,2641,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.61
$GC,5821,-0.15,0.0,2348,2156,2775,2642,280.1,2.4,400,5822,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2708,2774,2642,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.53
$GC,6121,-0.15,0.0,2348,2156,2775,2643,272.9,2.4,415,6122,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2708,2774,2642,0,0,0,0,0,0,15.03,15.03,15.03,6.29,52.04
$STATE,6420,end loiter,LOITER_COMPLETE
$STATE,6420,begin climb
$GC,6422,0.64,146.0,2348,2156,2775,2643,264.7,0.0,430,6563,0.62,2.55,131.10,1.431,11012,0.172,0.081,2598,3538,2118,2142,2094,0,0,0,0,0,0,14.59,13.97,13.44,6.29,51.33
$GC,6647,0.64,146.0,2598,3539,2139,2087,246.7,11.3,441,6651,0.00,2.40,0.00,0.000,5126,0.000,0.041,2608,2153,2112,2139,2086,0,0,0,0,0,0,14.28,14.18,14.29,6.24,48.85
$GC,6962,0.64,146.0,2609,2154,2133,2078,206.1,13.2,457,6966,0.00,2.50,0.00,0.000,4612,0.000,0.067,2619,732,2106,2135,2078,0,0,0,0,0,0,14.61,14.33,14.61,6.24,50.63
$GC,7012,0.64,146.0,2620,733,2130,2077,200.9,13.2,459,7016,0.00,2.45,0.00,0.000,5126,0.000,0.054,2619,2138,2103,2128,2078,0,0,0,0,0,0,14.48,14.33,14.50,6.24,51.14
$GC,7322,0.64,146.0,2620,2139,2128,2076,158.0,13.1,475,7326,0.00,2.50,0.00,0.000,4356,0.000,0.082,2618,3559,2102,2128,2077,0,0,0,0,0,0,14.71,14.40,14.71,6.24,50.70
$GC,7417,0.64,146.0,2619,3560,2128,2078,147.8,12.7,479,7421,0.08,2.40,0.00,0.000,5126,0.296,0.043,2594,2146,2101,2127,2076,0,0,0,0,0,0,14.26,14.45,14.51,6.24,51.29
$GC,7722,0.64,146.0,2592,2147,2128,2076,113.3,10.6,495,7726,0.00,2.45,0.00,0.000,2564,0.000,0.066,2601,735,2101,2127,2075,0,0,0,0,0,0,14.77,14.48,14.77,6.23,50.70
$GC,7762,0.64,146.0,2602,742,2127,2075,109.2,10.3,497,7766,0.00,2.42,0.00,0.000,1030,0.000,0.053,2602,2150,2100,2125,2075,0,0,0,0,0,0,14.62,14.46,14.63,6.23,50.86
$GC,8067,0.65,153.7,2603,2150,2127,2074,79.2,8.0,543,8071,0.00,2.45,0.00,0.000,2308,0.000,0.083,2602,3555,2100,2126,2074,0,0,0,0,0,0,14.78,14.47,14.78,6.18,50.03
$GC,8107,0.65,153.7,2602,3555,2126,2076,75.5,9.6,551,8111,0.00,2.33,0.00,0.000,5126,0.000,0.043,2612,2150,2100,2126,2075,0,0,0,0,0,0,14.64,14.54,14.66,6.23,50.23
$GC,8232,0.65,153.7,2613,2150,2130,2074,63.0,10.5,576,8237,0.00,2.42,0.00,0.000,4612,0.000,0.067,2623,744,2099,2125,2074,0,0,0,0,0,0,14.78,14.50,14.79,6.22,49.72
$GC,8262,0.65,153.7,2623,745,2125,2075,59.8,10.7,582,8266,0.03,2.42,0.00,0.000,5126,0.391,0.054,2612,2151,2099,2124,2074,0,0,0,0,0,0,14.29,14.47,14.57,6.22,50.15
$GC,8388,0.65,153.7,2611,2152,2125,2074,45.9,11.8,607,8392,0.00,2.45,0.00,0.000,4356,0.000,0.083,2611,3559,2099,2124,2074,0,0,0,0,0,0,14.78,14.47,14.78,6.22,49.64
$GC,8452,0.65,153.7,2612,3560,2126,2074,38.3,10.5,620,8457,0.00,2.35,0.00,0.000,5126,0.000,0.043,2621,2143,2099,2124,2074,0,0,0,0,0,0,14.64,14.55,14.66,6.21,49.52
$GC,8577,0.65,153.7,2621,2144,2126,2074,25.9,10.3,645,8581,0.00,2.42,0.00,0.000,4612,0.000,0.066,2632,735,2099,2124,2074,0,0,0,0,0,0,14.79,14.50,14.79,6.21,50.00
$GC,8647,0.65,153.7,2632,736,2123,2074,18.9,9.5,659,8651,0.05,2.42,0.00,0.000,5126,0.301,0.053,2611,2149,2098,2123,2073,0,0,0,0,0,0,14.28,14.49,14.45,6.21,49.56
$GC,8773,0.65,153.7,2618,2150,2124,2073,7.3,9.1,684,8777,0.00,2.45,0.00,0.000,4356,0.000,0.082,2612,3558,2098,2123,2073,0,0,0,0,0,0,14.79,14.47,14.79,6.21,50.03
$GC,8812,0.65,153.7,2611,3558,2123,2074,3.1,11.0,692,8817,0.00,2.38,0.00,0.000,5126,0.000,0.043,2621,2127,2098,2123,2073,0,0,0,0,0,0,14.64,14.54,14.66,6.21,49.88
$STATE,8820,end climb,SURFACE_DEPTH_REACHED
$STATE,8820,begin surface coast
$STATE,8845,end surface coast,CONTROL_FINISHED_OK
$STATE,8845,begin surface
$SM_CCo,8858,66.20,0.241,0,0,1822,220.03
$SM_GC,1.24,5.43,0.00,66.20,0.037,0.000,0.241,242,2125,1822,-6.50,0.74,220.03,0,0,0,0,0,0,14.64,14.79,14.27
$IRIDIUM_FIX,-5941.93,4.27,160119,122322
$TT8_MAMPS,0.038199,0.341544
$HUMID,49.80
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3765216
$24V_AH,13.33,60.611
$10V_AH,13.48,0.000
$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,12.950,82.825,256.425,66.200,0.000,26.086,27.178,127.406,0.000,0.000,16.728,0.000,7038.380,416.763,1632.950,160.839,0.000,1066.877,0.000,1176.248,0.000,0.540,0.000
$DEVICE_MAMPS,612.765,2232.270,1569.780,240.975,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5260.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.748,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17365,699
$CAP_FILE_SIZE,94468,0
$CFSIZE,1023623168,989593600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.059,115.68,1
$GPS,160119,172952,-5942.718,2.369,40,0.8,43,-19.8,0.0,333.1,10,9.5