version: 66.14
glider: 640
mission: 5
dive: 314
start: 1 17 119 16 47 52
data:
$ID,640
$MISSION,5
$DIVE,314
$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,32
$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
$GPS1,170119,163852,-5941.4175,2.7633,35,0.8,38,-19.8,1.4,351.9,10,8.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-61.4
$GPS2,170119,164732,-5941.3872,2.8959,6,0.8,13,-19.8,0.0,302.7,10,9.7
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,328.5,3733,-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,8,begin dive
$GC,10,-0.64,-146.0,225,2141,1791,1826,0.0,0.0,0,96,0.00,0.00,-83.18,0.000,16386,0.000,0.000,224,2140,3176,3256,3096,0,0,0,0,0,0,14.57,28.83,14.57,6.19,50.70
$GC,98,-0.64,-146.0,225,2141,3257,3098,3.4,-7.0,17,116,6.07,2.85,-5.12,0.000,18948,0.351,2.228,2173,688,3318,3411,3225,0,0,0,0,0,0,14.08,13.09,14.39,6.30,49.72
$GC,166,-0.64,-146.0,2174,688,3414,3224,15.4,-16.1,31,171,0.10,2.42,0.00,0.000,3078,0.344,0.056,2195,2099,3318,3413,3224,0,0,0,0,0,0,14.14,14.33,14.38,6.32,48.93
$GC,293,-0.64,-146.0,2196,2101,3412,3224,36.3,-16.8,56,296,0.00,2.50,0.00,0.000,260,0.000,0.082,2186,3513,3318,3413,3224,0,0,0,0,0,0,14.62,14.29,14.62,6.32,48.93
$GC,321,-0.64,-146.0,2186,3514,3414,3224,41.3,-16.6,62,325,0.00,2.42,0.00,0.000,3078,0.000,0.044,2185,2101,3318,3413,3224,0,0,0,0,0,0,14.42,14.35,14.45,6.33,49.21
$GC,446,-0.64,-146.0,2185,2100,3413,3225,61.0,-15.7,87,449,0.00,0.00,0.00,0.000,2054,0.000,0.000,2185,2099,3316,3413,3220,0,0,0,0,0,0,14.66,14.66,14.66,6.33,49.25
$GC,571,-0.64,-146.0,2186,2100,3414,3226,81.3,-16.3,112,575,0.00,2.45,0.00,0.000,2564,0.000,0.063,2185,689,3318,3413,3224,0,0,0,0,0,0,14.69,14.41,14.69,6.32,48.58
$GC,586,-0.64,-146.0,2186,690,3414,3225,83.8,-16.7,115,591,0.05,2.45,0.00,0.000,3078,0.440,0.055,2190,2100,3318,3413,3224,0,0,0,0,0,0,14.20,14.39,14.45,6.31,49.21
$GC,713,-0.64,-146.0,2190,2100,3414,3224,103.2,-14.8,137,713,0.00,0.00,0.00,0.000,2054,0.000,0.000,2190,2099,3319,3413,3225,0,0,0,0,0,0,14.71,14.71,14.71,6.31,48.11
$GC,1011,-0.64,-146.0,2190,2100,3414,3223,142.4,-12.5,152,1015,0.00,2.42,0.00,0.000,2564,0.000,0.063,2193,693,3318,3413,3224,0,0,0,0,0,0,14.77,14.47,14.76,6.31,49.92
$GC,1086,-0.64,-146.0,2190,693,3413,3225,149.9,-12.4,155,1090,0.00,2.40,0.00,0.000,3078,0.000,0.056,2180,2108,3318,3413,3224,0,0,0,0,0,0,14.60,14.48,14.63,6.32,49.56
$GC,1391,-0.64,-146.0,2181,2109,3414,3224,191.1,-13.2,171,1392,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2109,3318,3412,3224,0,0,0,0,0,0,14.79,14.80,14.80,6.33,50.31
$GC,1691,-0.64,-146.0,2180,2109,3414,3224,230.2,-13.0,186,1695,0.00,2.42,0.00,0.000,2564,0.000,0.061,2179,690,3319,3413,3225,0,0,0,0,0,0,14.82,14.52,14.82,6.33,50.82
$GC,1716,-0.64,-146.0,2180,690,3413,3225,232.9,-13.1,187,1720,0.08,2.42,0.00,0.000,3078,0.375,0.056,2192,2120,3318,3413,3224,0,0,0,0,0,0,14.29,14.52,14.55,6.32,51.06
$GC,2031,-0.64,-146.0,2193,2121,3414,3224,271.9,-12.4,203,2036,0.00,2.40,0.00,0.000,2308,0.000,0.082,2182,3503,3318,3413,3224,0,0,0,0,0,0,14.83,14.50,14.83,6.33,50.66
$GC,2052,-0.64,-146.0,2183,3503,3414,3224,274.4,-12.4,204,2056,0.00,2.33,0.00,0.000,3078,0.000,0.042,2182,2093,3318,3413,3224,0,0,0,0,0,0,14.67,14.56,14.69,6.33,50.98
$GC,2371,-0.64,-146.0,2182,2092,3413,3225,315.5,-12.7,220,2375,0.00,2.40,0.00,0.000,2564,0.000,0.062,2182,696,3318,3413,3224,0,0,0,0,0,0,14.83,14.53,14.83,6.33,51.10
$GC,2446,-0.64,-146.0,2181,697,3414,3226,323.1,-12.6,223,2451,0.08,2.38,0.00,0.000,3078,0.369,0.055,2195,2107,3318,3413,3224,0,0,0,0,0,0,14.31,14.54,14.57,6.33,51.10
$STATE,2670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2670,begin apogee
$GC,2674,-0.15,0.0,2196,2158,3413,3225,350.9,-11.7,235,2803,0.43,0.00,125.65,1.560,10246,0.262,0.000,2346,2157,2718,2779,2657,0,0,0,0,0,0,14.32,13.94,13.31,6.34,51.53
$STATE,2804,end apogee,CONTROL_FINISHED_OK
$STATE,2804,begin loiter
$GC,3091,-0.15,0.0,2347,2158,2773,2643,346.4,3.5,256,3092,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2707,2772,2642,0,0,0,0,0,0,14.58,14.58,14.58,6.29,50.43
$GC,3391,-0.15,0.0,2347,2157,2773,2641,335.6,3.7,271,3392,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2706,2772,2640,0,0,0,0,0,0,14.73,14.73,14.73,6.29,50.78
$GC,3692,-0.15,0.0,2347,2158,2773,2640,324.6,3.7,286,3692,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2156,2705,2772,2639,0,0,0,0,0,0,14.81,14.81,14.81,6.29,50.94
$GC,3992,-0.15,0.0,2347,2157,2773,2638,313.6,3.8,301,3993,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2705,2772,2639,0,0,0,0,0,0,14.87,14.87,14.87,6.29,51.69
$GC,4291,-0.15,0.0,2347,2158,2773,2640,302.8,3.6,316,4292,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2705,2772,2639,0,0,0,0,0,0,14.91,14.91,14.91,6.29,51.10
$GC,4591,-0.15,0.0,2347,2158,2772,2639,292.6,3.4,331,4592,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2705,2772,2639,0,0,0,0,0,0,14.94,14.95,14.95,6.28,51.22
$GC,4891,-0.15,0.0,2347,2158,2773,2640,283.1,3.2,346,4892,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2705,2772,2639,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.18
$GC,5191,-0.15,0.0,2346,2158,2772,2640,274.4,2.8,361,5192,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2157,2705,2772,2639,0,0,0,0,0,0,14.99,15.00,14.99,6.28,51.22
$GC,5492,-0.15,0.0,2346,2158,2773,2640,265.9,3.1,376,5493,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2705,2772,2639,0,0,0,0,0,0,15.00,15.00,15.01,6.29,51.26
$GC,5791,-0.15,0.0,2347,2157,2773,2639,256.9,3.0,391,5792,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2156,2705,2772,2639,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.29
$GC,6091,-0.15,0.0,2346,2158,2773,2641,247.5,3.2,406,6092,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2706,2772,2640,0,0,0,0,0,0,15.03,15.03,15.03,6.28,51.65
$STATE,6390,end loiter,LOITER_COMPLETE
$STATE,6390,begin climb
$GC,6392,0.64,146.0,2347,2157,2773,2640,237.6,0.0,421,6529,0.62,2.55,129.60,1.410,10756,0.174,0.063,2606,742,2122,2146,2098,0,0,0,0,0,0,14.57,13.91,13.45,6.28,51.22
$GC,6633,0.64,146.0,2606,743,2136,2091,218.4,10.5,432,6637,0.00,2.42,0.00,0.000,1030,0.000,0.053,2606,2144,2112,2135,2089,0,0,0,0,0,0,14.29,14.20,14.31,6.24,49.68
$GC,6948,0.64,146.0,2607,2145,2133,2083,179.8,11.8,448,6952,0.00,2.55,0.00,0.000,260,0.000,0.083,2606,3553,2107,2132,2083,0,0,0,0,0,0,14.61,14.30,14.62,6.24,50.47
$GC,7028,0.64,146.0,2606,3554,2133,2084,170.3,11.9,452,7032,0.00,2.38,0.00,0.000,5126,0.000,0.043,2616,2161,2107,2132,2083,0,0,0,0,0,0,14.41,14.38,14.44,6.24,50.55
$GC,7348,0.64,146.0,2617,2161,2130,2081,131.3,12.5,468,7352,0.00,2.47,0.00,0.000,4612,0.000,0.067,2628,743,2105,2131,2079,0,0,0,0,0,0,14.72,14.42,14.72,6.24,51.10
$GC,7413,0.64,146.0,2628,743,2128,2080,124.6,11.5,471,7417,0.08,2.42,0.00,0.000,5126,0.327,0.054,2602,2174,2103,2128,2079,0,0,0,0,0,0,14.28,14.45,14.52,6.24,50.90
$GC,7718,0.64,146.0,2602,2175,2131,2079,93.5,9.4,494,7723,0.00,2.42,0.00,0.000,260,0.000,0.082,2601,3561,2103,2128,2078,0,0,0,0,0,0,14.76,14.45,14.76,6.23,50.27
$GC,7743,0.64,146.0,2602,3561,2129,2077,91.0,10.2,499,7747,0.00,2.40,0.00,0.000,5126,0.000,0.044,2611,2144,2103,2128,2078,0,0,0,0,0,0,14.54,14.49,14.56,6.23,50.39
$GC,7868,0.64,146.0,2611,2145,2129,2077,77.4,11.9,524,7872,0.00,2.42,0.00,0.000,4612,0.000,0.067,2622,742,2102,2127,2077,0,0,0,0,0,0,14.76,14.47,14.77,6.22,49.88
$GC,7943,0.64,146.0,2622,743,2128,2077,68.8,11.3,539,7947,0.05,2.38,0.00,0.000,5126,0.396,0.052,2604,2151,2101,2126,2077,0,0,0,0,0,0,14.31,14.50,14.55,6.22,50.70
$GC,8070,0.64,146.0,2605,2152,2127,2077,54.6,11.7,564,8073,0.00,2.45,0.00,0.000,260,0.000,0.083,2604,3553,2102,2127,2077,0,0,0,0,0,0,14.76,14.46,14.76,6.22,49.40
$GC,8104,0.64,146.0,2605,3554,2127,2077,50.4,12.2,571,8107,0.00,2.35,0.00,0.000,5126,0.000,0.044,2613,2140,2101,2126,2077,0,0,0,0,0,0,14.63,14.52,14.64,6.21,49.40
$GC,8228,0.64,146.0,2614,2140,2126,2077,36.7,10.0,596,8232,0.00,2.42,0.00,0.000,4612,0.000,0.067,2624,742,2102,2127,2077,0,0,0,0,0,0,14.78,14.48,14.78,6.21,49.13
$GC,8324,0.67,173.1,2625,743,2128,2076,29.1,7.3,615,8349,0.00,2.38,20.85,1.274,13318,0.000,0.053,2624,2151,2013,2033,1994,0,0,0,0,0,0,14.63,14.50,13.85,6.21,48.89
$GC,8468,0.67,173.1,2625,2151,2028,1985,15.6,10.3,644,8472,0.00,2.47,0.00,0.000,4356,0.000,0.083,2624,3553,2006,2027,1985,0,0,0,0,0,0,14.68,14.39,14.68,6.20,49.17
$GC,8504,0.67,173.1,2624,3554,2028,1985,11.6,11.2,651,8507,0.05,2.35,0.00,0.000,5126,0.406,0.043,2618,2149,2005,2026,1985,0,0,0,0,0,0,14.24,14.45,14.49,6.20,49.56
$STATE,8591,end climb,SURFACE_DEPTH_REACHED
$STATE,8591,begin surface coast
$STATE,8626,end surface coast,CONTROL_FINISHED_OK
$STATE,8626,begin surface
$SM_CCo,8640,43.75,0.243,0,0,1822,220.03
$SM_GC,1.43,5.53,0.08,43.75,0.064,0.169,0.243,259,2077,1822,-6.49,0.90,220.03,0,0,0,0,0,0,14.55,14.46,14.23
$IRIDIUM_FIX,-5940.07,-4.26,170119,164059
$TT8_MAMPS,0.039697,0.296604
$HUMID,50.31
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3760096
$24V_AH,13.09,62.416
$10V_AH,13.64,0.000
$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,13.125,73.250,276.100,43.750,0.000,50.997,78.100,174.633,0.000,0.000,14.151,0.000,6958.256,395.603,1687.118,167.770,0.000,1010.340,0.000,1109.867,0.000,0.541,0.000
$DEVICE_MAMPS,439.875,2228.445,1559.835,242.505,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5043.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.851,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,17309,676
$CAP_FILE_SIZE,91076,0
$CFSIZE,1023623168,988610560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,449.06,0x214640,0,24
$CURRENT,0.052,84.74,1
$GPS,170119,191332,-5941.081,2.730,13,0.9,30,-19.8,0.0,108.3,9,9.2