version: 66.14
glider: 640
mission: 5
dive: 313
start: 1 17 119 14 11 3
data:
$ID,640
$MISSION,5
$DIVE,313
$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,47
$R_STBD_OVSHOOT,28
$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
$GPS1,170119,140535,-5941.5332,2.7234,20,0.8,34,-19.8,1.1,169.6,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-66.2
$GPS2,170119,141044,-5941.5298,2.7701,6,0.8,12,-19.8,0.6,186.4,10,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,335.5,3839,-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,-146.0,232,2083,1798,1825,0.0,0.0,0,91,0.00,0.00,-78.43,0.000,16386,0.000,0.000,232,2082,3095,3176,3015,0,0,0,0,0,0,14.60,28.83,14.61,6.19,50.90
$GC,93,-0.64,-146.0,233,2083,3177,3015,3.3,-6.6,16,113,6.07,2.65,-8.35,0.000,18948,0.360,2.228,2190,703,3315,3412,3218,0,0,0,0,0,0,14.10,13.36,14.42,6.30,50.15
$GC,202,-0.64,-146.0,2189,704,3413,3221,21.7,-17.5,38,206,0.00,2.40,0.00,0.000,3078,0.000,0.057,2179,2103,3316,3412,3220,0,0,0,0,0,0,14.48,14.35,14.50,6.32,48.97
$GC,327,-0.64,-146.0,2179,2103,3413,3221,43.7,-17.8,63,331,0.00,2.50,0.00,0.000,2308,0.000,0.083,2168,3503,3316,3412,3220,0,0,0,0,0,0,14.64,14.34,14.65,6.32,50.11
$GC,362,-0.64,-146.0,2168,3504,3417,3221,49.5,-16.3,70,366,0.08,2.38,0.00,0.000,3078,0.366,0.042,2193,2081,3316,3413,3220,0,0,0,0,0,0,14.20,14.42,14.43,6.32,49.52
$GC,489,-0.64,-146.0,2193,2082,3413,3221,68.6,-14.9,95,492,0.00,2.50,0.00,0.000,2308,0.000,0.081,2181,3506,3316,3413,3220,0,0,0,0,0,0,14.67,14.38,14.67,6.32,50.07
$GC,527,-0.64,-146.0,2182,3507,3414,3220,74.5,-14.7,103,531,0.00,2.35,0.00,0.000,3078,0.000,0.043,2181,2102,3316,3413,3219,0,0,0,0,0,0,14.54,14.45,14.55,6.32,49.25
$GC,653,-0.64,-146.0,2176,2100,3413,3222,94.1,-14.8,128,657,0.00,2.42,0.00,0.000,2564,0.000,0.063,2181,695,3316,3413,3220,0,0,0,0,0,0,14.69,14.38,14.69,6.32,48.81
$GC,727,-0.64,-146.0,2181,695,3413,3222,105.5,-14.9,138,731,0.08,2.40,0.00,0.000,3078,0.373,0.055,2193,2109,3317,3413,3221,0,0,0,0,0,0,14.20,14.43,14.45,6.31,48.22
$GC,1042,-0.64,-146.0,2193,2110,3413,3224,148.6,-13.6,154,1046,0.00,2.42,0.00,0.000,2564,0.000,0.062,2193,693,3317,3413,3221,0,0,0,0,0,0,14.76,14.47,14.76,6.32,49.72
$GC,1087,-0.64,-146.0,2194,694,3415,3221,154.0,-13.7,156,1091,0.00,2.40,0.00,0.000,3078,0.000,0.055,2183,2107,3316,3412,3221,0,0,0,0,0,0,14.61,14.48,14.62,6.32,49.76
$GC,1402,-0.64,-146.0,2184,2108,3414,3221,196.9,-13.0,172,1406,0.00,2.42,0.00,0.000,2564,0.000,0.062,2183,690,3317,3413,3221,0,0,0,0,0,0,14.79,14.50,14.79,6.33,50.23
$GC,1417,-0.64,-146.0,2183,690,3414,3221,196.9,-13.0,172,1421,0.05,2.42,0.00,0.000,3078,0.343,0.055,2207,2096,3317,3413,3221,0,0,0,0,0,0,14.27,14.47,14.54,6.32,51.14
$GC,1722,-0.64,-146.0,2208,2096,3414,3221,235.5,-11.7,188,1726,0.00,2.45,0.00,0.000,4356,0.000,0.082,2197,3507,3319,3413,3226,0,0,0,0,0,0,14.81,14.49,14.81,6.33,51.02
$GC,1742,-0.64,-146.0,2197,3508,3413,3222,237.9,-11.6,189,1746,0.00,2.38,0.00,0.000,1030,0.000,0.043,2197,2092,3317,3413,3221,0,0,0,0,0,0,14.56,14.50,14.59,6.33,50.63
$GC,2062,-0.64,-146.0,2198,2091,3413,3221,276.4,-12.0,205,2066,0.00,2.40,0.00,0.000,516,0.000,0.062,2197,692,3317,3413,3221,0,0,0,0,0,0,14.81,14.50,14.82,6.33,51.22
$GC,2122,-0.64,-146.0,2197,692,3413,3222,283.8,-12.3,208,2126,0.00,2.38,0.00,0.000,3078,0.000,0.055,2186,2101,3316,3412,3221,0,0,0,0,0,0,14.66,14.53,14.67,6.33,50.78
$GC,2442,-0.64,-146.0,2186,2102,3413,3222,323.8,-12.5,224,2447,0.00,2.42,0.00,0.000,2308,0.000,0.082,2176,3502,3317,3413,3221,0,0,0,0,0,0,14.83,14.49,14.83,6.33,50.82
$GC,2467,-0.64,-146.0,2176,3504,3413,3223,326.4,-12.6,225,2471,0.05,2.35,0.00,0.000,3078,0.331,0.042,2204,2103,3317,3413,3221,0,0,0,0,0,0,14.31,14.53,14.57,6.34,50.78
$STATE,2681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2681,begin apogee
$GC,2685,-0.15,0.0,2205,2157,3414,3221,352.1,-11.6,236,2812,0.40,0.00,124.68,1.566,10246,0.257,0.000,2348,2157,2721,2782,2660,0,0,0,0,0,0,14.28,13.94,13.32,6.34,50.59
$STATE,2813,end apogee,CONTROL_FINISHED_OK
$STATE,2813,begin loiter
$GC,3102,-0.15,0.0,2348,2158,2775,2643,349.2,3.1,257,3103,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2157,2708,2774,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.35
$GC,3402,-0.15,0.0,2349,2158,2775,2642,340.5,2.8,272,3403,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2157,2708,2774,2642,0,0,0,0,0,0,14.72,14.72,14.72,6.29,50.74
$GC,3702,-0.15,0.0,2348,2158,2774,2641,331.7,2.9,287,3703,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2157,2707,2774,2640,0,0,0,0,0,0,14.81,14.81,14.81,6.29,50.66
$GC,4002,-0.15,0.0,2348,2158,2774,2641,322.6,3.0,302,4003,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2157,2706,2773,2639,0,0,0,0,0,0,14.86,14.86,14.86,6.29,51.22
$GC,4302,-0.15,0.0,2348,2158,2774,2640,313.8,2.8,317,4303,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2157,2706,2773,2640,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.06
$GC,4602,-0.15,0.0,2348,2158,2774,2640,305.1,2.9,332,4603,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2157,2706,2774,2639,0,0,0,0,0,0,14.93,14.93,14.93,6.29,51.14
$GC,4902,-0.15,0.0,2348,2158,2774,2640,296.0,3.1,347,4903,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2706,2773,2639,0,0,0,0,0,0,14.96,14.96,14.96,6.29,51.14
$GC,5202,-0.15,0.0,2349,2158,2775,2638,286.7,3.2,362,5203,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2157,2706,2774,2638,0,0,0,0,0,0,14.97,14.98,14.97,6.28,51.10
$GC,5502,-0.15,0.0,2349,2158,2775,2638,277.6,3.0,377,5503,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2157,2706,2774,2638,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.06
$GC,5802,-0.15,0.0,2348,2158,2775,2638,268.6,3.0,392,5803,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2157,2706,2774,2638,0,0,0,0,0,0,15.00,15.01,15.01,6.29,51.29
$GC,6102,-0.15,0.0,2348,2158,2775,2639,260.0,2.9,407,6103,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2157,2706,2774,2638,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.14
$STATE,6400,end loiter,LOITER_COMPLETE
$STATE,6400,begin climb
$GC,6402,0.64,146.0,2348,2157,2775,2638,251.1,0.0,422,6543,0.62,2.60,130.00,1.418,10756,0.172,0.066,2606,749,2121,2149,2093,0,0,0,0,0,0,14.57,14.00,13.45,6.28,51.29
$GC,6572,0.64,146.0,2608,750,2136,2092,240.1,8.6,430,6576,0.00,2.42,0.00,0.000,5126,0.000,0.053,2607,2141,2113,2136,2090,0,0,0,0,0,0,14.18,14.08,14.20,6.25,49.21
$GC,6882,0.64,146.0,2608,2142,2132,2080,200.5,12.6,446,6886,0.00,2.53,0.00,0.000,4356,0.000,0.083,2608,3562,2104,2130,2079,0,0,0,0,0,0,14.58,14.28,14.59,6.24,50.15
$GC,6962,0.64,146.0,2608,3563,2132,2079,190.1,12.9,450,6967,0.00,2.42,0.00,0.000,5126,0.000,0.043,2618,2152,2104,2131,2078,0,0,0,0,0,0,14.45,14.30,14.47,6.24,50.47
$GC,7282,0.64,146.0,2618,2151,2130,2075,147.6,13.1,466,7286,0.00,2.47,0.00,0.000,4612,0.000,0.067,2629,735,2102,2128,2076,0,0,0,0,0,0,14.71,14.41,14.71,6.24,50.82
$GC,7337,0.64,146.0,2630,736,2127,2076,142.7,12.8,468,7341,0.08,2.40,0.00,0.000,5126,0.334,0.055,2604,2151,2101,2126,2076,0,0,0,0,0,0,14.27,14.43,14.50,6.24,51.14
$GC,7642,0.64,146.0,2603,2152,2126,2076,105.3,11.8,484,7646,0.00,2.47,0.00,0.000,260,0.000,0.081,2603,3564,2100,2126,2075,0,0,0,0,0,0,14.76,14.45,14.76,6.23,50.82
$GC,7692,0.64,146.0,2603,3564,2126,2076,100.4,12.2,486,7697,0.00,2.40,0.00,0.000,5126,0.000,0.044,2612,2148,2100,2126,2075,0,0,0,0,0,0,14.47,14.43,14.50,6.23,51.45
$GC,7998,0.64,146.0,2613,2148,2127,2074,68.0,10.1,546,8001,0.00,2.42,0.00,0.000,4612,0.000,0.067,2623,744,2099,2124,2074,0,0,0,0,0,0,14.78,14.48,14.78,6.22,49.84
$GC,8092,0.64,146.0,2624,744,2124,2074,59.1,8.7,565,8097,0.05,2.38,0.00,0.000,5126,0.383,0.053,2605,2153,2098,2123,2073,0,0,0,0,0,0,14.32,14.50,14.57,6.25,50.15
$GC,8217,0.65,156.4,2605,2153,2124,2074,49.4,7.9,590,8227,0.00,2.45,6.10,1.264,10500,0.000,0.081,2605,3555,2077,2101,2053,0,0,0,0,0,0,14.78,14.36,13.79,6.22,49.44
$GC,8328,0.65,156.4,2606,3555,2103,2054,39.3,8.5,612,8332,0.00,2.35,0.00,0.000,5126,0.000,0.042,2614,2142,2077,2101,2054,0,0,0,0,0,0,14.62,14.52,14.62,6.21,49.01
$GC,8454,0.65,156.4,2614,2143,2101,2053,27.6,10.0,637,8458,0.00,2.42,0.00,0.000,4612,0.000,0.067,2625,738,2077,2101,2053,0,0,0,0,0,0,14.76,14.47,14.76,6.21,49.48
$GC,8487,0.65,156.4,2626,739,2102,2052,24.5,9.2,644,8491,0.05,2.40,0.00,0.000,5126,0.380,0.054,2607,2159,2076,2101,2052,0,0,0,0,0,0,14.31,14.49,14.54,6.20,49.52
$GC,8613,0.65,156.4,2607,2160,2102,2052,12.0,9.8,669,8617,0.00,2.45,0.00,0.000,260,0.000,0.083,2607,3554,2076,2101,2051,0,0,0,0,0,0,14.76,14.45,14.76,6.22,50.15
$GC,8657,0.65,156.4,2607,3555,2101,2048,7.1,11.1,678,8661,0.00,2.35,0.00,0.000,5126,0.000,0.044,2616,2142,2076,2101,2052,0,0,0,0,0,0,14.62,14.52,14.64,6.22,50.11
$STATE,8700,end climb,SURFACE_DEPTH_REACHED
$STATE,8700,begin surface coast
$STATE,8730,end surface coast,CONTROL_FINISHED_OK
$STATE,8730,begin surface
$SM_CCo,8743,60.70,0.241,0,0,1821,220.03
$SM_GC,1.35,5.47,0.00,60.70,0.054,0.000,0.241,265,2140,1821,-6.48,1.13,220.03,0,0,0,0,0,0,14.61,14.77,14.26
$IRIDIUM_FIX,-5941.93,-4.27,170119,113048
$TT8_MAMPS,0.038948,0.349783
$HUMID,50.00
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3760608
$24V_AH,13.32,62.230
$10V_AH,13.19,0.000
$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,13.000,82.675,260.775,60.700,0.000,29.452,16.393,124.461,0.000,0.000,13.141,0.000,6974.714,408.475,1570.983,163.299,0.000,1034.803,0.000,1134.924,0.000,0.539,0.000
$DEVICE_MAMPS,382.500,2228.445,1565.955,240.975,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5146.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.757,0.000,0.000,0.000
$MEM,344104
$DATA_FILE_SIZE,17329,693
$CAP_FILE_SIZE,91786,0
$CFSIZE,1023623168,988708864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.079,118.78,1
$GPS,170119,163852,-5941.417,2.763,35,0.8,38,-19.8,1.4,351.9,10,8.4