version: 66.14
glider: 640
mission: 5
dive: 307
start: 1 16 119 22 44 57
data:
$ID,640
$MISSION,5
$DIVE,307
$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,37
$R_STBD_OVSHOOT,26
$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
$GPS1,160119,223927,-5942.4868,2.3208,41,0.7,43,-19.8,0.0,108.3,11,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-66.7
$GPS2,160119,224439,-5942.4839,2.3258,13,0.7,13,-19.8,0.0,311.0,12,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,350.3,5088,-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,-146.0,219,2140,1793,1827,0.0,0.0,0,101,0.00,0.00,-87.53,0.000,16386,0.000,0.000,219,2139,3214,3297,3132,0,0,0,0,0,0,14.62,28.83,14.62,6.20,50.74
$GC,103,-0.64,-146.0,219,2140,3297,3134,3.4,-7.5,18,118,6.07,2.78,-3.65,0.000,18948,0.352,2.232,2182,698,3315,3408,3223,0,0,0,0,0,0,14.09,13.38,14.42,6.31,49.84
$GC,198,-0.64,-146.0,2182,699,3410,3225,19.9,-16.1,37,202,0.08,2.40,0.00,0.000,3078,0.375,0.057,2195,2103,3316,3409,3224,0,0,0,0,0,0,14.14,14.35,14.38,6.32,49.44
$GC,323,-0.64,-146.0,2196,2103,3410,3224,40.1,-15.6,62,327,0.00,2.47,0.00,0.000,260,0.000,0.081,2185,3505,3317,3411,3224,0,0,0,0,0,0,14.64,14.34,14.64,6.32,49.25
$GC,352,-0.64,-146.0,2186,3505,3410,3225,45.0,-16.5,68,356,0.00,2.40,0.00,0.000,3078,0.000,0.044,2185,2077,3317,3410,3224,0,0,0,0,0,0,14.52,14.41,14.54,6.32,49.60
$GC,477,-0.64,-146.0,2186,2076,3411,3231,64.8,-14.4,93,481,0.00,2.53,0.00,0.000,2308,0.000,0.081,2175,3508,3317,3410,3224,0,0,0,0,0,0,14.67,14.38,14.68,6.32,49.37
$GC,537,-0.64,-146.0,2175,3508,3410,3223,72.7,-11.6,105,541,0.05,2.40,0.00,0.000,3078,0.335,0.043,2204,2092,3317,3410,3224,0,0,0,0,0,0,14.21,14.42,14.46,6.32,48.97
$GC,663,-0.64,-146.0,2204,2091,3411,3224,86.4,-11.0,130,667,0.00,2.42,0.00,0.000,4612,0.000,0.065,2204,696,3317,3410,3224,0,0,0,0,0,0,14.69,14.40,14.70,6.32,48.66
$GC,707,-0.64,-146.0,2204,695,3412,3224,91.7,-11.5,139,712,0.00,2.42,0.00,0.000,1030,0.000,0.055,2194,2097,3317,3410,3224,0,0,0,0,0,0,14.47,14.42,14.50,6.32,48.34
$GC,842,-0.64,-146.0,2194,2098,3410,3225,107.6,-12.1,157,843,0.00,0.00,0.00,0.000,2054,0.000,0.000,2194,2097,3317,3410,3224,0,0,0,0,0,0,14.72,14.73,14.73,6.31,48.38
$GC,1142,-0.64,-146.0,2195,2098,3410,3225,145.0,-12.8,172,1146,0.00,2.45,0.00,0.000,260,0.000,0.082,2182,3504,3317,3410,3224,0,0,0,0,0,0,14.76,14.45,14.77,6.32,50.35
$GC,1167,-0.64,-146.0,2183,3505,3411,3223,147.8,-13.1,173,1171,0.00,2.38,0.00,0.000,3078,0.000,0.042,2182,2098,3317,3410,3224,0,0,0,0,0,0,14.53,14.49,14.55,6.32,50.00
$GC,1482,-0.64,-146.0,2182,2097,3410,3225,191.4,-13.6,189,1486,0.00,2.45,0.00,0.000,2308,0.000,0.082,2171,3504,3316,3410,3223,0,0,0,0,0,0,14.79,14.47,14.79,6.32,50.27
$GC,1562,-0.64,-146.0,2172,3505,3411,3224,202.2,-13.5,193,1567,0.05,2.38,0.00,0.000,3078,0.342,0.041,2189,2089,3317,3410,3224,0,0,0,0,0,0,14.24,14.50,14.57,6.33,50.66
$GC,1882,-0.64,-146.0,2189,2088,3410,3225,242.7,-12.6,209,1886,0.00,2.47,0.00,0.000,2308,0.000,0.080,2178,3509,3317,3410,3224,0,0,0,0,0,0,14.81,14.49,14.81,6.33,51.02
$GC,1942,-0.64,-146.0,2178,3510,3411,3225,250.2,-12.6,212,1946,0.03,2.38,0.00,0.000,3078,0.440,0.042,2187,2101,3316,3410,3223,0,0,0,0,0,0,14.28,14.53,14.43,6.33,50.70
$GC,2262,-0.64,-146.0,2186,2100,3410,3224,290.1,-12.6,228,2266,0.00,2.45,0.00,0.000,2308,0.000,0.080,2176,3508,3317,3410,3224,0,0,0,0,0,0,14.82,14.50,14.82,6.34,50.78
$GC,2307,-0.64,-146.0,2176,3508,3410,3225,295.3,-12.8,230,2311,0.05,2.33,0.00,0.000,3078,0.433,0.041,2192,2100,3317,3410,3224,0,0,0,0,0,0,14.30,14.59,14.56,6.34,51.22
$GC,2622,-0.64,-146.0,2193,2099,3409,3224,335.1,-12.5,246,2626,0.00,2.45,0.00,0.000,2308,0.000,0.080,2181,3509,3317,3410,3224,0,0,0,0,0,0,14.83,14.50,14.83,6.33,51.41
$GC,2647,-0.64,-146.0,2182,3509,3411,3224,337.6,-12.6,247,2651,0.00,2.38,0.00,0.000,3078,0.000,0.043,2180,2104,3317,3410,3224,0,0,0,0,0,0,14.58,14.53,14.60,6.34,50.98
$STATE,2740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2740,begin apogee
$GC,2745,-0.15,0.0,2181,2157,3411,3224,350.6,-13.0,252,2873,0.47,0.00,125.45,1.571,10246,0.266,0.000,2348,2157,2716,2777,2656,0,0,0,0,0,0,14.31,13.93,13.31,6.34,51.06
$STATE,2874,end apogee,CONTROL_FINISHED_OK
$STATE,2874,begin loiter
$GC,3162,-0.15,0.0,2348,2157,2773,2641,349.3,2.7,273,3163,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2157,2706,2771,2641,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.66
$GC,3462,-0.15,0.0,2348,2158,2772,2640,341.3,2.8,288,3463,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2157,2704,2771,2638,0,0,0,0,0,0,14.71,14.72,14.71,6.29,50.70
$GC,3762,-0.15,0.0,2349,2157,2772,2637,332.3,3.0,303,3763,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2157,2704,2771,2637,0,0,0,0,0,0,14.81,14.81,14.81,6.29,50.82
$GC,4062,-0.15,0.0,2349,2158,2772,2637,322.7,3.2,318,4063,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2157,2703,2771,2636,0,0,0,0,0,0,14.85,14.85,14.86,6.29,50.94
$GC,4362,-0.15,0.0,2349,2158,2772,2637,312.4,3.5,333,4363,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2157,2703,2771,2636,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.45
$GC,4662,-0.15,0.0,2349,2158,2772,2637,301.7,3.6,348,4663,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2157,2703,2771,2635,0,0,0,0,0,0,14.92,14.93,14.93,6.29,51.06
$GC,4962,-0.15,0.0,2348,2157,2772,2635,291.3,3.3,363,4963,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2157,2703,2771,2635,0,0,0,0,0,0,14.95,14.95,14.95,6.29,50.98
$GC,5262,-0.15,0.0,2348,2158,2772,2636,282.9,2.6,378,5263,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2157,2703,2772,2635,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.10
$GC,5562,-0.15,0.0,2349,2158,2772,2636,275.0,2.4,393,5563,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2157,2703,2771,2635,0,0,0,0,0,0,14.99,14.99,14.99,6.29,51.61
$GC,5862,-0.15,0.0,2349,2157,2772,2634,267.1,2.7,408,5863,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2157,2702,2771,2634,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.77
$GC,6162,-0.15,0.0,2349,2158,2772,2635,258.4,3.1,423,6163,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2157,2702,2771,2634,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.14
$STATE,6460,end loiter,LOITER_COMPLETE
$STATE,6460,begin climb
$GC,6462,0.64,146.0,2349,2158,2772,2635,249.1,0.0,438,6603,0.62,2.55,129.95,1.409,10756,0.171,0.063,2609,747,2116,2140,2093,0,0,0,0,0,0,14.58,13.90,13.45,6.28,51.29
$GC,6712,0.64,146.0,2610,748,2134,2085,230.0,10.3,450,6716,0.00,2.45,0.00,0.000,5126,0.000,0.054,2610,2137,2108,2132,2085,0,0,0,0,0,0,14.29,14.16,14.31,6.24,49.25
$GC,7022,0.64,146.0,2617,2137,2131,2078,192.5,11.8,466,7026,0.00,2.53,0.00,0.000,4356,0.000,0.082,2609,3561,2103,2129,2077,0,0,0,0,0,0,14.62,14.32,14.62,6.24,50.35
$GC,7092,0.64,146.0,2610,3562,2129,2079,185.4,12.0,469,7096,0.05,2.38,0.00,0.000,5126,0.416,0.043,2604,2145,2103,2129,2078,0,0,0,0,0,0,14.18,14.39,14.43,6.24,50.35
$GC,7397,0.64,146.0,2604,2145,2128,2077,151.8,10.5,484,7401,0.00,2.45,0.00,0.000,516,0.000,0.066,2614,739,2102,2128,2076,0,0,0,0,0,0,14.71,14.42,14.72,6.24,50.70
$GC,7452,0.64,146.0,2615,740,2127,2075,147.8,10.4,486,7456,0.00,2.40,0.00,0.000,5126,0.000,0.053,2614,2154,2100,2126,2075,0,0,0,0,0,0,14.55,14.40,14.57,6.24,50.59
$GC,7757,0.64,146.0,2614,2155,2126,2075,112.1,11.2,502,7761,0.00,2.45,0.00,0.000,4356,0.000,0.083,2613,3557,2100,2126,2074,0,0,0,0,0,0,14.77,14.46,14.77,6.24,51.37
$GC,7822,0.64,146.0,2614,3552,2127,2074,105.3,11.4,505,7826,0.05,2.38,0.00,0.000,5126,0.325,0.043,2606,2151,2099,2125,2074,0,0,0,0,0,0,14.21,14.45,14.54,6.23,50.47
$GC,8127,0.64,146.0,2606,2151,2126,2074,73.0,9.6,558,8131,0.00,2.45,0.00,0.000,516,0.000,0.066,2616,739,2099,2125,2073,0,0,0,0,0,0,14.78,14.48,14.78,6.22,49.92
$GC,8202,0.64,146.0,2617,740,2125,2072,65.8,9.7,573,8207,0.00,2.42,0.00,0.000,5126,0.000,0.053,2616,2148,2098,2124,2072,0,0,0,0,0,0,14.62,14.42,14.64,6.22,50.07
$GC,8328,0.64,146.0,2617,2149,2124,2072,52.5,11.1,598,8332,0.00,2.47,0.00,0.000,4356,0.000,0.084,2617,3562,2098,2124,2072,0,0,0,0,0,0,14.78,14.47,14.78,6.22,49.48
$GC,8412,0.64,146.0,2617,3562,2124,2073,42.9,11.0,615,8416,0.08,2.35,0.00,0.000,5126,0.345,0.043,2601,2149,2098,2124,2072,0,0,0,0,0,0,14.32,14.53,14.57,6.22,49.17
$GC,8538,0.64,146.0,2601,2149,2125,2072,31.2,8.7,640,8542,0.00,2.45,0.00,0.000,516,0.000,0.064,2611,735,2098,2124,2072,0,0,0,0,0,0,14.78,14.49,14.78,6.22,49.33
$GC,8597,0.64,151.8,2611,734,2124,2071,26.2,8.1,652,8601,0.00,2.42,0.00,0.000,5126,0.000,0.054,2611,2145,2097,2123,2072,0,0,0,0,0,0,14.56,14.49,14.58,6.22,49.33
$GC,8723,0.64,151.8,2611,2146,2123,2072,14.8,9.8,677,8727,0.00,2.47,0.00,0.000,4356,0.000,0.086,2611,3561,2097,2123,2071,0,0,0,0,0,0,14.78,14.47,14.78,6.22,50.03
$GC,8777,0.64,151.8,2612,3562,2124,2072,8.9,9.8,688,8781,0.00,2.38,0.00,0.000,5126,0.000,0.043,2621,2155,2097,2123,2072,0,0,0,0,0,0,14.54,14.50,14.58,6.22,50.23
$STATE,8846,end climb,SURFACE_DEPTH_REACHED
$STATE,8846,begin surface coast
$STATE,8882,end surface coast,CONTROL_FINISHED_OK
$STATE,8882,begin surface
$SM_CCo,8895,65.85,0.243,0,0,1822,220.03
$SM_GC,1.20,5.53,0.10,65.85,0.070,0.138,0.243,277,2036,1822,-6.44,0.62,220.03,0,0,0,0,0,0,14.63,14.54,14.27
$IRIDIUM_FIX,-5941.93,4.27,160119,200507
$TT8_MAMPS,0.038948,0.362516
$HUMID,49.80
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3763680
$24V_AH,13.31,61.138
$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,13.125,83.100,255.400,65.850,0.000,23.964,22.741,126.192,0.000,0.000,14.171,0.000,7074.013,411.294,1626.902,162.306,0.000,1059.722,0.000,1181.425,0.000,0.540,0.000
$DEVICE_MAMPS,439.875,2232.270,1571.310,242.505,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5296.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.695,0.000,0.000,0.000
$MEM,344104
$DATA_FILE_SIZE,17306,709
$CAP_FILE_SIZE,94691,0
$CFSIZE,1023623168,989298688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.101,124.08,1
$GPS,170119,011519,-5942.314,2.808,14,0.9,37,-19.8,0.9,356.9,9,5.7