version: 66.14
glider: 640
mission: 5
dive: 309
start: 1 17 119 3 50 49
data:
$ID,640
$MISSION,5
$DIVE,309
$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,46
$R_STBD_OVSHOOT,25
$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
$GPS1,170119,034454,-5942.1553,3.1645,17,1.0,44,-19.8,0.5,102.1,8,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-64.9
$GPS2,170119,035030,-5942.1143,3.2324,9,1.0,21,-19.8,0.0,82.9,8,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,330.2,4947,-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,11,-0.64,-146.0,210,2081,1810,1816,0.0,0.0,0,96,0.00,0.00,-82.72,0.000,16386,0.000,0.000,209,2081,3158,3240,3077,0,0,0,0,0,0,14.63,28.83,14.63,6.19,50.98
$GC,98,-0.64,-146.0,210,2082,3240,3079,3.3,-5.7,17,116,6.12,2.65,-5.85,0.000,18948,0.356,2.237,2188,715,3317,3412,3223,0,0,0,0,0,0,14.13,13.14,14.43,6.31,49.84
$GC,188,-0.64,-146.0,2188,716,3413,3226,19.1,-18.6,35,192,0.05,2.38,0.00,0.000,3078,0.450,0.054,2193,2106,3318,3413,3224,0,0,0,0,0,0,14.15,14.38,14.40,6.32,48.77
$GC,313,-0.64,-146.0,2193,2106,3415,3225,42.0,-18.9,60,316,0.00,2.42,0.00,0.000,2564,0.000,0.063,2192,703,3318,3413,3224,0,0,0,0,0,0,14.65,14.39,14.66,6.32,49.13
$GC,361,-0.64,-146.0,2193,704,3414,3225,50.5,-16.1,70,366,0.00,2.42,0.00,0.000,3078,0.000,0.056,2183,2097,3318,3412,3225,0,0,0,0,0,0,14.43,14.38,14.47,6.33,49.76
$GC,487,-0.64,-146.0,2184,2098,3414,3225,67.9,-14.4,95,490,0.00,2.47,0.00,0.000,2308,0.000,0.081,2172,3516,3317,3412,3222,0,0,0,0,0,0,14.69,14.40,14.69,6.32,49.13
$GC,506,-0.64,-146.0,2172,3517,3413,3226,71.1,-15.7,99,511,0.08,2.35,0.00,0.000,3078,0.366,0.044,2197,2105,3322,3420,3225,0,0,0,0,0,0,14.21,14.45,14.47,6.32,49.92
$GC,633,-0.64,-146.0,2198,2104,3414,3225,88.3,-13.7,124,636,0.00,2.45,0.00,0.000,516,0.000,0.064,2197,691,3319,3413,3225,0,0,0,0,0,0,14.70,14.43,14.71,6.32,48.81
$GC,681,-0.64,-146.0,2197,693,3413,3225,95.2,-14.1,134,686,0.00,2.40,0.00,0.000,3078,0.000,0.055,2187,2103,3318,3412,3225,0,0,0,0,0,0,14.57,14.45,14.59,6.30,48.38
$GC,821,-0.64,-146.0,2188,2103,3414,3224,115.2,-14.6,147,825,0.00,2.42,0.00,0.000,2564,0.000,0.063,2187,696,3319,3413,3225,0,0,0,0,0,0,14.74,14.46,14.74,6.32,49.05
$GC,861,-0.64,-146.0,2187,696,3414,3223,120.6,-14.1,149,865,0.05,2.40,0.00,0.000,3078,0.447,0.054,2190,2109,3319,3413,3225,0,0,0,0,0,0,14.23,14.47,14.50,6.32,49.64
$GC,1182,-0.64,-146.0,2191,2110,3413,3226,163.2,-12.8,165,1186,0.00,2.42,0.00,0.000,2308,0.000,0.083,2180,3503,3319,3413,3225,0,0,0,0,0,0,14.78,14.47,14.78,6.32,50.15
$GC,1222,-0.64,-146.0,2180,3503,3414,3225,168.5,-12.9,167,1226,0.00,2.33,0.00,0.000,3078,0.000,0.043,2178,2093,3319,3413,3225,0,0,0,0,0,0,14.62,14.53,14.64,6.33,50.11
$GC,1541,-0.64,-146.0,2180,2092,3414,3225,210.0,-13.0,183,1545,0.00,2.40,0.00,0.000,2564,0.000,0.063,2179,693,3319,3413,3225,0,0,0,0,0,0,14.81,14.51,14.81,6.33,50.70
$GC,1611,-0.64,-146.0,2179,694,3413,3226,217.8,-13.0,186,1615,0.08,2.40,0.00,0.000,3078,0.376,0.056,2192,2109,3318,3412,3225,0,0,0,0,0,0,14.29,14.52,14.55,6.33,50.59
$GC,1921,-0.64,-146.0,2192,2109,3413,3226,257.0,-12.4,202,1925,0.00,2.42,0.00,0.000,2308,0.000,0.082,2182,3504,3318,3412,3225,0,0,0,0,0,0,14.83,14.50,14.82,6.34,50.78
$GC,1946,-0.64,-146.0,2182,3505,3413,3226,259.5,-12.4,203,1950,0.00,2.35,0.00,0.000,3078,0.000,0.043,2176,2107,3318,3412,3225,0,0,0,0,0,0,14.57,14.52,14.59,6.34,50.78
$GC,2262,-0.64,-146.0,2181,2106,3413,3226,300.3,-12.8,219,2265,0.00,2.42,0.00,0.000,2564,0.000,0.062,2181,691,3318,3412,3225,0,0,0,0,0,0,14.83,14.53,14.83,6.34,50.82
$GC,2296,-0.64,-146.0,2182,692,3413,3226,302.9,-12.9,220,2301,0.08,2.42,0.00,0.000,3078,0.371,0.056,2194,2102,3319,3413,3225,0,0,0,0,0,0,14.31,14.50,14.57,6.34,50.90
$GC,2601,-0.64,-146.0,2195,2100,3414,3225,341.7,-12.1,236,2606,0.00,2.45,0.00,0.000,260,0.000,0.083,2184,3508,3319,3413,3225,0,0,0,0,0,0,14.83,14.51,14.84,6.34,50.86
$GC,2646,-0.64,-146.0,2185,3508,3413,3226,346.6,-12.1,238,2650,0.00,2.38,0.00,0.000,3078,0.000,0.042,2181,2069,3319,3413,3225,0,0,0,0,0,0,14.69,14.57,14.69,6.34,50.98
$STATE,2680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2680,begin apogee
$GC,2684,-0.15,0.0,2184,2158,3414,3225,351.4,-12.1,240,2813,0.47,0.00,125.47,1.556,10246,0.262,0.000,2352,2158,2713,2771,2656,0,0,0,0,0,0,14.32,13.94,13.33,6.34,51.33
$STATE,2814,end apogee,CONTROL_FINISHED_OK
$STATE,2814,begin loiter
$GC,3101,-0.15,0.0,2352,2159,2772,2641,347.3,3.4,261,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2158,2706,2772,2640,0,0,0,0,0,0,14.57,14.58,14.58,6.29,50.98
$GC,3401,-0.15,0.0,2352,2159,2772,2638,337.3,3.2,276,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2158,2704,2771,2637,0,0,0,0,0,0,14.73,14.73,14.73,6.29,50.82
$GC,3701,-0.15,0.0,2353,2159,2772,2637,327.9,3.1,291,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2158,2704,2772,2636,0,0,0,0,0,0,14.81,14.81,14.81,6.29,50.94
$GC,4002,-0.15,0.0,2353,2159,2773,2636,318.6,3.2,306,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2158,2703,2771,2635,0,0,0,0,0,0,14.87,14.87,14.87,6.29,51.61
$GC,4301,-0.15,0.0,2354,2159,2773,2634,309.1,3.3,321,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2158,2702,2771,2634,0,0,0,0,0,0,14.91,14.91,14.92,6.29,50.86
$GC,4601,-0.15,0.0,2353,2159,2772,2634,299.1,3.5,336,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2158,2702,2771,2634,0,0,0,0,0,0,14.93,14.95,14.95,6.29,51.26
$GC,4901,-0.15,0.0,2353,2157,2773,2634,288.8,3.5,351,4902,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2158,2703,2772,2634,0,0,0,0,0,0,14.96,14.97,14.97,6.29,51.18
$GC,5201,-0.15,0.0,2352,2159,2772,2634,278.5,3.4,366,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2158,2702,2772,2633,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.85
$GC,5502,-0.15,0.0,2352,2159,2772,2634,267.9,3.5,381,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2158,2702,2772,2633,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.33
$GC,5801,-0.15,0.0,2353,2159,2773,2633,256.8,3.7,396,5802,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2158,2701,2771,2632,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.45
$GC,6101,-0.15,0.0,2352,2159,2772,2634,245.5,3.8,411,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2158,2702,2771,2633,0,0,0,0,0,0,15.02,15.03,15.03,6.28,51.18
$STATE,6400,end loiter,LOITER_COMPLETE
$STATE,6400,begin climb
$GC,6402,0.64,146.0,2353,2159,2772,2634,234.3,0.0,426,6536,0.60,0.00,129.27,1.391,10502,0.169,0.000,2592,2158,2124,2150,2099,0,0,0,0,0,0,14.59,14.03,13.47,6.29,51.77
$GC,6821,0.64,146.0,2593,2159,2135,2081,195.5,10.7,447,6826,0.00,2.50,0.00,0.000,2564,0.000,0.066,2604,747,2106,2134,2079,0,0,0,0,0,0,14.57,14.28,14.57,6.24,50.70
$GC,6846,0.64,146.0,2604,747,2133,2081,193.4,10.6,448,6850,0.00,2.40,0.00,0.000,1030,0.000,0.053,2604,2145,2106,2132,2080,0,0,0,0,0,0,14.42,14.31,14.45,6.24,50.19
$GC,7162,0.64,146.0,2605,2146,2133,2076,160.3,10.0,464,7165,0.00,2.50,0.00,0.000,260,0.000,0.081,2604,3561,2103,2131,2076,0,0,0,0,0,0,14.69,14.38,14.69,6.24,51.41
$GC,7241,0.64,146.0,2602,3561,2132,2078,152.4,9.9,468,7245,0.00,2.40,0.00,0.000,5126,0.000,0.042,2615,2155,2103,2130,2076,0,0,0,0,0,0,14.47,14.38,14.46,6.24,50.82
$GC,7561,0.64,146.0,2615,2156,2131,2076,118.2,11.7,484,7565,0.00,2.45,0.00,0.000,4612,0.000,0.065,2626,743,2102,2130,2075,0,0,0,0,0,0,14.77,14.46,14.77,6.24,51.57
$GC,7586,0.64,146.0,2627,744,2128,2075,115.8,11.8,485,7590,0.08,2.42,0.00,0.000,5126,0.326,0.054,2600,2148,2101,2128,2075,0,0,0,0,0,0,14.31,14.45,14.55,6.24,51.81
$GC,7891,0.64,146.0,2600,2149,2129,2074,81.9,10.1,523,7895,0.00,2.47,0.00,0.000,2308,0.000,0.083,2600,3561,2101,2128,2074,0,0,0,0,0,0,14.79,14.47,14.79,6.23,50.51
$GC,7956,0.64,146.0,2600,3562,2128,2075,74.8,11.1,536,7961,0.00,2.38,0.00,0.000,5126,0.000,0.043,2609,2153,2100,2127,2074,0,0,0,0,0,0,14.65,14.51,14.66,6.22,50.27
$GC,8082,0.64,146.0,2609,2154,2129,2073,60.6,12.0,561,8085,0.00,2.45,0.00,0.000,4612,0.000,0.066,2620,738,2100,2127,2074,0,0,0,0,0,0,14.80,14.50,14.80,6.22,50.07
$GC,8166,0.64,146.0,2620,738,2127,2074,50.7,10.9,578,8171,0.05,2.42,0.00,0.000,5126,0.386,0.053,2602,2177,2099,2126,2073,0,0,0,0,0,0,14.33,14.51,14.58,6.22,49.92
$GC,8293,0.64,146.0,2602,2178,2129,2072,38.3,9.1,603,8295,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2177,2099,2126,2073,0,0,0,0,0,0,14.79,14.80,14.80,6.21,49.64
$GC,8417,0.64,146.0,2602,2177,2128,2072,26.4,9.8,628,8421,0.00,2.50,0.00,0.000,516,0.000,0.066,2611,734,2099,2126,2072,0,0,0,0,0,0,14.81,14.50,14.81,6.21,49.92
$GC,8437,0.64,146.0,2611,734,2127,2073,24.5,9.7,632,8441,0.00,2.40,0.00,0.000,5126,0.000,0.052,2611,2158,2099,2126,2072,0,0,0,0,0,0,14.65,14.53,14.66,6.21,50.03
$GC,8563,0.64,146.0,2620,2159,2127,2073,13.3,10.7,657,8566,0.00,2.45,0.00,0.000,4356,0.000,0.084,2611,3558,2103,2126,2081,0,0,0,0,0,0,14.81,14.49,14.81,6.22,50.23
$GC,8601,0.64,146.0,2611,3559,2127,2073,9.3,8.9,665,8606,0.05,2.35,0.00,0.000,5126,0.432,0.044,2610,2144,2099,2126,2072,0,0,0,0,0,0,14.30,14.51,14.57,6.21,50.86
$STATE,8660,end climb,SURFACE_DEPTH_REACHED
$STATE,8660,begin surface coast
$STATE,8686,end surface coast,CONTROL_FINISHED_OK
$STATE,8686,begin surface
$SM_CCo,8700,66.35,0.243,0,0,1822,220.03
$SM_GC,1.43,5.97,0.05,66.35,0.172,0.220,0.243,265,2084,1822,-6.45,1.02,220.03,0,0,0,0,0,0,14.59,14.56,14.28
$IRIDIUM_FIX,-5941.93,8.53,170119,011941
$TT8_MAMPS,0.038948,0.308588
$HUMID,49.80
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3762656
$24V_AH,13.14,61.505
$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,13.675,82.650,254.750,66.350,0.000,25.136,40.186,123.438,0.000,0.000,22.026,0.000,6951.626,416.717,1575.151,162.608,0.000,1031.771,0.000,1109.745,0.000,0.539,0.000
$DEVICE_MAMPS,449.820,2236.860,1556.010,242.505,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5101.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.800,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17344,682
$CAP_FILE_SIZE,92720,0
$CFSIZE,1023623168,989102080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.075,87.33,1
$GPS,170119,061833,-5941.782,3.142,72,0.7,73,-19.8,1.6,12.0,12,9.9