version: 66.14
glider: 640
mission: 5
dive: 310
start: 1 17 119 6 24 38
data:
$ID,640
$MISSION,5
$DIVE,310
$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,31
$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
$GPS1,170119,061833,-5941.7817,3.1417,72,0.7,73,-19.8,1.6,12.0,12,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-63.0
$GPS2,170119,062418,-5941.7275,3.1386,14,0.7,21,-19.8,0.8,126.1,11,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,323.7,4342,-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,-146.0,233,2083,1797,1822,0.0,0.0,0,96,0.00,0.00,-83.18,0.000,16386,0.000,0.000,232,2082,3177,3259,3095,0,0,0,0,0,0,14.60,28.83,14.61,6.19,50.86
$GC,98,-0.64,-146.0,232,2083,3260,3097,3.6,-7.8,17,116,6.10,2.70,-5.00,0.000,18948,0.360,2.229,2192,702,3319,3413,3225,0,0,0,0,0,0,14.10,13.12,14.42,6.30,50.66
$GC,211,-0.64,-146.0,2193,702,3415,3227,22.2,-16.2,40,215,0.00,2.45,0.00,0.000,3078,0.000,0.057,2183,2122,3319,3413,3226,0,0,0,0,0,0,14.47,14.35,14.49,6.32,48.93
$GC,337,-0.64,-146.0,2184,2122,3415,3227,46.3,-19.7,65,341,0.00,2.47,0.00,0.000,2564,0.000,0.063,2183,699,3320,3414,3227,0,0,0,0,0,0,14.65,14.38,14.65,6.32,49.76
$GC,371,-0.64,-146.0,2183,699,3414,3228,52.5,-16.9,72,376,0.05,2.45,0.00,0.000,3078,0.349,0.057,2189,2105,3320,3414,3227,0,0,0,0,0,0,14.14,14.37,14.32,6.33,49.48
$GC,498,-0.64,-146.0,2189,2106,3414,3227,69.6,-13.1,97,502,0.00,2.42,0.00,0.000,2564,0.000,0.061,2189,699,3320,3414,3226,0,0,0,0,0,0,14.68,14.39,14.68,6.32,49.33
$GC,531,-0.64,-146.0,2189,694,3415,3226,74.3,-13.2,104,535,0.00,2.40,0.00,0.000,3078,0.000,0.057,2179,2107,3320,3414,3227,0,0,0,0,0,0,14.54,14.41,14.55,6.29,49.05
$GC,656,-0.64,-146.0,2180,2103,3415,3227,91.6,-14.4,129,661,0.00,2.45,0.00,0.000,2308,0.000,0.083,2168,3513,3320,3414,3227,0,0,0,0,0,0,14.71,14.40,14.71,6.32,48.89
$GC,727,-0.64,-146.0,2170,3514,3415,3227,100.1,-14.3,141,730,0.08,2.33,0.00,0.000,3078,0.373,0.041,2193,2112,3320,3413,3227,0,0,0,0,0,0,14.23,14.48,14.48,6.32,48.66
$GC,1036,-0.64,-146.0,2193,2112,3414,3228,143.9,-13.8,157,1040,0.00,2.42,0.00,0.000,2564,0.000,0.062,2193,695,3320,3414,3226,0,0,0,0,0,0,14.76,14.47,14.76,6.32,49.72
$GC,1121,-0.64,-146.0,2194,696,3414,3228,154.6,-13.4,161,1126,0.00,2.42,0.00,0.000,3078,0.000,0.056,2184,2101,3320,3414,3227,0,0,0,0,0,0,14.52,14.45,14.54,6.31,49.96
$GC,1437,-0.64,-146.0,2184,2102,3414,3228,198.1,-13.4,177,1440,0.00,2.45,0.00,0.000,2308,0.000,0.081,2173,3507,3320,3414,3226,0,0,0,0,0,0,14.80,14.48,14.80,6.33,50.66
$GC,1456,-0.64,-146.0,2173,3507,3413,3238,200.1,-13.4,178,1460,0.05,2.38,0.00,0.000,3078,0.347,0.043,2190,2096,3320,3413,3227,0,0,0,0,0,0,14.23,14.50,14.57,6.33,50.63
$GC,1771,-0.64,-146.0,2191,2095,3415,3225,240.8,-12.6,194,1776,0.00,2.45,0.00,0.000,2564,0.000,0.063,2190,694,3319,3413,3226,0,0,0,0,0,0,14.82,14.49,14.82,6.33,50.98
$GC,1846,-0.64,-146.0,2190,695,3414,3228,248.5,-12.7,197,1850,0.00,2.42,0.00,0.000,3078,0.000,0.056,2180,2125,3320,3414,3226,0,0,0,0,0,0,14.65,14.52,14.67,6.34,50.94
$GC,2151,-0.64,-146.0,2180,2126,3414,3227,289.8,-13.2,213,2155,0.00,2.40,0.00,0.000,2308,0.000,0.081,2169,3509,3319,3414,3225,0,0,0,0,0,0,14.83,14.50,14.83,6.33,50.94
$GC,2166,-0.64,-146.0,2170,3509,3415,3227,289.8,-13.2,213,2171,0.05,2.38,0.00,0.000,3078,0.352,0.043,2197,2093,3320,3414,3226,0,0,0,0,0,0,14.29,14.52,14.56,6.34,51.18
$GC,2471,-0.64,-146.0,2198,2093,3414,3228,329.4,-12.2,229,2475,0.00,2.40,0.00,0.000,516,0.000,0.063,2198,693,3319,3413,3226,0,0,0,0,0,0,14.84,14.53,14.84,6.34,51.22
$GC,2546,-0.64,-146.0,2198,693,3415,3227,336.8,-12.4,232,2550,0.00,2.38,0.00,0.000,3078,0.000,0.055,2188,2102,3320,3414,3226,0,0,0,0,0,0,14.67,14.54,14.69,6.33,51.22
$STATE,2650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2650,begin apogee
$GC,2654,-0.15,0.0,2188,2166,3415,3227,351.2,-12.2,238,2783,0.45,0.00,125.78,1.566,10246,0.263,0.000,2346,2166,2718,2779,2657,0,0,0,0,0,0,14.31,13.93,13.31,6.34,50.86
$STATE,2784,end apogee,CONTROL_FINISHED_OK
$STATE,2784,begin loiter
$GC,3071,-0.15,0.0,2346,2167,2772,2642,349.3,2.9,259,3072,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2705,2771,2640,0,0,0,0,0,0,14.58,14.58,14.58,6.29,50.31
$GC,3371,-0.15,0.0,2345,2166,2772,2639,341.3,2.7,274,3372,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2704,2771,2638,0,0,0,0,0,0,14.72,14.73,14.73,6.29,51.10
$GC,3671,-0.15,0.0,2347,2166,2773,2637,333.3,2.7,289,3672,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2704,2771,2637,0,0,0,0,0,0,14.81,14.82,14.81,6.30,51.57
$GC,3972,-0.15,0.0,2347,2166,2773,2637,325.4,2.7,304,3973,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2703,2771,2635,0,0,0,0,0,0,14.87,14.87,14.87,6.29,51.57
$GC,4271,-0.15,0.0,2346,2166,2772,2637,317.2,2.7,319,4272,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2703,2771,2635,0,0,0,0,0,0,14.91,14.91,14.91,6.28,51.14
$GC,4571,-0.15,0.0,2346,2166,2772,2636,308.9,2.7,334,4572,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2703,2771,2635,0,0,0,0,0,0,14.95,14.95,14.95,6.29,51.41
$GC,4872,-0.15,0.0,2346,2166,2772,2636,300.3,2.8,349,4872,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2702,2771,2634,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.89
$GC,5172,-0.15,0.0,2347,2166,2773,2634,291.9,2.8,364,5172,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2702,2771,2634,0,0,0,0,0,0,14.99,14.99,14.99,6.29,52.08
$GC,5472,-0.15,0.0,2346,2166,2772,2635,284.6,2.3,379,5473,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2702,2771,2634,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.14
$GC,5771,-0.15,0.0,2346,2167,2772,2635,277.6,2.4,394,5772,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2702,2771,2634,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.29
$GC,6071,-0.15,0.0,2346,2167,2772,2635,270.1,2.6,409,6072,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2702,2771,2634,0,0,0,0,0,0,15.03,15.03,15.03,6.28,51.41
$STATE,6370,end loiter,LOITER_COMPLETE
$STATE,6370,begin climb
$GC,6372,0.64,146.0,2347,2166,2773,2634,261.6,0.0,424,6509,0.62,2.50,129.70,1.442,11012,0.179,0.081,2589,3538,2117,2143,2092,0,0,0,0,0,0,14.57,13.90,13.43,6.28,52.00
$GC,6558,0.64,146.0,2594,3539,2142,2088,249.4,8.7,432,6562,0.00,2.40,0.00,0.000,1030,0.000,0.040,2605,2134,2114,2141,2087,0,0,0,0,0,0,14.22,14.14,14.23,6.24,49.60
$GC,6868,0.64,146.0,2605,2135,2134,2079,212.2,12.0,448,6872,0.00,2.45,0.00,0.000,516,0.000,0.065,2616,744,2105,2133,2078,0,0,0,0,0,0,14.59,14.31,14.59,6.24,50.39
$GC,6913,0.64,146.0,2616,744,2132,2077,207.5,11.9,450,6918,0.00,2.42,0.00,0.000,5126,0.000,0.053,2616,2130,2104,2130,2078,0,0,0,0,0,0,14.47,14.31,14.48,6.24,50.78
$GC,7229,0.64,146.0,2616,2131,2129,2076,165.9,13.4,466,7232,0.00,2.53,0.00,0.000,4356,0.000,0.083,2616,3556,2102,2128,2076,0,0,0,0,0,0,14.69,14.39,14.70,6.24,50.66
$GC,7328,0.64,146.0,2617,3557,2129,2077,152.0,13.9,471,7333,0.05,2.40,0.00,0.000,5126,0.330,0.042,2608,2145,2102,2128,2076,0,0,0,0,0,0,14.19,14.44,14.38,6.24,50.74
$GC,7648,0.64,146.0,2609,2145,2129,2074,106.1,14.5,487,7652,0.00,2.42,0.00,0.000,4612,0.000,0.065,2618,745,2100,2128,2073,0,0,0,0,0,0,14.76,14.47,14.76,6.23,50.51
$GC,7693,0.64,146.0,2618,746,2127,2075,100.5,14.3,489,7697,0.00,2.42,0.00,0.000,5126,0.000,0.053,2618,2148,2098,2126,2071,0,0,0,0,0,0,14.52,14.45,14.54,6.23,50.90
$GC,7998,0.64,146.0,2619,2149,2127,2073,61.7,10.5,548,8002,0.00,2.47,0.00,0.000,4356,0.000,0.083,2619,3559,2099,2126,2073,0,0,0,0,0,0,14.77,14.46,14.77,6.23,50.00
$GC,8088,0.64,146.0,2619,3559,2127,2073,51.9,10.6,566,8092,0.08,2.38,0.00,0.000,5126,0.356,0.043,2603,2125,2099,2126,2073,0,0,0,0,0,0,14.30,14.52,14.56,6.22,50.00
$GC,8215,0.66,168.8,2604,2124,2127,2072,42.0,7.5,591,8237,0.00,2.42,18.30,1.287,10756,0.000,0.066,2613,728,2024,2046,2003,0,0,0,0,0,0,14.78,14.43,13.83,6.21,49.17
$GC,8309,0.71,204.0,2614,728,2046,2000,35.1,7.0,610,8349,0.00,2.42,34.45,1.222,11270,0.000,0.051,2613,2158,1880,1893,1867,0,0,0,0,0,0,14.54,14.43,13.73,6.21,48.81
$GC,8469,0.71,204.0,2613,2159,1897,1860,19.3,10.6,642,8472,0.00,2.47,0.00,0.000,2308,0.000,0.084,2613,3553,1876,1897,1856,0,0,0,0,0,0,14.56,14.29,14.57,6.19,48.70
$GC,8518,0.71,204.0,2614,3553,1900,1859,13.5,11.3,652,8522,0.00,2.40,0.00,0.000,1030,0.000,0.046,2624,2152,1877,1896,1859,0,0,0,0,0,0,14.38,14.34,14.46,6.20,49.33
$STATE,8607,end climb,SURFACE_DEPTH_REACHED
$STATE,8607,begin surface coast
$STATE,8638,end surface coast,CONTROL_FINISHED_OK
$STATE,8638,begin surface
$SM_CCo,8652,12.38,0.256,0,0,1820,220.03
$SM_GC,1.89,5.57,0.08,12.38,0.066,0.162,0.256,213,2075,1820,-6.48,0.93,220.03,0,0,0,0,0,0,14.50,14.40,14.20
$IRIDIUM_FIX,-5941.93,0.00,170119,034700
$TT8_MAMPS,0.03745,0.286867
$HUMID,49.88
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3762144
$24V_AH,13.12,61.695
$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,13.100,78.050,308.225,12.375,0.000,23.329,42.342,128.422,0.000,0.000,22.354,0.000,6866.458,391.903,1597.458,157.174,0.000,1022.525,0.000,1129.553,0.000,0.538,0.000
$DEVICE_MAMPS,373.320,2229.210,1565.955,255.510,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5053.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.723,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17285,676
$CAP_FILE_SIZE,89827,0
$CFSIZE,1023623168,989003776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.043,94.25,1
$GPS,170119,085001,-5941.603,2.896,15,0.8,32,-19.8,0.8,183.5,9,5.9