version: 66.14
glider: 640
mission: 5
dive: 311
start: 1 17 119 8 57 53
data:
$ID,640
$MISSION,5
$DIVE,311
$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,55
$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
$GPS1,170119,085001,-5941.6025,2.8961,15,0.8,32,-19.8,0.8,183.5,9,5.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-66.0
$GPS2,170119,085734,-5941.5640,2.8598,9,0.9,17,-19.8,0.4,79.4,10,9.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,330.2,3943,-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,-146.0,213,2074,1799,1825,0.0,0.0,0,91,0.00,0.00,-78.35,0.000,16386,0.000,0.000,213,2073,3091,3173,3010,0,0,0,0,0,0,14.57,28.83,14.56,6.19,50.94
$GC,93,-0.64,-146.0,213,2074,3174,3013,3.2,-6.1,16,113,6.10,2.62,-8.35,0.000,18948,0.349,2.232,2187,712,3316,3414,3218,0,0,0,0,0,0,14.09,13.35,14.39,6.29,50.35
$GC,193,-0.64,-146.0,2185,712,3415,3230,18.9,-14.6,36,197,0.05,2.40,0.00,0.000,3078,0.450,0.057,2191,2107,3317,3414,3221,0,0,0,0,0,0,14.09,14.31,14.34,6.32,48.77
$GC,318,-0.64,-146.0,2192,2108,3416,3221,38.5,-16.3,61,322,0.00,2.45,0.00,0.000,2308,0.000,0.083,2181,3504,3317,3414,3221,0,0,0,0,0,0,14.62,14.31,14.62,6.32,49.92
$GC,402,-0.64,-146.0,2182,3505,3415,3221,51.0,-13.7,78,407,0.00,2.35,0.00,0.000,3078,0.000,0.041,2181,2121,3317,3414,3221,0,0,0,0,0,0,14.45,14.39,14.46,6.32,49.33
$GC,527,-0.64,-146.0,2181,2121,3415,3222,66.3,-11.3,103,531,0.00,2.47,0.00,0.000,2564,0.000,0.063,2180,687,3317,3414,3221,0,0,0,0,0,0,14.67,14.39,14.67,6.31,48.93
$GC,637,-0.64,-146.0,2180,687,3415,3227,79.9,-12.1,125,641,0.08,2.45,0.00,0.000,3078,0.372,0.057,2193,2119,3318,3414,3222,0,0,0,0,0,0,14.22,14.42,14.47,6.32,48.18
$GC,764,-0.64,-146.0,2194,2119,3416,3222,94.9,-12.1,150,768,0.00,2.42,0.00,0.000,2308,0.000,0.083,2183,3507,3318,3415,3221,0,0,0,0,0,0,14.70,14.41,14.70,6.31,48.46
$GC,822,-0.64,-146.0,2183,3508,3415,3223,102.5,-12.5,159,827,0.00,2.40,0.00,0.000,3078,0.000,0.041,2182,2087,3318,3414,3222,0,0,0,0,0,0,14.49,14.44,14.51,6.32,49.01
$GC,1142,-0.64,-146.0,2183,2087,3414,3223,144.7,-13.4,175,1146,0.00,2.38,0.00,0.000,2564,0.000,0.061,2182,703,3318,3414,3222,0,0,0,0,0,0,14.76,14.47,14.76,6.32,49.68
$GC,1167,-0.64,-146.0,2182,704,3415,3223,147.5,-13.6,176,1172,0.08,2.40,0.00,0.000,3078,0.375,0.056,2195,2113,3318,3414,3222,0,0,0,0,0,0,14.26,14.47,14.52,6.32,50.03
$GC,1482,-0.64,-146.0,2196,2114,3416,3222,189.7,-13.1,192,1486,0.00,2.42,0.00,0.000,260,0.000,0.082,2185,3506,3317,3414,3221,0,0,0,0,0,0,14.78,14.47,14.78,6.33,50.94
$GC,1517,-0.64,-146.0,2185,3506,3415,3223,192.4,-13.1,193,1521,0.00,2.35,0.00,0.000,3078,0.000,0.041,2186,2110,3318,3414,3222,0,0,0,0,0,0,14.56,14.51,14.57,6.33,50.86
$GC,1822,-0.64,-146.0,2186,2108,3416,3222,234.0,-12.9,209,1826,0.00,2.42,0.00,0.000,2564,0.000,0.061,2186,691,3317,3414,3221,0,0,0,0,0,0,14.81,14.52,14.81,6.33,50.63
$GC,1887,-0.64,-146.0,2186,692,3415,3222,241.8,-12.9,212,1891,0.05,2.42,0.00,0.000,3078,0.354,0.057,2192,2098,3318,3414,3222,0,0,0,0,0,0,14.26,14.49,14.44,6.33,50.59
$GC,2202,-0.64,-146.0,2193,2099,3414,3222,280.1,-11.8,228,2206,0.00,2.45,0.00,0.000,2308,0.000,0.083,2182,3506,3318,3414,3222,0,0,0,0,0,0,14.82,14.47,14.81,6.33,50.94
$GC,2237,-0.64,-146.0,2181,3506,3415,3222,282.5,-11.9,229,2241,0.00,2.33,0.00,0.000,3078,0.000,0.042,2190,2097,3318,3414,3222,0,0,0,0,0,0,14.66,14.57,14.66,6.39,50.94
$GC,2542,-0.64,-146.0,2182,2096,3415,3223,321.2,-12.0,245,2546,0.00,2.40,0.00,0.000,2564,0.000,0.063,2181,690,3318,3415,3221,0,0,0,0,0,0,14.83,14.51,14.83,6.34,51.22
$GC,2607,-0.64,-146.0,2181,691,3415,3223,328.4,-12.1,248,2612,0.08,2.42,0.00,0.000,3078,0.369,0.056,2196,2099,3318,3414,3222,0,0,0,0,0,0,14.31,14.50,14.57,6.34,50.78
$STATE,2801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2801,begin apogee
$GC,2805,-0.15,0.0,2197,2169,3414,3221,350.4,-11.0,258,2933,0.43,0.00,125.25,1.568,10246,0.262,0.000,2346,2171,2716,2777,2656,0,0,0,0,0,0,14.28,13.95,13.37,6.34,50.94
$STATE,2934,end apogee,CONTROL_FINISHED_OK
$STATE,2934,begin loiter
$GC,3222,-0.15,0.0,2346,2169,2773,2641,343.3,4.1,279,3223,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2706,2772,2641,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.19
$GC,3522,-0.15,0.0,2346,2169,2772,2640,330.8,4.2,294,3523,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2704,2771,2638,0,0,0,0,0,0,14.72,14.72,14.72,6.29,51.14
$GC,3822,-0.15,0.0,2346,2170,2772,2638,318.1,4.2,309,3823,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2704,2772,2637,0,0,0,0,0,0,14.81,14.81,14.81,6.28,50.90
$GC,4122,-0.15,0.0,2346,2169,2773,2636,306.1,3.9,324,4123,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2704,2771,2637,0,0,0,0,0,0,14.85,14.86,14.86,6.28,51.14
$GC,4422,-0.15,0.0,2347,2169,2773,2636,294.9,3.6,339,4423,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2703,2771,2636,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.02
$GC,4722,-0.15,0.0,2347,2169,2772,2635,284.2,3.5,354,4723,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2703,2771,2635,0,0,0,0,0,0,14.93,14.93,14.93,6.28,50.98
$GC,5022,-0.15,0.0,2347,2170,2772,2636,273.9,3.3,369,5023,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2703,2772,2635,0,0,0,0,0,0,14.95,14.96,14.95,6.28,51.14
$GC,5322,-0.15,0.0,2346,2169,2772,2636,264.2,3.2,384,5323,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2703,2771,2635,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.29
$GC,5622,-0.15,0.0,2346,2170,2772,2636,254.9,3.1,399,5623,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2703,2772,2634,0,0,0,0,0,0,14.99,15.00,14.99,6.28,51.26
$GC,5922,-0.15,0.0,2346,2169,2773,2634,245.6,3.1,414,5923,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2703,2772,2634,0,0,0,0,0,0,15.01,15.00,15.01,6.29,51.53
$GC,6222,-0.15,0.0,2346,2170,2772,2635,237.4,2.5,429,6223,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2703,2772,2634,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.96
$STATE,6520,end loiter,LOITER_COMPLETE
$STATE,6520,begin climb
$GC,6522,0.64,146.0,2347,2169,2773,2634,230.6,0.0,444,6660,0.62,2.58,129.60,1.385,11012,0.185,0.064,2603,745,2122,2143,2102,0,0,0,0,0,0,14.56,13.92,13.47,6.28,51.37
$GC,6739,0.64,146.0,2603,746,2135,2087,216.6,8.5,454,6744,0.00,2.42,0.00,0.000,1030,0.000,0.052,2603,2142,2110,2134,2086,0,0,0,0,0,0,14.27,14.17,14.28,6.24,49.17
$GC,7059,0.64,146.0,2603,2143,2131,2079,182.5,10.8,470,7063,0.00,2.53,0.00,0.000,260,0.000,0.083,2603,3561,2104,2130,2078,0,0,0,0,0,0,14.61,14.31,14.61,6.24,50.39
$GC,7139,0.64,146.0,2604,3561,2132,2078,173.6,11.1,474,7143,0.00,2.35,0.00,0.000,5126,0.000,0.042,2613,2156,2104,2130,2078,0,0,0,0,0,0,14.50,14.39,14.51,6.24,50.55
$GC,7459,0.64,146.0,2612,2156,2128,2077,137.4,11.3,490,7463,0.00,2.47,0.00,0.000,4612,0.000,0.067,2625,737,2102,2128,2076,0,0,0,0,0,0,14.72,14.42,14.72,6.24,50.74
$GC,7529,0.64,146.0,2625,737,2127,2075,131.2,10.5,493,7534,0.08,2.40,0.00,0.000,5126,0.334,0.054,2598,2151,2104,2125,2083,0,0,0,0,0,0,14.29,14.46,14.52,6.24,50.63
$GC,7839,0.64,146.0,2598,2152,2126,2075,100.4,9.6,509,7843,0.00,2.45,0.00,0.000,2308,0.000,0.083,2599,3555,2099,2125,2074,0,0,0,0,0,0,14.77,14.46,14.78,6.23,50.98
$GC,7949,0.64,146.0,2599,3555,2126,2075,90.3,8.5,528,7953,0.00,2.38,0.00,0.000,5126,0.000,0.042,2607,2151,2099,2125,2074,0,0,0,0,0,0,14.64,14.50,14.65,6.23,50.98
$GC,8074,0.64,146.0,2608,2152,2127,2073,79.0,9.3,553,8078,0.00,2.45,0.00,0.000,4612,0.000,0.067,2618,739,2099,2125,2073,0,0,0,0,0,0,14.78,14.48,14.78,6.20,50.23
$GC,8159,0.64,149.9,2619,740,2125,2072,71.6,8.2,570,8163,0.00,2.38,0.00,0.000,5126,0.000,0.052,2618,2152,2098,2125,2072,0,0,0,0,0,0,14.63,14.51,14.65,6.22,50.00
$GC,8285,0.64,149.9,2619,2153,2125,2072,60.5,9.2,595,8289,0.00,2.42,0.00,0.000,4356,0.000,0.083,2618,3559,2098,2124,2072,0,0,0,0,0,0,14.78,14.46,14.78,6.22,49.60
$GC,8329,0.64,149.9,2619,3560,2125,2073,56.2,9.5,604,8333,0.08,2.38,0.00,0.000,5126,0.352,0.042,2603,2152,2098,2124,2072,0,0,0,0,0,0,14.31,14.50,14.57,6.22,49.40
$GC,8456,0.64,149.9,2604,2152,2125,2072,45.6,8.8,629,8460,0.00,2.45,0.00,0.000,516,0.000,0.066,2613,741,2095,2118,2072,0,0,0,0,0,0,14.78,14.49,14.78,6.22,49.52
$GC,8504,0.64,149.9,2608,741,2124,2071,40.8,9.6,639,8508,0.00,2.42,0.00,0.000,5126,0.000,0.053,2614,2148,2097,2123,2071,0,0,0,0,0,0,14.64,14.48,14.66,6.22,49.52
$GC,8630,0.64,149.9,2617,2149,2124,2071,28.8,9.8,664,8634,0.00,2.47,0.00,0.000,4356,0.000,0.083,2614,3563,2097,2123,2071,0,0,0,0,0,0,14.78,14.47,14.78,6.21,49.52
$GC,8689,0.64,149.9,2614,3564,2124,2072,22.2,10.7,676,8693,0.05,2.40,0.00,0.000,5126,0.321,0.043,2605,2139,2097,2123,2071,0,0,0,0,0,0,14.27,14.51,14.43,6.22,49.64
$GC,8816,0.69,185.5,2607,2139,2125,2073,10.8,7.0,701,8853,0.00,2.45,32.10,0.287,10756,0.000,0.064,2615,749,1957,1977,1938,0,0,0,0,0,0,14.78,14.44,14.25,6.22,50.03
$STATE,8892,end climb,SURFACE_DEPTH_REACHED
$STATE,8893,begin surface coast
$STATE,8922,end surface coast,CONTROL_FINISHED_OK
$STATE,8922,begin surface
$SM_CCo,8938,31.73,0.243,0,0,1822,220.03
$SM_GC,1.39,5.60,2.35,31.73,0.082,0.047,0.243,231,2090,1822,-6.48,-0.96,220.03,0,0,0,0,0,0,14.56,14.47,14.26
$IRIDIUM_FIX,-5940.07,0.00,170119,085208
$TT8_MAMPS,0.039697,0.295855
$HUMID,49.64
$INTERNAL_PRESSURE,6.14803
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3761632
$24V_AH,13.35,61.873
$10V_AH,13.46,0.000
$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,13.275,87.400,286.950,31.725,0.000,48.610,64.848,132.833,0.000,0.000,18.992,0.000,7138.198,401.643,1719.534,166.430,0.000,1061.129,0.000,1192.906,0.000,0.539,0.000
$DEVICE_MAMPS,449.820,2231.505,1568.250,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5338.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.727,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,20788,723
$CAP_FILE_SIZE,95864,0
$CFSIZE,1023623168,988905472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,78.07,0x235724,0,24
$CURRENT,0.069,147.09,1
$GPS,170119,112828,-5941.583,2.669,21,0.8,40,-19.8,0.5,294.0,11,9.2