version: 66.14
glider: 640
mission: 5
dive: 158
start: 1 1 119 3 38 41
data:
$ID,640
$MISSION,5
$DIVE,158
$N_DIVES,300
$STOP_T,1031912
$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,67
$R_STBD_OVSHOOT,73
$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
$GPS1,010119,033332,-5956.0171,7.4757,15,0.8,38,-19.8,0.2,14.6,10,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-65.3
$GPS2,010119,033823,-5955.9995,7.4976,9,0.8,15,-19.8,0.7,295.5,10,9.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,217.6,44977,-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,-146.0,233,2151,1798,1825,0.0,0.0,0,96,0.00,0.00,-83.88,0.000,16386,0.000,0.000,232,2150,3169,3252,3086,0,0,0,0,0,0,14.61,28.83,14.61,6.17,50.19
$GC,98,-0.64,-146.0,233,2150,3253,3087,3.4,-6.2,17,116,6.03,2.75,-5.60,0.000,18948,0.363,2.251,2185,732,3318,3412,3224,0,0,0,0,0,0,14.16,13.36,14.35,6.29,49.29
$GC,131,-0.64,-146.0,2184,732,3413,3226,9.5,-16.1,24,135,0.05,2.33,0.00,0.000,3078,0.360,0.060,2192,2058,3318,3412,3225,0,0,0,0,0,0,14.19,14.34,14.34,6.30,48.58
$GC,257,-0.64,-146.0,2191,2058,3414,3225,30.0,-15.3,49,260,0.00,2.55,0.00,0.000,2308,0.000,0.083,2181,3509,3319,3413,3225,0,0,0,0,0,0,14.62,14.38,14.62,6.30,48.38
$GC,291,-0.64,-146.0,2182,3510,3414,3226,35.5,-15.7,56,295,0.00,2.35,0.00,0.000,3078,0.000,0.043,2181,2134,3318,3412,3225,0,0,0,0,0,0,14.46,14.42,14.48,6.30,48.66
$GC,416,-0.64,-146.0,2181,2132,3414,3225,53.6,-14.9,81,420,0.00,2.53,0.00,0.000,2564,0.000,0.063,2180,696,3319,3413,3226,0,0,0,0,0,0,14.66,14.41,14.66,6.30,49.01
$GC,451,-0.64,-146.0,2181,697,3414,3225,58.9,-15.1,88,455,0.05,2.42,0.00,0.000,3078,0.353,0.057,2182,2095,3323,3422,3225,0,0,0,0,0,0,14.27,14.43,14.41,6.31,49.05
$GC,577,-0.64,-146.0,2188,2095,3413,3227,77.3,-14.7,113,580,0.00,2.47,0.00,0.000,2308,0.000,0.083,2177,3506,3319,3413,3226,0,0,0,0,0,0,14.69,14.45,14.69,6.30,48.58
$GC,601,-0.64,-146.0,2177,3507,3414,3226,81.1,-15.4,118,606,0.05,2.40,0.00,0.000,3078,0.363,0.044,2194,2092,3319,3413,3225,0,0,0,0,0,0,14.28,14.47,14.44,6.30,48.89
$GC,727,-0.64,-146.0,2195,2091,3414,3225,99.3,-14.2,143,731,0.00,2.42,0.00,0.000,516,0.000,0.066,2194,688,3319,3413,3225,0,0,0,0,0,0,14.70,14.48,14.70,6.30,48.38
$GC,806,-0.64,-146.0,2194,690,3414,3226,110.2,-14.6,149,810,0.00,2.45,0.00,0.000,3078,0.000,0.058,2183,2102,3319,3413,3225,0,0,0,0,0,0,14.54,14.47,14.56,6.29,48.38
$GC,1121,-0.64,-146.0,2184,2103,3414,3225,154.6,-13.4,165,1125,0.00,2.47,0.00,0.000,2308,0.000,0.082,2173,3503,3319,3413,3226,0,0,0,0,0,0,14.77,14.48,14.77,6.30,50.27
$GC,1141,-0.64,-146.0,2173,3503,3414,3225,157.3,-13.4,166,1145,0.05,2.35,0.00,0.000,3078,0.363,0.043,2190,2106,3319,3413,3226,0,0,0,0,0,0,14.35,14.53,14.53,6.30,49.88
$GC,1461,-0.64,-146.0,2190,2105,3414,3225,198.2,-12.6,182,1465,0.00,2.45,0.00,0.000,2564,0.000,0.065,2190,702,3318,3412,3225,0,0,0,0,0,0,14.80,14.53,14.79,6.32,50.59
$GC,1516,-0.64,-146.0,2190,703,3413,3226,203.2,-12.6,184,1520,0.00,2.40,0.00,0.000,3078,0.000,0.057,2180,2095,3319,3413,3226,0,0,0,0,0,0,14.59,14.54,14.62,6.32,50.74
$GC,1821,-0.64,-146.0,2180,2095,3415,3225,244.0,-13.0,200,1825,0.00,2.47,0.00,0.000,2308,0.000,0.083,2169,3530,3318,3412,3225,0,0,0,0,0,0,14.81,14.55,14.81,6.32,51.22
$GC,1851,-0.64,-146.0,2169,3530,3413,3226,246.7,-13.1,201,1856,0.05,2.40,0.00,0.000,3078,0.355,0.043,2186,2100,3319,3413,3226,0,0,0,0,0,0,14.39,14.59,14.55,6.33,51.33
$GC,2161,-0.64,-146.0,2187,2100,3412,3225,286.6,-12.2,217,2166,0.00,2.45,0.00,0.000,2564,0.000,0.064,2187,690,3319,3413,3225,0,0,0,0,0,0,14.83,14.57,14.83,6.33,51.85
$GC,2191,-0.64,-146.0,2187,689,3413,3225,289.1,-12.3,218,2196,0.05,2.42,0.00,0.000,3078,0.373,0.057,2193,2103,3321,3413,3229,0,0,0,0,0,0,14.39,14.58,14.55,6.33,51.14
$GC,2501,-0.64,-146.0,2193,2104,3413,3226,327.5,-12.0,234,2505,0.00,2.47,0.00,0.000,2308,0.000,0.083,2183,3509,3319,3413,3226,0,0,0,0,0,0,14.83,14.56,14.83,6.33,51.73
$GC,2576,-0.64,-146.0,2183,3511,3414,3225,334.7,-12.0,237,2580,0.00,2.35,0.00,0.000,3078,0.000,0.041,2182,2098,3319,3413,3226,0,0,0,0,0,0,14.65,14.60,14.67,6.34,51.18
$STATE,2700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2700,begin apogee
$GC,2703,-0.15,0.0,2183,2167,3414,3226,351.4,-12.1,244,2835,0.47,0.00,128.12,1.583,10246,0.272,0.000,2352,2167,2716,2775,2657,0,0,0,0,0,0,14.45,13.93,13.32,6.34,52.04
$STATE,2836,end apogee,CONTROL_FINISHED_OK
$STATE,2836,begin loiter
$GC,3121,-0.15,0.0,2352,2168,2773,2643,347.3,3.3,265,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2167,2707,2771,2643,0,0,0,0,0,0,14.56,14.56,14.56,6.29,50.63
$GC,3421,-0.15,0.0,2353,2168,2772,2641,337.7,3.0,280,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2167,2706,2771,2641,0,0,0,0,0,0,14.70,14.71,14.71,6.28,51.45
$GC,3721,-0.15,0.0,2351,2167,2772,2639,328.2,3.3,295,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2167,2705,2771,2640,0,0,0,0,0,0,14.79,14.79,14.79,6.28,51.53
$GC,4021,-0.15,0.0,2352,2167,2772,2638,318.7,3.2,310,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2167,2705,2771,2639,0,0,0,0,0,0,14.85,14.85,14.85,6.29,51.02
$GC,4321,-0.15,0.0,2352,2168,2771,2638,308.5,3.4,325,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2167,2705,2771,2639,0,0,0,0,0,0,14.89,14.90,14.90,6.29,51.45
$GC,4621,-0.15,0.0,2352,2167,2772,2638,298.0,3.5,340,4622,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2167,2704,2771,2638,0,0,0,0,0,0,14.92,14.93,14.92,6.29,51.02
$GC,4921,-0.15,0.0,2352,2168,2772,2639,287.5,3.5,355,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2167,2704,2771,2637,0,0,0,0,0,0,14.95,14.96,14.95,6.28,51.33
$GC,5221,-0.15,0.0,2352,2168,2772,2638,277.7,3.2,370,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2167,2705,2772,2638,0,0,0,0,0,0,14.97,14.98,14.98,6.28,51.61
$GC,5521,-0.15,0.0,2352,2168,2772,2639,268.8,2.9,385,5522,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2167,2704,2771,2638,0,0,0,0,0,0,14.99,15.00,15.00,6.28,51.10
$GC,5821,-0.15,0.0,2352,2168,2772,2638,261.0,2.4,400,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2167,2704,2771,2638,0,0,0,0,0,0,15.01,15.02,15.01,6.28,51.45
$GC,6121,-0.15,0.0,2352,2168,2772,2638,254.4,2.1,415,6122,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2167,2704,2770,2638,0,0,0,0,0,0,15.02,15.02,15.02,6.28,52.04
$STATE,6420,end loiter,LOITER_COMPLETE
$STATE,6420,begin climb
$GC,6421,0.64,146.0,2352,2167,2772,2637,247.9,0.0,430,6558,0.60,2.58,130.10,1.429,10756,0.175,0.069,2605,751,2120,2146,2095,0,0,0,0,0,0,14.69,13.90,13.45,6.29,51.77
$GC,6567,0.71,203.9,2605,752,2142,2094,241.8,6.1,436,6628,0.00,2.47,55.97,1.362,11270,0.000,0.053,2605,2140,1887,1908,1867,0,0,0,0,0,0,14.08,14.03,13.38,6.24,49.29
$GC,6932,0.71,203.9,2606,2141,1893,1845,189.4,14.7,455,6936,0.00,2.55,0.00,0.000,2308,0.000,0.082,2605,3552,1869,1893,1845,0,0,0,0,0,0,14.51,14.26,14.51,6.22,49.96
$GC,7017,0.71,203.9,2605,3553,1893,1846,178.3,13.8,459,7021,0.00,2.40,0.00,0.000,3078,0.000,0.044,2615,2144,1867,1892,1843,0,0,0,0,0,0,14.38,14.33,14.40,6.22,50.15
$GC,7332,0.71,203.9,2616,2145,1891,1842,129.5,15.4,475,7336,0.00,2.47,0.00,0.000,2564,0.000,0.071,2626,756,1865,1890,1841,0,0,0,0,0,0,14.66,14.40,14.66,6.22,50.27
$GC,7397,0.71,203.9,2627,755,1889,1841,121.1,14.3,478,7401,0.00,2.40,0.00,0.000,1030,0.000,0.054,2627,2143,1863,1886,1841,0,0,0,0,0,0,14.49,14.43,14.51,6.21,50.59
$GC,7702,0.71,203.9,2627,2143,1888,1848,77.1,13.5,516,7706,0.00,2.53,0.00,0.000,260,0.000,0.082,2627,3555,1863,1886,1840,0,0,0,0,0,0,14.73,14.46,14.73,6.20,49.40
$GC,7752,0.71,203.9,2626,3557,1887,1841,70.3,12.6,526,7757,0.00,2.38,0.00,0.000,5126,0.000,0.044,2637,2147,1863,1887,1840,0,0,0,0,0,0,14.55,14.50,14.57,6.20,48.89
$GC,7878,0.71,203.9,2637,2148,1886,1840,53.4,14.0,551,7882,0.00,2.42,0.00,0.000,4612,0.000,0.071,2648,751,1862,1886,1838,0,0,0,0,0,0,14.73,14.50,14.73,6.19,49.09
$GC,7912,0.71,203.9,2648,752,1886,1839,48.8,12.7,558,7918,0.05,2.40,0.00,0.000,5126,0.311,0.054,2629,2149,1862,1886,1838,0,0,0,0,0,0,14.37,14.50,14.50,6.19,48.70
$GC,8038,0.71,203.9,2630,2149,1887,1838,32.5,13.3,583,8041,0.00,2.47,0.00,0.000,260,0.000,0.083,2629,3561,1862,1886,1838,0,0,0,0,0,0,14.75,14.50,14.75,6.18,49.29
$GC,8087,0.71,203.9,2630,3562,1887,1838,25.9,12.9,593,8091,0.00,2.38,0.00,0.000,5126,0.000,0.045,2638,2149,1862,1886,1838,0,0,0,0,0,0,14.58,14.53,14.60,6.19,49.29
$GC,8213,0.71,203.9,2638,2148,1886,1839,10.3,13.0,618,8217,0.00,2.42,0.00,0.000,4612,0.000,0.070,2649,750,1861,1885,1837,0,0,0,0,0,0,14.76,14.52,14.77,6.18,49.92
$GC,8247,0.71,203.9,2650,749,1885,1837,5.9,12.4,625,8252,0.05,2.40,0.00,0.000,5126,0.317,0.055,2631,2144,1860,1884,1837,0,0,0,0,0,0,14.38,14.53,14.52,6.18,50.00
$STATE,8271,end climb,SURFACE_DEPTH_REACHED
$STATE,8271,begin surface coast
$STATE,8291,end surface coast,CONTROL_FINISHED_OK
$STATE,8291,begin surface
$SM_CCo,8302,8.52,0.259,0,0,1823,220.03
$SM_GC,2.26,5.45,0.05,8.52,0.053,0.216,0.259,275,2095,1823,-6.45,1.07,220.03,0,0,0,0,0,0,14.60,14.56,14.40
$IRIDIUM_FIX,-5957.44,8.59,010119,010509
$TT8_MAMPS,0.038199,0.190246
$HUMID,49.33
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3839968
$24V_AH,13.32,34.856
$10V_AH,13.32,0.000
$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,12.950,83.425,314.200,8.525,0.000,26.948,42.218,108.865,0.000,0.000,15.744,0.000,6595.343,408.633,1503.767,99.091,0.000,1012.342,0.000,1061.704,0.000,0.539,0.000
$DEVICE_MAMPS,373.320,2250.630,1582.785,259.335,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4701.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.009,0.000,0.000,0.000
$MEM,344104
$DATA_FILE_SIZE,17329,634
$CAP_FILE_SIZE,89277,0
$CFSIZE,1023623168,1003945984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.041,152.92,1
$GPS,010119,055804,-5956.523,7.531,21,0.8,29,-19.8,0.0,0.0,10,8.5