version: 66.14
glider: 640
mission: 5
dive: 159
start: 1 1 119 6 2 44
data:
$ID,640
$MISSION,5
$DIVE,159
$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,39
$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
$GPS1,010119,055804,-5956.5229,7.5314,21,0.8,29,-19.8,0.0,0.0,10,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-61.6
$GPS2,010119,060226,-5956.5205,7.5556,8,0.8,11,-19.8,0.0,204.6,10,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,214.5,44032,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-0.64,-146.0,234,2092,1811,1822,0.0,0.0,0,90,0.00,0.00,-78.43,0.000,16386,0.000,0.000,233,2093,3073,3153,2994,0,0,0,0,0,0,14.64,28.83,14.64,6.17,50.27
$GC,92,-0.64,-146.0,233,2093,3154,2996,3.1,-4.4,16,116,6.05,2.72,-9.80,0.000,18692,0.367,2.275,2173,3506,3314,3411,3217,0,0,0,0,0,0,14.20,13.47,14.38,6.27,49.21
$GC,191,-0.64,-146.0,2173,3506,3412,3218,17.3,-14.0,36,195,0.08,2.35,0.00,0.000,3078,0.369,0.041,2198,2101,3314,3411,3218,0,0,0,0,0,0,14.24,14.40,14.44,6.30,48.42
$GC,316,-0.64,-146.0,2198,2101,3413,3218,37.1,-15.8,61,319,0.00,2.42,0.00,0.000,516,0.000,0.067,2198,696,3314,3411,3218,0,0,0,0,0,0,14.64,14.42,14.64,6.30,48.70
$GC,375,-0.64,-146.0,2199,696,3412,3218,47.1,-16.1,73,379,0.00,2.45,0.00,0.000,3078,0.000,0.058,2189,2103,3314,3411,3218,0,0,0,0,0,0,14.48,14.42,14.50,6.30,48.93
$GC,500,-0.64,-146.0,2189,2104,3411,3218,66.0,-15.9,98,504,0.00,2.50,0.00,0.000,2308,0.000,0.083,2178,3508,3314,3411,3218,0,0,0,0,0,0,14.69,14.42,14.69,6.30,49.01
$GC,550,-0.64,-146.0,2178,3508,3404,3219,73.9,-15.6,108,555,0.00,2.38,0.00,0.000,3078,0.000,0.043,2177,2108,3314,3411,3218,0,0,0,0,0,0,14.52,14.47,14.53,6.30,48.85
$GC,676,-0.64,-146.0,2178,2108,3413,3218,93.6,-15.4,133,679,0.05,2.45,0.00,0.000,2564,0.472,0.065,2190,691,3319,3411,3227,0,0,0,0,0,0,14.35,14.47,14.51,6.30,48.46
$GC,720,-0.64,-146.0,2191,689,3411,3218,100.3,-14.3,142,724,0.00,2.45,0.00,0.000,3078,0.000,0.059,2181,2099,3314,3411,3218,0,0,0,0,0,0,14.52,14.47,14.54,6.29,48.46
$GC,1035,-0.64,-146.0,2181,2100,3412,3219,144.7,-14.3,158,1040,0.00,2.47,0.00,0.000,2308,0.000,0.083,2170,3500,3314,3411,3218,0,0,0,0,0,0,14.76,14.50,14.76,6.30,50.19
$GC,1090,-0.64,-146.0,2171,3501,3412,3218,150.5,-14.3,160,1094,0.05,2.38,0.00,0.000,3078,0.360,0.043,2188,2087,3315,3411,3219,0,0,0,0,0,0,14.35,14.54,14.51,6.30,49.92
$GC,1395,-0.64,-146.0,2188,2086,3412,3218,195.4,-14.2,176,1399,0.00,2.42,0.00,0.000,2564,0.000,0.064,2188,695,3314,3411,3218,0,0,0,0,0,0,14.79,14.54,14.79,6.31,50.66
$GC,1465,-0.64,-146.0,2188,696,3412,3220,203.8,-14.1,179,1469,0.03,2.42,0.00,0.000,3078,0.459,0.057,2185,2102,3314,3411,3218,0,0,0,0,0,0,14.36,14.55,14.52,6.31,50.70
$GC,1775,-0.64,-146.0,2185,2104,3410,3219,248.3,-14.0,195,1779,0.00,2.47,0.00,0.000,2308,0.000,0.083,2175,3509,3314,3411,3218,0,0,0,0,0,0,14.81,14.54,14.82,6.33,51.06
$GC,1805,-0.64,-146.0,2176,3508,3412,3218,251.2,-14.0,196,1810,0.05,2.35,0.00,0.000,3078,0.359,0.044,2193,2104,3314,3410,3218,0,0,0,0,0,0,14.39,14.59,14.55,6.32,51.29
$GC,2115,-0.64,-146.0,2193,2103,3411,3218,292.1,-12.5,212,2119,0.00,2.45,0.00,0.000,2564,0.000,0.064,2192,697,3314,3411,3218,0,0,0,0,0,0,14.83,14.57,14.83,6.33,51.18
$GC,2190,-0.64,-146.0,2193,697,3410,3220,299.8,-12.7,215,2195,0.00,2.40,0.00,0.000,3078,0.000,0.057,2183,2098,3314,3410,3218,0,0,0,0,0,0,14.63,14.57,14.65,6.33,51.85
$GC,2495,-0.64,-146.0,2183,2098,3411,3218,340.6,-12.7,231,2500,0.00,2.47,0.00,0.000,2308,0.000,0.082,2172,3508,3314,3411,3218,0,0,0,0,0,0,14.83,14.57,14.84,6.33,50.94
$GC,2545,-0.64,-146.0,2172,3508,3411,3218,345.8,-12.8,233,2549,0.05,2.38,0.00,0.000,3078,0.354,0.042,2189,2087,3314,3410,3218,0,0,0,0,0,0,14.42,14.61,14.57,6.33,50.98
$STATE,2574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2574,begin apogee
$GC,2577,-0.15,0.0,2189,2159,3411,3219,350.8,-12.7,235,2708,0.45,0.00,127.10,1.576,10246,0.272,0.000,2350,2158,2715,2775,2656,0,0,0,0,0,0,14.45,13.93,13.30,6.34,51.49
$STATE,2709,end apogee,CONTROL_FINISHED_OK
$STATE,2709,begin loiter
$GC,2995,-0.15,0.0,2350,2159,2772,2644,346.5,3.4,256,2996,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2158,2707,2771,2643,0,0,0,0,0,0,14.56,14.57,14.57,6.29,50.23
$GC,3295,-0.15,0.0,2350,2159,2773,2641,335.6,3.6,271,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2158,2705,2771,2640,0,0,0,0,0,0,14.70,14.71,14.71,6.28,50.59
$GC,3595,-0.15,0.0,2350,2159,2772,2641,324.9,3.6,286,3596,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2158,2705,2771,2639,0,0,0,0,0,0,14.79,14.79,14.79,6.28,51.29
$GC,3895,-0.15,0.0,2351,2158,2772,2638,314.5,3.5,301,3896,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2158,2704,2771,2638,0,0,0,0,0,0,14.85,14.85,14.85,6.29,50.98
$GC,4195,-0.15,0.0,2351,2157,2772,2637,304.8,3.3,316,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2158,2704,2771,2638,0,0,0,0,0,0,14.89,14.90,14.90,6.29,50.78
$GC,4495,-0.15,0.0,2351,2158,2772,2637,295.8,2.9,331,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2158,2704,2771,2637,0,0,0,0,0,0,14.92,14.93,14.92,6.29,51.22
$GC,4795,-0.15,0.0,2351,2158,2772,2637,287.0,2.8,346,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2158,2704,2771,2637,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.22
$GC,5095,-0.15,0.0,2352,2159,2772,2638,278.4,2.9,361,5096,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2158,2704,2771,2637,0,0,0,0,0,0,14.97,14.97,14.98,6.28,51.69
$GC,5395,-0.15,0.0,2351,2158,2773,2637,269.7,2.8,376,5396,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2157,2704,2771,2637,0,0,0,0,0,0,14.99,15.00,15.00,6.29,50.98
$GC,5695,-0.15,0.0,2352,2158,2772,2637,261.4,2.8,391,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2158,2703,2771,2636,0,0,0,0,0,0,15.01,15.01,15.01,6.28,51.33
$GC,5995,-0.15,0.0,2351,2158,2771,2636,253.2,2.7,406,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2158,2703,2771,2636,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.22
$STATE,6294,end loiter,LOITER_COMPLETE
$STATE,6294,begin climb
$GC,6295,0.64,146.0,2351,2158,2772,2636,244.9,0.0,421,6432,0.62,2.53,129.82,1.419,11012,0.179,0.079,2600,3546,2121,2147,2095,0,0,0,0,0,0,14.70,13.90,13.45,6.28,51.45
$GC,6521,0.64,146.0,2600,3547,2142,2087,228.0,10.5,431,6525,0.00,2.40,0.00,0.000,5126,0.000,0.043,2611,2157,2114,2142,2086,0,0,0,0,0,0,14.23,14.19,14.25,6.24,49.21
$GC,6831,0.64,146.0,2612,2157,2137,2072,188.8,12.6,447,6835,0.00,2.53,0.00,0.000,4612,0.000,0.070,2622,743,2106,2135,2078,0,0,0,0,0,0,14.60,14.35,14.60,6.24,50.23
$GC,6876,0.64,146.0,2621,743,2133,2079,184.0,12.4,449,6881,0.05,2.42,0.00,0.000,5126,0.305,0.054,2604,2137,2104,2131,2078,0,0,0,0,0,0,14.26,14.39,14.39,6.24,50.43
$GC,7191,0.64,146.0,2604,2138,2131,2077,148.5,10.4,465,7195,0.00,2.53,0.00,0.000,260,0.000,0.082,2603,3550,2104,2132,2076,0,0,0,0,0,0,14.70,14.44,14.71,6.23,50.66
$GC,7271,0.64,146.0,2604,3551,2133,2077,140.1,10.4,469,7275,0.00,2.38,0.00,0.000,5126,0.000,0.045,2612,2151,2103,2131,2076,0,0,0,0,0,0,14.52,14.49,14.55,6.24,51.10
$GC,7591,0.64,146.0,2613,2150,2131,2076,105.7,10.7,485,7595,0.00,2.47,0.00,0.000,4612,0.000,0.070,2623,743,2103,2131,2075,0,0,0,0,0,0,14.76,14.50,14.76,6.22,49.84
$GC,7661,0.64,146.0,2624,744,2130,2076,98.7,9.8,490,7665,0.05,2.42,0.00,0.000,5126,0.311,0.055,2604,2150,2101,2129,2074,0,0,0,0,0,0,14.38,14.52,14.52,6.22,50.03
$GC,7787,0.64,146.0,2604,2151,2129,2075,86.4,9.9,515,7791,0.00,2.47,0.00,0.000,260,0.000,0.086,2604,3561,2101,2129,2074,0,0,0,0,0,0,14.76,14.52,14.77,6.22,49.25
$GC,7836,0.64,146.0,2604,3563,2129,2076,81.1,10.3,525,7840,0.00,2.38,0.00,0.000,5126,0.000,0.045,2613,2154,2101,2128,2074,0,0,0,0,0,0,14.59,14.54,14.62,6.21,49.56
$GC,7962,0.64,146.0,2614,2154,2130,2074,67.9,11.1,550,7965,0.00,2.45,0.00,0.000,4612,0.000,0.071,2624,741,2101,2129,2074,0,0,0,0,0,0,14.76,14.53,14.77,6.20,49.44
$GC,7996,0.64,146.0,2625,742,2128,2075,64.2,10.3,557,8001,0.05,2.42,0.00,0.000,5126,0.306,0.056,2604,2149,2100,2127,2073,0,0,0,0,0,0,14.40,14.53,14.54,6.21,48.66
$GC,8121,0.64,146.0,2605,2149,2129,2073,51.7,9.9,582,8125,0.00,2.50,0.00,0.000,260,0.000,0.086,2605,3554,2100,2128,2073,0,0,0,0,0,0,14.77,14.51,14.78,6.20,48.34
$GC,8151,0.64,146.0,2605,3555,2129,2073,48.7,10.0,588,8155,0.00,2.38,0.00,0.000,5126,0.000,0.046,2613,2146,2100,2128,2073,0,0,0,0,0,0,14.59,14.54,14.62,6.20,48.50
$GC,8277,0.64,146.0,2614,2146,2128,2074,37.4,9.6,613,8280,0.00,2.42,0.00,0.000,4612,0.000,0.070,2625,744,2100,2128,2073,0,0,0,0,0,0,14.78,14.54,14.78,6.20,48.62
$GC,8331,0.64,146.0,2625,744,2129,2072,32.2,8.8,624,8335,0.05,2.42,0.00,0.000,5126,0.306,0.056,2605,2155,2099,2127,2072,0,0,0,0,0,0,14.40,14.53,14.54,6.20,48.66
$GC,8456,0.64,146.0,2606,2155,2129,2072,21.5,8.4,649,8460,0.00,2.47,0.00,0.000,260,0.000,0.084,2605,3548,2099,2127,2072,0,0,0,0,0,0,14.77,14.51,14.78,6.20,49.13
$GC,8506,0.69,191.0,2606,3548,2128,2072,18.0,6.6,659,8551,0.00,2.35,38.00,0.328,11270,0.000,0.045,2614,2157,1936,1957,1916,0,0,0,0,0,0,14.60,14.56,14.29,6.20,49.56
$STATE,8645,end climb,SURFACE_DEPTH_REACHED
$STATE,8645,begin surface coast
$STATE,8670,end surface coast,CONTROL_FINISHED_OK
$STATE,8670,begin surface
$SM_CCo,8683,26.45,0.252,0,0,1821,220.03
$SM_GC,1.04,5.75,0.10,26.45,0.119,0.138,0.252,243,2068,1821,-6.48,0.71,220.03,0,0,0,0,0,0,14.57,14.52,14.34
$IRIDIUM_FIX,-5957.44,4.30,010119,033514
$TT8_MAMPS,0.039697,0.161784
$HUMID,49.13
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3839456
$24V_AH,13.30,35.030
$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,13.375,88.100,294.925,26.450,0.000,22.868,18.012,110.769,0.000,0.000,12.328,0.000,6869.767,421.245,1581.962,102.305,0.000,1066.246,0.000,1156.487,0.000,0.539,0.000
$DEVICE_MAMPS,472.005,2275.110,1575.900,251.685,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5080.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.748,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,17363,692
$CAP_FILE_SIZE,94652,0
$CFSIZE,1023623168,1003847680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.048,156.12,1
$GPS,010119,082926,-5957.095,7.533,37,0.8,70,-19.8,1.2,167.1,12,9.2