version: 66.14
glider: 640
mission: 5
dive: 160
start: 1 1 119 8 34 21
data:
$ID,640
$MISSION,5
$DIVE,160
$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,53
$R_STBD_OVSHOOT,28
$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
$GPS1,010119,082926,-5957.0952,7.5330,37,0.8,70,-19.8,1.2,167.1,12,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-62.5
$GPS2,010119,083403,-5957.1035,7.5558,8,0.8,13,-19.8,0.4,177.0,11,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,215.4,42966,-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,-146.0,234,2067,1800,1824,0.0,0.0,0,85,0.00,0.00,-73.50,0.000,16386,0.000,0.000,233,2066,2984,3064,2905,0,0,0,0,0,0,14.60,28.83,14.61,6.17,50.35
$GC,87,-0.64,-146.0,234,2067,3066,2904,3.0,-6.1,15,114,6.05,2.80,-13.55,0.000,18692,0.368,2.271,2184,3506,3315,3413,3218,0,0,0,0,0,0,14.19,13.44,14.45,6.27,49.52
$GC,210,-0.64,-146.0,2184,3508,3414,3221,22.1,-15.0,40,214,0.00,2.38,0.00,0.000,3078,0.000,0.043,2183,2120,3317,3414,3220,0,0,0,0,0,0,14.42,14.38,14.45,6.29,48.70
$GC,335,-0.64,-146.0,2184,2119,3415,3220,42.3,-16.8,65,340,0.00,2.53,0.00,0.000,2564,0.000,0.067,2183,693,3317,3414,3220,0,0,0,0,0,0,14.64,14.39,14.64,6.30,48.89
$GC,395,-0.64,-146.0,2182,693,3415,3220,52.1,-16.1,77,400,0.05,2.45,0.00,0.000,3078,0.356,0.061,2190,2095,3316,3413,3220,0,0,0,0,0,0,14.25,14.40,14.40,6.30,48.93
$GC,521,-0.64,-146.0,2191,2095,3419,3220,71.1,-14.6,102,524,0.00,2.45,0.00,0.000,2564,0.000,0.068,2189,686,3317,3414,3220,0,0,0,0,0,0,14.67,14.45,14.67,6.30,48.85
$GC,560,-0.64,-146.0,2189,686,3415,3221,76.7,-13.4,110,564,0.00,2.47,0.00,0.000,3078,0.000,0.061,2179,2105,3317,3414,3220,0,0,0,0,0,0,14.50,14.45,14.52,6.30,48.70
$GC,686,-0.64,-146.0,2180,2105,3415,3220,93.4,-13.8,135,689,0.00,2.45,0.00,0.000,2308,0.000,0.086,2169,3506,3317,3414,3220,0,0,0,0,0,0,14.70,14.46,14.70,6.30,48.93
$GC,730,-0.64,-146.0,2178,3507,3415,3221,99.9,-14.4,144,734,0.05,2.40,0.00,0.000,3078,0.370,0.044,2186,2089,3320,3414,3227,0,0,0,0,0,0,14.30,14.48,14.45,6.29,49.13
$GC,855,-0.64,-146.0,2188,2090,3415,3220,116.4,-12.8,151,859,0.00,2.53,0.00,0.000,2308,0.000,0.083,2176,3506,3317,3414,3220,0,0,0,0,0,0,14.71,14.47,14.73,6.29,49.37
$GC,875,-0.64,-146.0,2175,3507,3414,3221,119.0,-12.8,152,880,0.05,2.38,0.00,0.000,3078,0.363,0.046,2193,2107,3317,3414,3221,0,0,0,0,0,0,14.31,14.50,14.47,6.29,48.85
$GC,1195,-0.64,-146.0,2193,2106,3415,3220,162.2,-13.3,168,1199,0.00,2.47,0.00,0.000,2564,0.000,0.067,2188,693,3317,3414,3220,0,0,0,0,0,0,14.77,14.52,14.77,6.30,50.43
$GC,1265,-0.64,-146.0,2193,693,3414,3221,170.1,-13.1,171,1269,0.00,2.45,0.00,0.000,3078,0.000,0.059,2183,2105,3316,3413,3220,0,0,0,0,0,0,14.59,14.53,14.60,6.31,50.43
$GC,1575,-0.64,-146.0,2183,2105,3415,3220,212.3,-13.3,187,1580,0.00,2.47,0.00,0.000,2308,0.000,0.085,2172,3505,3317,3414,3221,0,0,0,0,0,0,14.80,14.53,14.80,6.31,50.74
$GC,1645,-0.64,-146.0,2173,3505,3415,3220,220.5,-13.7,190,1649,0.05,2.38,0.00,0.000,3078,0.350,0.044,2189,2090,3316,3413,3220,0,0,0,0,0,0,14.38,14.57,14.53,6.32,50.78
$GC,1955,-0.64,-146.0,2190,2090,3415,3220,261.5,-12.8,206,1959,0.00,2.42,0.00,0.000,2564,0.000,0.066,2189,697,3316,3413,3220,0,0,0,0,0,0,14.82,14.56,14.82,6.32,51.02
$GC,2015,-0.64,-146.0,2190,698,3413,3221,269.1,-12.7,209,2019,0.00,2.40,0.00,0.000,3078,0.000,0.057,2180,2098,3317,3414,3220,0,0,0,0,0,0,14.62,14.57,14.64,6.33,51.29
$GC,2335,-0.64,-146.0,2180,2099,3415,3221,310.3,-12.9,225,2339,0.00,2.47,0.00,0.000,2308,0.000,0.083,2170,3502,3316,3413,3220,0,0,0,0,0,0,14.83,14.56,14.83,6.33,51.18
$GC,2380,-0.64,-146.0,2170,3503,3415,3221,315.5,-13.0,227,2384,0.05,2.35,0.00,0.000,3078,0.354,0.044,2187,2100,3316,3413,3220,0,0,0,0,0,0,14.41,14.59,14.57,6.33,50.94
$STATE,2654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2654,begin apogee
$GC,2657,-0.15,0.0,2188,2151,3414,3221,350.5,-12.5,241,2788,0.45,0.00,127.68,1.590,10246,0.267,0.000,2349,2150,2719,2778,2660,0,0,0,0,0,0,14.49,13.91,13.33,6.33,51.02
$STATE,2789,end apogee,CONTROL_FINISHED_OK
$STATE,2789,begin loiter
$GC,3075,-0.15,0.0,2349,2151,2772,2645,346.8,3.3,262,3076,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2150,2707,2772,2643,0,0,0,0,0,0,14.56,14.57,14.56,6.29,50.47
$GC,3375,-0.15,0.0,2349,2151,2772,2642,336.7,3.3,277,3376,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2150,2706,2771,2642,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.86
$GC,3675,-0.15,0.0,2349,2151,2772,2640,326.6,3.4,292,3676,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2150,2705,2771,2640,0,0,0,0,0,0,14.79,14.79,14.79,6.28,50.74
$GC,3975,-0.15,0.0,2349,2151,2772,2641,316.8,3.3,307,3976,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2150,2705,2771,2640,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.02
$GC,4275,-0.15,0.0,2349,2151,2772,2640,306.9,3.3,322,4276,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2150,2705,2771,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.29,50.90
$GC,4575,-0.15,0.0,2349,2151,2772,2639,297.7,3.1,337,4576,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2150,2705,2771,2639,0,0,0,0,0,0,14.93,14.93,14.93,6.28,50.98
$GC,4875,-0.15,0.0,2349,2151,2772,2640,288.5,3.1,352,4876,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2150,2704,2771,2638,0,0,0,0,0,0,14.95,14.96,14.95,6.28,51.29
$GC,5175,-0.15,0.0,2349,2151,2773,2639,279.5,3.1,367,5176,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2150,2705,2771,2639,0,0,0,0,0,0,14.97,14.98,14.98,6.28,51.37
$GC,5475,-0.15,0.0,2349,2151,2772,2640,270.2,3.1,382,5476,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2150,2704,2771,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.02
$GC,5775,-0.15,0.0,2348,2151,2772,2640,261.0,3.1,397,5776,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2151,2704,2771,2638,0,0,0,0,0,0,15.01,15.02,15.01,6.27,51.22
$GC,6075,-0.15,0.0,2349,2151,2772,2639,251.9,2.9,412,6076,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2151,2704,2771,2638,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.49
$STATE,6374,end loiter,LOITER_COMPLETE
$STATE,6374,begin climb
$GC,6375,0.64,146.0,2349,2151,2772,2638,243.6,0.0,427,6515,0.62,2.53,130.30,1.425,11012,0.178,0.069,2610,754,2118,2142,2094,0,0,0,0,0,0,14.69,13.90,13.45,6.28,50.94
$GC,6580,0.64,146.0,2610,755,2137,2086,229.0,9.9,437,6584,0.00,2.47,0.00,0.000,5126,0.000,0.055,2609,2148,2111,2136,2086,0,0,0,0,0,0,14.20,14.15,14.21,6.24,49.09
$GC,6895,0.64,146.0,2611,2149,2134,2078,191.6,11.9,453,6900,0.00,2.53,0.00,0.000,4356,0.000,0.084,2610,3550,2105,2133,2078,0,0,0,0,0,0,14.60,14.33,14.61,6.24,50.90
$GC,6950,0.64,146.0,2610,3551,2133,2079,186.6,12.2,455,6954,0.03,2.38,0.00,0.000,5126,0.437,0.045,2610,2155,2105,2132,2078,0,0,0,0,0,0,14.21,14.40,14.37,6.24,50.51
$GC,7255,0.64,146.0,2610,2156,2132,2077,148.7,11.9,471,7259,0.00,2.50,0.00,0.000,4612,0.000,0.070,2619,747,2103,2131,2076,0,0,0,0,0,0,14.71,14.42,14.71,6.24,50.59
$GC,7320,0.64,146.0,2620,748,2130,2077,141.9,11.6,474,7325,0.03,2.42,0.00,0.000,5126,0.409,0.055,2609,2153,2101,2128,2075,0,0,0,0,0,0,14.29,14.47,14.45,6.24,50.86
$GC,7635,0.64,146.0,2609,2152,2130,2074,103.0,12.0,490,7639,0.00,2.50,0.00,0.000,4356,0.000,0.083,2609,3559,2101,2128,2074,0,0,0,0,0,0,14.77,14.47,14.77,6.23,50.51
$GC,7695,0.64,146.0,2609,3561,2129,2076,95.7,11.7,496,7699,0.00,2.38,0.00,0.000,5126,0.000,0.045,2619,2152,2101,2128,2075,0,0,0,0,0,0,14.56,14.52,14.58,6.23,50.90
$GC,7821,0.64,146.0,2619,2152,2129,2074,81.6,10.8,521,7824,0.00,2.42,0.00,0.000,4612,0.000,0.070,2629,746,2101,2128,2074,0,0,0,0,0,0,14.78,14.53,14.78,6.22,49.88
$GC,7855,0.64,146.0,2629,746,2128,2075,77.9,10.4,528,7860,0.05,2.40,0.00,0.000,5126,0.307,0.056,2609,2144,2100,2127,2073,0,0,0,0,0,0,14.38,14.51,14.51,6.22,49.88
$GC,7980,0.64,146.0,2610,2145,2129,2074,65.5,9.8,553,7984,0.00,2.53,0.00,0.000,4356,0.000,0.085,2609,3567,2100,2127,2074,0,0,0,0,0,0,14.78,14.51,14.78,6.22,49.44
$GC,8040,0.64,146.0,2609,3568,2128,2075,59.5,9.8,565,8044,0.00,2.38,0.00,0.000,5126,0.000,0.044,2619,2154,2100,2127,2073,0,0,0,0,0,0,14.60,14.56,14.62,6.21,48.89
$GC,8166,0.64,146.0,2617,2154,2128,2073,46.9,10.7,590,8170,0.00,2.45,0.00,0.000,4612,0.000,0.070,2629,738,2100,2127,2073,0,0,0,0,0,0,14.79,14.55,14.79,6.21,48.93
$GC,8195,0.64,146.0,2629,739,2127,2074,43.8,10.4,596,8200,0.05,2.45,0.00,0.000,5126,0.311,0.055,2609,2166,2099,2126,2073,0,0,0,0,0,0,14.39,14.52,14.52,6.21,49.37
$GC,8320,0.64,146.0,2609,2168,2127,2074,32.3,9.6,621,8321,0.00,0.00,0.00,0.000,4102,0.000,0.000,2609,2167,2099,2127,2072,0,0,0,0,0,0,14.79,14.80,14.80,6.20,49.21
$GC,8440,0.64,146.0,2609,2175,2126,2073,21.4,9.1,645,8444,0.00,2.45,0.00,0.000,4356,0.000,0.083,2609,3553,2099,2126,2072,0,0,0,0,0,0,14.81,14.53,14.81,6.21,49.60
$GC,8460,0.64,146.0,2610,3553,2128,2072,19.2,11.1,649,8464,0.00,2.35,0.00,0.000,5126,0.000,0.045,2618,2154,2099,2126,2072,0,0,0,0,0,0,14.62,14.57,14.64,6.20,49.56
$GC,8586,0.69,190.9,2618,2153,2127,2073,7.5,6.6,674,8630,0.00,2.50,37.53,0.268,10756,0.000,0.070,2629,730,1937,1957,1917,0,0,0,0,0,0,14.81,14.50,14.38,6.20,50.00
$STATE,8634,end climb,SURFACE_DEPTH_REACHED
$STATE,8634,begin surface coast
$STATE,8649,end surface coast,CONTROL_FINISHED_OK
$STATE,8649,begin surface
$SM_CCo,8663,26.75,0.251,0,0,1822,220.03
$SM_GC,0.95,5.55,2.40,26.75,0.076,0.060,0.251,241,2101,1822,-6.44,-1.02,220.03,0,0,0,0,0,0,14.60,14.53,14.37
$IRIDIUM_FIX,-5954.50,4.29,010119,055942
$TT8_MAMPS,0.03745,0.358771
$HUMID,49.68
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3838944
$24V_AH,13.33,35.205
$10V_AH,13.63,0.000
$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,13.075,88.350,295.500,26.750,0.000,26.201,16.676,120.477,0.000,0.000,14.371,0.000,6872.470,420.438,1574.484,102.330,0.000,1057.066,0.000,1138.073,0.000,0.539,0.000
$DEVICE_MAMPS,436.815,2271.285,1590.435,250.920,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5059.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.827,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17341,687
$CAP_FILE_SIZE,93302,0
$CFSIZE,1023623168,1003749376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.064,160.51,1
$GPS,010119,110005,-5957.791,7.723,17,0.9,32,-19.8,0.5,175.9,9,9.5