version: 66.14
glider: 640
mission: 5
dive: 161
start: 1 1 119 11 5 10
data:
$ID,640
$MISSION,5
$DIVE,161
$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,32
$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
$GPS1,010119,110005,-5957.7910,7.7230,17,0.9,32,-19.8,0.5,175.9,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-62.6
$GPS2,010119,110452,-5957.8159,7.7644,8,0.9,15,-19.8,1.1,104.5,10,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,217.0,41696,-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,-146.0,233,2104,1801,1822,0.0,0.0,0,96,0.00,0.00,-84.38,0.000,16386,0.000,0.000,233,2103,3170,3250,3090,0,0,0,0,0,0,14.61,28.83,14.62,6.17,50.15
$GC,98,-0.64,-146.0,233,2104,3250,3092,3.2,-4.9,17,116,6.00,2.72,-5.82,0.000,18692,0.363,2.271,2175,3500,3318,3412,3224,0,0,0,0,0,0,14.27,13.35,14.46,6.28,49.44
$GC,230,-0.64,-146.0,2176,3501,3416,3225,23.3,-15.6,44,236,0.05,2.38,0.00,0.000,3078,0.360,0.042,2192,2104,3319,3414,3225,0,0,0,0,0,0,14.22,14.39,14.37,6.30,49.01
$GC,356,-0.64,-146.0,2193,2103,3413,3227,43.4,-16.1,69,359,0.00,2.45,0.00,0.000,2564,0.000,0.068,2193,689,3319,3414,3225,0,0,0,0,0,0,14.65,14.42,14.65,6.30,49.21
$GC,435,-0.64,-146.0,2192,690,3415,3227,56.1,-13.6,85,439,0.00,2.45,0.00,0.000,3078,0.000,0.059,2182,2097,3320,3414,3226,0,0,0,0,0,0,14.48,14.43,14.48,6.30,49.13
$GC,560,-0.64,-146.0,2183,2099,3415,3232,75.0,-15.0,110,564,0.00,2.50,0.00,0.000,2308,0.000,0.083,2172,3503,3320,3415,3225,0,0,0,0,0,0,14.69,14.43,14.69,6.28,49.60
$GC,595,-0.64,-146.0,2172,3504,3415,3227,80.5,-15.5,117,599,0.05,2.38,0.00,0.000,3078,0.356,0.044,2188,2103,3319,3414,3225,0,0,0,0,0,0,14.29,14.47,14.44,6.30,48.89
$GC,721,-0.64,-146.0,2189,2102,3415,3227,99.8,-15.8,142,724,0.00,2.42,0.00,0.000,2564,0.000,0.067,2189,693,3320,3414,3226,0,0,0,0,0,0,14.71,14.48,14.71,6.30,48.89
$GC,765,-0.64,-146.0,2189,694,3414,3227,106.3,-16.1,145,769,0.00,2.42,0.00,0.000,3078,0.000,0.057,2179,2095,3320,3414,3226,0,0,0,0,0,0,14.53,14.48,14.54,6.30,48.54
$GC,1080,-0.64,-146.0,2180,2095,3415,3226,155.2,-15.3,161,1084,0.00,2.47,0.00,0.000,2308,0.000,0.081,2168,3496,3319,3413,3226,0,0,0,0,0,0,14.76,14.50,14.77,6.30,50.55
$GC,1130,-0.64,-146.0,2169,3497,3415,3226,161.3,-15.3,163,1134,0.05,2.35,0.00,0.000,3078,0.369,0.043,2186,2096,3320,3414,3226,0,0,0,0,0,0,14.35,14.54,14.50,6.31,49.84
$GC,1440,-0.64,-146.0,2186,2094,3415,3226,207.2,-14.5,179,1445,0.00,2.45,0.00,0.000,2564,0.000,0.067,2190,696,3321,3417,3226,0,0,0,0,0,0,14.80,14.53,14.80,6.32,50.98
$GC,1505,-0.64,-146.0,2186,696,3415,3226,215.8,-14.3,182,1509,0.05,2.42,0.00,0.000,3078,0.373,0.057,2192,2102,3320,3414,3226,0,0,0,0,0,0,14.37,14.54,14.53,6.32,50.66
$GC,1820,-0.64,-146.0,2194,2102,3414,3227,258.8,-13.3,198,1824,0.00,2.47,0.00,0.000,2308,0.000,0.084,2182,3506,3319,3414,3225,0,0,0,0,0,0,14.81,14.54,14.82,6.33,51.14
$GC,1870,-0.64,-146.0,2183,3507,3415,3225,264.2,-13.3,200,1874,0.00,2.38,0.00,0.000,3078,0.000,0.044,2182,2094,3319,3413,3225,0,0,0,0,0,0,14.64,14.58,14.64,6.32,51.18
$GC,2180,-0.64,-146.0,2183,2092,3415,3224,306.0,-12.9,216,2184,0.00,2.42,0.00,0.000,2564,0.000,0.066,2181,701,3320,3414,3226,0,0,0,0,0,0,14.83,14.57,14.83,6.33,50.94
$GC,2235,-0.64,-146.0,2182,701,3415,3226,311.2,-13.0,218,2239,0.05,2.40,0.00,0.000,3078,0.358,0.057,2188,2099,3319,3414,3225,0,0,0,0,0,0,14.40,14.57,14.56,6.33,51.33
$STATE,2539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2539,begin apogee
$GC,2543,-0.15,0.0,2188,2167,3415,3225,350.5,-12.3,234,2673,0.45,0.00,127.00,1.593,10246,0.268,0.000,2349,2167,2719,2778,2660,0,0,0,0,0,0,14.46,13.92,13.32,6.33,50.86
$STATE,2674,end apogee,CONTROL_FINISHED_OK
$STATE,2674,begin loiter
$GC,2960,-0.15,0.0,2349,2167,2774,2645,346.7,3.3,255,2961,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2708,2772,2645,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.39
$GC,3260,-0.15,0.0,2348,2167,2773,2644,337.0,3.3,270,3261,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2707,2772,2643,0,0,0,0,0,0,14.71,14.71,14.71,6.29,51.33
$GC,3560,-0.15,0.0,2349,2167,2774,2642,327.5,3.2,285,3561,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2707,2773,2642,0,0,0,0,0,0,14.79,14.79,14.80,6.29,51.49
$GC,3860,-0.15,0.0,2348,2166,2774,2640,318.1,3.0,300,3861,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2707,2772,2642,0,0,0,0,0,0,14.85,14.85,14.85,6.29,50.90
$GC,4160,-0.15,0.0,2349,2167,2773,2641,308.3,3.4,315,4161,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2706,2772,2641,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.29
$GC,4460,-0.15,0.0,2349,2167,2774,2640,297.9,3.5,330,4461,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2706,2772,2640,0,0,0,0,0,0,14.92,14.93,14.93,6.29,51.73
$GC,4760,-0.15,0.0,2348,2167,2773,2641,287.7,3.4,345,4761,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2706,2772,2640,0,0,0,0,0,0,14.95,14.96,14.95,6.29,51.06
$GC,5060,-0.15,0.0,2349,2167,2774,2640,277.7,3.3,360,5061,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2706,2772,2640,0,0,0,0,0,0,14.98,14.98,14.98,6.29,51.18
$GC,5360,-0.15,0.0,2349,2167,2773,2641,267.9,3.3,375,5361,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2167,2706,2772,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.77
$GC,5660,-0.15,0.0,2349,2167,2773,2641,258.7,3.0,390,5661,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2706,2772,2640,0,0,0,0,0,0,15.01,15.01,15.01,6.29,51.37
$GC,5960,-0.15,0.0,2349,2167,2773,2642,249.4,3.2,405,5961,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2706,2773,2640,0,0,0,0,0,0,15.02,15.03,15.02,6.28,51.85
$STATE,6259,end loiter,LOITER_COMPLETE
$STATE,6259,begin climb
$GC,6260,0.64,146.0,2349,2167,2773,2641,240.3,0.0,420,6397,0.62,2.50,130.27,1.414,11012,0.182,0.082,2598,3546,2120,2145,2096,0,0,0,0,0,0,14.69,13.91,13.46,6.28,51.26
$GC,6486,0.64,146.0,2598,3546,2141,2087,222.9,10.8,430,6490,0.00,2.40,0.00,0.000,5126,0.000,0.043,2608,2158,2113,2141,2086,0,0,0,0,0,0,14.23,14.19,14.25,6.24,49.29
$GC,6796,0.64,146.0,2609,2158,2136,2077,183.9,12.5,446,6800,0.00,2.53,0.00,0.000,4612,0.000,0.070,2619,745,2106,2135,2078,0,0,0,0,0,0,14.61,14.35,14.61,6.24,50.15
$GC,6831,0.64,146.0,2619,746,2132,2079,181.5,12.4,447,6836,0.00,2.40,0.00,0.000,5126,0.000,0.054,2619,2128,2104,2131,2078,0,0,0,0,0,0,14.43,14.38,14.46,6.24,50.19
$GC,7136,0.64,146.0,2620,2129,2132,2076,140.4,12.9,463,7140,0.00,2.55,0.00,0.000,4356,0.000,0.085,2620,3558,2103,2131,2076,0,0,0,0,0,0,14.71,14.44,14.70,6.24,50.63
$GC,7237,0.64,146.0,2620,3558,2132,2076,127.8,12.4,468,7241,0.08,2.40,0.00,0.000,5126,0.300,0.044,2603,2144,2103,2130,2077,0,0,0,0,0,0,14.35,14.49,14.47,6.23,50.66
$GC,7541,0.64,146.0,2604,2144,2131,2075,94.2,10.2,490,7546,0.00,2.47,0.00,0.000,516,0.000,0.069,2613,745,2102,2130,2075,0,0,0,0,0,0,14.76,14.50,14.76,6.23,50.00
$GC,7611,0.64,146.0,2613,746,2128,2076,87.3,9.7,504,7616,0.00,2.42,0.00,0.000,5126,0.000,0.054,2613,2153,2100,2127,2074,0,0,0,0,0,0,14.60,14.53,14.60,6.22,50.31
$GC,7737,0.64,146.0,2613,2154,2128,2075,74.4,10.4,529,7741,0.00,2.45,0.00,0.000,4356,0.000,0.086,2613,3559,2100,2127,2074,0,0,0,0,0,0,14.77,14.52,14.76,6.27,49.25
$GC,7786,0.64,146.0,2613,3560,2128,2076,69.1,10.4,539,7792,0.05,2.38,0.00,0.000,5126,0.333,0.044,2604,2151,2101,2127,2075,0,0,0,0,0,0,14.38,14.54,14.53,6.22,49.01
$GC,7912,0.64,146.0,2605,2151,2129,2074,56.5,10.4,564,7916,0.00,2.45,0.00,0.000,516,0.000,0.069,2613,737,2100,2127,2074,0,0,0,0,0,0,14.78,14.54,14.78,6.21,48.77
$GC,7931,0.64,146.0,2614,737,2128,2073,54.4,10.7,568,7936,0.00,2.45,0.00,0.000,5126,0.000,0.055,2614,2161,2100,2127,2074,0,0,0,0,0,0,14.59,14.54,14.61,6.21,49.13
$GC,8057,0.64,146.0,2614,2162,2128,2074,41.1,10.3,593,8061,0.00,2.45,0.00,0.000,4356,0.000,0.086,2614,3561,2100,2127,2073,0,0,0,0,0,0,14.78,14.53,14.78,6.21,49.05
$GC,8111,0.64,146.0,2614,3562,2128,2075,35.5,9.5,604,8116,0.05,2.38,0.00,0.000,5126,0.335,0.042,2606,2142,2100,2127,2073,0,0,0,0,0,0,14.39,14.57,14.54,6.20,48.77
$GC,8237,0.64,146.0,2607,2142,2128,2073,23.9,11.3,629,8241,0.00,2.45,0.00,0.000,516,0.000,0.068,2615,750,2100,2127,2073,0,0,0,0,0,0,14.78,14.53,14.78,6.20,49.80
$GC,8266,0.64,146.0,2616,750,2127,2074,20.6,10.9,635,8272,0.00,2.40,0.00,0.000,5126,0.000,0.056,2615,2146,2099,2126,2072,0,0,0,0,0,0,14.60,14.55,14.62,6.20,49.44
$GC,8392,0.64,146.0,2617,2146,2128,2072,5.7,11.7,660,8396,0.00,2.47,0.00,0.000,4356,0.000,0.089,2616,3559,2099,2126,2072,0,0,0,0,0,0,14.79,14.54,14.79,6.20,49.60
$STATE,8415,end climb,SURFACE_DEPTH_REACHED
$STATE,8415,begin surface coast
$STATE,8435,end surface coast,CONTROL_FINISHED_OK
$STATE,8435,begin surface
$SM_CCo,8449,66.62,0.243,0,0,1821,220.03
$SM_GC,1.40,5.53,2.47,66.62,0.080,0.044,0.243,281,2089,1821,-6.45,1.24,220.03,0,0,0,0,0,0,14.61,14.60,14.35
$IRIDIUM_FIX,-5957.44,4.30,010119,083109
$TT8_MAMPS,0.03745,0.325066
$HUMID,49.13
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3838432
$24V_AH,13.32,35.378
$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,13.025,83.200,257.275,66.625,0.000,25.024,45.482,102.544,0.000,0.000,16.349,0.000,6733.653,426.115,1547.268,100.169,0.000,1036.489,0.000,1107.142,0.000,0.539,0.000
$DEVICE_MAMPS,373.320,2270.520,1592.730,242.505,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4845.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.809,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17300,669
$CAP_FILE_SIZE,90020,0
$CFSIZE,1023623168,1003651072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.066,151.40,1
$GPS,010119,132819,-5958.417,7.835,15,1.0,51,-19.8,0.0,288.0,9,6.9