version: 66.14
glider: 640
mission: 5
dive: 162
start: 1 1 119 13 33 33
data:
$ID,640
$MISSION,5
$DIVE,162
$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,47
$R_STBD_OVSHOOT,27
$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
$GPS1,010119,132819,-5958.4165,7.8353,15,1.0,51,-19.8,0.0,288.0,9,6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-61.3
$GPS2,010119,133315,-5958.4351,7.9149,8,0.9,15,-19.8,0.8,81.4,9,9.7
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,219.9,40592,-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,-146.0,234,2087,1798,1821,0.0,0.0,0,96,0.00,0.00,-83.75,0.000,16386,0.000,0.000,233,2087,3169,3248,3090,0,0,0,0,0,0,14.60,28.83,14.61,6.17,49.88
$GC,98,-0.64,-146.0,234,2088,3250,3091,3.6,-7.1,17,116,6.03,2.80,-5.35,0.000,18692,0.363,2.271,2172,3503,3318,3412,3224,0,0,0,0,0,0,14.20,13.35,14.36,6.28,49.33
$GC,202,-0.64,-146.0,2173,3503,3412,3224,22.3,-17.6,38,206,0.08,2.33,0.00,0.000,3078,0.383,0.042,2197,2110,3318,3413,3224,0,0,0,0,0,0,14.23,14.40,14.43,6.30,48.77
$GC,327,-0.64,-146.0,2197,2110,3413,3226,42.6,-16.3,63,329,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2109,3318,3413,3224,0,0,0,0,0,0,14.64,14.64,14.64,6.30,49.05
$GC,451,-0.64,-146.0,2197,2109,3413,3225,61.7,-14.8,88,455,0.00,2.50,0.00,0.000,260,0.000,0.083,2187,3504,3319,3413,3225,0,0,0,0,0,0,14.66,14.41,14.67,6.30,49.56
$GC,496,-0.64,-146.0,2187,3505,3414,3225,68.6,-15.2,97,501,0.00,2.38,0.00,0.000,3078,0.000,0.044,2186,2105,3318,3412,3225,0,0,0,0,0,0,14.50,14.45,14.52,6.30,49.05
$GC,622,-0.64,-146.0,2187,2105,3414,3224,87.5,-15.4,122,626,0.00,2.45,0.00,0.000,2564,0.000,0.067,2186,684,3320,3413,3228,0,0,0,0,0,0,14.69,14.47,14.69,6.30,48.66
$GC,681,-0.64,-146.0,2187,687,3414,3225,96.4,-14.0,134,685,0.03,2.45,0.00,0.000,3078,0.463,0.058,2184,2099,3319,3413,3225,0,0,0,0,0,0,14.28,14.46,14.44,6.30,48.38
$GC,806,-0.64,-146.0,2185,2100,3413,3226,114.8,-14.7,144,810,0.00,2.47,0.00,0.000,2564,0.000,0.067,2184,693,3319,3413,3225,0,0,0,0,0,0,14.73,14.47,14.73,6.30,49.17
$GC,841,-0.64,-146.0,2184,694,3414,3224,117.6,-14.5,145,845,0.05,2.45,0.00,0.000,3078,0.362,0.059,2190,2106,3319,3413,3225,0,0,0,0,0,0,14.31,14.49,14.47,6.30,48.62
$GC,1146,-0.64,-146.0,2191,2107,3413,3225,160.6,-13.7,161,1150,0.00,2.47,0.00,0.000,2308,0.000,0.085,2180,3503,3318,3412,3225,0,0,0,0,0,0,14.77,14.50,14.77,6.30,49.92
$GC,1166,-0.64,-146.0,2180,3505,3413,3223,163.4,-13.8,162,1170,0.00,2.38,0.00,0.000,3078,0.000,0.044,2184,2097,3315,3405,3225,0,0,0,0,0,0,14.59,14.54,14.61,6.30,50.23
$GC,1486,-0.64,-146.0,2180,2096,3414,3224,206.7,-13.3,178,1490,0.00,2.45,0.00,0.000,2564,0.000,0.065,2179,693,3315,3413,3218,0,0,0,0,0,0,14.80,14.54,14.80,6.32,50.66
$GC,1526,-0.64,-146.0,2179,694,3413,3225,212.0,-13.3,180,1530,0.05,2.42,0.00,0.000,3078,0.363,0.057,2186,2100,3319,3413,3225,0,0,0,0,0,0,14.38,14.55,14.53,6.32,50.55
$GC,1846,-0.64,-146.0,2187,2101,3414,3224,250.6,-12.1,196,1851,0.00,2.50,0.00,0.000,2308,0.000,0.086,2176,3509,3318,3413,3224,0,0,0,0,0,0,14.81,14.54,14.82,6.32,51.06
$GC,1977,-0.64,-146.0,2177,3510,3414,3224,265.0,-11.8,202,1980,0.05,2.33,0.00,0.000,3078,0.447,0.043,2191,2093,3318,3412,3224,0,0,0,0,0,0,14.41,14.60,14.63,6.33,51.06
$GC,2286,-0.64,-146.0,2191,2092,3411,3226,302.1,-11.7,218,2290,0.00,2.42,0.00,0.000,2564,0.000,0.065,2190,698,3318,3412,3224,0,0,0,0,0,0,14.83,14.57,14.83,6.33,51.02
$GC,2326,-0.64,-146.0,2191,697,3413,3224,306.9,-11.8,220,2330,0.00,2.42,0.00,0.000,3078,0.000,0.058,2181,2105,3318,3412,3225,0,0,0,0,0,0,14.64,14.58,14.65,6.33,51.18
$GC,2646,-0.64,-146.0,2182,2105,3414,3224,345.3,-12.2,236,2650,0.00,2.47,0.00,0.000,2308,0.000,0.084,2171,3505,3317,3412,3223,0,0,0,0,0,0,14.83,14.57,14.84,6.34,51.85
$STATE,2685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2685,begin apogee
$GC,2690,-0.15,0.0,2171,2147,3414,3224,350.3,-12.4,238,2821,0.50,0.00,127.25,1.588,10246,0.267,0.000,2349,2146,2715,2774,2656,0,0,0,0,0,0,14.45,13.93,13.33,6.34,51.37
$STATE,2822,end apogee,CONTROL_FINISHED_OK
$STATE,2822,begin loiter
$GC,3106,-0.15,0.0,2349,2146,2772,2645,346.1,3.2,259,3107,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2146,2707,2771,2643,0,0,0,0,0,0,14.56,14.57,14.57,6.29,50.27
$GC,3406,-0.15,0.0,2350,2146,2772,2642,336.5,3.2,274,3407,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2146,2706,2771,2642,0,0,0,0,0,0,14.70,14.71,14.71,6.29,50.66
$GC,3706,-0.15,0.0,2349,2146,2772,2642,327.4,3.0,289,3707,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2146,2706,2771,2641,0,0,0,0,0,0,14.79,14.79,14.79,6.29,51.53
$GC,4006,-0.15,0.0,2349,2146,2772,2642,318.5,2.9,304,4007,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2145,2706,2771,2641,0,0,0,0,0,0,14.85,14.85,14.85,6.28,50.70
$GC,4306,-0.15,0.0,2350,2146,2772,2640,309.7,3.0,319,4307,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2146,2705,2771,2640,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.53
$GC,4606,-0.15,0.0,2350,2146,2772,2640,300.5,3.1,334,4607,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2145,2705,2771,2640,0,0,0,0,0,0,14.92,14.93,14.93,6.29,51.02
$GC,4906,-0.15,0.0,2349,2146,2772,2642,291.1,3.2,349,4907,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2145,2706,2771,2641,0,0,0,0,0,0,14.95,14.96,14.96,6.28,51.06
$GC,5206,-0.15,0.0,2350,2146,2772,2640,281.5,3.3,364,5207,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2145,2705,2771,2640,0,0,0,0,0,0,14.98,14.98,14.98,6.27,51.65
$GC,5506,-0.15,0.0,2350,2146,2772,2641,271.8,3.2,379,5507,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2145,2706,2771,2641,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.37
$GC,5806,-0.15,0.0,2350,2146,2772,2641,261.9,3.2,394,5807,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2145,2706,2771,2641,0,0,0,0,0,0,15.01,15.01,15.01,6.28,51.61
$GC,6106,-0.15,0.0,2350,2146,2772,2641,252.5,3.1,409,6107,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2145,2706,2771,2642,0,0,0,0,0,0,15.02,15.02,15.03,6.28,51.89
$STATE,6405,end loiter,LOITER_COMPLETE
$STATE,6405,begin climb
$GC,6406,0.64,146.0,2349,2146,2772,2643,243.0,0.0,424,6543,0.62,2.53,130.25,1.422,11012,0.174,0.067,2611,748,2119,2144,2095,0,0,0,0,0,0,14.69,13.90,13.45,6.28,51.37
$GC,6597,0.64,146.0,2611,749,2137,2089,229.8,9.4,432,6602,0.00,2.47,0.00,0.000,5126,0.000,0.055,2611,2142,2111,2136,2087,0,0,0,0,0,0,14.18,14.13,14.20,6.24,48.97
$GC,6903,0.64,146.0,2613,2142,2134,2079,189.5,12.7,448,6906,0.00,2.55,0.00,0.000,4356,0.000,0.084,2612,3554,2105,2133,2078,0,0,0,0,0,0,14.59,14.34,14.59,6.24,50.15
$GC,6992,0.64,146.0,2611,3554,2133,2080,179.3,12.8,452,6997,0.05,2.38,0.00,0.000,5126,0.338,0.044,2604,2159,2105,2132,2078,0,0,0,0,0,0,14.24,14.40,14.39,6.24,50.35
$GC,7303,0.64,146.0,2604,2159,2132,2076,141.0,11.9,468,7306,0.00,2.50,0.00,0.000,516,0.000,0.069,2613,721,2103,2130,2076,0,0,0,0,0,0,14.70,14.47,14.71,6.24,50.74
$GC,7362,0.64,146.0,2614,722,2129,2076,134.4,11.3,471,7366,0.00,2.47,0.00,0.000,5126,0.000,0.056,2614,2153,2101,2127,2075,0,0,0,0,0,0,14.53,14.47,14.54,6.24,50.51
$GC,7682,0.64,146.0,2614,2156,2128,2076,98.0,11.5,487,7687,0.00,2.50,0.00,0.000,4356,0.000,0.085,2614,3556,2101,2128,2074,0,0,0,0,0,0,14.76,14.48,14.75,6.23,50.51
$GC,7732,0.64,146.0,2614,3557,2129,2074,92.2,11.0,497,7737,0.05,2.38,0.00,0.000,5126,0.330,0.044,2605,2147,2101,2128,2075,0,0,0,0,0,0,14.38,14.54,14.52,6.23,49.60
$GC,7858,0.64,146.0,2606,2147,2129,2074,79.8,9.9,522,7862,0.00,2.47,0.00,0.000,516,0.000,0.068,2615,744,2101,2128,2074,0,0,0,0,0,0,14.77,14.51,14.77,6.22,49.33
$GC,7902,0.64,146.0,2615,745,2128,2074,75.5,9.4,531,7907,0.00,2.42,0.00,0.000,5126,0.000,0.055,2615,2154,2099,2126,2073,0,0,0,0,0,0,14.59,14.53,14.62,6.22,49.52
$GC,8028,0.64,146.0,2616,2155,2128,2073,62.6,10.5,556,8032,0.00,2.45,0.00,0.000,4356,0.000,0.086,2615,3556,2100,2127,2074,0,0,0,0,0,0,14.78,14.52,14.78,6.21,49.44
$GC,8062,0.64,146.0,2616,3557,2128,2074,58.7,11.2,563,8067,0.05,2.35,0.00,0.000,5126,0.327,0.044,2607,2157,2099,2126,2073,0,0,0,0,0,0,14.39,14.56,14.53,6.21,49.01
$GC,8187,0.64,146.0,2608,2157,2128,2073,46.6,9.7,588,8192,0.00,2.47,0.00,0.000,4612,0.000,0.067,2617,747,2100,2127,2073,0,0,0,0,0,0,14.78,14.53,14.79,6.21,48.58
$GC,8212,0.64,146.0,2617,747,2127,2072,43.9,11.8,593,8217,0.00,2.40,0.00,0.000,5126,0.000,0.054,2617,2143,2099,2126,2072,0,0,0,0,0,0,14.60,14.54,14.62,6.20,48.81
$GC,8338,0.64,146.0,2617,2144,2127,2073,30.6,11.7,618,8343,0.00,2.47,0.00,0.000,4356,0.000,0.085,2617,3559,2099,2126,2072,0,0,0,0,0,0,14.78,14.54,14.78,6.20,48.89
$GC,8432,0.64,146.0,2617,3560,2128,2072,21.6,8.5,637,8437,0.05,2.38,0.00,0.000,5126,0.336,0.041,2610,2138,2099,2126,2072,0,0,0,0,0,0,14.39,14.57,14.54,6.20,49.60
$GC,8557,0.72,212.8,2609,2136,2127,2073,12.4,5.8,662,8619,0.00,0.00,59.25,0.290,10758,0.000,0.000,2609,2135,1851,1868,1834,0,0,0,0,0,0,14.80,14.53,14.33,6.20,49.68
$STATE,8646,end climb,SURFACE_DEPTH_REACHED
$STATE,8646,begin surface coast
$STATE,8672,end surface coast,CONTROL_FINISHED_OK
$STATE,8672,begin surface
$SM_CCo,8683,4.18,0.273,0,0,1823,220.03
$SM_GC,1.90,5.35,0.00,4.18,0.038,0.000,0.273,230,2135,1823,-6.45,0.99,220.03,0,0,0,0,0,0,14.58,14.71,14.35
$IRIDIUM_FIX,-5955.57,8.58,010119,110148
$TT8_MAMPS,0.038199,0.350532
$HUMID,49.09
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3837920
$24V_AH,13.33,35.553
$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,12.950,83.200,316.750,4.175,0.000,25.557,38.862,115.710,0.000,0.000,16.767,0.000,6884.264,405.890,1595.380,103.086,0.000,1045.506,0.000,1139.202,0.000,0.539,0.000
$DEVICE_MAMPS,462.825,2270.520,1588.140,273.105,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5084.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.801,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,17328,685
$CAP_FILE_SIZE,92308,0
$CFSIZE,1023623168,1003552768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.050,146.22,1
$GPS,010119,155925,-5958.961,7.942,12,0.9,41,-19.8,0.4,213.0,9,9.8