version: 66.14
glider: 640
mission: 5
dive: 163
start: 1 1 119 16 4 38
data:
$ID,640
$MISSION,5
$DIVE,163
$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,35
$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
$GPS1,010119,155925,-5958.9609,7.9421,12,0.9,41,-19.8,0.4,213.0,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-65.1
$GPS2,010119,160419,-5958.9741,8.0323,8,0.9,15,-19.8,0.6,60.7,9,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,218.8,39630,-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,-146.0,218,2136,1810,1821,0.0,0.0,0,95,0.00,0.00,-83.18,0.000,16386,0.000,0.000,218,2135,3146,3226,3066,0,0,0,0,0,0,14.60,28.83,14.61,6.17,50.15
$GC,97,-0.64,-146.0,219,2135,3228,3067,3.6,-7.0,17,115,6.10,2.67,-6.20,0.000,18692,0.366,2.264,2175,3506,3316,3411,3221,0,0,0,0,0,0,14.18,13.35,14.36,6.28,49.29
$GC,206,-0.64,-146.0,2170,3507,3412,3224,23.7,-15.7,39,210,0.08,2.35,0.00,0.000,3078,0.366,0.044,2196,2098,3317,3411,3223,0,0,0,0,0,0,14.25,14.41,14.44,6.30,48.93
$GC,331,-0.64,-146.0,2196,2097,3412,3223,40.5,-14.1,64,334,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2096,3317,3412,3222,0,0,0,0,0,0,14.64,14.64,14.64,6.30,48.89
$GC,455,-0.64,-146.0,2196,2098,3413,3224,59.3,-14.6,89,459,0.00,2.53,0.00,0.000,260,0.000,0.083,2185,3505,3317,3412,3223,0,0,0,0,0,0,14.67,14.41,14.67,6.30,48.97
$GC,495,-0.64,-146.0,2186,3505,3413,3223,65.1,-14.5,97,499,0.00,2.38,0.00,0.000,3078,0.000,0.043,2185,2104,3317,3411,3223,0,0,0,0,0,0,14.50,14.46,14.52,6.30,49.17
$GC,621,-0.64,-146.0,2185,2103,3413,3223,82.8,-14.4,122,625,0.00,2.42,0.00,0.000,2564,0.000,0.065,2185,693,3317,3411,3223,0,0,0,0,0,0,14.70,14.47,14.70,6.30,49.21
$GC,700,-0.64,-146.0,2185,694,3412,3224,94.1,-13.5,138,705,0.03,2.45,0.00,0.000,3078,0.457,0.058,2183,2105,3317,3411,3223,0,0,0,0,0,0,14.28,14.47,14.44,6.30,48.77
$GC,825,-0.64,-146.0,2183,2106,3412,3224,111.9,-14.5,151,829,0.00,2.47,0.00,0.000,2308,0.000,0.083,2173,3498,3316,3411,3222,0,0,0,0,0,0,14.73,14.47,14.73,6.29,48.66
$GC,845,-0.64,-146.0,2182,3499,3412,3224,114.9,-14.6,152,849,0.05,2.38,0.00,0.000,3078,0.359,0.044,2190,2093,3317,3411,3223,0,0,0,0,0,0,14.32,14.50,14.47,6.30,49.21
$GC,1165,-0.64,-146.0,2191,2092,3412,3224,161.0,-14.4,168,1170,0.00,2.45,0.00,0.000,2564,0.000,0.065,2190,693,3317,3411,3223,0,0,0,0,0,0,14.77,14.52,14.78,6.30,49.96
$GC,1215,-0.64,-146.0,2190,693,3413,3223,166.6,-14.3,170,1219,0.00,2.42,0.00,0.000,3078,0.000,0.058,2180,2099,3317,3412,3223,0,0,0,0,0,0,14.58,14.52,14.61,6.30,50.11
$GC,1525,-0.64,-146.0,2181,2100,3412,3224,209.6,-13.3,186,1529,0.00,2.47,0.00,0.000,2308,0.000,0.084,2170,3499,3317,3411,3223,0,0,0,0,0,0,14.80,14.53,14.81,6.31,51.02
$GC,1575,-0.64,-146.0,2170,3501,3412,3225,215.1,-13.5,188,1579,0.05,2.35,0.00,0.000,3078,0.353,0.043,2187,2097,3317,3411,3223,0,0,0,0,0,0,14.39,14.57,14.53,6.32,50.74
$GC,1885,-0.64,-146.0,2187,2096,3412,3224,256.8,-13.0,204,1889,0.00,2.42,0.00,0.000,2564,0.000,0.064,2187,703,3316,3410,3223,0,0,0,0,0,0,14.82,14.56,14.82,6.33,51.22
$GC,1965,-0.64,-146.0,2187,704,3412,3224,267.2,-12.9,208,1969,0.03,2.40,0.00,0.000,3078,0.457,0.057,2185,2098,3317,3411,3223,0,0,0,0,0,0,14.38,14.57,14.53,6.33,51.06
$GC,2285,-0.64,-146.0,2186,2098,3412,3223,308.0,-12.8,224,2289,0.00,2.47,0.00,0.000,2308,0.000,0.083,2175,3501,3316,3411,3222,0,0,0,0,0,0,14.83,14.56,14.83,6.33,51.22
$GC,2330,-0.64,-146.0,2176,3502,3412,3223,313.2,-12.8,226,2334,0.05,2.35,0.00,0.000,3078,0.358,0.042,2193,2092,3317,3411,3223,0,0,0,0,0,0,14.40,14.60,14.56,6.33,51.57
$STATE,2624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2624,begin apogee
$GC,2628,-0.15,0.0,2194,2160,3411,3224,350.5,-12.6,241,2758,0.45,0.00,127.50,1.587,10246,0.268,0.000,2354,2160,2719,2778,2660,0,0,0,0,0,0,14.45,13.91,13.32,6.32,51.18
$STATE,2759,end apogee,CONTROL_FINISHED_OK
$STATE,2759,begin loiter
$GC,3045,-0.15,0.0,2355,2161,2772,2643,348.0,3.0,262,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2161,2707,2771,2643,0,0,0,0,0,0,14.56,14.57,14.57,6.28,50.47
$GC,3345,-0.15,0.0,2355,2161,2771,2642,338.9,3.2,277,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2161,2706,2771,2641,0,0,0,0,0,0,14.70,14.71,14.71,6.28,51.41
$GC,3645,-0.15,0.0,2355,2161,2772,2640,328.7,3.3,292,3646,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2161,2705,2771,2640,0,0,0,0,0,0,14.78,14.79,14.79,6.28,51.10
$GC,3945,-0.15,0.0,2355,2162,2771,2640,318.7,3.4,307,3946,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2161,2705,2771,2639,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.02
$GC,4245,-0.15,0.0,2355,2161,2772,2638,308.9,3.1,322,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2161,2704,2770,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.73
$GC,4545,-0.15,0.0,2355,2161,2772,2638,299.4,3.2,337,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2160,2704,2771,2638,0,0,0,0,0,0,14.92,14.93,14.92,6.29,51.45
$GC,4845,-0.15,0.0,2355,2161,2771,2639,289.7,3.3,352,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2161,2704,2771,2638,0,0,0,0,0,0,14.95,14.96,14.95,6.28,51.14
$GC,5145,-0.15,0.0,2355,2161,2772,2638,279.9,3.3,367,5146,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2161,2704,2771,2638,0,0,0,0,0,0,14.97,14.97,14.98,6.28,51.18
$GC,5445,-0.15,0.0,2355,2161,2772,2637,269.8,3.3,382,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2161,2704,2771,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.65
$GC,5745,-0.15,0.0,2355,2161,2772,2638,260.0,3.2,397,5746,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2160,2704,2771,2638,0,0,0,0,0,0,15.01,15.01,15.01,6.28,51.22
$GC,6045,-0.15,0.0,2355,2161,2771,2639,250.6,2.9,412,6046,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2161,2704,2771,2638,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.69
$STATE,6344,end loiter,LOITER_COMPLETE
$STATE,6344,begin climb
$GC,6345,0.64,146.0,2355,2161,2772,2638,242.3,0.0,427,6485,0.60,2.60,130.40,1.422,11012,0.173,0.069,2607,750,2117,2141,2093,0,0,0,0,0,0,14.70,14.00,13.45,6.28,51.10
$GC,6570,0.64,146.0,2608,750,2136,2086,226.2,9.8,438,6574,0.00,2.45,0.00,0.000,5126,0.000,0.054,2609,2136,2110,2135,2085,0,0,0,0,0,0,14.22,14.18,14.24,6.23,49.56
$GC,6885,0.64,146.0,2610,2137,2132,2077,189.5,11.5,454,6890,0.00,2.55,0.00,0.000,4356,0.000,0.083,2609,3554,2104,2132,2077,0,0,0,0,0,0,14.61,14.33,14.62,6.24,50.43
$GC,6965,0.64,146.0,2607,3554,2132,2078,180.2,11.6,458,6970,0.00,2.38,0.00,0.000,5126,0.000,0.044,2619,2156,2105,2131,2079,0,0,0,0,0,0,14.44,14.39,14.45,6.24,50.23
$GC,7285,0.64,146.0,2619,2157,2131,2075,141.3,11.9,474,7289,0.00,2.50,0.00,0.000,4612,0.000,0.070,2630,747,2107,2130,2085,0,0,0,0,0,0,14.72,14.43,14.72,6.30,50.35
$GC,7330,0.64,146.0,2631,747,2128,2075,136.4,12.2,476,7335,0.05,2.42,0.00,0.000,5126,0.304,0.054,2610,2153,2100,2127,2074,0,0,0,0,0,0,14.35,14.47,14.47,6.24,50.63
$GC,7645,0.64,146.0,2610,2154,2128,2074,100.6,10.4,492,7649,0.00,2.47,0.00,0.000,4356,0.000,0.082,2610,3547,2100,2127,2073,0,0,0,0,0,0,14.78,14.48,14.78,6.23,50.63
$GC,7685,0.64,146.0,2610,3548,2128,2074,96.1,10.9,497,7689,0.00,2.35,0.00,0.000,5126,0.000,0.044,2618,2153,2100,2127,2073,0,0,0,0,0,0,14.57,14.52,14.58,6.22,50.15
$GC,7811,0.64,146.0,2619,2153,2128,2072,82.5,11.2,522,7814,0.00,2.42,0.00,0.000,4612,0.000,0.070,2629,744,2099,2126,2072,0,0,0,0,0,0,14.78,14.53,14.78,6.22,49.68
$GC,7850,0.64,146.0,2630,744,2127,2072,78.3,10.3,530,7854,0.05,2.40,0.00,0.000,5126,0.307,0.054,2609,2143,2099,2126,2072,0,0,0,0,0,0,14.40,14.54,14.57,6.22,49.48
$GC,7976,0.64,146.0,2610,2143,2126,2072,65.6,9.8,555,7980,0.00,2.47,0.00,0.000,4356,0.000,0.083,2609,3561,2099,2126,2072,0,0,0,0,0,0,14.78,14.54,14.78,6.21,49.01
$GC,8025,0.64,146.0,2609,3561,2126,2070,60.6,9.7,565,8029,0.00,2.38,0.00,0.000,5126,0.000,0.044,2618,2151,2099,2126,2072,0,0,0,0,0,0,14.58,14.53,14.60,6.21,49.40
$GC,8151,0.64,146.0,2618,2151,2127,2073,48.3,10.1,590,8154,0.00,2.42,0.00,0.000,4612,0.000,0.069,2627,743,2099,2126,2072,0,0,0,0,0,0,14.79,14.55,14.78,6.21,49.09
$GC,8225,0.64,146.0,2629,744,2125,2073,40.7,8.9,605,8229,0.05,2.40,0.00,0.000,5126,0.305,0.055,2608,2141,2098,2125,2071,0,0,0,0,0,0,14.40,14.52,14.53,6.20,49.01
$GC,8350,0.64,146.0,2609,2143,2127,2071,29.6,8.5,630,8354,0.00,2.50,0.00,0.000,4356,0.000,0.080,2615,3559,2098,2125,2071,0,0,0,0,0,0,14.80,14.53,14.81,6.20,49.76
$GC,8415,0.64,146.0,2608,3559,2126,2072,23.6,9.4,643,8420,0.00,2.38,0.00,0.000,5126,0.000,0.044,2617,2144,2098,2125,2071,0,0,0,0,0,0,14.59,14.54,14.62,6.20,49.72
$GC,8541,0.70,195.3,2618,2144,2127,2070,12.8,6.4,668,8589,0.00,2.47,41.97,0.300,10756,0.000,0.070,2628,744,1919,1939,1899,0,0,0,0,0,0,14.81,14.50,14.35,6.20,50.19
$GC,8615,0.70,195.3,2629,745,1939,1897,4.9,14.3,683,8620,0.00,2.45,0.00,0.000,5126,0.000,0.065,2628,2144,1917,1938,1896,0,0,0,0,0,0,14.52,14.45,14.54,6.19,49.60
$STATE,8634,end climb,SURFACE_DEPTH_REACHED
$STATE,8634,begin surface coast
$STATE,8659,end surface coast,CONTROL_FINISHED_OK
$STATE,8659,begin surface
$SM_CCo,8672,22.23,0.253,0,0,1823,220.03
$SM_GC,1.71,5.60,0.05,22.23,0.084,0.207,0.253,225,2077,1823,-6.46,1.07,220.03,0,0,0,0,0,0,14.60,14.53,14.35
$IRIDIUM_FIX,-6002.25,0.00,010119,132959
$TT8_MAMPS,0.039697,0.35203
$HUMID,49.48
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3837408
$24V_AH,13.32,35.729
$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,13.175,83.175,299.875,22.225,0.000,23.357,46.035,110.851,0.000,0.000,16.488,0.000,6873.665,416.719,1599.333,103.047,0.000,1056.665,0.000,1144.845,0.000,0.539,0.000
$DEVICE_MAMPS,456.705,2263.635,1587.375,253.215,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5069.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.725,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17314,692
$CAP_FILE_SIZE,92966,0
$CFSIZE,1023623168,1003454464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.006,135.34,1
$GPS,010119,183125,-5959.413,8.081,60,0.8,91,-19.8,0.7,163.6,9,4.2