version: 66.14
glider: 640
mission: 5
dive: 164
start: 1 1 119 18 35 59
data:
$ID,640
$MISSION,5
$DIVE,164
$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,54
$R_STBD_OVSHOOT,22
$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
$GPS1,010119,183125,-5959.4126,8.0811,60,0.8,91,-19.8,0.7,163.6,9,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-68.7
$GPS2,010119,183541,-5959.4004,8.1346,12,0.8,14,-19.8,1.0,314.4,9,9.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,212.1,38872,-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,-146.0,225,2076,1799,1828,0.0,0.0,0,101,0.00,0.00,-89.30,0.000,16386,0.000,0.000,225,2074,3241,3323,3160,0,0,0,0,0,0,14.62,28.83,14.63,6.17,50.15
$GC,103,-0.64,-146.0,226,2075,3325,3161,3.6,-7.4,18,116,6.03,2.58,-2.67,0.000,19204,0.361,2.249,2184,713,3315,3405,3226,0,0,0,0,0,0,14.21,13.45,14.47,6.29,49.52
$GC,285,-0.64,-146.0,2184,714,3409,3226,35.8,-15.3,55,290,0.05,2.42,0.00,0.000,3078,0.361,0.057,2190,2106,3317,3408,3226,0,0,0,0,0,0,14.24,14.42,14.40,6.30,48.66
$GC,411,-0.64,-146.0,2189,2107,3409,3226,54.1,-14.3,80,413,0.00,0.00,0.00,0.000,2054,0.000,0.000,2190,2106,3317,3409,3226,0,0,0,0,0,0,14.68,14.68,14.68,6.30,49.21
$GC,535,-0.64,-146.0,2190,2107,3409,3227,72.6,-15.2,105,536,0.00,0.00,0.00,0.000,2054,0.000,0.000,2190,2106,3317,3408,3226,0,0,0,0,0,0,14.70,14.71,14.71,6.30,49.33
$GC,655,-0.64,-146.0,2190,2107,3410,3236,90.7,-15.4,129,660,0.00,2.47,0.00,0.000,2308,0.000,0.083,2174,3506,3321,3417,3226,0,0,0,0,0,0,14.72,14.46,14.72,6.30,48.97
$GC,705,-0.64,-146.0,2181,3507,3408,3226,98.6,-15.5,139,709,0.00,2.33,0.00,0.000,3078,0.000,0.042,2180,2125,3317,3409,3226,0,0,0,0,0,0,14.54,14.54,14.57,6.30,48.85
$GC,835,-0.64,-146.0,2180,2124,3409,3226,118.9,-16.0,147,839,0.00,2.50,0.00,0.000,2564,0.000,0.066,2179,695,3317,3409,3226,0,0,0,0,0,0,14.75,14.49,14.75,6.29,48.70
$GC,935,-0.64,-146.0,2179,696,3409,3227,134.1,-15.1,152,939,0.05,2.42,0.00,0.000,3078,0.362,0.057,2186,2099,3318,3411,3226,0,0,0,0,0,0,14.33,14.51,14.49,6.29,48.89
$GC,1255,-0.64,-146.0,2187,2100,3409,3227,179.3,-13.7,168,1259,0.00,2.45,0.00,0.000,2308,0.000,0.084,2176,3508,3317,3409,3226,0,0,0,0,0,0,14.78,14.52,14.78,6.31,50.94
$GC,1325,-0.64,-146.0,2177,3510,3408,3226,187.3,-13.3,171,1329,0.05,2.38,0.00,0.000,3078,0.363,0.043,2193,2094,3317,3409,3226,0,0,0,0,0,0,14.36,14.56,14.52,6.31,50.43
$GC,1635,-0.64,-146.0,2194,2092,3410,3229,226.8,-12.2,187,1640,0.00,2.42,0.00,0.000,4612,0.000,0.064,2193,697,3317,3408,3226,0,0,0,0,0,0,14.81,14.55,14.81,6.31,51.02
$GC,1690,-0.64,-146.0,2194,698,3410,3226,231.8,-12.3,189,1694,0.00,2.40,0.00,0.000,3078,0.000,0.057,2183,2097,3314,3408,3220,0,0,0,0,0,0,14.62,14.56,14.64,6.32,51.02
$GC,1995,-0.64,-146.0,2183,2099,3409,3227,271.8,-12.6,205,1999,0.00,2.47,0.00,0.000,2308,0.000,0.082,2172,3500,3320,3408,3233,0,0,0,0,0,0,14.83,14.55,14.83,6.33,51.22
$GC,2050,-0.64,-146.0,2173,3502,3410,3226,276.9,-12.7,207,2054,0.05,2.35,0.00,0.000,3078,0.358,0.042,2190,2098,3317,3408,3226,0,0,0,0,0,0,14.39,14.59,14.56,6.32,51.10
$GC,2355,-0.64,-146.0,2189,2097,3409,3227,315.8,-12.1,223,2359,0.00,2.42,0.00,0.000,2564,0.000,0.064,2189,703,3317,3408,3226,0,0,0,0,0,0,14.83,14.57,14.84,6.34,51.45
$GC,2410,-0.64,-146.0,2190,704,3410,3226,320.7,-12.3,225,2414,0.00,2.38,0.00,0.000,3078,0.000,0.057,2180,2090,3317,3409,3226,0,0,0,0,0,0,14.64,14.58,14.66,6.33,51.65
$STATE,2634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2634,begin apogee
$GC,2637,-0.15,0.0,2180,2177,3410,3226,350.5,-12.7,237,2768,0.47,0.00,127.40,1.583,10246,0.269,0.000,2349,2177,2717,2776,2659,0,0,0,0,0,0,14.46,13.92,13.32,6.34,51.33
$STATE,2769,end apogee,CONTROL_FINISHED_OK
$STATE,2769,begin loiter
$GC,3055,-0.15,0.0,2349,2177,2771,2645,347.3,3.0,258,3056,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2176,2707,2771,2644,0,0,0,0,0,0,14.56,14.57,14.56,6.28,50.78
$GC,3355,-0.15,0.0,2348,2177,2772,2643,338.5,2.9,273,3356,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2177,2706,2771,2642,0,0,0,0,0,0,14.71,14.71,14.71,6.29,51.14
$GC,3655,-0.15,0.0,2349,2177,2771,2641,330.2,2.7,288,3656,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2177,2705,2771,2640,0,0,0,0,0,0,14.79,14.79,14.79,6.28,50.70
$GC,3955,-0.15,0.0,2349,2177,2772,2641,322.2,2.6,303,3956,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2177,2705,2770,2640,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.18
$GC,4255,-0.15,0.0,2349,2177,2771,2640,314.1,2.7,318,4256,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2177,2705,2771,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.26
$GC,4555,-0.15,0.0,2349,2177,2772,2640,306.2,2.6,333,4556,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2177,2704,2771,2638,0,0,0,0,0,0,14.93,14.92,14.93,6.28,51.26
$GC,4855,-0.15,0.0,2349,2177,2772,2640,298.4,2.7,348,4856,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2177,2704,2771,2638,0,0,0,0,0,0,14.95,14.96,14.96,6.28,51.37
$GC,5155,-0.15,0.0,2349,2177,2772,2639,290.2,2.8,363,5156,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2176,2704,2771,2638,0,0,0,0,0,0,14.98,14.98,14.97,6.28,51.14
$GC,5455,-0.15,0.0,2349,2177,2772,2638,281.5,2.9,378,5456,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2177,2704,2771,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.49
$GC,5755,-0.15,0.0,2349,2177,2772,2640,272.1,3.3,393,5756,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2176,2704,2771,2638,0,0,0,0,0,0,15.01,15.02,15.02,6.28,51.22
$GC,6055,-0.15,0.0,2349,2177,2772,2638,261.9,3.4,408,6056,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2177,2705,2771,2639,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.53
$STATE,6354,end loiter,LOITER_COMPLETE
$STATE,6354,begin climb
$GC,6355,0.64,146.0,2349,2177,2772,2637,251.3,0.0,423,6495,0.62,2.50,130.45,1.429,10500,0.180,0.080,2598,3532,2118,2143,2093,0,0,0,0,0,0,14.69,13.98,13.45,6.28,51.41
$GC,6580,0.64,146.0,2599,3533,2140,2087,232.1,11.8,434,6584,0.00,2.38,0.00,0.000,5126,0.000,0.042,2609,2158,2112,2139,2085,0,0,0,0,0,0,14.22,14.19,14.24,6.24,48.93
$GC,6895,0.64,146.0,2610,2159,2134,2077,191.5,12.7,450,6900,0.00,2.53,0.00,0.000,4612,0.000,0.069,2620,744,2104,2133,2076,0,0,0,0,0,0,14.62,14.33,14.62,6.23,50.70
$GC,6945,0.64,146.0,2620,744,2131,2076,186.6,12.5,452,6949,0.03,2.40,0.00,0.000,5126,0.409,0.054,2609,2125,2103,2130,2077,0,0,0,0,0,0,14.21,14.37,14.35,6.24,50.27
$GC,7255,0.64,146.0,2610,2126,2130,2075,148.0,12.0,468,7259,0.00,2.55,0.00,0.000,4356,0.000,0.083,2611,3552,2101,2129,2074,0,0,0,0,0,0,14.71,14.42,14.71,6.23,50.63
$GC,7335,0.64,146.0,2610,3552,2130,2075,138.3,12.1,472,7339,0.00,2.38,0.00,0.000,5126,0.000,0.044,2618,2149,2102,2129,2075,0,0,0,0,0,0,14.52,14.45,14.54,6.24,50.47
$GC,7655,0.64,146.0,2619,2150,2129,2073,98.7,12.8,488,7659,0.00,2.47,0.00,0.000,4612,0.000,0.069,2629,744,2100,2127,2073,0,0,0,0,0,0,14.77,14.48,14.78,6.23,50.70
$GC,7710,0.64,146.0,2629,745,2126,2074,92.0,12.1,499,7714,0.05,2.42,0.00,0.000,5126,0.314,0.054,2609,2157,2099,2126,2073,0,0,0,0,0,0,14.38,14.53,14.53,6.22,50.43
$GC,7835,0.64,146.0,2609,2158,2126,2073,77.1,11.4,524,7839,0.00,2.47,0.00,0.000,4356,0.000,0.083,2609,3553,2099,2126,2073,0,0,0,0,0,0,14.78,14.49,14.78,6.22,49.64
$GC,7880,0.64,146.0,2610,3554,2126,2075,71.9,11.5,533,7884,0.00,2.35,0.00,0.000,5126,0.000,0.044,2618,2153,2099,2125,2073,0,0,0,0,0,0,14.59,14.55,14.64,6.22,49.56
$GC,8006,0.64,146.0,2618,2153,2127,2072,57.6,11.2,558,8010,0.00,2.42,0.00,0.000,4612,0.000,0.069,2628,746,2098,2125,2072,0,0,0,0,0,0,14.79,14.54,14.78,6.21,49.09
$GC,8030,0.64,146.0,2629,745,2127,2072,55.1,10.0,563,8034,0.05,2.40,0.00,0.000,5126,0.311,0.055,2609,2141,2098,2125,2072,0,0,0,0,0,0,14.40,14.54,14.54,6.21,49.09
$GC,8155,0.64,146.0,2609,2142,2127,2071,42.9,9.8,588,8159,0.00,2.53,0.00,0.000,4356,0.000,0.083,2608,3564,2098,2125,2072,0,0,0,0,0,0,14.79,14.50,14.79,6.21,48.97
$GC,8270,0.64,146.0,2609,3565,2126,2073,31.0,9.8,611,8274,0.00,2.38,0.00,0.000,5126,0.000,0.043,2617,2147,2099,2126,2072,0,0,0,0,0,0,14.62,14.56,14.63,6.20,49.29
$GC,8396,0.64,146.0,2618,2147,2126,2071,18.1,11.2,636,8400,0.00,2.42,0.00,0.000,4612,0.000,0.070,2629,744,2098,2125,2071,0,0,0,0,0,0,14.80,14.56,14.81,6.20,49.48
$GC,8435,0.64,146.0,2629,744,2126,2071,14.0,10.0,644,8439,0.05,2.42,0.00,0.000,5126,0.303,0.055,2608,2156,2097,2124,2071,0,0,0,0,0,0,14.40,14.53,14.53,6.20,49.40
$GC,8561,0.70,198.0,2608,2157,2125,2072,3.1,6.3,669,8565,0.00,0.00,2.55,0.301,10498,0.000,0.000,2608,2162,2085,2112,2058,0,0,0,0,0,0,14.81,28.83,14.81,6.20,49.72
$STATE,8565,end climb,SURFACE_DEPTH_REACHED
$STATE,8565,begin surface coast
$STATE,8629,end surface coast,CONTROL_FINISHED_OK
$STATE,8629,begin surface
$SM_CCo,8641,62.97,0.248,0,0,1821,220.03
$SM_GC,1.26,5.50,0.08,62.97,0.082,0.160,0.248,282,2075,1821,-6.45,1.13,220.03,0,0,0,0,0,0,14.63,14.59,14.37
$IRIDIUM_FIX,-6002.24,17.23,010119,160110
$TT8_MAMPS,0.039697,0.293608
$HUMID,49.40
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3836896
$24V_AH,13.32,35.902
$10V_AH,13.30,0.000
$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,13.000,73.200,260.400,62.975,0.000,25.105,13.241,105.250,0.000,0.000,15.147,0.000,6891.866,420.216,1552.483,100.841,0.000,1045.269,0.000,1140.944,0.000,0.540,0.000
$DEVICE_MAMPS,408.510,2249.100,1582.785,247.860,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5038.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.824,0.000,0.000,0.000
$MEM,344104
$DATA_FILE_SIZE,17345,683
$CAP_FILE_SIZE,91189,0
$CFSIZE,1023623168,1003356160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.020,190.90,1
$GPS,010119,210230,-5959.824,7.963,23,1.3,63,-19.8,2.1,93.7,5,4.8