version: 66.14
glider: 640
mission: 5
dive: 165
start: 1 1 119 21 7 34
data:
$ID,640
$MISSION,5
$DIVE,165
$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,60
$R_STBD_OVSHOOT,29
$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
$GPS1,010119,210230,-5959.8237,7.9632,23,1.3,63,-19.8,2.1,93.7,5,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-63.6
$GPS2,010119,210715,-5959.8042,7.9791,9,0.8,14,-19.8,0.5,229.0,10,9.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,210.9,38111,-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,-146.0,233,2074,1798,1824,0.0,0.0,0,90,0.00,0.00,-78.30,0.000,16386,0.000,0.000,230,2074,3059,3141,2978,0,0,0,0,0,0,14.62,28.83,14.62,6.17,50.43
$GC,92,-0.64,-146.0,234,2075,3141,2979,3.3,-5.3,16,115,6.07,2.83,-10.00,0.000,18692,0.371,2.274,2173,3501,3317,3414,3221,0,0,0,0,0,0,14.20,13.35,14.38,6.27,49.25
$GC,181,-0.64,-146.0,2173,3501,3412,3224,17.1,-15.9,34,185,0.08,2.30,0.00,0.000,3078,0.372,0.042,2198,2124,3318,3414,3223,0,0,0,0,0,0,14.23,14.40,14.43,6.30,48.66
$GC,306,-0.64,-146.0,2199,2119,3415,3222,37.5,-15.9,59,309,0.00,2.47,0.00,0.000,516,0.000,0.066,2198,695,3318,3414,3223,0,0,0,0,0,0,14.63,14.41,14.64,6.31,48.58
$GC,375,-0.64,-146.0,2199,695,3415,3224,49.2,-16.4,73,380,0.00,2.45,0.00,0.000,3078,0.000,0.057,2188,2102,3318,3414,3223,0,0,0,0,0,0,14.47,14.40,14.50,6.30,49.60
$GC,500,-0.64,-146.0,2189,2102,3415,3224,68.2,-15.3,98,504,0.00,2.50,0.00,0.000,2308,0.000,0.084,2178,3506,3318,3414,3223,0,0,0,0,0,0,14.68,14.41,14.68,6.31,48.85
$GC,555,-0.64,-146.0,2178,3507,3415,3224,76.5,-14.7,109,560,0.03,2.40,0.00,0.000,3078,0.457,0.043,2186,2089,3318,3414,3223,0,0,0,0,0,0,14.28,14.47,14.42,6.30,48.77
$GC,681,-0.64,-146.0,2186,2088,3421,3225,95.6,-15.4,134,684,0.00,2.40,0.00,0.000,2564,0.000,0.064,2185,697,3318,3414,3223,0,0,0,0,0,0,14.70,14.48,14.70,6.30,48.54
$GC,730,-0.64,-146.0,2186,698,3414,3224,100.9,-14.7,141,734,0.05,2.42,0.00,0.000,3078,0.378,0.057,2192,2099,3319,3414,3224,0,0,0,0,0,0,14.29,14.47,14.45,6.30,48.38
$GC,1035,-0.64,-146.0,2193,2100,3415,3224,146.7,-13.5,157,1039,0.00,2.45,0.00,0.000,2564,0.000,0.064,2192,699,3319,3414,3224,0,0,0,0,0,0,14.76,14.51,14.76,6.30,49.80
$GC,1070,-0.64,-146.0,2193,699,3415,3223,149.5,-13.6,158,1074,0.00,2.42,0.00,0.000,3078,0.000,0.057,2182,2105,3319,3414,3224,0,0,0,0,0,0,14.57,14.52,14.59,6.30,49.96
$GC,1375,-0.64,-146.0,2183,2105,3415,3224,192.5,-13.3,174,1379,0.00,2.47,0.00,0.000,2308,0.000,0.083,2172,3503,3319,3414,3224,0,0,0,0,0,0,14.79,14.52,14.79,6.31,50.94
$GC,1410,-0.64,-146.0,2172,3504,3415,3225,195.2,-13.4,175,1414,0.05,2.35,0.00,0.000,3078,0.367,0.043,2188,2102,3318,3414,3223,0,0,0,0,0,0,14.36,14.57,14.52,6.32,51.06
$GC,1715,-0.64,-146.0,2188,2102,3415,3225,238.1,-13.4,191,1719,0.00,2.42,0.00,0.000,2564,0.000,0.065,2188,686,3318,3414,3223,0,0,0,0,0,0,14.81,14.57,14.81,6.32,51.02
$GC,1795,-0.64,-146.0,2188,686,3415,3223,248.9,-13.4,195,1799,0.03,2.42,0.00,0.000,3078,0.457,0.057,2185,2095,3318,3414,3223,0,0,0,0,0,0,14.38,14.57,14.52,6.33,51.73
$GC,2115,-0.64,-146.0,2185,2096,3415,3223,290.9,-13.1,211,2120,0.00,2.47,0.00,0.000,2308,0.000,0.083,2175,3530,3318,3414,3223,0,0,0,0,0,0,14.83,14.57,14.83,6.33,50.94
$GC,2150,-0.64,-146.0,2176,3530,3415,3225,293.6,-13.2,212,2154,0.05,2.40,0.00,0.000,3078,0.362,0.043,2192,2098,3319,3414,3224,0,0,0,0,0,0,14.40,14.62,14.55,6.33,51.10
$GC,2455,-0.64,-146.0,2193,2097,3414,3224,334.2,-12.6,228,2459,0.00,2.45,0.00,0.000,2564,0.000,0.065,2193,693,3319,3414,3224,0,0,0,0,0,0,14.84,14.57,14.84,6.34,51.73
$GC,2540,-0.64,-146.0,2193,694,3415,3223,344.1,-12.5,232,2545,0.00,2.42,0.00,0.000,3078,0.000,0.056,2183,2106,3315,3413,3218,0,0,0,0,0,0,14.64,14.58,14.66,6.34,51.18
$STATE,2594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2594,begin apogee
$GC,2597,-0.15,0.0,2183,2170,3414,3225,351.4,-12.1,235,2728,0.47,0.00,127.15,1.593,10246,0.269,0.000,2352,2169,2716,2775,2657,0,0,0,0,0,0,14.45,13.91,13.31,6.34,50.90
$STATE,2729,end apogee,CONTROL_FINISHED_OK
$STATE,2729,begin loiter
$GC,3015,-0.15,0.0,2352,2170,2772,2645,349.7,2.7,256,3016,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2169,2707,2771,2643,0,0,0,0,0,0,14.56,14.57,14.56,6.29,50.51
$GC,3315,-0.15,0.0,2352,2169,2772,2641,341.6,2.8,271,3316,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2169,2706,2771,2641,0,0,0,0,0,0,14.70,14.71,14.71,6.29,51.33
$GC,3615,-0.15,0.0,2352,2169,2772,2640,333.2,2.8,286,3616,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2169,2705,2771,2640,0,0,0,0,0,0,14.79,14.79,14.79,6.28,50.82
$GC,3915,-0.15,0.0,2352,2170,2772,2640,324.5,2.9,301,3916,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2169,2705,2771,2639,0,0,0,0,0,0,14.85,14.85,14.85,6.29,50.98
$GC,4215,-0.15,0.0,2352,2170,2772,2639,315.6,2.9,316,4216,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2169,2705,2771,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.26
$GC,4515,-0.15,0.0,2352,2169,2772,2638,306.9,2.9,331,4516,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2169,2704,2771,2638,0,0,0,0,0,0,14.92,14.93,14.93,6.29,51.02
$GC,4815,-0.15,0.0,2352,2170,2773,2638,297.6,3.3,346,4816,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2169,2704,2771,2638,0,0,0,0,0,0,14.95,14.96,14.96,6.28,51.22
$GC,5115,-0.15,0.0,2352,2169,2772,2638,287.1,3.6,361,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2169,2704,2770,2638,0,0,0,0,0,0,14.97,14.98,14.98,6.28,51.06
$GC,5415,-0.15,0.0,2352,2170,2772,2638,275.9,3.8,376,5416,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2169,2704,2771,2638,0,0,0,0,0,0,14.99,15.00,15.00,6.28,51.73
$GC,5715,-0.15,0.0,2352,2170,2771,2638,264.7,3.7,391,5716,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2169,2704,2771,2638,0,0,0,0,0,0,15.01,15.02,15.01,6.28,51.22
$GC,6015,-0.15,0.0,2352,2170,2771,2639,253.7,3.6,406,6016,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2169,2704,2770,2638,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.10
$STATE,6314,end loiter,LOITER_COMPLETE
$STATE,6314,begin climb
$GC,6315,0.64,146.0,2352,2169,2772,2638,243.7,0.0,421,6452,0.60,2.58,129.75,1.431,11012,0.175,0.068,2605,747,2118,2144,2093,0,0,0,0,0,0,14.69,13.91,13.45,6.28,51.41
$GC,6511,0.64,146.0,2606,748,2137,2086,229.3,9.2,430,6516,0.00,2.45,0.00,0.000,1030,0.000,0.054,2605,2129,2111,2136,2086,0,0,0,0,0,0,14.19,14.13,14.21,6.24,49.05
$GC,6831,0.64,146.0,2606,2130,2134,2077,190.2,12.5,446,6835,0.00,2.58,0.00,0.000,260,0.000,0.083,2605,3560,2105,2132,2078,0,0,0,0,0,0,14.59,14.34,14.59,6.24,50.07
$GC,6911,0.64,146.0,2606,3558,2133,2077,180.4,12.2,450,6915,0.00,2.38,0.00,0.000,5126,0.000,0.044,2616,2158,2104,2132,2077,0,0,0,0,0,0,14.45,14.40,14.47,6.24,50.03
$GC,7231,0.64,146.0,2616,2159,2129,2077,139.4,12.9,466,7235,0.00,2.50,0.00,0.000,4612,0.000,0.070,2627,744,2102,2130,2075,0,0,0,0,0,0,14.71,14.45,14.71,6.23,50.55
$GC,7271,0.64,146.0,2628,745,2129,2075,134.3,12.9,468,7275,0.05,2.42,0.00,0.000,5126,0.306,0.054,2607,2154,2101,2128,2075,0,0,0,0,0,0,14.33,14.46,14.47,6.24,50.63
$GC,7591,0.64,146.0,2608,2155,2128,2075,98.2,10.4,484,7595,0.00,2.47,0.00,0.000,4356,0.000,0.083,2607,3552,2101,2127,2075,0,0,0,0,0,0,14.76,14.50,14.76,6.23,50.00
$GC,7656,0.64,146.0,2608,3552,2129,2074,91.0,10.9,497,7660,0.00,2.35,0.00,0.000,5126,0.000,0.043,2616,2152,2100,2127,2074,0,0,0,0,0,0,14.59,14.57,14.60,6.22,49.64
$GC,7782,0.64,146.0,2617,2152,2129,2073,76.7,11.6,522,7785,0.00,2.45,0.00,0.000,4612,0.000,0.070,2627,735,2100,2127,2073,0,0,0,0,0,0,14.76,14.52,14.76,6.22,49.56
$GC,7811,0.64,146.0,2628,735,2127,2073,73.3,11.4,528,7815,0.05,2.42,0.00,0.000,5126,0.304,0.055,2608,2145,2099,2126,2073,0,0,0,0,0,0,14.39,14.52,14.52,6.22,49.33
$GC,7937,0.64,146.0,2608,2147,2128,2073,59.6,10.6,553,7940,0.00,2.45,0.00,0.000,4356,0.000,0.083,2608,3554,2099,2126,2073,0,0,0,0,0,0,14.77,14.52,14.77,6.20,48.77
$GC,7986,0.64,146.0,2607,3554,2127,2073,54.4,9.8,563,7991,0.00,2.38,0.00,0.000,5126,0.000,0.044,2616,2143,2099,2126,2073,0,0,0,0,0,0,14.59,14.55,14.62,6.21,48.77
$GC,8112,0.67,176.9,2617,2144,2128,2073,44.2,7.1,588,8143,0.00,2.47,26.38,1.268,8708,0.000,0.066,2627,737,1991,2012,1971,0,0,0,0,0,0,14.77,14.30,13.84,6.21,48.46
$GC,8212,0.67,176.9,2628,737,2012,1967,35.1,9.6,608,8216,0.00,2.40,0.00,0.000,5126,0.000,0.056,2627,2149,1988,2011,1966,0,0,0,0,0,0,14.52,14.42,14.53,6.20,48.74
$GC,8337,0.67,176.9,2628,2151,2012,1965,21.5,10.5,633,8341,0.00,2.47,0.00,0.000,4356,0.000,0.082,2627,3562,1987,2011,1964,0,0,0,0,0,0,14.66,14.42,14.67,6.20,48.97
$GC,8391,0.67,176.9,2627,3563,2011,1965,15.5,9.5,644,8396,0.05,2.40,0.00,0.000,5126,0.334,0.043,2620,2145,1987,2010,1964,0,0,0,0,0,0,14.30,14.45,14.45,6.20,49.09
$STATE,8511,end climb,SURFACE_DEPTH_REACHED
$STATE,8511,begin surface coast
$STATE,8540,end surface coast,CONTROL_FINISHED_OK
$STATE,8540,begin surface
$SM_CCo,8553,39.10,0.245,0,0,1822,220.03
$SM_GC,1.54,5.57,0.05,39.10,0.073,0.210,0.245,222,2084,1822,-6.50,1.05,220.03,0,0,0,0,0,0,14.57,14.50,14.31
$IRIDIUM_FIX,-6002.25,0.00,010119,183305
$TT8_MAMPS,0.038199,0.27713
$HUMID,49.56
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3836384
$24V_AH,13.31,36.084
$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,13.150,83.375,283.275,39.100,0.000,23.606,35.931,112.835,0.000,0.000,15.156,0.000,6808.174,414.771,1555.610,102.966,0.000,1034.388,0.000,1115.215,0.000,0.539,0.000
$DEVICE_MAMPS,457.470,2273.580,1592.730,244.800,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4950.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.774,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,17325,674
$CAP_FILE_SIZE,91647,0
$CFSIZE,1023623168,1003257856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.039,196.51,1
$GPS,010119,233152,-6000.411,7.903,41,0.7,44,-19.8,0.6,234.7,11,9.9