version: 66.14
glider: 640
mission: 5
dive: 167
start: 1 2 119 1 58 57
data:
$ID,640
$MISSION,5
$DIVE,167
$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,65
$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
$GPS1,020119,015401,-6001.0771,7.7626,16,0.8,34,-19.8,0.0,138.9,10,6.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-68.7
$GPS2,020119,015839,-6001.1069,7.7957,9,0.7,15,-19.8,0.0,147.6,12,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,212.2,35712,-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,-146.0,222,2070,1804,1824,0.0,0.0,0,95,0.00,0.00,-83.15,0.000,16386,0.000,0.000,222,2068,3116,3198,3034,0,0,0,0,0,0,14.63,28.83,14.63,6.18,49.96
$GC,97,-0.64,-146.0,223,2069,3199,3037,3.3,-6.7,17,115,6.03,2.78,-7.75,0.000,18692,0.356,2.272,2172,3503,3317,3413,3222,0,0,0,0,0,0,14.21,13.37,14.38,6.28,49.01
$GC,225,-0.64,-146.0,2173,3504,3415,3224,23.6,-15.7,43,230,0.05,2.33,0.00,0.000,3078,0.362,0.040,2188,2130,3319,3414,3224,0,0,0,0,0,0,14.24,14.42,14.39,6.29,48.97
$GC,351,-0.64,-146.0,2189,2130,3411,3224,44.1,-17.0,68,354,0.00,2.47,0.00,0.000,2564,0.000,0.067,2189,696,3318,3413,3224,0,0,0,0,0,0,14.67,14.44,14.66,6.30,49.13
$GC,450,-0.64,-146.0,2189,696,3415,3224,60.7,-14.1,88,454,0.00,2.45,0.00,0.000,3078,0.000,0.058,2177,2105,3322,3414,3230,0,0,0,0,0,0,14.50,14.45,14.52,6.30,48.97
$GC,575,-0.64,-146.0,2179,2106,3414,3225,79.3,-15.3,113,580,0.00,2.47,0.00,0.000,2308,0.000,0.083,2168,3503,3319,3414,3225,0,0,0,0,0,0,14.71,14.45,14.71,6.30,48.54
$GC,620,-0.64,-146.0,2169,3503,3415,3224,86.2,-14.8,122,625,0.08,2.38,0.00,0.000,3078,0.324,0.043,2195,2098,3319,3414,3224,0,0,0,0,0,0,14.33,14.49,14.47,6.30,48.89
$GC,746,-0.64,-146.0,2195,2098,3414,3225,103.3,-13.6,144,749,0.00,2.42,0.00,0.000,516,0.000,0.067,2195,690,3319,3414,3224,0,0,0,0,0,0,14.72,14.50,14.72,6.30,49.17
$GC,785,-0.64,-146.0,2195,691,3415,3225,108.2,-13.7,146,789,0.00,2.45,0.00,0.000,3078,0.000,0.059,2184,2105,3318,3413,3224,0,0,0,0,0,0,14.54,14.49,14.57,6.29,48.50
$GC,1100,-0.64,-146.0,2185,2106,3414,3225,153.1,-13.9,162,1104,0.00,2.47,0.00,0.000,2564,0.000,0.064,2185,690,3319,3414,3224,0,0,0,0,0,0,14.76,14.52,14.78,6.30,49.68
$GC,1125,-0.64,-146.0,2186,691,3414,3224,156.0,-14.0,163,1129,0.05,2.42,0.00,0.000,3078,0.369,0.057,2191,2099,3318,3413,3224,0,0,0,0,0,0,14.35,14.52,14.51,6.30,49.96
$GC,1440,-0.64,-146.0,2192,2100,3414,3225,198.0,-12.8,179,1445,0.00,2.47,0.00,0.000,2308,0.000,0.084,2181,3500,3318,3413,3223,0,0,0,0,0,0,14.80,14.53,14.81,6.31,51.10
$GC,1490,-0.64,-146.0,2181,3501,3414,3223,203.3,-12.9,181,1494,0.00,2.35,0.00,0.000,3078,0.000,0.043,2180,2099,3318,3413,3224,0,0,0,0,0,0,14.62,14.57,14.63,6.31,50.70
$GC,1800,-0.64,-146.0,2180,2099,3414,3225,245.1,-13.2,197,1804,0.00,2.45,0.00,0.000,2564,0.000,0.064,2180,693,3318,3413,3224,0,0,0,0,0,0,14.82,14.56,14.82,6.32,51.33
$GC,1880,-0.64,-146.0,2180,692,3414,3224,255.6,-13.1,201,1884,0.05,2.42,0.00,0.000,3078,0.357,0.057,2187,2104,3318,3413,3224,0,0,0,0,0,0,14.40,14.57,14.55,6.32,51.57
$GC,2200,-0.64,-146.0,2188,2105,3414,3224,296.3,-12.9,217,2204,0.00,2.47,0.00,0.000,2308,0.000,0.083,2177,3507,3318,3413,3224,0,0,0,0,0,0,14.83,14.56,14.83,6.33,51.37
$GC,2250,-0.64,-146.0,2177,3508,3414,3224,301.6,-13.2,219,2255,0.03,2.35,0.00,0.000,3078,0.444,0.042,2185,2101,3318,3413,3224,0,0,0,0,0,0,14.40,14.60,14.55,6.33,51.33
$GC,2560,-0.64,-146.0,2185,2101,3414,3225,344.0,-13.4,235,2564,0.00,2.45,0.00,0.000,2564,0.000,0.064,2185,694,3318,3413,3224,0,0,0,0,0,0,14.84,14.58,14.82,6.33,51.26
$STATE,2619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2619,begin apogee
$GC,2625,-0.15,0.0,2175,2161,3413,3225,352.0,-13.3,238,2755,0.50,0.00,127.28,1.589,10246,0.265,0.000,2354,2160,2718,2777,2659,0,0,0,0,0,0,14.45,13.93,13.33,6.34,51.06
$STATE,2756,end apogee,CONTROL_FINISHED_OK
$STATE,2756,begin loiter
$GC,3040,-0.15,0.0,2354,2161,2771,2643,351.6,2.4,259,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2160,2707,2771,2643,0,0,0,0,0,0,14.56,14.57,14.57,6.29,50.39
$GC,3340,-0.15,0.0,2354,2161,2771,2641,344.7,2.3,274,3341,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2160,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.29,50.74
$GC,3640,-0.15,0.0,2354,2162,2772,2640,337.9,2.2,289,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2161,2705,2771,2639,0,0,0,0,0,0,14.79,14.80,14.79,6.28,51.02
$GC,3940,-0.15,0.0,2354,2161,2771,2640,331.2,2.2,304,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2160,2704,2771,2638,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.14
$GC,4240,-0.15,0.0,2354,2160,2772,2637,324.3,2.3,319,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2161,2704,2771,2637,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.33
$GC,4540,-0.15,0.0,2354,2160,2771,2637,317.0,2.5,334,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2160,2704,2771,2637,0,0,0,0,0,0,14.92,14.93,14.93,6.27,51.18
$GC,4840,-0.15,0.0,2354,2161,2772,2638,309.3,2.6,349,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2160,2704,2771,2637,0,0,0,0,0,0,14.95,14.96,14.96,6.28,51.26
$GC,5140,-0.15,0.0,2354,2161,2772,2637,301.2,2.7,364,5141,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2160,2704,2771,2637,0,0,0,0,0,0,14.97,14.98,14.98,6.28,51.06
$GC,5440,-0.15,0.0,2354,2161,2772,2638,292.9,2.8,379,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2160,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.22
$GC,5740,-0.15,0.0,2354,2161,2772,2637,284.0,3.0,394,5741,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2160,2703,2770,2637,0,0,0,0,0,0,15.01,15.01,15.02,6.28,51.22
$GC,6040,-0.15,0.0,2354,2161,2772,2637,275.1,2.9,409,6041,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2160,2704,2771,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.28,50.98
$STATE,6339,end loiter,LOITER_COMPLETE
$STATE,6339,begin climb
$GC,6340,0.64,146.0,2355,2160,2772,2637,266.6,0.0,424,6474,0.60,0.00,130.05,1.441,10758,0.176,0.000,2596,2160,2123,2148,2098,0,0,0,0,0,0,14.69,14.00,13.45,6.28,50.98
$GC,6760,0.64,146.0,2596,2161,2135,2079,226.9,11.4,445,6765,0.00,2.50,0.00,0.000,2308,0.000,0.082,2596,3550,2105,2134,2077,0,0,0,0,0,0,14.56,14.28,14.56,6.25,50.66
$GC,6795,0.64,146.0,2596,3551,2135,2078,224.5,11.5,446,6799,0.00,2.38,0.00,0.000,5126,0.000,0.043,2606,2157,2105,2133,2077,0,0,0,0,0,0,14.40,14.35,14.42,6.24,50.94
$GC,7100,0.64,146.0,2606,2157,2131,2076,186.3,11.9,462,7104,0.00,2.50,0.00,0.000,516,0.000,0.070,2617,750,2103,2131,2075,0,0,0,0,0,0,14.68,14.40,14.69,6.24,50.55
$GC,7160,0.64,146.0,2618,750,2129,2074,179.7,11.2,465,7164,0.00,2.42,0.00,0.000,5126,0.000,0.054,2618,2154,2101,2128,2074,0,0,0,0,0,0,14.51,14.42,14.51,6.24,50.59
$GC,7480,0.64,146.0,2618,2155,2130,2073,141.2,12.0,481,7484,0.00,2.45,0.00,0.000,4356,0.000,0.082,2618,3558,2100,2128,2072,0,0,0,0,0,0,14.75,14.47,14.76,6.23,50.66
$GC,7550,0.64,146.0,2618,3558,2129,2074,134.1,12.0,484,7555,0.05,2.38,0.00,0.000,5126,0.333,0.044,2610,2149,2100,2128,2073,0,0,0,0,0,0,14.34,14.50,14.49,6.23,50.74
$GC,7860,0.64,146.0,2611,2148,2129,2070,99.2,10.3,500,7864,0.00,2.47,0.00,0.000,4612,0.000,0.069,2619,743,2099,2127,2071,0,0,0,0,0,0,14.80,14.51,14.80,6.23,50.35
$GC,7940,0.64,146.0,2619,743,2127,2072,91.4,9.8,516,7944,0.03,2.40,0.00,0.000,5126,0.409,0.053,2609,2144,2098,2126,2071,0,0,0,0,0,0,14.36,14.54,14.52,6.22,50.66
$GC,8066,0.64,146.0,2609,2145,2136,2072,78.3,10.8,541,8069,0.00,2.45,0.00,0.000,4356,0.000,0.083,2609,3554,2098,2126,2071,0,0,0,0,0,0,14.80,14.54,14.77,6.21,49.52
$GC,8110,0.64,146.0,2610,3554,2127,2071,73.1,11.1,550,8114,0.00,2.35,0.00,0.000,5126,0.000,0.044,2618,2155,2098,2126,2071,0,0,0,0,0,0,14.59,14.55,14.62,6.21,49.80
$GC,8236,0.64,146.0,2618,2155,2126,2072,59.5,11.3,575,8240,0.00,2.45,0.00,0.000,4612,0.000,0.070,2629,737,2096,2121,2071,0,0,0,0,0,0,14.81,14.56,14.81,6.21,49.05
$GC,8280,0.64,146.0,2630,737,2127,2070,54.5,10.8,584,8284,0.05,2.42,0.00,0.000,5126,0.308,0.055,2609,2154,2097,2125,2070,0,0,0,0,0,0,14.40,14.54,14.52,6.21,49.33
$GC,8405,0.64,146.0,2609,2155,2127,2070,41.5,9.9,609,8409,0.00,2.47,0.00,0.000,4356,0.000,0.083,2609,3555,2097,2125,2070,0,0,0,0,0,0,14.81,14.54,14.81,6.21,49.25
$GC,8465,0.64,146.0,2609,3555,2126,2070,35.6,10.0,621,8469,0.00,2.38,0.00,0.000,5126,0.000,0.043,2618,2143,2097,2125,2070,0,0,0,0,0,0,14.62,14.58,14.64,6.20,49.09
$GC,8591,0.64,146.0,2618,2144,2127,2070,23.1,10.0,646,8594,0.00,2.42,0.00,0.000,4612,0.000,0.070,2628,738,2097,2125,2070,0,0,0,0,0,0,14.81,14.57,14.81,6.20,49.48
$GC,8645,0.64,146.0,2629,738,2126,2070,17.7,9.8,657,8649,0.05,2.42,0.00,0.000,5126,0.309,0.054,2608,2156,2097,2125,2070,0,0,0,0,0,0,14.42,14.57,14.57,6.20,50.03
$GC,8771,0.64,146.0,2609,2156,2126,2070,5.4,10.1,682,8774,0.00,2.45,0.00,0.000,4356,0.000,0.086,2609,3556,2097,2125,2069,0,0,0,0,0,0,14.82,14.56,14.82,6.20,49.84
$STATE,8799,end climb,SURFACE_DEPTH_REACHED
$STATE,8799,begin surface coast
$STATE,8824,end surface coast,CONTROL_FINISHED_OK
$STATE,8824,begin surface
$SM_CCo,8838,66.05,0.243,0,0,1822,220.03
$SM_GC,1.29,5.38,2.50,66.05,0.042,0.044,0.243,233,2081,1822,-6.50,0.76,220.03,0,0,0,0,0,0,14.67,14.61,14.37
$IRIDIUM_FIX,-5959.31,4.30,010119,233338
$TT8_MAMPS,0.038199,0.35952
$HUMID,49.33
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3835360
$24V_AH,13.33,36.440
$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,12.925,88.000,257.325,66.050,0.000,25.490,36.727,101.314,0.000,0.000,16.350,0.000,7077.647,431.824,1572.744,103.832,0.000,1056.137,0.000,1136.893,0.000,0.539,0.000
$DEVICE_MAMPS,443.700,2272.050,1588.905,242.505,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5235.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.649,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17315,693
$CAP_FILE_SIZE,92700,0
$CFSIZE,1023623168,1003061248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.057,156.80,1
$GPS,020119,042825,-6001.750,7.930,12,0.8,41,-19.8,0.8,107.4,10,5.4