version: 66.14
glider: 640
mission: 5
dive: 168
start: 1 2 119 4 33 21
data:
$ID,640
$MISSION,5
$DIVE,168
$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,42
$R_STBD_OVSHOOT,25
$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
$GPS1,020119,042825,-6001.7505,7.9297,12,0.8,41,-19.8,0.8,107.4,10,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-60.7
$GPS2,020119,043302,-6001.7505,7.9925,9,0.8,17,-19.8,0.0,76.4,10,9.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,219.8,34583,-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,-146.0,221,2079,1798,1823,0.0,0.0,0,101,0.00,0.00,-89.18,0.000,16386,0.000,0.000,221,2078,3220,3299,3141,0,0,0,0,0,0,14.62,28.83,14.63,6.17,50.82
$GC,103,-0.64,-146.0,222,2080,3301,3142,3.4,-6.7,18,121,6.00,2.78,-3.55,0.000,18692,0.356,2.264,2176,3515,3316,3408,3224,0,0,0,0,0,0,14.23,13.45,14.47,6.29,49.21
$GC,180,-0.64,-146.0,2175,3520,3410,3223,17.4,-15.9,34,184,0.05,2.40,0.00,0.000,3078,0.356,0.043,2192,2108,3316,3409,3224,0,0,0,0,0,0,14.20,14.38,14.34,6.30,48.97
$GC,306,-0.64,-146.0,2193,2108,3410,3224,37.6,-17.6,59,309,0.00,2.45,0.00,0.000,2564,0.000,0.064,2192,690,3316,3409,3223,0,0,0,0,0,0,14.64,14.40,14.61,6.30,48.77
$GC,325,-0.64,-146.0,2192,691,3410,3224,40.9,-15.9,63,329,0.00,2.45,0.00,0.000,3078,0.000,0.059,2183,2096,3317,3409,3225,0,0,0,0,0,0,14.45,14.40,14.47,6.30,48.77
$GC,450,-0.64,-146.0,2184,2097,3409,3224,59.5,-15.3,88,454,0.00,2.50,0.00,0.000,2308,0.000,0.082,2173,3499,3316,3409,3224,0,0,0,0,0,0,14.66,14.40,14.67,6.30,48.58
$GC,500,-0.64,-146.0,2172,3500,3410,3225,67.3,-15.5,98,504,0.05,2.38,0.00,0.000,3078,0.351,0.044,2190,2095,3317,3411,3224,0,0,0,0,0,0,14.27,14.45,14.42,6.30,49.05
$GC,626,-0.64,-146.0,2190,2093,3410,3224,85.8,-14.5,123,629,0.00,2.42,0.00,0.000,2564,0.000,0.067,2189,698,3316,3409,3224,0,0,0,0,0,0,14.69,14.47,14.69,6.28,48.42
$GC,680,-0.64,-146.0,2189,697,3410,3225,93.3,-13.1,134,684,0.00,2.42,0.00,0.000,3078,0.000,0.057,2180,2100,3316,3409,3224,0,0,0,0,0,0,14.52,14.46,14.54,6.29,48.42
$GC,810,-0.64,-146.0,2180,2101,3410,3224,111.2,-13.5,148,811,0.00,0.00,0.00,0.000,2054,0.000,0.000,2180,2100,3316,3409,3224,0,0,0,0,0,0,14.73,14.73,14.73,6.29,48.54
$GC,1110,-0.64,-146.0,2180,2101,3410,3225,153.1,-14.0,163,1114,0.00,2.45,0.00,0.000,2564,0.000,0.065,2180,697,3316,3409,3224,0,0,0,0,0,0,14.77,14.52,14.76,6.29,50.23
$GC,1145,-0.64,-146.0,2180,698,3410,3224,156.0,-13.9,164,1149,0.08,2.42,0.00,0.000,3078,0.329,0.057,2195,2106,3316,3409,3224,0,0,0,0,0,0,14.39,14.52,14.51,6.30,50.11
$GC,1450,-0.64,-146.0,2196,2107,3410,3224,196.2,-12.4,180,1454,0.00,2.47,0.00,0.000,260,0.000,0.084,2185,3504,3316,3409,3224,0,0,0,0,0,0,14.79,14.53,14.80,6.33,51.53
$GC,1505,-0.64,-146.0,2186,3506,3410,3225,201.2,-12.4,182,1510,0.00,2.35,0.00,0.000,3078,0.000,0.043,2185,2105,3316,3409,3224,0,0,0,0,0,0,14.61,14.57,14.63,6.31,51.45
$GC,1810,-0.64,-146.0,2186,2108,3410,3224,241.1,-13.0,198,1815,0.00,2.45,0.00,0.000,2564,0.000,0.065,2185,697,3316,3409,3224,0,0,0,0,0,0,14.81,14.56,14.82,6.32,51.18
$GC,1895,-0.64,-146.0,2185,698,3410,3224,251.7,-13.2,202,1899,0.05,2.40,0.00,0.000,3078,0.360,0.056,2192,2099,3316,3409,3223,0,0,0,0,0,0,14.38,14.57,14.54,6.33,51.06
$GC,2210,-0.64,-146.0,2192,2100,3410,3224,292.6,-12.9,218,2214,0.00,2.47,0.00,0.000,2308,0.000,0.083,2182,3505,3316,3409,3224,0,0,0,0,0,0,14.83,14.55,14.83,6.33,51.37
$GC,2245,-0.64,-146.0,2181,3505,3410,3223,295.2,-13.0,219,2249,0.00,2.35,0.00,0.000,3078,0.000,0.043,2181,2101,3316,3409,3224,0,0,0,0,0,0,14.64,14.59,14.66,6.33,51.22
$GC,2550,-0.64,-146.0,2182,2100,3410,3224,337.4,-13.2,235,2554,0.00,2.45,0.00,0.000,2564,0.000,0.064,2181,691,3316,3408,3224,0,0,0,0,0,0,14.84,14.58,14.84,6.34,51.69
$GC,2620,-0.64,-146.0,2181,691,3409,3224,345.3,-13.3,238,2625,0.05,2.40,0.00,0.000,3078,0.353,0.056,2188,2096,3316,3409,3224,0,0,0,0,0,0,14.41,14.58,14.57,6.33,51.61
$STATE,2649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2649,begin apogee
$GC,2653,-0.15,0.0,2188,2166,3409,3224,350.3,-12.7,240,2783,0.45,0.00,127.62,1.586,10246,0.262,0.000,2350,2164,2718,2777,2659,0,0,0,0,0,0,14.45,13.91,13.32,6.34,51.18
$STATE,2784,end apogee,CONTROL_FINISHED_OK
$STATE,2784,begin loiter
$GC,3070,-0.15,0.0,2351,2165,2771,2643,348.7,2.6,261,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2165,2706,2770,2642,0,0,0,0,0,0,14.55,14.57,14.56,6.28,51.22
$GC,3370,-0.15,0.0,2351,2166,2771,2640,340.6,2.7,276,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2164,2705,2770,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.29,50.98
$GC,3670,-0.15,0.0,2351,2166,2771,2641,332.0,3.0,291,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2704,2770,2639,0,0,0,0,0,0,14.79,14.79,14.79,6.29,50.98
$GC,3970,-0.15,0.0,2351,2165,2772,2638,322.2,3.3,306,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2704,2770,2638,0,0,0,0,0,0,14.85,14.85,14.85,6.28,50.94
$GC,4270,-0.15,0.0,2351,2166,2771,2639,312.0,3.5,321,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2704,2770,2638,0,0,0,0,0,0,14.89,14.90,14.90,6.28,51.06
$GC,4570,-0.15,0.0,2351,2165,2770,2637,301.0,3.7,336,4571,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2704,2770,2638,0,0,0,0,0,0,14.92,14.93,14.93,6.28,51.14
$GC,4870,-0.15,0.0,2352,2164,2772,2637,289.7,3.7,351,4871,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2703,2770,2637,0,0,0,0,0,0,14.95,14.96,14.96,6.28,51.18
$GC,5170,-0.15,0.0,2351,2165,2771,2638,278.6,3.6,366,5171,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2703,2769,2637,0,0,0,0,0,0,14.97,14.98,14.98,6.28,51.22
$GC,5470,-0.15,0.0,2351,2165,2771,2639,267.9,3.5,381,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2703,2770,2637,0,0,0,0,0,0,14.99,15.00,15.00,6.28,51.53
$GC,5770,-0.15,0.0,2351,2166,2771,2639,258.2,3.1,396,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2703,2770,2637,0,0,0,0,0,0,15.01,15.01,15.01,6.29,51.69
$GC,6070,-0.15,0.0,2351,2165,2771,2637,249.2,3.0,411,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2703,2770,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.33
$STATE,6369,end loiter,LOITER_COMPLETE
$STATE,6369,begin climb
$GC,6370,0.64,146.0,2351,2165,2771,2638,239.8,0.0,426,6510,0.60,2.58,130.35,1.409,10756,0.173,0.068,2603,742,2116,2141,2092,0,0,0,0,0,0,14.69,13.90,13.46,6.28,51.37
$GC,6530,0.64,146.0,2604,742,2139,2089,228.4,8.9,434,6534,0.00,2.47,0.00,0.000,1030,0.000,0.054,2604,2131,2113,2138,2088,0,0,0,0,0,0,14.10,14.06,14.13,6.24,49.44
$GC,6850,0.64,146.0,2604,2131,2133,2077,187.7,13.0,450,6855,0.00,2.58,0.00,0.000,260,0.000,0.083,2604,3558,2104,2131,2077,0,0,0,0,0,0,14.59,14.31,14.59,6.24,50.35
$GC,6930,0.64,146.0,2604,3559,2132,2078,177.2,13.1,454,6935,0.00,2.40,0.00,0.000,5126,0.000,0.044,2614,2150,2104,2131,2077,0,0,0,0,0,0,14.42,14.37,14.44,6.24,50.19
$GC,7250,0.64,146.0,2614,2151,2131,2076,133.0,13.9,470,7254,0.00,2.50,0.00,0.000,4612,0.000,0.070,2625,739,2102,2130,2075,0,0,0,0,0,0,14.71,14.42,14.71,6.24,50.82
$GC,7320,0.64,146.0,2625,739,2128,2076,125.3,13.0,473,7324,0.05,2.42,0.00,0.000,5126,0.304,0.053,2607,2147,2100,2127,2074,0,0,0,0,0,0,14.31,14.45,14.45,6.23,50.47
$GC,7625,0.64,146.0,2607,2147,2128,2073,90.1,11.5,500,7628,0.00,0.00,0.00,0.000,4102,0.000,0.000,2607,2147,2100,2128,2072,0,0,0,0,0,0,14.77,14.76,14.76,6.22,49.60
$GC,7750,0.64,146.0,2607,2152,2128,2073,76.2,11.0,525,7754,0.00,2.50,0.00,0.000,4356,0.000,0.083,2607,3555,2099,2127,2072,0,0,0,0,0,0,14.78,14.48,14.78,6.21,49.21
$GC,7775,0.64,146.0,2607,3555,2128,2072,73.4,11.2,530,7779,0.00,2.38,0.00,0.000,5126,0.000,0.044,2615,2148,2099,2127,2072,0,0,0,0,0,0,14.59,14.54,14.60,6.21,49.25
$GC,7901,0.64,146.0,2616,2149,2128,2073,59.4,10.8,555,7905,0.00,2.42,0.00,0.000,4612,0.000,0.069,2626,744,2099,2127,2072,0,0,0,0,0,0,14.78,14.56,14.78,6.21,48.93
$GC,7945,0.64,146.0,2627,745,2126,2073,54.9,10.0,564,7949,0.05,2.40,0.00,0.000,5126,0.301,0.054,2607,2143,2098,2125,2071,0,0,0,0,0,0,14.40,14.54,14.54,6.21,49.40
$GC,8071,0.64,146.0,2607,2143,2127,2071,43.1,8.5,589,8074,0.00,2.47,0.00,0.000,4356,0.000,0.083,2606,3555,2098,2126,2071,0,0,0,0,0,0,14.78,14.53,14.78,6.20,49.21
$GC,8160,0.64,146.0,2607,3557,2126,2071,35.4,8.5,607,8165,0.00,2.38,0.00,0.000,5126,0.000,0.043,2615,2146,2098,2125,2071,0,0,0,0,0,0,14.59,14.54,14.60,6.20,49.64
$GC,8286,0.64,146.0,2616,2145,2127,2071,24.6,9.8,632,8290,0.00,2.42,0.00,0.000,4612,0.000,0.070,2627,739,2098,2125,2071,0,0,0,0,0,0,14.79,14.55,14.79,6.20,49.76
$GC,8360,0.64,146.0,2627,739,2126,2070,17.4,9.5,647,8365,0.05,2.40,0.00,0.000,5126,0.299,0.052,2607,2145,2097,2125,2070,0,0,0,0,0,0,14.39,14.52,14.53,6.20,50.15
$GC,8486,0.64,146.0,2607,2146,2125,2070,7.4,8.9,672,8490,0.00,2.45,0.00,0.000,4356,0.000,0.082,2607,3554,2097,2125,2070,0,0,0,0,0,0,14.81,14.55,14.81,6.20,50.19
$STATE,8529,end climb,SURFACE_DEPTH_REACHED
$STATE,8529,begin surface coast
$STATE,8539,end surface coast,CONTROL_FINISHED_OK
$STATE,8539,begin surface
$SM_CCo,8554,66.30,0.245,0,0,1822,220.03
$SM_GC,1.23,5.85,2.47,66.30,0.151,0.044,0.245,235,2094,1822,-6.46,1.07,220.03,0,0,0,0,0,0,14.64,14.59,14.35
$IRIDIUM_FIX,-6002.25,8.62,020119,015544
$TT8_MAMPS,0.038199,0.364014
$HUMID,50.11
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3834848
$24V_AH,13.32,36.613
$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,13.325,83.350,257.975,66.300,0.000,23.155,21.782,111.833,0.000,0.000,19.176,0.000,6811.394,433.763,1553.035,103.864,0.000,1053.942,0.000,1119.955,0.000,0.539,0.000
$DEVICE_MAMPS,360.315,2264.400,1585.845,244.800,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4948.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.823,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,17325,683
$CAP_FILE_SIZE,91813,0
$CFSIZE,1023623168,1002962944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.025,128.97,1
$GPS,020119,065818,-6002.174,8.031,14,2.3,55,-19.8,0.3,16.6,5,11.9