version: 66.14
glider: 640
mission: 5
dive: 171
start: 1 2 119 12 8 21
data:
$ID,640
$MISSION,5
$DIVE,171
$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,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
$GPS1,020119,120319,-6002.9048,7.8420,35,0.8,65,-19.8,0.8,234.5,12,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-60.0
$GPS2,020119,120803,-6002.8828,7.8345,9,0.8,15,-19.8,0.0,109.0,11,9.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,209.4,32504,-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,-146.0,222,2087,1803,1821,0.0,0.0,0,100,0.00,0.00,-88.10,0.000,16386,0.000,0.000,220,2087,3214,3296,3132,0,0,0,0,0,0,14.62,28.83,14.62,6.17,50.15
$GC,102,-0.64,-146.0,222,2088,3297,3132,3.6,-7.0,18,119,6.03,2.75,-3.78,0.000,18692,0.353,2.264,2179,3512,3314,3406,3223,0,0,0,0,0,0,14.23,13.45,14.37,6.29,49.52
$GC,150,-0.64,-146.0,2179,3511,3409,3225,11.9,-16.0,28,154,0.00,2.40,0.00,0.000,3078,0.000,0.042,2178,2104,3317,3410,3224,0,0,0,0,0,0,14.41,14.37,14.43,6.30,49.37
$GC,275,-0.64,-146.0,2179,2102,3411,3225,32.8,-17.5,53,279,0.03,2.47,0.00,0.000,2564,0.631,0.063,2188,699,3317,3410,3224,0,0,0,0,0,0,14.27,14.38,14.46,6.30,49.37
$GC,305,-0.64,-146.0,2188,699,3411,3223,37.8,-16.5,59,310,0.03,2.45,0.00,0.000,3078,0.462,0.057,2186,2106,3317,3410,3224,0,0,0,0,0,0,14.21,14.40,14.37,6.29,48.97
$GC,431,-0.64,-146.0,2186,2107,3411,3224,55.6,-14.1,84,434,0.00,2.45,0.00,0.000,2564,0.000,0.063,2186,686,3317,3410,3224,0,0,0,0,0,0,14.65,14.44,14.66,6.30,49.92
$GC,525,-0.64,-146.0,2186,685,3410,3225,68.9,-13.0,103,530,0.05,2.45,0.00,0.000,3078,0.367,0.059,2192,2097,3316,3409,3224,0,0,0,0,0,0,14.26,14.45,14.42,6.29,48.66
$GC,651,-0.64,-146.0,2193,2098,3411,3224,86.6,-14.5,128,654,0.00,2.50,0.00,0.000,2308,0.000,0.083,2182,3521,3317,3410,3224,0,0,0,0,0,0,14.70,14.47,14.70,6.30,48.58
$GC,685,-0.64,-146.0,2182,3522,3411,3224,91.7,-14.7,135,690,0.00,2.40,0.00,0.000,3078,0.000,0.044,2181,2099,3316,3410,3223,0,0,0,0,0,0,14.52,14.48,14.54,6.30,48.46
$GC,825,-0.64,-146.0,2181,2099,3411,3225,111.9,-14.2,151,830,0.00,2.53,0.00,0.000,2308,0.000,0.082,2171,3517,3317,3410,3224,0,0,0,0,0,0,14.73,14.46,14.73,6.29,48.34
$GC,865,-0.64,-146.0,2171,3517,3411,3224,117.8,-14.4,153,870,0.05,2.40,0.00,0.000,3078,0.354,0.043,2189,2092,3317,3410,3224,0,0,0,0,0,0,14.32,14.50,14.47,6.27,49.37
$GC,1185,-0.64,-146.0,2189,2091,3411,3224,162.1,-13.6,169,1189,0.00,2.42,0.00,0.000,2564,0.000,0.064,2188,702,3317,3410,3224,0,0,0,0,0,0,14.78,14.52,14.78,6.30,50.15
$GC,1280,-0.64,-146.0,2189,702,3411,3224,173.0,-13.6,173,1284,0.00,2.42,0.00,0.000,3078,0.000,0.056,2179,2112,3317,3410,3224,0,0,0,0,0,0,14.59,14.53,14.60,6.31,50.15
$GC,1585,-0.64,-146.0,2178,2112,3411,3223,217.1,-13.9,189,1589,0.00,2.45,0.00,0.000,2308,0.000,0.082,2169,3503,3316,3409,3223,0,0,0,0,0,0,14.80,14.53,14.81,6.32,50.98
$GC,1630,-0.64,-146.0,2169,3503,3411,3223,222.8,-14.0,191,1634,0.08,2.35,0.00,0.000,3078,0.317,0.042,2195,2100,3317,3410,3224,0,0,0,0,0,0,14.40,14.57,14.54,6.32,50.94
$GC,1945,-0.64,-146.0,2195,2099,3410,3225,263.8,-12.6,207,1949,0.00,2.42,0.00,0.000,516,0.000,0.063,2195,704,3316,3410,3223,0,0,0,0,0,0,14.81,14.60,14.82,6.32,51.02
$GC,2020,-0.64,-146.0,2195,706,3410,3225,271.4,-12.7,210,2025,0.00,2.40,0.00,0.000,3078,0.000,0.057,2186,2102,3316,3410,3223,0,0,0,0,0,0,14.62,14.57,14.64,6.33,50.98
$GC,2325,-0.64,-146.0,2186,2103,3411,3224,310.6,-12.4,226,2330,0.00,2.45,0.00,0.000,2308,0.000,0.082,2176,3500,3316,3409,3224,0,0,0,0,0,0,14.83,14.56,14.83,6.33,51.06
$GC,2375,-0.64,-146.0,2176,3501,3411,3223,315.7,-12.6,228,2379,0.05,2.33,0.00,0.000,3078,0.344,0.041,2193,2105,3316,3409,3223,0,0,0,0,0,0,14.41,14.60,14.56,6.33,51.14
$STATE,2664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2664,begin apogee
$GC,2667,-0.15,0.0,2194,2159,3411,3223,350.8,-11.5,243,2798,0.43,0.00,127.28,1.589,10246,0.264,0.000,2347,2159,2715,2774,2657,0,0,0,0,0,0,14.46,13.93,13.32,6.33,51.10
$STATE,2799,end apogee,CONTROL_FINISHED_OK
$STATE,2799,begin loiter
$GC,3085,-0.15,0.0,2347,2160,2771,2644,345.1,3.9,264,3086,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2707,2771,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.28,50.43
$GC,3385,-0.15,0.0,2348,2159,2772,2641,333.3,4.0,279,3386,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2706,2771,2641,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.74
$GC,3685,-0.15,0.0,2347,2159,2771,2640,321.3,3.9,294,3686,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2705,2771,2640,0,0,0,0,0,0,14.79,14.80,14.80,6.28,50.90
$GC,3985,-0.15,0.0,2347,2159,2771,2640,309.5,4.0,309,3986,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2158,2705,2771,2639,0,0,0,0,0,0,14.85,14.85,14.85,6.28,50.82
$GC,4285,-0.15,0.0,2347,2159,2771,2640,297.9,3.7,324,4286,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.14
$GC,4585,-0.15,0.0,2347,2158,2771,2639,287.0,3.6,339,4586,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2705,2771,2639,0,0,0,0,0,0,14.93,14.93,14.93,6.28,50.98
$GC,4885,-0.15,0.0,2347,2160,2771,2640,276.5,3.5,354,4886,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2704,2771,2638,0,0,0,0,0,0,14.95,14.95,14.96,6.28,51.49
$GC,5185,-0.15,0.0,2347,2160,2771,2639,266.2,3.4,369,5186,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2704,2771,2638,0,0,0,0,0,0,14.97,14.98,14.98,6.28,51.69
$GC,5485,-0.15,0.0,2348,2159,2772,2638,256.9,3.3,384,5486,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2704,2771,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.85
$GC,5785,-0.15,0.0,2348,2159,2772,2638,248.6,2.8,399,5786,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2704,2770,2638,0,0,0,0,0,0,15.01,15.01,15.02,6.28,51.33
$GC,6085,-0.15,0.0,2348,2159,2772,2638,240.8,2.4,414,6086,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2704,2771,2638,0,0,0,0,0,0,15.02,15.03,15.03,6.28,51.29
$STATE,6384,end loiter,LOITER_COMPLETE
$STATE,6384,begin climb
$GC,6385,0.64,146.0,2348,2159,2772,2638,233.4,0.0,429,6525,0.62,2.55,130.25,1.405,11012,0.177,0.066,2608,744,2117,2141,2093,0,0,0,0,0,0,14.69,13.92,13.46,6.28,51.26
$GC,6550,0.65,153.7,2608,745,2136,2088,223.4,8.0,437,6561,0.00,2.47,6.82,1.343,13318,0.000,0.054,2608,2138,2093,2116,2070,0,0,0,0,0,0,14.14,14.09,13.47,6.25,49.01
$GC,6860,0.65,153.7,2609,2139,2108,2055,185.5,12.5,452,6864,0.00,2.55,0.00,0.000,260,0.000,0.082,2609,3553,2080,2107,2054,0,0,0,0,0,0,14.57,14.32,14.57,6.23,50.23
$GC,6945,0.65,153.7,2608,3554,2107,2053,175.5,12.4,456,6950,0.00,2.38,0.00,0.000,5126,0.000,0.043,2619,2160,2080,2107,2054,0,0,0,0,0,0,14.41,14.36,14.42,6.23,50.43
$GC,7260,0.65,153.7,2620,2159,2106,2050,134.1,12.7,472,7264,0.00,2.50,0.00,0.000,4612,0.000,0.068,2630,744,2077,2104,2050,0,0,0,0,0,0,14.70,14.43,14.71,6.23,50.66
$GC,7290,0.65,153.7,2631,744,2104,2050,131.6,12.7,473,7295,0.05,2.42,0.00,0.000,5126,0.307,0.054,2611,2152,2076,2103,2050,0,0,0,0,0,0,14.32,14.45,14.47,6.24,50.90
$GC,7596,0.65,153.7,2611,2154,2103,2049,94.8,11.1,494,7599,0.00,2.45,0.00,0.000,4356,0.000,0.082,2611,3555,2075,2103,2048,0,0,0,0,0,0,14.75,14.50,14.76,6.23,50.07
$GC,7680,0.65,153.7,2610,3555,2103,2050,85.7,10.2,511,7684,0.00,2.35,0.00,0.000,5126,0.000,0.043,2620,2156,2075,2103,2047,0,0,0,0,0,0,14.58,14.53,14.60,6.22,50.23
$GC,7806,0.65,153.7,2620,2156,2103,2048,72.9,10.0,536,7810,0.00,2.45,0.00,0.000,4612,0.000,0.068,2630,738,2075,2102,2048,0,0,0,0,0,0,14.77,14.52,14.77,6.22,49.25
$GC,7835,0.65,153.7,2631,739,2102,2049,69.8,10.1,542,7840,0.05,2.42,0.00,0.000,5126,0.301,0.055,2612,2151,2074,2101,2048,0,0,0,0,0,0,14.35,14.50,14.50,6.21,49.40
$GC,7961,0.65,153.7,2611,2152,2103,2048,57.6,10.6,567,7964,0.00,2.45,0.00,0.000,4356,0.000,0.083,2611,3558,2074,2101,2048,0,0,0,0,0,0,14.78,14.52,14.78,6.20,48.97
$GC,8020,0.65,153.7,2611,3558,2102,2048,51.4,9.5,579,8024,0.00,2.35,0.00,0.000,5126,0.000,0.042,2619,2154,2074,2101,2048,0,0,0,0,0,0,14.60,14.56,14.62,6.20,48.77
$GC,8146,0.65,153.7,2620,2154,2103,2047,41.2,8.5,604,8150,0.00,2.45,0.00,0.000,4612,0.000,0.067,2630,741,2074,2101,2047,0,0,0,0,0,0,14.78,14.54,14.79,6.20,49.13
$GC,8185,0.65,153.7,2631,742,2102,2048,37.6,9.6,612,8191,0.05,2.42,0.00,0.000,5126,0.303,0.055,2610,2150,2074,2101,2048,0,0,0,0,0,0,14.38,14.51,14.51,6.20,49.25
$GC,8311,0.65,153.7,2611,2152,2102,2048,26.0,10.4,637,8314,0.00,2.45,0.00,0.000,4356,0.000,0.083,2610,3556,2074,2101,2047,0,0,0,0,0,0,14.79,14.54,14.77,6.20,49.40
$GC,8355,0.65,153.7,2611,3562,2102,2047,20.9,11.1,646,8359,0.00,2.38,0.00,0.000,5126,0.000,0.044,2619,2140,2074,2101,2048,0,0,0,0,0,0,14.58,14.52,14.60,6.20,49.40
$GC,8481,0.65,153.7,2619,2139,2102,2047,7.3,11.7,671,8483,0.00,0.00,0.00,0.000,4102,0.000,0.000,2620,2139,2074,2101,2047,0,0,0,0,0,0,14.80,14.80,14.80,6.20,50.00
$STATE,8524,end climb,SURFACE_DEPTH_REACHED
$STATE,8524,begin surface coast
$STATE,8549,end surface coast,CONTROL_FINISHED_OK
$STATE,8549,begin surface
$SM_CCo,8562,60.22,0.243,0,0,1822,220.03
$SM_GC,1.29,5.55,0.00,60.22,0.080,0.000,0.243,235,2139,1822,-6.46,1.10,220.03,0,0,0,0,0,0,14.65,14.81,14.37
$IRIDIUM_FIX,-6000.39,4.30,020119,093416
$TT8_MAMPS,0.039697,0.319074
$HUMID,49.56
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3833312
$24V_AH,13.32,37.141
$10V_AH,13.63,0.000
$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,13.050,83.175,264.350,60.225,0.000,23.921,36.685,108.705,0.000,0.000,16.360,0.000,6809.239,433.828,1562.230,105.675,0.000,1057.515,0.000,1122.204,0.000,0.539,0.000
$DEVICE_MAMPS,631.125,2264.400,1588.905,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4959.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.897,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,17318,685
$CAP_FILE_SIZE,92338,0
$CFSIZE,1023623168,1002668032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.049,187.87,1
$GPS,020119,143301,-6003.521,7.978,17,0.7,34,-19.8,1.2,99.4,12,7.3