version: 66.14
glider: 640
mission: 5
dive: 172
start: 1 2 119 14 38 23
data:
$ID,640
$MISSION,5
$DIVE,172
$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,35
$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
$GPS1,020119,143301,-6003.5205,7.9785,17,0.7,34,-19.8,1.2,99.4,12,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-56.6
$GPS2,020119,143805,-6003.5420,8.0078,9,0.9,14,-19.8,0.9,255.6,10,9.7
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,214.4,31352,-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,-146.0,233,2138,1799,1822,0.0,0.0,0,100,0.00,0.00,-88.15,0.000,16386,0.000,0.000,233,2138,3218,3300,3137,0,0,0,0,0,0,14.61,28.83,14.62,6.18,50.63
$GC,102,-0.64,-146.0,234,2139,3304,3137,3.6,-6.6,18,116,6.05,2.65,-3.70,0.000,18692,0.366,2.263,2171,3510,3317,3409,3225,0,0,0,0,0,0,14.19,13.44,14.36,6.29,49.29
$GC,150,-0.64,-146.0,2172,3511,3411,3226,11.7,-14.4,28,154,0.05,2.40,0.00,0.000,3078,0.360,0.041,2188,2092,3317,3410,3225,0,0,0,0,0,0,14.21,14.39,14.36,6.30,48.66
$GC,276,-0.64,-146.0,2188,2092,3412,3226,34.1,-16.4,53,279,0.00,2.42,0.00,0.000,2564,0.000,0.064,2188,699,3319,3412,3226,0,0,0,0,0,0,14.64,14.41,14.64,6.30,48.66
$GC,305,-0.64,-146.0,2189,698,3410,3226,38.9,-16.2,59,310,0.00,2.42,0.00,0.000,3078,0.000,0.058,2179,2096,3317,3410,3225,0,0,0,0,0,0,14.47,14.40,14.49,6.30,49.48
$GC,430,-0.64,-146.0,2179,2096,3413,3224,60.4,-15.4,84,434,0.05,2.42,0.00,0.000,2564,0.472,0.063,2191,695,3318,3411,3226,0,0,0,0,0,0,14.28,14.45,14.49,6.31,49.29
$GC,490,-0.64,-146.0,2191,695,3412,3227,68.8,-12.8,96,494,0.00,2.45,0.00,0.000,3078,0.000,0.057,2182,2104,3318,3411,3226,0,0,0,0,0,0,14.50,14.45,14.52,6.30,49.17
$GC,615,-0.64,-146.0,2181,2105,3412,3227,86.3,-14.3,121,619,0.00,2.47,0.00,0.000,2308,0.000,0.081,2171,3500,3318,3411,3226,0,0,0,0,0,0,14.71,14.43,14.71,6.30,48.70
$GC,670,-0.64,-146.0,2171,3501,3413,3225,94.4,-14.7,132,674,0.05,2.35,0.00,0.000,3078,0.364,0.043,2188,2106,3318,3411,3226,0,0,0,0,0,0,14.30,14.49,14.45,6.30,48.62
$GC,810,-0.64,-146.0,2189,2105,3413,3226,114.6,-14.1,145,814,0.00,2.45,0.00,0.000,2564,0.000,0.064,2188,702,3318,3411,3226,0,0,0,0,0,0,14.73,14.48,14.73,6.29,48.58
$GC,830,-0.64,-146.0,2188,702,3412,3226,117.5,-14.0,146,834,0.00,2.42,0.00,0.000,3078,0.000,0.057,2178,2105,3318,3411,3226,0,0,0,0,0,0,14.54,14.48,14.57,6.29,48.77
$GC,1150,-0.64,-146.0,2179,2106,3413,3226,163.4,-14.3,162,1154,0.05,2.45,0.00,0.000,2308,0.474,0.082,2181,3515,3318,3411,3226,0,0,0,0,0,0,14.36,14.52,14.58,6.31,49.96
$GC,1210,-0.64,-146.0,2181,3516,3412,3227,171.8,-14.1,165,1214,0.00,2.38,0.00,0.000,3078,0.000,0.042,2181,2104,3318,3411,3226,0,0,0,0,0,0,14.59,14.54,14.61,6.31,50.23
$GC,1530,-0.64,-146.0,2181,2103,3412,3225,215.9,-13.9,181,1535,0.00,2.45,0.00,0.000,2564,0.000,0.063,2180,699,3318,3412,3225,0,0,0,0,0,0,14.81,14.54,14.81,6.32,50.94
$GC,1630,-0.64,-146.0,2181,700,3413,3225,229.2,-13.1,186,1635,0.05,2.40,0.00,0.000,3078,0.356,0.056,2188,2094,3321,3411,3232,0,0,0,0,0,0,14.38,14.54,14.53,6.32,51.18
$GC,1950,-0.64,-146.0,2188,2098,3413,3225,269.5,-12.5,202,1954,0.00,2.42,0.00,0.000,2308,0.000,0.082,2177,3506,3318,3411,3225,0,0,0,0,0,0,14.82,14.56,14.82,6.33,51.06
$GC,1995,-0.64,-146.0,2178,3508,3412,3227,274.6,-12.6,204,2000,0.03,2.35,0.00,0.000,3078,0.445,0.042,2185,2108,3318,3411,3225,0,0,0,0,0,0,14.38,14.59,14.54,6.28,50.98
$GC,2310,-0.64,-146.0,2186,2100,3412,3226,315.0,-12.7,220,2314,0.00,2.45,0.00,0.000,2564,0.000,0.064,2185,687,3318,3411,3225,0,0,0,0,0,0,14.83,14.57,14.83,6.33,51.65
$GC,2390,-0.64,-146.0,2186,688,3414,3225,325.1,-12.6,224,2395,0.05,2.42,0.00,0.000,3078,0.367,0.056,2192,2102,3318,3411,3225,0,0,0,0,0,0,14.39,14.57,14.56,6.34,50.94
$STATE,2609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2609,begin apogee
$GC,2612,-0.15,0.0,2193,2185,3412,3227,351.6,-12.2,235,2742,0.45,0.03,126.88,1.579,10246,0.268,0.297,2353,2146,2722,2781,2663,0,0,0,0,0,0,14.45,13.87,13.33,6.29,51.06
$STATE,2743,end apogee,CONTROL_FINISHED_OK
$STATE,2743,begin loiter
$GC,3030,-0.15,0.0,2354,2147,2775,2647,348.3,3.0,256,3031,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2146,2709,2772,2646,0,0,0,0,0,0,14.56,14.56,14.57,6.29,50.43
$GC,3330,-0.15,0.0,2354,2146,2775,2643,339.1,3.1,271,3331,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2146,2709,2774,2644,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.98
$GC,3630,-0.15,0.0,2354,2146,2775,2643,329.9,3.2,286,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2146,2707,2773,2642,0,0,0,0,0,0,14.79,14.80,14.80,6.29,51.18
$GC,3930,-0.15,0.0,2353,2146,2775,2642,320.7,3.0,301,3931,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2146,2707,2773,2642,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.33
$GC,4230,-0.15,0.0,2354,2146,2775,2642,311.3,3.2,316,4231,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2146,2707,2773,2642,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.41
$GC,4530,-0.15,0.0,2353,2146,2774,2643,302.7,2.9,331,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2146,2707,2773,2642,0,0,0,0,0,0,14.93,14.93,14.93,6.29,51.57
$GC,4830,-0.15,0.0,2353,2147,2774,2643,294.3,2.9,346,4831,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2146,2708,2774,2642,0,0,0,0,0,0,14.95,14.95,14.95,6.29,51.29
$GC,5130,-0.15,0.0,2353,2146,2774,2642,286.1,2.7,361,5131,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2146,2708,2774,2642,0,0,0,0,0,0,14.97,14.98,14.97,6.28,51.18
$GC,5430,-0.15,0.0,2353,2147,2774,2642,277.3,3.0,376,5431,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2146,2707,2773,2641,0,0,0,0,0,0,14.99,15.00,15.00,6.28,51.10
$GC,5730,-0.15,0.0,2353,2147,2774,2642,268.0,3.2,391,5731,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2146,2707,2773,2641,0,0,0,0,0,0,15.01,15.02,15.02,6.28,51.29
$GC,6030,-0.15,0.0,2354,2146,2775,2641,258.7,3.1,406,6031,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2145,2707,2774,2641,0,0,0,0,0,0,15.02,15.03,15.02,6.28,51.26
$STATE,6329,end loiter,LOITER_COMPLETE
$STATE,6329,begin climb
$GC,6330,0.64,146.0,2354,2147,2775,2642,249.3,0.0,421,6471,0.60,2.58,130.95,1.419,11012,0.174,0.068,2606,746,2117,2141,2093,0,0,0,0,0,0,14.69,14.00,13.47,6.28,51.22
$GC,6520,0.64,146.0,2606,748,2137,2087,236.6,9.2,430,6524,0.00,2.45,0.00,0.000,5126,0.000,0.053,2606,2131,2111,2136,2086,0,0,0,0,0,0,14.16,14.11,14.17,6.24,49.80
$GC,6830,0.64,146.0,2607,2132,2132,2079,197.9,12.3,446,6835,0.00,2.58,0.00,0.000,260,0.000,0.082,2606,3561,2105,2132,2078,0,0,0,0,0,0,14.59,14.31,14.59,6.24,50.47
$GC,6915,0.64,146.0,2606,3561,2132,2077,188.1,12.3,450,6919,0.00,2.40,0.00,0.000,5126,0.000,0.044,2617,2150,2104,2132,2077,0,0,0,0,0,0,14.45,14.40,14.46,6.24,50.23
$GC,7230,0.64,146.0,2617,2159,2130,2077,148.4,12.3,466,7234,0.00,2.47,0.00,0.000,4612,0.000,0.070,2627,750,2102,2130,2075,0,0,0,0,0,0,14.71,14.42,14.71,6.23,50.55
$GC,7265,0.64,146.0,2628,748,2128,2079,146.0,12.3,467,7270,0.05,2.42,0.00,0.000,5126,0.307,0.054,2608,2160,2101,2127,2075,0,0,0,0,0,0,14.33,14.47,14.47,6.23,51.26
$GC,7570,0.64,146.0,2608,2161,2128,2074,110.0,11.4,483,7574,0.00,2.45,0.00,0.000,4356,0.000,0.081,2608,3547,2100,2127,2074,0,0,0,0,0,0,14.77,14.47,14.77,6.23,50.47
$GC,7635,0.64,146.0,2608,3548,2128,2075,103.1,11.5,486,7639,0.00,2.35,0.00,0.000,5126,0.000,0.043,2617,2150,2100,2127,2074,0,0,0,0,0,0,14.59,14.52,14.60,6.22,50.43
$GC,7940,0.64,146.0,2617,2150,2128,2074,69.4,10.7,542,7945,0.00,2.47,0.00,0.000,4612,0.000,0.068,2628,742,2100,2127,2073,0,0,0,0,0,0,14.79,14.50,14.79,6.22,49.44
$GC,7975,0.64,146.0,2628,743,2127,2074,65.9,10.1,549,7981,0.05,2.40,0.00,0.000,5126,0.305,0.053,2608,2149,2099,2125,2073,0,0,0,0,0,0,14.40,14.54,14.54,6.20,49.21
$GC,8101,0.64,146.0,2609,2149,2127,2072,54.2,9.4,574,8105,0.00,2.45,0.00,0.000,4356,0.000,0.083,2608,3565,2099,2126,2072,0,0,0,0,0,0,14.79,14.54,14.79,6.22,48.93
$GC,8140,0.64,146.0,2609,3560,2127,2073,50.3,9.5,582,8144,0.00,2.38,0.00,0.000,5126,0.000,0.044,2617,2149,2099,2126,2072,0,0,0,0,0,0,14.58,14.53,14.60,6.21,48.85
$GC,8266,0.64,146.0,2617,2149,2127,2074,38.6,9.4,607,8269,0.00,0.00,0.00,0.000,4102,0.000,0.000,2617,2148,2098,2126,2071,0,0,0,0,0,0,14.80,14.80,14.80,6.20,48.66
$GC,8390,0.64,146.0,2617,2148,2127,2071,26.9,9.2,632,8394,0.00,2.47,0.00,0.000,4356,0.000,0.080,2617,3551,2099,2126,2072,0,0,0,0,0,0,14.81,14.50,14.81,6.20,49.56
$GC,8425,0.64,146.0,2616,3551,2127,2072,23.6,10.0,639,8430,0.05,2.35,0.00,0.000,5126,0.327,0.044,2608,2151,2099,2126,2072,0,0,0,0,0,0,14.40,14.57,14.54,6.19,50.03
$GC,8550,0.64,146.0,2609,2152,2127,2073,11.3,9.9,664,8555,0.00,2.47,0.00,0.000,4612,0.000,0.067,2619,742,2099,2126,2072,0,0,0,0,0,0,14.81,14.52,14.81,6.20,49.72
$GC,8590,0.66,165.1,2618,741,2125,2073,7.6,7.6,672,8606,0.00,2.42,11.88,0.278,13318,0.000,0.056,2618,2154,2046,2071,2022,0,0,0,0,0,0,14.58,14.52,14.40,6.20,50.00
$STATE,8639,end climb,SURFACE_DEPTH_REACHED
$STATE,8639,begin surface coast
$STATE,8670,end surface coast,CONTROL_FINISHED_OK
$STATE,8670,begin surface
$SM_CCo,8682,53.33,0.242,0,0,1823,220.03
$SM_GC,1.00,5.53,0.08,53.33,0.068,0.164,0.242,267,2078,1823,-6.50,1.10,220.03,0,0,0,0,0,0,14.61,14.57,14.36
$IRIDIUM_FIX,-6005.20,4.31,020119,120459
$TT8_MAMPS,0.038199,0.295106
$HUMID,49.29
$INTERNAL_PRESSURE,6.0992
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3832800
$24V_AH,13.33,37.317
$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,13.100,83.125,269.700,53.325,0.000,25.335,44.725,119.664,0.000,0.000,15.367,0.000,6894.334,423.804,1620.943,105.002,0.000,1062.558,0.000,1156.727,0.000,0.540,0.000
$DEVICE_MAMPS,473.535,2262.870,1578.960,241.740,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5080.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.729,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17313,688
$CAP_FILE_SIZE,94138,0
$CFSIZE,1023623168,1002569728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.032,173.86,1
$GPS,020119,170501,-6004.143,7.882,16,0.7,39,-19.8,0.6,216.4,10,7.2