version: 66.14
glider: 640
mission: 5
dive: 173
start: 1 2 119 17 10 22
data:
$ID,640
$MISSION,5
$DIVE,173
$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,54
$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
$GPS1,020119,170501,-6004.1431,7.8818,16,0.7,39,-19.8,0.6,216.4,10,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-66.3
$GPS2,020119,171004,-6004.1499,7.9320,13,0.7,20,-19.8,1.1,86.8,10,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,216.2,30241,-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,-146.0,233,2077,1800,1822,0.0,0.0,0,96,0.00,0.00,-83.72,0.000,16386,0.000,0.000,232,2077,3125,3204,3046,0,0,0,0,0,0,14.64,28.83,14.62,6.17,50.23
$GC,98,-0.64,-146.0,233,2077,3205,3045,3.1,-5.7,17,116,6.00,2.75,-7.53,0.000,18692,0.359,2.269,2174,3505,3316,3412,3221,0,0,0,0,0,0,14.21,13.33,14.38,6.27,49.92
$GC,211,-0.64,-146.0,2175,3505,3414,3223,23.1,-15.2,40,215,0.05,2.35,0.00,0.000,3078,0.355,0.043,2191,2125,3314,3406,3222,0,0,0,0,0,0,14.23,14.40,14.38,6.30,48.58
$GC,337,-0.64,-146.0,2193,2123,3413,3223,43.4,-17.1,65,341,0.00,2.47,0.00,0.000,2564,0.000,0.065,2192,692,3318,3413,3223,0,0,0,0,0,0,14.66,14.43,14.66,6.31,48.89
$GC,356,-0.64,-146.0,2192,688,3413,3225,47.0,-17.8,69,360,0.00,2.45,0.00,0.000,3078,0.000,0.057,2182,2099,3318,3413,3223,0,0,0,0,0,0,14.47,14.42,14.50,6.30,48.77
$GC,481,-0.64,-146.0,2182,2100,3413,3224,66.6,-16.2,94,486,0.00,2.50,0.00,0.000,2308,0.000,0.082,2171,3530,3318,3413,3223,0,0,0,0,0,0,14.69,14.43,14.69,6.30,49.37
$GC,546,-0.64,-146.0,2173,3532,3413,3224,76.8,-15.1,107,550,0.05,2.42,0.00,0.000,3078,0.350,0.044,2188,2097,3317,3412,3223,0,0,0,0,0,0,14.28,14.47,14.44,6.30,49.60
$GC,672,-0.64,-146.0,2189,2096,3414,3223,94.7,-13.7,132,675,0.00,2.42,0.00,0.000,2564,0.000,0.066,2188,694,3314,3412,3217,0,0,0,0,0,0,14.71,14.47,14.71,6.30,49.29
$GC,721,-0.64,-146.0,2189,695,3414,3223,100.3,-14.1,140,726,0.00,2.42,0.00,0.000,3078,0.000,0.057,2179,2099,3318,3412,3224,0,0,0,0,0,0,14.53,14.47,14.55,6.30,48.93
$GC,1031,-0.64,-146.0,2178,2099,3413,3224,142.6,-13.3,156,1035,0.03,2.45,0.00,0.000,2564,0.633,0.064,2188,698,3318,3413,3223,0,0,0,0,0,0,14.36,14.50,14.55,6.29,50.07
$GC,1086,-0.64,-146.0,2189,698,3414,3223,148.0,-13.5,158,1091,0.00,2.42,0.00,0.000,3078,0.000,0.056,2179,2104,3317,3412,3223,0,0,0,0,0,0,14.57,14.52,14.59,6.30,49.60
$GC,1391,-0.64,-146.0,2179,2105,3413,3224,190.1,-13.1,174,1396,0.00,2.47,0.00,0.000,2308,0.000,0.082,2168,3508,3317,3412,3223,0,0,0,0,0,0,14.80,14.52,14.80,6.31,51.02
$GC,1436,-0.64,-146.0,2168,3508,3413,3225,195.3,-13.1,176,1440,0.08,2.38,0.00,0.000,3078,0.330,0.044,2195,2088,3317,3412,3223,0,0,0,0,0,0,14.38,14.56,14.52,6.31,50.70
$GC,1751,-0.64,-146.0,2195,2089,3412,3224,233.8,-11.9,192,1755,0.00,2.42,0.00,0.000,516,0.000,0.064,2194,699,3318,3413,3223,0,0,0,0,0,0,14.81,14.55,14.82,6.32,50.90
$GC,1816,-0.64,-146.0,2195,700,3413,3223,241.1,-12.0,195,1821,0.00,2.40,0.00,0.000,3078,0.000,0.056,2181,2102,3317,3411,3223,0,0,0,0,0,0,14.62,14.56,14.64,6.32,51.02
$GC,2131,-0.64,-146.0,2185,2102,3413,3224,281.3,-12.8,211,2135,0.00,2.47,0.00,0.000,2308,0.000,0.081,2175,3508,3317,3412,3223,0,0,0,0,0,0,14.83,14.55,14.83,6.33,50.98
$GC,2166,-0.64,-146.0,2175,3509,3412,3225,283.9,-12.9,212,2170,0.05,2.35,0.00,0.000,3078,0.357,0.043,2192,2100,3317,3412,3223,0,0,0,0,0,0,14.39,14.59,14.54,6.33,51.41
$GC,2471,-0.64,-146.0,2192,2099,3413,3223,323.9,-12.4,228,2475,0.00,2.45,0.00,0.000,516,0.000,0.066,2192,694,3317,3412,3223,0,0,0,0,0,0,14.83,14.58,14.84,6.33,52.08
$GC,2546,-0.64,-146.0,2192,695,3413,3224,331.4,-12.6,231,2551,0.00,2.40,0.00,0.000,3078,0.000,0.055,2182,2097,3317,3412,3223,0,0,0,0,0,0,14.64,14.59,14.66,6.33,51.57
$STATE,2690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2690,begin apogee
$GC,2693,-0.15,0.0,2183,2185,3413,3223,351.2,-12.7,239,2824,0.47,0.00,127.53,1.581,10246,0.268,0.000,2351,2184,2719,2778,2660,0,0,0,0,0,0,14.45,13.93,13.33,6.34,51.69
$STATE,2825,end apogee,CONTROL_FINISHED_OK
$STATE,2825,begin loiter
$GC,3111,-0.15,0.0,2352,2185,2773,2644,347.8,3.2,260,3112,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2185,2707,2771,2644,0,0,0,0,0,0,14.56,14.57,14.57,6.29,51.06
$GC,3411,-0.15,0.0,2352,2184,2772,2644,338.4,3.2,275,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2184,2707,2772,2642,0,0,0,0,0,0,14.71,14.71,14.71,6.29,51.41
$GC,3711,-0.15,0.0,2352,2185,2772,2642,328.9,3.2,290,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2184,2706,2772,2641,0,0,0,0,0,0,14.79,14.79,14.79,6.28,50.78
$GC,4011,-0.15,0.0,2352,2185,2773,2639,319.6,3.1,305,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2184,2706,2772,2640,0,0,0,0,0,0,14.85,14.85,14.85,6.29,50.82
$GC,4311,-0.15,0.0,2352,2185,2773,2640,310.1,3.1,320,4312,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2184,2706,2772,2640,0,0,0,0,0,0,14.89,14.90,14.90,6.28,51.18
$GC,4611,-0.15,0.0,2352,2185,2773,2639,300.8,3.1,335,4612,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2184,2705,2771,2639,0,0,0,0,0,0,14.92,14.93,14.93,6.28,51.73
$GC,4911,-0.15,0.0,2351,2185,2771,2640,290.8,3.4,350,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2184,2705,2771,2639,0,0,0,0,0,0,14.95,14.96,14.96,6.28,51.18
$GC,5211,-0.15,0.0,2352,2185,2773,2639,280.3,3.6,365,5212,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2185,2705,2771,2639,0,0,0,0,0,0,14.97,14.98,14.98,6.28,51.06
$GC,5511,-0.15,0.0,2352,2185,2772,2640,269.4,3.6,380,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2184,2705,2772,2639,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.37
$GC,5811,-0.15,0.0,2352,2185,2773,2639,258.7,3.5,395,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2184,2705,2772,2638,0,0,0,0,0,0,15.01,15.02,15.01,6.28,51.37
$GC,6111,-0.15,0.0,2352,2185,2772,2640,248.1,3.5,410,6112,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2184,2704,2771,2638,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.10
$STATE,6410,end loiter,LOITER_COMPLETE
$STATE,6410,begin climb
$GC,6411,0.64,146.0,2352,2185,2773,2640,237.6,0.0,425,6550,0.60,2.62,131.20,1.404,11012,0.174,0.066,2604,751,2117,2142,2092,0,0,0,0,0,0,14.69,14.00,13.47,6.28,51.53
$GC,6581,0.64,146.0,2605,752,2139,2088,225.9,9.1,433,6585,0.00,2.42,0.00,0.000,1030,0.000,0.052,2604,2122,2113,2138,2088,0,0,0,0,0,0,14.13,14.08,14.16,6.24,49.05
$GC,6891,0.64,146.0,2605,2123,2133,2079,186.2,12.4,449,6895,0.00,2.58,0.00,0.000,260,0.000,0.083,2605,3556,2105,2132,2078,0,0,0,0,0,0,14.59,14.31,14.59,6.24,50.31
$GC,6986,0.64,146.0,2605,3557,2133,2079,176.5,12.1,453,6990,0.00,2.38,0.00,0.000,5126,0.000,0.043,2615,2156,2105,2132,2078,0,0,0,0,0,0,14.44,14.40,14.46,6.24,50.35
$GC,7291,0.64,146.0,2616,2157,2132,2075,136.6,13.0,469,7295,0.00,2.50,0.00,0.000,4612,0.000,0.067,2626,738,2107,2130,2084,0,0,0,0,0,0,14.71,14.42,14.71,6.23,50.74
$GC,7326,0.64,146.0,2627,739,2128,2077,134.2,12.8,470,7330,0.05,2.45,0.00,0.000,5126,0.304,0.054,2607,2165,2102,2128,2076,0,0,0,0,0,0,14.33,14.46,14.47,6.23,50.55
$GC,7632,0.64,146.0,2608,2165,2129,2074,96.9,10.8,489,7636,0.00,2.47,0.00,0.000,4612,0.000,0.067,2617,737,2101,2128,2074,0,0,0,0,0,0,14.76,14.50,14.81,6.22,49.84
$GC,7651,0.64,146.0,2617,738,2128,2076,94.7,10.4,493,7656,0.00,2.40,0.00,0.000,5126,0.000,0.054,2617,2137,2100,2127,2074,0,0,0,0,0,0,14.55,14.50,14.58,6.22,50.00
$GC,7777,0.64,146.0,2618,2136,2128,2073,81.2,11.0,518,7780,0.00,2.47,0.00,0.000,4356,0.000,0.085,2616,3553,2100,2127,2074,0,0,0,0,0,0,14.76,14.51,14.77,6.22,49.56
$GC,7831,0.64,146.0,2617,3555,2128,2075,74.8,11.1,529,7836,0.05,2.38,0.00,0.000,5126,0.332,0.043,2609,2143,2100,2127,2074,0,0,0,0,0,0,14.36,14.54,14.51,6.21,49.21
$GC,7957,0.64,146.0,2609,2142,2128,2073,62.2,10.1,554,7961,0.00,2.42,0.00,0.000,4612,0.000,0.068,2619,736,2099,2126,2073,0,0,0,0,0,0,14.78,14.54,14.78,6.21,49.13
$GC,7996,0.64,146.0,2619,736,2127,2073,58.3,9.5,562,8000,0.00,2.42,0.00,0.000,5126,0.000,0.055,2618,2147,2099,2127,2072,0,0,0,0,0,0,14.60,14.54,14.62,6.21,48.85
$GC,8122,0.64,146.0,2619,2148,2127,2072,45.8,9.7,587,8126,0.00,2.47,0.00,0.000,4356,0.000,0.084,2619,3564,2099,2126,2073,0,0,0,0,0,0,14.78,14.50,14.79,6.20,48.89
$GC,8226,0.64,146.0,2620,3564,2127,2073,35.4,10.1,608,8230,0.05,2.38,0.00,0.000,5126,0.332,0.043,2610,2149,2099,2126,2073,0,0,0,0,0,0,14.39,14.56,14.54,6.20,49.56
$GC,8351,0.64,146.0,2610,2150,2127,2072,22.9,11.2,633,8356,0.00,2.47,0.00,0.000,4612,0.000,0.069,2619,741,2099,2126,2072,0,0,0,0,0,0,14.80,14.52,14.84,6.20,50.03
$GC,8406,0.67,171.4,2620,749,2126,2070,17.7,7.4,644,8430,0.00,2.42,18.42,0.330,13318,0.000,0.056,2620,2153,2016,2039,1994,0,0,0,0,0,0,14.61,14.55,14.34,6.20,50.31
$STATE,8550,end climb,SURFACE_DEPTH_REACHED
$STATE,8550,begin surface coast
$STATE,8575,end surface coast,CONTROL_FINISHED_OK
$STATE,8575,begin surface
$SM_CCo,8588,46.78,0.245,0,0,1821,220.03
$SM_GC,1.32,5.62,0.08,46.78,0.088,0.169,0.245,250,2097,1821,-6.50,1.07,220.03,0,0,0,0,0,0,14.59,14.55,14.35
$IRIDIUM_FIX,-6002.25,8.62,020119,143446
$TT8_MAMPS,0.038948,0.325815
$HUMID,49.56
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3832288
$24V_AH,13.33,37.491
$10V_AH,13.29,0.000
$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,13.100,83.475,277.150,46.775,0.000,25.170,39.672,111.612,0.000,0.000,21.857,0.000,6846.316,437.705,1551.181,106.259,0.000,1042.670,0.000,1095.559,0.000,0.539,0.000
$DEVICE_MAMPS,632.655,2268.990,1581.255,244.800,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4985.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.902,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17357,678
$CAP_FILE_SIZE,91248,0
$CFSIZE,1023623168,1002471424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.018,161.80,1
$GPS,020119,193519,-6004.637,7.827,15,0.7,39,-19.8,0.0,126.5,11,5.6