version: 66.14
glider: 640
mission: 5
dive: 174
start: 1 2 119 19 40 15
data:
$ID,640
$MISSION,5
$DIVE,174
$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
$GPS1,020119,193519,-6004.6367,7.8271,15,0.7,39,-19.8,0.0,126.5,11,5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-67.0
$GPS2,020119,193956,-6004.6265,7.8707,10,1.1,21,-19.8,0.0,153.6,9,8.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,216.3,29372,-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,-146.0,234,2096,1803,1822,0.0,0.0,0,96,0.00,0.00,-83.82,0.000,16386,0.000,0.000,233,2096,3126,3207,3045,0,0,0,0,0,0,14.62,28.83,14.62,6.17,50.47
$GC,98,-0.64,-146.0,233,2095,3208,3047,3.0,-5.8,17,116,5.97,2.72,-7.62,0.000,18692,0.352,2.270,2176,3511,3316,3413,3219,0,0,0,0,0,0,14.19,13.33,14.37,6.28,49.37
$GC,176,-0.64,-146.0,2176,3512,3414,3222,14.1,-15.3,33,180,0.05,2.40,0.00,0.000,3078,0.356,0.044,2193,2099,3318,3413,3223,0,0,0,0,0,0,14.22,14.42,14.37,6.30,48.42
$GC,302,-0.64,-146.0,2193,2098,3414,3225,35.2,-17.0,58,306,0.00,2.42,0.00,0.000,2564,0.000,0.065,2193,696,3318,3413,3223,0,0,0,0,0,0,14.65,14.42,14.65,6.30,49.25
$GC,341,-0.64,-146.0,2192,696,3414,3221,41.9,-15.9,66,346,0.00,2.42,0.00,0.000,3078,0.000,0.057,2183,2099,3318,3413,3223,0,0,0,0,0,0,14.48,14.42,14.50,6.30,49.56
$GC,466,-0.64,-146.0,2187,2099,3414,3224,60.6,-14.4,91,470,0.00,2.50,0.00,0.000,2308,0.000,0.082,2172,3502,3318,3413,3223,0,0,0,0,0,0,14.69,14.42,14.69,6.30,49.29
$GC,551,-0.64,-146.0,2173,3502,3414,3223,73.8,-14.9,108,555,0.05,2.38,0.00,0.000,3078,0.358,0.042,2189,2092,3318,3413,3223,0,0,0,0,0,0,14.28,14.48,14.44,6.31,49.21
$GC,677,-0.64,-146.0,2189,2092,3413,3224,93.0,-15.2,133,680,0.00,2.40,0.00,0.000,2564,0.000,0.065,2189,699,3318,3413,3223,0,0,0,0,0,0,14.71,14.49,14.71,6.30,48.89
$GC,701,-0.64,-146.0,2189,700,3419,3223,96.9,-15.8,138,706,0.00,2.42,0.00,0.000,3078,0.000,0.057,2179,2099,3318,3413,3223,0,0,0,0,0,0,14.52,14.47,14.55,6.30,48.70
$GC,826,-0.64,-146.0,2180,2100,3414,3223,115.8,-15.1,148,830,0.00,2.50,0.00,0.000,2308,0.000,0.080,2169,3512,3318,3413,3223,0,0,0,0,0,0,14.74,14.47,14.74,6.29,48.66
$GC,851,-0.64,-146.0,2168,3513,3414,3224,118.6,-14.9,149,855,0.05,2.38,0.00,0.000,3078,0.360,0.044,2187,2105,3318,3413,3223,0,0,0,0,0,0,14.32,14.51,14.47,6.29,48.66
$GC,1166,-0.64,-146.0,2188,2105,3414,3224,160.6,-13.3,165,1170,0.00,2.45,0.00,0.000,2564,0.000,0.065,2186,700,3318,3413,3223,0,0,0,0,0,0,14.78,14.52,14.78,6.30,50.00
$GC,1321,-0.64,-146.0,2186,696,3414,3224,178.8,-12.6,172,1326,0.03,2.42,0.00,0.000,3078,0.464,0.056,2185,2109,3318,3413,3223,0,0,0,0,0,0,14.34,14.53,14.50,6.31,50.15
$GC,1626,-0.64,-146.0,2185,2110,3414,3223,220.1,-13.0,188,1631,0.00,2.45,0.00,0.000,2308,0.000,0.082,2175,3499,3318,3413,3223,0,0,0,0,0,0,14.81,14.53,14.81,6.32,51.49
$GC,1661,-0.64,-146.0,2175,3500,3413,3223,222.7,-13.1,189,1665,0.05,2.35,0.00,0.000,3078,0.359,0.043,2192,2098,3318,3413,3223,0,0,0,0,0,0,14.37,14.57,14.53,6.32,51.33
$GC,1966,-0.64,-146.0,2192,2098,3414,3224,262.5,-12.4,205,1970,0.00,2.42,0.00,0.000,2564,0.000,0.064,2191,701,3318,3413,3223,0,0,0,0,0,0,14.83,14.55,14.82,6.33,51.45
$GC,2041,-0.64,-146.0,2192,701,3414,3224,270.0,-12.4,208,2045,0.00,2.40,0.00,0.000,3078,0.000,0.056,2182,2104,3318,3413,3223,0,0,0,0,0,0,14.62,14.57,14.64,6.33,51.57
$GC,2346,-0.64,-146.0,2183,2105,3422,3223,310.2,-12.7,224,2350,0.00,2.45,0.00,0.000,2308,0.000,0.081,2171,3525,3318,3413,3223,0,0,0,0,0,0,14.83,14.57,14.83,6.33,51.53
$GC,2386,-0.64,-146.0,2172,3526,3413,3224,315.4,-12.8,226,2390,0.05,2.40,0.00,0.000,3078,0.350,0.042,2189,2090,3318,3413,3223,0,0,0,0,0,0,14.40,14.60,14.56,6.33,51.26
$STATE,2665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2665,begin apogee
$GC,2669,-0.15,0.0,2189,2161,3413,3224,350.1,-12.2,240,2800,0.45,0.00,127.90,1.580,10246,0.268,0.000,2351,2160,2716,2775,2657,0,0,0,0,0,0,14.45,13.93,13.33,6.33,51.41
$STATE,2801,end apogee,CONTROL_FINISHED_OK
$STATE,2801,begin loiter
$GC,3086,-0.15,0.0,2351,2161,2771,2644,346.9,3.1,261,3087,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2707,2771,2643,0,0,0,0,0,0,14.56,14.57,14.57,6.29,50.55
$GC,3386,-0.15,0.0,2351,2161,2772,2642,337.3,3.2,276,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2706,2771,2641,0,0,0,0,0,0,14.70,14.71,14.71,6.28,51.33
$GC,3686,-0.15,0.0,2351,2161,2771,2641,328.2,2.9,291,3687,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2705,2771,2640,0,0,0,0,0,0,14.79,14.80,14.79,6.28,51.37
$GC,3986,-0.15,0.0,2351,2161,2771,2639,319.0,3.1,306,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2161,2705,2771,2639,0,0,0,0,0,0,14.85,14.85,14.85,6.29,51.06
$GC,4286,-0.15,0.0,2352,2161,2772,2638,310.0,3.1,321,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.73
$GC,4586,-0.15,0.0,2352,2161,2772,2638,301.3,2.7,336,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2704,2771,2638,0,0,0,0,0,0,14.92,14.93,14.93,6.28,51.14
$GC,4886,-0.15,0.0,2352,2161,2772,2638,293.2,2.8,351,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2704,2771,2638,0,0,0,0,0,0,14.95,14.96,14.96,6.28,51.45
$GC,5186,-0.15,0.0,2352,2161,2772,2638,285.5,2.6,366,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2161,2704,2771,2637,0,0,0,0,0,0,14.97,14.98,14.98,6.28,51.14
$GC,5486,-0.15,0.0,2352,2161,2772,2638,277.8,2.6,381,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2704,2770,2638,0,0,0,0,0,0,14.99,15.00,15.00,6.28,51.14
$GC,5786,-0.15,0.0,2351,2161,2772,2639,269.7,2.6,396,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2704,2771,2638,0,0,0,0,0,0,15.01,15.02,15.02,6.29,51.85
$GC,6086,-0.15,0.0,2351,2161,2772,2639,261.8,2.6,411,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2704,2771,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.18
$STATE,6385,end loiter,LOITER_COMPLETE
$STATE,6385,begin climb
$GC,6386,0.64,146.0,2352,2160,2772,2638,254.8,0.0,426,6527,0.60,2.60,130.65,1.435,11012,0.175,0.068,2603,751,2117,2142,2092,0,0,0,0,0,0,14.69,13.99,13.45,6.28,51.81
$GC,6581,0.64,146.0,2604,751,2130,2087,243.2,8.5,435,6586,0.00,2.45,0.00,0.000,1030,0.000,0.054,2604,2136,2110,2135,2086,0,0,0,0,0,0,14.18,14.13,14.20,6.24,49.05
$GC,6886,0.64,146.0,2605,2137,2133,2077,206.8,11.8,451,6891,0.00,2.53,0.00,0.000,260,0.000,0.083,2604,3563,2103,2132,2075,0,0,0,0,0,0,14.59,14.32,14.59,6.23,50.19
$GC,6971,0.64,146.0,2604,3564,2133,2071,197.3,11.8,455,6975,0.00,2.40,0.00,0.000,5126,0.000,0.043,2614,2153,2104,2132,2077,0,0,0,0,0,0,14.44,14.40,14.47,6.23,50.70
$GC,7286,0.64,146.0,2614,2154,2131,2076,156.2,13.5,471,7290,0.00,2.50,0.00,0.000,4612,0.000,0.068,2625,740,2102,2130,2075,0,0,0,0,0,0,14.71,14.42,14.71,6.23,50.70
$GC,7321,0.64,146.0,2626,741,2128,2075,153.5,13.5,472,7326,0.05,2.42,0.00,0.000,5126,0.301,0.054,2606,2153,2101,2127,2075,0,0,0,0,0,0,14.33,14.52,14.47,6.23,50.63
$GC,7626,0.64,146.0,2607,2153,2128,2073,113.5,12.1,488,7630,0.00,2.47,0.00,0.000,516,0.000,0.067,2615,751,2100,2127,2073,0,0,0,0,0,0,14.77,14.47,14.77,6.23,50.07
$GC,7666,0.64,146.0,2616,752,2126,2073,109.0,11.6,490,7670,0.00,2.40,0.00,0.000,5126,0.000,0.054,2615,2147,2099,2126,2073,0,0,0,0,0,0,14.55,14.50,14.57,6.23,50.90
$GC,7971,0.64,146.0,2616,2147,2127,2072,73.8,11.6,539,7975,0.00,2.50,0.00,0.000,4356,0.000,0.083,2615,3557,2099,2126,2072,0,0,0,0,0,0,14.79,14.51,14.79,6.21,49.29
$GC,8061,0.64,146.0,2616,3557,2127,2072,63.0,11.4,557,8066,0.05,2.38,0.00,0.000,5126,0.328,0.042,2607,2145,2099,2126,2072,0,0,0,0,0,0,14.39,14.56,14.54,6.20,48.81
$GC,8187,0.72,217.0,2608,2145,2127,2071,52.7,5.6,582,8257,0.00,2.47,65.05,1.237,10756,0.000,0.066,2617,745,1829,1845,1814,0,0,0,0,0,0,14.80,14.12,13.69,6.21,49.13
$GC,8282,0.80,278.8,2618,746,1840,1813,49.1,6.0,601,8347,0.08,2.45,58.42,1.189,11270,0.213,0.062,2681,2153,1575,1572,1579,0,0,0,0,0,0,14.23,14.23,13.50,6.12,48.42
$GC,8466,0.80,278.8,2683,2154,1574,1564,21.8,15.7,638,8470,0.08,2.50,0.00,0.000,4356,0.389,0.076,2660,3558,1567,1573,1562,0,0,0,0,0,0,14.08,14.19,14.27,6.15,48.03
$GC,8577,0.80,278.8,2660,3558,1573,1559,6.5,17.2,660,8581,0.03,2.40,0.00,0.000,5126,0.585,0.049,2661,2145,1565,1573,1558,0,0,0,0,0,0,14.16,14.30,14.35,6.15,48.97
$STATE,8600,end climb,SURFACE_DEPTH_REACHED
$STATE,8600,begin surface coast
$STATE,8620,end surface coast,CONTROL_FINISHED_OK
$STATE,8620,begin surface
$SM_CCo,8693,0.00,0.000,0,0,1561,284.30
$SM_GC,0.90,6.10,0.05,0.00,0.148,0.214,0.000,231,2083,1561,-6.50,1.05,284.30,0,0,0,0,0,0,14.38,14.32,14.41
$IRIDIUM_FIX,-6005.19,8.63,020119,170644
$TT8_MAMPS,0.039697,0.364763
$HUMID,49.37
$INTERNAL_PRESSURE,6.0992
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3831776
$24V_AH,13.33,37.701
$10V_AH,13.64,0.000
$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,13.675,78.525,382.025,0.000,0.000,30.876,18.159,106.008,0.000,0.000,23.037,0.000,6872.982,446.848,1549.519,103.726,0.000,1086.446,0.000,1121.028,0.000,0.539,0.000
$DEVICE_MAMPS,585.225,2269.755,1579.725,0.000,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5032.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.782,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,17355,669
$CAP_FILE_SIZE,89734,0
$CFSIZE,1023623168,1002373120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.006,134.57,1
$GPS,020119,220601,-6005.004,8.011,14,0.7,32,-19.8,0.6,354.0,11,7.0