version: 66.14
glider: 640
mission: 5
dive: 178
start: 1 3 119 5 50 19
data:
$ID,640
$MISSION,5
$DIVE,178
$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,51
$R_STBD_OVSHOOT,26
$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
$GPS1,030119,054248,-6006.6768,7.4442,13,2.7,53,-19.8,0.8,340.7,4,10.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-60.1
$GPS2,030119,055001,-6006.7139,7.5441,21,0.8,50,-19.8,0.4,27.5,10,6.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,220.4,25559,-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,-146.0,234,2081,1798,1820,0.0,0.0,0,101,0.00,0.00,-88.25,0.000,16386,0.000,0.000,233,2080,3182,3262,3102,0,0,0,0,0,0,14.62,28.83,14.63,6.17,50.43
$GC,103,-0.64,-146.0,233,2080,3263,3103,3.3,-6.9,18,121,6.10,2.80,-5.03,0.000,18692,0.374,2.267,2172,3504,3315,3407,3223,0,0,0,0,0,0,14.19,13.34,14.38,6.28,49.56
$GC,212,-0.64,-146.0,2173,3504,3410,3223,21.1,-15.6,40,216,0.08,2.33,0.00,0.000,3078,0.385,0.041,2197,2113,3316,3409,3223,0,0,0,0,0,0,14.23,14.42,14.44,6.30,49.25
$GC,337,-0.64,-146.0,2197,2112,3410,3223,41.3,-16.0,65,340,0.00,2.47,0.00,0.000,516,0.000,0.063,2199,691,3316,3409,3223,0,0,0,0,0,0,14.64,14.42,14.64,6.30,48.85
$GC,356,-0.64,-146.0,2196,692,3411,3223,44.6,-16.4,69,360,0.00,2.47,0.00,0.000,3078,0.000,0.059,2187,2106,3316,3409,3223,0,0,0,0,0,0,14.47,14.40,14.49,6.29,48.97
$GC,481,-0.64,-146.0,2187,2107,3410,3224,63.4,-15.7,94,485,0.00,2.47,0.00,0.000,2308,0.000,0.083,2176,3500,3316,3409,3223,0,0,0,0,0,0,14.67,14.41,14.68,6.30,49.21
$GC,596,-0.64,-146.0,2177,3501,3410,3225,80.3,-14.0,117,600,0.03,2.38,0.00,0.000,3078,0.452,0.042,2184,2092,3315,3408,3223,0,0,0,0,0,0,14.27,14.47,14.40,6.29,49.60
$GC,722,-0.64,-146.0,2185,2092,3410,3223,98.5,-15.2,142,725,0.00,2.40,0.00,0.000,2564,0.000,0.064,2184,699,3316,3409,3223,0,0,0,0,0,0,14.71,14.48,14.71,6.29,48.62
$GC,786,-0.64,-146.0,2184,698,3410,3223,107.7,-15.1,147,790,0.03,2.42,0.00,0.000,3078,0.466,0.056,2191,2100,3316,3409,3223,0,0,0,0,0,0,14.28,14.47,14.45,6.29,48.77
$GC,1101,-0.64,-146.0,2183,2101,3410,3223,152.6,-13.8,163,1105,0.00,2.42,0.00,0.000,2564,0.000,0.063,2182,688,3316,3409,3223,0,0,0,0,0,0,14.77,14.52,14.76,6.30,49.29
$GC,1131,-0.64,-146.0,2180,689,3410,3224,155.4,-13.7,164,1136,0.05,2.45,0.00,0.000,3078,0.365,0.057,2188,2105,3316,3410,3223,0,0,0,0,0,0,14.34,14.52,14.49,6.29,49.68
$GC,1441,-0.64,-146.0,2189,2105,3410,3223,198.8,-13.6,180,1442,0.00,0.00,0.00,0.000,2054,0.000,0.000,2189,2105,3316,3409,3223,0,0,0,0,0,0,14.79,14.80,14.79,6.31,51.26
$GC,1741,-0.64,-146.0,2189,2105,3409,3224,238.8,-13.3,195,1745,0.00,2.45,0.00,0.000,2564,0.000,0.063,2189,698,3316,3409,3223,0,0,0,0,0,0,14.82,14.56,14.82,6.32,51.45
$GC,1761,-0.64,-146.0,2188,699,3410,3224,241.6,-13.4,196,1765,0.00,2.40,0.00,0.000,3078,0.000,0.056,2179,2099,3316,3409,3223,0,0,0,0,0,0,14.62,14.57,14.64,6.32,51.18
$GC,2081,-0.64,-146.0,2179,2100,3410,3224,285.2,-13.6,212,2085,0.00,2.47,0.00,0.000,2308,0.000,0.082,2168,3499,3316,3409,3223,0,0,0,0,0,0,14.83,14.55,14.83,6.33,51.22
$GC,2116,-0.64,-146.0,2169,3502,3410,3223,288.0,-13.6,213,2120,0.05,2.33,0.00,0.000,3078,0.365,0.042,2185,2111,3316,3409,3223,0,0,0,0,0,0,14.38,14.59,14.54,6.33,51.45
$GC,2421,-0.64,-146.0,2186,2110,3410,3223,329.7,-12.8,229,2425,0.00,2.45,0.00,0.000,2564,0.000,0.063,2185,699,3316,3409,3223,0,0,0,0,0,0,14.84,14.58,14.84,6.33,51.61
$GC,2506,-0.64,-146.0,2186,699,3410,3223,339.9,-12.7,233,2510,0.05,2.40,0.00,0.000,3078,0.365,0.055,2192,2102,3316,3409,3223,0,0,0,0,0,0,14.39,14.57,14.55,6.33,51.22
$STATE,2600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2600,begin apogee
$GC,2604,-0.15,0.0,2193,2165,3410,3223,351.8,-11.9,238,2735,0.45,0.00,127.97,1.584,10246,0.270,0.000,2353,2165,2714,2773,2656,0,0,0,0,0,0,14.44,13.93,13.33,6.34,51.45
$STATE,2736,end apogee,CONTROL_FINISHED_OK
$STATE,2736,begin loiter
$GC,3021,-0.15,0.0,2353,2165,2772,2643,348.0,3.3,259,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2707,2771,2643,0,0,0,0,0,0,14.56,14.57,14.56,6.28,50.59
$GC,3321,-0.15,0.0,2353,2165,2771,2642,337.4,3.6,274,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2165,2706,2771,2641,0,0,0,0,0,0,14.70,14.71,14.71,6.29,51.37
$GC,3621,-0.15,0.0,2353,2165,2772,2640,326.8,3.4,289,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2165,2705,2771,2640,0,0,0,0,0,0,14.79,14.79,14.79,6.28,50.98
$GC,3921,-0.15,0.0,2353,2165,2772,2640,316.5,3.4,304,3922,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2165,2705,2770,2640,0,0,0,0,0,0,14.85,14.85,14.85,6.29,51.26
$GC,4221,-0.15,0.0,2353,2165,2772,2640,306.8,3.1,319,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2705,2771,2640,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.41
$GC,4521,-0.15,0.0,2353,2166,2771,2641,297.3,3.2,334,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2705,2771,2640,0,0,0,0,0,0,14.92,14.93,14.93,6.28,51.41
$GC,4821,-0.15,0.0,2353,2165,2772,2640,287.8,3.2,349,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2705,2771,2640,0,0,0,0,0,0,14.95,14.96,14.96,6.28,51.22
$GC,5121,-0.15,0.0,2352,2166,2771,2641,278.1,3.3,364,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2705,2771,2640,0,0,0,0,0,0,14.97,14.98,14.98,6.28,51.85
$GC,5421,-0.15,0.0,2353,2166,2772,2641,268.2,3.4,379,5422,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2165,2705,2771,2640,0,0,0,0,0,0,14.99,15.00,15.00,6.28,51.81
$GC,5721,-0.15,0.0,2353,2165,2772,2640,258.6,3.1,394,5722,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2705,2771,2640,0,0,0,0,0,0,15.01,15.01,15.01,6.28,51.65
$GC,6021,-0.15,0.0,2353,2165,2772,2640,249.6,3.0,409,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2165,2706,2771,2641,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.33
$STATE,6320,end loiter,LOITER_COMPLETE
$STATE,6320,begin climb
$GC,6321,0.64,146.0,2353,2166,2772,2642,240.3,0.0,424,6462,0.60,2.58,131.00,1.414,10500,0.180,0.085,2593,3547,2118,2145,2092,0,0,0,0,0,0,14.68,13.99,13.47,6.28,51.22
$GC,6486,0.64,146.0,2594,3548,2145,2091,229.5,8.5,432,6490,0.00,2.42,0.00,0.000,1030,0.000,0.041,2604,2159,2115,2143,2088,0,0,0,0,0,0,14.12,14.09,14.16,6.24,49.60
$GC,6801,0.64,146.0,2605,2159,2136,2078,190.9,12.2,448,6806,0.00,2.53,0.00,0.000,516,0.000,0.067,2614,747,2105,2134,2077,0,0,0,0,0,0,14.59,14.31,14.59,6.24,50.00
$GC,6836,0.64,146.0,2615,747,2132,2078,188.5,12.2,449,6840,0.00,2.40,0.00,0.000,5126,0.000,0.054,2615,2128,2104,2131,2077,0,0,0,0,0,0,14.42,14.36,14.43,6.24,50.66
$GC,7141,0.64,146.0,2616,2129,2131,2077,148.0,12.5,465,7145,0.00,2.55,0.00,0.000,4356,0.000,0.083,2616,3554,2103,2131,2076,0,0,0,0,0,0,14.69,14.40,14.70,6.24,50.94
$GC,7231,0.64,146.0,2616,3554,2132,2075,138.1,12.4,469,7235,0.05,2.38,0.00,0.000,5126,0.341,0.043,2608,2148,2103,2130,2076,0,0,0,0,0,0,14.28,14.45,14.43,6.23,50.55
$GC,7541,0.64,146.0,2609,2147,2131,2074,103.5,11.2,485,7545,0.00,2.47,0.00,0.000,4612,0.000,0.067,2618,741,2102,2130,2074,0,0,0,0,0,0,14.78,14.47,14.76,6.22,50.03
$GC,7631,0.64,146.0,2618,742,2129,2073,94.0,10.1,497,7636,0.00,2.42,0.00,0.000,5126,0.000,0.054,2618,2156,2100,2127,2073,0,0,0,0,0,0,14.57,14.50,14.57,6.22,49.76
$GC,7757,0.64,146.0,2618,2157,2128,2074,80.8,10.5,522,7760,0.00,2.45,0.00,0.000,4356,0.000,0.086,2618,3559,2100,2128,2073,0,0,0,0,0,0,14.77,14.52,14.78,6.21,48.93
$GC,7811,0.64,146.0,2618,3559,2128,2074,74.7,10.5,533,7816,0.05,2.38,0.00,0.000,5126,0.335,0.043,2609,2148,2100,2127,2073,0,0,0,0,0,0,14.35,14.52,14.50,6.21,49.60
$GC,7937,0.64,146.0,2609,2148,2128,2072,63.0,9.2,558,7941,0.00,2.42,0.00,0.000,4612,0.000,0.067,2619,743,2099,2127,2072,0,0,0,0,0,0,14.78,14.54,14.78,6.14,49.05
$GC,7966,0.64,146.0,2619,744,2127,2074,60.3,9.0,564,7971,0.03,2.42,0.00,0.000,5126,0.399,0.054,2608,2156,2099,2127,2072,0,0,0,0,0,0,14.37,14.53,14.52,6.21,49.05
$GC,8091,0.64,146.0,2609,2156,2128,2071,49.0,9.1,589,8096,0.00,2.47,0.00,0.000,4356,0.000,0.084,2608,3551,2099,2127,2072,0,0,0,0,0,0,14.79,14.49,14.79,6.19,49.56
$GC,8176,0.64,146.0,2608,3551,2127,2073,41.1,9.5,606,8181,0.00,2.35,0.00,0.000,5126,0.000,0.043,2617,2152,2099,2127,2072,0,0,0,0,0,0,14.61,14.56,14.62,6.20,48.97
$GC,8302,0.64,146.0,2618,2152,2128,2071,29.8,9.1,631,8306,0.00,2.42,0.00,0.000,4612,0.000,0.067,2628,744,2099,2127,2071,0,0,0,0,0,0,14.80,14.55,14.80,6.21,49.56
$GC,8341,0.66,166.1,2629,744,2127,2071,26.7,7.6,639,8360,0.05,2.42,13.30,1.283,13318,0.308,0.057,2609,2150,2038,2063,2013,0,0,0,0,0,0,14.38,14.52,13.91,6.20,50.03
$GC,8481,0.66,166.1,2608,2151,2063,2012,14.0,9.1,667,8485,0.00,2.50,0.00,0.000,260,0.000,0.084,2609,3551,2036,2062,2011,0,0,0,0,0,0,14.73,14.43,14.73,6.19,49.44
$GC,8536,0.66,166.1,2609,3553,2063,2012,8.5,10.2,678,8540,0.00,2.38,0.00,0.000,5126,0.000,0.044,2618,2143,2036,2062,2011,0,0,0,0,0,0,14.56,14.50,14.57,6.19,50.51
$STATE,8585,end climb,SURFACE_DEPTH_REACHED
$STATE,8585,begin surface coast
$STATE,8610,end surface coast,CONTROL_FINISHED_OK
$STATE,8610,begin surface
$SM_CCo,8622,51.35,0.244,0,0,1823,220.03
$SM_GC,1.03,5.47,0.05,51.35,0.062,0.212,0.244,272,2082,1823,-6.45,0.99,220.03,0,0,0,0,0,0,14.60,14.53,14.33
$IRIDIUM_FIX,-6007.06,8.64,030119,054431
$TT8_MAMPS,0.039697,0.363265
$HUMID,49.52
$INTERNAL_PRESSURE,6.10897
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3829728
$24V_AH,13.33,38.415
$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,13.075,83.225,272.275,51.350,0.000,50.818,56.528,112.070,0.000,0.000,51.127,0.000,6920.238,424.593,1656.173,108.951,0.000,1051.608,0.000,1127.092,0.000,0.539,0.000
$DEVICE_MAMPS,465.885,2266.695,1584.315,244.035,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5021.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.751,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17380,693
$CAP_FILE_SIZE,93392,0
$CFSIZE,1023623168,1001979904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.037,132.05,1
$GPS,030119,081558,-6007.195,7.563,17,1.0,43,-19.8,0.3,113.0,10,8.8