version: 66.14
glider: 640
mission: 5
dive: 179
start: 1 3 119 8 21 33
data:
$ID,640
$MISSION,5
$DIVE,179
$N_DIVES,300
$STOP_T,1101912
$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,50
$R_STBD_OVSHOOT,28
$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
$GPS1,030119,081558,-6007.1953,7.5629,17,1.0,43,-19.8,0.3,113.0,10,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-64.0
$GPS2,030119,082114,-6007.1978,7.6302,14,0.8,21,-19.8,0.9,234.5,11,9.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,224.1,24720,-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,-146.0,234,2080,1799,1822,0.0,0.0,0,106,0.00,0.00,-93.07,0.000,16386,0.000,0.000,233,2080,3265,3346,3185,0,0,0,0,0,0,14.59,28.83,14.59,6.17,50.51
$GC,108,-0.64,-146.0,234,2081,3347,3185,3.6,-8.3,19,122,6.05,2.75,-1.88,0.000,18692,0.367,2.258,2165,3499,3317,3406,3228,0,0,0,0,0,0,14.18,13.33,14.35,6.29,49.68
$GC,241,-0.64,-146.0,2165,3499,3409,3229,26.3,-16.0,46,245,0.08,2.35,0.00,0.000,3078,0.312,0.042,2192,2125,3318,3409,3228,0,0,0,0,0,0,14.23,14.39,14.36,6.29,48.74
$GC,367,-0.64,-146.0,2192,2124,3410,3228,45.8,-14.5,71,370,0.00,2.47,0.00,0.000,2564,0.000,0.064,2192,692,3319,3410,3228,0,0,0,0,0,0,14.64,14.41,14.64,6.30,49.13
$GC,386,-0.64,-146.0,2192,690,3410,3228,48.6,-13.6,75,390,0.00,2.45,0.00,0.000,3078,0.000,0.057,2182,2095,3318,3409,3228,0,0,0,0,0,0,14.46,14.40,14.48,6.30,48.89
$GC,511,-0.64,-146.0,2183,2096,3410,3229,66.5,-15.1,100,515,0.00,2.53,0.00,0.000,2308,0.000,0.084,2172,3511,3318,3409,3228,0,0,0,0,0,0,14.68,14.40,14.68,6.30,49.37
$GC,611,-0.64,-146.0,2172,3511,3410,3229,81.8,-15.3,120,615,0.05,2.40,0.00,0.000,3078,0.353,0.043,2189,2096,3318,3409,3228,0,0,0,0,0,0,14.28,14.47,14.44,6.30,49.25
$GC,737,-0.64,-146.0,2190,2096,3411,3228,100.5,-14.8,145,741,0.00,2.42,0.00,0.000,2564,0.000,0.066,2189,689,3318,3408,3228,0,0,0,0,0,0,14.71,14.47,14.71,6.39,48.46
$GC,781,-0.64,-146.0,2189,689,3410,3228,106.4,-14.9,147,785,0.00,2.47,0.00,0.000,3078,0.000,0.059,2179,2112,3318,3409,3228,0,0,0,0,0,0,14.53,14.46,14.54,6.30,49.37
$GC,1096,-0.64,-146.0,2180,2113,3411,3228,153.7,-14.9,163,1100,0.00,2.47,0.00,0.000,2564,0.000,0.064,2179,698,3318,3409,3228,0,0,0,0,0,0,14.76,14.50,14.77,6.30,49.40
$GC,1131,-0.64,-146.0,2179,698,3410,3228,156.7,-14.8,164,1135,0.08,2.42,0.00,0.000,3078,0.335,0.057,2194,2105,3318,3409,3228,0,0,0,0,0,0,14.34,14.52,14.50,6.30,49.52
$GC,1436,-0.64,-146.0,2194,2105,3410,3228,198.8,-13.1,180,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2105,3318,3409,3228,0,0,0,0,0,0,14.79,14.80,14.79,6.31,50.51
$GC,1736,-0.64,-146.0,2194,2105,3410,3228,237.3,-12.7,195,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2105,3318,3409,3228,0,0,0,0,0,0,14.81,14.84,14.81,6.32,51.14
$GC,2036,-0.64,-146.0,2194,2106,3410,3229,275.3,-12.7,210,2041,0.00,2.47,0.00,0.000,260,0.000,0.083,2183,3506,3318,3409,3227,0,0,0,0,0,0,14.83,14.55,14.83,6.32,51.41
$GC,2066,-0.64,-146.0,2183,3507,3410,3229,277.9,-12.7,211,2070,0.00,2.38,0.00,0.000,3078,0.000,0.043,2183,2092,3317,3408,3227,0,0,0,0,0,0,14.64,14.59,14.66,6.32,51.26
$GC,2376,-0.64,-146.0,2184,2092,3403,3227,319.6,-13.1,227,2380,0.00,2.42,0.00,0.000,2564,0.000,0.064,2183,696,3318,3409,3227,0,0,0,0,0,0,14.84,14.57,14.84,6.33,51.14
$GC,2446,-0.64,-146.0,2183,696,3410,3227,327.3,-13.0,230,2450,0.05,2.40,0.00,0.000,3078,0.352,0.056,2189,2095,3318,3409,3227,0,0,0,0,0,0,14.40,14.58,14.56,6.33,51.53
$STATE,2635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2635,begin apogee
$GC,2639,-0.15,0.0,2190,2179,3410,3227,351.4,-12.2,240,2770,0.43,0.00,128.50,1.566,10246,0.272,0.000,2345,2179,2719,2777,2661,0,0,0,0,0,0,14.45,13.93,13.33,6.34,51.26
$STATE,2771,end apogee,CONTROL_FINISHED_OK
$STATE,2771,begin loiter
$GC,3056,-0.15,0.0,2345,2179,2771,2644,347.5,3.4,261,3057,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2179,2706,2770,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.28,50.74
$GC,3356,-0.15,0.0,2345,2180,2771,2642,337.2,3.4,276,3357,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2179,2705,2770,2641,0,0,0,0,0,0,14.71,14.71,14.71,6.29,51.73
$GC,3656,-0.15,0.0,2345,2180,2771,2641,326.9,3.4,291,3657,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2179,2705,2770,2640,0,0,0,0,0,0,14.79,14.80,14.80,6.28,51.14
$GC,3956,-0.15,0.0,2346,2180,2771,2641,316.7,3.3,306,3957,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2179,2704,2770,2639,0,0,0,0,0,0,14.85,14.85,14.85,6.28,50.98
$GC,4256,-0.15,0.0,2346,2179,2771,2640,306.8,3.3,321,4257,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2179,2704,2770,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.10
$GC,4556,-0.15,0.0,2345,2180,2771,2640,296.7,3.4,336,4557,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2179,2704,2770,2639,0,0,0,0,0,0,14.93,14.93,14.93,6.28,51.10
$GC,4856,-0.15,0.0,2346,2179,2771,2638,286.4,3.4,351,4857,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2179,2704,2770,2638,0,0,0,0,0,0,14.95,14.96,14.96,6.28,51.57
$GC,5156,-0.15,0.0,2346,2179,2772,2638,276.4,3.2,366,5157,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2179,2704,2770,2638,0,0,0,0,0,0,14.97,14.98,14.98,6.28,51.33
$GC,5456,-0.15,0.0,2346,2180,2771,2639,267.0,3.1,381,5457,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2179,2704,2770,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.61
$GC,5756,-0.15,0.0,2346,2180,2771,2638,258.1,3.0,396,5757,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2180,2704,2770,2638,0,0,0,0,0,0,15.02,15.01,15.02,6.28,51.45
$GC,6056,-0.15,0.0,2345,2179,2771,2638,249.3,3.0,411,6057,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2179,2704,2770,2638,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.53
$STATE,6355,end loiter,LOITER_COMPLETE
$STATE,6355,begin climb
$GC,6356,0.64,146.0,2345,2179,2771,2639,240.6,0.0,426,6491,0.62,0.00,130.98,1.411,10758,0.185,0.000,2593,2179,2123,2148,2098,0,0,0,0,0,0,14.68,14.02,13.47,6.28,51.22
$GC,6776,0.64,146.0,2593,2180,2136,2077,202.0,10.9,447,6781,0.00,2.45,0.00,0.000,2308,0.000,0.083,2593,3537,2106,2135,2077,0,0,0,0,0,0,14.56,14.28,14.56,6.24,50.15
$GC,6816,0.64,146.0,2593,3538,2136,2077,197.4,11.1,449,6821,0.00,2.35,0.00,0.000,1030,0.000,0.042,2603,2158,2106,2135,2077,0,0,0,0,0,0,14.38,14.33,14.40,6.24,50.55
$GC,7136,0.64,146.0,2604,2159,2133,2076,161.6,11.1,465,7140,0.00,2.50,0.00,0.000,516,0.000,0.067,2615,747,2102,2131,2074,0,0,0,0,0,0,14.69,14.40,14.69,6.24,50.51
$GC,7176,0.64,146.0,2614,747,2130,2083,157.3,10.9,467,7180,0.00,2.38,0.00,0.000,5126,0.000,0.054,2615,2124,2102,2130,2074,0,0,0,0,0,0,14.48,14.43,14.50,6.23,50.66
$GC,7496,0.64,146.0,2615,2123,2130,2073,119.9,11.7,483,7500,0.00,2.55,0.00,0.000,4356,0.000,0.084,2615,3556,2101,2130,2073,0,0,0,0,0,0,14.76,14.45,14.76,6.24,50.70
$GC,7541,0.64,146.0,2616,3557,2131,2073,115.1,11.9,485,7545,0.05,2.38,0.00,0.000,5126,0.334,0.044,2607,2149,2101,2130,2073,0,0,0,0,0,0,14.35,14.52,14.50,6.22,50.47
$GC,7846,0.64,146.0,2607,2148,2130,2073,81.2,10.8,526,7850,0.00,2.47,0.00,0.000,4612,0.000,0.067,2617,743,2100,2129,2072,0,0,0,0,0,0,14.79,14.50,14.79,6.21,49.56
$GC,7946,0.64,146.0,2617,743,2128,2071,71.7,9.0,546,7950,0.00,2.40,0.00,0.000,5126,0.000,0.054,2617,2141,2099,2127,2071,0,0,0,0,0,0,14.57,14.52,14.59,6.15,50.03
$GC,8072,0.64,146.0,2617,2142,2128,2071,58.8,11.0,571,8075,0.00,2.47,0.00,0.000,4356,0.000,0.086,2617,3557,2099,2127,2071,0,0,0,0,0,0,14.80,14.53,14.79,6.20,49.09
$GC,8126,0.64,146.0,2617,3557,2128,2072,52.6,10.9,582,8130,0.05,2.38,0.00,0.000,5126,0.330,0.043,2608,2146,2099,2127,2071,0,0,0,0,0,0,14.37,14.54,14.52,6.20,49.44
$GC,8252,0.64,146.0,2610,2147,2128,2071,40.9,9.0,607,8256,0.00,2.42,0.00,0.000,4612,0.000,0.067,2618,737,2099,2127,2071,0,0,0,0,0,0,14.80,14.55,14.80,6.20,49.33
$GC,8356,0.64,146.0,2618,736,2127,2070,31.9,8.9,628,8361,0.03,2.42,0.00,0.000,5126,0.406,0.054,2608,2153,2098,2126,2070,0,0,0,0,0,0,14.36,14.53,14.51,6.20,49.68
$GC,8482,0.64,146.0,2608,2154,2127,2072,20.2,10.0,653,8485,0.00,2.45,0.00,0.000,4356,0.000,0.084,2608,3556,2098,2126,2070,0,0,0,0,0,0,14.81,14.55,14.81,6.20,50.19
$GC,8541,0.64,146.0,2608,3557,2127,2070,14.0,10.7,665,8545,0.00,2.38,0.00,0.000,5126,0.000,0.044,2618,2140,2097,2125,2070,0,0,0,0,0,0,14.62,14.58,14.64,6.20,50.03
$GC,8667,0.69,185.3,2619,2140,2127,2071,3.8,6.8,690,8682,0.00,0.00,13.32,0.264,8706,0.000,0.000,2618,2139,2041,2064,2019,0,0,0,0,0,0,14.81,28.83,14.81,6.20,50.39
$STATE,8682,end climb,SURFACE_DEPTH_REACHED
$STATE,8682,begin surface coast
$STATE,8710,end surface coast,CONTROL_FINISHED_OK
$STATE,8710,begin surface
$SM_CCo,8721,52.15,0.243,0,0,1821,220.03
$SM_GC,0.95,5.47,0.00,52.15,0.067,0.000,0.243,266,2138,1821,-6.45,1.07,220.03,0,0,0,0,0,0,14.62,14.79,14.36
$IRIDIUM_FIX,-6005.19,8.63,030119,054641
$TT8_MAMPS,0.038948,0.350532
$HUMID,49.68
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3829216
$24V_AH,13.33,38.590
$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,12.950,68.525,272.800,52.150,0.000,26.256,41.545,124.309,0.000,0.000,23.285,0.000,6999.241,416.503,1571.982,106.606,0.000,1024.438,0.000,1108.287,0.000,0.539,0.000
$DEVICE_MAMPS,406.215,2257.515,1565.955,242.505,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5121.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.738,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17321,699
$CAP_FILE_SIZE,88348,0
$CFSIZE,1023623168,1001881600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.027,65.76,1
$GPS,030119,104851,-6007.484,7.572,17,0.8,42,-19.8,0.7,98.7,9,8.3