version: 66.14
glider: 640
mission: 5
dive: 180
start: 1 3 119 10 53 54
data:
$ID,640
$MISSION,5
$DIVE,180
$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,34
$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
$GPS1,030119,104851,-6007.4844,7.5717,17,0.8,42,-19.8,0.7,98.7,9,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-61.0
$GPS2,030119,105336,-6007.4624,7.6130,9,0.9,18,-19.8,1.1,54.6,9,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,221.4,24245,-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,-146.0,233,2138,1796,1824,0.0,0.0,0,101,0.00,0.00,-88.28,0.000,16386,0.000,0.000,232,2138,3185,3266,3104,0,0,0,0,0,0,14.62,28.83,14.62,6.17,50.59
$GC,103,-0.64,-146.0,233,2138,3268,3105,3.3,-6.1,18,121,6.07,2.70,-5.03,0.000,18692,0.370,2.271,2169,3503,3317,3411,3224,0,0,0,0,0,0,14.19,13.33,14.37,6.28,49.48
$GC,202,-0.64,-146.0,2170,3505,3413,3225,20.4,-14.3,38,206,0.08,2.35,0.00,0.000,3078,0.371,0.041,2194,2095,3318,3412,3225,0,0,0,0,0,0,14.24,14.40,14.44,6.30,48.42
$GC,327,-0.64,-146.0,2195,2094,3413,3225,40.1,-15.3,63,330,0.00,2.42,0.00,0.000,516,0.000,0.067,2194,697,3318,3412,3225,0,0,0,0,0,0,14.64,14.42,14.66,6.30,49.09
$GC,356,-0.64,-146.0,2195,698,3414,3225,44.6,-14.8,69,360,0.00,2.45,0.00,0.000,3078,0.000,0.056,2186,2105,3318,3412,3225,0,0,0,0,0,0,14.47,14.41,14.49,6.30,49.44
$GC,481,-0.64,-146.0,2186,2105,3414,3225,62.7,-14.6,94,485,0.00,2.47,0.00,0.000,2308,0.000,0.084,2175,3497,3318,3412,3225,0,0,0,0,0,0,14.68,14.41,14.68,6.30,49.25
$GC,506,-0.64,-146.0,2175,3498,3413,3226,66.6,-15.3,99,510,0.05,2.35,0.00,0.000,3078,0.360,0.044,2191,2109,3318,3412,3225,0,0,0,0,0,0,14.26,14.45,14.42,6.30,49.68
$GC,632,-0.64,-146.0,2191,2108,3413,3226,85.2,-14.9,124,636,0.00,2.42,0.00,0.000,2564,0.000,0.064,2191,696,3315,3412,3219,0,0,0,0,0,0,14.67,14.47,14.69,6.30,49.09
$GC,666,-0.64,-146.0,2192,697,3414,3225,90.5,-14.8,131,670,0.00,2.42,0.00,0.000,3078,0.000,0.057,2182,2093,3318,3413,3224,0,0,0,0,0,0,14.51,14.45,14.53,6.30,48.58
$GC,791,-0.64,-146.0,2183,2094,3415,3225,109.2,-15.2,147,792,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2093,3318,3412,3225,0,0,0,0,0,0,14.72,14.73,14.73,6.29,48.50
$GC,1091,-0.64,-146.0,2183,2094,3414,3225,155.5,-14.9,162,1095,0.00,2.45,0.00,0.000,2564,0.000,0.064,2183,696,3319,3413,3225,0,0,0,0,0,0,14.76,14.50,14.76,6.30,49.56
$GC,1166,-0.64,-146.0,2181,697,3413,3226,164.3,-14.7,165,1170,0.05,2.42,0.00,0.000,3078,0.359,0.057,2188,2100,3318,3412,3225,0,0,0,0,0,0,14.34,14.52,14.53,6.30,49.92
$GC,1471,-0.64,-146.0,2188,2101,3413,3228,208.6,-13.4,181,1475,0.00,2.45,0.00,0.000,2308,0.000,0.083,2178,3510,3318,3412,3225,0,0,0,0,0,0,14.80,14.54,14.80,6.31,50.70
$GC,1556,-0.64,-146.0,2178,3511,3413,3225,219.4,-13.4,185,1560,0.03,2.38,0.00,0.000,3078,0.449,0.043,2185,2091,3318,3412,3225,0,0,0,0,0,0,14.37,14.56,14.52,6.35,51.02
$GC,1871,-0.64,-146.0,2186,2090,3414,3225,259.8,-12.5,201,1876,0.00,2.42,0.00,0.000,2564,0.000,0.064,2186,699,3318,3412,3225,0,0,0,0,0,0,14.82,14.53,14.82,6.32,51.53
$GC,1941,-0.64,-146.0,2186,700,3413,3225,267.4,-12.7,204,1945,0.05,2.40,0.00,0.000,3078,0.366,0.056,2193,2095,3318,3412,3225,0,0,0,0,0,0,14.38,14.57,14.54,6.32,51.29
$GC,2251,-0.64,-146.0,2192,2095,3413,3226,305.4,-11.9,220,2255,0.00,2.47,0.00,0.000,2308,0.000,0.083,2182,3504,3318,3412,3224,0,0,0,0,0,0,14.83,14.55,14.83,6.33,51.81
$GC,2316,-0.64,-146.0,2183,3505,3413,3225,312.8,-12.2,223,2321,0.00,2.35,0.00,0.000,3078,0.000,0.042,2182,2101,3318,3412,3225,0,0,0,0,0,0,14.64,14.59,14.65,6.33,51.10
$STATE,2610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2610,begin apogee
$GC,2614,-0.15,0.0,2183,2161,3414,3225,350.5,-12.9,238,2745,0.47,0.00,128.30,1.584,10246,0.270,0.000,2351,2160,2717,2776,2659,0,0,0,0,0,0,14.44,13.93,13.33,6.33,51.45
$STATE,2746,end apogee,CONTROL_FINISHED_OK
$STATE,2746,begin loiter
$GC,3031,-0.15,0.0,2351,2161,2771,2644,347.9,2.9,259,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2160,2707,2771,2643,0,0,0,0,0,0,14.56,14.56,14.57,6.28,50.63
$GC,3331,-0.15,0.0,2352,2161,2772,2641,339.2,2.9,274,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2706,2771,2641,0,0,0,0,0,0,14.70,14.71,14.71,6.28,51.02
$GC,3631,-0.15,0.0,2351,2161,2772,2641,330.2,3.1,289,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2705,2771,2640,0,0,0,0,0,0,14.79,14.79,14.79,6.29,51.06
$GC,3931,-0.15,0.0,2351,2161,2772,2640,320.8,3.2,304,3932,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2705,2771,2639,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.22
$GC,4231,-0.15,0.0,2352,2161,2771,2639,311.2,3.2,319,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2705,2771,2639,0,0,0,0,0,0,14.89,14.90,14.90,6.29,51.06
$GC,4531,-0.15,0.0,2351,2161,2772,2640,302.2,2.9,334,4532,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2704,2771,2638,0,0,0,0,0,0,14.92,14.93,14.93,6.28,51.49
$GC,4831,-0.15,0.0,2352,2160,2772,2638,293.5,2.8,349,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2704,2771,2637,0,0,0,0,0,0,14.95,14.95,14.96,6.28,51.18
$GC,5131,-0.15,0.0,2351,2161,2771,2639,285.1,2.8,364,5132,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2704,2772,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.92
$GC,5431,-0.15,0.0,2351,2161,2772,2639,276.0,3.0,379,5432,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2703,2770,2637,0,0,0,0,0,0,14.99,15.00,15.00,6.28,51.37
$GC,5731,-0.15,0.0,2352,2161,2772,2637,266.5,3.2,394,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2704,2771,2638,0,0,0,0,0,0,15.01,15.01,15.01,6.28,51.06
$GC,6031,-0.15,0.0,2352,2161,2772,2638,256.6,3.3,409,6032,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2161,2704,2771,2638,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.29
$STATE,6330,end loiter,LOITER_COMPLETE
$STATE,6330,begin climb
$GC,6331,0.64,146.0,2352,2161,2772,2637,247.2,0.0,424,6466,0.60,0.00,130.98,1.417,10758,0.181,0.000,2591,2161,2123,2149,2098,0,0,0,0,0,0,14.68,14.02,13.46,6.28,52.00
$GC,6751,0.64,146.0,2591,2161,2135,2078,208.6,11.0,445,6756,0.00,2.50,0.00,0.000,2308,0.000,0.083,2591,3543,2105,2134,2077,0,0,0,0,0,0,14.56,14.31,14.56,6.24,50.19
$GC,6811,0.64,146.0,2592,3544,2136,2077,202.0,11.0,448,6816,0.00,2.38,0.00,0.000,1030,0.000,0.041,2602,2150,2105,2134,2077,0,0,0,0,0,0,14.38,14.34,14.40,6.24,50.19
$GC,7131,0.64,146.0,2603,2150,2132,2075,166.2,11.3,464,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2150,2103,2131,2075,0,0,0,0,0,0,14.69,14.69,14.69,6.23,50.82
$GC,7431,0.64,146.0,2603,2151,2132,2073,133.1,11.0,479,7435,0.00,2.50,0.00,0.000,260,0.000,0.081,2602,3549,2101,2130,2073,0,0,0,0,0,0,14.75,14.45,14.76,6.22,51.10
$GC,7471,0.64,146.0,2602,3550,2131,2075,128.8,10.7,481,7475,0.00,2.35,0.00,0.000,5126,0.000,0.042,2612,2156,2102,2131,2073,0,0,0,0,0,0,14.54,14.50,14.56,6.23,50.55
$GC,7776,0.64,146.0,2613,2157,2131,2072,99.6,9.2,497,7780,0.00,2.47,0.00,0.000,4612,0.000,0.067,2623,747,2101,2130,2072,0,0,0,0,0,0,14.79,14.53,14.80,6.21,49.88
$GC,7841,0.64,146.0,2624,748,2128,2073,93.5,9.0,510,7845,0.05,2.40,0.00,0.000,5126,0.306,0.054,2605,2143,2099,2127,2072,0,0,0,0,0,0,14.38,14.52,14.52,6.21,50.11
$GC,7966,0.64,146.0,2605,2143,2128,2071,82.2,9.4,535,7970,0.00,2.50,0.00,0.000,260,0.000,0.084,2604,3546,2099,2127,2071,0,0,0,0,0,0,14.80,14.52,14.80,6.21,49.60
$GC,8016,0.64,146.0,2604,3547,2128,2073,77.5,9.2,545,8020,0.00,2.35,0.00,0.000,5126,0.000,0.043,2613,2151,2099,2127,2072,0,0,0,0,0,0,14.61,14.57,14.64,6.21,49.56
$GC,8142,0.64,146.0,2613,2152,2128,2073,64.9,10.6,570,8145,0.00,2.42,0.00,0.000,4612,0.000,0.067,2624,744,2099,2127,2071,0,0,0,0,0,0,14.80,14.56,14.81,6.19,49.33
$GC,8201,0.64,146.0,2625,744,2128,2071,58.6,10.1,582,8206,0.05,2.40,0.00,0.000,5126,0.309,0.054,2605,2146,2098,2127,2070,0,0,0,0,0,0,14.38,14.52,14.52,6.19,49.37
$GC,8326,0.64,146.0,2605,2147,2127,2072,47.0,9.3,607,8330,0.00,2.50,0.00,0.000,260,0.000,0.084,2605,3554,2098,2126,2071,0,0,0,0,0,0,14.81,14.53,14.81,6.20,49.68
$GC,8341,0.64,146.0,2605,3555,2127,2069,45.4,10.1,610,8345,0.00,2.38,0.00,0.000,5126,0.000,0.046,2614,2147,2098,2125,2071,0,0,0,0,0,0,14.59,14.54,14.62,6.20,49.60
$GC,8467,0.64,146.0,2613,2147,2128,2072,33.8,9.6,635,8470,0.00,2.42,0.00,0.000,4612,0.000,0.067,2625,738,2099,2127,2071,0,0,0,0,0,0,14.81,14.56,14.78,6.20,49.88
$GC,8561,0.64,146.0,2625,739,2127,2071,24.2,10.4,654,8565,0.05,2.42,0.00,0.000,5126,0.308,0.054,2606,2152,2098,2126,2070,0,0,0,0,0,0,14.38,14.53,14.53,6.19,49.84
$GC,8686,0.64,146.0,2606,2152,2127,2071,11.9,10.7,679,8690,0.00,2.47,0.00,0.000,260,0.000,0.082,2606,3549,2098,2126,2070,0,0,0,0,0,0,14.81,14.53,14.82,6.20,50.03
$GC,8756,0.64,146.0,2606,3551,2126,2071,3.4,11.5,693,8760,0.00,2.35,0.00,0.000,5126,0.000,0.041,2615,2148,2098,2126,2070,0,0,0,0,0,0,14.63,14.59,14.64,6.19,50.23
$STATE,8765,end climb,SURFACE_DEPTH_REACHED
$STATE,8765,begin surface coast
$STATE,8790,end surface coast,CONTROL_FINISHED_OK
$STATE,8790,begin surface
$SM_CCo,8802,66.55,0.244,0,0,1821,220.03
$SM_GC,1.09,5.47,0.05,66.55,0.064,0.213,0.244,251,2080,1821,-6.48,1.10,220.03,0,0,0,0,0,0,14.66,14.59,14.37
$IRIDIUM_FIX,-6005.19,8.63,030119,081743
$TT8_MAMPS,0.03745,0.249417
$HUMID,49.76
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3828704
$24V_AH,13.33,38.765
$10V_AH,13.28,0.000
$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,13.025,77.900,259.275,66.550,0.000,26.513,19.918,119.179,0.000,0.000,19.344,0.000,7053.397,428.774,1566.807,109.641,0.000,1047.845,0.000,1126.498,0.000,0.540,0.000
$DEVICE_MAMPS,449.055,2271.285,1583.550,244.035,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5201.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.652,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,17330,700
$CAP_FILE_SIZE,91945,0
$CFSIZE,1023623168,1001783296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.031,250.91,1
$GPS,030119,132249,-6007.892,7.177,17,1.0,41,-19.8,0.6,347.4,10,7.3