version: 66.14
glider: 640
mission: 5
dive: 181
start: 1 3 119 13 28 10
data:
$ID,640
$MISSION,5
$DIVE,181
$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,53
$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
$GPS1,030119,132249,-6007.8921,7.1768,17,1.0,41,-19.8,0.6,347.4,10,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-66.4
$GPS2,030119,132752,-6007.8906,7.1707,5,0.9,15,-19.8,0.7,323.7,10,9.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,210.2,23370,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-0.64,-146.0,225,2079,1799,1822,0.0,0.0,0,105,0.00,0.00,-92.97,0.000,16386,0.000,0.000,225,2078,3259,3339,3180,0,0,0,0,0,0,14.61,28.83,14.62,6.12,50.47
$GC,107,-0.64,-146.0,225,2078,3342,3181,3.6,-7.7,19,121,6.05,2.75,-2.12,0.000,18692,0.357,2.254,2178,3506,3318,3406,3231,0,0,0,0,0,0,14.18,13.33,14.36,6.29,49.52
$GC,240,-0.64,-146.0,2179,3507,3410,3230,26.5,-16.5,46,244,0.00,2.35,0.00,0.000,3078,0.000,0.041,2178,2126,3319,3409,3230,0,0,0,0,0,0,14.45,14.41,14.47,6.29,48.54
$GC,365,-0.64,-146.0,2178,2125,3410,3231,47.6,-16.7,71,369,0.05,2.55,0.00,0.000,2564,0.466,0.066,2192,689,3319,3409,3230,0,0,0,0,0,0,14.28,14.40,14.49,6.30,49.52
$GC,430,-0.64,-146.0,2192,689,3417,3231,57.3,-14.5,84,434,0.00,2.45,0.00,0.000,3078,0.000,0.057,2183,2097,3319,3409,3230,0,0,0,0,0,0,14.48,14.42,14.50,6.30,49.92
$GC,555,-0.64,-146.0,2183,2098,3410,3230,76.7,-15.2,109,560,0.00,2.45,0.00,0.000,2308,0.000,0.082,2172,3503,3319,3408,3230,0,0,0,0,0,0,14.69,14.44,14.73,6.30,49.37
$GC,585,-0.64,-146.0,2172,3503,3410,3232,81.2,-15.0,115,590,0.05,2.38,0.00,0.000,3078,0.353,0.044,2188,2101,3319,3409,3230,0,0,0,0,0,0,14.28,14.47,14.47,6.30,49.01
$GC,711,-0.64,-146.0,2190,2100,3410,3231,98.8,-13.9,140,714,0.00,2.42,0.00,0.000,2564,0.000,0.065,2189,696,3319,3409,3230,0,0,0,0,0,0,14.71,14.48,14.71,6.30,48.66
$GC,760,-0.64,-146.0,2190,696,3410,3230,104.4,-13.9,144,764,0.00,2.42,0.00,0.000,3078,0.000,0.057,2180,2099,3320,3410,3230,0,0,0,0,0,0,14.53,14.50,14.55,6.30,48.42
$GC,1070,-0.64,-146.0,2180,2100,3410,3231,150.5,-14.3,160,1074,0.00,2.45,0.00,0.000,2564,0.000,0.063,2179,696,3319,3409,3230,0,0,0,0,0,0,14.77,14.50,14.77,6.29,49.25
$GC,1095,-0.64,-146.0,2179,697,3409,3231,153.1,-14.1,161,1099,0.08,2.42,0.00,0.000,3078,0.327,0.055,2195,2100,3319,3409,3230,0,0,0,0,0,0,14.35,14.51,14.50,6.30,49.13
$GC,1410,-0.64,-146.0,2195,2101,3409,3232,193.0,-12.4,177,1414,0.00,2.47,0.00,0.000,260,0.000,0.085,2185,3502,3319,3409,3230,0,0,0,0,0,0,14.79,14.52,14.78,6.30,51.02
$GC,1495,-0.64,-146.0,2185,3503,3410,3231,203.0,-12.4,181,1499,0.00,2.35,0.00,0.000,3078,0.000,0.042,2185,2100,3319,3409,3230,0,0,0,0,0,0,14.61,14.57,14.66,6.31,50.82
$GC,1810,-0.64,-146.0,2185,2099,3410,3230,242.6,-12.2,197,1815,0.00,2.45,0.00,0.000,2564,0.000,0.064,2185,694,3319,3409,3230,0,0,0,0,0,0,14.81,14.56,14.81,6.32,51.73
$GC,1865,-0.64,-146.0,2185,695,3410,3231,247.6,-12.3,199,1869,0.05,2.42,0.00,0.000,3078,0.360,0.056,2191,2101,3316,3409,3224,0,0,0,0,0,0,14.36,14.57,14.54,6.32,51.10
$GC,2170,-0.64,-146.0,2191,2103,3410,3230,284.1,-11.6,215,2174,0.00,2.47,0.00,0.000,2308,0.000,0.084,2181,3532,3319,3409,3230,0,0,0,0,0,0,14.83,14.56,14.83,6.32,51.37
$GC,2220,-0.64,-146.0,2181,3533,3410,3229,288.9,-11.7,217,2224,0.00,2.40,0.00,0.000,3078,0.000,0.043,2181,2101,3319,3409,3229,0,0,0,0,0,0,14.64,14.58,14.66,6.33,51.29
$GC,2530,-0.64,-146.0,2180,2100,3410,3230,327.1,-12.1,233,2534,0.00,2.42,0.00,0.000,2564,0.000,0.063,2180,703,3315,3401,3230,0,0,0,0,0,0,14.84,14.57,14.84,6.33,51.33
$GC,2600,-0.64,-146.0,2181,704,3410,3231,334.4,-12.1,236,2605,0.05,2.40,0.00,0.000,3078,0.354,0.056,2187,2102,3319,3409,3230,0,0,0,0,0,0,14.40,14.58,14.55,6.33,51.18
$STATE,2729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2729,begin apogee
$GC,2732,-0.15,0.0,2188,2167,3410,3231,350.1,-11.3,243,2865,0.45,0.00,128.93,1.579,10246,0.265,0.000,2349,2166,2715,2774,2657,0,0,0,0,0,0,14.45,13.93,13.33,6.33,51.53
$STATE,2866,end apogee,CONTROL_FINISHED_OK
$STATE,2866,begin loiter
$GC,3150,-0.15,0.0,2348,2167,2772,2645,343.5,3.8,264,3151,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2166,2707,2771,2643,0,0,0,0,0,0,14.56,14.57,14.56,6.28,50.51
$GC,3450,-0.15,0.0,2349,2167,2772,2641,332.2,3.6,279,3451,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2705,2770,2641,0,0,0,0,0,0,14.71,14.71,14.71,6.29,50.78
$GC,3750,-0.15,0.0,2349,2167,2772,2640,321.4,3.5,294,3751,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2705,2771,2640,0,0,0,0,0,0,14.79,14.79,14.79,6.28,51.02
$GC,4050,-0.15,0.0,2349,2167,2772,2639,310.8,3.5,309,4051,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2705,2771,2639,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.45
$GC,4350,-0.15,0.0,2349,2167,2772,2639,300.4,3.4,324,4351,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2705,2771,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.29
$GC,4650,-0.15,0.0,2349,2167,2771,2640,290.0,3.4,339,4651,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2704,2770,2638,0,0,0,0,0,0,14.92,14.93,14.92,6.28,51.22
$GC,4950,-0.15,0.0,2349,2166,2772,2638,280.2,3.2,354,4951,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2704,2771,2638,0,0,0,0,0,0,14.95,14.96,14.96,6.28,51.06
$GC,5250,-0.15,0.0,2349,2166,2772,2638,271.3,2.8,369,5251,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2704,2770,2638,0,0,0,0,0,0,14.98,14.98,14.98,6.28,51.02
$GC,5550,-0.15,0.0,2349,2167,2772,2638,263.1,2.6,384,5551,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2704,2771,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.26
$GC,5850,-0.15,0.0,2349,2167,2771,2639,255.0,2.7,399,5851,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2704,2771,2638,0,0,0,0,0,0,15.01,15.02,15.02,6.28,52.00
$GC,6150,-0.15,0.0,2349,2167,2771,2639,247.2,2.7,414,6151,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2166,2704,2770,2638,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.92
$STATE,6449,end loiter,LOITER_COMPLETE
$STATE,6449,begin climb
$GC,6450,0.64,146.0,2349,2167,2772,2638,239.4,0.0,429,6591,0.62,2.55,130.55,1.413,11012,0.176,0.082,2599,3543,2120,2146,2095,0,0,0,0,0,0,14.69,13.99,13.47,6.28,51.53
$GC,6690,0.64,146.0,2600,3544,2141,2087,219.7,11.2,441,6694,0.00,2.38,0.00,0.000,5126,0.000,0.041,2610,2163,2114,2142,2086,0,0,0,0,0,0,14.23,14.19,14.26,6.24,49.09
$GC,7010,0.64,146.0,2611,2163,2136,2080,181.0,12.3,457,7015,0.00,2.50,0.00,0.000,4612,0.000,0.068,2621,738,2106,2134,2078,0,0,0,0,0,0,14.62,14.35,14.62,6.24,50.86
$GC,7055,0.64,146.0,2621,738,2133,2078,176.3,12.1,459,7059,0.05,2.42,0.00,0.000,5126,0.305,0.055,2602,2132,2105,2132,2078,0,0,0,0,0,0,14.25,14.40,14.40,6.24,51.06
$GC,7370,0.64,146.0,2603,2133,2133,2076,143.0,8.8,475,7374,0.00,2.45,0.00,0.000,516,0.000,0.065,2611,745,2103,2131,2076,0,0,0,0,0,0,14.71,14.45,14.71,6.27,51.14
$GC,7405,0.64,146.0,2612,746,2131,2076,141.2,8.8,476,7409,0.00,2.42,0.00,0.000,5126,0.000,0.053,2611,2156,2103,2130,2076,0,0,0,0,0,0,14.53,14.47,14.54,6.21,50.86
$GC,7710,0.64,146.0,2611,2156,2130,2076,109.9,10.2,492,7714,0.00,2.47,0.00,0.000,4356,0.000,0.080,2611,3556,2102,2130,2075,0,0,0,0,0,0,14.77,14.49,14.78,6.22,50.59
$GC,7785,0.64,146.0,2612,3559,2130,2076,103.2,11.0,495,7790,0.05,2.38,0.00,0.000,5126,0.352,0.045,2605,2143,2103,2130,2076,0,0,0,0,0,0,14.35,14.54,14.52,6.22,49.76
$GC,8090,0.64,146.0,2605,2144,2129,2076,71.6,9.7,553,8094,0.00,2.50,0.00,0.000,260,0.000,0.076,2605,3555,2102,2129,2075,0,0,0,0,0,0,14.79,14.50,14.80,6.21,50.23
$GC,8145,0.64,146.0,2605,3556,2130,2076,66.0,9.9,564,8149,0.00,2.35,0.00,0.000,5126,0.000,0.044,2613,2157,2102,2129,2075,0,0,0,0,0,0,14.60,14.56,14.62,6.21,49.33
$GC,8271,0.64,146.0,2613,2157,2129,2070,53.8,9.7,589,8275,0.00,2.45,0.00,0.000,4612,0.000,0.069,2624,744,2101,2129,2074,0,0,0,0,0,0,14.80,14.52,14.80,6.21,49.52
$GC,8345,0.64,146.0,2625,744,2128,2075,47.0,8.5,604,8349,0.05,2.40,0.00,0.000,5126,0.318,0.052,2605,2149,2100,2127,2074,0,0,0,0,0,0,14.40,14.57,14.54,6.21,49.88
$GC,8471,0.66,166.5,2606,2150,2128,2073,37.3,7.5,629,8491,0.00,2.45,15.80,1.291,10756,0.000,0.067,2615,740,2037,2061,2013,0,0,0,0,0,0,14.81,14.38,13.90,6.19,49.29
$GC,8566,0.76,247.9,2614,741,2061,2013,30.5,5.2,648,8651,0.00,2.40,79.93,1.205,11270,0.000,0.054,2615,2157,1708,1718,1698,0,0,0,0,0,0,14.59,14.49,13.59,6.20,49.09
$GC,8770,0.76,247.9,2616,2158,1713,1680,7.9,11.5,689,8774,0.00,2.53,0.00,0.000,2564,0.000,0.073,2626,744,1695,1711,1679,0,0,0,0,0,0,14.46,14.21,14.47,6.17,48.22
$STATE,8809,end climb,SURFACE_DEPTH_REACHED
$STATE,8809,begin surface coast
$STATE,8834,end surface coast,CONTROL_FINISHED_OK
$STATE,8834,begin surface
$SM_CCo,8907,0.00,0.000,0,0,1691,252.65
$SM_GC,1.08,5.55,2.42,0.00,0.056,0.057,0.000,284,2100,1691,-6.44,-0.79,252.65,0,0,0,0,0,0,14.35,14.30,14.39
$IRIDIUM_FIX,-5953.13,613.78,030119,105035
$TT8_MAMPS,0.039697,0.338548
$HUMID,49.25
$INTERNAL_PRESSURE,6.0992
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3828192
$24V_AH,13.33,38.969
$10V_AH,13.62,0.000
$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,13.100,83.200,355.200,0.000,0.000,25.137,44.514,115.022,0.000,0.000,16.847,0.000,7038.174,430.042,1636.324,107.345,0.000,1090.521,0.000,1178.036,0.000,0.539,0.000
$DEVICE_MAMPS,465.885,2253.690,1578.960,0.000,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5246.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.707,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17314,702
$CAP_FILE_SIZE,92163,0
$CFSIZE,1023623168,1001684992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,119.54,0x214648,0,24
$CURRENT,0.069,226.10,1
$GPS,030119,155735,-6008.403,6.577,16,0.8,37,-19.8,1.1,87.6,10,9.9