version: 66.14
glider: 640
mission: 5
dive: 184
start: 1 3 119 21 5 9
data:
$ID,640
$MISSION,5
$DIVE,184
$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,42
$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
$GPS1,030119,205931,-6009.5444,6.3447,15,0.9,26,-19.8,0.0,141.4,9,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-63.3
$GPS2,030119,210450,-6009.5513,6.4089,8,0.9,13,-19.8,0.6,34.4,10,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,218.3,20223,-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,-146.0,225,2084,1801,1820,0.0,0.0,0,100,0.00,0.00,-88.00,0.000,16386,0.000,0.000,225,2085,3178,3258,3098,0,0,0,0,0,0,14.60,28.83,14.61,6.18,50.63
$GC,102,-0.64,-146.0,225,2085,3258,3100,3.6,-8.3,18,120,6.03,2.75,-5.12,0.000,18692,0.355,2.265,2172,3503,3316,3409,3223,0,0,0,0,0,0,14.18,13.43,14.35,6.29,49.52
$GC,220,-0.64,-146.0,2172,3503,3409,3225,22.7,-15.3,42,224,0.05,2.38,0.00,0.000,3078,0.352,0.043,2189,2109,3317,3411,3223,0,0,0,0,0,0,14.19,14.38,14.36,6.30,48.42
$GC,346,-0.64,-146.0,2189,2109,3412,3224,42.9,-16.0,67,350,0.00,2.45,0.00,0.000,2564,0.000,0.067,2189,696,3317,3410,3224,0,0,0,0,0,0,14.64,14.42,14.64,6.31,49.09
$GC,370,-0.64,-146.0,2189,696,3412,3224,47.3,-17.1,72,375,0.00,2.45,0.00,0.000,3078,0.000,0.056,2176,2103,3317,3411,3224,0,0,0,0,0,0,14.46,14.40,14.49,6.30,49.09
$GC,495,-0.64,-146.0,2180,2104,3412,3225,67.1,-15.9,97,499,0.00,2.45,0.00,0.000,2308,0.000,0.082,2169,3506,3317,3411,3224,0,0,0,0,0,0,14.68,14.42,14.68,6.30,49.84
$GC,540,-0.64,-146.0,2170,3507,3412,3224,74.2,-15.8,106,544,0.08,2.40,0.00,0.000,3078,0.328,0.045,2195,2094,3317,3411,3224,0,0,0,0,0,0,14.28,14.46,14.40,6.30,48.97
$GC,666,-0.64,-146.0,2196,2093,3412,3224,93.2,-15.2,131,669,0.00,2.42,0.00,0.000,516,0.000,0.067,2195,696,3317,3411,3224,0,0,0,0,0,0,14.69,14.48,14.70,6.30,48.74
$GC,720,-0.64,-146.0,2195,697,3412,3225,100.2,-15.4,140,724,0.00,2.42,0.00,0.000,3078,0.000,0.056,2186,2099,3317,3411,3224,0,0,0,0,0,0,14.52,14.46,14.54,6.30,48.54
$GC,1025,-0.64,-146.0,2186,2099,3412,3224,148.5,-15.1,156,1029,0.00,2.47,0.00,0.000,2308,0.000,0.083,2175,3495,3317,3411,3224,0,0,0,0,0,0,14.76,14.49,14.76,6.29,49.52
$GC,1050,-0.64,-146.0,2176,3495,3412,3224,151.5,-15.0,157,1054,0.05,2.35,0.00,0.000,3078,0.365,0.044,2192,2101,3317,3411,3224,0,0,0,0,0,0,14.33,14.52,14.48,6.29,49.37
$GC,1365,-0.64,-146.0,2192,2100,3412,3225,195.9,-13.5,173,1369,0.00,2.45,0.00,0.000,2564,0.000,0.067,2192,702,3317,3411,3224,0,0,0,0,0,0,14.79,14.53,14.79,6.31,50.43
$GC,1450,-0.64,-146.0,2191,702,3411,3224,206.5,-13.3,177,1454,0.00,2.40,0.00,0.000,3078,0.000,0.056,2182,2097,3317,3411,3223,0,0,0,0,0,0,14.59,14.54,14.61,6.31,50.51
$GC,1765,-0.64,-146.0,2183,2098,3412,3225,248.2,-12.9,193,1770,0.00,2.47,0.00,0.000,2308,0.000,0.082,2172,3500,3316,3410,3223,0,0,0,0,0,0,14.81,14.53,14.81,6.32,50.98
$GC,1800,-0.64,-146.0,2172,3501,3413,3223,250.9,-12.9,194,1804,0.05,2.35,0.00,0.000,3078,0.347,0.044,2189,2101,3317,3410,3224,0,0,0,0,0,0,14.38,14.58,14.54,6.32,51.26
$GC,2105,-0.64,-146.0,2189,2100,3411,3225,289.4,-11.9,210,2109,0.00,2.45,0.00,0.000,2564,0.000,0.067,2189,700,3317,3410,3224,0,0,0,0,0,0,14.83,14.56,14.83,6.32,51.18
$GC,2170,-0.64,-146.0,2188,701,3411,3224,296.7,-12.1,213,2175,0.00,2.40,0.00,0.000,3078,0.000,0.055,2180,2103,3317,3411,3224,0,0,0,0,0,0,14.62,14.57,14.65,6.32,51.06
$GC,2485,-0.64,-146.0,2180,2103,3412,3224,336.4,-12.7,229,2489,0.00,2.47,0.00,0.000,2308,0.000,0.082,2169,3505,3317,3410,3224,0,0,0,0,0,0,14.83,14.55,14.83,6.33,51.49
$GC,2520,-0.64,-146.0,2169,3505,3411,3225,339.1,-12.9,230,2524,0.05,2.35,0.00,0.000,3078,0.360,0.044,2193,2102,3321,3420,3223,0,0,0,0,0,0,14.40,14.59,14.55,6.39,51.14
$STATE,2604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2604,begin apogee
$GC,2607,-0.15,0.0,2188,2157,3410,3225,351.7,-12.4,235,2739,0.45,0.00,128.00,1.587,10246,0.267,0.000,2348,2156,2718,2777,2659,0,0,0,0,0,0,14.44,13.91,13.32,6.33,51.10
$STATE,2740,end apogee,CONTROL_FINISHED_OK
$STATE,2740,begin loiter
$GC,3025,-0.15,0.0,2348,2156,2772,2645,349.5,2.9,256,3026,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2156,2708,2772,2644,0,0,0,0,0,0,14.56,14.56,14.56,6.28,50.66
$GC,3325,-0.15,0.0,2348,2157,2772,2644,340.2,3.1,271,3326,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2156,2707,2773,2642,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.82
$GC,3625,-0.15,0.0,2348,2157,2773,2642,330.0,3.5,286,3626,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2156,2706,2772,2641,0,0,0,0,0,0,14.79,14.79,14.79,6.29,50.98
$GC,3925,-0.15,0.0,2349,2156,2773,2640,319.5,3.4,301,3926,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2156,2706,2772,2640,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.06
$GC,4225,-0.15,0.0,2348,2157,2773,2641,309.9,3.0,316,4226,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2156,2706,2772,2640,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.37
$GC,4525,-0.15,0.0,2347,2157,2772,2641,301.4,2.7,331,4526,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2156,2706,2772,2640,0,0,0,0,0,0,14.93,14.93,14.92,6.27,51.77
$GC,4825,-0.15,0.0,2348,2156,2773,2640,292.9,3.0,346,4826,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2156,2706,2772,2640,0,0,0,0,0,0,14.95,14.96,14.96,6.28,51.33
$GC,5125,-0.15,0.0,2349,2156,2773,2640,282.5,3.8,361,5126,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2156,2706,2772,2640,0,0,0,0,0,0,14.97,14.98,14.98,6.28,51.49
$GC,5425,-0.15,0.0,2348,2156,2773,2641,270.1,4.3,376,5426,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2156,2706,2772,2640,0,0,0,0,0,0,14.99,15.00,15.00,6.28,51.37
$GC,5725,-0.15,0.0,2348,2156,2772,2640,258.1,3.8,391,5726,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2156,2705,2772,2639,0,0,0,0,0,0,15.01,15.01,15.02,6.28,51.26
$GC,6025,-0.15,0.0,2349,2156,2774,2639,248.0,3.0,406,6026,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2156,2705,2772,2639,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.26
$STATE,6324,end loiter,LOITER_COMPLETE
$STATE,6324,begin climb
$GC,6325,0.64,146.0,2348,2156,2773,2639,238.9,0.0,421,6466,0.62,2.58,131.62,1.423,10756,0.177,0.068,2610,750,2117,2142,2092,0,0,0,0,0,0,14.69,13.99,13.47,6.28,51.53
$GC,6510,0.64,146.0,2610,750,2137,2088,225.7,9.6,430,6514,0.00,2.47,0.00,0.000,5126,0.000,0.054,2610,2144,2111,2137,2086,0,0,0,0,0,0,14.16,14.12,14.19,6.23,49.05
$GC,6825,0.64,146.0,2610,2144,2133,2077,184.9,12.8,446,6830,0.00,2.55,0.00,0.000,4356,0.000,0.084,2610,3555,2104,2132,2076,0,0,0,0,0,0,14.59,14.33,14.59,6.24,50.27
$GC,6915,0.64,146.0,2610,3556,2132,2077,174.7,12.7,450,6919,0.03,2.40,0.00,0.000,5126,0.443,0.044,2610,2150,2104,2132,2076,0,0,0,0,0,0,14.19,14.38,14.34,6.24,50.23
$GC,7225,0.64,146.0,2611,2150,2131,2074,135.6,12.0,466,7229,0.00,2.50,0.00,0.000,4612,0.000,0.069,2620,740,2102,2130,2074,0,0,0,0,0,0,14.71,14.45,14.71,6.24,50.51
$GC,7265,0.64,146.0,2620,740,2128,2075,131.2,11.3,468,7269,0.03,2.42,0.00,0.000,5126,0.408,0.054,2608,2145,2100,2128,2073,0,0,0,0,0,0,14.28,14.45,14.42,6.23,50.23
$GC,7571,0.64,146.0,2609,2146,2129,2072,95.9,12.0,487,7574,0.00,2.47,0.00,0.000,4356,0.000,0.084,2609,3558,2099,2127,2072,0,0,0,0,0,0,14.76,14.50,14.76,6.22,49.92
$GC,7660,0.64,146.0,2609,3558,2128,2072,84.5,12.8,505,7664,0.00,2.38,0.00,0.000,5126,0.000,0.044,2618,2151,2099,2127,2072,0,0,0,0,0,0,14.58,14.53,14.60,6.22,49.60
$GC,7786,0.64,146.0,2618,2151,2128,2073,68.6,11.9,530,7790,0.00,2.42,0.00,0.000,4612,0.000,0.069,2629,744,2099,2127,2071,0,0,0,0,0,0,14.78,14.53,14.78,6.21,49.33
$GC,7835,0.64,146.0,2629,745,2127,2073,63.0,10.8,540,7840,0.05,2.42,0.00,0.000,5126,0.309,0.055,2609,2153,2098,2126,2071,0,0,0,0,0,0,14.35,14.50,14.51,6.21,49.44
$GC,7960,0.64,146.0,2610,2153,2128,2070,49.7,11.0,565,7964,0.00,2.50,0.00,0.000,4356,0.000,0.084,2610,3555,2098,2126,2071,0,0,0,0,0,0,14.78,14.51,14.78,6.19,49.80
$GC,8075,0.64,146.0,2610,3556,2127,2071,37.0,9.9,588,8080,0.00,2.38,0.00,0.000,5126,0.000,0.044,2618,2150,2098,2126,2070,0,0,0,0,0,0,14.58,14.53,14.60,6.20,48.97
$GC,8201,0.64,146.0,2619,2158,2127,2070,25.0,10.3,613,8204,0.00,2.42,0.00,0.000,4612,0.000,0.069,2637,743,2098,2125,2071,0,0,0,0,0,0,14.79,14.55,14.79,6.20,49.56
$GC,8240,0.64,146.0,2629,743,2126,2070,21.1,9.0,621,8245,0.08,2.42,0.00,0.000,5126,0.282,0.056,2602,2153,2097,2125,2070,0,0,0,0,0,0,14.42,14.54,14.54,6.20,49.80
$GC,8366,0.64,146.0,2602,2154,2126,2072,8.6,10.4,646,8370,0.00,2.45,0.00,0.000,260,0.000,0.086,2602,3552,2097,2125,2070,0,0,0,0,0,0,14.79,14.54,14.80,6.20,49.80
$GC,8400,0.64,147.4,2602,3552,2126,2071,5.8,8.3,653,8404,0.00,2.38,0.00,0.000,5126,0.000,0.045,2611,2146,2097,2125,2070,0,0,0,0,0,0,14.61,14.57,14.62,6.20,49.92
$STATE,8434,end climb,SURFACE_DEPTH_REACHED
$STATE,8434,begin surface coast
$STATE,8459,end surface coast,CONTROL_FINISHED_OK
$STATE,8459,begin surface
$SM_CCo,8471,66.35,0.245,0,0,1823,220.03
$SM_GC,1.11,5.57,0.05,66.35,0.093,0.213,0.245,276,2069,1823,-6.45,1.07,220.03,0,0,0,0,0,0,14.64,14.58,14.35
$IRIDIUM_FIX,-6010.01,0.00,030119,183231
$TT8_MAMPS,0.035952,0.360269
$HUMID,49.56
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3826656
$24V_AH,13.32,39.502
$10V_AH,13.63,0.000
$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,13.125,83.200,259.625,66.350,0.000,22.978,44.965,135.459,0.000,0.000,14.350,0.000,6760.610,433.831,1557.127,109.398,0.000,1037.506,0.000,1088.912,0.000,0.539,0.000
$DEVICE_MAMPS,442.935,2265.165,1587.375,244.800,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4870.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.796,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17334,665
$CAP_FILE_SIZE,90660,0
$CFSIZE,1023623168,1001390080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.004,146.42,1
$GPS,030119,232828,-6009.939,6.398,35,0.9,39,-19.8,0.7,110.7,10,9.6