version: 66.14
glider: 640
mission: 5
dive: 189
start: 1 4 119 9 51 4
data:
$ID,640
$MISSION,5
$DIVE,189
$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,48
$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
$GPS1,040119,094331,-6011.9038,5.1631,16,0.8,27,-19.7,1.5,252.7,9,8.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-63.1
$GPS2,040119,095046,-6011.9248,5.2837,8,0.8,15,-19.7,1.4,122.2,10,9.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,221.2,15720,-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,-146.0,234,2086,1797,1821,0.0,0.0,0,101,0.00,0.00,-88.70,0.000,16386,0.000,0.000,233,2086,3184,3261,3107,0,0,0,0,0,0,14.60,28.83,14.60,6.17,50.66
$GC,103,-0.64,-146.0,233,2086,3264,3108,3.1,-6.1,18,121,6.10,2.78,-5.07,0.000,18692,0.372,2.266,2182,3508,3317,3412,3222,0,0,0,0,0,0,14.16,13.43,14.45,6.29,49.48
$GC,186,-0.64,-146.0,2183,3509,3411,3223,18.4,-17.3,35,190,0.00,2.33,0.00,0.000,3078,0.000,0.041,2182,2110,3316,3410,3223,0,0,0,0,0,0,14.48,14.39,14.49,6.30,48.54
$GC,311,-0.64,-146.0,2187,2109,3412,3222,39.3,-17.1,60,315,0.00,2.50,0.00,0.000,2308,0.000,0.082,2171,3504,3316,3410,3223,0,0,0,0,0,0,14.64,14.37,14.64,6.27,48.74
$GC,331,-0.64,-146.0,2171,3505,3411,3224,42.8,-17.6,64,335,0.05,2.38,0.00,0.000,3078,0.358,0.044,2188,2113,3317,3411,3223,0,0,0,0,0,0,14.22,14.42,14.38,6.30,48.93
$GC,457,-0.64,-146.0,2188,2111,3412,3222,64.0,-16.4,89,460,0.00,2.45,0.00,0.000,2308,0.000,0.082,2177,3502,3317,3411,3223,0,0,0,0,0,0,14.66,14.42,14.66,6.30,49.17
$GC,491,-0.64,-146.0,2178,3508,3412,3223,69.6,-15.9,96,495,0.03,2.40,0.00,0.000,3078,0.450,0.044,2185,2091,3321,3410,3233,0,0,0,0,0,0,14.25,14.44,14.40,6.30,49.25
$GC,617,-0.64,-146.0,2186,2096,3412,3223,89.2,-15.9,121,621,0.00,2.42,0.00,0.000,2564,0.000,0.067,2185,694,3316,3411,3222,0,0,0,0,0,0,14.69,14.45,14.69,6.30,48.50
$GC,666,-0.64,-146.0,2185,695,3410,3225,97.4,-15.8,131,670,0.05,2.42,0.00,0.000,3078,0.378,0.057,2191,2094,3317,3411,3223,0,0,0,0,0,0,14.26,14.45,14.42,6.30,48.46
$GC,806,-0.64,-146.0,2191,2096,3411,3225,117.8,-14.3,141,810,0.00,2.50,0.00,0.000,2308,0.000,0.084,2181,3502,3317,3411,3223,0,0,0,0,0,0,14.73,14.45,14.73,6.30,48.42
$GC,886,-0.64,-146.0,2181,3502,3412,3223,129.5,-14.6,145,890,0.00,2.38,0.00,0.000,3078,0.000,0.043,2181,2097,3317,3411,3223,0,0,0,0,0,0,14.54,14.50,14.57,6.30,49.60
$GC,1206,-0.64,-146.0,2180,2096,3411,3225,176.9,-14.5,161,1210,0.00,2.45,0.00,0.000,2564,0.000,0.064,2180,696,3317,3411,3224,0,0,0,0,0,0,14.81,14.51,14.78,6.31,50.70
$GC,1281,-0.64,-146.0,2181,697,3412,3223,185.2,-14.0,164,1285,0.05,2.42,0.00,0.000,3078,0.360,0.057,2187,2103,3317,3411,3223,0,0,0,0,0,0,14.34,14.53,14.50,6.29,50.11
$GC,1586,-0.64,-146.0,2187,2104,3410,3224,226.8,-12.9,180,1590,0.00,2.47,0.00,0.000,2308,0.000,0.083,2176,3498,3316,3410,3223,0,0,0,0,0,0,14.81,14.52,14.81,6.31,50.78
$GC,1646,-0.64,-146.0,2176,3500,3411,3224,234.7,-13.1,183,1650,0.05,2.35,0.00,0.000,3078,0.363,0.042,2193,2098,3317,3411,3223,0,0,0,0,0,0,14.35,14.57,14.52,6.32,50.98
$GC,1966,-0.64,-146.0,2194,2097,3412,3223,274.1,-12.3,199,1971,0.00,2.40,0.00,0.000,516,0.000,0.064,2193,693,3316,3410,3223,0,0,0,0,0,0,14.81,14.57,14.82,6.27,50.90
$GC,2031,-0.64,-146.0,2194,693,3422,3223,281.4,-12.3,202,2035,0.00,2.42,0.00,0.000,3078,0.000,0.056,2183,2103,3317,3411,3223,0,0,0,0,0,0,14.59,14.57,14.64,6.33,51.45
$GC,2346,-0.64,-146.0,2184,2103,3412,3223,321.5,-12.6,218,2350,0.00,2.47,0.00,0.000,2308,0.000,0.083,2173,3506,3316,3410,3223,0,0,0,0,0,0,14.83,14.54,14.83,6.33,51.10
$GC,2411,-0.64,-146.0,2173,3507,3412,3223,329.2,-12.8,221,2416,0.05,2.35,0.00,0.000,3078,0.353,0.042,2190,2096,3316,3410,3223,0,0,0,0,0,0,14.39,14.59,14.54,6.33,51.73
$STATE,2585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2585,begin apogee
$GC,2589,-0.15,0.0,2190,2167,3410,3224,350.9,-12.1,230,2719,0.45,0.00,127.35,1.577,10246,0.269,0.000,2350,2166,2719,2778,2660,0,0,0,0,0,0,14.45,13.93,13.33,6.33,51.29
$STATE,2720,end apogee,CONTROL_FINISHED_OK
$STATE,2720,begin loiter
$GC,3006,-0.15,0.0,2350,2166,2772,2645,346.8,3.4,251,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2707,2771,2644,0,0,0,0,0,0,14.57,14.57,14.57,6.28,50.55
$GC,3306,-0.15,0.0,2351,2167,2773,2642,336.8,3.3,266,3307,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2707,2772,2642,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.82
$GC,3606,-0.15,0.0,2351,2167,2772,2642,326.3,3.6,281,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2166,2706,2772,2641,0,0,0,0,0,0,14.79,14.80,14.80,6.29,51.14
$GC,3906,-0.15,0.0,2351,2167,2772,2641,315.4,3.7,296,3907,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2706,2772,2640,0,0,0,0,0,0,14.85,14.85,14.85,6.28,50.86
$GC,4206,-0.15,0.0,2351,2167,2772,2641,304.6,3.5,311,4207,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2705,2772,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.18
$GC,4506,-0.15,0.0,2351,2167,2772,2641,294.3,3.2,326,4507,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2705,2771,2640,0,0,0,0,0,0,14.92,14.93,14.93,6.29,51.61
$GC,4806,-0.15,0.0,2350,2167,2772,2641,284.7,3.0,341,4807,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2705,2772,2639,0,0,0,0,0,0,14.95,14.96,14.96,6.28,51.06
$GC,5106,-0.15,0.0,2351,2167,2772,2640,275.4,3.2,356,5107,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2705,2772,2639,0,0,0,0,0,0,14.98,14.98,14.98,6.28,51.33
$GC,5406,-0.15,0.0,2351,2167,2772,2640,265.5,3.3,371,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2705,2772,2639,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.92
$GC,5706,-0.15,0.0,2351,2167,2773,2639,255.7,3.1,386,5707,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2705,2772,2639,0,0,0,0,0,0,15.01,15.02,15.02,6.28,51.37
$GC,6006,-0.15,0.0,2351,2167,2773,2639,246.4,3.0,401,6007,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2705,2772,2639,0,0,0,0,0,0,15.02,15.03,15.02,6.28,51.85
$STATE,6305,end loiter,LOITER_COMPLETE
$STATE,6305,begin climb
$GC,6306,0.64,146.0,2351,2167,2772,2640,237.6,0.0,416,6447,0.60,2.58,130.62,1.411,10500,0.179,0.083,2591,3547,2120,2147,2094,0,0,0,0,0,0,14.68,13.99,13.47,6.29,51.29
$GC,6501,0.64,146.0,2591,3548,2146,2089,225.3,9.0,425,6506,0.00,2.40,0.00,0.000,1030,0.000,0.041,2601,2160,2116,2145,2087,0,0,0,0,0,0,14.19,14.15,14.21,6.24,48.89
$GC,6806,0.64,146.0,2602,2160,2137,2080,188.6,11.7,441,6811,0.00,2.47,0.00,0.000,516,0.000,0.067,2613,746,2107,2136,2079,0,0,0,0,0,0,14.59,14.33,14.59,6.23,50.19
$GC,6846,0.64,146.0,2613,746,2134,2080,184.1,11.6,443,6851,0.00,2.42,0.00,0.000,5126,0.000,0.054,2613,2137,2106,2133,2079,0,0,0,0,0,0,14.40,14.35,14.42,6.24,50.82
$GC,7166,0.64,146.0,2613,2137,2132,2078,145.8,11.9,459,7170,0.00,2.55,0.00,0.000,4356,0.000,0.085,2614,3560,2104,2132,2077,0,0,0,0,0,0,14.71,14.40,14.71,6.24,50.35
$GC,7256,0.64,146.0,2615,3560,2133,2077,136.4,11.6,463,7260,0.05,2.40,0.00,0.000,5126,0.337,0.044,2605,2144,2104,2132,2077,0,0,0,0,0,0,14.28,14.46,14.43,6.23,50.39
$GC,7566,0.64,146.0,2606,2144,2132,2076,105.2,10.5,479,7570,0.00,2.47,0.00,0.000,516,0.000,0.067,2615,742,2103,2131,2076,0,0,0,0,0,0,14.77,14.47,14.78,6.22,50.11
$GC,7581,0.64,146.0,2615,743,2131,2076,105.2,10.5,479,7585,0.00,2.42,0.00,0.000,5126,0.000,0.054,2615,2151,2103,2130,2076,0,0,0,0,0,0,14.57,14.52,14.59,6.22,50.39
$GC,7886,0.64,146.0,2615,2152,2131,2077,69.4,11.9,534,7891,0.00,2.50,0.00,0.000,4356,0.000,0.084,2615,3556,2102,2130,2075,0,0,0,0,0,0,14.80,14.49,14.79,6.21,49.40
$GC,7941,0.64,146.0,2616,3557,2131,2075,62.9,11.3,545,7945,0.05,2.38,0.00,0.000,5126,0.326,0.043,2607,2143,2102,2130,2075,0,0,0,0,0,0,14.38,14.57,14.54,6.21,49.48
$GC,8067,0.64,146.0,2607,2144,2131,2076,50.3,10.0,570,8071,0.00,2.42,0.00,0.000,4612,0.000,0.067,2617,740,2102,2130,2075,0,0,0,0,0,0,14.79,14.55,14.80,6.19,49.33
$GC,8106,0.64,146.0,2617,740,2129,2075,46.2,9.8,578,8111,0.00,2.42,0.00,0.000,5126,0.000,0.054,2616,2153,2101,2128,2074,0,0,0,0,0,0,14.57,14.51,14.59,6.20,48.97
$GC,8232,0.64,146.0,2617,2154,2128,2076,35.8,8.3,603,8236,0.00,2.45,0.00,0.000,4356,0.000,0.086,2617,3556,2101,2128,2074,0,0,0,0,0,0,14.80,14.54,14.80,6.20,49.09
$GC,8352,0.64,146.0,2617,3557,2128,2076,25.0,9.6,627,8356,0.08,2.35,0.00,0.000,5126,0.361,0.044,2602,2140,2101,2127,2075,0,0,0,0,0,0,14.42,14.59,14.68,6.19,49.72
$GC,8476,0.64,146.0,2602,2139,2128,2074,13.1,9.1,652,8480,0.00,2.45,0.00,0.000,516,0.000,0.067,2611,746,2101,2128,2074,0,0,0,0,0,0,14.81,14.51,14.83,6.20,49.88
$GC,8536,0.71,202.1,2611,748,2128,2074,8.4,6.2,664,8591,0.00,2.40,49.20,0.272,11270,0.000,0.054,2607,2147,1891,1910,1873,0,0,0,0,0,0,14.58,14.53,14.31,6.20,50.11
$STATE,8605,end climb,SURFACE_DEPTH_REACHED
$STATE,8605,begin surface coast
$STATE,8640,end surface coast,CONTROL_FINISHED_OK
$STATE,8640,begin surface
$SM_CCo,8652,15.62,0.252,0,0,1822,220.03
$SM_GC,1.37,5.45,0.05,15.62,0.050,0.211,0.252,246,2077,1822,-6.50,1.16,220.03,0,0,0,0,0,0,14.59,14.52,14.35
$IRIDIUM_FIX,-6011.88,4.33,040119,094520
$TT8_MAMPS,0.038948,0.35203
$HUMID,49.37
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3824096
$24V_AH,13.33,40.385
$10V_AH,13.65,0.000
$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,13.050,83.150,307.175,15.625,0.000,57.162,59.923,135.101,0.000,0.000,16.360,0.000,6904.946,413.798,1675.181,113.200,0.000,1054.788,0.000,1147.652,0.000,0.539,0.000
$DEVICE_MAMPS,449.820,2265.930,1576.665,252.450,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5051.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.748,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,17314,685
$CAP_FILE_SIZE,92777,0
$CFSIZE,1023623168,1000898560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.028,109.17,1
$GPS,040119,121634,-6012.347,5.422,36,0.7,39,-19.7,0.5,138.3,12,9.4