version: 66.14
glider: 640
mission: 5
dive: 157
start: 1 1 119 1 8 18
data:
$ID,640
$MISSION,5
$DIVE,157
$N_DIVES,300
$STOP_T,1031912
$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,36
$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
$GPS1,010119,010331,-5955.4272,7.1971,11,0.7,34,-19.8,0.6,342.9,12,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-67.3
$GPS2,010119,010800,-5955.4209,7.2398,8,0.8,13,-19.8,1.0,0.1,11,9.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,217.2,46001,-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,9,-0.64,-146.0,227,2142,1800,1822,0.0,0.0,0,95,0.00,0.00,-83.20,0.000,16386,0.000,0.000,227,2142,3143,3223,3064,0,0,0,0,0,0,14.62,28.83,14.63,6.17,49.96
$GC,97,-0.64,-146.0,227,2143,3225,3066,3.0,-4.9,17,111,6.00,0.00,-6.75,0.000,18694,0.355,0.000,2184,2142,3312,3407,3217,0,0,0,0,0,0,14.21,13.41,14.38,6.28,49.33
$GC,231,-0.64,-146.0,2184,2142,3409,3220,23.8,-17.1,44,233,0.00,0.00,0.00,0.000,2054,0.000,0.000,2184,2142,3313,3408,3219,0,0,0,0,0,0,14.66,14.66,14.67,6.30,49.05
$GC,355,-0.64,-146.0,2184,2142,3409,3220,45.1,-15.6,69,359,0.00,2.42,0.00,0.000,2308,0.000,0.081,2173,3505,3314,3409,3219,0,0,0,0,0,0,14.69,14.43,14.69,6.28,49.05
$GC,380,-0.64,-146.0,2174,3505,3409,3220,49.0,-15.5,74,384,0.05,2.38,0.00,0.000,3078,0.356,0.043,2190,2102,3313,3408,3219,0,0,0,0,0,0,14.28,14.47,14.44,6.30,49.01
$GC,506,-0.64,-146.0,2190,2102,3409,3221,68.1,-15.2,99,509,0.00,0.00,0.00,0.000,2054,0.000,0.000,2190,2101,3313,3408,3219,0,0,0,0,0,0,14.71,14.71,14.71,6.30,49.01
$GC,630,-0.64,-146.0,2190,2102,3417,3220,87.1,-15.3,124,634,0.00,2.47,0.00,0.000,2564,0.000,0.067,2190,696,3313,3408,3219,0,0,0,0,0,0,14.73,14.47,14.73,6.30,49.13
$GC,685,-0.64,-146.0,2191,697,3409,3219,95.4,-14.2,135,690,0.00,2.42,0.00,0.000,3078,0.000,0.057,2181,2098,3313,3408,3219,0,0,0,0,0,0,14.54,14.49,14.57,6.31,48.62
$GC,820,-0.64,-146.0,2182,2098,3410,3219,116.1,-15.9,147,825,0.00,2.40,0.00,0.000,2564,0.000,0.065,2181,698,3314,3409,3220,0,0,0,0,0,0,14.75,14.52,14.75,6.29,48.70
$GC,840,-0.64,-146.0,2181,699,3409,3220,119.3,-15.9,148,845,0.05,2.42,0.00,0.000,3078,0.362,0.056,2188,2101,3314,3409,3219,0,0,0,0,0,0,14.33,14.50,14.49,6.29,48.42
$GC,1160,-0.64,-146.0,2189,2101,3410,3219,164.4,-13.7,164,1164,0.00,2.45,0.00,0.000,2564,0.000,0.065,2188,699,3314,3409,3219,0,0,0,0,0,0,14.78,14.54,14.78,6.30,49.88
$GC,1185,-0.64,-146.0,2188,700,3410,3220,167.3,-13.8,165,1190,0.00,2.40,0.00,0.000,3078,0.000,0.057,2178,2094,3313,3409,3218,0,0,0,0,0,0,14.59,14.54,14.62,6.30,50.43
$GC,1500,-0.64,-146.0,2178,2096,3409,3220,211.5,-13.8,181,1504,0.05,2.50,0.00,0.000,2308,0.477,0.082,2182,3510,3314,3409,3219,0,0,0,0,0,0,14.41,14.53,14.62,6.32,50.90
$GC,1555,-0.64,-146.0,2182,3510,3404,3219,216.8,-13.6,183,1559,0.00,2.38,0.00,0.000,3078,0.000,0.044,2181,2096,3313,3408,3218,0,0,0,0,0,0,14.62,14.58,14.64,6.32,51.65
$GC,1860,-0.64,-146.0,2182,2096,3410,3219,258.3,-12.9,199,1864,0.00,2.45,0.00,0.000,2564,0.000,0.067,2182,695,3313,3408,3219,0,0,0,0,0,0,14.83,14.57,14.83,6.32,51.18
$GC,1925,-0.64,-146.0,2181,695,3409,3220,266.1,-13.0,202,1929,0.05,2.42,0.00,0.000,3078,0.360,0.056,2188,2104,3313,3408,3219,0,0,0,0,0,0,14.39,14.57,14.55,6.33,51.14
$GC,2240,-0.64,-146.0,2190,2104,3409,3219,305.5,-12.4,218,2245,0.00,2.47,0.00,0.000,2308,0.000,0.083,2178,3502,3313,3408,3219,0,0,0,0,0,0,14.83,14.56,14.83,6.33,51.77
$GC,2310,-0.64,-146.0,2178,3507,3409,3214,312.9,-12.4,221,2314,0.00,2.35,0.00,0.000,3078,0.000,0.042,2177,2101,3313,3408,3219,0,0,0,0,0,0,14.64,14.60,14.67,6.37,50.98
$STATE,2599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2599,begin apogee
$GC,2602,-0.15,0.0,2178,2160,3410,3219,350.7,-12.7,236,2733,0.47,0.00,127.35,1.577,10246,0.272,0.000,2347,2156,2716,2776,2657,0,0,0,0,0,0,14.46,13.92,13.32,6.34,51.33
$STATE,2734,end apogee,CONTROL_FINISHED_OK
$STATE,2734,begin loiter
$GC,3020,-0.15,0.0,2347,2157,2771,2643,346.1,3.5,257,3021,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2156,2707,2771,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.43
$GC,3320,-0.15,0.0,2347,2156,2772,2641,335.8,3.5,272,3321,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2706,2771,2641,0,0,0,0,0,0,14.71,14.71,14.71,6.28,51.45
$GC,3620,-0.15,0.0,2348,2156,2772,2640,325.5,3.4,287,3621,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2705,2771,2640,0,0,0,0,0,0,14.79,14.80,14.79,6.29,51.02
$GC,3920,-0.15,0.0,2347,2157,2772,2640,315.8,3.1,302,3921,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2705,2771,2639,0,0,0,0,0,0,14.85,14.85,14.85,6.28,50.94
$GC,4220,-0.15,0.0,2347,2156,2772,2639,306.1,3.2,317,4221,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.22
$GC,4520,-0.15,0.0,2346,2157,2771,2639,297.1,3.0,332,4521,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2704,2771,2638,0,0,0,0,0,0,14.93,14.93,14.93,6.28,51.22
$GC,4820,-0.15,0.0,2347,2156,2772,2638,288.7,2.8,347,4821,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2704,2771,2638,0,0,0,0,0,0,14.95,14.96,14.96,6.28,51.33
$GC,5120,-0.15,0.0,2347,2156,2772,2638,280.5,2.7,362,5121,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2155,2704,2771,2638,0,0,0,0,0,0,14.98,14.98,14.98,6.29,51.45
$GC,5420,-0.15,0.0,2347,2157,2772,2639,272.9,2.4,377,5421,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2704,2771,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.53
$GC,5720,-0.15,0.0,2347,2156,2772,2637,265.4,2.5,392,5721,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2704,2771,2638,0,0,0,0,0,0,15.01,15.02,15.01,6.28,51.33
$GC,6020,-0.15,0.0,2347,2157,2772,2639,257.2,2.8,407,6021,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2156,2704,2771,2638,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.18
$STATE,6319,end loiter,LOITER_COMPLETE
$STATE,6319,begin climb
$GC,6320,0.64,146.0,2347,2156,2772,2638,248.0,0.0,422,6457,0.62,2.58,130.00,1.424,11012,0.175,0.067,2609,744,2120,2145,2096,0,0,0,0,0,0,14.70,13.93,13.46,6.29,51.29
$GC,6521,0.64,146.0,2609,745,2140,2088,232.6,10.0,431,6525,0.00,2.47,0.00,0.000,5126,0.000,0.054,2609,2141,2112,2138,2087,0,0,0,0,0,0,14.19,14.14,14.22,6.24,49.09
$GC,6836,0.64,146.0,2610,2142,2134,2079,192.2,12.6,447,6840,0.00,2.55,0.00,0.000,4356,0.000,0.083,2609,3559,2106,2133,2079,0,0,0,0,0,0,14.59,14.35,14.60,6.24,50.27
$GC,6911,0.64,146.0,2610,3560,2134,2079,184.6,12.7,450,6916,0.03,2.40,0.00,0.000,5126,0.452,0.043,2610,2149,2105,2132,2078,0,0,0,0,0,0,14.22,14.40,14.38,6.24,50.59
$GC,7216,0.64,146.0,2610,2150,2132,2077,144.7,12.5,466,7220,0.00,2.50,0.00,0.000,4612,0.000,0.069,2619,740,2103,2131,2076,0,0,0,0,0,0,14.71,14.45,14.71,6.24,51.06
$GC,7246,0.64,146.0,2620,740,2131,2076,142.3,12.4,467,7252,0.03,2.45,0.00,0.000,5126,0.409,0.055,2608,2157,2103,2130,2076,0,0,0,0,0,0,14.31,14.47,14.46,6.24,50.74
$GC,7556,0.64,146.0,2608,2157,2130,2076,103.7,12.1,483,7560,0.00,2.45,0.00,0.000,4356,0.000,0.083,2608,3559,2102,2129,2075,0,0,0,0,0,0,14.76,14.51,14.76,6.23,50.43
$GC,7626,0.64,146.0,2608,3560,2130,2076,95.2,11.6,491,7630,0.00,2.38,0.00,0.000,5126,0.000,0.043,2617,2151,2102,2129,2075,0,0,0,0,0,0,14.59,14.54,14.60,6.22,49.92
$GC,7752,0.64,146.0,2617,2151,2130,2076,80.2,12.2,516,7756,0.00,2.45,0.00,0.000,4612,0.000,0.070,2629,743,2101,2129,2074,0,0,0,0,0,0,14.77,14.53,14.77,6.23,49.56
$GC,7796,0.64,146.0,2629,743,2129,2074,74.9,11.5,525,7801,0.05,2.40,0.00,0.000,5126,0.311,0.054,2608,2144,2100,2127,2074,0,0,0,0,0,0,14.39,14.54,14.54,6.22,49.72
$GC,7922,0.64,146.0,2609,2144,2129,2074,60.9,11.3,550,7925,0.00,2.47,0.00,0.000,4356,0.000,0.084,2609,3561,2100,2127,2074,0,0,0,0,0,0,14.78,14.52,14.78,6.18,49.52
$GC,7961,0.64,146.0,2609,3562,2129,2074,56.3,11.3,558,7965,0.00,2.38,0.00,0.000,5126,0.000,0.044,2617,2151,2100,2126,2074,0,0,0,0,0,0,14.60,14.55,14.62,6.21,48.62
$GC,8087,0.64,146.0,2617,2151,2128,2074,43.2,9.6,583,8090,0.00,2.42,0.00,0.000,4612,0.000,0.070,2628,741,2100,2127,2074,0,0,0,0,0,0,14.78,14.54,14.78,6.21,49.44
$GC,8106,0.64,146.0,2629,742,2128,2075,41.4,9.2,587,8111,0.05,2.40,0.00,0.000,5126,0.310,0.054,2608,2143,2100,2127,2073,0,0,0,0,0,0,14.40,14.54,14.54,6.20,48.70
$GC,8231,0.64,146.0,2608,2144,2127,2074,30.3,8.7,612,8236,0.00,2.53,0.00,0.000,4356,0.000,0.084,2608,3565,2100,2127,2073,0,0,0,0,0,0,14.79,14.52,14.79,6.21,49.44
$GC,8266,0.64,146.0,2608,3566,2128,2073,27.0,9.5,619,8270,0.00,2.40,0.00,0.000,5126,0.000,0.044,2617,2143,2100,2127,2074,0,0,0,0,0,0,14.61,14.56,14.62,6.20,49.17
$GC,8392,0.64,146.0,2617,2143,2128,2073,16.4,8.7,644,8396,0.00,2.42,0.00,0.000,4612,0.000,0.069,2628,740,2100,2127,2073,0,0,0,0,0,0,14.79,14.55,14.80,6.20,49.64
$GC,8436,0.64,146.0,2628,741,2127,2074,11.8,9.9,653,8441,0.05,2.42,0.00,0.000,5126,0.307,0.054,2608,2155,2099,2126,2072,0,0,0,0,0,0,14.41,14.55,14.54,6.21,50.15
$STATE,8545,end climb,SURFACE_DEPTH_REACHED
$STATE,8546,begin surface coast
$STATE,8575,end surface coast,CONTROL_FINISHED_OK
$STATE,8575,begin surface
$SM_CCo,8587,66.55,0.244,0,0,1820,220.03
$SM_GC,1.43,5.50,0.10,66.55,0.075,0.137,0.244,269,2055,1820,-6.48,0.74,220.03,0,0,0,0,0,0,14.62,14.59,14.36
$IRIDIUM_FIX,-5954.50,4.29,311218,223450
$TT8_MAMPS,0.03745,0.217959
$HUMID,49.33
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3840480
$24V_AH,13.32,34.666
$10V_AH,13.32,0.000
$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,13.000,78.200,257.350,66.550,0.000,24.448,23.772,106.074,0.000,0.000,14.374,0.000,6856.867,427.574,1543.396,99.431,0.000,1045.549,0.000,1116.591,0.000,0.539,0.000
$DEVICE_MAMPS,476.595,167.535,1577.430,244.035,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4985.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.745,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17294,681
$CAP_FILE_SIZE,91513,0
$CFSIZE,1023623168,1004044288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.047,135.02,1
$GPS,010119,033332,-5956.017,7.476,15,0.8,38,-19.8,0.2,14.6,10,8.3