version: 66.14
glider: 640
mission: 5
dive: 193
start: 1 4 119 19 58 56
data:
$ID,640
$MISSION,5
$DIVE,193
$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,29
$R_STBD_OVSHOOT,26
$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
$GPS1,040119,195332,-6013.8862,3.9609,12,0.9,37,-19.7,0.3,204.0,9,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-67.2
$GPS2,040119,195838,-6013.9106,3.9467,8,0.9,13,-19.7,1.0,156.8,9,9.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,208.7,11843,-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,-146.0,233,2102,1795,1825,0.0,0.0,0,101,0.00,0.00,-88.62,0.000,16386,0.000,0.000,233,2104,3189,3269,3109,0,0,0,0,0,0,14.61,28.83,14.62,6.17,50.31
$GC,103,-0.64,-146.0,234,2104,3270,3110,3.4,-7.2,18,120,6.05,2.72,-4.72,0.000,18692,0.362,2.265,2179,3509,3316,3410,3223,0,0,0,0,0,0,14.17,13.43,14.35,6.29,49.40
$GC,231,-0.64,-146.0,2179,3510,3412,3225,25.2,-15.3,44,237,0.03,2.40,0.00,0.000,3078,0.456,0.041,2187,2097,3318,3412,3224,0,0,0,0,0,0,14.20,14.40,14.35,6.30,48.70
$GC,357,-0.64,-146.0,2187,2096,3413,3224,45.3,-14.9,69,360,0.00,2.42,0.00,0.000,2564,0.000,0.064,2186,693,3318,3412,3224,0,0,0,0,0,0,14.65,14.42,14.65,6.30,49.72
$GC,411,-0.64,-146.0,2187,694,3413,3224,53.8,-15.3,80,416,0.05,2.45,0.00,0.000,3078,0.374,0.057,2194,2100,3318,3412,3224,0,0,0,0,0,0,14.23,14.42,14.40,6.32,49.21
$GC,537,-0.64,-146.0,2193,2100,3412,3225,73.0,-15.5,105,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2101,3318,3412,3224,0,0,0,0,0,0,14.68,14.69,14.69,6.30,49.25
$GC,661,-0.64,-146.0,2194,2101,3419,3225,91.4,-15.1,130,665,0.00,2.50,0.00,0.000,260,0.000,0.082,2183,3503,3318,3412,3224,0,0,0,0,0,0,14.71,14.44,14.71,6.30,49.01
$GC,686,-0.64,-146.0,2184,3506,3413,3224,95.3,-15.4,135,690,0.00,2.38,0.00,0.000,3078,0.000,0.044,2183,2100,3318,3412,3224,0,0,0,0,0,0,14.53,14.49,14.54,6.30,48.77
$GC,816,-0.64,-146.0,2183,2100,3413,3225,115.8,-15.7,146,820,0.00,2.45,0.00,0.000,2564,0.000,0.066,2182,700,3318,3412,3224,0,0,0,0,0,0,14.73,14.47,14.73,6.30,49.29
$GC,896,-0.64,-146.0,2183,701,3412,3225,127.8,-14.9,150,900,0.05,2.42,0.00,0.000,3078,0.359,0.056,2189,2104,3318,3412,3224,0,0,0,0,0,0,14.31,14.49,14.47,6.30,48.70
$GC,1216,-0.64,-146.0,2188,2105,3412,3225,168.3,-12.3,166,1220,0.00,2.45,0.00,0.000,2308,0.000,0.082,2179,3514,3318,3412,3224,0,0,0,0,0,0,14.78,14.52,14.78,6.31,50.07
$GC,1266,-0.64,-146.0,2179,3514,3423,3224,173.3,-12.6,168,1270,0.00,2.38,0.00,0.000,3078,0.000,0.042,2178,2096,3318,3412,3224,0,0,0,0,0,0,14.59,14.54,14.61,6.31,50.39
$GC,1576,-0.64,-146.0,2178,2096,3413,3225,216.2,-14.0,184,1581,0.05,2.45,0.00,0.000,2564,0.477,0.064,2191,694,3318,3412,3224,0,0,0,0,0,0,14.38,14.57,14.58,6.32,51.06
$GC,1651,-0.64,-146.0,2192,695,3413,3224,224.6,-14.0,187,1655,0.00,2.42,0.00,0.000,3078,0.000,0.056,2181,2102,3318,3412,3224,0,0,0,0,0,0,14.61,14.54,14.62,6.32,50.98
$GC,1956,-0.64,-146.0,2181,2103,3412,3225,267.3,-13.3,203,1960,0.00,2.42,0.00,0.000,2308,0.000,0.082,2170,3511,3318,3412,3224,0,0,0,0,0,0,14.82,14.55,14.82,6.33,51.29
$GC,2006,-0.64,-146.0,2171,3511,3413,3224,272.6,-13.2,205,2010,0.05,2.38,0.00,0.000,3078,0.359,0.042,2188,2091,3317,3411,3224,0,0,0,0,0,0,14.38,14.58,14.53,6.33,51.22
$GC,2316,-0.64,-146.0,2187,2090,3412,3223,311.9,-12.1,221,2320,0.00,2.40,0.00,0.000,2564,0.000,0.063,2188,706,3318,3412,3224,0,0,0,0,0,0,14.83,14.56,14.83,6.34,51.18
$GC,2391,-0.64,-146.0,2188,707,3413,3224,319.2,-12.2,224,2395,0.03,2.38,0.00,0.000,3078,0.461,0.056,2187,2095,3318,3412,3224,0,0,0,0,0,0,14.37,14.58,14.52,6.33,51.10
$STATE,2635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2635,begin apogee
$GC,2639,-0.15,0.0,2187,2181,3412,3225,350.0,-12.0,237,2769,0.45,0.00,127.43,1.571,10246,0.269,0.000,2347,2181,2719,2778,2660,0,0,0,0,0,0,14.44,13.94,13.33,6.34,50.94
$STATE,2770,end apogee,CONTROL_FINISHED_OK
$STATE,2770,begin loiter
$GC,3056,-0.15,0.0,2348,2181,2773,2644,345.8,3.4,258,3057,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2181,2707,2771,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.28,50.51
$GC,3356,-0.15,0.0,2348,2181,2773,2642,335.8,3.4,273,3357,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2181,2706,2771,2642,0,0,0,0,0,0,14.71,14.71,14.71,6.29,50.86
$GC,3656,-0.15,0.0,2348,2182,2773,2640,325.5,3.4,288,3657,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2181,2705,2771,2640,0,0,0,0,0,0,14.80,14.80,14.80,6.29,51.22
$GC,3956,-0.15,0.0,2347,2182,2772,2641,315.6,3.3,303,3957,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2181,2705,2771,2640,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.69
$GC,4256,-0.15,0.0,2348,2181,2773,2639,305.5,3.4,318,4257,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2181,2705,2771,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.28,50.98
$GC,4556,-0.15,0.0,2348,2182,2772,2640,295.5,3.3,333,4557,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2180,2705,2771,2639,0,0,0,0,0,0,14.93,14.93,14.93,6.28,51.10
$GC,4856,-0.15,0.0,2348,2181,2773,2639,285.6,3.3,348,4857,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2181,2704,2771,2638,0,0,0,0,0,0,14.96,14.96,14.96,6.28,51.33
$GC,5156,-0.15,0.0,2347,2181,2773,2638,276.1,3.1,363,5157,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2181,2705,2771,2639,0,0,0,0,0,0,14.98,14.99,14.98,6.29,50.98
$GC,5456,-0.15,0.0,2347,2182,2772,2640,266.8,3.1,378,5457,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2181,2704,2771,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.33
$GC,5756,-0.15,0.0,2347,2182,2772,2640,257.5,3.0,393,5757,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2181,2705,2771,2639,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.22
$GC,6056,-0.15,0.0,2348,2182,2772,2639,248.8,2.9,408,6057,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2181,2704,2771,2638,0,0,0,0,0,0,15.03,15.02,15.02,6.28,51.18
$STATE,6355,end loiter,LOITER_COMPLETE
$STATE,6355,begin climb
$GC,6356,0.64,146.0,2346,2182,2772,2641,240.3,0.0,423,6494,0.62,2.45,130.20,1.415,10500,0.183,0.079,2596,3534,2120,2146,2095,0,0,0,0,0,0,14.67,13.90,13.45,6.28,51.85
$GC,6588,0.64,146.0,2596,3535,2142,2087,223.5,10.4,433,6592,0.00,2.38,0.00,0.000,1030,0.000,0.041,2606,2159,2114,2142,2086,0,0,0,0,0,0,14.24,14.20,14.26,6.24,49.01
$GC,6893,0.64,146.0,2606,2159,2135,2079,184.9,12.4,449,6897,0.00,2.53,0.00,0.000,4612,0.000,0.067,2617,740,2106,2135,2078,0,0,0,0,0,0,14.61,14.35,14.61,6.24,50.82
$GC,6943,0.64,146.0,2618,740,2133,2078,180.1,12.2,451,6947,0.00,2.42,0.00,0.000,5126,0.000,0.055,2618,2130,2104,2132,2077,0,0,0,0,0,0,14.44,14.38,14.45,6.24,50.07
$GC,7253,0.64,146.0,2618,2131,2132,2077,138.5,13.0,467,7257,0.00,2.55,0.00,0.000,4356,0.000,0.084,2618,3580,2104,2131,2077,0,0,0,0,0,0,14.71,14.45,14.71,6.23,50.59
$GC,7348,0.64,146.0,2618,3582,2132,2077,128.4,12.6,471,7352,0.05,2.42,0.00,0.000,5126,0.336,0.042,2609,2147,2103,2131,2076,0,0,0,0,0,0,14.31,14.49,14.47,6.24,50.86
$GC,7653,0.64,146.0,2610,2147,2132,2076,91.0,11.2,496,7653,0.00,0.00,0.00,0.000,4102,0.000,0.000,2609,2147,2102,2130,2075,0,0,0,0,0,0,14.76,14.76,14.76,6.22,49.92
$GC,7773,0.64,146.0,2610,2147,2132,2075,77.6,11.0,520,7773,0.00,0.00,0.00,0.000,4102,0.000,0.000,2609,2147,2102,2130,2075,0,0,0,0,0,0,14.77,14.77,14.77,6.22,49.40
$GC,7893,0.64,146.0,2609,2147,2131,2076,64.6,10.4,544,7897,0.00,2.45,0.00,0.000,4612,0.000,0.066,2619,750,2102,2130,2074,0,0,0,0,0,0,14.78,14.52,14.78,6.21,49.40
$GC,7913,0.64,146.0,2619,751,2129,2075,62.6,9.9,548,7917,0.00,2.42,0.00,0.000,5126,0.000,0.054,2619,2159,2101,2128,2075,0,0,0,0,0,0,14.66,14.52,14.67,6.21,49.21
$GC,8038,0.64,146.0,2619,2165,2129,2076,50.5,9.2,573,8042,0.00,2.45,0.00,0.000,4356,0.000,0.086,2619,3558,2101,2128,2075,0,0,0,0,0,0,14.78,14.52,14.78,6.20,48.89
$GC,8073,0.64,146.0,2619,3560,2128,2076,47.1,9.5,580,8077,0.05,2.38,0.00,0.000,5126,0.330,0.044,2609,2147,2101,2128,2075,0,0,0,0,0,0,14.38,14.55,14.52,6.21,48.81
$GC,8198,0.64,146.0,2610,2147,2129,2074,37.0,8.4,605,8202,0.00,2.47,0.00,0.000,4612,0.000,0.067,2619,740,2101,2128,2074,0,0,0,0,0,0,14.78,14.52,14.78,6.21,48.66
$GC,8223,0.64,146.0,2620,740,2129,2074,34.8,8.7,610,8228,0.03,2.42,0.00,0.000,5126,0.393,0.054,2608,2153,2100,2127,2074,0,0,0,0,0,0,14.37,14.54,14.52,6.21,48.93
$GC,8349,0.64,151.3,2608,2154,2128,2075,24.1,8.1,635,8352,0.00,2.45,0.00,0.000,260,0.000,0.084,2608,3556,2100,2127,2074,0,0,0,0,0,0,14.78,14.52,14.78,6.20,49.37
$GC,8403,0.64,151.3,2608,3563,2128,2074,18.8,10.1,646,8408,0.00,2.38,0.00,0.000,5126,0.000,0.041,2617,2148,2100,2127,2074,0,0,0,0,0,0,14.59,14.57,14.62,6.20,49.37
$GC,8529,0.64,151.3,2617,2149,2128,2074,6.4,9.5,671,8532,0.00,2.40,0.00,0.000,4612,0.000,0.066,2628,744,2100,2127,2073,0,0,0,0,0,0,14.78,14.54,14.78,6.20,49.80
$GC,8558,0.64,151.9,2629,745,2127,2073,3.8,8.3,677,8562,0.05,2.42,0.00,0.000,5126,0.309,0.057,2608,2149,2099,2126,2073,0,0,0,0,0,0,14.39,14.52,14.53,6.21,49.72
$STATE,8566,end climb,SURFACE_DEPTH_REACHED
$STATE,8566,begin surface coast
$STATE,8596,end surface coast,CONTROL_FINISHED_OK
$STATE,8596,begin surface
$SM_CCo,8609,66.75,0.243,0,0,1822,220.03
$SM_GC,0.99,5.80,0.08,66.75,0.145,0.172,0.243,236,2083,1822,-6.45,0.96,220.03,0,0,0,0,0,0,14.63,14.57,14.34
$IRIDIUM_FIX,-6014.82,4.34,040119,172252
$TT8_MAMPS,0.039697,0.259154
$HUMID,49.25
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3822048
$24V_AH,13.33,41.086
$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,13.350,78.200,257.625,66.750,0.000,23.702,45.342,115.127,0.000,0.000,15.151,0.000,6843.655,424.695,1602.218,114.852,0.000,1054.474,0.000,1143.478,0.000,0.539,0.000
$DEVICE_MAMPS,476.595,2265.165,1571.310,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5006.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.840,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17315,685
$CAP_FILE_SIZE,93525,0
$CFSIZE,1023623168,1000505344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.055,204.33,1
$GPS,040119,222431,-6014.552,3.696,14,0.9,36,-19.7,0.0,42.1,11,9.1