version: 66.14
glider: 640
mission: 5
dive: 196
start: 1 5 119 3 33 20
data:
$ID,640
$MISSION,5
$DIVE,196
$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,32
$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
$GPS1,050119,032752,-6015.5962,3.0948,38,0.7,41,-19.7,0.5,5.1,11,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-60.5
$GPS2,050119,033301,-6015.5845,3.0533,9,0.8,14,-19.7,0.6,267.8,10,9.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,212.3,8643,-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,-146.0,233,2109,1797,1823,0.0,0.0,0,100,0.00,0.00,-88.05,0.000,16386,0.000,0.000,232,2109,3136,3216,3057,0,0,0,0,0,0,14.62,28.83,14.62,6.17,50.55
$GC,102,-0.64,-146.0,233,2110,3217,3059,3.2,-6.7,18,120,6.05,2.72,-6.88,0.000,18948,0.364,2.247,2181,691,3317,3412,3222,0,0,0,0,0,0,14.18,13.31,14.36,6.28,49.88
$GC,230,-0.64,-146.0,2181,693,3413,3226,25.9,-17.3,44,235,0.05,2.45,0.00,0.000,3078,0.356,0.056,2188,2097,3318,3413,3224,0,0,0,0,0,0,14.21,14.39,14.38,6.30,48.26
$GC,356,-0.64,-146.0,2189,2098,3414,3224,46.7,-16.0,69,358,0.00,0.00,0.00,0.000,2054,0.000,0.000,2189,2098,3316,3407,3225,0,0,0,0,0,0,14.66,14.66,14.66,6.30,48.97
$GC,480,-0.64,-146.0,2187,2098,3414,3225,64.9,-14.2,94,481,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2098,3318,3412,3225,0,0,0,0,0,0,14.69,14.69,14.69,6.30,49.64
$GC,600,-0.64,-146.0,2188,2098,3413,3225,82.0,-14.9,118,605,0.00,2.45,0.00,0.000,2564,0.000,0.063,2187,699,3318,3412,3225,0,0,0,0,0,0,14.71,14.45,14.71,6.30,48.93
$GC,625,-0.64,-146.0,2188,700,3413,3226,85.8,-14.9,123,629,0.00,2.42,0.00,0.000,3078,0.000,0.057,2178,2098,3318,3412,3225,0,0,0,0,0,0,14.52,14.45,14.54,6.30,48.81
$GC,765,-0.64,-146.0,2179,2098,3414,3225,106.5,-14.6,145,769,0.05,2.50,0.00,0.000,2308,0.472,0.082,2181,3505,3318,3412,3225,0,0,0,0,0,0,14.33,14.46,14.54,6.29,48.74
$GC,790,-0.64,-146.0,2181,3505,3413,3226,109.5,-14.6,146,795,0.00,2.38,0.00,0.000,3078,0.000,0.044,2181,2104,3319,3413,3225,0,0,0,0,0,0,14.54,14.50,14.56,6.30,48.58
$GC,1105,-0.64,-146.0,2181,2103,3414,3225,153.9,-13.5,162,1109,0.00,2.47,0.00,0.000,2564,0.000,0.063,2181,689,3318,3412,3225,0,0,0,0,0,0,14.78,14.51,14.75,6.30,50.03
$GC,1195,-0.64,-146.0,2181,690,3413,3226,164.4,-13.1,166,1200,0.05,2.42,0.00,0.000,3078,0.357,0.057,2187,2095,3319,3413,3225,0,0,0,0,0,0,14.34,14.52,14.50,6.30,50.11
$GC,1505,-0.64,-146.0,2187,2096,3413,3226,203.4,-12.2,182,1509,0.00,2.50,0.00,0.000,2308,0.000,0.083,2177,3508,3318,3413,3224,0,0,0,0,0,0,14.81,14.52,14.81,6.31,50.59
$GC,1550,-0.64,-146.0,2177,3508,3413,3225,208.6,-12.6,184,1554,0.03,2.38,0.00,0.000,3078,0.446,0.042,2185,2091,3318,3412,3225,0,0,0,0,0,0,14.35,14.56,14.50,6.32,50.82
$GC,1865,-0.64,-146.0,2185,2089,3413,3225,249.0,-12.6,200,1870,0.00,2.42,0.00,0.000,2564,0.000,0.063,2184,700,3318,3412,3225,0,0,0,0,0,0,14.83,14.55,14.83,6.33,50.86
$GC,1945,-0.64,-146.0,2185,700,3414,3226,259.3,-12.9,204,1950,0.05,2.40,0.00,0.000,3078,0.366,0.056,2192,2096,3318,3412,3224,0,0,0,0,0,0,14.36,14.56,14.54,6.32,50.90
$GC,2265,-0.64,-146.0,2191,2097,3413,3225,298.8,-12.3,220,2269,0.00,2.45,0.00,0.000,2308,0.000,0.083,2181,3509,3318,3412,3225,0,0,0,0,0,0,14.83,14.57,14.83,6.33,51.73
$GC,2310,-0.64,-146.0,2182,3512,3413,3226,303.8,-12.4,222,2315,0.00,2.35,0.00,0.000,3078,0.000,0.042,2181,2105,3318,3412,3224,0,0,0,0,0,0,14.64,14.59,14.65,6.33,51.33
$GC,2625,-0.64,-146.0,2181,2105,3412,3226,343.9,-12.5,238,2629,0.00,2.45,0.00,0.000,2564,0.000,0.063,2181,690,3318,3412,3225,0,0,0,0,0,0,14.85,14.57,14.84,6.33,51.06
$STATE,2684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2684,begin apogee
$GC,2690,-0.15,0.0,2170,2160,3413,3226,351.4,-12.6,241,2820,0.50,0.00,126.82,1.584,10246,0.270,0.000,2347,2159,2719,2779,2660,0,0,0,0,0,0,14.41,13.94,13.34,6.33,51.06
$STATE,2821,end apogee,CONTROL_FINISHED_OK
$STATE,2821,begin loiter
$GC,3105,-0.15,0.0,2348,2159,2776,2645,347.9,3.3,262,3106,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2709,2774,2645,0,0,0,0,0,0,14.57,14.57,14.57,6.28,50.31
$GC,3405,-0.15,0.0,2348,2159,2774,2643,338.2,3.2,277,3406,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2708,2774,2643,0,0,0,0,0,0,14.71,14.71,14.71,6.28,51.14
$GC,3705,-0.15,0.0,2348,2160,2775,2642,328.9,3.0,292,3706,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2708,2774,2643,0,0,0,0,0,0,14.80,14.80,14.80,6.28,50.90
$GC,4005,-0.15,0.0,2347,2160,2774,2643,320.3,2.8,307,4006,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2708,2774,2642,0,0,0,0,0,0,14.85,14.85,14.85,6.28,50.90
$GC,4305,-0.15,0.0,2347,2160,2775,2643,311.9,2.7,322,4306,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2708,2774,2642,0,0,0,0,0,0,14.90,14.90,14.90,6.27,50.98
$GC,4605,-0.15,0.0,2347,2159,2775,2642,303.5,2.9,337,4606,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2707,2774,2641,0,0,0,0,0,0,14.94,14.93,14.94,6.29,51.06
$GC,4905,-0.15,0.0,2348,2160,2775,2641,295.3,2.7,352,4906,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2707,2774,2641,0,0,0,0,0,0,14.96,14.96,14.96,6.28,51.69
$GC,5205,-0.15,0.0,2347,2160,2774,2642,287.0,2.8,367,5206,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2707,2774,2641,0,0,0,0,0,0,14.98,14.98,14.98,6.28,51.22
$GC,5505,-0.15,0.0,2347,2160,2775,2642,278.4,3.0,382,5506,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2158,2707,2774,2641,0,0,0,0,0,0,15.00,15.00,15.00,6.28,50.98
$GC,5805,-0.15,0.0,2348,2159,2775,2641,268.8,3.4,397,5806,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2707,2774,2641,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.18
$GC,6105,-0.15,0.0,2348,2159,2773,2640,258.0,3.9,412,6106,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2158,2707,2774,2641,0,0,0,0,0,0,15.03,15.03,15.03,6.28,51.41
$STATE,6404,end loiter,LOITER_COMPLETE
$STATE,6404,begin climb
$GC,6405,0.64,146.0,2348,2159,2775,2640,246.9,0.0,427,6546,0.62,2.60,131.00,1.421,11012,0.179,0.066,2608,745,2116,2141,2092,0,0,0,0,0,0,14.68,14.00,13.47,6.28,51.73
$GC,6630,0.64,146.0,2607,745,2135,2085,228.2,11.1,438,6634,0.00,2.47,0.00,0.000,5126,0.000,0.054,2608,2146,2110,2135,2085,0,0,0,0,0,0,14.23,14.17,14.25,6.24,49.80
$GC,6945,0.64,146.0,2608,2147,2132,2077,187.7,12.8,454,6950,0.00,2.53,0.00,0.000,4356,0.000,0.083,2608,3550,2104,2131,2077,0,0,0,0,0,0,14.62,14.32,14.62,6.24,50.27
$GC,7035,0.64,146.0,2608,3551,2131,2078,177.5,12.7,458,7039,0.00,2.38,0.00,0.000,5126,0.000,0.041,2618,2156,2103,2131,2076,0,0,0,0,0,0,14.43,14.39,14.45,6.24,50.23
$GC,7345,0.64,146.0,2619,2156,2129,2077,135.8,13.3,474,7349,0.00,2.50,0.00,0.000,4612,0.000,0.067,2629,743,2101,2128,2075,0,0,0,0,0,0,14.72,14.43,14.72,6.23,50.63
$GC,7380,0.64,146.0,2630,743,2128,2074,133.1,13.4,475,7385,0.05,2.42,0.00,0.000,5126,0.305,0.055,2609,2146,2100,2126,2074,0,0,0,0,0,0,14.33,14.47,14.47,6.23,50.63
$GC,7686,0.64,146.0,2609,2146,2128,2073,95.3,11.5,497,7690,0.00,2.47,0.00,0.000,4356,0.000,0.083,2609,3564,2099,2126,2073,0,0,0,0,0,0,14.76,14.55,14.77,6.22,50.35
$GC,7755,0.64,146.0,2610,3565,2127,2073,87.2,11.1,511,7759,0.00,2.40,0.00,0.000,5126,0.000,0.043,2618,2144,2099,2126,2073,0,0,0,0,0,0,14.56,14.52,14.57,6.22,50.00
$GC,7881,0.64,146.0,2618,2144,2127,2073,73.2,11.2,536,7885,0.00,2.42,0.00,0.000,4612,0.000,0.067,2629,744,2099,2126,2072,0,0,0,0,0,0,14.78,14.53,14.78,6.22,50.19
$GC,7910,0.64,146.0,2629,744,2126,2072,70.0,10.5,542,7915,0.05,2.42,0.00,0.000,5126,0.304,0.055,2608,2153,2098,2125,2071,0,0,0,0,0,0,14.38,14.53,14.53,6.22,49.44
$GC,8036,0.64,146.0,2608,2154,2126,2073,58.0,9.2,567,8040,0.00,2.45,0.00,0.000,4356,0.000,0.083,2608,3558,2098,2125,2072,0,0,0,0,0,0,14.78,14.52,14.78,6.21,49.72
$GC,8075,0.64,146.0,2609,3558,2126,2072,54.0,9.8,575,8079,0.00,2.38,0.00,0.000,5126,0.000,0.044,2617,2149,2098,2125,2072,0,0,0,0,0,0,14.57,14.52,14.59,6.21,48.93
$GC,8201,0.64,146.0,2618,2150,2126,2073,42.4,9.0,600,8205,0.00,2.42,0.00,0.000,4612,0.000,0.068,2628,744,2098,2125,2072,0,0,0,0,0,0,14.79,14.54,14.79,6.21,49.01
$GC,8270,0.68,181.3,2629,744,2126,2072,37.1,7.0,614,8305,0.00,2.42,29.90,1.261,13318,0.000,0.054,2629,2157,1981,2002,1960,0,0,0,0,0,0,14.60,14.54,13.84,6.20,49.64
$GC,8425,0.68,181.3,2629,2158,1996,1951,20.6,11.2,645,8430,0.00,2.45,0.00,0.000,4356,0.000,0.082,2629,3557,1972,1995,1950,0,0,0,0,0,0,14.65,14.40,14.65,6.18,48.85
$GC,8445,0.68,181.3,2629,3556,1996,1951,18.0,12.3,649,8450,0.05,2.40,0.00,0.000,5126,0.334,0.044,2621,2148,1972,1995,1950,0,0,0,0,0,0,14.23,14.40,14.38,6.20,49.09
$GC,8571,0.68,181.3,2622,2147,1996,1947,3.1,9.0,674,8574,0.00,0.00,0.00,0.000,4102,0.000,0.000,2621,2146,1971,1994,1948,0,0,0,0,0,0,14.68,14.68,14.68,6.19,49.56
$STATE,8579,end climb,SURFACE_DEPTH_REACHED
$STATE,8579,begin surface coast
$STATE,8604,end surface coast,CONTROL_FINISHED_OK
$STATE,8604,begin surface
$SM_CCo,8616,35.45,0.243,0,0,1822,220.03
$SM_GC,1.20,5.50,0.08,35.45,0.056,0.165,0.243,253,2077,1822,-6.50,0.85,220.03,0,0,0,0,0,0,14.54,14.47,14.29
$IRIDIUM_FIX,-6014.82,4.34,050119,005609
$TT8_MAMPS,0.038948,0.337799
$HUMID,49.68
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3820512
$24V_AH,13.31,41.618
$10V_AH,13.66,0.000
$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,13.050,78.550,287.725,35.450,0.000,29.705,40.764,118.972,0.000,0.000,15.543,0.000,6829.329,419.160,1600.897,115.586,0.000,1053.202,0.000,1142.406,0.000,0.539,0.000
$DEVICE_MAMPS,472.005,2246.805,1584.315,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5016.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.807,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17332,681
$CAP_FILE_SIZE,91521,0
$CFSIZE,1023623168,1000210432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.071,252.02,1
$GPS,050119,055848,-6016.109,2.554,13,3.0,53,-19.7,0.2,212.9,4,12.8