version: 66.14
glider: 640
mission: 5
dive: 198
start: 1 5 119 8 35 47
data:
$ID,640
$MISSION,5
$DIVE,198
$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
$GPS1,050119,083022,-6016.6694,2.0844,22,0.8,43,-19.7,0.6,259.8,11,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-63.5
$GPS2,050119,083529,-6016.6665,2.0357,9,0.8,16,-19.7,0.5,19.4,11,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,207.7,6449,-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,-146.0,225,2095,1802,1830,0.0,0.0,0,106,0.00,0.00,-93.70,0.000,16386,0.000,0.000,224,2094,3242,3323,3162,0,0,0,0,0,0,14.62,28.83,14.62,6.18,50.35
$GC,108,-0.64,-146.0,225,2095,3324,3164,3.7,-8.8,19,121,6.03,2.67,-2.62,0.000,18948,0.355,2.253,2183,696,3317,3406,3228,0,0,0,0,0,0,14.19,13.31,14.37,6.29,49.17
$GC,156,-0.64,-146.0,2183,697,3420,3229,13.6,-17.0,29,160,0.05,2.47,0.00,0.000,3078,0.349,0.060,2190,2105,3318,3409,3228,0,0,0,0,0,0,14.21,14.38,14.36,6.30,48.58
$GC,282,-0.64,-146.0,2190,2105,3410,3228,34.1,-17.2,54,286,0.00,2.45,0.00,0.000,2564,0.000,0.065,2190,693,3319,3410,3228,0,0,0,0,0,0,14.65,14.42,14.65,6.30,49.17
$GC,326,-0.64,-146.0,2189,694,3410,3230,41.9,-17.1,63,330,0.00,2.45,0.00,0.000,3078,0.000,0.059,2180,2096,3319,3410,3228,0,0,0,0,0,0,14.47,14.42,14.49,6.31,48.89
$GC,451,-0.64,-146.0,2180,2097,3410,3229,63.5,-16.3,88,456,0.00,2.53,0.00,0.000,2308,0.000,0.084,2169,3511,3319,3410,3228,0,0,0,0,0,0,14.69,14.42,14.69,6.31,49.96
$GC,476,-0.64,-146.0,2170,3511,3411,3228,67.4,-15.6,93,480,0.05,2.40,0.00,0.000,3078,0.360,0.045,2187,2095,3319,3410,3228,0,0,0,0,0,0,14.27,14.45,14.43,6.31,49.96
$GC,602,-0.64,-146.0,2188,2094,3411,3228,85.7,-14.3,118,605,0.00,2.42,0.00,0.000,2564,0.000,0.065,2186,686,3319,3410,3228,0,0,0,0,0,0,14.71,14.47,14.71,6.30,49.33
$GC,656,-0.64,-146.0,2187,688,3411,3229,93.6,-13.9,129,660,0.03,2.45,0.00,0.000,3078,0.457,0.057,2185,2099,3318,3410,3227,0,0,0,0,0,0,14.27,14.46,14.42,6.30,48.42
$GC,786,-0.64,-146.0,2185,2100,3410,3229,111.9,-14.6,143,790,0.00,2.50,0.00,0.000,2308,0.000,0.086,2175,3500,3319,3410,3228,0,0,0,0,0,0,14.74,14.45,14.74,6.30,48.58
$GC,836,-0.64,-146.0,2175,3502,3410,3229,117.9,-14.9,145,840,0.05,2.38,0.00,0.000,3078,0.357,0.043,2192,2088,3319,3410,3228,0,0,0,0,0,0,14.31,14.51,14.46,6.30,48.62
$GC,1146,-0.64,-146.0,2192,2087,3411,3228,159.1,-12.9,161,1150,0.00,2.42,0.00,0.000,2564,0.000,0.064,2192,700,3319,3410,3228,0,0,0,0,0,0,14.78,14.52,14.78,6.30,49.92
$GC,1251,-0.64,-146.0,2193,701,3411,3228,171.9,-12.7,166,1255,0.00,2.40,0.00,0.000,3078,0.000,0.057,2182,2095,3319,3410,3228,0,0,0,0,0,0,14.58,14.52,14.60,6.31,50.55
$GC,1566,-0.64,-146.0,2183,2094,3410,3231,212.7,-13.0,182,1570,0.00,2.50,0.00,0.000,2308,0.000,0.084,2171,3509,3319,3410,3228,0,0,0,0,0,0,14.81,14.52,14.81,6.32,51.10
$GC,1611,-0.64,-146.0,2172,3511,3411,3229,218.1,-13.2,184,1615,0.05,2.38,0.00,0.000,3078,0.348,0.043,2189,2094,3319,3410,3228,0,0,0,0,0,0,14.37,14.57,14.52,6.32,50.86
$GC,1926,-0.64,-146.0,2189,2093,3411,3228,258.4,-12.4,200,1931,0.00,2.42,0.00,0.000,2564,0.000,0.063,2189,700,3318,3409,3228,0,0,0,0,0,0,14.83,14.56,14.83,6.33,51.22
$GC,1996,-0.64,-146.0,2189,701,3411,3228,265.9,-12.6,203,2000,0.00,2.40,0.00,0.000,3078,0.000,0.056,2182,2098,3320,3412,3228,0,0,0,0,0,0,14.62,14.56,14.64,6.33,50.98
$GC,2306,-0.64,-146.0,2180,2098,3410,3229,306.0,-12.6,219,2307,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2098,3319,3410,3228,0,0,0,0,0,0,14.84,14.83,14.84,6.33,51.26
$GC,2606,-0.64,-146.0,2180,2099,3410,3227,344.1,-12.9,234,2610,0.00,2.42,0.00,0.000,2564,0.000,0.064,2179,702,3319,3410,3228,0,0,0,0,0,0,14.85,14.58,14.85,6.34,51.53
$GC,2636,-0.64,-146.0,2179,703,3410,3229,346.8,-13.0,235,2641,0.08,2.40,0.00,0.000,3078,0.324,0.056,2195,2102,3319,3410,3228,0,0,0,0,0,0,14.41,14.58,14.56,6.34,51.18
$STATE,2665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2665,begin apogee
$GC,2669,-0.15,0.0,2195,2166,3412,3229,351.8,-12.9,237,2800,0.43,0.00,127.82,1.579,10246,0.262,0.000,2348,2166,2715,2774,2656,0,0,0,0,0,0,14.45,13.94,13.33,6.32,51.33
$STATE,2801,end apogee,CONTROL_FINISHED_OK
$STATE,2801,begin loiter
$GC,3086,-0.15,0.0,2348,2165,2771,2643,348.6,3.1,258,3087,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2165,2707,2771,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.28,50.35
$GC,3386,-0.15,0.0,2349,2165,2772,2640,339.0,3.2,273,3387,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2165,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.72,6.29,50.82
$GC,3686,-0.15,0.0,2349,2165,2772,2640,329.6,3.0,288,3687,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2165,2705,2771,2640,0,0,0,0,0,0,14.80,14.80,14.80,6.29,50.78
$GC,3986,-0.15,0.0,2349,2165,2772,2639,320.4,3.1,303,3987,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2165,2705,2771,2639,0,0,0,0,0,0,14.85,14.86,14.86,6.29,51.14
$GC,4286,-0.15,0.0,2348,2165,2771,2640,311.6,2.9,318,4287,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2165,2705,2771,2639,0,0,0,0,0,0,14.90,14.90,14.91,6.29,51.37
$GC,4586,-0.15,0.0,2349,2165,2772,2639,303.3,2.8,333,4587,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2165,2705,2771,2639,0,0,0,0,0,0,14.93,14.94,14.93,6.29,51.61
$GC,4886,-0.15,0.0,2349,2165,2772,2639,295.1,2.7,348,4887,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2165,2705,2771,2639,0,0,0,0,0,0,14.96,14.96,14.96,6.29,51.22
$GC,5186,-0.15,0.0,2349,2165,2772,2639,287.0,2.8,363,5187,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2165,2705,2771,2639,0,0,0,0,0,0,14.98,14.98,14.99,6.28,51.61
$GC,5486,-0.15,0.0,2348,2165,2771,2641,278.5,2.9,378,5487,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2165,2705,2771,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.26
$GC,5786,-0.15,0.0,2348,2166,2772,2641,270.2,2.8,393,5787,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2165,2705,2771,2640,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.06
$GC,6086,-0.15,0.0,2349,2166,2772,2641,262.2,2.6,408,6087,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2165,2705,2771,2640,0,0,0,0,0,0,15.03,15.03,15.03,6.29,51.96
$STATE,6385,end loiter,LOITER_COMPLETE
$STATE,6385,begin climb
$GC,6386,0.64,146.0,2348,2166,2771,2641,254.7,0.0,423,6527,0.62,2.60,130.57,1.437,11012,0.169,0.066,2612,753,2116,2141,2092,0,0,0,0,0,0,14.69,14.00,13.43,6.29,51.92
$GC,6611,0.64,146.0,2612,753,2134,2086,239.0,9.8,434,6615,0.00,2.45,0.00,0.000,5126,0.000,0.055,2611,2137,2106,2128,2085,0,0,0,0,0,0,14.23,14.18,14.25,6.24,49.84
$GC,6926,0.64,146.0,2612,2137,2132,2076,200.8,12.2,450,6931,0.00,2.55,0.00,0.000,4356,0.000,0.085,2612,3553,2104,2131,2077,0,0,0,0,0,0,14.61,14.33,14.62,6.23,50.27
$GC,7016,0.64,146.0,2612,3554,2132,2078,191.0,12.3,454,7020,0.05,2.38,0.00,0.000,5126,0.334,0.043,2604,2154,2104,2131,2077,0,0,0,0,0,0,14.21,14.38,14.38,6.25,50.78
$GC,7326,0.64,146.0,2605,2154,2130,2074,153.3,11.9,470,7330,0.00,2.50,0.00,0.000,516,0.000,0.067,2614,744,2101,2128,2074,0,0,0,0,0,0,14.73,14.43,14.73,6.24,50.70
$GC,7381,0.64,146.0,2614,745,2127,2076,148.7,11.7,472,7385,0.00,2.42,0.00,0.000,5126,0.000,0.055,2614,2152,2100,2126,2074,0,0,0,0,0,0,14.53,14.48,14.56,6.24,50.86
$GC,7686,0.64,146.0,2614,2151,2127,2069,110.1,11.8,488,7690,0.00,2.47,0.00,0.000,4356,0.000,0.086,2614,3540,2099,2126,2073,0,0,0,0,0,0,14.78,14.47,14.78,6.23,51.06
$GC,7741,0.64,146.0,2614,3540,2127,2072,105.4,11.7,490,7745,0.05,2.33,0.00,0.000,5126,0.325,0.043,2605,2156,2099,2126,2073,0,0,0,0,0,0,14.37,14.54,14.52,6.23,50.78
$GC,8046,0.64,146.0,2606,2156,2128,2072,70.1,10.7,545,8051,0.00,2.47,0.00,0.000,516,0.000,0.067,2615,750,2098,2126,2071,0,0,0,0,0,0,14.80,14.50,14.81,6.22,49.76
$GC,8121,0.64,146.0,2616,750,2127,2071,62.6,9.8,560,8125,0.00,2.40,0.00,0.000,5126,0.000,0.055,2615,2147,2099,2127,2072,0,0,0,0,0,0,14.61,14.55,14.63,6.21,49.56
$GC,8247,0.64,146.0,2615,2148,2122,2072,49.7,10.1,585,8251,0.00,2.47,0.00,0.000,4356,0.000,0.086,2616,3558,2098,2125,2071,0,0,0,0,0,0,14.81,14.54,14.81,6.21,49.21
$GC,8286,0.64,146.0,2616,3558,2126,2071,45.5,10.6,593,8291,0.08,2.38,0.00,0.000,5126,0.296,0.044,2599,2148,2098,2125,2071,0,0,0,0,0,0,14.38,14.54,14.52,6.22,49.17
$GC,8412,0.64,146.0,2600,2149,2126,2071,34.4,8.9,618,8415,0.00,0.00,0.00,0.000,2054,0.000,0.000,2599,2148,2098,2125,2071,0,0,0,0,0,0,14.81,14.81,14.81,6.20,49.40
$GC,8536,0.66,163.2,2599,2148,2127,2071,24.2,7.7,643,8550,0.00,0.00,10.12,1.269,10246,0.000,0.000,2599,2148,2048,2073,2024,0,0,0,0,0,0,14.81,14.54,13.93,6.20,49.68
$GC,8672,0.72,210.4,2599,2149,2074,2023,14.2,6.5,670,8722,0.03,2.42,44.88,0.304,10756,0.523,0.062,2658,747,1857,1873,1841,0,0,0,0,0,0,14.47,14.42,14.27,6.20,49.60
$GC,8746,0.72,210.4,2659,747,1872,1841,6.1,12.4,685,8751,0.08,2.42,0.00,0.000,5126,0.277,0.055,2631,2142,1855,1871,1839,0,0,0,0,0,0,14.30,14.41,14.42,6.18,49.33
$STATE,8770,end climb,SURFACE_DEPTH_REACHED
$STATE,8770,begin surface coast
$STATE,8790,end surface coast,CONTROL_FINISHED_OK
$STATE,8790,begin surface
$SM_CCo,8803,6.97,0.261,0,0,1823,220.03
$SM_GC,1.82,5.62,0.05,6.97,0.082,0.210,0.261,227,2082,1823,-6.47,1.02,220.03,0,0,0,0,0,0,14.57,14.49,14.33
$IRIDIUM_FIX,-6014.82,0.00,050119,060224
$TT8_MAMPS,0.038948,0.331058
$HUMID,49.21
$INTERNAL_PRESSURE,6.10897
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3819488
$24V_AH,13.31,41.981
$10V_AH,13.19,0.000
$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,13.275,78.475,313.400,6.975,0.000,24.766,40.199,117.917,0.000,0.000,17.358,0.000,6967.952,410.681,1626.059,116.109,0.000,1060.418,0.000,1164.583,0.000,0.539,0.000
$DEVICE_MAMPS,523.260,2252.925,1578.960,260.865,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5202.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.724,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,17363,694
$CAP_FILE_SIZE,93805,0
$CFSIZE,1023623168,1000013824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.025,196.14,1
$GPS,050119,110333,-6017.184,1.952,15,0.8,33,-19.7,0.4,131.2,11,9.2