version: 66.14
glider: 640
mission: 5
dive: 199
start: 1 5 119 11 8 51
data:
$ID,640
$MISSION,5
$DIVE,199
$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,51
$R_STBD_OVSHOOT,24
$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
$GPS1,050119,110333,-6017.1836,1.9522,15,0.8,33,-19.7,0.4,131.2,11,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-66.1
$GPS2,050119,110833,-6017.1821,1.9708,9,0.8,16,-19.7,0.0,268.8,11,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,219.1,5522,-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,-146.0,228,2081,1803,1823,0.0,0.0,0,106,0.00,0.00,-93.78,0.000,16386,0.000,0.000,227,2082,3233,3315,3151,0,0,0,0,0,0,14.60,28.83,14.60,6.17,50.19
$GC,108,-0.64,-146.0,229,2080,3316,3150,3.2,-7.8,19,122,6.05,2.60,-3.17,0.000,18948,0.358,2.243,2185,705,3317,3409,3226,0,0,0,0,0,0,14.19,13.31,14.36,6.29,49.21
$GC,166,-0.64,-146.0,2185,706,3412,3228,13.6,-16.5,31,170,0.05,2.45,0.00,0.000,3078,0.368,0.058,2190,2104,3318,3411,3226,0,0,0,0,0,0,14.19,14.36,14.35,6.30,48.50
$GC,292,-0.64,-146.0,2191,2104,3413,3226,34.9,-17.2,56,296,0.00,2.47,0.00,0.000,2308,0.000,0.083,2181,3509,3319,3412,3226,0,0,0,0,0,0,14.63,14.39,14.64,6.30,49.40
$GC,346,-0.64,-146.0,2181,3511,3412,3227,44.5,-17.6,67,350,0.00,2.38,0.00,0.000,3078,0.000,0.044,2180,2122,3319,3412,3226,0,0,0,0,0,0,14.47,14.43,14.50,6.31,48.93
$GC,471,-0.64,-146.0,2180,2121,3415,3228,64.8,-15.9,92,475,0.00,2.53,0.00,0.000,2564,0.000,0.064,2180,687,3319,3412,3226,0,0,0,0,0,0,14.68,14.42,14.69,6.30,48.77
$GC,526,-0.64,-146.0,2180,688,3412,3227,73.2,-14.9,103,530,0.05,2.45,0.00,0.000,3078,0.363,0.059,2187,2093,3318,3411,3226,0,0,0,0,0,0,14.26,14.44,14.42,6.31,48.89
$GC,652,-0.64,-146.0,2187,2094,3413,3226,91.3,-14.8,128,655,0.00,0.00,0.00,0.000,2054,0.000,0.000,2187,2093,3319,3412,3226,0,0,0,0,0,0,14.70,14.70,14.70,6.30,48.50
$GC,791,-0.64,-146.0,2187,2094,3412,3227,112.1,-14.7,144,795,0.00,2.53,0.00,0.000,2308,0.000,0.084,2176,3516,3319,3412,3226,0,0,0,0,0,0,14.73,14.48,14.73,6.30,49.29
$GC,846,-0.64,-146.0,2177,3517,3412,3226,118.0,-14.5,146,850,0.05,2.40,0.00,0.000,3078,0.358,0.043,2193,2091,3319,3412,3226,0,0,0,0,0,0,14.31,14.51,14.47,6.30,49.01
$GC,1151,-0.64,-146.0,2193,2089,3412,3227,160.7,-13.2,162,1155,0.00,2.45,0.00,0.000,2564,0.000,0.065,2193,690,3319,3412,3226,0,0,0,0,0,0,14.78,14.52,14.78,6.31,50.94
$GC,1236,-0.64,-146.0,2194,691,3413,3226,170.7,-12.5,166,1240,0.00,2.45,0.00,0.000,3078,0.000,0.058,2184,2106,3319,3412,3227,0,0,0,0,0,0,14.57,14.52,14.60,6.31,50.39
$GC,1551,-0.64,-146.0,2184,2107,3413,3226,211.8,-13.0,182,1552,0.00,0.00,0.00,0.000,2054,0.000,0.000,2184,2106,3319,3412,3226,0,0,0,0,0,0,14.81,14.81,14.81,6.32,50.86
$GC,1851,-0.64,-146.0,2184,2107,3414,3226,249.8,-12.7,197,1856,0.00,2.47,0.00,0.000,2308,0.000,0.083,2173,3508,3318,3411,3226,0,0,0,0,0,0,14.83,14.54,14.83,6.33,51.06
$GC,1886,-0.64,-146.0,2173,3509,3412,3227,252.4,-12.7,198,1890,0.05,2.35,0.00,0.000,3078,0.350,0.043,2190,2102,3319,3412,3226,0,0,0,0,0,0,14.38,14.59,14.54,6.33,51.06
$GC,2191,-0.64,-146.0,2191,2101,3413,3225,291.3,-12.0,214,2195,0.00,2.42,0.00,0.000,2564,0.000,0.064,2190,703,3319,3412,3226,0,0,0,0,0,0,14.83,14.57,14.83,6.33,51.06
$GC,2276,-0.64,-146.0,2191,704,3413,3225,300.7,-11.7,218,2281,0.00,2.40,0.00,0.000,3078,0.000,0.057,2181,2099,3319,3412,3226,0,0,0,0,0,0,14.63,14.57,14.65,6.33,50.82
$GC,2591,-0.64,-146.0,2182,2100,3414,3226,339.2,-12.2,234,2595,0.00,2.47,0.00,0.000,2308,0.000,0.083,2170,3503,3319,3412,3226,0,0,0,0,0,0,14.85,14.56,14.85,6.34,51.41
$GC,2626,-0.64,-146.0,2171,3504,3411,3227,341.7,-12.2,235,2630,0.05,2.35,0.00,0.000,3078,0.346,0.042,2188,2097,3319,3412,3226,0,0,0,0,0,0,14.40,14.59,14.56,6.33,51.85
$STATE,2690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2690,begin apogee
$GC,2694,-0.15,0.0,2189,2164,3413,3227,351.0,-11.7,239,2824,0.45,0.00,127.50,1.570,10246,0.262,0.000,2350,2163,2718,2778,2659,0,0,0,0,0,0,14.44,13.94,13.33,6.34,51.22
$STATE,2825,end apogee,CONTROL_FINISHED_OK
$STATE,2825,begin loiter
$GC,3111,-0.15,0.0,2351,2164,2772,2643,344.0,4.0,260,3112,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2163,2706,2771,2642,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.59
$GC,3411,-0.15,0.0,2351,2164,2772,2640,332.6,3.8,275,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2163,2705,2770,2641,0,0,0,0,0,0,14.71,14.71,14.71,6.29,50.98
$GC,3711,-0.15,0.0,2351,2164,2772,2639,321.2,3.8,290,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2164,2705,2771,2639,0,0,0,0,0,0,14.80,14.81,14.80,6.29,50.98
$GC,4011,-0.15,0.0,2351,2164,2772,2638,310.0,3.8,305,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2163,2704,2771,2638,0,0,0,0,0,0,14.85,14.86,14.85,6.29,50.90
$GC,4311,-0.15,0.0,2351,2164,2772,2638,298.9,3.7,320,4312,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2163,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.02
$GC,4611,-0.15,0.0,2351,2164,2771,2639,288.2,3.4,335,4612,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2163,2704,2771,2638,0,0,0,0,0,0,14.93,14.94,14.94,6.28,51.26
$GC,4911,-0.15,0.0,2351,2164,2771,2638,277.9,3.4,350,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2163,2704,2771,2637,0,0,0,0,0,0,14.96,14.96,14.96,6.28,51.92
$GC,5211,-0.15,0.0,2351,2164,2772,2638,267.7,3.2,365,5212,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2163,2703,2770,2637,0,0,0,0,0,0,14.98,14.98,14.98,6.28,51.96
$GC,5511,-0.15,0.0,2351,2163,2772,2637,258.0,3.2,380,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2163,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.22
$GC,5811,-0.15,0.0,2351,2164,2772,2637,248.6,3.3,395,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2163,2704,2771,2637,0,0,0,0,0,0,15.01,15.02,15.02,6.28,51.10
$GC,6111,-0.15,0.0,2351,2164,2772,2637,239.3,3.1,410,6112,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2163,2704,2771,2637,0,0,0,0,0,0,15.03,15.03,15.03,6.28,51.26
$STATE,6410,end loiter,LOITER_COMPLETE
$STATE,6410,begin climb
$GC,6411,0.64,146.0,2351,2164,2772,2638,230.4,0.0,425,6549,0.60,2.53,130.12,1.401,11012,0.175,0.083,2592,3546,2119,2146,2093,0,0,0,0,0,0,14.68,13.92,13.47,6.28,51.29
$GC,6653,0.64,146.0,2592,3547,2142,2087,211.9,10.7,436,6657,0.00,2.40,0.00,0.000,1030,0.000,0.041,2601,2157,2113,2141,2085,0,0,0,0,0,0,14.26,14.22,14.28,6.24,49.01
$GC,6968,0.64,146.0,2603,2157,2136,2077,175.9,11.1,452,6972,0.00,2.53,0.00,0.000,516,0.000,0.067,2613,742,2105,2134,2077,0,0,0,0,0,0,14.62,14.36,14.62,6.24,50.15
$GC,7003,0.64,146.0,2614,743,2133,2077,173.6,11.0,453,7007,0.00,2.42,0.00,0.000,5126,0.000,0.056,2616,2134,2104,2132,2077,0,0,0,0,0,0,14.44,14.39,14.46,6.24,50.51
$GC,7308,0.64,146.0,2614,2135,2131,2077,136.1,12.0,469,7312,0.00,2.55,0.00,0.000,4356,0.000,0.086,2614,3554,2103,2131,2076,0,0,0,0,0,0,14.71,14.47,14.71,6.24,50.74
$GC,7398,0.64,146.0,2622,3555,2132,2076,126.4,12.1,473,7403,0.05,2.38,0.00,0.000,5126,0.332,0.043,2607,2150,2103,2131,2076,0,0,0,0,0,0,14.31,14.50,14.46,6.23,50.90
$GC,7703,0.64,146.0,2607,2151,2130,2078,90.5,10.8,500,7707,0.00,2.47,0.00,0.000,516,0.000,0.066,2617,742,2101,2129,2074,0,0,0,0,0,0,14.76,14.50,14.77,6.23,50.19
$GC,7758,0.64,146.0,2617,743,2129,2074,84.7,10.4,511,7762,0.00,2.42,0.00,0.000,5126,0.000,0.054,2617,2154,2101,2128,2074,0,0,0,0,0,0,14.57,14.52,14.59,6.22,50.35
$GC,7884,0.64,146.0,2617,2156,2129,2074,70.8,11.4,536,7888,0.00,2.45,0.00,0.000,4356,0.000,0.086,2617,3556,2100,2127,2073,0,0,0,0,0,0,14.77,14.51,14.77,6.22,49.84
$GC,7938,0.64,146.0,2617,3557,2126,2074,64.3,11.6,547,7942,0.05,2.38,0.00,0.000,5126,0.330,0.043,2609,2149,2100,2127,2074,0,0,0,0,0,0,14.36,14.54,14.52,6.21,49.33
$GC,8063,0.64,146.0,2609,2149,2128,2074,50.6,11.7,572,8068,0.00,2.42,0.00,0.000,4612,0.000,0.067,2619,745,2100,2127,2074,0,0,0,0,0,0,14.78,14.54,14.78,6.21,48.77
$GC,8083,0.64,146.0,2618,745,2128,2073,48.2,12.0,576,8088,0.00,2.42,0.00,0.000,5126,0.000,0.055,2619,2153,2099,2126,2073,0,0,0,0,0,0,14.59,14.52,14.61,6.21,49.37
$GC,8208,0.64,146.0,2619,2154,2127,2074,34.4,10.4,601,8212,0.00,2.45,0.00,0.000,4356,0.000,0.087,2619,3555,2099,2126,2073,0,0,0,0,0,0,14.78,14.52,14.78,6.20,48.93
$GC,8293,0.64,146.0,2619,3556,2127,2074,25.6,8.9,618,8297,0.05,2.38,0.00,0.000,5126,0.327,0.044,2609,2148,2099,2126,2073,0,0,0,0,0,0,14.38,14.55,14.52,6.21,48.97
$GC,8419,0.64,147.1,2610,2148,2127,2074,15.3,8.3,643,8422,0.00,2.42,0.00,0.000,4612,0.000,0.065,2619,740,2099,2126,2073,0,0,0,0,0,0,14.78,14.54,14.79,6.21,50.31
$GC,8443,0.64,147.1,2617,740,2127,2072,13.0,9.7,648,8448,0.00,2.42,0.00,0.000,5126,0.000,0.054,2619,2151,2099,2126,2072,0,0,0,0,0,0,14.59,14.54,14.62,6.21,49.76
$STATE,8551,end climb,SURFACE_DEPTH_REACHED
$STATE,8551,begin surface coast
$STATE,8586,end surface coast,CONTROL_FINISHED_OK
$STATE,8586,begin surface
$SM_CCo,8599,66.38,0.242,0,0,1823,220.03
$SM_GC,1.01,5.57,0.08,66.38,0.078,0.169,0.242,255,2082,1823,-6.51,1.05,220.03,0,0,0,0,0,0,14.62,14.57,14.34
$IRIDIUM_FIX,-6017.76,0.00,050119,083211
$TT8_MAMPS,0.039697,0.179011
$HUMID,49.29
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3818976
$24V_AH,13.31,42.153
$10V_AH,13.64,0.000
$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,13.075,78.400,257.625,66.375,0.000,25.420,34.822,116.189,0.000,0.000,17.351,0.000,6854.481,427.505,1571.454,116.155,0.000,1046.685,0.000,1123.644,0.000,0.539,0.000
$DEVICE_MAMPS,367.965,2242.980,1569.780,241.740,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4998.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.818,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17312,677
$CAP_FILE_SIZE,91672,0
$CFSIZE,1023623168,999915520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.008,270.98,1
$GPS,050119,133419,-6017.565,1.793,16,1.0,39,-19.7,0.5,44.0,8,7.2