version: 66.14
glider: 640
mission: 5
dive: 200
start: 1 5 119 13 40 7
data:
$ID,640
$MISSION,5
$DIVE,200
$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,50
$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
$GPS1,050119,133419,-6017.5649,1.7932,16,1.0,39,-19.7,0.5,44.0,8,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-67.3
$GPS2,050119,133949,-6017.5513,1.8349,13,1.0,44,-19.7,0.7,341.1,8,4.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,218.3,4837,-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,-146.0,233,2080,1795,1823,0.0,0.0,0,102,0.00,0.00,-89.80,0.000,16386,0.000,0.000,241,2080,3216,3301,3132,0,0,0,0,0,0,14.62,28.83,14.62,6.15,50.43
$GC,104,-0.64,-146.0,233,2080,3293,3133,3.5,-7.3,18,122,6.03,2.67,-3.78,0.000,18948,0.360,2.249,2194,707,3316,3409,3224,0,0,0,0,0,0,14.19,13.31,14.46,6.30,49.21
$GC,136,-0.64,-146.0,2195,708,3411,3225,10.2,-17.2,25,141,0.00,2.45,0.00,0.000,3078,0.000,0.058,2185,2105,3317,3410,3225,0,0,0,0,0,0,14.40,14.34,14.42,6.30,48.22
$GC,261,-0.64,-146.0,2186,2105,3413,3225,31.6,-17.4,50,265,0.00,2.45,0.00,0.000,2564,0.000,0.063,2185,715,3318,3411,3225,0,0,0,0,0,0,14.62,14.38,14.62,6.31,48.42
$GC,306,-0.64,-146.0,2186,716,3414,3226,39.8,-17.7,59,310,0.05,2.42,0.00,0.000,3078,0.365,0.057,2190,2105,3318,3411,3225,0,0,0,0,0,0,14.21,14.39,14.37,6.30,48.22
$GC,432,-0.64,-146.0,2191,2105,3412,3225,59.6,-14.8,84,436,0.00,2.45,0.00,0.000,2308,0.000,0.083,2180,3506,3318,3411,3225,0,0,0,0,0,0,14.66,14.42,14.66,6.30,48.85
$GC,511,-0.64,-146.0,2181,3506,3412,3225,71.5,-14.7,100,515,0.00,2.35,0.00,0.000,3078,0.000,0.042,2180,2121,3318,3411,3225,0,0,0,0,0,0,14.50,14.46,14.52,6.30,48.85
$GC,637,-0.64,-146.0,2181,2118,3413,3225,90.5,-15.1,125,641,0.00,2.47,0.00,0.000,2564,0.000,0.064,2179,688,3318,3411,3225,0,0,0,0,0,0,14.70,14.47,14.70,6.30,48.50
$GC,691,-0.64,-146.0,2180,689,3412,3227,98.9,-14.8,136,695,0.05,2.45,0.00,0.000,3078,0.356,0.057,2186,2102,3318,3411,3225,0,0,0,0,0,0,14.27,14.45,14.44,6.30,48.26
$GC,821,-0.64,-146.0,2190,2102,3413,3225,117.6,-14.1,144,822,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2102,3318,3411,3225,0,0,0,0,0,0,14.73,14.73,14.73,6.30,48.34
$GC,1121,-0.64,-146.0,2187,2103,3410,3225,158.6,-13.7,159,1125,0.00,2.47,0.00,0.000,2308,0.000,0.083,2176,3499,3318,3411,3225,0,0,0,0,0,0,14.78,14.50,14.78,6.31,49.92
$GC,1151,-0.64,-146.0,2176,3501,3412,3227,161.4,-13.7,160,1156,0.05,2.38,0.00,0.000,3078,0.362,0.043,2193,2089,3318,3411,3225,0,0,0,0,0,0,14.33,14.53,14.49,6.30,50.70
$GC,1461,-0.64,-146.0,2193,2088,3412,3226,202.2,-12.6,176,1465,0.00,2.42,0.00,0.000,2564,0.000,0.064,2193,700,3318,3411,3226,0,0,0,0,0,0,14.80,14.54,14.81,6.31,50.63
$GC,1536,-0.64,-146.0,2193,700,3412,3225,209.8,-12.7,179,1541,0.00,2.40,0.00,0.000,3078,0.000,0.057,2182,2099,3318,3412,3224,0,0,0,0,0,0,14.60,14.54,14.62,6.32,50.86
$GC,1841,-0.64,-146.0,2183,2100,3412,3226,250.7,-13.1,195,1846,0.00,2.47,0.00,0.000,2308,0.000,0.083,2172,3503,3318,3411,3225,0,0,0,0,0,0,14.82,14.54,14.83,6.33,51.06
$GC,1916,-0.64,-146.0,2172,3502,3411,3226,258.7,-13.3,198,1920,0.05,2.35,0.00,0.000,3078,0.352,0.042,2189,2103,3318,3411,3225,0,0,0,0,0,0,14.38,14.57,14.53,6.33,50.98
$GC,2221,-0.64,-146.0,2189,2101,3422,3225,299.3,-12.7,214,2225,0.00,2.45,0.00,0.000,2564,0.000,0.063,2189,696,3318,3411,3225,0,0,0,0,0,0,14.83,14.57,14.83,6.33,51.02
$GC,2306,-0.64,-146.0,2189,697,3412,3226,309.5,-12.7,218,2311,0.00,2.40,0.00,0.000,3078,0.000,0.056,2179,2093,3318,3411,3225,0,0,0,0,0,0,14.63,14.57,14.65,6.33,50.98
$STATE,2620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2620,begin apogee
$GC,2624,-0.15,0.0,2179,2180,3412,3226,350.7,-13.1,234,2754,0.47,0.00,127.35,1.582,10246,0.265,0.000,2349,2181,2719,2778,2660,0,0,0,0,0,0,14.44,13.94,13.34,6.34,51.14
$STATE,2755,end apogee,CONTROL_FINISHED_OK
$STATE,2755,begin loiter
$GC,3041,-0.15,0.0,2349,2182,2772,2644,348.6,2.8,255,3042,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2181,2707,2771,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.28,51.02
$GC,3341,-0.15,0.0,2349,2181,2772,2640,339.8,3.1,270,3342,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2181,2706,2771,2641,0,0,0,0,0,0,14.71,14.71,14.71,6.28,51.06
$GC,3641,-0.15,0.0,2349,2182,2771,2641,330.9,3.0,285,3642,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2181,2704,2770,2639,0,0,0,0,0,0,14.81,14.80,14.80,6.28,50.94
$GC,3941,-0.15,0.0,2349,2181,2771,2640,321.8,3.0,300,3942,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2181,2704,2771,2638,0,0,0,0,0,0,14.85,14.86,14.85,6.29,51.26
$GC,4241,-0.15,0.0,2348,2181,2771,2638,312.4,3.2,315,4242,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2181,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.02
$GC,4541,-0.15,0.0,2348,2182,2771,2639,303.0,3.1,330,4542,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2181,2704,2771,2638,0,0,0,0,0,0,14.93,14.94,14.94,6.28,51.49
$GC,4841,-0.15,0.0,2348,2182,2771,2639,294.0,2.9,345,4842,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2181,2704,2771,2638,0,0,0,0,0,0,14.96,14.96,14.95,6.28,51.49
$GC,5141,-0.15,0.0,2349,2181,2772,2637,285.4,2.9,360,5142,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2181,2704,2771,2638,0,0,0,0,0,0,14.98,14.98,14.98,6.28,51.61
$GC,5441,-0.15,0.0,2349,2181,2772,2637,276.8,2.8,375,5442,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2181,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.41
$GC,5741,-0.15,0.0,2349,2182,2772,2639,267.9,3.1,390,5742,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2181,2704,2771,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.37
$GC,6041,-0.15,0.0,2349,2182,2772,2638,258.8,3.0,405,6042,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2181,2704,2771,2637,0,0,0,0,0,0,15.03,15.03,15.03,6.28,51.29
$STATE,6340,end loiter,LOITER_COMPLETE
$STATE,6340,begin climb
$GC,6341,0.64,146.0,2349,2182,2771,2638,250.1,0.0,420,6482,0.62,2.62,130.38,1.422,11012,0.177,0.064,2610,750,2116,2141,2092,0,0,0,0,0,0,14.68,14.00,13.46,6.29,51.41
$GC,6576,0.64,146.0,2610,750,2136,2085,233.3,10.1,431,6581,0.00,2.42,0.00,0.000,5126,0.000,0.054,2610,2120,2108,2134,2083,0,0,0,0,0,0,14.24,14.19,14.26,6.24,49.40
$GC,6881,0.64,146.0,2610,2121,2132,2077,195.0,12.2,447,6886,0.00,2.58,0.00,0.000,4356,0.000,0.083,2609,3549,2103,2131,2076,0,0,0,0,0,0,14.62,14.33,14.62,6.24,50.31
$GC,6981,0.64,146.0,2610,3549,2132,2076,183.1,11.7,452,6986,0.05,2.38,0.00,0.000,5126,0.330,0.042,2602,2150,2103,2131,2075,0,0,0,0,0,0,14.23,14.39,14.37,6.24,50.59
$GC,7301,0.64,146.0,2603,2150,2129,2074,145.9,11.7,468,7305,0.00,2.47,0.00,0.000,516,0.000,0.065,2611,747,2101,2128,2074,0,0,0,0,0,0,14.73,14.43,14.73,6.26,50.82
$GC,7346,0.64,146.0,2612,747,2128,2073,141.5,11.5,470,7351,0.00,2.42,0.00,0.000,5126,0.000,0.054,2611,2156,2105,2138,2073,0,0,0,0,0,0,14.53,14.49,14.56,6.24,50.55
$GC,7661,0.64,146.0,2611,2156,2127,2072,103.1,11.6,486,7665,0.00,2.45,0.00,0.000,4356,0.000,0.085,2612,3557,2099,2126,2072,0,0,0,0,0,0,14.78,14.49,14.78,6.22,50.15
$GC,7751,0.64,146.0,2612,3558,2127,2073,92.9,11.1,498,7757,0.05,2.38,0.00,0.000,5126,0.327,0.043,2604,2147,2099,2126,2072,0,0,0,0,0,0,14.35,14.52,14.50,6.22,50.11
$GC,7877,0.64,146.0,2604,2147,2126,2072,80.2,10.2,523,7880,0.00,2.42,0.00,0.000,516,0.000,0.066,2614,742,2098,2126,2071,0,0,0,0,0,0,14.78,14.54,14.79,6.22,49.56
$GC,7921,0.64,146.0,2614,742,2126,2071,75.8,9.2,532,7925,0.00,2.42,0.00,0.000,5126,0.000,0.054,2621,2154,2095,2121,2070,0,0,0,0,0,0,14.57,14.50,14.59,6.21,49.60
$GC,8047,0.64,146.0,2614,2154,2126,2071,64.0,10.1,557,8050,0.00,2.45,0.00,0.000,4356,0.000,0.086,2614,3556,2098,2125,2071,0,0,0,0,0,0,14.80,14.53,14.80,6.21,49.33
$GC,8121,0.64,146.0,2614,3555,2126,2072,55.8,10.7,572,8125,0.05,2.38,0.00,0.000,5126,0.327,0.043,2605,2146,2098,2125,2071,0,0,0,0,0,0,14.35,14.54,14.50,6.21,49.05
$GC,8247,0.64,146.0,2605,2146,2126,2072,44.2,9.1,597,8250,0.00,2.42,0.00,0.000,516,0.000,0.066,2615,737,2098,2125,2071,0,0,0,0,0,0,14.80,14.56,14.81,6.20,49.33
$GC,8291,0.64,146.0,2615,736,2126,2070,40.0,8.9,606,8296,0.00,2.42,0.00,0.000,5126,0.000,0.055,2614,2149,2097,2125,2070,0,0,0,0,0,0,14.57,14.53,14.59,6.20,49.29
$GC,8417,0.64,146.0,2615,2149,2125,2070,27.9,10.1,631,8421,0.00,2.45,0.00,0.000,4356,0.000,0.086,2615,3554,2097,2125,2070,0,0,0,0,0,0,14.81,14.54,14.81,6.20,49.72
$GC,8456,0.64,146.0,2615,3555,2125,2070,24.0,9.5,639,8460,0.05,2.38,0.00,0.000,5126,0.326,0.044,2606,2145,2095,2124,2067,0,0,0,0,0,0,14.39,14.57,14.54,6.20,49.88
$GC,8582,0.64,146.0,2607,2144,2126,2070,12.8,10.0,664,8585,0.00,2.42,0.00,0.000,516,0.000,0.068,2616,738,2097,2124,2070,0,0,0,0,0,0,14.81,14.56,14.81,6.20,49.84
$GC,8646,0.64,146.0,2617,738,2125,2069,6.6,9.2,677,8650,0.00,2.40,0.00,0.000,5126,0.000,0.052,2617,2144,2096,2123,2069,0,0,0,0,0,0,14.62,14.56,14.64,6.20,50.07
$STATE,8685,end climb,SURFACE_DEPTH_REACHED
$STATE,8685,begin surface coast
$STATE,8715,end surface coast,CONTROL_FINISHED_OK
$STATE,8715,begin surface
$SM_CCo,8727,65.97,0.240,0,0,1822,220.03
$SM_GC,1.23,5.43,0.05,65.97,0.047,0.207,0.240,227,2066,1822,-6.51,1.10,220.03,0,0,0,0,0,0,14.69,14.60,14.36
$IRIDIUM_FIX,-6016.68,8.68,050119,110520
$TT8_MAMPS,0.039697,0.343042
$HUMID,49.96
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3818464
$24V_AH,13.31,42.329
$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,12.950,83.125,257.725,65.975,0.000,27.114,36.676,113.693,0.000,0.000,45.927,0.000,6947.329,433.143,1629.437,116.812,0.000,1065.811,0.000,1148.124,0.000,0.539,0.000
$DEVICE_MAMPS,364.905,2249.100,1582.020,240.210,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5126.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.819,0.000,0.000,0.000
$MEM,344104
$DATA_FILE_SIZE,17313,691
$CAP_FILE_SIZE,93301,0
$CFSIZE,1023623168,999817216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.030,247.69,1
$GPS,050119,160732,-6017.913,1.449,17,0.8,29,-19.7,0.5,24.9,9,9.5