version: 66.14
glider: 640
mission: 5
dive: 197
start: 1 5 119 6 5 37
data:
$ID,640
$MISSION,5
$DIVE,197
$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,49
$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
$GPS1,050119,055848,-6016.1089,2.5542,13,3.0,53,-19.7,0.2,212.9,4,12.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-66.4
$GPS2,050119,060519,-6016.1030,2.4540,9,0.8,13,-19.7,0.6,236.4,10,8.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,203.3,7560,-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,-146.0,211,2075,1798,1823,0.0,0.0,0,101,0.00,0.00,-88.68,0.000,16386,0.000,0.000,211,2075,3161,3241,3082,0,0,0,0,0,0,14.59,28.83,14.60,6.17,50.55
$GC,103,-0.64,-146.0,211,2076,3243,3083,3.4,-8.3,18,121,6.07,2.83,-5.57,0.000,18692,0.356,2.267,2163,3503,3317,3412,3223,0,0,0,0,0,0,14.18,13.31,14.35,6.28,49.92
$GC,146,-0.64,-146.0,2170,3504,3413,3225,12.1,-17.8,27,151,0.08,2.38,0.00,0.000,3078,0.308,0.041,2189,2107,3318,3412,3224,0,0,0,0,0,0,14.21,14.36,14.33,6.30,48.77
$GC,272,-0.64,-146.0,2189,2106,3414,3226,31.6,-16.2,52,275,0.00,2.45,0.00,0.000,2564,0.000,0.064,2189,697,3319,3413,3225,0,0,0,0,0,0,14.61,14.39,14.62,6.30,48.58
$GC,366,-0.64,-146.0,2185,699,3413,3226,46.8,-14.0,71,371,0.00,2.42,0.00,0.000,3078,0.000,0.057,2180,2087,3319,3413,3225,0,0,0,0,0,0,14.46,14.40,14.48,6.30,48.81
$GC,491,-0.64,-146.0,2181,2088,3414,3225,65.6,-15.7,96,495,0.00,2.40,0.00,0.000,2564,0.000,0.063,2180,699,3319,3413,3225,0,0,0,0,0,0,14.67,14.44,14.67,6.31,48.81
$GC,526,-0.64,-146.0,2180,700,3414,3225,71.1,-15.6,103,532,0.08,2.42,0.00,0.000,3078,0.324,0.057,2195,2100,3318,3411,3225,0,0,0,0,0,0,14.28,14.42,14.42,6.30,48.81
$GC,652,-0.64,-146.0,2195,2101,3413,3225,88.7,-14.0,128,655,0.00,2.47,0.00,0.000,260,0.000,0.083,2185,3510,3319,3413,3225,0,0,0,0,0,0,14.69,14.45,14.69,6.30,48.89
$GC,696,-0.64,-146.0,2185,3513,3414,3226,94.9,-13.3,137,700,0.00,2.38,0.00,0.000,3078,0.000,0.043,2185,2106,3323,3413,3234,0,0,0,0,0,0,14.52,14.47,14.54,6.30,48.58
$GC,821,-0.64,-146.0,2185,2105,3414,3225,111.2,-13.3,150,825,0.00,2.47,0.00,0.000,2564,0.000,0.064,2184,695,3315,3405,3225,0,0,0,0,0,0,14.73,14.47,14.73,6.29,48.74
$GC,896,-0.64,-146.0,2185,696,3413,3227,120.0,-14.5,153,900,0.05,2.42,0.00,0.000,3078,0.358,0.057,2191,2097,3319,3413,3225,0,0,0,0,0,0,14.31,14.50,14.47,6.29,48.70
$GC,1201,-0.64,-146.0,2192,2098,3414,3225,162.3,-12.5,169,1205,0.00,2.50,0.00,0.000,2308,0.000,0.083,2180,3511,3319,3413,3225,0,0,0,0,0,0,14.78,14.50,14.78,6.30,50.03
$GC,1236,-0.64,-146.0,2181,3511,3420,3226,164.9,-12.4,170,1240,0.00,2.38,0.00,0.000,3078,0.000,0.043,2180,2101,3319,3413,3225,0,0,0,0,0,0,14.59,14.54,14.60,6.31,50.15
$GC,1541,-0.64,-146.0,2180,2101,3413,3220,206.8,-13.0,186,1545,0.00,2.45,0.00,0.000,2564,0.000,0.064,2180,696,3319,3413,3225,0,0,0,0,0,0,14.80,14.54,14.81,6.32,51.26
$GC,1621,-0.64,-146.0,2180,697,3414,3226,217.2,-12.9,190,1626,0.05,2.42,0.00,0.000,3078,0.353,0.056,2187,2104,3319,3413,3225,0,0,0,0,0,0,14.36,14.54,14.52,6.32,50.94
$GC,1941,-0.64,-146.0,2187,2105,3413,3226,256.5,-12.3,206,1946,0.00,2.47,0.00,0.000,2308,0.000,0.083,2177,3506,3318,3412,3225,0,0,0,0,0,0,14.82,14.54,14.83,6.33,51.49
$GC,1996,-0.64,-146.0,2177,3512,3411,3225,261.6,-12.5,208,2000,0.03,2.38,0.00,0.000,3078,0.447,0.042,2184,2089,3319,3413,3225,0,0,0,0,0,0,14.38,14.58,14.53,6.33,51.10
$GC,2301,-0.64,-146.0,2185,2089,3422,3225,300.9,-12.2,224,2305,0.00,2.42,0.00,0.000,2564,0.000,0.063,2184,693,3319,3413,3225,0,0,0,0,0,0,14.83,14.57,14.83,6.33,51.65
$GC,2371,-0.64,-146.0,2185,694,3412,3226,308.4,-12.5,227,2375,0.05,2.40,0.00,0.000,3078,0.359,0.056,2192,2093,3318,3412,3225,0,0,0,0,0,0,14.38,14.57,14.67,6.33,50.94
$GC,2681,-0.64,-146.0,2191,2093,3414,3225,347.3,-12.2,243,2685,0.00,2.47,0.00,0.000,2308,0.000,0.083,2181,3502,3319,3413,3225,0,0,0,0,0,0,14.85,14.56,14.85,6.33,51.06
$STATE,2720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2720,begin apogee
$GC,2725,-0.15,0.0,2181,2143,3413,3225,352.3,-12.4,245,2856,0.47,0.00,127.70,1.570,10246,0.259,0.000,2352,2140,2716,2776,2657,0,0,0,0,0,0,14.43,13.94,13.33,6.33,51.18
$STATE,2857,end apogee,CONTROL_FINISHED_OK
$STATE,2857,begin loiter
$GC,3141,-0.15,0.0,2353,2141,2772,2643,349.5,3.0,266,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2141,2707,2771,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.28,50.27
$GC,3441,-0.15,0.0,2352,2141,2771,2641,340.6,2.9,281,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2141,2704,2770,2639,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.74
$GC,3741,-0.15,0.0,2353,2141,2772,2639,331.8,2.9,296,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2141,2704,2770,2639,0,0,0,0,0,0,14.80,14.80,14.80,6.29,50.90
$GC,4041,-0.15,0.0,2353,2141,2772,2638,322.8,3.0,311,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2141,2704,2771,2638,0,0,0,0,0,0,14.85,14.85,14.86,6.28,51.14
$GC,4341,-0.15,0.0,2352,2141,2771,2639,313.4,3.3,326,4342,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2141,2704,2770,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.61
$GC,4641,-0.15,0.0,2353,2141,2772,2637,303.5,3.3,341,4642,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2141,2704,2771,2637,0,0,0,0,0,0,14.93,14.94,14.94,6.28,51.06
$GC,4941,-0.15,0.0,2353,2141,2771,2637,294.0,3.2,356,4942,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2141,2704,2771,2637,0,0,0,0,0,0,14.96,14.96,14.96,6.28,51.18
$GC,5241,-0.15,0.0,2352,2141,2771,2638,284.6,3.1,371,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2141,2704,2771,2637,0,0,0,0,0,0,14.98,14.99,14.98,6.28,51.10
$GC,5541,-0.15,0.0,2352,2141,2771,2637,275.3,3.1,386,5542,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2141,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.33
$GC,5841,-0.15,0.0,2353,2141,2772,2638,266.3,2.9,401,5842,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2141,2703,2770,2637,0,0,0,0,0,0,15.01,15.02,15.02,6.28,51.29
$GC,6141,-0.15,0.0,2353,2141,2772,2637,257.5,2.9,416,6142,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2140,2704,2771,2637,0,0,0,0,0,0,15.02,15.03,15.03,6.29,51.45
$STATE,6440,end loiter,LOITER_COMPLETE
$STATE,6440,begin climb
$GC,6441,0.64,146.0,2353,2141,2771,2638,248.8,0.0,431,6582,0.60,2.55,130.32,1.427,10756,0.170,0.067,2606,753,2117,2142,2092,0,0,0,0,0,0,14.69,14.00,13.45,6.29,51.26
$GC,6591,0.67,170.6,2606,754,2140,2092,240.6,7.4,438,6622,0.00,2.47,23.67,1.388,11270,0.000,0.054,2606,2141,2017,2040,1994,0,0,0,0,0,0,14.09,14.03,13.44,6.24,49.92
$GC,6922,0.67,170.6,2607,2143,2032,1981,197.5,13.1,455,6926,0.00,2.50,0.00,0.000,2308,0.000,0.083,2606,3552,2006,2033,1980,0,0,0,0,0,0,14.54,14.31,14.54,6.23,50.23
$GC,7006,0.67,170.6,2607,3553,2033,1979,187.2,12.8,459,7010,0.00,2.38,0.00,0.000,5126,0.000,0.043,2617,2160,2005,2032,1979,0,0,0,0,0,0,14.40,14.36,14.42,6.23,50.35
$GC,7321,0.67,170.6,2617,2160,2031,1976,144.7,13.4,475,7325,0.00,2.50,0.00,0.000,516,0.000,0.067,2628,750,2002,2029,1975,0,0,0,0,0,0,14.69,14.40,14.69,6.23,50.59
$GC,7366,0.67,170.6,2628,749,2028,1975,139.5,13.2,477,7371,0.00,2.42,0.00,0.000,5126,0.000,0.056,2628,2147,2001,2027,1975,0,0,0,0,0,0,14.48,14.45,14.52,6.23,51.14
$GC,7671,0.67,170.6,2628,2148,2028,1970,97.8,13.1,494,7675,0.00,2.53,0.00,0.000,4356,0.000,0.087,2628,3555,2000,2027,1974,0,0,0,0,0,0,14.76,14.44,14.76,6.22,50.35
$GC,7741,0.67,170.6,2628,3556,2028,1975,88.5,12.5,508,7745,0.05,2.38,0.00,0.000,5126,0.332,0.043,2619,2148,2000,2027,1973,0,0,0,0,0,0,14.33,14.50,14.47,6.22,50.27
$GC,7867,0.67,170.6,2620,2148,2027,1973,73.0,12.5,533,7871,0.00,2.42,0.00,0.000,4612,0.000,0.067,2629,740,2000,2027,1973,0,0,0,0,0,0,14.76,14.52,14.77,6.21,49.33
$GC,7906,0.67,170.6,2629,740,2026,1974,68.3,11.4,541,7910,0.00,2.45,0.00,0.000,5126,0.000,0.057,2629,2157,1999,2026,1973,0,0,0,0,0,0,14.57,14.51,14.59,6.21,49.48
$GC,8032,0.67,170.6,2629,2158,2027,1973,52.7,12.3,566,8036,0.00,2.45,0.00,0.000,4356,0.000,0.088,2629,3555,1999,2026,1972,0,0,0,0,0,0,14.78,14.51,14.78,6.20,49.25
$GC,8066,0.67,170.6,2629,3555,2027,1972,48.6,11.8,573,8070,0.05,2.38,0.00,0.000,5126,0.328,0.044,2620,2144,1999,2026,1973,0,0,0,0,0,0,14.37,14.54,14.52,6.20,48.93
$GC,8192,0.67,170.6,2620,2144,2027,1973,35.9,9.8,598,8195,0.00,2.40,0.00,0.000,4612,0.000,0.067,2629,745,1998,2026,1971,0,0,0,0,0,0,14.78,14.54,14.79,6.20,49.33
$GC,8231,0.67,170.6,2628,745,2026,1972,32.3,8.7,606,8235,0.03,2.42,0.00,0.000,5126,0.405,0.057,2619,2154,1998,2025,1971,0,0,0,0,0,0,14.33,14.50,14.48,6.19,49.76
$GC,8357,0.67,170.6,2619,2155,2026,1971,19.8,10.2,631,8361,0.00,2.47,0.00,0.000,4356,0.000,0.087,2619,3561,1998,2025,1971,0,0,0,0,0,0,14.79,14.52,14.80,6.19,49.21
$GC,8406,0.67,170.6,2620,3561,2027,1971,14.5,10.8,641,8410,0.00,2.38,0.00,0.000,5126,0.000,0.043,2628,2151,1998,2025,1971,0,0,0,0,0,0,14.68,14.55,14.66,6.20,49.48
$STATE,8525,end climb,SURFACE_DEPTH_REACHED
$STATE,8525,begin surface coast
$STATE,8565,end surface coast,CONTROL_FINISHED_OK
$STATE,8565,begin surface
$SM_CCo,8577,41.75,0.245,0,0,1823,220.03
$SM_GC,1.01,5.43,0.08,41.75,0.053,0.173,0.245,260,2096,1823,-6.46,0.93,220.03,0,0,0,0,0,0,14.66,14.58,14.38
$IRIDIUM_FIX,-6017.76,0.00,050119,032946
$TT8_MAMPS,0.039697,0.362516
$HUMID,49.96
$INTERNAL_PRESSURE,6.10897
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3820000
$24V_AH,13.31,41.801
$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,13.025,88.025,281.700,41.750,0.000,48.200,39.759,122.962,0.000,0.000,14.340,0.000,6871.806,424.929,1599.923,116.937,0.000,1051.078,0.000,1118.335,0.000,0.539,0.000
$DEVICE_MAMPS,446.760,2266.695,1569.780,244.800,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4978.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.865,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17300,673
$CAP_FILE_SIZE,93038,0
$CFSIZE,1023623168,1000112128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.059,235.91,1
$GPS,050119,083022,-6016.669,2.084,22,0.8,43,-19.7,0.6,259.8,11,9.5