version: 66.14
glider: 640
mission: 5
dive: 201
start: 1 5 119 16 12 38
data:
$ID,640
$MISSION,5
$DIVE,201
$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,66
$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
$GPS1,050119,160732,-6017.9126,1.4493,17,0.8,29,-19.7,0.5,24.9,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-66.4
$GPS2,050119,161219,-6017.8906,1.4776,10,0.9,18,-19.7,0.7,55.9,8,9.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,213.5,4135,-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,-146.0,211,2066,1794,1825,0.0,0.0,0,102,0.00,0.00,-89.53,0.000,16386,0.000,0.000,210,2065,3198,3277,3119,0,0,0,0,0,0,14.63,28.83,14.63,6.17,50.35
$GC,104,-0.64,-146.0,211,2066,3278,3120,3.2,-6.7,18,122,6.07,2.83,-4.40,0.000,18692,0.360,2.264,2172,3509,3316,3409,3224,0,0,0,0,0,0,14.21,13.31,14.47,6.28,49.60
$GC,151,-0.64,-146.0,2173,3510,3412,3224,12.1,-16.4,28,155,0.05,2.35,0.00,0.000,3078,0.350,0.041,2189,2132,3317,3411,3224,0,0,0,0,0,0,14.19,14.38,14.34,6.30,48.89
$GC,277,-0.64,-146.0,2190,2131,3413,3224,32.6,-17.4,53,281,0.00,2.50,0.00,0.000,2564,0.000,0.063,2189,694,3318,3412,3224,0,0,0,0,0,0,14.63,14.40,14.63,6.30,48.62
$GC,371,-0.64,-146.0,2189,697,3413,3225,48.7,-16.8,72,375,0.00,2.45,0.00,0.000,3078,0.000,0.057,2179,2103,3318,3412,3224,0,0,0,0,0,0,14.46,14.42,14.49,6.30,48.97
$GC,496,-0.64,-146.0,2180,2104,3413,3223,67.1,-15.1,97,501,0.00,2.45,0.00,0.000,2308,0.000,0.083,2169,3504,3317,3411,3224,0,0,0,0,0,0,14.69,14.43,14.69,6.30,49.13
$GC,566,-0.64,-146.0,2169,3505,3413,3224,78.0,-15.4,111,570,0.05,2.38,0.00,0.000,3078,0.347,0.042,2187,2100,3318,3412,3224,0,0,0,0,0,0,14.28,14.47,14.42,6.30,48.93
$GC,692,-0.64,-146.0,2188,2099,3413,3224,96.2,-14.2,136,695,0.00,2.42,0.00,0.000,2564,0.000,0.064,2186,695,3318,3412,3224,0,0,0,0,0,0,14.70,14.47,14.71,6.30,48.70
$GC,741,-0.64,-146.0,2188,695,3413,3224,102.0,-14.4,143,745,0.05,2.42,0.00,0.000,3078,0.449,0.057,2191,2122,3318,3412,3224,0,0,0,0,0,0,14.30,14.49,14.54,6.30,48.74
$GC,1051,-0.64,-146.0,2192,2122,3413,3224,143.8,-12.5,159,1055,0.00,2.50,0.00,0.000,2564,0.000,0.063,2191,695,3318,3412,3224,0,0,0,0,0,0,14.77,14.50,14.77,6.30,49.44
$GC,1071,-0.64,-146.0,2192,695,3411,3224,146.4,-12.6,160,1075,0.00,2.42,0.00,0.000,3078,0.000,0.056,2181,2102,3318,3412,3224,0,0,0,0,0,0,14.57,14.52,14.60,6.30,49.72
$GC,1391,-0.64,-146.0,2182,2102,3413,3225,187.2,-12.4,176,1395,0.00,2.42,0.00,0.000,2308,0.000,0.083,2171,3503,3318,3412,3224,0,0,0,0,0,0,14.80,14.54,14.79,6.31,50.63
$GC,1426,-0.64,-146.0,2170,3503,3413,3224,189.7,-12.5,177,1432,0.05,2.35,0.00,0.000,3078,0.356,0.043,2189,2101,3318,3412,3224,0,0,0,0,0,0,14.36,14.56,14.51,6.31,50.66
$GC,1731,-0.64,-146.0,2189,2100,3413,3224,228.1,-12.0,193,1736,0.00,2.40,0.00,0.000,2564,0.000,0.064,2188,697,3318,3412,3224,0,0,0,0,0,0,14.81,14.57,14.82,6.32,51.06
$GC,1776,-0.64,-146.0,2189,698,3413,3225,233.1,-12.3,195,1780,0.00,2.40,0.00,0.000,3078,0.000,0.055,2178,2098,3318,3412,3224,0,0,0,0,0,0,14.62,14.56,14.64,6.32,50.94
$GC,2091,-0.64,-146.0,2179,2098,3412,3224,273.2,-12.6,211,2095,0.03,2.47,0.00,0.000,2308,0.623,0.081,2178,3504,3318,3412,3224,0,0,0,0,0,0,14.43,14.54,14.59,6.32,51.18
$GC,2141,-0.64,-146.0,2179,3505,3412,3224,278.2,-12.5,213,2145,0.03,2.35,0.00,0.000,3078,0.441,0.042,2187,2095,3318,3412,3224,0,0,0,0,0,0,14.38,14.59,14.52,6.33,51.22
$GC,2451,-0.64,-146.0,2187,2095,3411,3225,317.7,-12.4,229,2455,0.00,2.42,0.00,0.000,2564,0.000,0.064,2187,698,3314,3411,3218,0,0,0,0,0,0,14.84,14.56,14.83,6.33,50.98
$GC,2511,-0.64,-146.0,2188,698,3413,3224,325.3,-12.6,232,2515,0.00,2.40,0.00,0.000,3078,0.000,0.056,2177,2100,3318,3412,3224,0,0,0,0,0,0,14.64,14.59,14.66,6.34,51.02
$STATE,2710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2710,begin apogee
$GC,2714,-0.15,0.0,2177,2168,3412,3225,350.7,-12.9,242,2844,0.47,0.00,127.10,1.586,10246,0.268,0.000,2346,2168,2718,2777,2659,0,0,0,0,0,0,14.44,13.93,13.33,6.34,51.33
$STATE,2845,end apogee,CONTROL_FINISHED_OK
$STATE,2845,begin loiter
$GC,3131,-0.15,0.0,2346,2168,2773,2643,347.6,3.3,263,3132,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2168,2707,2772,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.28,50.43
$GC,3431,-0.15,0.0,2346,2168,2772,2643,337.6,3.3,278,3432,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2168,2706,2771,2641,0,0,0,0,0,0,14.71,14.71,14.72,6.28,51.02
$GC,3731,-0.15,0.0,2346,2168,2772,2641,327.4,3.5,293,3732,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2167,2705,2771,2640,0,0,0,0,0,0,14.80,14.81,14.81,6.28,51.10
$GC,4031,-0.15,0.0,2346,2168,2771,2641,317.2,3.3,308,4032,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2168,2705,2771,2640,0,0,0,0,0,0,14.86,14.86,14.85,6.28,51.14
$GC,4331,-0.15,0.0,2346,2168,2773,2639,307.5,3.2,323,4332,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2168,2705,2771,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.10
$GC,4631,-0.15,0.0,2346,2168,2772,2640,297.9,3.1,338,4632,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2168,2705,2771,2639,0,0,0,0,0,0,14.94,14.94,14.94,6.29,51.22
$GC,4931,-0.15,0.0,2346,2168,2772,2640,289.0,2.9,353,4932,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2167,2705,2771,2639,0,0,0,0,0,0,14.96,14.96,14.96,6.28,51.41
$GC,5231,-0.15,0.0,2346,2167,2772,2640,280.8,2.6,368,5232,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2704,2771,2638,0,0,0,0,0,0,14.98,14.99,14.99,6.28,50.98
$GC,5531,-0.15,0.0,2346,2168,2773,2638,273.0,2.5,383,5532,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2168,2705,2771,2639,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.18
$GC,5831,-0.15,0.0,2346,2168,2773,2638,265.7,2.4,398,5832,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2168,2705,2771,2639,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.18
$GC,6131,-0.15,0.0,2346,2168,2772,2639,258.5,2.4,413,6132,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2168,2705,2772,2639,0,0,0,0,0,0,15.03,15.03,15.03,6.28,51.14
$STATE,6430,end loiter,LOITER_COMPLETE
$STATE,6430,begin climb
$GC,6431,0.64,146.0,2345,2169,2772,2640,251.3,0.0,428,6572,0.62,2.55,130.43,1.426,10500,0.173,0.081,2597,3546,2118,2143,2093,0,0,0,0,0,0,14.68,14.00,13.45,6.28,51.33
$GC,6656,0.64,146.0,2597,3547,2141,2085,235.0,10.4,439,6660,0.00,2.40,0.00,0.000,5126,0.000,0.041,2607,2155,2112,2140,2085,0,0,0,0,0,0,14.23,14.19,14.26,6.24,48.85
$GC,6971,0.64,146.0,2608,2156,2134,2076,197.8,11.8,455,6976,0.00,2.50,0.00,0.000,4612,0.000,0.067,2618,750,2104,2133,2076,0,0,0,0,0,0,14.62,14.34,14.62,6.24,50.55
$GC,7001,0.64,146.0,2619,750,2132,2076,195.5,11.7,456,7005,0.03,2.40,0.00,0.000,5126,0.399,0.054,2608,2128,2103,2130,2076,0,0,0,0,0,0,14.20,14.35,14.33,6.23,50.47
$GC,7311,0.64,146.0,2609,2129,2130,2075,157.4,12.3,472,7315,0.00,2.55,0.00,0.000,4356,0.000,0.083,2609,3574,2101,2128,2074,0,0,0,0,0,0,14.71,14.42,14.71,6.24,50.82
$GC,7396,0.64,146.0,2608,3575,2129,2076,147.6,12.3,476,7401,0.00,2.40,0.00,0.000,5126,0.000,0.043,2618,2152,2102,2129,2075,0,0,0,0,0,0,14.54,14.49,14.55,6.23,51.02
$GC,7711,0.64,146.0,2619,2152,2129,2073,106.4,12.2,492,7715,0.00,2.47,0.00,0.000,4612,0.000,0.067,2629,745,2100,2128,2073,0,0,0,0,0,0,14.78,14.48,14.78,6.22,50.47
$GC,7766,0.64,146.0,2629,746,2127,2073,101.7,11.9,494,7770,0.05,2.42,0.00,0.000,5126,0.306,0.055,2609,2154,2099,2126,2072,0,0,0,0,0,0,14.38,14.52,14.52,6.21,50.35
$GC,8072,0.64,146.0,2609,2155,2126,2073,66.0,11.1,555,8076,0.00,2.45,0.00,0.000,4356,0.000,0.083,2609,3561,2099,2126,2072,0,0,0,0,0,0,14.79,14.53,14.80,6.21,49.80
$GC,8166,0.64,146.0,2609,3561,2127,2072,55.5,10.7,574,8170,0.00,2.38,0.00,0.000,5126,0.000,0.043,2618,2149,2099,2126,2072,0,0,0,0,0,0,14.61,14.56,14.63,6.21,49.21
$GC,8292,0.64,146.0,2618,2149,2126,2073,42.4,10.1,599,8295,0.00,2.42,0.00,0.000,4612,0.000,0.067,2628,744,2099,2126,2072,0,0,0,0,0,0,14.81,14.55,14.81,6.21,49.40
$GC,8336,0.64,146.0,2629,744,2126,2072,38.2,9.7,608,8340,0.05,2.42,0.00,0.000,5126,0.304,0.055,2608,2155,2097,2125,2070,0,0,0,0,0,0,14.40,14.55,14.54,6.20,49.76
$GC,8461,0.64,146.0,2609,2154,2126,2070,27.1,8.6,633,8466,0.00,2.47,0.00,0.000,4356,0.000,0.083,2608,3550,2098,2125,2071,0,0,0,0,0,0,14.81,14.49,14.81,6.21,49.56
$GC,8496,0.64,146.0,2608,3551,2126,2072,23.9,9.7,640,8500,0.00,2.35,0.00,0.000,5126,0.000,0.044,2617,2154,2098,2125,2071,0,0,0,0,0,0,14.62,14.57,14.64,6.20,49.48
$GC,8622,0.64,146.0,2618,2154,2126,2071,11.8,9.8,665,8626,0.00,2.42,0.00,0.000,4612,0.000,0.066,2629,745,2098,2125,2071,0,0,0,0,0,0,14.81,14.56,14.81,6.15,50.31
$GC,8666,0.64,146.0,2629,745,2125,2070,7.4,10.2,674,8670,0.05,2.40,0.00,0.000,5126,0.306,0.056,2608,2141,2097,2124,2070,0,0,0,0,0,0,14.40,14.55,14.55,6.20,50.43
$STATE,8715,end climb,SURFACE_DEPTH_REACHED
$STATE,8715,begin surface coast
$STATE,8746,end surface coast,CONTROL_FINISHED_OK
$STATE,8746,begin surface
$SM_CCo,8758,65.95,0.243,0,0,1821,220.03
$SM_GC,1.06,5.47,0.03,65.95,0.072,0.315,0.243,268,2074,1821,-6.45,1.16,220.03,0,0,0,0,0,0,14.66,14.59,14.35
$IRIDIUM_FIX,-6017.76,4.34,050119,133608
$TT8_MAMPS,0.03745,0.203728
$HUMID,49.52
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3817952
$24V_AH,13.31,42.503
$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,13.075,83.075,257.525,65.950,0.000,26.374,16.084,118.465,0.000,0.000,19.570,0.000,6987.603,427.703,1582.256,118.005,0.000,1058.330,0.000,1143.686,0.000,0.539,0.000
$DEVICE_MAMPS,622.710,2264.400,1585.845,242.505,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5157.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.763,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,17327,690
$CAP_FILE_SIZE,92715,0
$CFSIZE,1023623168,999718912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.060,250.78,1
$GPS,050119,184035,-6018.412,0.847,26,0.8,30,-19.7,0.4,152.6,11,8.8