version: 66.14
glider: 640
mission: 5
dive: 204
start: 1 5 119 23 50 57
data:
$ID,640
$MISSION,5
$DIVE,204
$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,31
$R_STBD_OVSHOOT,25
$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
$GPS1,050119,234557,-6018.4502,0.5535,38,0.8,40,-19.7,0.4,73.0,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-62.8
$GPS2,050119,235039,-6018.4497,0.5762,9,0.9,15,-19.7,1.5,319.0,10,9.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,24.7,71211,-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,-146.0,233,2099,1798,1823,0.0,0.0,0,100,0.00,0.00,-87.78,0.000,16386,0.000,0.000,233,2099,3189,3270,3109,0,0,0,0,0,0,14.63,28.83,14.63,6.17,50.07
$GC,102,-0.64,-146.0,233,2099,3271,3111,3.5,-8.1,18,120,6.05,2.67,-4.72,0.000,18948,0.366,2.250,2181,696,3316,3411,3222,0,0,0,0,0,0,14.19,13.44,14.48,6.29,50.07
$GC,185,-0.64,-146.0,2181,697,3417,3225,18.3,-17.7,35,189,0.05,2.45,0.00,0.000,3078,0.365,0.057,2188,2097,3318,3412,3224,0,0,0,0,0,0,14.19,14.37,14.38,6.30,48.93
$GC,311,-0.64,-146.0,2188,2098,3413,3222,40.3,-17.1,60,315,0.00,2.42,0.00,0.000,2564,0.000,0.063,2188,693,3318,3412,3224,0,0,0,0,0,0,14.64,14.41,14.64,6.30,48.85
$GC,340,-0.64,-146.0,2188,693,3413,3224,45.2,-16.4,66,344,0.03,2.47,0.00,0.000,3078,0.453,0.058,2184,2114,3318,3412,3225,0,0,0,0,0,0,14.23,14.41,14.38,6.30,49.17
$GC,466,-0.64,-146.0,2185,2114,3413,3225,63.8,-14.9,91,469,0.00,2.42,0.00,0.000,2308,0.000,0.083,2175,3506,3318,3412,3224,0,0,0,0,0,0,14.68,14.43,14.68,6.30,49.17
$GC,515,-0.64,-146.0,2175,3506,3413,3225,71.5,-15.3,101,519,0.05,2.38,0.00,0.000,3078,0.359,0.043,2192,2096,3318,3412,3224,0,0,0,0,0,0,14.26,14.46,14.42,6.30,48.85
$GC,641,-0.64,-146.0,2192,2096,3413,3219,90.7,-15.2,126,644,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2095,3317,3412,3223,0,0,0,0,0,0,14.70,14.71,14.71,6.30,48.77
$GC,765,-0.64,-146.0,2192,2096,3413,3224,109.1,-14.5,142,769,0.00,2.45,0.00,0.000,2564,0.000,0.065,2191,697,3316,3412,3220,0,0,0,0,0,0,14.73,14.47,14.73,6.35,48.81
$GC,825,-0.64,-146.0,2192,702,3413,3224,117.4,-13.7,145,829,0.00,2.42,0.00,0.000,3078,0.000,0.057,2181,2105,3318,3412,3224,0,0,0,0,0,0,14.54,14.48,14.57,6.30,48.62
$GC,1145,-0.64,-146.0,2182,2105,3413,3224,162.5,-14.3,161,1149,0.00,2.47,0.00,0.000,2308,0.000,0.081,2171,3506,3318,3412,3224,0,0,0,0,0,0,14.78,14.50,14.78,6.31,49.96
$GC,1165,-0.64,-146.0,2171,3507,3412,3225,165.3,-14.2,162,1169,0.05,2.38,0.00,0.000,3078,0.360,0.044,2189,2098,3318,3412,3224,0,0,0,0,0,0,14.33,14.54,14.50,6.30,50.86
$GC,1485,-0.64,-146.0,2188,2097,3412,3226,208.2,-13.1,178,1490,0.00,2.40,0.00,0.000,2564,0.000,0.064,2188,693,3318,3412,3224,0,0,0,0,0,0,14.80,14.56,14.81,6.32,51.45
$GC,1515,-0.64,-146.0,2188,694,3412,3225,210.9,-13.2,179,1519,0.00,2.42,0.00,0.000,3078,0.000,0.057,2179,2103,3318,3412,3224,0,0,0,0,0,0,14.60,14.54,14.63,6.32,50.86
$GC,1825,-0.64,-146.0,2179,2110,3411,3223,252.5,-12.8,195,1829,0.00,2.42,0.00,0.000,2308,0.000,0.082,2168,3506,3318,3412,3224,0,0,0,0,0,0,14.82,14.56,14.82,6.32,51.26
$GC,1850,-0.64,-146.0,2168,3507,3412,3225,255.1,-12.8,196,1855,0.05,2.38,0.00,0.000,3078,0.357,0.043,2186,2091,3318,3412,3224,0,0,0,0,0,0,14.37,14.57,14.54,6.33,51.10
$GC,2165,-0.64,-146.0,2186,2090,3413,3224,294.8,-12.4,212,2169,0.00,2.42,0.00,0.000,2564,0.000,0.063,2185,695,3318,3412,3224,0,0,0,0,0,0,14.83,14.57,14.83,6.33,51.41
$GC,2225,-0.64,-146.0,2186,695,3412,3224,302.3,-12.5,215,2229,0.05,2.42,0.00,0.000,3078,0.366,0.056,2192,2104,3318,3412,3224,0,0,0,0,0,0,14.37,14.57,14.53,6.33,50.98
$GC,2545,-0.64,-146.0,2193,2105,3412,3225,339.6,-11.7,231,2549,0.00,2.47,0.00,0.000,2308,0.000,0.082,2182,3505,3318,3412,3224,0,0,0,0,0,0,14.84,14.56,14.85,6.33,51.22
$GC,2570,-0.64,-146.0,2182,3504,3413,3224,342.0,-11.8,232,2574,0.00,2.35,0.00,0.000,3078,0.000,0.042,2182,2100,3318,3412,3224,0,0,0,0,0,0,14.64,14.59,14.67,6.33,51.18
$STATE,2644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2644,begin apogee
$GC,2648,-0.15,0.0,2183,2158,3412,3224,351.8,-12.3,236,2778,0.47,0.00,127.15,1.577,10246,0.266,0.000,2351,2157,2717,2777,2658,0,0,0,0,0,0,14.43,13.93,13.33,6.33,51.57
$STATE,2779,end apogee,CONTROL_FINISHED_OK
$STATE,2779,begin loiter
$GC,3065,-0.15,0.0,2352,2157,2772,2642,347.0,3.7,257,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2158,2706,2771,2642,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.51
$GC,3365,-0.15,0.0,2352,2158,2771,2641,336.0,3.7,272,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.29,50.82
$GC,3665,-0.15,0.0,2352,2158,2771,2640,324.7,3.8,287,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2705,2771,2639,0,0,0,0,0,0,14.80,14.81,14.80,6.28,50.98
$GC,3965,-0.15,0.0,2351,2158,2772,2639,313.2,3.8,302,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2157,2704,2771,2638,0,0,0,0,0,0,14.85,14.86,14.86,6.29,51.18
$GC,4265,-0.15,0.0,2352,2158,2771,2639,302.1,3.7,317,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.26
$GC,4565,-0.15,0.0,2352,2158,2771,2637,291.3,3.5,332,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2703,2770,2637,0,0,0,0,0,0,14.93,14.94,14.94,6.28,51.10
$GC,4865,-0.15,0.0,2352,2158,2771,2638,281.2,3.3,347,4866,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2704,2771,2637,0,0,0,0,0,0,14.96,14.97,14.97,6.28,51.18
$GC,5165,-0.15,0.0,2352,2158,2771,2638,271.8,3.0,362,5166,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2157,2704,2772,2637,0,0,0,0,0,0,14.98,14.99,14.99,6.29,51.29
$GC,5465,-0.15,0.0,2352,2158,2772,2638,262.8,3.0,377,5466,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2157,2703,2770,2636,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.14
$GC,5765,-0.15,0.0,2353,2158,2772,2636,253.6,3.2,392,5766,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2704,2771,2637,0,0,0,0,0,0,15.01,15.02,15.02,6.29,51.45
$GC,6065,-0.15,0.0,2351,2157,2771,2638,244.4,3.1,407,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2703,2771,2636,0,0,0,0,0,0,15.02,15.03,15.03,6.28,51.26
$STATE,6364,end loiter,LOITER_COMPLETE
$STATE,6364,begin climb
$GC,6365,0.64,146.0,2352,2158,2771,2637,235.4,0.0,422,6506,0.60,2.60,130.25,1.411,10756,0.175,0.067,2603,747,2117,2142,2092,0,0,0,0,0,0,14.68,14.00,13.47,6.28,51.10
$GC,6525,0.64,150.1,2604,747,2138,2090,225.0,8.2,430,6529,0.00,2.47,0.00,0.000,1030,0.000,0.054,2604,2141,2112,2138,2087,0,0,0,0,0,0,14.12,14.06,14.13,6.24,49.33
$GC,6845,0.64,150.1,2605,2141,2133,2077,187.3,12.0,446,6850,0.00,2.55,0.00,0.000,260,0.000,0.083,2604,3556,2104,2132,2076,0,0,0,0,0,0,14.59,14.30,14.59,6.24,50.59
$GC,6945,0.64,150.1,2605,3557,2133,2076,175.4,11.7,451,6950,0.00,2.38,0.00,0.000,5126,0.000,0.042,2614,2161,2100,2132,2069,0,0,0,0,0,0,14.42,14.38,14.44,6.24,50.74
$GC,7265,0.64,150.1,2614,2163,2130,2075,135.7,12.6,467,7269,0.00,2.50,0.00,0.000,4612,0.000,0.067,2625,748,2106,2129,2083,0,0,0,0,0,0,14.72,14.42,14.72,6.23,51.26
$GC,7330,0.64,150.1,2625,749,2128,2073,128.5,12.0,470,7335,0.05,2.42,0.00,0.000,5126,0.301,0.056,2606,2152,2099,2126,2073,0,0,0,0,0,0,14.32,14.47,14.47,6.21,50.59
$GC,7635,0.64,150.1,2606,2152,2127,2074,94.1,10.7,493,7639,0.00,2.47,0.00,0.000,260,0.000,0.083,2606,3562,2099,2126,2072,0,0,0,0,0,0,14.77,14.50,14.78,6.22,50.03
$GC,7715,0.64,150.1,2607,3563,2128,2072,85.9,9.8,509,7719,0.00,2.38,0.00,0.000,5126,0.000,0.042,2615,2153,2099,2126,2072,0,0,0,0,0,0,14.55,14.52,14.58,6.22,50.39
$GC,7841,0.64,150.1,2616,2155,2127,2073,73.4,10.5,534,7845,0.00,2.42,0.00,0.000,4612,0.000,0.067,2621,747,2099,2127,2071,0,0,0,0,0,0,14.78,14.53,14.78,6.22,49.33
$GC,7895,0.64,150.1,2626,747,2125,2073,67.8,9.5,545,7899,0.05,2.42,0.00,0.000,5126,0.301,0.055,2607,2156,2098,2125,2071,0,0,0,0,0,0,14.35,14.50,14.50,6.22,49.37
$GC,8021,0.64,150.1,2607,2156,2126,2072,55.4,10.2,570,8024,0.00,2.45,0.00,0.000,260,0.000,0.085,2607,3558,2098,2125,2071,0,0,0,0,0,0,14.79,14.53,14.79,6.21,49.09
$GC,8105,0.64,150.1,2607,3558,2126,2071,46.3,10.8,587,8109,0.00,2.38,0.00,0.000,5126,0.000,0.043,2616,2148,2098,2125,2071,0,0,0,0,0,0,14.58,14.53,14.60,6.21,49.13
$GC,8231,0.64,150.1,2616,2149,2125,2072,34.7,8.8,612,8235,0.00,2.42,0.00,0.000,4612,0.000,0.067,2627,740,2095,2125,2065,0,0,0,0,0,0,14.80,14.54,14.80,6.20,49.33
$GC,8265,0.64,150.1,2627,740,2125,2072,31.2,10.0,619,8269,0.05,2.42,0.00,0.000,5126,0.297,0.055,2607,2149,2097,2124,2070,0,0,0,0,0,0,14.36,14.51,14.51,6.20,49.88
$GC,8391,0.64,150.1,2608,2149,2125,2070,19.9,10.0,644,8395,0.00,2.47,0.00,0.000,260,0.000,0.084,2607,3561,2097,2124,2070,0,0,0,0,0,0,14.80,14.54,14.81,6.20,49.33
$GC,8430,0.64,150.1,2607,3562,2125,2072,15.6,10.1,652,8435,0.00,2.38,0.00,0.000,5126,0.000,0.043,2616,2149,2097,2124,2070,0,0,0,0,0,0,14.62,14.57,14.64,6.20,49.60
$GC,8555,0.64,150.1,2616,2149,2125,2071,4.3,11.3,677,8559,0.00,2.47,0.00,0.000,4612,0.000,0.071,2627,748,2097,2124,2070,0,0,0,0,0,0,14.82,14.50,14.81,6.20,49.88
$STATE,8569,end climb,SURFACE_DEPTH_REACHED
$STATE,8569,begin surface coast
$STATE,8589,end surface coast,CONTROL_FINISHED_OK
$STATE,8589,begin surface
$SM_CCo,8603,65.90,0.242,0,0,1822,220.03
$SM_GC,1.24,5.38,2.35,65.90,0.037,0.056,0.242,246,2102,1822,-6.46,-0.99,220.03,0,0,0,0,0,0,14.67,14.58,14.35
$IRIDIUM_FIX,-6021.50,0.00,050119,211447
$TT8_MAMPS,0.03745,0.349783
$HUMID,49.52
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3816416
$24V_AH,13.33,43.032
$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,12.925,87.900,257.400,65.900,0.000,24.791,17.481,119.008,0.000,0.000,16.380,0.000,6847.623,429.114,1557.923,120.552,0.000,1055.690,0.000,1125.040,0.000,0.539,0.000
$DEVICE_MAMPS,452.880,2249.865,1576.665,241.740,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5000.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.830,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,17352,684
$CAP_FILE_SIZE,92933,0
$CFSIZE,1023623168,999424000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.035,235.80,1
$GPS,060119,021631,-6018.018,0.403,18,0.7,41,-19.7,0.7,263.5,10,6.8