version: 66.14
glider: 640
mission: 5
dive: 415
start: 1 28 119 15 23 58
data:
$ID,640
$MISSION,5
$DIVE,415
$N_DIVES,600
$STOP_T,2051912
$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,64
$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
$GPS1,280119,151725,-6007.3179,-2.6478,12,0.7,41,-19.7,0.7,276.8,10,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-67.9
$GPS2,280119,152338,-6007.3184,-2.6689,9,0.7,20,-19.7,0.0,228.0,10,8.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,27.6,50655,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,12,-0.64,-146.0,226,2167,1792,1829,0.0,0.0,0,102,0.00,0.00,-87.47,0.000,16386,0.000,0.000,226,2167,3188,3268,3109,0,0,0,0,0,0,14.54,28.83,14.54,6.18,50.94
$GC,104,-0.64,-146.0,228,2168,3270,3109,3.2,-6.9,18,122,6.10,2.83,-4.72,0.000,18948,0.341,2.215,2186,728,3318,3412,3225,0,0,0,0,0,0,13.97,13.00,14.33,6.29,49.96
$GC,238,-0.64,-146.0,2187,729,3415,3225,25.2,-15.2,45,242,0.05,2.38,0.00,0.000,3078,0.440,0.056,2191,2110,3318,3413,3224,0,0,0,0,0,0,14.04,14.29,14.31,6.31,48.77
$GC,364,-0.64,-146.0,2191,2111,3414,3226,44.6,-15.4,70,367,0.00,0.00,0.00,0.000,2054,0.000,0.000,2191,2110,3319,3413,3225,0,0,0,0,0,0,14.62,14.62,14.62,6.31,49.60
$GC,488,-0.64,-146.0,2191,2110,3413,3226,62.1,-13.6,95,491,0.00,2.47,0.00,0.000,2308,0.000,0.084,2180,3503,3319,3413,3225,0,0,0,0,0,0,14.66,14.29,14.69,6.31,49.96
$GC,553,-0.64,-146.0,2181,3504,3414,3226,71.3,-14.0,108,557,0.00,2.30,0.00,0.000,3078,0.000,0.042,2180,2122,3319,3413,3225,0,0,0,0,0,0,14.50,14.39,14.51,6.31,49.68
$GC,678,-0.64,-146.0,2180,2121,3414,3225,88.8,-13.1,133,681,0.00,2.47,0.00,0.000,2564,0.000,0.062,2180,692,3319,3413,3225,0,0,0,0,0,0,14.69,14.35,14.69,6.31,48.77
$GC,698,-0.64,-146.0,2180,692,3414,3225,91.5,-13.9,137,702,0.08,2.42,0.00,0.000,3078,0.371,0.057,2192,2105,3319,3413,3225,0,0,0,0,0,0,14.09,14.36,14.37,6.31,48.58
$GC,823,-0.64,-146.0,2193,2106,3414,3226,107.9,-12.8,153,824,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2105,3318,3413,3224,0,0,0,0,0,0,14.71,14.72,14.72,6.30,48.54
$GC,1123,-0.64,-146.0,2193,2106,3414,3234,149.4,-13.4,168,1124,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2105,3319,3413,3225,0,0,0,0,0,0,14.76,14.76,14.76,6.30,49.72
$GC,1423,-0.64,-146.0,2192,2106,3414,3226,187.9,-12.4,183,1426,0.00,2.45,0.00,0.000,2564,0.000,0.063,2192,686,3319,3413,3225,0,0,0,0,0,0,14.78,14.41,14.78,6.31,50.78
$GC,1478,-0.64,-146.0,2193,686,3417,3225,194.5,-12.0,186,1481,0.00,2.42,0.00,0.000,3078,0.000,0.057,2182,2102,3319,3414,3225,0,0,0,0,0,0,14.57,14.42,14.59,6.32,50.63
$GC,1798,-0.64,-146.0,2183,2102,3413,3225,233.8,-12.9,202,1801,0.00,2.45,0.00,0.000,2308,0.000,0.084,2171,3503,3318,3413,3224,0,0,0,0,0,0,14.78,14.38,14.78,6.32,50.82
$GC,1813,-0.64,-146.0,2171,3504,3414,3226,235.8,-13.0,203,1817,0.08,2.33,0.00,0.000,3078,0.366,0.044,2196,2097,3319,3413,3225,0,0,0,0,0,0,14.16,14.47,14.44,6.32,51.33
$GC,2133,-0.64,-146.0,2196,2097,3414,3226,276.2,-12.9,219,2137,0.00,2.42,0.00,0.000,516,0.000,0.064,2196,693,3319,3413,3225,0,0,0,0,0,0,14.81,14.42,14.81,6.32,51.06
$GC,2203,-0.64,-146.0,2196,694,3414,3226,283.2,-12.8,222,2206,0.00,2.40,0.00,0.000,3078,0.000,0.056,2186,2102,3319,3413,3225,0,0,0,0,0,0,14.59,14.45,14.61,6.32,51.06
$GC,2508,-0.64,-146.0,2186,2102,3414,3225,323.4,-12.6,238,2509,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2102,3318,3413,3224,0,0,0,0,0,0,14.83,14.83,14.82,6.32,51.22
$STATE,2726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2726,begin apogee
$GC,2731,-0.15,0.0,2186,2164,3421,3225,351.1,-12.6,249,2860,0.47,0.00,125.50,1.576,10246,0.256,0.000,2351,2164,2717,2777,2657,0,0,0,0,0,0,14.14,13.93,13.26,6.33,51.41
$STATE,2861,end apogee,CONTROL_FINISHED_OK
$STATE,2861,begin loiter
$GC,3148,-0.15,0.0,2352,2164,2772,2642,348.6,2.9,270,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2706,2771,2642,0,0,0,0,0,0,14.56,14.56,14.56,6.28,50.74
$GC,3448,-0.15,0.0,2352,2164,2773,2640,339.6,3.0,285,3449,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.28,51.14
$GC,3748,-0.15,0.0,2352,2165,2772,2640,330.7,3.0,300,3749,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2705,2771,2639,0,0,0,0,0,0,14.80,14.81,14.81,6.28,51.18
$GC,4048,-0.15,0.0,2353,2165,2772,2637,321.5,3.1,315,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2704,2771,2638,0,0,0,0,0,0,14.85,14.85,14.86,6.28,51.37
$GC,4348,-0.15,0.0,2352,2165,2772,2639,311.7,3.3,330,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2704,2771,2637,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.10
$GC,4648,-0.15,0.0,2353,2163,2772,2636,302.2,3.2,345,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2704,2771,2637,0,0,0,0,0,0,14.92,14.93,14.93,6.28,51.37
$GC,4948,-0.15,0.0,2352,2164,2773,2637,292.8,3.3,360,4949,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2704,2771,2637,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.89
$GC,5248,-0.15,0.0,2352,2164,2772,2637,283.4,3.1,375,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2704,2771,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.69
$GC,5548,-0.15,0.0,2352,2165,2773,2638,274.2,3.0,390,5549,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2704,2771,2637,0,0,0,0,0,0,14.99,14.99,14.99,6.27,51.53
$GC,5848,-0.15,0.0,2352,2164,2772,2637,265.9,2.7,405,5849,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2164,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.01,6.27,51.45
$GC,6148,-0.15,0.0,2352,2165,2772,2637,258.3,2.5,420,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2164,2703,2771,2636,0,0,0,0,0,0,15.02,15.02,15.02,6.27,51.81
$STATE,6446,end loiter,LOITER_COMPLETE
$STATE,6446,begin climb
$GC,6448,0.64,146.0,2352,2165,2772,2637,251.3,0.0,435,6585,0.62,2.58,129.48,1.422,11012,0.162,0.063,2612,742,2119,2141,2097,0,0,0,0,0,0,14.44,13.87,13.38,6.27,52.08
$GC,6630,0.65,154.4,2612,743,2134,2093,240.2,8.0,443,6643,0.00,2.42,7.62,1.408,13318,0.000,0.054,2612,2133,2085,2105,2065,0,0,0,0,0,0,14.19,14.09,13.37,6.24,49.37
$GC,6945,0.65,154.4,2613,2134,2103,2055,204.5,11.5,459,6949,0.00,2.55,0.00,0.000,4356,0.000,0.083,2612,3558,2078,2101,2055,0,0,0,0,0,0,14.56,14.20,14.56,6.23,51.02
$GC,7035,0.65,154.4,2613,3558,2102,2055,195.8,11.5,463,7038,0.00,2.38,0.00,0.000,5126,0.000,0.043,2622,2151,2078,2101,2055,0,0,0,0,0,0,14.42,14.31,14.44,6.22,50.86
$GC,7340,0.65,154.4,2623,2150,2100,2051,156.5,12.8,479,7343,0.00,2.47,0.00,0.000,4612,0.000,0.067,2634,735,2075,2099,2051,0,0,0,0,0,0,14.69,14.33,14.71,6.23,51.06
$GC,7400,0.65,154.4,2634,736,2097,2052,149.6,12.6,482,7404,0.08,2.42,0.00,0.000,5126,0.322,0.055,2614,2152,2073,2095,2051,0,0,0,0,0,0,14.15,14.36,14.42,6.23,51.29
$GC,7710,0.65,154.4,2608,2153,2097,2051,114.2,10.7,498,7714,0.00,2.47,0.00,0.000,260,0.000,0.084,2607,3556,2072,2096,2049,0,0,0,0,0,0,14.75,14.35,14.76,6.23,50.74
$GC,7795,0.65,154.4,2608,3557,2097,2051,105.8,10.5,502,7798,0.00,2.35,0.00,0.000,5126,0.000,0.044,2617,2142,2073,2096,2050,0,0,0,0,0,0,14.57,14.45,14.59,6.22,50.63
$GC,8100,0.65,154.4,2618,2143,2097,2049,71.8,11.2,555,8103,0.00,0.00,0.00,0.000,4102,0.000,0.000,2617,2142,2071,2095,2048,0,0,0,0,0,0,14.78,14.78,14.78,6.21,50.27
$GC,8225,0.65,154.4,2617,2142,2096,2048,57.9,10.9,580,8229,0.00,2.50,0.00,0.000,4356,0.000,0.082,2617,3558,2071,2095,2048,0,0,0,0,0,0,14.77,14.38,14.78,6.20,49.68
$GC,8280,0.65,154.4,2616,3559,2096,2049,51.9,10.5,591,8285,0.05,2.35,0.00,0.000,5126,0.403,0.044,2609,2150,2072,2095,2049,0,0,0,0,0,0,14.20,14.45,14.48,6.20,49.48
$GC,8406,0.65,154.4,2609,2151,2097,2050,40.4,9.2,616,8410,0.00,2.45,0.00,0.000,516,0.000,0.067,2619,741,2072,2095,2049,0,0,0,0,0,0,14.76,14.36,14.76,6.20,49.72
$GC,8450,0.65,154.4,2619,742,2095,2049,36.4,8.7,625,8453,0.00,2.40,0.00,0.000,5126,0.000,0.054,2619,2154,2071,2094,2048,0,0,0,0,0,0,14.58,14.42,14.60,6.20,49.92
$GC,8575,0.65,154.4,2620,2154,2096,2048,24.4,9.9,650,8579,0.00,2.50,0.00,0.000,4356,0.000,0.086,2619,3562,2071,2094,2048,0,0,0,0,0,0,14.78,14.38,14.78,6.20,50.19
$GC,8615,0.65,154.4,2619,3562,2095,2048,20.2,10.2,658,8619,0.08,2.35,0.00,0.000,5126,0.336,0.044,2604,2150,2071,2094,2048,0,0,0,0,0,0,14.19,14.47,14.47,6.20,51.18
$GC,8741,0.65,154.4,2604,2151,2095,2049,8.9,8.9,683,8745,0.00,2.45,0.00,0.000,516,0.000,0.067,2614,742,2070,2094,2047,0,0,0,0,0,0,14.78,14.40,14.78,6.20,50.66
$GC,8765,0.65,159.6,2614,743,2094,2048,6.8,8.1,688,8769,0.00,2.40,0.00,0.000,5126,0.000,0.054,2614,2155,2070,2094,2047,0,0,0,0,0,0,14.58,14.42,14.59,6.20,50.98
$STATE,8808,end climb,SURFACE_DEPTH_REACHED
$STATE,8808,begin surface coast
$STATE,8838,end surface coast,CONTROL_FINISHED_OK
$STATE,8838,begin surface
$SM_CCo,8853,59.15,0.241,0,0,1823,220.03
$SM_GC,1.11,5.57,0.10,59.15,0.068,0.140,0.241,231,2074,1823,-6.49,0.76,220.03,0,0,0,0,0,0,14.55,14.49,14.18
$IRIDIUM_FIX,-6011.88,0.00,280119,124126
$TT8_MAMPS,0.03745,0.193242
$HUMID,50.35
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,6
$SC_FREEKB,3708384
$24V_AH,13.00,80.890
$10V_AH,13.56,0.000
$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,13.175,68.650,262.600,59.150,0.000,31.974,36.432,134.206,1.500,0.000,22.163,0.000,7070.702,410.295,1607.105,199.840,0.000,1028.508,0.000,1130.836,0.000,0.539,0.000
$DEVICE_MAMPS,439.875,2215.440,1575.900,240.975,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5259.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.564,0.000,0.000,0.000
$MEM,344076
$DATA_FILE_SIZE,17349,703
$CAP_FILE_SIZE,90593,0
$CFSIZE,1023623168,978665472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.014,198.22,1
$GPS,280119,175332,-6006.791,-2.632,17,0.8,35,-19.7,0.0,218.3,11,9.2