version: 66.14
glider: 640
mission: 5
dive: 71
start: 12 22 118 23 32 57
data:
$ID,640
$MISSION,5
$DIVE,71
$N_DIVES,85
$STOP_T,12271812
$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,26
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,602
$VBD_MAX,3962
$C_VBD,2690
$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
$GPS1,221218,232825,-6003.4648,-11.6720,15,0.9,39,-19.6,0.4,136.7,10,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-65.9
$GPS2,221218,233239,-6003.4575,-11.6496,9,0.9,17,-19.6,0.6,73.5,11,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,27.1,118047,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,8,-0.64,-146.0,233,2102,1766,1797,0.0,0.0,0,104,0.00,0.00,-93.35,0.000,16386,0.000,0.000,232,2101,3209,3287,3131,0,0,0,0,0,0,14.62,28.83,14.63,6.15,49.44
$GC,105,-0.64,-146.0,233,2102,3288,3131,3.4,-7.9,19,118,6.10,0.00,-2.95,0.000,18694,0.379,0.000,2188,2100,3287,3374,3200,0,0,0,0,0,0,14.24,13.53,14.40,6.27,49.37
$GC,239,-0.64,-146.0,2188,2097,3378,3200,26.6,-16.8,46,243,0.00,2.47,0.00,0.000,2308,0.000,0.086,2176,3516,3288,3377,3200,0,0,0,0,0,0,14.65,14.41,14.65,6.27,48.18
$GC,254,-0.64,-146.0,2176,3516,3377,3201,29.2,-17.1,49,258,0.05,2.42,0.00,0.000,3078,0.353,0.049,2193,2091,3288,3377,3200,0,0,0,0,0,0,14.28,14.42,14.42,6.29,48.18
$GC,379,-0.64,-146.0,2194,2090,3378,3200,48.7,-14.6,74,383,0.00,2.47,0.00,0.000,516,0.000,0.073,2194,695,3288,3377,3200,0,0,0,0,0,0,14.68,14.44,14.68,6.28,48.77
$GC,469,-0.64,-146.0,2194,695,3377,3201,61.4,-13.6,92,474,0.00,2.45,0.00,0.000,3078,0.000,0.060,2184,2103,3288,3377,3200,0,0,0,0,0,0,14.52,14.47,14.54,6.28,49.17
$GC,594,-0.64,-146.0,2185,2104,3378,3200,79.6,-14.5,117,598,0.00,2.50,0.00,0.000,2308,0.000,0.086,2174,3511,3288,3377,3200,0,0,0,0,0,0,14.72,14.47,14.72,6.28,48.42
$GC,619,-0.64,-146.0,2168,3512,3378,3201,83.3,-15.7,122,624,0.05,2.40,0.00,0.000,3078,0.361,0.049,2190,2097,3287,3375,3200,0,0,0,0,0,0,14.35,14.50,14.49,6.28,48.81
$GC,754,-0.64,-146.0,2191,2096,3374,3200,103.6,-15.0,146,758,0.00,2.45,0.00,0.000,2564,0.000,0.073,2190,699,3288,3377,3200,0,0,0,0,0,0,14.74,14.50,14.74,6.28,48.50
$GC,774,-0.64,-146.0,2191,700,3378,3200,106.6,-15.1,147,778,0.00,2.42,0.00,0.000,3078,0.000,0.061,2181,2100,3288,3377,3200,0,0,0,0,0,0,14.56,14.50,14.58,6.28,49.09
$GC,1094,-0.64,-146.0,2181,2101,3378,3201,149.8,-13.2,163,1098,0.00,2.47,0.00,0.000,2564,0.000,0.071,2181,689,3287,3375,3200,0,0,0,0,0,0,14.80,14.55,14.80,6.28,49.13
$GC,1159,-0.64,-146.0,2181,690,3376,3201,158.2,-14.0,166,1163,0.05,2.45,0.00,0.000,3078,0.371,0.062,2188,2103,3288,3376,3200,0,0,0,0,0,0,14.41,14.59,14.56,6.28,49.60
$GC,1474,-0.64,-146.0,2188,2104,3378,3201,200.1,-13.5,182,1479,0.00,2.47,0.00,0.000,2308,0.000,0.087,2177,3508,3288,3377,3200,0,0,0,0,0,0,14.81,14.57,14.83,6.30,50.74
$GC,1514,-0.64,-146.0,2178,3508,3377,3201,205.7,-13.7,184,1519,0.05,2.35,0.00,0.000,3078,0.369,0.047,2195,2102,3288,3377,3199,0,0,0,0,0,0,14.45,14.61,14.59,6.29,50.86
$GC,1834,-0.64,-146.0,2196,2102,3378,3200,246.1,-12.2,200,1838,0.00,2.45,0.00,0.000,516,0.000,0.072,2195,698,3288,3377,3200,0,0,0,0,0,0,14.85,14.61,14.85,6.31,51.26
$GC,1864,-0.64,-146.0,2195,698,3378,3201,248.6,-12.2,201,1868,0.00,2.40,0.00,0.000,3078,0.000,0.060,2186,2097,3287,3376,3199,0,0,0,0,0,0,14.66,14.61,14.68,6.32,51.18
$GC,2174,-0.64,-146.0,2186,2098,3378,3200,287.4,-12.0,217,2178,0.00,2.47,0.00,0.000,2308,0.000,0.086,2175,3508,3288,3377,3199,0,0,0,0,0,0,14.87,14.61,14.88,6.31,51.26
$GC,2199,-0.64,-146.0,2175,3507,3378,3200,289.8,-12.1,218,2203,0.05,2.35,0.00,0.000,3078,0.366,0.047,2198,2097,3288,3377,3199,0,0,0,0,0,0,14.48,14.64,14.63,6.31,51.33
$GC,2514,-0.64,-146.0,2192,2097,3378,3199,326.9,-11.4,234,2518,0.00,2.45,0.00,0.000,2564,0.000,0.072,2192,689,3288,3377,3199,0,0,0,0,0,0,14.88,14.64,14.88,6.32,51.26
$GC,2539,-0.64,-146.0,2193,689,3378,3199,329.3,-11.5,235,2543,0.03,2.42,0.00,0.000,3078,0.467,0.061,2190,2100,3288,3377,3199,0,0,0,0,0,0,14.48,14.64,14.62,6.32,51.61
$STATE,2733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2733,begin apogee
$GC,2736,-0.15,0.0,2191,2168,3376,3201,351.8,-11.2,245,2874,0.45,0.00,132.05,1.602,10246,0.269,0.000,2353,2168,2683,2741,2626,0,0,0,0,0,0,14.54,13.90,13.30,6.32,51.73
$STATE,2875,end apogee,CONTROL_FINISHED_OK
$STATE,2875,begin loiter
$GC,3174,-0.15,0.0,2353,2168,2739,2616,344.8,3.8,267,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2167,2676,2738,2614,0,0,0,0,0,0,14.56,14.56,14.56,6.28,50.59
$GC,3474,-0.15,0.0,2354,2168,2739,2612,332.9,4.0,282,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2168,2675,2738,2612,0,0,0,0,0,0,14.69,14.70,14.69,6.27,50.90
$GC,3774,-0.15,0.0,2354,2167,2739,2612,320.9,3.9,297,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2167,2674,2738,2611,0,0,0,0,0,0,14.78,14.78,14.78,6.27,50.86
$GC,4074,-0.15,0.0,2354,2168,2739,2610,309.0,3.9,312,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2167,2674,2738,2610,0,0,0,0,0,0,14.83,14.83,14.83,6.27,51.14
$GC,4374,-0.15,0.0,2354,2168,2739,2609,297.0,4.0,327,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2167,2673,2738,2609,0,0,0,0,0,0,14.88,14.88,14.88,6.28,51.41
$GC,4674,-0.15,0.0,2354,2168,2739,2609,285.3,3.9,342,4674,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2167,2673,2738,2608,0,0,0,0,0,0,14.91,14.92,14.91,6.28,51.22
$GC,4974,-0.15,0.0,2354,2167,2739,2608,273.6,3.9,357,4974,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2167,2673,2738,2609,0,0,0,0,0,0,14.94,14.95,14.95,6.27,51.22
$GC,5274,-0.15,0.0,2353,2168,2739,2609,261.6,4.1,372,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2167,2673,2738,2608,0,0,0,0,0,0,14.96,14.97,14.97,6.28,50.94
$GC,5574,-0.15,0.0,2354,2168,2739,2609,249.6,4.0,387,5575,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2167,2673,2738,2608,0,0,0,0,0,0,14.98,14.98,14.98,6.27,51.02
$GC,5874,-0.15,0.0,2353,2168,2740,2609,237.8,3.9,402,5874,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2167,2673,2738,2608,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.18
$GC,6174,-0.15,0.0,2353,2168,2739,2609,227.2,3.3,417,6174,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2167,2673,2738,2608,0,0,0,0,0,0,15.01,15.01,15.01,6.27,51.22
$STATE,6473,end loiter,LOITER_COMPLETE
$STATE,6473,begin climb
$GC,6474,0.64,146.0,2354,2168,2739,2608,217.7,0.0,432,6615,0.60,2.50,133.73,1.398,10500,0.177,0.087,2596,3544,2088,2112,2064,0,0,0,0,0,0,14.71,13.96,13.44,6.27,50.82
$GC,6714,0.64,146.0,2596,3545,2111,2056,198.4,10.8,444,6718,0.00,2.40,0.00,0.000,1030,0.000,0.048,2606,2158,2082,2110,2054,0,0,0,0,0,0,14.22,14.17,14.24,6.23,48.77
$GC,7034,0.64,146.0,2606,2159,2105,2049,159.5,12.6,460,7039,0.00,2.55,0.00,0.000,516,0.000,0.080,2617,746,2075,2103,2048,0,0,0,0,0,0,14.60,14.39,14.61,6.23,50.07
$GC,7079,0.64,146.0,2618,746,2104,2047,154.5,12.6,462,7083,0.00,2.42,0.00,0.000,5126,0.000,0.058,2617,2132,2074,2102,2047,0,0,0,0,0,0,14.45,14.38,14.46,6.23,50.51
$GC,7394,0.64,146.0,2617,2133,2102,2043,116.0,11.8,478,7394,0.00,0.00,0.00,0.000,4102,0.000,0.000,2617,2133,2072,2101,2044,0,0,0,0,0,0,14.70,14.71,14.71,6.22,50.15
$GC,7694,0.64,146.0,2618,2134,2103,2043,83.2,10.9,514,7698,0.00,2.53,0.00,0.000,4356,0.000,0.087,2617,3555,2071,2101,2041,0,0,0,0,0,0,14.76,14.50,14.79,6.21,49.37
$GC,7739,0.64,146.0,2617,3556,2102,2043,78.0,11.0,523,7744,0.05,2.38,0.00,0.000,5126,0.337,0.050,2610,2149,2071,2102,2041,0,0,0,0,0,0,14.40,14.53,14.53,6.20,48.89
$GC,7864,0.64,146.0,2610,2149,2101,2042,64.5,11.1,548,7868,0.00,2.45,0.00,0.000,4612,0.000,0.076,2619,737,2071,2101,2041,0,0,0,0,0,0,14.77,14.53,14.77,6.20,48.85
$GC,7904,0.64,146.0,2620,738,2101,2042,60.2,10.6,556,7909,0.03,2.42,0.00,0.000,5126,0.420,0.058,2609,2152,2070,2100,2040,0,0,0,0,0,0,14.40,14.54,14.53,6.20,49.05
$GC,8029,0.64,146.0,2607,2152,2101,2044,47.5,9.7,581,8033,0.00,2.50,0.00,0.000,4356,0.000,0.087,2609,3559,2070,2100,2040,0,0,0,0,0,0,14.78,14.52,14.78,6.19,48.93
$GC,8089,0.64,146.0,2609,3559,2101,2043,41.5,9.7,593,8093,0.00,2.38,0.00,0.000,5126,0.000,0.049,2618,2153,2070,2100,2040,0,0,0,0,0,0,14.61,14.56,14.63,6.19,48.77
$GC,8214,0.64,146.0,2618,2153,2102,2040,29.7,9.9,618,8218,0.00,2.50,0.00,0.000,4612,0.000,0.077,2629,712,2070,2100,2040,0,0,0,0,0,0,14.79,14.56,14.80,6.19,48.81
$GC,8244,0.64,146.0,2629,713,2100,2039,26.9,9.6,624,8249,0.05,2.45,0.00,0.000,5126,0.324,0.059,2609,2141,2069,2099,2040,0,0,0,0,0,0,14.44,14.56,14.57,6.19,49.01
$GC,8369,0.64,146.0,2609,2142,2100,2040,15.0,10.2,649,8373,0.00,2.50,0.00,0.000,4356,0.000,0.088,2609,3553,2069,2099,2039,0,0,0,0,0,0,14.80,14.54,14.81,6.19,49.80
$GC,8409,0.64,146.0,2610,3554,2099,2040,10.9,9.9,657,8413,0.00,2.38,0.00,0.000,5126,0.000,0.050,2618,2146,2069,2099,2040,0,0,0,0,0,0,14.64,14.60,14.65,6.19,49.25
$STATE,8493,end climb,SURFACE_DEPTH_REACHED
$STATE,8493,begin surface coast
$STATE,8518,end surface coast,CONTROL_FINISHED_OK
$STATE,8518,begin surface
$SM_CCo,8529,68.62,0.252,0,0,1791,220.03
$SM_GC,1.18,5.53,0.08,68.62,0.088,0.177,0.252,279,2094,1791,-6.45,0.82,220.03,0,0,0,0,0,0,14.63,14.59,14.38
$IRIDIUM_FIX,-6004.10,-17.25,221218,205707
$TT8_MAMPS,0.03745,0.092127
$HUMID,48.97
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3884512
$24V_AH,13.30,19.603
$10V_AH,13.45,0.000
$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,13.075,78.400,265.775,68.625,0.000,25.603,34.280,93.901,0.000,0.000,19.015,0.000,6819.853,447.702,1527.808,62.525,0.000,1059.074,0.000,1101.652,0.000,0.539,0.000
$DEVICE_MAMPS,467.415,188.955,1601.910,252.450,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4912.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.901,0.000,0.000,0.000
$MEM,344132
$DATA_FILE_SIZE,17317,679
$CAP_FILE_SIZE,90554,0
$CFSIZE,1023623168,1012498432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.041,262.08,1
$GPS,231218,015719,-6002.879,-11.792,12,0.9,42,-19.6,0.7,291.4,9,5.0