version: 66.14
glider: 640
mission: 5
dive: 73
start: 12 23 118 4 32 51
data:
$ID,640
$MISSION,5
$DIVE,73
$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,53
$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,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
$GPS1,231218,042807,-6002.4180,-12.0604,34,0.8,40,-19.6,0.8,222.5,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-70.8
$GPS2,231218,043232,-6002.4263,-12.0958,9,0.8,17,-19.6,0.0,164.9,10,9.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,39.2,116188,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-0.64,-146.0,236,2073,1766,1798,0.0,0.0,0,105,0.00,0.00,-93.90,0.000,16386,0.000,0.000,235,2073,3226,3306,3147,0,0,0,0,0,0,14.62,28.83,14.62,6.15,49.68
$GC,106,-0.64,-146.0,235,2073,3307,3147,3.7,-9.4,19,121,6.03,2.75,-2.22,0.000,18692,0.371,2.279,2182,3502,3287,3374,3201,0,0,0,0,0,0,14.25,13.48,14.40,6.27,48.74
$GC,225,-0.64,-146.0,2183,3501,3377,3201,23.7,-14.8,43,229,0.00,2.35,0.00,0.000,3078,0.000,0.046,2181,2131,3288,3376,3200,0,0,0,0,0,0,14.45,14.41,14.47,6.28,47.95
$GC,350,-0.64,-146.0,2182,2130,3377,3200,43.9,-16.4,68,354,0.00,2.55,0.00,0.000,2564,0.000,0.068,2181,683,3290,3379,3201,0,0,0,0,0,0,14.66,14.41,14.64,6.29,48.58
$GC,380,-0.64,-146.0,2182,684,3376,3202,48.7,-15.0,74,384,0.05,2.45,0.00,0.000,3078,0.366,0.061,2189,2092,3289,3377,3201,0,0,0,0,0,0,14.28,14.43,14.43,6.29,48.62
$GC,505,-0.64,-146.0,2189,2093,3378,3201,64.7,-13.2,99,509,0.00,2.47,0.00,0.000,2308,0.000,0.088,2179,3509,3288,3376,3201,0,0,0,0,0,0,14.69,14.45,14.69,6.29,49.05
$GC,540,-0.64,-146.0,2179,3510,3377,3202,69.6,-14.3,106,544,0.00,2.40,0.00,0.000,3078,0.000,0.048,2178,2091,3288,3376,3201,0,0,0,0,0,0,14.52,14.47,14.54,6.29,48.97
$GC,665,-0.64,-146.0,2178,2092,3378,3201,87.4,-15.4,131,669,0.05,2.47,0.00,0.000,2564,0.476,0.071,2192,689,3288,3376,3201,0,0,0,0,0,0,14.35,14.47,14.55,6.28,48.93
$GC,680,-0.64,-146.0,2192,689,3377,3202,89.7,-15.1,134,684,0.00,2.45,0.00,0.000,3078,0.000,0.060,2181,2105,3292,3383,3201,0,0,0,0,0,0,14.53,14.48,14.57,6.29,49.17
$GC,815,-0.64,-146.0,2182,2105,3378,3201,109.1,-14.3,152,819,0.00,2.47,0.00,0.000,2564,0.000,0.069,2182,695,3288,3376,3201,0,0,0,0,0,0,14.74,14.50,14.74,6.28,48.58
$GC,830,-0.64,-146.0,2182,695,3377,3202,109.1,-14.3,152,834,0.05,2.42,0.00,0.000,3078,0.373,0.060,2188,2097,3290,3376,3205,0,0,0,0,0,0,14.35,14.51,14.50,6.27,48.70
$GC,1135,-0.64,-146.0,2188,2099,3377,3202,155.5,-13.0,168,1139,0.00,2.47,0.00,0.000,2308,0.000,0.087,2178,3498,3288,3376,3201,0,0,0,0,0,0,14.79,14.53,14.79,6.28,49.48
$GC,1150,-0.64,-146.0,2178,3499,3377,3201,155.5,-13.0,168,1154,0.03,2.35,0.00,0.000,3078,0.459,0.047,2186,2102,3288,3376,3201,0,0,0,0,0,0,14.38,14.57,14.53,6.28,49.29
$GC,1455,-0.64,-146.0,2186,2101,3377,3202,195.0,-12.2,184,1459,0.00,2.45,0.00,0.000,2564,0.000,0.071,2186,696,3288,3376,3201,0,0,0,0,0,0,14.82,14.58,14.83,6.30,50.63
$GC,1520,-0.64,-146.0,2186,697,3377,3202,202.3,-12.2,187,1524,0.03,2.40,0.00,0.000,3078,0.470,0.060,2184,2093,3288,3376,3201,0,0,0,0,0,0,14.42,14.58,14.57,6.29,50.70
$GC,1835,-0.64,-146.0,2184,2094,3377,3202,241.0,-12.4,203,1840,0.00,2.47,0.00,0.000,2308,0.000,0.086,2174,3500,3288,3376,3200,0,0,0,0,0,0,14.85,14.58,14.85,6.31,51.06
$GC,1855,-0.64,-146.0,2175,3501,3377,3201,243.6,-12.5,204,1860,0.05,2.35,0.00,0.000,3078,0.365,0.047,2192,2098,3288,3376,3200,0,0,0,0,0,0,14.45,14.63,14.61,6.31,51.81
$GC,2175,-0.64,-146.0,2192,2097,3377,3200,282.9,-12.6,220,2179,0.00,2.45,0.00,0.000,2564,0.000,0.070,2192,690,3288,3377,3200,0,0,0,0,0,0,14.86,14.62,14.87,6.32,51.57
$GC,2225,-0.64,-146.0,2192,692,3377,3201,288.0,-12.8,222,2229,0.00,2.40,0.00,0.000,3078,0.000,0.060,2183,2096,3287,3375,3200,0,0,0,0,0,0,14.68,14.62,14.71,6.32,51.49
$GC,2535,-0.64,-146.0,2183,2096,3377,3199,329.8,-13.0,238,2535,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2096,3288,3376,3200,0,0,0,0,0,0,14.88,14.88,14.88,6.32,51.22
$STATE,2694,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2694,begin apogee
$GC,2697,-0.15,0.0,2183,2179,3377,3200,350.6,-12.9,246,2835,0.47,0.00,131.88,1.600,10246,0.271,0.000,2353,2178,2684,2741,2627,0,0,0,0,0,0,14.54,13.90,13.29,6.33,51.37
$STATE,2836,end apogee,CONTROL_FINISHED_OK
$STATE,2836,begin loiter
$GC,3135,-0.15,0.0,2354,2179,2740,2615,348.0,2.7,268,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2178,2677,2739,2615,0,0,0,0,0,0,14.55,14.56,14.56,6.28,50.70
$GC,3435,-0.15,0.0,2354,2179,2740,2613,339.8,2.7,283,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2178,2676,2739,2613,0,0,0,0,0,0,14.69,14.70,14.69,6.27,50.74
$GC,3735,-0.15,0.0,2354,2179,2740,2611,331.4,2.8,298,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2178,2675,2739,2612,0,0,0,0,0,0,14.78,14.78,14.78,6.27,50.82
$GC,4035,-0.15,0.0,2354,2179,2740,2611,322.7,3.0,313,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2178,2675,2739,2611,0,0,0,0,0,0,14.83,14.83,14.83,6.27,50.98
$GC,4335,-0.15,0.0,2353,2179,2740,2612,313.3,3.2,328,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2178,2674,2738,2611,0,0,0,0,0,0,14.88,14.88,14.88,6.27,51.14
$GC,4635,-0.15,0.0,2353,2179,2738,2610,303.6,3.3,343,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2178,2674,2739,2610,0,0,0,0,0,0,14.91,14.92,14.91,6.28,51.10
$GC,4935,-0.15,0.0,2354,2178,2740,2609,293.5,3.3,358,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2178,2674,2739,2609,0,0,0,0,0,0,14.94,14.95,14.94,6.28,51.41
$GC,5235,-0.15,0.0,2353,2179,2739,2610,283.4,3.4,373,5235,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2178,2674,2739,2610,0,0,0,0,0,0,14.96,14.97,14.97,6.27,51.61
$GC,5535,-0.15,0.0,2353,2179,2739,2610,273.5,3.3,388,5536,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2178,2674,2739,2609,0,0,0,0,0,0,14.97,14.98,14.98,6.27,50.98
$GC,5835,-0.15,0.0,2353,2179,2740,2610,264.4,3.0,403,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2178,2674,2739,2609,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.26
$GC,6135,-0.15,0.0,2353,2178,2739,2610,255.1,3.1,418,6135,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2178,2674,2739,2609,0,0,0,0,0,0,15.01,15.02,15.02,6.28,51.22
$STATE,6434,end loiter,LOITER_COMPLETE
$STATE,6434,begin climb
$GC,6435,0.64,146.0,2353,2179,2739,2610,245.5,0.0,433,6576,0.60,2.60,133.25,1.425,11012,0.178,0.075,2606,746,2088,2113,2064,0,0,0,0,0,0,14.71,13.96,13.43,6.27,50.90
$GC,6650,0.64,146.0,2607,746,2109,2059,230.0,10.3,443,6655,0.00,2.45,0.00,0.000,5126,0.000,0.058,2607,2122,2082,2110,2055,0,0,0,0,0,0,14.19,14.12,14.20,6.23,48.97
$GC,6955,0.64,146.0,2607,2124,2105,2048,191.4,12.2,459,6960,0.00,2.58,0.00,0.000,4356,0.000,0.086,2606,3555,2077,2106,2048,0,0,0,0,0,0,14.59,14.33,14.59,6.23,49.96
$GC,7020,0.64,146.0,2607,3562,2106,2048,183.8,12.7,462,7024,0.00,2.40,0.00,0.000,5126,0.000,0.047,2617,2144,2076,2105,2048,0,0,0,0,0,0,14.43,14.38,14.46,6.23,49.96
$GC,7335,0.64,146.0,2618,2144,2106,2044,143.4,12.7,478,7339,0.00,2.47,0.00,0.000,4612,0.000,0.075,2628,753,2074,2104,2044,0,0,0,0,0,0,14.71,14.45,14.71,6.22,50.19
$GC,7410,0.64,146.0,2628,754,2103,2044,136.0,12.4,481,7414,0.05,2.42,0.00,0.000,5126,0.336,0.060,2609,2157,2072,2102,2042,0,0,0,0,0,0,14.36,14.48,14.46,6.23,50.07
$GC,7715,0.64,146.0,2609,2158,2103,2041,100.7,11.2,497,7719,0.00,2.47,0.00,0.000,4356,0.000,0.086,2608,3554,2071,2102,2041,0,0,0,0,0,0,14.77,14.52,14.77,6.21,50.27
$GC,7765,0.64,146.0,2609,3554,2103,2042,95.1,11.0,504,7770,0.00,2.38,0.00,0.000,5126,0.000,0.047,2617,2150,2071,2102,2041,0,0,0,0,0,0,14.61,14.56,14.60,6.21,49.96
$GC,7890,0.64,146.0,2618,2157,2103,2041,80.9,11.5,529,7894,0.00,2.45,0.00,0.000,4612,0.000,0.075,2628,739,2071,2102,2041,0,0,0,0,0,0,14.78,14.54,14.78,6.21,49.40
$GC,7940,0.64,146.0,2629,739,2103,2040,75.6,10.1,539,7944,0.05,2.42,0.00,0.000,5126,0.325,0.058,2609,2153,2070,2101,2040,0,0,0,0,0,0,14.43,14.55,14.55,6.20,49.64
$GC,8065,0.64,146.0,2609,2154,2102,2039,63.3,9.9,564,8070,0.00,2.47,0.00,0.000,4356,0.000,0.086,2609,3550,2071,2102,2040,0,0,0,0,0,0,14.79,14.54,14.79,6.21,48.77
$GC,8110,0.64,146.0,2609,3551,2102,2040,58.6,10.1,573,8114,0.00,2.35,0.00,0.000,5126,0.000,0.048,2617,2157,2070,2101,2040,0,0,0,0,0,0,14.64,14.58,14.64,6.20,49.25
$GC,8235,0.64,146.0,2618,2156,2102,2041,45.5,11.0,598,8239,0.00,2.50,0.00,0.000,4612,0.000,0.075,2628,741,2070,2101,2040,0,0,0,0,0,0,14.81,14.55,14.81,6.19,48.58
$GC,8280,0.64,146.0,2629,742,2102,2041,40.6,10.4,607,8284,0.05,2.40,0.00,0.000,5126,0.324,0.058,2608,2145,2071,2101,2041,0,0,0,0,0,0,14.45,14.57,14.58,6.19,49.01
$GC,8405,0.64,146.0,2609,2144,2103,2041,28.9,8.5,632,8410,0.00,2.50,0.00,0.000,4356,0.000,0.087,2608,3552,2070,2101,2039,0,0,0,0,0,0,14.81,14.56,14.81,6.19,48.93
$GC,8490,0.64,146.0,2609,3553,2101,2040,21.2,8.9,649,8494,0.00,2.35,0.00,0.000,5126,0.000,0.046,2617,2152,2069,2101,2038,0,0,0,0,0,0,14.64,14.60,14.66,6.19,49.48
$GC,8615,0.64,146.0,2617,2153,2101,2040,9.5,9.4,674,8619,0.00,2.50,0.00,0.000,4612,0.000,0.074,2628,737,2070,2101,2039,0,0,0,0,0,0,14.81,14.57,14.82,6.18,49.40
$GC,8655,0.64,146.0,2630,737,2102,2039,5.9,9.1,682,8659,0.05,2.42,0.00,0.000,5126,0.324,0.060,2608,2152,2069,2100,2038,0,0,0,0,0,0,14.46,14.59,14.59,6.19,49.84
$STATE,8689,end climb,SURFACE_DEPTH_REACHED
$STATE,8689,begin surface coast
$STATE,8719,end surface coast,CONTROL_FINISHED_OK
$STATE,8719,begin surface
$SM_CCo,8730,68.88,0.253,0,0,1791,220.03
$SM_GC,1.08,5.50,0.10,68.88,0.073,0.141,0.253,257,2055,1791,-6.50,0.65,220.03,0,0,0,0,0,0,14.66,14.62,14.39
$IRIDIUM_FIX,-6002.25,-4.31,231218,015840
$TT8_MAMPS,0.039697,0.087633
$HUMID,49.56
$INTERNAL_PRESSURE,6.0992
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3883488
$24V_AH,13.29,19.932
$10V_AH,13.46,0.000
$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,13.050,88.500,265.125,68.875,0.000,23.473,39.392,100.227,0.000,0.000,19.967,0.000,6977.232,459.513,1570.705,63.724,0.000,1085.276,0.000,1124.238,0.000,0.539,0.000
$DEVICE_MAMPS,475.830,2278.935,1599.615,253.215,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5114.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.883,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17344,695
$CAP_FILE_SIZE,94320,0
$CFSIZE,1023623168,1012301824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.069,223.41,1
$GPS,231218,070034,-6002.123,-12.194,15,0.9,42,-19.6,0.2,211.4,9,9.3