version: 66.14
glider: 640
mission: 5
dive: 75
start: 12 23 118 9 37 4
data:
$ID,640
$MISSION,5
$DIVE,75
$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,47
$R_STBD_OVSHOOT,24
$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
$GPS1,231218,093234,-6001.6953,-11.8105,34,0.7,38,-19.6,0.2,230.1,12,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-63.9
$GPS2,231218,093646,-6001.7041,-11.8224,10,0.7,15,-19.6,0.8,243.0,12,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,22.1,114831,-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,8,-0.64,-146.0,234,2079,1767,1795,0.0,0.0,0,104,0.00,0.00,-93.20,0.000,16386,0.000,0.000,234,2078,3197,3277,3118,0,0,0,0,0,0,14.62,28.83,14.62,6.16,49.84
$GC,105,-0.64,-146.0,234,2078,3279,3118,3.3,-7.8,19,119,6.03,2.60,-3.40,0.000,18948,0.370,2.272,2188,706,3288,3376,3200,0,0,0,0,0,0,14.24,13.50,14.40,6.27,48.77
$GC,124,-0.64,-146.0,2188,707,3377,3201,7.4,-20.1,23,128,0.03,2.42,0.00,0.000,3078,0.490,0.058,2186,2101,3288,3377,3200,0,0,0,0,0,0,14.21,14.42,14.35,6.29,48.70
$GC,249,-0.64,-146.0,2186,2101,3379,3200,28.6,-16.8,48,254,0.00,2.53,0.00,0.000,2308,0.000,0.086,2175,3510,3288,3377,3200,0,0,0,0,0,0,14.64,14.40,14.64,6.28,48.54
$GC,394,-0.64,-146.0,2176,3512,3378,3201,51.9,-14.4,77,398,0.05,2.35,0.00,0.000,3078,0.375,0.044,2192,2123,3288,3377,3200,0,0,0,0,0,0,14.29,14.46,14.45,6.29,49.33
$GC,519,-0.64,-146.0,2192,2122,3378,3200,70.5,-14.6,102,523,0.00,2.50,0.00,0.000,2564,0.000,0.070,2192,698,3288,3377,3200,0,0,0,0,0,0,14.71,14.46,14.71,6.28,48.66
$GC,544,-0.64,-146.0,2192,698,3378,3200,74.2,-14.7,107,548,0.00,2.42,0.00,0.000,3078,0.000,0.060,2182,2101,3288,3377,3200,0,0,0,0,0,0,14.50,14.47,14.54,6.34,48.97
$GC,669,-0.64,-146.0,2182,2102,3378,3201,92.8,-14.9,132,670,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2102,3288,3377,3200,0,0,0,0,0,0,14.73,14.73,14.73,6.28,48.58
$GC,799,-0.64,-146.0,2182,2100,3378,3201,112.4,-15.2,146,800,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2100,3288,3377,3199,0,0,0,0,0,0,14.75,14.76,14.76,6.28,48.85
$GC,1099,-0.64,-146.0,2183,2103,3377,3201,153.9,-13.4,161,1103,0.00,2.47,0.00,0.000,2564,0.000,0.070,2182,690,3288,3377,3200,0,0,0,0,0,0,14.80,14.54,14.80,6.29,49.88
$GC,1129,-0.64,-146.0,2183,691,3378,3201,156.6,-13.5,162,1133,0.05,2.42,0.00,0.000,3078,0.379,0.060,2188,2098,3288,3377,3199,0,0,0,0,0,0,14.40,14.56,14.55,6.29,49.68
$GC,1439,-0.64,-146.0,2189,2098,3379,3200,195.7,-12.5,178,1444,0.00,2.47,0.00,0.000,2308,0.000,0.087,2178,3503,3288,3377,3200,0,0,0,0,0,0,14.83,14.57,14.83,6.30,50.70
$GC,1499,-0.64,-146.0,2178,3508,3377,3201,203.3,-12.6,181,1504,0.00,2.35,0.00,0.000,3078,0.000,0.046,2178,2100,3288,3377,3200,0,0,0,0,0,0,14.66,14.60,14.67,6.30,50.86
$GC,1819,-0.64,-146.0,2178,2100,3378,3199,244.5,-12.9,197,1823,0.05,2.45,0.00,0.000,2564,0.477,0.070,2190,695,3288,3377,3199,0,0,0,0,0,0,14.48,14.60,14.68,6.31,51.26
$GC,1879,-0.64,-146.0,2192,695,3379,3199,252.1,-12.7,200,1883,0.00,2.40,0.00,0.000,3078,0.000,0.060,2181,2098,3288,3377,3199,0,0,0,0,0,0,14.66,14.62,14.69,6.31,51.29
$GC,2199,-0.64,-146.0,2182,2099,3378,3200,291.2,-12.1,216,2199,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2098,3288,3378,3199,0,0,0,0,0,0,14.87,14.87,14.87,6.38,51.22
$GC,2499,-0.64,-146.0,2182,2099,3378,3193,327.5,-12.1,231,2500,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2098,3288,3377,3199,0,0,0,0,0,0,14.88,14.88,14.88,6.33,51.85
$STATE,2698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2698,begin apogee
$GC,2701,-0.15,0.0,2182,2168,3378,3198,351.7,-12.1,241,2836,0.47,0.00,131.62,1.608,10246,0.272,0.000,2351,2168,2685,2743,2628,0,0,0,0,0,0,14.54,13.90,13.31,6.31,51.45
$STATE,2837,end apogee,CONTROL_FINISHED_OK
$STATE,2837,begin loiter
$GC,3120,-0.15,0.0,2352,2169,2739,2615,346.4,3.5,262,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2676,2739,2614,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.82
$GC,3420,-0.15,0.0,2352,2168,2739,2613,336.3,3.4,277,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2169,2675,2738,2612,0,0,0,0,0,0,14.68,14.69,14.69,6.28,50.82
$GC,3720,-0.15,0.0,2352,2169,2739,2611,326.3,3.3,292,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2675,2739,2611,0,0,0,0,0,0,14.76,14.77,14.77,6.28,51.33
$GC,4020,-0.15,0.0,2352,2169,2740,2610,316.2,3.3,307,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2674,2738,2610,0,0,0,0,0,0,14.82,14.83,14.83,6.28,50.82
$GC,4320,-0.15,0.0,2352,2168,2740,2609,306.4,3.1,322,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2674,2739,2609,0,0,0,0,0,0,14.87,14.88,14.88,6.27,51.18
$GC,4620,-0.15,0.0,2352,2169,2739,2610,296.9,3.1,337,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2673,2738,2609,0,0,0,0,0,0,14.90,14.90,14.91,6.27,51.57
$GC,4920,-0.15,0.0,2352,2169,2739,2608,287.8,3.0,352,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2673,2739,2608,0,0,0,0,0,0,14.93,14.94,14.93,6.28,50.98
$GC,5220,-0.15,0.0,2351,2169,2738,2609,278.9,2.9,367,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2673,2739,2608,0,0,0,0,0,0,14.95,14.95,14.96,6.28,50.90
$GC,5520,-0.15,0.0,2352,2169,2739,2609,270.8,2.7,382,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2168,2673,2738,2608,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.49
$GC,5820,-0.15,0.0,2352,2169,2739,2609,262.9,2.7,397,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2673,2738,2608,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.49
$GC,6120,-0.15,0.0,2352,2168,2740,2607,255.2,2.5,412,6121,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2168,2673,2738,2608,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.10
$STATE,6419,end loiter,LOITER_COMPLETE
$STATE,6419,begin climb
$GC,6420,0.64,146.0,2352,2168,2740,2608,247.4,0.0,427,6559,0.60,0.00,133.45,1.436,10758,0.180,0.000,2591,2168,2089,2114,2064,0,0,0,0,0,0,14.70,13.98,13.43,6.27,51.18
$GC,6860,0.64,146.0,2593,2168,2107,2048,206.6,11.1,449,6864,0.00,2.47,0.00,0.000,2308,0.000,0.086,2592,3537,2077,2106,2048,0,0,0,0,0,0,14.54,14.30,14.54,6.23,49.92
$GC,6880,0.64,146.0,2592,3538,2106,2052,204.2,11.3,450,6884,0.00,2.38,0.00,0.000,1030,0.000,0.049,2603,2144,2077,2106,2048,0,0,0,0,0,0,14.38,14.33,14.40,6.23,49.96
$GC,7200,0.64,146.0,2603,2144,2105,2044,165.2,12.2,466,7201,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2143,2073,2103,2044,0,0,0,0,0,0,14.67,14.67,14.67,6.23,50.66
$GC,7500,0.64,146.0,2603,2144,2105,2041,130.4,10.9,481,7504,0.00,2.47,0.00,0.000,516,0.000,0.076,2614,752,2072,2103,2041,0,0,0,0,0,0,14.74,14.50,14.74,6.23,50.51
$GC,7570,0.64,146.0,2614,752,2102,2042,124.4,10.1,484,7574,0.00,2.38,0.00,0.000,5126,0.000,0.057,2614,2133,2071,2102,2041,0,0,0,0,0,0,14.57,14.52,14.59,6.22,50.39
$GC,7875,0.64,146.0,2614,2134,2103,2041,89.8,11.1,511,7880,0.00,2.53,0.00,0.000,4356,0.000,0.086,2614,3555,2071,2102,2040,0,0,0,0,0,0,14.78,14.53,14.78,6.21,49.44
$GC,7940,0.64,146.0,2614,3555,2102,2040,82.5,10.9,524,7945,0.05,2.35,0.00,0.000,5126,0.350,0.047,2606,2161,2070,2101,2040,0,0,0,0,0,0,14.42,14.56,14.57,6.21,49.05
$GC,8065,0.64,146.0,2606,2161,2102,2041,70.0,9.9,549,8070,0.00,2.53,0.00,0.000,516,0.000,0.075,2616,733,2070,2101,2040,0,0,0,0,0,0,14.78,14.54,14.79,6.20,49.56
$GC,8105,0.64,146.0,2616,733,2101,2039,66.1,9.6,557,8110,0.00,2.42,0.00,0.000,5126,0.000,0.057,2617,2150,2069,2100,2039,0,0,0,0,0,0,14.62,14.57,14.64,6.20,48.93
$GC,8230,0.64,146.0,2617,2153,2100,2040,53.3,10.4,582,8235,0.00,2.47,0.00,0.000,4356,0.000,0.088,2617,3550,2069,2100,2039,0,0,0,0,0,0,14.79,14.54,14.80,6.19,49.05
$GC,8265,0.64,146.0,2617,3551,2101,2040,49.4,10.9,589,8270,0.05,2.38,0.00,0.000,5126,0.343,0.048,2609,2140,2069,2100,2039,0,0,0,0,0,0,14.44,14.57,14.57,6.19,48.93
$GC,8390,0.64,146.0,2608,2141,2101,2040,37.3,9.0,614,8396,0.00,2.45,0.00,0.000,4612,0.000,0.073,2618,751,2070,2101,2039,0,0,0,0,0,0,14.80,14.55,14.80,6.19,48.54
$GC,8460,0.64,146.0,2617,752,2101,2039,31.0,8.8,628,8465,0.00,2.40,0.00,0.000,5126,0.000,0.058,2617,2156,2069,2100,2038,0,0,0,0,0,0,14.62,14.58,14.64,6.19,48.58
$GC,8585,0.64,146.0,2618,2157,2101,2038,18.4,10.1,653,8590,0.00,2.47,0.00,0.000,4356,0.000,0.089,2618,3547,2069,2101,2037,0,0,0,0,0,0,14.81,14.56,14.81,6.19,49.13
$GC,8625,0.64,146.0,2618,3548,2101,2038,13.6,11.8,661,8630,0.05,2.35,0.00,0.000,5126,0.340,0.048,2609,2151,2069,2100,2038,0,0,0,0,0,0,14.45,14.58,14.58,6.19,49.33
$STATE,8734,end climb,SURFACE_DEPTH_REACHED
$STATE,8735,begin surface coast
$STATE,8769,end surface coast,CONTROL_FINISHED_OK
$STATE,8769,begin surface
$SM_CCo,8780,68.40,0.252,0,0,1792,220.03
$SM_GC,1.09,5.50,0.08,68.40,0.073,0.168,0.252,257,2079,1792,-6.50,0.96,220.03,0,0,0,0,0,0,14.66,14.60,14.38
$IRIDIUM_FIX,-6002.25,-8.62,231218,070155
$TT8_MAMPS,0.038199,0.092127
$HUMID,48.93
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3882464
$24V_AH,13.31,20.262
$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,12.925,63.600,265.075,68.400,0.000,23.861,22.901,105.720,0.000,0.000,15.373,0.000,7109.547,438.057,1495.385,63.137,0.000,1028.782,0.000,1078.421,0.000,0.539,0.000
$DEVICE_MAMPS,490.365,2272.050,1608.030,251.685,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5180.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.490,0.000,0.000,0.000
$MEM,344088
$DATA_FILE_SIZE,17341,690
$CAP_FILE_SIZE,87155,0
$CFSIZE,1023623168,1012105216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.025,83.17,1
$GPS,231218,120531,-6001.102,-11.409,14,0.9,37,-19.6,0.3,285.8,10,9.5