version: 66.14
glider: 640
mission: 5
dive: 80
start: 12 23 118 22 16 12
data:
$ID,640
$MISSION,5
$DIVE,80
$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,54
$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
$GPS1,231218,221119,-5959.3130,-12.0247,15,0.7,38,-19.6,0.6,156.7,11,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-69.1
$GPS2,231218,221554,-5959.3242,-12.0308,5,0.8,13,-19.6,0.7,146.6,10,9.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,27.1,110466,-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,-146.0,233,2083,1768,1798,0.0,0.0,0,104,0.00,0.00,-93.22,0.000,16386,0.000,0.000,232,2083,3201,3279,3124,0,0,0,0,0,0,14.60,28.83,14.61,6.16,49.64
$GC,105,-0.64,-146.0,233,2084,3278,3126,3.2,-7.3,19,120,6.05,2.72,-3.28,0.000,18692,0.372,2.279,2180,3512,3287,3376,3199,0,0,0,0,0,0,14.23,13.48,14.39,6.27,48.50
$GC,254,-0.64,-146.0,2180,3513,3378,3200,26.3,-14.2,49,259,0.00,2.35,0.00,0.000,3078,0.000,0.044,2180,2130,3288,3378,3198,0,0,0,0,0,0,14.45,14.41,14.47,6.28,48.18
$GC,379,-0.64,-146.0,2180,2130,3379,3198,45.5,-15.2,74,383,0.00,2.55,0.00,0.000,2564,0.000,0.068,2180,687,3288,3378,3198,0,0,0,0,0,0,14.66,14.42,14.66,6.29,48.58
$GC,409,-0.64,-146.0,2180,688,3378,3200,50.2,-15.7,80,413,0.05,2.45,0.00,0.000,3078,0.373,0.062,2186,2095,3288,3378,3198,0,0,0,0,0,0,14.29,14.42,14.44,6.29,48.74
$GC,534,-0.64,-146.0,2187,2095,3378,3198,68.5,-14.7,105,535,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2094,3288,3378,3198,0,0,0,0,0,0,14.70,14.69,14.70,6.29,48.62
$GC,654,-0.64,-146.0,2186,2095,3379,3198,86.8,-15.2,129,654,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2094,3288,3378,3198,0,0,0,0,0,0,14.71,14.72,14.72,6.28,48.58
$GC,784,-0.64,-146.0,2186,2095,3378,3200,106.5,-15.2,149,784,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2094,3288,3378,3199,0,0,0,0,0,0,14.73,14.74,14.73,6.29,48.77
$GC,1084,-0.64,-146.0,2186,2095,3379,3198,147.8,-13.2,164,1088,0.00,2.47,0.00,0.000,2308,0.000,0.085,2176,3500,3288,3378,3198,0,0,0,0,0,0,14.78,14.51,14.78,6.29,49.76
$GC,1119,-0.64,-146.0,2176,3501,3377,3199,150.4,-13.2,165,1123,0.05,2.38,0.00,0.000,3078,0.367,0.044,2193,2085,3288,3378,3198,0,0,0,0,0,0,14.39,14.57,14.54,6.29,50.07
$GC,1424,-0.64,-146.0,2194,2084,3377,3198,191.6,-12.8,181,1428,0.00,2.42,0.00,0.000,2564,0.000,0.068,2193,698,3287,3378,3197,0,0,0,0,0,0,14.81,14.54,14.79,6.31,50.59
$GC,1474,-0.64,-146.0,2193,698,3378,3199,196.7,-12.7,183,1479,0.00,2.40,0.00,0.000,3078,0.000,0.059,2184,2097,3288,3378,3198,0,0,0,0,0,0,14.60,14.55,14.62,6.30,51.18
$GC,1784,-0.64,-146.0,2184,2098,3378,3199,239.3,-13.4,199,1785,0.00,0.00,0.00,0.000,2054,0.000,0.000,2184,2097,3288,3378,3198,0,0,0,0,0,0,14.83,14.83,14.83,6.31,51.06
$GC,2084,-0.64,-146.0,2184,2098,3378,3199,279.5,-13.2,214,2089,0.00,2.45,0.00,0.000,2308,0.000,0.084,2173,3496,3288,3378,3198,0,0,0,0,0,0,14.85,14.57,14.85,6.32,51.37
$GC,2109,-0.64,-146.0,2174,3496,3379,3197,282.2,-13.2,215,2113,0.05,2.33,0.00,0.000,3078,0.361,0.044,2190,2098,3287,3377,3198,0,0,0,0,0,0,14.47,14.63,14.61,6.32,51.29
$GC,2424,-0.64,-146.0,2190,2098,3372,3199,322.7,-12.5,231,2428,0.00,2.42,0.00,0.000,2564,0.000,0.069,2190,699,3287,3377,3197,0,0,0,0,0,0,14.85,14.62,14.86,6.40,51.53
$GC,2469,-0.64,-146.0,2190,700,3378,3199,327.8,-12.7,233,2474,0.00,2.38,0.00,0.000,3078,0.000,0.058,2181,2092,3287,3378,3197,0,0,0,0,0,0,14.68,14.62,14.70,6.33,51.29
$STATE,2643,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2643,begin apogee
$GC,2646,-0.15,0.0,2181,2177,3378,3199,351.0,-13.1,242,2780,0.47,0.00,130.30,1.610,10246,0.275,0.000,2348,2177,2688,2746,2630,0,0,0,0,0,0,14.54,13.89,13.28,6.33,51.10
$STATE,2781,end apogee,CONTROL_FINISHED_OK
$STATE,2781,begin loiter
$GC,3064,-0.15,0.0,2351,2177,2742,2616,349.4,2.7,263,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2176,2679,2741,2617,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.43
$GC,3364,-0.15,0.0,2351,2177,2742,2614,341.3,2.7,278,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2177,2677,2740,2614,0,0,0,0,0,0,14.68,14.69,14.69,6.28,51.18
$GC,3664,-0.15,0.0,2350,2177,2741,2615,332.7,2.9,293,3665,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2177,2676,2740,2613,0,0,0,0,0,0,14.77,14.77,14.77,6.28,50.63
$GC,3964,-0.15,0.0,2349,2177,2741,2613,323.3,3.2,308,3965,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2177,2676,2740,2613,0,0,0,0,0,0,14.82,14.83,14.83,6.28,50.86
$GC,4264,-0.15,0.0,2351,2177,2741,2612,313.2,3.3,323,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2177,2676,2740,2612,0,0,0,0,0,0,14.87,14.88,14.88,6.28,51.57
$GC,4564,-0.15,0.0,2351,2177,2741,2612,302.8,3.6,338,4565,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2177,2676,2740,2612,0,0,0,0,0,0,14.90,14.91,14.91,6.28,51.41
$GC,4864,-0.15,0.0,2351,2177,2741,2612,291.9,3.7,353,4865,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2177,2676,2740,2612,0,0,0,0,0,0,14.93,14.94,14.94,6.28,50.90
$GC,5164,-0.15,0.0,2350,2177,2741,2613,281.0,3.7,368,5165,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2176,2676,2740,2612,0,0,0,0,0,0,14.96,14.96,14.96,6.28,51.06
$GC,5464,-0.15,0.0,2351,2177,2742,2612,270.2,3.6,383,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2176,2676,2740,2612,0,0,0,0,0,0,14.97,14.97,14.98,6.28,50.94
$GC,5764,-0.15,0.0,2351,2177,2742,2611,259.8,3.4,398,5765,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2177,2675,2740,2611,0,0,0,0,0,0,14.99,15.00,14.99,6.27,50.86
$GC,6064,-0.15,0.0,2351,2177,2741,2613,249.6,3.3,413,6065,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2177,2675,2740,2611,0,0,0,0,0,0,15.00,15.01,15.01,6.28,50.86
$STATE,6363,end loiter,LOITER_COMPLETE
$STATE,6363,begin climb
$GC,6364,0.64,146.0,2350,2177,2741,2613,239.8,0.0,428,6506,0.60,2.60,133.73,1.445,11012,0.182,0.076,2601,743,2087,2113,2062,0,0,0,0,0,0,14.70,13.95,13.43,6.28,50.94
$GC,6619,0.64,146.0,2602,743,2108,2055,220.8,10.2,440,6625,0.00,2.45,0.00,0.000,1030,0.000,0.057,2602,2125,2078,2107,2050,0,0,0,0,0,0,14.22,14.18,14.24,6.24,49.25
$GC,6924,0.64,146.0,2602,2126,2106,2043,183.0,12.0,456,6929,0.00,2.58,0.00,0.000,260,0.000,0.086,2602,3555,2074,2105,2043,0,0,0,0,0,0,14.59,14.35,14.60,6.24,50.74
$GC,7019,0.64,146.0,2603,3556,2105,2043,173.4,11.9,460,7024,0.00,2.38,0.00,0.000,1030,0.000,0.044,2612,2158,2073,2104,2043,0,0,0,0,0,0,14.45,14.42,14.48,6.22,49.88
$GC,7324,0.64,146.0,2613,2159,2104,2041,134.2,12.1,476,7328,0.00,2.50,0.00,0.000,4612,0.000,0.071,2623,743,2071,2103,2040,0,0,0,0,0,0,14.71,14.46,14.71,6.23,50.15
$GC,7354,0.64,146.0,2620,744,2101,2041,131.8,12.0,477,7359,0.05,2.42,0.00,0.000,5126,0.315,0.058,2605,2149,2071,2101,2042,0,0,0,0,0,0,14.37,14.48,14.50,6.23,50.19
$GC,7665,0.64,146.0,2605,2149,2101,2040,98.2,10.4,493,7669,0.00,2.50,0.00,0.000,260,0.000,0.086,2604,3553,2070,2102,2039,0,0,0,0,0,0,14.76,14.51,14.77,6.22,50.11
$GC,7754,0.64,146.0,2605,3554,2103,2039,88.3,10.8,511,7760,0.00,2.35,0.00,0.000,5126,0.000,0.044,2613,2152,2070,2101,2039,0,0,0,0,0,0,14.60,14.57,14.62,6.21,49.01
$GC,7879,0.64,146.0,2614,2152,2103,2037,74.5,11.1,536,7884,0.00,2.47,0.00,0.000,4612,0.000,0.071,2625,745,2069,2101,2038,0,0,0,0,0,0,14.78,14.52,14.78,6.21,48.74
$GC,7914,0.64,146.0,2625,746,2101,2038,70.7,10.8,543,7920,0.05,2.40,0.00,0.000,5126,0.313,0.057,2606,2146,2068,2100,2037,0,0,0,0,0,0,14.43,14.56,14.56,6.21,48.97
$GC,8040,0.64,146.0,2605,2146,2102,2038,57.6,10.3,568,8044,0.00,2.50,0.00,0.000,260,0.000,0.086,2605,3550,2073,2110,2037,0,0,0,0,0,0,14.78,14.53,14.78,6.20,48.81
$GC,8074,0.64,146.0,2606,3551,2102,2037,53.8,10.7,575,8080,0.00,2.35,0.00,0.000,5126,0.000,0.045,2614,2154,2069,2101,2037,0,0,0,0,0,0,14.62,14.58,14.64,6.20,49.37
$GC,8200,0.64,146.0,2615,2155,2110,2038,41.0,9.5,600,8204,0.00,2.50,0.00,0.000,4612,0.000,0.072,2625,736,2069,2101,2037,0,0,0,0,0,0,14.79,14.54,14.80,6.19,48.58
$GC,8234,0.64,146.0,2625,736,2101,2036,37.4,10.1,607,8240,0.05,2.42,0.00,0.000,5126,0.311,0.060,2606,2149,2068,2100,2036,0,0,0,0,0,0,14.45,14.56,14.57,6.19,48.89
$GC,8360,0.64,146.0,2606,2149,2100,2037,25.4,9.5,632,8360,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2148,2068,2100,2036,0,0,0,0,0,0,14.80,14.79,14.80,6.19,48.97
$GC,8480,0.64,146.0,2606,2149,2101,2038,14.2,9.8,656,8484,0.00,2.50,0.00,0.000,260,0.000,0.085,2606,3558,2068,2100,2036,0,0,0,0,0,0,14.80,14.55,14.81,6.19,49.25
$GC,8524,0.64,150.6,2606,3559,2100,2038,10.0,8.2,665,8529,0.00,2.38,0.00,0.000,5126,0.000,0.044,2616,2139,2068,2100,2036,0,0,0,0,0,0,14.64,14.59,14.66,6.19,49.33
$STATE,8603,end climb,SURFACE_DEPTH_REACHED
$STATE,8603,begin surface coast
$STATE,8644,end surface coast,CONTROL_FINISHED_OK
$STATE,8644,begin surface
$SM_CCo,8654,68.15,0.252,0,0,1791,220.03
$SM_GC,1.23,5.50,0.00,68.15,0.069,0.000,0.252,256,2137,1791,-6.50,1.05,220.03,0,0,0,0,0,0,14.66,14.81,14.39
$IRIDIUM_FIX,-6000.39,-4.30,231218,194222
$TT8_MAMPS,0.03745,0.128079
$HUMID,48.74
$INTERNAL_PRESSURE,6.08944
$TCM_TEMP,0.00
$XPDR_PINGS,1
$SC_FREEKB,3879904
$24V_AH,13.28,21.100
$10V_AH,13.44,0.000
$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,12.925,68.725,264.025,68.150,0.000,30.823,39.711,105.101,0.250,0.000,14.169,0.000,6944.755,441.331,1553.453,64.549,0.000,1050.717,0.000,1110.422,0.000,0.539,0.000
$DEVICE_MAMPS,373.320,2278.935,1610.325,252.450,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5055.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.798,0.000,0.000,0.000
$MEM,344028
$DATA_FILE_SIZE,17332,689
$CAP_FILE_SIZE,89021,0
$CFSIZE,1023623168,1011613696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.011,135.56,1
$GPS,241218,004234,-5958.831,-11.827,34,0.7,37,-19.6,0.0,355.0,12,8.9