version: 66.14
glider: 640
mission: 5
dive: 83
start: 12 24 118 5 48 29
data:
$ID,640
$MISSION,5
$DIVE,83
$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,28
$R_STBD_OVSHOOT,32
$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
$GPS1,241218,054301,-5957.7388,-11.9960,11,0.8,40,-19.6,0.7,255.5,10,6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-65.6
$GPS2,241218,054811,-5957.7046,-12.0771,9,0.8,17,-19.6,1.3,331.0,10,9.7
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,37.4,107488,-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,-146.0,233,2115,1765,1797,0.0,0.0,0,105,0.00,0.00,-94.22,0.000,16386,0.000,0.000,232,2115,3238,3317,3159,0,0,0,0,0,0,14.59,28.83,14.60,6.16,49.68
$GC,106,-0.64,-146.0,233,2116,3318,3159,3.5,-7.9,19,121,6.05,2.65,-1.77,0.000,18692,0.369,2.269,2181,3503,3287,3374,3201,0,0,0,0,0,0,14.23,13.47,14.38,6.28,48.74
$GC,225,-0.64,-146.0,2181,3504,3377,3202,23.0,-14.1,43,229,0.00,2.40,0.00,0.000,3078,0.000,0.043,2180,2092,3289,3377,3201,0,0,0,0,0,0,14.45,14.40,14.46,6.28,48.11
$GC,350,-0.64,-146.0,2180,2092,3377,3202,42.7,-15.2,68,354,0.00,2.53,0.00,0.000,2308,0.000,0.083,2170,3505,3289,3377,3201,0,0,0,0,0,0,14.64,14.40,14.64,6.29,48.38
$GC,410,-0.64,-146.0,2170,3505,3377,3202,51.6,-14.3,80,414,0.05,2.38,0.00,0.000,3078,0.363,0.044,2187,2105,3288,3376,3201,0,0,0,0,0,0,14.29,14.45,14.43,6.28,49.09
$GC,535,-0.64,-146.0,2188,2105,3387,3201,69.5,-14.6,105,540,0.00,2.47,0.00,0.000,2564,0.000,0.068,2187,697,3289,3377,3201,0,0,0,0,0,0,14.69,14.45,14.69,6.29,48.62
$GC,570,-0.64,-146.0,2187,698,3377,3201,74.7,-14.3,112,574,0.00,2.42,0.00,0.000,3078,0.000,0.059,2178,2100,3289,3377,3201,0,0,0,0,0,0,14.52,14.45,14.54,6.29,48.54
$GC,695,-0.64,-146.0,2178,2101,3378,3201,92.0,-14.1,137,700,0.05,2.50,0.00,0.000,2308,0.472,0.085,2181,3508,3289,3377,3201,0,0,0,0,0,0,14.35,14.46,14.54,6.29,48.26
$GC,710,-0.64,-146.0,2181,3508,3377,3202,94.1,-14.2,140,714,0.00,2.38,0.00,0.000,3078,0.000,0.047,2181,2105,3289,3377,3201,0,0,0,0,0,0,14.54,14.50,14.56,6.29,48.22
$GC,835,-0.64,-146.0,2181,2104,3378,3201,111.5,-14.1,153,835,0.00,0.00,0.00,0.000,2054,0.000,0.000,2180,2104,3289,3377,3201,0,0,0,0,0,0,14.73,14.73,14.73,6.28,49.05
$GC,1135,-0.64,-146.0,2181,2105,3378,3201,153.9,-13.9,168,1135,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2104,3289,3377,3201,0,0,0,0,0,0,14.78,14.78,14.78,6.29,50.03
$GC,1435,-0.64,-146.0,2181,2104,3378,3200,195.2,-14.0,183,1439,0.00,2.47,0.00,0.000,2564,0.000,0.068,2180,688,3289,3377,3201,0,0,0,0,0,0,14.81,14.57,14.81,6.30,50.78
$GC,1455,-0.64,-146.0,2181,688,3378,3201,198.1,-14.0,184,1459,0.05,2.42,0.00,0.000,3078,0.371,0.059,2187,2099,3288,3377,3200,0,0,0,0,0,0,14.42,14.57,14.57,6.30,50.82
$GC,1775,-0.64,-146.0,2188,2107,3378,3200,240.6,-13.2,200,1779,0.00,2.47,0.00,0.000,2308,0.000,0.086,2177,3503,3288,3377,3200,0,0,0,0,0,0,14.83,14.57,14.83,6.32,51.33
$GC,1795,-0.64,-146.0,2178,3504,3378,3200,243.2,-13.2,201,1799,0.03,2.35,0.00,0.000,3078,0.457,0.045,2186,2096,3291,3383,3200,0,0,0,0,0,0,14.43,14.61,14.58,6.31,51.29
$GC,2115,-0.64,-146.0,2185,2096,3378,3201,284.2,-12.4,217,2120,0.00,2.42,0.00,0.000,2564,0.000,0.068,2185,700,3288,3377,3200,0,0,0,0,0,0,14.85,14.59,14.85,6.32,51.26
$GC,2150,-0.64,-146.0,2185,700,3378,3199,286.8,-12.5,218,2155,0.05,2.40,0.00,0.000,3078,0.373,0.059,2192,2100,3288,3377,3200,0,0,0,0,0,0,14.45,14.64,14.60,6.41,51.06
$GC,2455,-0.64,-146.0,2192,2101,3377,3201,324.3,-11.7,234,2459,0.00,2.50,0.00,0.000,2308,0.000,0.087,2182,3509,3288,3377,3200,0,0,0,0,0,0,14.85,14.59,14.86,6.33,51.53
$GC,2485,-0.64,-146.0,2183,3508,3378,3199,326.6,-11.7,235,2489,0.00,2.38,0.00,0.000,3078,0.000,0.045,2185,2087,3288,3376,3200,0,0,0,0,0,0,14.68,14.64,14.70,6.33,51.02
$STATE,2674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2674,begin apogee
$GC,2677,-0.15,0.0,2182,2158,3378,3199,350.6,-12.0,245,2810,0.47,0.00,130.02,1.609,10246,0.269,0.000,2352,2157,2686,2741,2632,0,0,0,0,0,0,14.55,13.90,13.29,6.33,51.45
$STATE,2811,end apogee,CONTROL_FINISHED_OK
$STATE,2811,begin loiter
$GC,3095,-0.15,0.0,2353,2158,2742,2618,345.2,3.5,266,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2679,2741,2617,0,0,0,0,0,0,14.54,14.54,14.54,6.27,50.27
$GC,3395,-0.15,0.0,2353,2158,2743,2616,334.7,3.5,281,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2157,2678,2742,2615,0,0,0,0,0,0,14.69,14.69,14.69,6.27,51.10
$GC,3695,-0.15,0.0,2353,2158,2742,2615,324.7,3.3,296,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2157,2678,2742,2614,0,0,0,0,0,0,14.77,14.78,14.78,6.28,50.78
$GC,3995,-0.15,0.0,2353,2158,2742,2615,315.0,3.1,311,3996,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2158,2677,2741,2614,0,0,0,0,0,0,14.83,14.83,14.83,6.28,51.02
$GC,4295,-0.15,0.0,2353,2158,2742,2615,306.0,2.7,326,4295,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2678,2742,2614,0,0,0,0,0,0,14.88,14.88,14.88,6.28,50.82
$GC,4595,-0.15,0.0,2353,2158,2743,2614,297.5,2.9,341,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2158,2677,2741,2614,0,0,0,0,0,0,14.91,14.92,14.92,6.27,51.10
$GC,4895,-0.15,0.0,2353,2158,2742,2615,288.7,3.1,356,4895,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2678,2742,2614,0,0,0,0,0,0,14.94,14.95,14.95,6.27,51.18
$GC,5195,-0.15,0.0,2353,2158,2742,2615,279.1,3.4,371,5195,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2158,2677,2741,2614,0,0,0,0,0,0,14.96,14.97,14.97,6.27,50.98
$GC,5495,-0.15,0.0,2353,2158,2743,2614,269.2,3.3,386,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2157,2677,2741,2614,0,0,0,0,0,0,14.98,14.99,14.99,6.27,51.37
$GC,5795,-0.15,0.0,2353,2158,2743,2614,259.9,3.0,401,5795,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2158,2678,2742,2615,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.02
$GC,6095,-0.15,0.0,2353,2158,2743,2615,251.5,2.7,416,6095,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2158,2678,2742,2615,0,0,0,0,0,0,15.01,15.02,15.02,6.27,51.06
$STATE,6394,end loiter,LOITER_COMPLETE
$STATE,6394,begin climb
$GC,6395,0.64,146.0,2353,2158,2743,2615,243.0,0.0,431,6536,0.60,2.53,134.15,1.432,11012,0.180,0.084,2593,3552,2088,2113,2064,0,0,0,0,0,0,14.71,13.95,13.43,6.27,51.22
$GC,6580,0.64,146.0,2594,3553,2112,2058,231.1,9.0,440,6584,0.00,2.42,0.00,0.000,1030,0.000,0.044,2603,2157,2084,2112,2057,0,0,0,0,0,0,14.14,14.09,14.16,6.22,48.62
$GC,6890,0.64,146.0,2604,2157,2106,2049,194.6,11.5,456,6895,0.00,2.53,0.00,0.000,516,0.000,0.073,2615,747,2076,2105,2048,0,0,0,0,0,0,14.58,14.33,14.58,6.23,50.03
$GC,6940,0.64,146.0,2616,747,2104,2047,190.2,11.2,458,6944,0.00,2.42,0.00,0.000,5126,0.000,0.057,2616,2137,2076,2103,2050,0,0,0,0,0,0,14.42,14.39,14.44,6.23,50.94
$GC,7250,0.64,146.0,2616,2140,2103,2043,151.4,12.3,474,7254,0.00,2.53,0.00,0.000,4356,0.000,0.086,2616,3555,2072,2102,2043,0,0,0,0,0,0,14.70,14.44,14.70,6.23,50.59
$GC,7330,0.64,146.0,2616,3556,2103,2045,141.6,12.2,478,7334,0.05,2.38,0.00,0.000,5126,0.350,0.046,2609,2150,2072,2102,2042,0,0,0,0,0,0,14.34,14.49,14.48,6.23,50.63
$GC,7650,0.64,146.0,2609,2150,2103,2042,105.4,11.1,494,7654,0.00,2.50,0.00,0.000,4356,0.000,0.084,2609,3557,2071,2102,2041,0,0,0,0,0,0,14.77,14.51,14.78,6.28,49.80
$GC,7685,0.64,146.0,2609,3557,2103,2042,103.1,11.2,495,7689,0.00,2.38,0.00,0.000,5126,0.000,0.046,2618,2148,2071,2102,2041,0,0,0,0,0,0,14.60,14.55,14.62,6.22,49.76
$GC,7990,0.64,146.0,2618,2149,2103,2041,69.8,10.3,553,7994,0.00,2.47,0.00,0.000,4612,0.000,0.073,2629,743,2070,2100,2040,0,0,0,0,0,0,14.80,14.54,14.80,6.21,49.68
$GC,8060,0.64,146.0,2629,744,2102,2040,62.7,10.0,567,8064,0.05,2.42,0.00,0.000,5126,0.334,0.057,2609,2160,2070,2100,2040,0,0,0,0,0,0,14.45,14.57,14.57,6.21,49.29
$GC,8185,0.64,146.0,2609,2161,2101,2041,50.1,10.5,592,8189,0.00,2.47,0.00,0.000,4356,0.000,0.088,2609,3556,2070,2100,2040,0,0,0,0,0,0,14.81,14.55,14.81,6.20,49.29
$GC,8280,0.64,146.0,2609,3557,2101,2041,39.9,10.5,611,8284,0.00,2.35,0.00,0.000,5126,0.000,0.045,2618,2154,2070,2100,2040,0,0,0,0,0,0,14.64,14.59,14.65,6.20,49.01
$GC,8405,0.64,146.0,2619,2154,2102,2039,27.0,10.6,636,8409,0.00,2.47,0.00,0.000,4612,0.000,0.071,2629,745,2069,2100,2039,0,0,0,0,0,0,14.82,14.57,14.82,6.19,49.21
$GC,8460,0.64,146.0,2628,746,2100,2039,21.5,9.7,647,8464,0.05,2.40,0.00,0.000,5126,0.321,0.058,2603,2144,2073,2109,2038,0,0,0,0,0,0,14.47,14.59,14.59,6.19,49.09
$GC,8585,0.64,146.0,2609,2145,2100,2039,9.2,10.2,672,8589,0.00,2.50,0.00,0.000,4356,0.000,0.088,2609,3550,2068,2099,2038,0,0,0,0,0,0,14.83,14.56,14.83,6.19,49.37
$GC,8635,0.64,146.0,2610,3551,2101,2038,3.8,10.3,682,8640,0.00,2.35,0.00,0.000,5126,0.000,0.041,2618,2137,2069,2100,2038,0,0,0,0,0,0,14.65,14.62,14.69,6.19,49.56
$STATE,8644,end climb,SURFACE_DEPTH_REACHED
$STATE,8644,begin surface coast
$STATE,8674,end surface coast,CONTROL_FINISHED_OK
$STATE,8674,begin surface
$SM_CCo,8684,68.03,0.252,0,0,1792,220.03
$SM_GC,1.19,5.53,0.00,68.03,0.082,0.000,0.252,275,2134,1792,-6.46,0.99,220.03,0,0,0,0,0,0,14.66,14.82,14.40
$IRIDIUM_FIX,-5959.31,-4.30,241218,031433
$TT8_MAMPS,0.038948,0.08988
$HUMID,49.09
$INTERNAL_PRESSURE,6.10897
$TCM_TEMP,0.00
$XPDR_PINGS,2
$SC_FREEKB,3878368
$24V_AH,13.29,21.604
$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,13.025,78.375,264.175,68.025,0.000,29.367,54.730,120.539,0.500,0.000,17.757,0.000,6976.563,448.122,1578.199,66.395,0.000,1053.221,0.000,1098.292,0.000,0.540,0.000
$DEVICE_MAMPS,472.005,2268.990,1608.795,251.685,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5085.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.812,0.000,0.000,0.000
$MEM,344080
$DATA_FILE_SIZE,17313,690
$CAP_FILE_SIZE,90367,0
$CFSIZE,1023623168,1011318784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.058,214.96,1
$GPS,241218,081525,-5957.316,-11.989,19,0.8,41,-19.6,0.6,216.1,10,6.5