version: 66.14
glider: 640
mission: 5
dive: 100
start: 12 26 118 1 22 35
data:
$ID,640
$MISSION,5
$DIVE,100
$N_DIVES,160
$STOP_T,12311812
$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,52
$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
$GPS1,261218,011658,-5951.1743,-8.4229,40,0.8,44,-19.6,0.6,3.0,11,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-67.7
$GPS2,261218,012216,-5951.1846,-8.4095,9,0.8,16,-19.6,0.0,264.6,12,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,20.9,95133,-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,-146.0,234,2078,1766,1797,0.0,0.0,0,105,0.00,0.00,-93.60,0.000,16386,0.000,0.000,233,2078,3256,3335,3177,0,0,0,0,0,0,14.59,28.83,14.59,6.16,50.11
$GC,106,-0.64,-146.0,234,2078,3337,3178,3.6,-7.9,19,120,6.03,2.62,-0.98,0.000,19204,0.364,2.258,2186,712,3287,3373,3201,0,0,0,0,0,0,14.21,13.45,14.37,6.28,49.44
$GC,250,-0.64,-146.0,2186,713,3375,3201,28.0,-17.1,48,255,0.03,2.42,0.00,0.000,3078,0.467,0.060,2184,2098,3287,3374,3201,0,0,0,0,0,0,14.21,14.38,14.36,6.29,48.14
$GC,375,-0.64,-146.0,2184,2098,3376,3201,47.4,-15.3,73,379,0.00,2.47,0.00,0.000,2308,0.000,0.084,2174,3514,3288,3375,3201,0,0,0,0,0,0,14.64,14.41,14.64,6.29,48.46
$GC,390,-0.64,-146.0,2174,3513,3375,3202,49.7,-15.3,76,395,0.05,2.38,0.00,0.000,3078,0.367,0.046,2191,2119,3288,3375,3201,0,0,0,0,0,0,14.27,14.44,14.41,6.29,49.29
$GC,515,-0.64,-146.0,2191,2118,3376,3202,67.9,-14.4,101,519,0.00,2.47,0.00,0.000,2564,0.000,0.068,2191,690,3288,3375,3201,0,0,0,0,0,0,14.67,14.45,14.67,6.29,48.74
$GC,560,-0.64,-146.0,2191,691,3376,3202,74.7,-14.9,110,564,0.00,2.45,0.00,0.000,3078,0.000,0.060,2181,2102,3287,3374,3201,0,0,0,0,0,0,14.50,14.45,14.52,6.29,48.26
$GC,685,-0.64,-146.0,2182,2103,3376,3201,93.3,-15.0,135,686,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2102,3288,3375,3201,0,0,0,0,0,0,14.70,14.70,14.70,6.29,48.66
$GC,810,-0.64,-146.0,2181,2103,3376,3202,111.7,-14.5,148,815,0.00,2.47,0.00,0.000,2564,0.000,0.067,2181,693,3288,3375,3201,0,0,0,0,0,0,14.72,14.48,14.72,6.29,48.50
$GC,860,-0.64,-146.0,2181,693,3375,3201,117.9,-15.0,150,864,0.05,2.42,0.00,0.000,3078,0.373,0.057,2188,2093,3288,3375,3201,0,0,0,0,0,0,14.33,14.49,14.48,6.29,48.85
$GC,1170,-0.64,-146.0,2188,2097,3374,3201,161.8,-13.4,166,1174,0.00,2.50,0.00,0.000,2308,0.000,0.086,2177,3508,3287,3375,3200,0,0,0,0,0,0,14.76,14.51,14.77,6.30,50.31
$GC,1215,-0.64,-146.0,2177,3509,3375,3201,167.2,-13.4,168,1220,0.03,2.38,0.00,0.000,3078,0.453,0.044,2185,2090,3287,3375,3200,0,0,0,0,0,0,14.35,14.55,14.51,6.30,50.23
$GC,1530,-0.64,-146.0,2185,2089,3375,3201,209.7,-13.0,184,1534,0.00,2.42,0.00,0.000,2564,0.000,0.066,2185,699,3287,3375,3200,0,0,0,0,0,0,14.79,14.55,14.79,6.31,51.41
$GC,1600,-0.64,-146.0,2186,699,3376,3199,217.5,-13.0,187,1605,0.05,2.42,0.00,0.000,3078,0.380,0.058,2192,2105,3287,3375,3199,0,0,0,0,0,0,14.40,14.55,14.55,6.31,50.86
$GC,1910,-0.64,-146.0,2194,2106,3375,3200,255.1,-11.5,203,1914,0.00,2.47,0.00,0.000,2308,0.000,0.085,2182,3509,3287,3375,3199,0,0,0,0,0,0,14.81,14.56,14.82,6.32,50.86
$GC,1930,-0.64,-146.0,2182,3510,3375,3199,257.4,-11.5,204,1934,0.00,2.35,0.00,0.000,3078,0.000,0.044,2182,2110,3286,3374,3199,0,0,0,0,0,0,14.64,14.59,14.66,6.32,51.18
$GC,2250,-0.64,-146.0,2182,2110,3376,3200,294.4,-11.5,220,2255,0.00,2.45,0.00,0.000,2564,0.000,0.066,2181,696,3287,3375,3199,0,0,0,0,0,0,14.83,14.59,14.83,6.33,51.10
$GC,2320,-0.64,-146.0,2182,697,3376,3200,301.5,-11.8,223,2324,0.05,2.40,0.00,0.000,3078,0.366,0.057,2188,2099,3287,3375,3199,0,0,0,0,0,0,14.43,14.59,14.58,6.33,50.94
$GC,2630,-0.64,-146.0,2188,2100,3375,3200,337.1,-11.1,239,2634,0.00,2.47,0.00,0.000,2308,0.000,0.085,2178,3509,3287,3375,3199,0,0,0,0,0,0,14.84,14.58,14.84,6.33,51.06
$GC,2645,-0.64,-146.0,2178,3510,3376,3199,337.1,-11.1,239,2649,0.03,2.35,0.00,0.000,3078,0.453,0.044,2186,2102,3287,3375,3199,0,0,0,0,0,0,14.43,14.62,14.58,6.33,51.41
$STATE,2749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2749,begin apogee
$GC,2752,-0.15,0.0,2187,2153,3376,3199,350.8,-11.4,245,2884,0.45,0.00,128.77,1.610,10246,0.272,0.000,2348,2153,2687,2745,2629,0,0,0,0,0,0,14.49,13.90,13.29,6.33,50.90
$STATE,2885,end apogee,CONTROL_FINISHED_OK
$STATE,2885,begin loiter
$GC,3170,-0.15,0.0,2348,2153,2740,2615,343.9,3.8,266,3171,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2152,2677,2739,2615,0,0,0,0,0,0,14.55,14.55,14.55,6.28,50.23
$GC,3470,-0.15,0.0,2348,2153,2741,2612,332.5,3.7,281,3471,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2153,2675,2739,2612,0,0,0,0,0,0,14.69,14.70,14.69,6.28,50.55
$GC,3770,-0.15,0.0,2348,2153,2740,2613,321.4,3.7,296,3771,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2153,2675,2739,2611,0,0,0,0,0,0,14.78,14.78,14.78,6.28,51.37
$GC,4070,-0.15,0.0,2348,2153,2741,2611,310.7,3.6,311,4071,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2153,2675,2739,2611,0,0,0,0,0,0,14.84,14.84,14.83,6.28,51.18
$GC,4370,-0.15,0.0,2348,2153,2740,2610,300.3,3.4,326,4371,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2152,2674,2739,2609,0,0,0,0,0,0,14.88,14.89,14.88,6.28,51.18
$GC,4670,-0.15,0.0,2348,2154,2740,2610,290.2,3.3,341,4671,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2152,2674,2739,2609,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.22
$GC,4970,-0.15,0.0,2348,2153,2740,2610,280.6,3.2,356,4971,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2153,2674,2739,2609,0,0,0,0,0,0,14.95,14.95,14.95,6.28,50.74
$GC,5270,-0.15,0.0,2348,2153,2740,2608,271.1,3.1,371,5271,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2153,2673,2739,2607,0,0,0,0,0,0,14.97,14.97,14.97,6.27,51.06
$GC,5570,-0.15,0.0,2349,2154,2740,2608,261.5,3.3,386,5571,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2153,2673,2739,2608,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.06
$GC,5870,-0.15,0.0,2348,2153,2740,2609,251.7,3.3,401,5871,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2153,2673,2739,2608,0,0,0,0,0,0,15.01,15.00,15.01,6.28,50.90
$GC,6170,-0.15,0.0,2348,2153,2741,2608,242.0,3.2,416,6171,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2153,2673,2739,2608,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.10
$STATE,6469,end loiter,LOITER_COMPLETE
$STATE,6469,begin climb
$GC,6470,0.64,146.0,2348,2153,2740,2608,232.9,0.0,431,6610,0.62,2.58,131.93,1.416,10500,0.174,0.085,2601,3544,2088,2113,2063,0,0,0,0,0,0,14.71,13.97,13.45,6.28,51.69
$GC,6670,0.64,146.0,2601,3545,2112,2056,217.7,10.5,441,6675,0.00,2.40,0.00,0.000,5126,0.000,0.044,2611,2160,2083,2111,2055,0,0,0,0,0,0,14.16,14.12,14.17,6.24,48.58
$GC,6990,0.64,146.0,2611,2160,2105,2048,178.0,12.6,457,6994,0.00,2.53,0.00,0.000,4612,0.000,0.070,2622,746,2076,2104,2048,0,0,0,0,0,0,14.59,14.33,14.59,6.22,50.39
$GC,7025,0.64,146.0,2622,746,2102,2048,175.5,12.7,458,7029,0.05,2.42,0.00,0.000,5126,0.314,0.057,2603,2138,2074,2102,2047,0,0,0,0,0,0,14.26,14.38,14.38,6.23,49.96
$GC,7330,0.64,146.0,2603,2139,2102,2044,136.4,12.5,474,7334,0.00,2.55,0.00,0.000,260,0.000,0.086,2603,3559,2072,2101,2043,0,0,0,0,0,0,14.69,14.42,14.70,6.23,50.59
$GC,7435,0.64,146.0,2603,3560,2102,2044,124.2,11.9,479,7439,0.00,2.38,0.00,0.000,5126,0.000,0.044,2612,2151,2072,2101,2043,0,0,0,0,0,0,14.53,14.49,14.56,6.24,50.86
$GC,7740,0.64,146.0,2612,2151,2102,2042,85.1,12.4,511,7744,0.00,2.50,0.00,0.000,4612,0.000,0.071,2623,732,2070,2101,2040,0,0,0,0,0,0,14.76,14.49,14.76,6.22,49.72
$GC,7790,0.64,146.0,2624,732,2100,2041,79.2,11.5,521,7794,0.05,2.45,0.00,0.000,5126,0.315,0.057,2604,2153,2070,2100,2040,0,0,0,0,0,0,14.38,14.50,14.51,6.22,50.35
$GC,7915,0.64,146.0,2604,2154,2101,2040,65.3,11.1,546,7920,0.00,2.47,0.00,0.000,260,0.000,0.087,2604,3564,2070,2100,2040,0,0,0,0,0,0,14.76,14.52,14.77,6.21,49.33
$GC,7960,0.64,146.0,2604,3566,2100,2041,60.1,11.0,555,7964,0.00,2.38,0.00,0.000,5126,0.000,0.044,2613,2156,2070,2100,2040,0,0,0,0,0,0,14.58,14.54,14.59,6.21,48.66
$GC,8085,0.64,146.0,2613,2156,2101,2040,47.1,10.4,580,8089,0.00,2.47,0.00,0.000,4612,0.000,0.070,2624,747,2070,2100,2040,0,0,0,0,0,0,14.78,14.53,14.78,6.21,49.25
$GC,8140,0.64,146.0,2624,748,2099,2040,41.7,9.1,591,8144,0.05,2.40,0.00,0.000,5126,0.318,0.056,2605,2145,2068,2098,2039,0,0,0,0,0,0,14.40,14.53,14.54,6.23,48.66
$GC,8266,0.64,146.0,2605,2147,2103,2040,29.9,9.2,616,8269,0.00,2.47,0.00,0.000,260,0.000,0.086,2605,3562,2068,2099,2037,0,0,0,0,0,0,14.78,14.54,14.78,6.20,48.81
$GC,8345,0.64,146.0,2605,3562,2100,2039,22.8,8.9,632,8349,0.00,2.38,0.00,0.000,5126,0.000,0.044,2614,2145,2069,2099,2039,0,0,0,0,0,0,14.62,14.57,14.64,6.19,48.97
$GC,8470,0.64,146.0,2615,2146,2100,2038,10.9,10.7,657,8474,0.00,2.42,0.00,0.000,4612,0.000,0.070,2625,740,2067,2097,2038,0,0,0,0,0,0,14.80,14.56,14.80,6.20,50.00
$GC,8510,0.64,146.0,2625,742,2099,2039,6.8,9.8,665,8514,0.05,2.42,0.00,0.000,5126,0.311,0.058,2606,2147,2068,2098,2038,0,0,0,0,0,0,14.42,14.54,14.55,6.20,49.37
$STATE,8549,end climb,SURFACE_DEPTH_REACHED
$STATE,8549,begin surface coast
$STATE,8579,end surface coast,CONTROL_FINISHED_OK
$STATE,8579,begin surface
$SM_CCo,8591,67.07,0.249,0,0,1791,220.03
$SM_GC,1.25,5.50,0.08,67.07,0.083,0.169,0.249,278,2076,1791,-6.46,0.90,220.03,0,0,0,0,0,0,14.62,14.59,14.38
$IRIDIUM_FIX,-5952.63,-8.57,251218,224852
$TT8_MAMPS,0.038199,0.217959
$HUMID,49.09
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,4
$SC_FREEKB,3869664
$24V_AH,13.29,24.517
$10V_AH,13.59,0.000
$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,13.075,83.325,260.700,67.075,0.000,23.338,58.163,125.167,1.000,0.000,17.360,0.000,6852.532,451.254,1600.065,77.515,0.000,1062.546,0.000,1113.804,0.000,0.540,0.000
$DEVICE_MAMPS,466.650,2257.515,1609.560,248.625,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4991.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.703,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,17279,679
$CAP_FILE_SIZE,92988,0
$CFSIZE,1023623168,1009647616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.032,127.27,1
$GPS,261218,034755,-5950.747,-8.154,17,0.7,41,-19.6,0.4,81.0,11,6.3