version: 66.14
glider: 640
mission: 5
dive: 104
start: 12 26 118 11 25 11
data:
$ID,640
$MISSION,5
$DIVE,104
$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,41
$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
$GPS1,261218,112031,-5949.6177,-8.2669,15,0.8,38,-19.6,0.0,289.3,10,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-68.9
$GPS2,261218,112453,-5949.6040,-8.2912,8,0.9,14,-19.6,0.4,215.7,10,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,23.3,92206,-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,-146.0,233,2086,1767,1795,0.0,0.0,0,100,0.00,0.00,-88.88,0.000,16386,0.000,0.000,232,2086,3189,3269,3110,0,0,0,0,0,0,14.61,28.83,14.62,6.16,49.84
$GC,101,-0.64,-146.0,233,2087,3269,3110,3.6,-7.8,18,116,5.97,2.62,-3.62,0.000,18948,0.360,2.264,2182,706,3285,3377,3193,0,0,0,0,0,0,14.22,13.45,14.38,6.28,49.01
$GC,210,-0.64,-146.0,2183,705,3380,3197,22.0,-16.8,40,215,0.05,2.45,0.00,0.000,3078,0.363,0.059,2189,2106,3288,3379,3197,0,0,0,0,0,0,14.24,14.39,14.39,6.29,48.14
$GC,335,-0.64,-146.0,2189,2107,3380,3199,42.1,-13.9,65,339,0.00,2.47,0.00,0.000,2308,0.000,0.086,2179,3517,3288,3379,3197,0,0,0,0,0,0,14.65,14.42,14.64,6.30,48.62
$GC,410,-0.64,-146.0,2180,3517,3379,3199,52.8,-14.0,80,415,0.00,2.38,0.00,0.000,3078,0.000,0.044,2179,2116,3287,3378,3197,0,0,0,0,0,0,14.50,14.45,14.51,6.30,48.81
$GC,535,-0.64,-146.0,2179,2114,3380,3198,70.8,-14.5,105,539,0.00,2.50,0.00,0.000,2564,0.000,0.067,2179,692,3288,3379,3197,0,0,0,0,0,0,14.69,14.45,14.69,6.29,48.89
$GC,560,-0.64,-146.0,2179,692,3380,3197,74.4,-14.0,110,564,0.08,2.45,0.00,0.000,3078,0.331,0.059,2194,2097,3289,3379,3200,0,0,0,0,0,0,14.32,14.46,14.46,6.29,48.74
$GC,686,-0.64,-146.0,2195,2102,3380,3197,90.7,-13.2,135,689,0.00,2.45,0.00,0.000,260,0.000,0.085,2185,3510,3287,3378,3197,0,0,0,0,0,0,14.70,14.47,14.70,6.29,48.42
$GC,750,-0.64,-146.0,2185,3512,3378,3198,99.0,-12.0,148,755,0.00,2.38,0.00,0.000,3078,0.000,0.044,2184,2101,3288,3379,3197,0,0,0,0,0,0,14.54,14.50,14.56,6.29,49.21
$GC,880,-0.64,-146.0,2181,2101,3380,3196,116.1,-13.3,156,885,0.00,2.47,0.00,0.000,2564,0.000,0.068,2184,690,3287,3377,3197,0,0,0,0,0,0,14.74,14.50,14.73,6.29,48.89
$GC,900,-0.64,-146.0,2185,691,3380,3199,118.9,-13.3,157,905,0.05,2.45,0.00,0.000,3078,0.364,0.058,2190,2108,3288,3379,3197,0,0,0,0,0,0,14.35,14.51,14.49,6.29,48.70
$GC,1220,-0.64,-146.0,2191,2108,3380,3197,161.3,-13.1,173,1224,0.00,2.47,0.00,0.000,2564,0.000,0.067,2190,694,3288,3379,3197,0,0,0,0,0,0,14.78,14.54,14.78,6.29,50.19
$GC,1255,-0.64,-146.0,2191,696,3381,3197,163.9,-13.1,174,1259,0.00,2.42,0.00,0.000,3078,0.000,0.057,2181,2104,3288,3379,3197,0,0,0,0,0,0,14.59,14.54,14.61,6.30,50.07
$GC,1560,-0.64,-146.0,2181,2105,3379,3198,204.9,-12.7,190,1561,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2104,3288,3379,3197,0,0,0,0,0,0,14.80,14.81,14.81,6.33,51.02
$GC,1860,-0.64,-146.0,2176,2104,3379,3198,241.2,-11.7,205,1861,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2104,3287,3378,3197,0,0,0,0,0,0,14.82,14.82,14.82,6.32,51.29
$GC,2160,-0.64,-146.0,2181,2104,3379,3198,276.3,-11.7,220,2161,0.00,0.00,0.00,0.000,2054,0.000,0.000,2178,2104,3288,3379,3197,0,0,0,0,0,0,14.83,14.83,14.83,6.33,51.37
$GC,2460,-0.64,-146.0,2181,2104,3380,3198,311.9,-12.0,235,2461,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2104,3287,3378,3196,0,0,0,0,0,0,14.85,14.85,14.85,6.33,51.37
$GC,2760,-0.64,-146.0,2181,2104,3380,3197,347.7,-11.9,250,2761,0.00,0.00,0.00,0.000,2054,0.000,0.000,2180,2104,3288,3379,3197,0,0,0,0,0,0,14.85,14.85,14.85,6.34,51.96
$STATE,2779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2779,begin apogee
$GC,2782,-0.15,0.0,2181,2165,3379,3198,350.1,-11.9,251,2915,0.47,0.00,129.65,1.616,10246,0.269,0.000,2350,2165,2686,2745,2628,0,0,0,0,0,0,14.50,13.90,13.29,6.33,51.41
$STATE,2916,end apogee,CONTROL_FINISHED_OK
$STATE,2916,begin loiter
$GC,3200,-0.15,0.0,2351,2166,2740,2614,345.1,3.4,272,3200,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2676,2739,2614,0,0,0,0,0,0,14.54,14.55,14.55,6.28,50.51
$GC,3500,-0.15,0.0,2351,2166,2741,2612,334.3,3.6,287,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2676,2740,2612,0,0,0,0,0,0,14.69,14.69,14.69,6.28,50.70
$GC,3800,-0.15,0.0,2351,2166,2740,2612,323.5,3.7,302,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2675,2739,2611,0,0,0,0,0,0,14.78,14.78,14.78,6.28,50.82
$GC,4100,-0.15,0.0,2350,2166,2740,2612,312.3,3.7,317,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2675,2739,2611,0,0,0,0,0,0,14.83,14.84,14.84,6.28,51.45
$GC,4400,-0.15,0.0,2351,2165,2741,2611,301.6,3.4,332,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2675,2739,2611,0,0,0,0,0,0,14.88,14.89,14.88,6.28,51.57
$GC,4700,-0.15,0.0,2351,2166,2740,2612,291.6,3.1,347,4701,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2674,2739,2610,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.02
$GC,5000,-0.15,0.0,2351,2166,2740,2612,282.2,3.0,362,5001,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2675,2739,2611,0,0,0,0,0,0,14.95,14.95,14.95,6.27,50.86
$GC,5300,-0.15,0.0,2351,2166,2740,2612,273.1,3.1,377,5301,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2674,2738,2611,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.92
$GC,5600,-0.15,0.0,2351,2165,2739,2611,263.7,3.2,392,5601,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2675,2739,2611,0,0,0,0,0,0,14.98,14.99,14.99,6.28,51.10
$GC,5900,-0.15,0.0,2350,2166,2741,2611,253.9,3.4,407,5901,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2675,2740,2611,0,0,0,0,0,0,15.00,15.01,15.00,6.28,51.22
$GC,6200,-0.15,0.0,2351,2166,2740,2612,243.9,3.3,422,6201,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2165,2675,2739,2611,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.18
$STATE,6499,end loiter,LOITER_COMPLETE
$STATE,6499,begin climb
$GC,6500,0.64,146.0,2351,2165,2740,2613,233.8,0.0,437,6641,0.60,2.53,132.55,1.419,11012,0.174,0.086,2593,3534,2088,2114,2063,0,0,0,0,0,0,14.71,13.96,13.45,6.28,51.61
$GC,6695,0.64,146.0,2594,3535,2113,2058,220.3,9.8,446,6700,0.00,2.40,0.00,0.000,1030,0.000,0.044,2606,2154,2083,2112,2055,0,0,0,0,0,0,14.17,14.12,14.18,6.24,49.33
$GC,7000,0.64,146.0,2605,2154,2106,2048,181.1,12.3,462,7005,0.00,2.53,0.00,0.000,516,0.000,0.071,2615,745,2076,2105,2048,0,0,0,0,0,0,14.58,14.31,14.59,6.24,50.55
$GC,7050,0.64,146.0,2616,747,2103,2048,176.5,12.0,464,7054,0.00,2.40,0.00,0.000,5126,0.000,0.055,2616,2129,2074,2102,2047,0,0,0,0,0,0,14.42,14.36,14.43,6.24,50.07
$GC,7360,0.64,146.0,2616,2129,2102,2045,136.7,12.1,480,7364,0.00,2.55,0.00,0.000,4356,0.000,0.085,2616,3555,2072,2101,2044,0,0,0,0,0,0,14.70,14.41,14.70,6.23,50.43
$GC,7455,0.64,146.0,2616,3555,2103,2044,126.9,12.3,484,7459,0.05,2.38,0.00,0.000,5126,0.339,0.044,2609,2148,2073,2102,2044,0,0,0,0,0,0,14.34,14.48,14.48,6.23,50.35
$GC,7760,0.64,146.0,2608,2149,2102,2042,90.6,11.7,512,7764,0.00,2.47,0.00,0.000,4612,0.000,0.070,2618,745,2071,2102,2040,0,0,0,0,0,0,14.76,14.49,14.76,6.22,49.56
$GC,7810,0.64,146.0,2619,745,2102,2040,85.0,11.0,522,7815,0.00,2.40,0.00,0.000,5126,0.000,0.056,2614,2143,2075,2110,2040,0,0,0,0,0,0,14.57,14.51,14.57,6.21,49.88
$GC,7935,0.64,146.0,2618,2144,2100,2041,70.2,12.0,547,7939,0.00,2.47,0.00,0.000,4356,0.000,0.086,2618,3559,2070,2100,2040,0,0,0,0,0,0,14.77,14.52,14.77,6.21,49.17
$GC,8000,0.64,146.0,2619,3560,2101,2040,61.9,12.0,560,8004,0.05,2.38,0.00,0.000,5126,0.330,0.045,2609,2150,2070,2100,2040,0,0,0,0,0,0,14.39,14.53,14.52,6.21,48.93
$GC,8125,0.64,146.0,2610,2151,2102,2040,48.5,10.6,585,8129,0.00,2.42,0.00,0.000,4612,0.000,0.070,2618,744,2070,2100,2040,0,0,0,0,0,0,14.78,14.54,14.82,6.20,48.85
$GC,8175,0.64,146.0,2619,748,2100,2040,43.4,9.9,595,8179,0.03,2.40,0.00,0.000,5126,0.411,0.056,2609,2143,2069,2100,2039,0,0,0,0,0,0,14.40,14.54,14.54,6.20,49.05
$GC,8300,0.64,146.0,2609,2144,2101,2039,31.4,9.5,620,8304,0.00,2.47,0.00,0.000,4356,0.000,0.085,2608,3561,2069,2100,2039,0,0,0,0,0,0,14.78,14.54,14.79,6.20,49.29
$GC,8405,0.64,146.0,2609,3562,2101,2039,21.0,10.3,641,8409,0.00,2.38,0.00,0.000,5126,0.000,0.044,2618,2150,2069,2099,2039,0,0,0,0,0,0,14.62,14.58,14.64,6.20,49.33
$GC,8530,0.64,146.0,2618,2151,2100,2040,8.5,10.6,666,8535,0.00,2.47,0.00,0.000,4612,0.000,0.070,2629,741,2068,2099,2038,0,0,0,0,0,0,14.80,14.53,14.80,6.19,49.44
$GC,8560,0.64,146.0,2629,742,2100,2038,5.3,10.4,672,8564,0.05,2.42,0.00,0.000,5126,0.321,0.056,2608,2155,2068,2098,2038,0,0,0,0,0,0,14.42,14.54,14.55,6.20,49.60
$STATE,8584,end climb,SURFACE_DEPTH_REACHED
$STATE,8584,begin surface coast
$STATE,8614,end surface coast,CONTROL_FINISHED_OK
$STATE,8614,begin surface
$SM_CCo,8625,67.60,0.251,0,0,1791,220.03
$SM_GC,1.29,5.53,0.10,67.60,0.083,0.136,0.251,268,2055,1791,-6.48,0.71,220.03,0,0,0,0,0,0,14.62,14.60,14.38
$IRIDIUM_FIX,-5952.63,-4.29,261218,085149
$TT8_MAMPS,0.038948,0.363265
$HUMID,49.09
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,8
$SC_FREEKB,3867616
$24V_AH,13.29,25.216
$10V_AH,13.43,0.000
$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,12.925,68.775,262.200,67.600,0.000,24.508,14.528,118.247,2.000,0.000,15.359,0.000,6962.640,433.023,1489.398,76.877,0.000,1022.554,0.000,1068.838,0.000,0.540,0.000
$DEVICE_MAMPS,410.805,2263.635,1615.680,250.920,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5028.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.676,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17314,683
$CAP_FILE_SIZE,88231,0
$CFSIZE,1023623168,1009254400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.043,95.76,1
$GPS,261218,135101,-5949.092,-7.774,11,0.9,34,-19.6,0.5,171.7,10,7.1