version: 66.14
glider: 640
mission: 5
dive: 111
start: 12 27 118 5 7 20
data:
$ID,640
$MISSION,5
$DIVE,111
$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,58
$R_STBD_OVSHOOT,28
$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
$GPS1,271218,050219,-5946.2974,-7.0766,24,0.9,42,-19.7,0.4,25.6,9,5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-67.5
$GPS2,271218,050701,-5946.3135,-7.0647,9,0.9,17,-19.7,0.0,192.0,9,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,22.1,86037,-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,-146.0,235,2066,1766,1796,0.0,0.0,0,100,0.00,0.00,-88.85,0.000,16386,0.000,0.000,235,2066,3182,3262,3102,0,0,0,0,0,0,14.61,28.83,14.62,6.16,49.92
$GC,101,-0.64,-146.0,236,2067,3262,3103,3.3,-5.6,18,117,6.03,2.78,-4.07,0.000,18692,0.367,2.273,2171,3504,3286,3377,3195,0,0,0,0,0,0,14.20,13.47,14.38,6.28,49.09
$GC,145,-0.64,-146.0,2171,3506,3379,3196,10.6,-15.0,27,151,0.05,2.35,0.00,0.000,3078,0.363,0.042,2188,2126,3289,3378,3200,0,0,0,0,0,0,14.22,14.39,14.36,6.29,48.70
$GC,271,-0.64,-146.0,2189,2125,3381,3195,30.5,-15.6,52,275,0.00,2.47,0.00,0.000,2564,0.000,0.066,2188,695,3287,3379,3195,0,0,0,0,0,0,14.62,14.40,14.62,6.29,48.58
$GC,305,-0.64,-146.0,2189,694,3380,3196,35.7,-14.6,59,311,0.00,2.45,0.00,0.000,3078,0.000,0.059,2179,2101,3287,3379,3195,0,0,0,0,0,0,14.46,14.40,14.47,6.29,48.34
$GC,431,-0.64,-146.0,2178,2101,3380,3195,52.9,-14.6,84,431,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2101,3287,3379,3196,0,0,0,0,0,0,14.65,14.64,14.65,6.29,48.81
$GC,551,-0.64,-146.0,2180,2101,3380,3195,71.0,-15.0,108,555,0.00,2.50,0.00,0.000,2308,0.000,0.082,2169,3509,3287,3379,3195,0,0,0,0,0,0,14.67,14.42,14.68,6.29,48.50
$GC,565,-0.64,-146.0,2169,3510,3380,3195,73.3,-14.9,111,571,0.08,2.40,0.00,0.000,3078,0.331,0.045,2195,2099,3287,3379,3195,0,0,0,0,0,0,14.32,14.47,14.45,6.29,48.46
$GC,691,-0.64,-146.0,2195,2098,3380,3197,90.9,-13.9,136,695,0.00,2.42,0.00,0.000,516,0.000,0.067,2195,695,3287,3379,3195,0,0,0,0,0,0,14.68,14.47,14.69,6.29,48.34
$GC,711,-0.64,-146.0,2195,695,3380,3195,93.8,-14.9,140,715,0.00,2.42,0.00,0.000,3078,0.000,0.058,2186,2096,3287,3379,3195,0,0,0,0,0,0,14.52,14.47,14.54,6.29,48.77
$GC,836,-0.64,-146.0,2186,2097,3380,3195,112.1,-14.9,153,840,0.00,2.47,0.00,0.000,2564,0.000,0.067,2185,692,3287,3379,3196,0,0,0,0,0,0,14.71,14.48,14.72,6.29,48.14
$GC,890,-0.64,-146.0,2185,692,3380,3195,118.2,-14.9,155,895,0.05,2.45,0.00,0.000,3078,0.378,0.059,2191,2103,3287,3379,3195,0,0,0,0,0,0,14.32,14.49,14.47,6.28,48.38
$GC,1196,-0.64,-146.0,2191,2105,3379,3197,161.6,-13.4,171,1200,0.00,2.47,0.00,0.000,2308,0.000,0.084,2180,3503,3287,3379,3195,0,0,0,0,0,0,14.76,14.50,14.76,6.30,49.88
$GC,1260,-0.64,-146.0,2181,3503,3380,3195,169.8,-13.7,174,1265,0.00,2.35,0.00,0.000,3078,0.000,0.043,2180,2101,3287,3379,3195,0,0,0,0,0,0,14.59,14.54,14.59,6.30,50.15
$GC,1576,-0.64,-146.0,2181,2100,3380,3195,213.0,-13.3,190,1581,0.00,2.45,0.00,0.000,2564,0.000,0.066,2180,696,3287,3379,3195,0,0,0,0,0,0,14.79,14.55,14.79,6.31,50.70
$GC,1666,-0.64,-146.0,2180,696,3380,3195,223.6,-13.2,194,1670,0.05,2.42,0.00,0.000,3078,0.363,0.058,2187,2102,3287,3379,3195,0,0,0,0,0,0,14.42,14.55,14.54,6.30,51.02
$GC,1976,-0.64,-146.0,2187,2103,3380,3196,263.5,-12.5,210,1980,0.00,2.47,0.00,0.000,2308,0.000,0.084,2177,3505,3287,3379,3195,0,0,0,0,0,0,14.81,14.55,14.81,6.31,50.94
$GC,2000,-0.64,-146.0,2177,3506,3379,3195,266.0,-12.5,211,2006,0.05,2.35,0.00,0.000,3078,0.362,0.044,2194,2098,3287,3379,3195,0,0,0,0,0,0,14.41,14.59,14.56,6.32,51.57
$GC,2316,-0.64,-146.0,2194,2098,3380,3196,304.6,-12.1,227,2320,0.00,2.45,0.00,0.000,516,0.000,0.066,2194,694,3287,3379,3195,0,0,0,0,0,0,14.81,14.57,14.82,6.31,50.82
$GC,2375,-0.64,-146.0,2194,694,3379,3197,312.1,-12.5,230,2380,0.00,2.40,0.00,0.000,3078,0.000,0.057,2184,2094,3287,3379,3195,0,0,0,0,0,0,14.64,14.58,14.66,6.33,50.78
$STATE,2695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2695,begin apogee
$GC,2698,-0.15,0.0,2184,2181,3379,3196,352.0,-12.5,246,2830,0.47,0.00,129.60,1.610,10246,0.269,0.000,2354,2181,2688,2747,2629,0,0,0,0,0,0,14.47,13.90,13.28,6.33,50.90
$STATE,2831,end apogee,CONTROL_FINISHED_OK
$STATE,2831,begin loiter
$GC,3116,-0.15,0.0,2354,2181,2740,2615,348.7,3.1,267,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2180,2676,2739,2614,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.74
$GC,3416,-0.15,0.0,2354,2181,2740,2612,339.3,3.1,282,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2180,2675,2739,2612,0,0,0,0,0,0,14.68,14.69,14.69,6.28,51.18
$GC,3716,-0.15,0.0,2354,2181,2740,2612,330.2,3.0,297,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2180,2675,2739,2611,0,0,0,0,0,0,14.77,14.77,14.77,6.28,51.53
$GC,4016,-0.15,0.0,2354,2181,2740,2611,321.0,3.1,312,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2181,2674,2738,2610,0,0,0,0,0,0,14.83,14.83,14.83,6.28,50.66
$GC,4316,-0.15,0.0,2354,2181,2739,2610,311.5,3.2,327,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2181,2674,2739,2609,0,0,0,0,0,0,14.87,14.88,14.88,6.28,50.78
$GC,4616,-0.15,0.0,2354,2181,2741,2609,301.9,3.3,342,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2180,2674,2739,2609,0,0,0,0,0,0,14.90,14.91,14.90,6.28,50.86
$GC,4916,-0.15,0.0,2354,2181,2740,2608,292.0,3.4,357,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2180,2673,2739,2608,0,0,0,0,0,0,14.93,14.94,14.93,6.28,50.98
$GC,5215,-0.15,0.0,2354,2181,2740,2609,281.6,3.5,372,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2180,2673,2739,2608,0,0,0,0,0,0,14.95,14.96,14.96,6.28,50.94
$GC,5516,-0.15,0.0,2354,2181,2740,2608,271.2,3.4,387,5517,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2180,2673,2739,2607,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.06
$GC,5816,-0.15,0.0,2354,2181,2741,2608,261.0,3.3,402,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2180,2673,2739,2608,0,0,0,0,0,0,14.99,15.00,14.99,6.28,50.90
$GC,6115,-0.15,0.0,2354,2181,2740,2607,251.2,3.2,417,6116,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2181,2673,2739,2607,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.26
$STATE,6414,end loiter,LOITER_COMPLETE
$STATE,6414,begin climb
$GC,6416,0.64,146.0,2354,2181,2740,2608,241.6,0.0,432,6555,0.60,2.62,132.05,1.427,11012,0.177,0.068,2606,748,2089,2115,2064,0,0,0,0,0,0,14.70,13.96,13.44,6.28,50.90
$GC,6595,0.64,146.0,2606,749,2112,2060,228.2,9.7,441,6600,0.00,2.45,0.00,0.000,5126,0.000,0.055,2606,2125,2084,2111,2058,0,0,0,0,0,0,14.12,14.08,14.14,6.23,49.13
$GC,6916,0.64,146.0,2607,2126,2107,2048,187.3,13.1,457,6920,0.00,2.45,0.00,0.000,4612,0.000,0.069,2617,756,2077,2106,2048,0,0,0,0,0,0,14.58,14.33,14.58,6.23,49.84
$GC,7041,0.64,146.0,2618,756,2105,2048,173.0,11.7,463,7045,0.00,2.42,0.00,0.000,5126,0.000,0.056,2617,2150,2075,2104,2047,0,0,0,0,0,0,14.45,14.39,14.46,6.23,50.27
$GC,7356,0.64,146.0,2618,2152,2104,2045,129.5,13.3,479,7360,0.00,2.50,0.00,0.000,4356,0.000,0.083,2618,3553,2074,2104,2045,0,0,0,0,0,0,14.71,14.42,14.71,6.23,50.15
$GC,7450,0.64,146.0,2618,3554,2104,2045,119.4,12.7,483,7456,0.05,2.35,0.00,0.000,5126,0.338,0.043,2609,2159,2073,2102,2045,0,0,0,0,0,0,14.35,14.50,14.49,6.23,49.88
$GC,7756,0.64,146.0,2609,2160,2103,2044,82.9,10.4,520,7760,0.00,2.50,0.00,0.000,4612,0.000,0.069,2618,741,2072,2102,2043,0,0,0,0,0,0,14.76,14.49,14.76,6.21,49.76
$GC,7821,0.64,146.0,2621,742,2102,2043,76.8,9.0,533,7825,0.00,2.42,0.00,0.000,5126,0.000,0.055,2619,2145,2071,2101,2041,0,0,0,0,0,0,14.58,14.53,14.59,6.21,49.40
$GC,7946,0.64,146.0,2619,2149,2103,2041,64.5,9.9,558,7950,0.00,2.53,0.00,0.000,4356,0.000,0.086,2618,3564,2071,2101,2041,0,0,0,0,0,0,14.76,14.49,14.76,6.21,48.74
$GC,8000,0.64,146.0,2619,3564,2102,2041,59.0,9.9,569,8005,0.05,2.38,0.00,0.000,5126,0.337,0.044,2609,2161,2071,2101,2041,0,0,0,0,0,0,14.40,14.54,14.54,6.20,48.66
$GC,8126,0.64,146.0,2610,2155,2102,2042,47.0,9.6,594,8130,0.00,2.45,0.00,0.000,4612,0.000,0.069,2619,736,2071,2101,2041,0,0,0,0,0,0,14.77,14.51,14.76,6.20,48.50
$GC,8176,0.64,146.0,2619,736,2102,2040,42.4,8.9,604,8180,0.05,2.45,0.00,0.000,5126,0.314,0.056,2600,2165,2070,2101,2040,0,0,0,0,0,0,14.40,14.51,14.52,6.20,48.85
$GC,8302,0.66,163.1,2600,2166,2102,2041,32.7,7.7,629,8320,0.00,2.50,12.62,1.327,10500,0.000,0.084,2600,3562,2020,2046,1994,0,0,0,0,0,0,14.77,14.45,13.89,6.20,49.09
$GC,8345,0.66,163.1,2601,3563,2047,1994,28.8,8.8,638,8350,0.00,2.40,0.00,0.000,5126,0.000,0.044,2609,2145,2019,2045,1994,0,0,0,0,0,0,14.50,14.46,14.52,6.19,48.70
$GC,8471,0.66,163.1,2609,2146,2048,1994,17.2,9.7,663,8476,0.00,2.45,0.00,0.000,516,0.000,0.070,2620,728,2019,2045,1993,0,0,0,0,0,0,14.71,14.47,14.71,6.19,49.68
$GC,8520,0.66,163.1,2620,729,2045,1994,12.1,10.0,673,8525,0.00,2.45,0.00,0.000,5126,0.000,0.057,2620,2146,2019,2045,1993,0,0,0,0,0,0,14.54,14.49,14.56,6.19,48.81
$STATE,8604,end climb,SURFACE_DEPTH_REACHED
$STATE,8604,begin surface coast
$STATE,8630,end surface coast,CONTROL_FINISHED_OK
$STATE,8630,begin surface
$SM_CCo,8642,55.25,0.254,0,0,1792,220.03
$SM_GC,1.16,5.57,0.08,55.25,0.083,0.155,0.254,230,2070,1792,-6.45,0.88,220.03,0,0,0,0,0,0,14.59,14.53,14.33
$IRIDIUM_FIX,-5947.83,0.00,271218,023028
$TT8_MAMPS,0.038948,0.292859
$HUMID,49.33
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,14
$SC_FREEKB,3864032
$24V_AH,13.28,26.453
$10V_AH,13.42,0.000
$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,13.100,83.600,274.275,55.250,0.000,30.803,18.350,124.219,3.500,0.000,18.239,0.000,6850.452,448.622,1605.332,82.249,0.000,1079.385,0.000,1152.887,0.000,0.539,0.000
$DEVICE_MAMPS,377.910,2272.815,1610.325,253.980,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5046.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.622,0.000,0.000,0.000
$MEM,344104
$DATA_FILE_SIZE,17324,695
$CAP_FILE_SIZE,93782,0
$CFSIZE,1023623168,1008566272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.034,198.41,1
$GPS,271218,073321,-5945.977,-7.105,16,0.9,41,-19.7,0.6,128.8,8,7.6