version: 66.14
glider: 640
mission: 5
dive: 121
start: 12 28 118 6 15 12
data:
$ID,640
$MISSION,5
$DIVE,121
$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,43
$R_STBD_OVSHOOT,25
$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
$GPS1,281218,060957,-5942.9453,-5.1852,12,0.8,44,-19.7,1.0,222.6,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-63.7
$GPS2,281218,061454,-5942.9492,-5.2484,13,0.8,13,-19.7,1.1,215.2,10,8.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,23.1,79699,-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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,10,-0.64,-146.0,234,2088,1600,1625,0.0,0.0,0,116,0.00,0.00,-103.95,0.000,16386,0.000,0.000,233,2088,3178,3261,3096,0,0,0,0,0,0,14.54,28.83,14.54,6.14,50.23
$GC,118,-0.64,-146.0,233,2088,3262,3099,3.0,-6.6,21,133,6.03,2.72,-4.28,0.000,18692,0.361,2.258,2171,3515,3286,3376,3197,0,0,0,0,0,0,14.16,13.43,14.33,6.28,48.81
$GC,212,-0.64,-146.0,2171,3516,3379,3197,19.4,-15.8,40,216,0.05,2.40,0.00,0.000,3078,0.366,0.042,2187,2101,3287,3378,3197,0,0,0,0,0,0,14.20,14.36,14.33,6.29,47.79
$GC,337,-0.64,-146.0,2188,2101,3379,3197,40.0,-16.8,65,342,0.00,2.42,0.00,0.000,2564,0.000,0.067,2189,700,3288,3379,3197,0,0,0,0,0,0,14.60,14.39,14.60,6.29,48.30
$GC,376,-0.64,-146.0,2188,700,3379,3198,47.2,-18.1,73,382,0.03,2.45,0.00,0.000,3078,0.475,0.060,2186,2098,3287,3378,3197,0,0,0,0,0,0,14.21,14.38,14.40,6.29,48.62
$GC,502,-0.64,-146.0,2183,2097,3379,3196,65.2,-13.0,98,506,0.00,2.47,0.00,0.000,2308,0.000,0.086,2176,3511,3287,3378,3197,0,0,0,0,0,0,14.64,14.41,14.63,6.30,48.89
$GC,566,-0.64,-146.0,2177,3511,3380,3197,73.1,-11.1,111,571,0.03,2.38,0.00,0.000,3078,0.455,0.043,2184,2104,3287,3378,3197,0,0,0,0,0,0,14.26,14.45,14.41,6.29,48.66
$GC,692,-0.64,-146.0,2184,2103,3381,3197,88.6,-13.0,136,696,0.00,2.42,0.00,0.000,2564,0.000,0.065,2184,699,3287,3378,3197,0,0,0,0,0,0,14.66,14.45,14.67,6.28,49.01
$GC,726,-0.64,-146.0,2184,699,3378,3197,93.2,-13.0,143,731,0.05,2.45,0.00,0.000,3078,0.378,0.058,2190,2106,3288,3379,3197,0,0,0,0,0,0,14.28,14.45,14.44,6.29,48.77
$GC,862,-0.64,-146.0,2190,2107,3379,3198,110.8,-13.4,158,862,0.00,0.00,0.00,0.000,2054,0.000,0.000,2190,2106,3287,3378,3197,0,0,0,0,0,0,14.69,14.70,14.70,6.29,47.99
$GC,1162,-0.64,-146.0,2191,2107,3378,3197,149.1,-11.5,173,1166,0.00,2.47,0.00,0.000,2564,0.000,0.065,2189,695,3287,3378,3197,0,0,0,0,0,0,14.74,14.50,14.74,6.30,50.07
$GC,1267,-0.64,-146.0,2190,695,3380,3196,160.9,-11.6,178,1271,0.00,2.42,0.00,0.000,3078,0.000,0.057,2180,2099,3287,3378,3197,0,0,0,0,0,0,14.57,14.52,14.59,6.30,50.27
$GC,1582,-0.64,-146.0,2180,2100,3379,3198,198.9,-12.1,194,1586,0.00,2.47,0.00,0.000,2308,0.000,0.084,2169,3502,3287,3378,3197,0,0,0,0,0,0,14.78,14.52,14.78,6.31,50.39
$GC,1612,-0.64,-146.0,2170,3504,3378,3198,201.3,-12.1,195,1616,0.08,2.35,0.00,0.000,3078,0.335,0.044,2195,2098,3287,3378,3197,0,0,0,0,0,0,14.40,14.57,14.54,6.32,50.74
$GC,1922,-0.64,-146.0,2196,2099,3379,3198,237.9,-11.1,211,1926,0.00,2.45,0.00,0.000,516,0.000,0.066,2195,696,3287,3378,3196,0,0,0,0,0,0,14.80,14.57,14.80,6.32,50.70
$GC,1962,-0.64,-146.0,2196,697,3380,3194,242.5,-11.2,213,1966,0.00,2.40,0.00,0.000,3078,0.000,0.057,2186,2097,3287,3378,3196,0,0,0,0,0,0,14.62,14.57,14.64,6.31,50.78
$GC,2282,-0.64,-146.0,2186,2098,3379,3197,278.4,-11.3,229,2286,0.00,2.47,0.00,0.000,2308,0.000,0.083,2174,3503,3287,3378,3196,0,0,0,0,0,0,14.81,14.57,14.81,6.32,50.94
$GC,2296,-0.64,-146.0,2175,3504,3379,3197,278.4,-11.3,229,2302,0.05,2.35,0.00,0.000,3078,0.362,0.044,2192,2098,3287,3378,3196,0,0,0,0,0,0,14.42,14.59,14.57,6.32,50.94
$GC,2602,-0.64,-146.0,2193,2097,3379,3195,314.1,-11.0,245,2607,0.00,2.42,0.00,0.000,2564,0.000,0.066,2192,704,3286,3377,3196,0,0,0,0,0,0,14.83,14.58,14.83,6.33,51.10
$GC,2651,-0.64,-146.0,2193,704,3380,3196,318.6,-11.2,247,2656,0.00,2.40,0.00,0.000,3078,0.000,0.057,2182,2100,3287,3378,3196,0,0,0,0,0,0,14.64,14.59,14.66,6.33,50.70
$STATE,2920,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2920,begin apogee
$GC,2924,-0.15,0.0,2182,2167,3378,3196,350.3,-11.5,261,3056,0.47,0.00,129.82,1.567,10246,0.272,0.000,2352,2166,2688,2747,2629,0,0,0,0,0,0,14.48,13.91,13.31,6.33,51.02
$STATE,3057,end apogee,CONTROL_FINISHED_OK
$STATE,3057,begin loiter
$GC,3342,-0.15,0.0,2352,2167,2741,2613,343.4,3.8,282,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2676,2739,2613,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.94
$GC,3642,-0.15,0.0,2352,2167,2740,2611,331.6,4.0,297,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2675,2740,2610,0,0,0,0,0,0,14.69,14.69,14.69,6.28,50.86
$GC,3942,-0.15,0.0,2352,2168,2740,2609,319.5,4.0,312,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2673,2739,2608,0,0,0,0,0,0,14.77,14.78,14.78,6.28,50.70
$GC,4242,-0.15,0.0,2351,2168,2740,2608,307.5,4.0,327,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2673,2739,2607,0,0,0,0,0,0,14.83,14.83,14.83,6.28,51.45
$GC,4542,-0.15,0.0,2352,2167,2740,2607,295.5,4.1,342,4543,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2673,2739,2607,0,0,0,0,0,0,14.87,14.88,14.88,6.28,50.70
$GC,4842,-0.15,0.0,2352,2167,2740,2607,283.5,3.9,357,4843,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2672,2739,2605,0,0,0,0,0,0,14.90,14.90,14.91,6.28,50.86
$GC,5142,-0.15,0.0,2352,2167,2740,2606,272.2,3.7,372,5142,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2672,2739,2605,0,0,0,0,0,0,14.93,14.93,14.94,6.28,51.10
$GC,5442,-0.15,0.0,2352,2167,2739,2606,261.9,3.3,387,5442,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2672,2739,2605,0,0,0,0,0,0,14.96,14.96,14.96,6.28,50.86
$GC,5742,-0.15,0.0,2352,2167,2740,2605,251.7,3.5,402,5743,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2672,2739,2605,0,0,0,0,0,0,14.97,14.98,14.97,6.27,51.02
$GC,6042,-0.15,0.0,2352,2167,2740,2606,241.1,3.5,417,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2672,2739,2605,0,0,0,0,0,0,14.99,15.00,15.00,6.27,50.86
$GC,6342,-0.15,0.0,2352,2167,2740,2604,230.8,3.4,432,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2672,2739,2605,0,0,0,0,0,0,15.00,15.01,15.01,6.27,50.98
$GC,6642,-0.15,0.0,2352,2167,2741,2604,220.9,3.2,447,6642,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2671,2739,2604,0,0,0,0,0,0,15.01,15.02,15.02,6.28,51.69
$STATE,6660,end loiter,LOITER_COMPLETE
$STATE,6660,begin climb
$GC,6662,0.64,146.0,2352,2167,2740,2605,220.3,0.0,448,6803,0.60,2.55,131.27,1.400,11012,0.183,0.086,2592,3537,2089,2117,2061,0,0,0,0,0,0,14.69,13.97,13.46,6.28,51.61
$GC,6882,0.64,146.0,2592,3538,2116,2055,203.5,10.5,459,6886,0.00,2.40,0.00,0.000,1030,0.000,0.043,2602,2151,2084,2115,2053,0,0,0,0,0,0,14.19,14.15,14.21,6.23,48.81
$GC,7202,0.64,146.0,2600,2150,2109,2047,166.0,12.2,475,7207,0.00,2.50,0.00,0.000,516,0.000,0.070,2613,753,2077,2107,2047,0,0,0,0,0,0,14.59,14.33,14.60,6.23,50.15
$GC,7261,0.64,146.0,2614,753,2107,2045,159.2,11.5,478,7267,0.00,2.40,0.00,0.000,5126,0.000,0.055,2614,2130,2075,2106,2045,0,0,0,0,0,0,14.42,14.37,14.44,6.23,50.35
$GC,7582,0.64,146.0,2614,2130,2107,2041,120.9,11.5,494,7586,0.00,2.55,0.00,0.000,4356,0.000,0.084,2614,3556,2073,2106,2040,0,0,0,0,0,0,14.71,14.42,14.71,6.22,50.43
$GC,7636,0.64,146.0,2614,3557,2106,2042,116.2,11.6,496,7641,0.05,2.38,0.00,0.000,5126,0.343,0.044,2606,2148,2073,2105,2041,0,0,0,0,0,0,14.34,14.48,14.48,6.22,50.03
$GC,7942,0.64,146.0,2606,2149,2106,2040,83.5,11.5,533,7946,0.00,2.47,0.00,0.000,516,0.000,0.069,2616,747,2072,2105,2039,0,0,0,0,0,0,14.74,14.48,14.75,6.21,49.13
$GC,8006,0.64,146.0,2616,748,2103,2040,76.2,11.6,546,8012,0.00,2.42,0.00,0.000,5126,0.000,0.055,2616,2153,2071,2103,2039,0,0,0,0,0,0,14.57,14.52,14.59,6.21,49.09
$GC,8132,0.64,146.0,2616,2154,2104,2040,59.7,13.5,571,8136,0.00,2.45,0.00,0.000,4356,0.000,0.086,2616,3556,2071,2104,2038,0,0,0,0,0,0,14.76,14.52,14.76,6.21,49.17
$GC,8181,0.64,146.0,2616,3557,2101,2040,53.0,13.1,581,8186,0.05,2.38,0.00,0.000,5126,0.340,0.044,2608,2148,2071,2103,2039,0,0,0,0,0,0,14.36,14.52,14.51,6.20,48.62
$GC,8307,0.64,146.0,2609,2148,2105,2038,39.2,10.1,606,8312,0.00,2.42,0.00,0.000,4612,0.000,0.070,2618,744,2071,2104,2038,0,0,0,0,0,0,14.76,14.53,14.73,6.19,48.85
$GC,8392,0.70,196.8,2618,745,2103,2038,32.6,6.4,623,8442,0.00,2.42,45.75,1.258,11270,0.000,0.055,2618,2153,1886,1910,1863,0,0,0,0,0,0,14.57,14.52,13.76,6.19,48.70
$GC,8562,0.70,196.8,2618,2154,1903,1853,15.5,12.2,657,8566,0.00,2.53,0.00,0.000,2308,0.000,0.086,2618,3548,1877,1902,1852,0,0,0,0,0,0,14.56,14.31,14.56,6.18,48.89
$GC,8636,0.70,196.8,2618,3548,1903,1852,6.9,11.4,672,8641,0.00,2.40,0.00,0.000,5126,0.000,0.047,2628,2145,1876,1902,1851,0,0,0,0,0,0,14.42,14.38,14.45,6.18,48.97
$STATE,8675,end climb,SURFACE_DEPTH_REACHED
$STATE,8675,begin surface coast
$STATE,8701,end surface coast,CONTROL_FINISHED_OK
$STATE,8701,begin surface
$SM_CCo,8712,19.65,0.257,0,0,1792,220.03
$SM_GC,0.85,5.57,0.05,19.65,0.063,0.200,0.257,271,2081,1792,-6.49,1.02,220.03,0,0,0,0,0,0,14.44,14.42,14.26
$IRIDIUM_FIX,-5944.88,0.00,281218,034133
$TT8_MAMPS,0.039697,0.354277
$HUMID,49.52
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,12
$SC_FREEKB,3858912
$24V_AH,13.31,28.260
$10V_AH,13.38,0.000
$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,13.050,78.350,306.850,19.650,0.000,22.979,39.840,123.944,3.000,0.000,14.346,0.000,6934.153,432.690,1581.370,86.723,0.000,1061.359,0.000,1122.541,0.000,0.539,0.000
$DEVICE_MAMPS,475.065,2258.280,1567.485,257.040,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5095.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.813,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,17344,685
$CAP_FILE_SIZE,92031,0
$CFSIZE,1023623168,1007583232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$INTR,0,27.24,0x235724,0,24
$CURRENT,0.046,165.36,1
$GPS,281218,084132,-5942.635,-5.033,16,0.9,26,-19.7,0.5,52.8,10,9.2