version: 66.14
glider: 640
mission: 5
dive: 131
start: 12 29 118 7 45 23
data:
$ID,640
$MISSION,5
$DIVE,131
$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,32
$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,2720
$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
$GPS1,291218,073831,-5942.9072,-0.3566,11,0.7,34,-19.7,0.8,351.1,12,4.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-67.3
$GPS2,291218,074504,-5942.8618,-0.4078,9,0.8,13,-19.7,0.9,342.2,11,8.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,198.2,68781,-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,-146.0,235,2113,1805,1824,0.0,0.0,0,101,0.00,0.00,-89.82,0.000,16386,0.000,0.000,234,2111,3196,3275,3118,0,0,0,0,0,0,14.61,28.83,14.61,6.17,50.19
$GC,103,-0.64,-146.0,235,2112,3285,3118,3.2,-6.2,18,121,6.10,2.75,-4.50,0.000,18692,0.378,2.273,2183,3513,3317,3410,3225,0,0,0,0,0,0,14.22,13.40,14.46,6.28,49.17
$GC,145,-0.64,-146.0,2183,3514,3412,3227,11.8,-16.9,27,149,0.00,2.42,0.00,0.000,3078,0.000,0.041,2183,2087,3318,3411,3225,0,0,0,0,0,0,14.39,14.34,14.40,6.29,49.09
$GC,270,-0.64,-146.0,2183,2088,3413,3226,32.7,-17.3,52,274,0.00,2.45,0.00,0.000,2564,0.000,0.066,2183,702,3318,3412,3225,0,0,0,0,0,0,14.60,14.38,14.62,6.30,48.58
$GC,315,-0.64,-146.0,2183,703,3413,3227,40.1,-15.9,61,320,0.05,2.42,0.00,0.000,3078,0.357,0.057,2189,2096,3318,3412,3225,0,0,0,0,0,0,14.28,14.39,14.39,6.30,48.46
$GC,441,-0.64,-146.0,2189,2096,3413,3226,58.0,-13.7,86,444,0.00,2.42,0.00,0.000,2564,0.000,0.068,2189,701,3319,3412,3226,0,0,0,0,0,0,14.65,14.43,14.66,6.30,49.56
$GC,515,-0.64,-146.0,2190,701,3413,3226,68.1,-12.9,101,520,0.00,2.42,0.00,0.000,3078,0.000,0.057,2180,2098,3319,3412,3226,0,0,0,0,0,0,14.49,14.44,14.52,6.30,49.13
$GC,641,-0.64,-146.0,2180,2098,3412,3227,85.8,-15.1,126,644,0.00,2.45,0.00,0.000,2308,0.000,0.083,2169,3505,3319,3412,3226,0,0,0,0,0,0,14.69,14.45,14.69,6.30,48.81
$GC,680,-0.64,-146.0,2169,3505,3413,3227,91.7,-14.3,134,684,0.05,2.38,0.00,0.000,3078,0.362,0.044,2187,2110,3319,3412,3226,0,0,0,0,0,0,14.31,14.47,14.46,6.30,48.66
$GC,820,-0.64,-146.0,2187,2109,3414,3226,111.6,-14.4,150,824,0.00,2.50,0.00,0.000,2564,0.000,0.067,2187,687,3319,3412,3226,0,0,0,0,0,0,14.71,14.47,14.72,6.30,48.77
$GC,910,-0.64,-146.0,2187,688,3413,3226,124.1,-15.6,154,914,0.03,2.45,0.00,0.000,3078,0.463,0.060,2184,2098,3320,3412,3228,0,0,0,0,0,0,14.31,14.49,14.47,6.30,48.77
$GC,1220,-0.64,-146.0,2185,2101,3413,3227,168.8,-14.0,170,1225,0.00,2.50,0.00,0.000,2308,0.000,0.084,2175,3510,3318,3412,3225,0,0,0,0,0,0,14.76,14.50,14.76,6.28,50.03
$GC,1255,-0.64,-146.0,2175,3511,3413,3226,171.6,-14.0,171,1259,0.05,2.40,0.00,0.000,3078,0.365,0.044,2192,2087,3319,3412,3226,0,0,0,0,0,0,14.35,14.54,14.52,6.31,50.94
$GC,1560,-0.64,-146.0,2192,2086,3413,3225,215.4,-13.4,187,1564,0.00,2.42,0.00,0.000,2564,0.000,0.067,2191,698,3318,3412,3225,0,0,0,0,0,0,14.79,14.54,14.79,6.31,50.55
$GC,1625,-0.64,-146.0,2192,698,3413,3225,223.5,-13.6,190,1630,0.00,2.42,0.00,0.000,3078,0.000,0.057,2181,2106,3318,3412,3225,0,0,0,0,0,0,14.59,14.54,14.62,6.32,50.98
$GC,1940,-0.64,-146.0,2181,2107,3412,3227,266.7,-13.5,206,1944,0.00,2.47,0.00,0.000,2308,0.000,0.083,2171,3509,3318,3412,3225,0,0,0,0,0,0,14.81,14.52,14.81,6.32,50.82
$GC,1995,-0.64,-146.0,2171,3510,3412,3227,272.1,-13.5,208,1999,0.05,2.35,0.00,0.000,3078,0.364,0.043,2188,2104,3319,3412,3226,0,0,0,0,0,0,14.43,14.58,14.55,6.33,51.33
$GC,2300,-0.64,-146.0,2189,2102,3413,3225,312.6,-12.5,224,2304,0.00,2.45,0.00,0.000,2564,0.000,0.067,2188,698,3319,3412,3226,0,0,0,0,0,0,14.82,14.57,14.82,6.33,51.18
$GC,2365,-0.64,-146.0,2188,698,3412,3225,320.1,-12.5,227,2369,0.00,2.40,0.00,0.000,3078,0.000,0.057,2179,2103,3319,3412,3226,0,0,0,0,0,0,14.62,14.56,14.64,6.33,51.45
$STATE,2599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2599,begin apogee
$GC,2602,-0.15,0.0,2180,2161,3413,3225,350.2,-12.6,239,2734,0.47,0.00,128.52,1.611,10246,0.274,0.000,2348,2160,2717,2776,2658,0,0,0,0,0,0,14.46,13.90,13.28,6.33,51.10
$STATE,2735,end apogee,CONTROL_FINISHED_OK
$STATE,2735,begin loiter
$GC,3020,-0.15,0.0,2348,2161,2771,2644,345.5,3.4,260,3021,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2160,2707,2771,2643,0,0,0,0,0,0,14.55,14.55,14.55,6.28,50.11
$GC,3320,-0.15,0.0,2347,2161,2772,2639,335.4,3.3,275,3321,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2161,2705,2770,2641,0,0,0,0,0,0,14.69,14.70,14.69,6.30,50.70
$GC,3620,-0.15,0.0,2348,2161,2772,2640,326.4,2.8,290,3621,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2161,2705,2771,2640,0,0,0,0,0,0,14.78,14.78,14.78,6.29,50.94
$GC,3920,-0.15,0.0,2348,2161,2772,2639,318.7,2.5,305,3921,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2161,2704,2771,2638,0,0,0,0,0,0,14.84,14.84,14.84,6.29,51.10
$GC,4220,-0.15,0.0,2348,2161,2772,2638,311.3,2.6,320,4221,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2161,2704,2770,2638,0,0,0,0,0,0,14.89,14.89,14.89,6.28,50.78
$GC,4520,-0.15,0.0,2348,2161,2771,2639,303.5,2.7,335,4521,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2161,2704,2771,2638,0,0,0,0,0,0,14.92,14.92,14.92,6.29,51.18
$GC,4820,-0.15,0.0,2348,2161,2771,2639,294.7,3.0,350,4821,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2161,2704,2771,2638,0,0,0,0,0,0,14.95,14.95,14.95,6.29,51.45
$GC,5120,-0.15,0.0,2348,2161,2772,2637,284.8,3.5,365,5121,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2161,2704,2771,2638,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.06
$GC,5420,-0.15,0.0,2348,2162,2772,2639,274.4,3.4,380,5421,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2161,2704,2771,2638,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.02
$GC,5720,-0.15,0.0,2348,2161,2772,2637,264.6,3.3,395,5721,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2161,2703,2770,2637,0,0,0,0,0,0,15.01,15.01,15.01,6.27,51.26
$GC,6020,-0.15,0.0,2348,2161,2771,2638,255.1,3.2,410,6021,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2161,2704,2770,2638,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.29
$STATE,6319,end loiter,LOITER_COMPLETE
$STATE,6319,begin climb
$GC,6320,0.64,146.0,2348,2161,2770,2638,245.6,0.0,425,6460,0.62,2.55,130.95,1.429,11012,0.183,0.081,2597,3540,2117,2143,2092,0,0,0,0,0,0,14.70,13.98,13.45,6.28,51.18
$GC,6500,0.64,146.0,2597,3540,2142,2086,232.0,10.0,434,6504,0.00,2.40,0.00,0.000,5126,0.000,0.043,2607,2158,2113,2141,2086,0,0,0,0,0,0,14.14,14.10,14.15,6.24,48.93
$GC,6820,0.64,146.0,2608,2159,2135,2076,193.1,12.2,450,6824,0.00,2.53,0.00,0.000,4612,0.000,0.070,2618,745,2104,2133,2076,0,0,0,0,0,0,14.59,14.33,14.59,6.24,50.07
$GC,6875,0.64,146.0,2618,748,2132,2076,188.3,12.0,452,6880,0.00,2.42,0.00,0.000,5126,0.000,0.055,2619,2134,2103,2131,2076,0,0,0,0,0,0,14.43,14.38,14.45,6.24,50.47
$GC,7180,0.64,146.0,2619,2136,2131,2075,146.3,13.7,468,7185,0.00,2.55,0.00,0.000,4356,0.000,0.085,2619,3556,2102,2130,2074,0,0,0,0,0,0,14.70,14.41,14.71,6.23,50.35
$GC,7300,0.64,146.0,2619,3557,2131,2075,129.4,13.6,474,7305,0.05,2.38,0.00,0.000,5126,0.339,0.044,2610,2147,2101,2130,2073,0,0,0,0,0,0,14.32,14.47,14.45,6.23,50.31
$GC,7605,0.64,146.0,2611,2147,2130,2071,92.8,10.8,499,7610,0.00,2.47,0.00,0.000,4612,0.000,0.069,2620,740,2100,2128,2072,0,0,0,0,0,0,14.76,14.51,14.77,6.22,49.88
$GC,7630,0.64,146.0,2620,741,2130,2071,90.1,10.4,504,7634,0.03,2.42,0.00,0.000,5126,0.409,0.055,2609,2152,2098,2126,2071,0,0,0,0,0,0,14.34,14.50,14.50,6.22,49.60
$GC,7755,0.64,146.0,2609,2153,2127,2072,77.2,10.3,529,7759,0.00,2.47,0.00,0.000,4356,0.000,0.084,2609,3550,2098,2126,2071,0,0,0,0,0,0,14.77,14.51,14.78,6.21,49.44
$GC,7805,0.64,146.0,2610,3551,2127,2071,72.1,9.8,539,7810,0.00,2.35,0.00,0.000,5126,0.000,0.044,2618,2154,2099,2127,2071,0,0,0,0,0,0,14.59,14.55,14.62,6.21,49.05
$GC,7931,0.64,146.0,2619,2155,2128,2071,60.7,8.9,564,7934,0.00,2.45,0.00,0.000,4612,0.000,0.070,2629,737,2098,2126,2071,0,0,0,0,0,0,14.78,14.54,14.78,6.21,48.89
$GC,7965,0.64,146.0,2629,738,2126,2072,57.8,8.5,571,7971,0.05,2.42,0.00,0.000,5126,0.316,0.055,2609,2153,2097,2125,2070,0,0,0,0,0,0,14.41,14.54,14.54,6.21,48.97
$GC,8090,0.65,154.4,2610,2154,2127,2071,47.7,8.0,596,8094,0.00,2.42,0.00,0.000,516,0.000,0.067,2618,744,2098,2126,2071,0,0,0,0,0,0,14.78,14.54,14.79,6.20,49.52
$GC,8150,0.67,172.2,2619,743,2126,2071,43.1,7.7,608,8175,0.00,2.40,21.20,1.306,13318,0.000,0.054,2619,2145,2017,2039,1995,0,0,0,0,0,0,14.59,14.54,13.88,6.20,49.05
$GC,8295,0.67,172.2,2619,2145,2036,1985,29.0,10.5,637,8299,0.00,2.55,0.00,0.000,4356,0.000,0.086,2614,3565,2005,2026,1985,0,0,0,0,0,0,14.68,14.42,14.69,6.14,48.97
$GC,8320,0.67,172.2,2619,3566,2035,1987,26.1,10.8,642,8324,0.00,2.40,0.00,0.000,5126,0.000,0.046,2629,2151,2010,2034,1987,0,0,0,0,0,0,14.49,14.45,14.50,6.19,49.33
$GC,8446,0.67,172.2,2629,2152,2034,1985,13.6,10.3,667,8450,0.00,2.45,0.00,0.000,4612,0.000,0.071,2640,741,2009,2034,1984,0,0,0,0,0,0,14.71,14.47,14.71,6.19,49.52
$GC,8475,0.67,172.2,2640,741,2034,1983,10.0,11.9,673,8480,0.05,2.45,0.00,0.000,5126,0.316,0.056,2621,2158,2008,2033,1984,0,0,0,0,0,0,14.35,14.48,14.47,6.19,49.52
$STATE,8534,end climb,SURFACE_DEPTH_REACHED
$STATE,8534,begin surface coast
$STATE,8554,end surface coast,CONTROL_FINISHED_OK
$STATE,8554,begin surface
$SM_CCo,8566,44.47,0.252,0,0,1823,220.03
$SM_GC,1.15,5.43,0.10,44.47,0.047,0.134,0.252,260,2055,1823,-6.46,0.82,220.03,0,0,0,0,0,0,14.57,14.52,14.33
$IRIDIUM_FIX,-5937.08,25.53,291218,050708
$TT8_MAMPS,0.039697,0.364014
$HUMID,49.48
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,6
$SC_FREEKB,3853792
$24V_AH,13.28,30.078
$10V_AH,13.37,0.000
$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,13.025,88.375,280.675,44.475,0.000,48.879,40.764,131.366,1.500,0.000,14.381,0.000,6833.538,441.551,1639.106,93.920,0.000,1075.089,0.000,1140.904,0.000,0.540,0.000
$DEVICE_MAMPS,462.825,2272.815,1611.090,252.450,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4969.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.400,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17336,689
$CAP_FILE_SIZE,96142,0
$CFSIZE,1023623168,1006600192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.031,170.61,1
$GPS,291218,100955,-5943.435,-0.261,10,0.9,40,-19.7,0.0,327.8,8,5.3