version: 66.14
glider: 640
mission: 5
dive: 134
start: 12 29 118 15 15 1
data:
$ID,640
$MISSION,5
$DIVE,134
$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,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
$GPS1,291218,150921,-5944.5088,0.6624,40,0.8,42,-19.7,0.7,217.6,10,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-65.3
$GPS2,291218,151442,-5944.5142,0.7478,8,0.8,12,-19.7,0.7,40.3,10,8.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,212.8,65723,-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,-146.0,234,2088,1799,1822,0.0,0.0,0,102,0.00,0.00,-90.25,0.000,16386,0.000,0.000,233,2087,3224,3302,3146,0,0,0,0,0,0,14.59,28.83,14.59,6.17,49.96
$GC,104,-0.64,-146.0,234,2088,3308,3147,3.4,-7.4,18,118,6.05,2.72,-3.30,0.000,18692,0.370,2.264,2183,3506,3316,3407,3225,0,0,0,0,0,0,14.22,13.43,14.45,6.28,49.05
$GC,142,-0.64,-146.0,2183,3508,3410,3226,10.9,-16.2,26,146,0.00,2.38,0.00,0.000,3078,0.000,0.043,2182,2116,3317,3409,3225,0,0,0,0,0,0,14.42,14.37,14.43,6.30,48.50
$GC,267,-0.64,-146.0,2183,2115,3410,3225,32.2,-17.9,51,271,0.00,2.50,0.00,0.000,2564,0.000,0.064,2182,696,3317,3409,3225,0,0,0,0,0,0,14.62,14.38,14.62,6.30,48.30
$GC,332,-0.64,-146.0,2183,697,3411,3225,43.8,-16.2,64,336,0.05,2.45,0.00,0.000,3078,0.353,0.060,2198,2101,3317,3410,3225,0,0,0,0,0,0,14.26,14.41,14.40,6.29,48.38
$GC,457,-0.64,-146.0,2189,2103,3409,3226,62.1,-15.8,89,462,0.00,2.47,0.00,0.000,2308,0.000,0.084,2179,3516,3317,3410,3225,0,0,0,0,0,0,14.66,14.42,14.66,6.30,49.25
$GC,547,-0.64,-146.0,2180,3517,3411,3225,75.7,-13.7,107,551,0.00,2.40,0.00,0.000,3078,0.000,0.043,2179,2097,3317,3409,3225,0,0,0,0,0,0,14.51,14.47,14.52,6.30,48.30
$GC,672,-0.64,-146.0,2178,2096,3410,3227,94.3,-15.4,132,676,0.00,2.42,0.00,0.000,2564,0.000,0.066,2178,697,3319,3410,3228,0,0,0,0,0,0,14.69,14.47,14.68,6.30,48.14
$GC,717,-0.64,-146.0,2179,691,3411,3225,100.4,-14.9,140,722,0.08,2.45,0.00,0.000,3078,0.336,0.057,2192,2105,3317,3409,3225,0,0,0,0,0,0,14.31,14.47,14.45,6.29,48.38
$GC,1032,-0.64,-146.0,2193,2105,3411,3225,144.8,-13.5,156,1032,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2103,3317,3410,3225,0,0,0,0,0,0,14.75,14.75,14.75,6.29,49.25
$GC,1332,-0.64,-146.0,2193,2105,3411,3225,183.3,-12.6,171,1332,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2108,3314,3410,3219,0,0,0,0,0,0,14.78,14.78,14.78,6.31,50.59
$GC,1632,-0.64,-146.0,2192,2106,3410,3226,220.7,-12.7,186,1632,0.00,0.00,0.00,0.000,2054,0.000,0.000,2193,2105,3317,3410,3225,0,0,0,0,0,0,14.80,14.81,14.81,6.32,50.86
$GC,1932,-0.64,-146.0,2192,2105,3411,3225,258.4,-12.3,201,1936,0.00,2.45,0.00,0.000,2308,0.000,0.083,2182,3501,3317,3410,3225,0,0,0,0,0,0,14.82,14.56,14.82,6.33,51.53
$GC,1982,-0.64,-146.0,2183,3501,3411,3225,263.4,-12.3,203,1986,0.00,2.35,0.00,0.000,3078,0.000,0.042,2182,2098,3317,3409,3225,0,0,0,0,0,0,14.64,14.61,14.66,6.32,51.06
$GC,2292,-0.64,-146.0,2182,2097,3411,3225,303.1,-12.4,219,2296,0.00,2.42,0.00,0.000,2564,0.000,0.064,2182,699,3317,3410,3225,0,0,0,0,0,0,14.83,14.58,14.83,6.33,50.78
$GC,2367,-0.64,-146.0,2182,700,3410,3226,310.6,-12.6,222,2371,0.05,2.40,0.00,0.000,3078,0.355,0.056,2188,2104,3317,3410,3224,0,0,0,0,0,0,14.42,14.59,14.58,6.33,50.86
$GC,2672,-0.64,-146.0,2189,2105,3411,3225,348.1,-11.6,238,2676,0.00,2.45,0.00,0.000,2308,0.000,0.083,2179,3498,3317,3409,3225,0,0,0,0,0,0,14.83,14.57,14.86,6.33,50.98
$STATE,2690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2690,begin apogee
$GC,2696,-0.15,0.0,2179,2141,3411,3225,350.4,-11.6,239,2827,0.47,0.00,128.32,1.609,10246,0.262,0.000,2349,2139,2714,2773,2656,0,0,0,0,0,0,14.45,13.91,13.30,6.33,51.06
$STATE,2828,end apogee,CONTROL_FINISHED_OK
$STATE,2828,begin loiter
$GC,3112,-0.15,0.0,2350,2140,2771,2642,344.7,3.7,260,3113,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2140,2705,2769,2642,0,0,0,0,0,0,14.55,14.55,14.55,6.28,50.55
$GC,3412,-0.15,0.0,2350,2140,2770,2640,333.8,3.6,275,3413,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2139,2704,2769,2640,0,0,0,0,0,0,14.69,14.70,14.69,6.28,50.63
$GC,3712,-0.15,0.0,2349,2141,2770,2640,322.8,3.6,290,3713,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2139,2704,2769,2639,0,0,0,0,0,0,14.78,14.78,14.78,6.28,50.66
$GC,4012,-0.15,0.0,2348,2140,2770,2639,312.4,3.6,305,4013,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2139,2703,2769,2638,0,0,0,0,0,0,14.84,14.84,14.84,6.28,50.78
$GC,4312,-0.15,0.0,2350,2140,2771,2637,302.0,3.4,320,4313,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2139,2703,2770,2637,0,0,0,0,0,0,14.89,14.89,14.88,6.28,50.90
$GC,4612,-0.15,0.0,2350,2140,2770,2638,292.4,3.2,335,4613,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2139,2703,2769,2637,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.06
$GC,4912,-0.15,0.0,2350,2140,2771,2637,283.1,3.1,350,4913,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2139,2703,2770,2636,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.10
$GC,5212,-0.15,0.0,2349,2140,2770,2638,273.9,3.1,365,5213,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2139,2702,2769,2636,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.14
$GC,5512,-0.15,0.0,2350,2140,2770,2637,264.2,3.2,380,5513,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2140,2703,2770,2636,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.26
$GC,5812,-0.15,0.0,2350,2140,2772,2636,253.4,3.7,395,5813,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2139,2702,2769,2636,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.77
$GC,6112,-0.15,0.0,2350,2139,2770,2635,242.0,3.8,410,6113,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2139,2702,2769,2636,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.18
$STATE,6411,end loiter,LOITER_COMPLETE
$STATE,6411,begin climb
$GC,6412,0.64,146.0,2350,2140,2771,2636,230.9,0.0,425,6553,0.62,2.62,130.57,1.413,11012,0.178,0.082,2603,3553,2117,2141,2093,0,0,0,0,0,0,14.70,13.98,13.45,6.28,51.29
$GC,6662,0.64,146.0,2600,3554,2140,2084,210.4,11.2,437,6666,0.00,2.42,0.00,0.000,5126,0.000,0.043,2610,2147,2111,2139,2083,0,0,0,0,0,0,14.23,14.19,14.26,6.23,49.56
$GC,6972,0.64,146.0,2609,2147,2133,2077,172.8,11.8,453,6977,0.00,2.50,0.00,0.000,4612,0.000,0.070,2621,744,2103,2132,2075,0,0,0,0,0,0,14.62,14.35,14.62,6.24,50.39
$GC,7017,0.64,146.0,2621,745,2131,2077,168.3,11.6,455,7022,0.05,2.42,0.00,0.000,5126,0.314,0.056,2602,2141,2102,2130,2075,0,0,0,0,0,0,14.27,14.39,14.40,6.24,50.74
$GC,7332,0.64,146.0,2603,2142,2129,2073,134.4,10.1,471,7336,0.00,2.53,0.00,0.000,260,0.000,0.083,2602,3554,2101,2130,2073,0,0,0,0,0,0,14.71,14.42,14.71,6.23,50.82
$GC,7417,0.64,146.0,2603,3554,2131,2073,126.6,9.7,475,7422,0.00,2.38,0.00,0.000,5126,0.000,0.044,2611,2152,2101,2130,2073,0,0,0,0,0,0,14.54,14.49,14.55,6.23,50.35
$GC,7723,0.64,146.0,2611,2152,2129,2073,96.5,9.9,495,7726,0.00,2.45,0.00,0.000,4612,0.000,0.070,2623,736,2100,2128,2072,0,0,0,0,0,0,14.76,14.53,14.77,6.22,50.00
$GC,7777,0.64,146.0,2623,736,2127,2073,91.3,9.4,506,7782,0.05,2.42,0.00,0.000,5126,0.315,0.057,2604,2149,2099,2127,2071,0,0,0,0,0,0,14.40,14.53,14.54,6.22,49.72
$GC,7902,0.64,146.0,2604,2149,2128,2071,79.2,9.3,531,7907,0.00,2.50,0.00,0.000,260,0.000,0.085,2604,3552,2098,2126,2071,0,0,0,0,0,0,14.77,14.49,14.78,6.22,49.48
$GC,7957,0.64,146.0,2604,3555,2127,2073,74.0,9.4,542,7961,0.00,2.38,0.00,0.000,5126,0.000,0.044,2612,2145,2098,2126,2071,0,0,0,0,0,0,14.60,14.55,14.62,6.21,49.09
$GC,8083,0.64,146.0,2613,2146,2128,2072,61.9,9.8,567,8086,0.00,2.42,0.00,0.000,4612,0.000,0.070,2624,744,2098,2126,2071,0,0,0,0,0,0,14.78,14.54,14.78,6.21,48.81
$GC,8142,0.64,146.0,2624,744,2127,2071,56.2,9.0,579,8147,0.05,2.42,0.00,0.000,5126,0.315,0.055,2604,2160,2098,2125,2071,0,0,0,0,0,0,14.40,14.52,14.52,6.21,49.09
$GC,8267,0.66,163.7,2605,2161,2126,2071,46.1,7.7,604,8286,0.00,2.50,13.00,1.340,10500,0.000,0.084,2605,3558,2046,2071,2022,0,0,0,0,0,0,14.79,14.47,13.91,6.20,48.66
$GC,8367,0.66,163.7,2605,3558,2072,2021,37.3,9.0,624,8371,0.00,2.38,0.00,0.000,1030,0.000,0.044,2613,2153,2046,2071,2021,0,0,0,0,0,0,14.54,14.50,14.57,6.20,48.89
$GC,8493,0.66,163.7,2614,2153,2072,2021,25.9,10.2,649,8497,0.00,2.45,0.00,0.000,516,0.000,0.070,2625,740,2045,2071,2019,0,0,0,0,0,0,14.73,14.50,14.73,6.19,49.09
$GC,8537,0.66,163.7,2624,740,2071,2019,21.6,9.4,658,8541,0.00,2.42,0.00,0.000,5126,0.000,0.055,2624,2144,2044,2070,2019,0,0,0,0,0,0,14.56,14.51,14.57,6.20,49.13
$GC,8663,0.66,163.7,2625,2145,2071,2019,7.5,11.3,683,8666,0.00,2.50,0.00,0.000,4356,0.000,0.086,2625,3567,2044,2070,2018,0,0,0,0,0,0,14.75,14.50,14.75,6.19,49.64
$GC,8692,0.66,163.7,2624,3568,2070,2020,3.9,12.2,689,8698,0.05,2.40,0.00,0.000,5126,0.339,0.049,2617,2149,2044,2069,2019,0,0,0,0,0,0,14.35,14.50,14.49,6.19,50.31
$STATE,8701,end climb,SURFACE_DEPTH_REACHED
$STATE,8701,begin surface coast
$STATE,8721,end surface coast,CONTROL_FINISHED_OK
$STATE,8721,begin surface
$SM_CCo,8733,53.58,0.251,0,0,1821,220.03
$SM_GC,1.07,5.40,0.08,53.58,0.049,0.168,0.251,273,2080,1821,-6.44,0.90,220.03,0,0,0,0,0,0,14.60,14.54,14.33
$IRIDIUM_FIX,-5944.88,0.00,291218,124037
$TT8_MAMPS,0.039697,0.328811
$HUMID,49.40
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,13
$SC_FREEKB,3852256
$24V_AH,13.30,30.621
$10V_AH,13.26,0.000
$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,12.925,78.375,271.900,53.575,0.000,31.626,42.782,137.454,3.250,0.000,13.340,0.000,6991.345,429.247,1600.240,91.681,0.000,1047.669,0.000,1119.779,0.000,0.540,0.000
$DEVICE_MAMPS,370.260,2263.635,1608.795,250.920,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5136.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.553,0.000,0.000,0.000
$MEM,344104
$DATA_FILE_SIZE,17327,695
$CAP_FILE_SIZE,92023,0
$CFSIZE,1023623168,1006305280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.067,77.06,1
$GPS,291218,174231,-5944.821,1.251,17,0.8,40,-19.7,0.3,9.7,9,7.2