version: 66.14
glider: 640
mission: 5
dive: 147
start: 12 30 118 23 56 25
data:
$ID,640
$MISSION,5
$DIVE,147
$N_DIVES,300
$STOP_T,1031912
$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,68
$R_STBD_OVSHOOT,61
$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
$GPS1,301218,235133,-5950.1177,5.3982,36,0.7,39,-19.8,0.0,74.5,11,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-68.3
$GPS2,301218,235607,-5950.1016,5.3945,9,0.7,13,-19.8,0.0,55.7,12,9.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,210.4,55592,-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,8,begin dive
$GC,9,-0.64,-146.0,232,2137,1800,1822,0.0,0.0,0,100,0.00,0.00,-88.07,0.000,16386,0.000,0.000,232,2137,3195,3277,3114,0,0,0,0,0,0,14.62,28.83,14.63,6.17,50.66
$GC,102,-0.64,-146.0,231,2138,3277,3117,3.1,-5.0,18,119,6.07,2.70,-4.78,0.000,18948,0.368,2.257,2188,728,3317,3410,3224,0,0,0,0,0,0,14.19,13.45,14.38,6.29,49.05
$GC,145,-0.64,-146.0,2189,729,3411,3224,10.6,-15.6,27,150,0.00,2.33,0.00,0.000,3078,0.000,0.057,2179,2061,3317,3410,3224,0,0,0,0,0,0,14.42,14.36,14.43,6.30,48.58
$GC,270,-0.64,-146.0,2179,2062,3410,3226,31.6,-17.2,52,274,0.00,2.58,0.00,0.000,2308,0.000,0.081,2168,3505,3318,3411,3225,0,0,0,0,0,0,14.64,14.38,14.64,6.31,48.46
$GC,305,-0.64,-146.0,2167,3505,3411,3225,37.5,-16.8,59,310,0.08,2.33,0.00,0.000,3078,0.327,0.044,2194,2139,3318,3411,3225,0,0,0,0,0,0,14.28,14.42,14.43,6.30,48.34
$GC,431,-0.64,-146.0,2194,2134,3413,3225,56.3,-13.5,84,434,0.00,2.53,0.00,0.000,516,0.000,0.066,2194,688,3317,3411,3224,0,0,0,0,0,0,14.66,14.44,14.67,6.30,48.66
$GC,500,-0.64,-146.0,2194,689,3412,3225,65.4,-12.3,98,504,0.00,2.45,0.00,0.000,3078,0.000,0.057,2185,2103,3318,3411,3225,0,0,0,0,0,0,14.50,14.44,14.52,6.30,49.17
$GC,626,-0.64,-146.0,2185,2102,3412,3225,82.6,-14.1,123,630,0.00,2.45,0.00,0.000,2308,0.000,0.083,2174,3505,3322,3411,3233,0,0,0,0,0,0,14.70,14.46,14.70,6.30,48.50
$GC,670,-0.64,-146.0,2174,3504,3411,3224,89.2,-14.4,132,674,0.05,2.40,0.00,0.000,3078,0.359,0.044,2190,2086,3319,3411,3227,0,0,0,0,0,0,14.31,14.49,14.45,6.30,48.46
$GC,796,-0.64,-146.0,2191,2086,3414,3225,106.0,-13.3,151,800,0.00,2.40,0.00,0.000,2564,0.000,0.065,2191,694,3318,3411,3225,0,0,0,0,0,0,14.73,14.50,14.73,6.29,49.01
$GC,845,-0.64,-146.0,2191,694,3412,3226,111.1,-13.2,153,849,0.00,2.42,0.00,0.000,3078,0.000,0.057,2181,2095,3317,3410,3225,0,0,0,0,0,0,14.54,14.49,14.57,6.30,48.54
$GC,1155,-0.64,-146.0,2181,2097,3412,3225,153.9,-13.0,169,1159,0.00,2.47,0.00,0.000,2308,0.000,0.082,2170,3500,3318,3411,3225,0,0,0,0,0,0,14.77,14.51,14.78,6.30,49.60
$GC,1235,-0.64,-146.0,2170,3501,3412,3225,164.3,-13.0,173,1239,0.05,2.35,0.00,0.000,3078,0.353,0.043,2188,2098,3318,3411,3225,0,0,0,0,0,0,14.37,14.55,14.52,6.30,50.39
$GC,1555,-0.64,-146.0,2188,2097,3412,3226,205.5,-12.9,189,1559,0.00,2.45,0.00,0.000,2564,0.000,0.066,2187,696,3317,3411,3224,0,0,0,0,0,0,14.80,14.55,14.80,6.32,51.29
$GC,1630,-0.64,-146.0,2188,697,3411,3226,213.3,-13.0,192,1634,0.00,2.42,0.00,0.000,3078,0.000,0.056,2179,2107,3317,3411,3224,0,0,0,0,0,0,14.62,14.55,14.63,6.31,50.70
$GC,1935,-0.64,-146.0,2178,2108,3412,3225,255.6,-13.3,208,1939,0.00,2.45,0.00,0.000,2308,0.000,0.083,2168,3530,3317,3411,3224,0,0,0,0,0,0,14.82,14.57,14.82,6.33,51.18
$GC,1985,-0.64,-146.0,2168,3530,3412,3224,261.0,-13.5,210,1989,0.08,2.40,0.00,0.000,3078,0.326,0.043,2194,2093,3317,3411,3224,0,0,0,0,0,0,14.42,14.59,14.56,6.33,51.45
$GC,2295,-0.64,-146.0,2195,2092,3412,3225,300.4,-12.0,226,2300,0.00,2.42,0.00,0.000,516,0.000,0.065,2194,702,3317,3411,3224,0,0,0,0,0,0,14.83,14.58,14.83,6.32,51.37
$GC,2355,-0.64,-146.0,2194,702,3412,3225,307.7,-12.1,229,2360,0.00,2.40,0.00,0.000,3078,0.000,0.056,2185,2102,3317,3411,3224,0,0,0,0,0,0,14.64,14.59,14.66,6.33,51.10
$GC,2675,-0.64,-146.0,2186,2103,3412,3224,347.0,-12.4,245,2679,0.00,2.45,0.00,0.000,2308,0.000,0.082,2174,3497,3317,3411,3224,0,0,0,0,0,0,14.84,14.57,14.84,6.34,51.85
$STATE,2714,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2714,begin apogee
$GC,2719,-0.15,0.0,2175,2148,3412,3225,352.1,-12.5,247,2850,0.47,0.00,127.78,1.590,10246,0.259,0.000,2346,2147,2717,2776,2658,0,0,0,0,0,0,14.45,13.93,13.31,6.34,51.14
$STATE,2851,end apogee,CONTROL_FINISHED_OK
$STATE,2851,begin loiter
$GC,3135,-0.15,0.0,2346,2148,2772,2644,348.4,3.3,268,3136,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2147,2706,2771,2641,0,0,0,0,0,0,14.56,14.56,14.56,6.28,50.15
$GC,3435,-0.15,0.0,2346,2147,2772,2641,338.9,3.1,283,3436,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2147,2706,2771,2641,0,0,0,0,0,0,14.70,14.71,14.70,6.29,50.90
$GC,3735,-0.15,0.0,2346,2147,2771,2640,329.5,3.1,298,3736,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2147,2705,2771,2640,0,0,0,0,0,0,14.79,14.79,14.79,6.29,50.90
$GC,4035,-0.15,0.0,2346,2147,2772,2639,320.3,3.0,313,4036,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2147,2705,2771,2640,0,0,0,0,0,0,14.85,14.85,14.85,6.29,51.29
$GC,4335,-0.15,0.0,2346,2148,2772,2640,311.1,3.0,328,4336,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2147,2705,2771,2639,0,0,0,0,0,0,14.89,14.90,14.90,6.28,50.82
$GC,4635,-0.15,0.0,2346,2147,2772,2640,301.7,3.2,343,4636,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2147,2705,2771,2639,0,0,0,0,0,0,14.92,14.93,14.93,6.28,51.61
$GC,4935,-0.15,0.0,2346,2146,2771,2641,292.4,3.1,358,4936,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2147,2705,2770,2640,0,0,0,0,0,0,14.95,14.95,14.96,6.29,51.26
$GC,5235,-0.15,0.0,2346,2148,2772,2641,283.5,3.0,373,5236,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2147,2705,2771,2640,0,0,0,0,0,0,14.97,14.98,14.98,6.29,51.53
$GC,5535,-0.15,0.0,2346,2148,2772,2639,274.4,3.1,388,5536,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2147,2705,2770,2640,0,0,0,0,0,0,14.99,15.00,15.00,6.28,51.69
$GC,5835,-0.15,0.0,2346,2147,2772,2640,264.9,3.2,403,5836,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2147,2705,2771,2640,0,0,0,0,0,0,15.01,15.01,15.02,6.29,51.26
$GC,6135,-0.15,0.0,2347,2147,2772,2640,254.8,3.4,418,6136,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2147,2705,2771,2640,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.53
$STATE,6434,end loiter,LOITER_COMPLETE
$STATE,6434,begin climb
$GC,6435,0.64,146.0,2347,2147,2772,2640,244.1,0.0,433,6575,0.62,2.58,130.62,1.421,11012,0.177,0.070,2608,752,2117,2142,2093,0,0,0,0,0,0,14.70,13.99,13.46,6.28,51.02
$GC,6660,0.64,146.0,2608,753,2136,2084,226.1,10.6,444,6664,0.00,2.47,0.00,0.000,5126,0.000,0.054,2608,2150,2109,2135,2084,0,0,0,0,0,0,14.23,14.17,14.23,6.24,49.84
$GC,6975,0.64,146.0,2610,2150,2132,2075,187.3,11.8,460,6980,0.00,2.53,0.00,0.000,4356,0.000,0.081,2608,3555,2103,2131,2076,0,0,0,0,0,0,14.61,14.33,14.62,6.24,50.90
$GC,7050,0.64,146.0,2608,3556,2132,2077,180.8,10.4,463,7054,0.00,2.38,0.00,0.000,5126,0.000,0.043,2618,2158,2105,2134,2076,0,0,0,0,0,0,14.45,14.38,14.47,6.24,51.22
$GC,7355,0.64,146.0,2618,2157,2130,2073,139.3,13.4,479,7359,0.00,2.50,0.00,0.000,4612,0.000,0.069,2631,744,2101,2129,2074,0,0,0,0,0,0,14.71,14.44,14.71,6.24,50.59
$GC,7390,0.64,146.0,2630,745,2128,2073,136.6,13.5,480,7394,0.05,2.42,0.00,0.000,5126,0.314,0.057,2609,2144,2102,2127,2077,0,0,0,0,0,0,14.34,14.47,14.48,6.24,50.63
$GC,7695,0.64,146.0,2609,2149,2127,2073,97.9,11.3,496,7699,0.00,2.50,0.00,0.000,4356,0.000,0.084,2609,3555,2099,2127,2072,0,0,0,0,0,0,14.77,14.47,14.77,6.23,50.35
$GC,7795,0.64,146.0,2609,3557,2128,2072,86.4,11.2,516,7799,0.00,2.35,0.00,0.000,5126,0.000,0.042,2618,2157,2099,2126,2072,0,0,0,0,0,0,14.57,14.53,14.59,6.22,49.96
$GC,7921,0.64,146.0,2618,2157,2127,2070,72.5,11.5,541,7924,0.00,2.42,0.00,0.000,4612,0.000,0.068,2629,746,2099,2127,2071,0,0,0,0,0,0,14.78,14.54,14.78,6.21,49.48
$GC,7960,0.64,146.0,2629,746,2126,2072,67.9,11.2,549,7964,0.05,2.42,0.00,0.000,5126,0.309,0.056,2609,2156,2098,2125,2071,0,0,0,0,0,0,14.41,14.54,14.55,6.21,49.56
$GC,8085,0.64,146.0,2609,2157,2127,2071,54.1,11.2,574,8090,0.00,2.47,0.00,0.000,4356,0.000,0.084,2609,3549,2099,2126,2072,0,0,0,0,0,0,14.79,14.50,14.79,6.21,49.13
$GC,8125,0.64,146.0,2609,3550,2126,2072,49.5,11.3,582,8130,0.00,2.35,0.00,0.000,5126,0.000,0.044,2617,2154,2098,2126,2071,0,0,0,0,0,0,14.58,14.53,14.59,6.20,49.44
$GC,8251,0.64,146.0,2618,2154,2127,2071,37.0,9.3,607,8254,0.00,2.45,0.00,0.000,4612,0.000,0.068,2628,733,2098,2125,2071,0,0,0,0,0,0,14.79,14.55,14.79,6.20,48.70
$GC,8310,0.64,146.0,2629,733,2126,2070,31.3,9.6,619,8314,0.05,2.42,0.00,0.000,5126,0.310,0.056,2608,2145,2097,2125,2070,0,0,0,0,0,0,14.42,14.55,14.53,6.22,48.77
$GC,8435,0.64,146.0,2609,2146,2126,2070,19.3,9.6,644,8439,0.00,2.50,0.00,0.000,4356,0.000,0.083,2608,3554,2097,2125,2070,0,0,0,0,0,0,14.80,14.50,14.81,6.21,49.25
$GC,8485,0.64,146.0,2609,3554,2126,2070,14.5,9.1,654,8490,0.00,2.38,0.00,0.000,5126,0.000,0.043,2617,2138,2098,2125,2071,0,0,0,0,0,0,14.59,14.54,14.61,6.20,49.52
$STATE,8604,end climb,SURFACE_DEPTH_REACHED
$STATE,8604,begin surface coast
$STATE,8634,end surface coast,CONTROL_FINISHED_OK
$STATE,8634,begin surface
$SM_CCo,8645,65.85,0.242,0,0,1823,220.03
$SM_GC,1.27,5.47,0.00,65.85,0.067,0.000,0.242,263,2137,1823,-6.48,1.05,220.03,0,0,0,0,0,0,14.66,14.81,14.37
$IRIDIUM_FIX,-5949.69,4.28,301218,211829
$TT8_MAMPS,0.03745,0.28462
$HUMID,49.60
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3845600
$24V_AH,13.31,32.906
$10V_AH,13.34,0.000
$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,13.050,87.900,258.400,65.850,0.000,22.927,35.701,104.079,0.000,0.000,14.361,0.000,6877.676,438.189,1578.046,95.902,0.000,1069.538,0.000,1142.108,0.000,0.539,0.000
$DEVICE_MAMPS,367.965,2256.750,1589.670,241.740,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5045.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.839,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,17331,684
$CAP_FILE_SIZE,92777,0
$CFSIZE,1023623168,1005027328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.021,120.48,1
$GPS,311218,022231,-5950.518,5.550,14,0.7,31,-19.8,0.0,83.9,11,8.7