version: 66.14
glider: 640
mission: 5
dive: 166
start: 1 1 119 23 36 56
data:
$ID,640
$MISSION,5
$DIVE,166
$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,49
$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,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
$GPS1,010119,233152,-6000.4111,7.9030,41,0.7,44,-19.8,0.6,234.7,11,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-67.4
$GPS2,010119,233638,-6000.4194,7.8838,9,0.7,13,-19.8,0.6,237.9,11,9.7
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,210.2,36976,-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,10,-0.64,-146.0,221,2082,1800,1824,0.0,0.0,0,100,0.00,0.00,-88.05,0.000,16386,0.000,0.000,222,2082,3201,3281,3122,0,0,0,0,0,0,14.59,28.83,14.59,6.17,50.23
$GC,102,-0.64,-146.0,222,2083,3282,3123,3.4,-6.9,18,117,6.12,2.75,-4.32,0.000,18692,0.366,2.261,2180,3506,3317,3409,3225,0,0,0,0,0,0,14.19,13.43,14.35,6.29,49.29
$GC,255,-0.64,-146.0,2181,3507,3411,3225,27.7,-15.8,49,260,0.00,2.38,0.00,0.000,3078,0.000,0.042,2180,2113,3317,3411,3224,0,0,0,0,0,0,14.45,14.40,14.46,6.30,48.77
$GC,380,-0.64,-146.0,2180,2112,3412,3225,48.0,-14.5,74,385,0.00,2.50,0.00,0.000,2564,0.000,0.065,2180,695,3318,3411,3225,0,0,0,0,0,0,14.65,14.41,14.65,6.30,49.21
$GC,480,-0.64,-146.0,2180,695,3412,3225,62.2,-14.1,94,485,0.05,2.45,0.00,0.000,3078,0.365,0.056,2187,2103,3318,3412,3225,0,0,0,0,0,0,14.26,14.43,14.42,6.30,48.85
$GC,606,-0.64,-146.0,2185,2103,3413,3225,80.5,-15.0,119,610,0.00,2.45,0.00,0.000,2308,0.000,0.083,2176,3506,3321,3417,3225,0,0,0,0,0,0,14.68,14.45,14.69,6.31,48.58
$GC,646,-0.64,-146.0,2176,3507,3412,3226,86.5,-14.8,127,650,0.05,2.38,0.00,0.000,3078,0.369,0.044,2193,2100,3318,3411,3225,0,0,0,0,0,0,14.28,14.47,14.44,6.30,48.54
$GC,781,-0.64,-146.0,2194,2099,3411,3226,106.5,-14.9,148,782,0.00,0.00,0.00,0.000,2054,0.000,0.000,2193,2098,3318,3412,3225,0,0,0,0,0,0,14.71,14.71,14.69,6.30,48.34
$GC,1081,-0.64,-146.0,2194,2099,3412,3225,150.3,-14.2,163,1084,0.00,2.45,0.00,0.000,2564,0.000,0.064,2193,699,3318,3412,3225,0,0,0,0,0,0,14.76,14.51,14.76,6.31,49.48
$GC,1121,-0.64,-146.0,2193,699,3412,3226,156.0,-14.4,165,1124,0.00,2.42,0.00,0.000,3078,0.000,0.057,2187,2103,3323,3421,3225,0,0,0,0,0,0,14.57,14.52,14.59,6.31,49.92
$GC,1440,-0.64,-146.0,2178,2104,3412,3225,201.8,-14.3,181,1444,0.00,2.47,0.00,0.000,2308,0.000,0.083,2167,3501,3318,3412,3225,0,0,0,0,0,0,14.79,14.52,14.79,6.32,50.86
$GC,1511,-0.64,-146.0,2173,3502,3412,3226,210.5,-14.4,184,1516,0.05,2.38,0.00,0.000,3078,0.357,0.043,2185,2086,3314,3404,3225,0,0,0,0,0,0,14.37,14.57,14.53,6.33,50.66
$GC,1820,-0.64,-146.0,2190,2085,3412,3225,253.5,-13.2,200,1824,0.00,2.42,0.00,0.000,2564,0.000,0.064,2189,696,3318,3411,3225,0,0,0,0,0,0,14.81,14.56,14.81,6.33,51.57
$GC,1886,-0.64,-146.0,2189,697,3412,3226,261.3,-13.1,203,1889,0.00,2.42,0.00,0.000,3078,0.000,0.057,2179,2105,3318,3411,3225,0,0,0,0,0,0,14.62,14.56,14.64,6.33,50.82
$GC,2201,-0.64,-146.0,2181,2105,3412,3219,303.4,-13.3,219,2205,0.00,2.47,0.00,0.000,2308,0.000,0.083,2169,3506,3318,3411,3225,0,0,0,0,0,0,14.83,14.55,14.82,6.33,51.06
$GC,2230,-0.64,-146.0,2170,3507,3412,3225,306.1,-13.3,220,2235,0.05,2.35,0.00,0.000,3078,0.355,0.043,2187,2105,3317,3409,3225,0,0,0,0,0,0,14.40,14.59,14.56,6.34,51.57
$GC,2540,-0.64,-146.0,2187,2110,3412,3226,346.5,-12.4,236,2544,0.00,2.45,0.00,0.000,2564,0.000,0.064,2187,701,3318,3411,3225,0,0,0,0,0,0,14.83,14.57,14.83,6.33,51.26
$STATE,2579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2579,begin apogee
$GC,2585,-0.15,0.0,2178,2148,3412,3225,351.6,-12.5,238,2715,0.47,0.00,127.53,1.573,10246,0.272,0.000,2345,2147,2718,2777,2660,0,0,0,0,0,0,14.43,13.93,13.33,6.34,50.98
$STATE,2716,end apogee,CONTROL_FINISHED_OK
$STATE,2716,begin loiter
$GC,3000,-0.15,0.0,2346,2148,2772,2643,347.7,3.4,259,3001,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2147,2707,2771,2643,0,0,0,0,0,0,14.56,14.56,14.56,6.28,50.39
$GC,3300,-0.15,0.0,2345,2148,2771,2642,337.1,3.7,274,3301,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2147,2706,2771,2641,0,0,0,0,0,0,14.70,14.70,14.70,6.29,50.78
$GC,3600,-0.15,0.0,2346,2147,2772,2639,326.0,3.8,289,3601,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2147,2705,2771,2640,0,0,0,0,0,0,14.79,14.79,14.78,6.29,50.70
$GC,3901,-0.15,0.0,2345,2148,2771,2640,314.4,3.8,304,3901,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2147,2704,2770,2639,0,0,0,0,0,0,14.84,14.85,14.85,6.28,51.06
$GC,4200,-0.15,0.0,2346,2146,2772,2638,302.4,4.1,319,4201,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2147,2704,2770,2638,0,0,0,0,0,0,14.89,14.89,14.89,6.28,50.86
$GC,4500,-0.15,0.0,2345,2149,2771,2638,290.1,4.1,334,4501,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2147,2704,2770,2638,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.02
$GC,4800,-0.15,0.0,2346,2148,2772,2638,278.6,3.9,349,4801,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2147,2704,2770,2638,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.49
$GC,5100,-0.15,0.0,2345,2148,2772,2639,267.3,3.6,364,5101,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2147,2704,2770,2638,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.77
$GC,5401,-0.15,0.0,2345,2148,2771,2638,257.0,3.4,379,5401,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2147,2704,2770,2638,0,0,0,0,0,0,14.98,14.99,14.99,6.28,50.94
$GC,5700,-0.15,0.0,2346,2148,2771,2639,247.6,3.1,394,5701,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2147,2704,2770,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.14
$GC,6000,-0.15,0.0,2346,2148,2771,2639,238.5,3.1,409,6001,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2147,2704,2771,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.69
$GC,6300,-0.15,0.0,2346,2148,2772,2638,229.8,2.8,424,6301,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2147,2704,2771,2637,0,0,0,0,0,0,15.03,15.02,15.03,6.28,51.22
$STATE,6319,end loiter,LOITER_COMPLETE
$STATE,6319,begin climb
$GC,6320,0.64,146.0,2345,2148,2772,2639,229.2,0.0,425,6458,0.62,2.58,130.35,1.408,10500,0.181,0.083,2595,3561,2117,2142,2093,0,0,0,0,0,0,14.68,13.90,13.46,6.28,51.10
$GC,6467,0.69,188.9,2595,3562,2142,2093,222.5,6.7,431,6512,0.00,2.45,40.75,1.355,11270,0.000,0.044,2606,2158,1949,1971,1927,0,0,0,0,0,0,14.09,14.05,13.41,6.25,49.29
$GC,6812,0.69,188.9,2606,2159,1955,1906,174.2,13.8,448,6816,0.00,2.55,0.00,0.000,2564,0.000,0.071,2617,742,1932,1959,1905,0,0,0,0,0,0,14.53,14.27,14.53,6.22,50.07
$GC,6847,0.69,188.9,2617,743,1957,1906,171.5,13.7,449,6851,0.00,2.47,0.00,0.000,3078,0.000,0.055,2617,2154,1930,1956,1905,0,0,0,0,0,0,14.36,14.31,14.38,6.22,50.23
$GC,7152,0.69,188.9,2617,2155,1957,1911,124.8,14.4,465,7156,0.00,2.50,0.00,0.000,2308,0.000,0.083,2617,3553,1928,1955,1902,0,0,0,0,0,0,14.66,14.40,14.66,6.22,50.66
$GC,7207,0.69,188.9,2617,3554,1956,1903,119.1,14.3,467,7212,0.00,2.38,0.00,0.000,5126,0.000,0.045,2627,2147,1928,1955,1902,0,0,0,0,0,0,14.49,14.44,14.51,6.22,50.82
$GC,7512,0.69,188.9,2628,2147,1954,1900,74.3,13.4,510,7516,0.00,2.47,0.00,0.000,4612,0.000,0.070,2639,751,1927,1954,1900,0,0,0,0,0,0,14.73,14.46,14.73,6.21,49.52
$GC,7582,0.69,188.9,2639,752,1952,1901,65.8,11.3,524,7587,0.05,2.42,0.00,0.000,5126,0.311,0.055,2620,2154,1925,1952,1899,0,0,0,0,0,0,14.35,14.49,14.49,6.20,50.07
$GC,7708,0.69,188.9,2620,2155,1953,1899,50.1,13.0,549,7711,0.00,2.45,0.00,0.000,260,0.000,0.084,2620,3555,1925,1952,1899,0,0,0,0,0,0,14.73,14.50,14.74,6.19,48.93
$GC,7742,0.69,188.9,2620,3556,1952,1900,45.5,12.8,556,7746,0.00,2.38,0.00,0.000,5126,0.000,0.044,2629,2153,1925,1952,1899,0,0,0,0,0,0,14.57,14.52,14.59,6.18,48.93
$GC,7868,0.69,188.9,2629,2153,1952,1900,30.4,12.4,581,7871,0.00,2.45,0.00,0.000,4612,0.000,0.070,2640,737,1925,1951,1899,0,0,0,0,0,0,14.75,14.52,14.75,6.19,48.62
$GC,7902,0.69,188.9,2641,738,1952,1898,26.1,11.9,588,7907,0.05,2.42,0.00,0.000,5126,0.304,0.054,2621,2144,1924,1951,1898,0,0,0,0,0,0,14.38,14.52,14.52,6.19,48.93
$GC,8028,0.69,188.9,2622,2145,1952,1898,12.3,9.4,613,8032,0.00,2.47,0.00,0.000,260,0.000,0.082,2621,3556,1924,1951,1898,0,0,0,0,0,0,14.76,14.52,14.76,6.19,49.40
$GC,8077,0.69,188.9,2621,3558,1950,1899,6.5,12.8,623,8082,0.00,2.38,0.00,0.000,5126,0.000,0.046,2630,2146,1924,1951,1898,0,0,0,0,0,0,14.59,14.54,14.61,6.19,50.07
$STATE,8106,end climb,SURFACE_DEPTH_REACHED
$STATE,8106,begin surface coast
$STATE,8131,end surface coast,CONTROL_FINISHED_OK
$STATE,8131,begin surface
$SM_CCo,8143,23.85,0.249,0,0,1822,220.03
$SM_GC,1.07,5.43,0.05,23.85,0.040,0.208,0.249,240,2069,1822,-6.49,1.07,220.03,0,0,0,0,0,0,14.64,14.57,14.38
$IRIDIUM_FIX,-5959.31,4.30,010119,210409
$TT8_MAMPS,0.038199,0.297353
$HUMID,49.88
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3835872
$24V_AH,13.33,36.266
$10V_AH,13.31,0.000
$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,12.950,73.700,298.625,23.850,0.000,30.838,36.339,107.192,0.000,0.000,14.164,0.000,6492.294,405.050,1460.970,99.577,0.000,985.686,0.000,1033.733,0.000,0.540,0.000
$DEVICE_MAMPS,368.730,2260.575,1572.840,249.390,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4523.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.929,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17334,634
$CAP_FILE_SIZE,85167,0
$CFSIZE,1023623168,1003159552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.061,187.92,1
$GPS,020119,015401,-6001.077,7.763,16,0.8,34,-19.8,0.0,138.9,10,6.4