version: 66.14
glider: 640
mission: 5
dive: 170
start: 1 2 119 9 37 34
data:
$ID,640
$MISSION,5
$DIVE,170
$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,32
$R_STBD_OVSHOOT,32
$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
$GPS1,020119,093231,-6002.4556,8.0541,23,0.9,40,-19.8,0.0,61.9,9,5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-65.2
$GPS2,020119,093716,-6002.4194,8.0646,9,0.9,14,-19.8,0.9,263.3,10,9.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,214.5,33388,-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,-146.0,225,2114,1796,1826,0.0,0.0,0,95,0.00,0.00,-83.15,0.000,16386,0.000,0.000,225,2121,3131,3210,3052,0,0,0,0,0,0,14.62,28.83,14.62,6.17,50.07
$GC,97,-0.64,-146.0,225,2116,3214,3051,3.4,-6.0,17,115,6.07,2.70,-7.05,0.000,18692,0.365,2.271,2169,3496,3318,3413,3223,0,0,0,0,0,0,14.20,13.35,14.38,6.28,50.00
$GC,170,-0.64,-146.0,2169,3498,3414,3225,16.0,-16.9,32,175,0.05,2.38,0.00,0.000,3078,0.343,0.044,2187,2100,3319,3414,3224,0,0,0,0,0,0,14.23,14.39,14.37,6.30,48.58
$GC,296,-0.64,-146.0,2187,2100,3415,3225,37.0,-17.2,57,299,0.00,2.42,0.00,0.000,2564,0.000,0.065,2190,694,3321,3418,3224,0,0,0,0,0,0,14.65,14.42,14.65,6.30,48.93
$GC,345,-0.64,-146.0,2188,695,3415,3224,45.1,-15.4,67,349,0.03,2.42,0.00,0.000,3078,0.453,0.057,2186,2092,3318,3413,3224,0,0,0,0,0,0,14.23,14.42,14.39,6.30,49.37
$GC,471,-0.64,-146.0,2186,2093,3415,3225,62.9,-14.4,92,474,0.00,2.42,0.00,0.000,2564,0.000,0.065,2185,687,3319,3414,3224,0,0,0,0,0,0,14.69,14.45,14.69,6.30,49.84
$GC,535,-0.64,-146.0,2185,688,3415,3225,72.4,-13.3,105,539,0.05,2.45,0.00,0.000,3078,0.360,0.057,2192,2102,3319,3414,3224,0,0,0,0,0,0,14.28,14.45,14.43,6.31,49.09
$GC,661,-0.64,-146.0,2192,2102,3414,3225,89.3,-13.7,130,665,0.00,2.45,0.00,0.000,2308,0.000,0.085,2182,3505,3319,3414,3225,0,0,0,0,0,0,14.71,14.46,14.71,6.30,48.66
$GC,715,-0.64,-146.0,2182,3505,3415,3225,97.0,-14.0,141,719,0.00,2.38,0.00,0.000,3078,0.000,0.043,2182,2100,3319,3414,3224,0,0,0,0,0,0,14.54,14.49,14.56,6.30,48.66
$GC,855,-0.64,-146.0,2183,2098,3415,3224,118.9,-15.9,151,859,0.00,2.47,0.00,0.000,2564,0.000,0.066,2182,689,3319,3414,3225,0,0,0,0,0,0,14.74,14.47,14.74,6.30,48.93
$GC,945,-0.64,-146.0,2183,689,3425,3225,131.1,-15.2,155,949,0.05,2.45,0.00,0.000,3078,0.348,0.058,2189,2104,3319,3414,3225,0,0,0,0,0,0,14.33,14.50,14.48,6.30,48.74
$GC,1255,-0.64,-146.0,2189,2105,3415,3224,173.3,-13.2,171,1260,0.00,2.47,0.00,0.000,2564,0.000,0.065,2188,689,3319,3414,3224,0,0,0,0,0,0,14.78,14.52,14.78,6.31,50.55
$GC,1290,-0.64,-146.0,2189,688,3415,3223,176.1,-13.4,172,1294,0.03,2.42,0.00,0.000,3078,0.454,0.057,2187,2096,3319,3414,3224,0,0,0,0,0,0,14.34,14.53,14.50,6.30,50.35
$GC,1595,-0.64,-146.0,2187,2096,3415,3224,218.5,-13.2,188,1599,0.00,2.47,0.00,0.000,2308,0.000,0.083,2176,3500,3318,3413,3224,0,0,0,0,0,0,14.81,14.53,14.81,6.32,51.10
$GC,1640,-0.64,-146.0,2177,3501,3415,3224,223.9,-13.3,190,1645,0.05,2.35,0.00,0.000,3078,0.350,0.042,2194,2097,3319,3414,3224,0,0,0,0,0,0,14.38,14.57,14.54,6.32,50.70
$GC,1955,-0.64,-146.0,2194,2096,3414,3225,264.6,-12.9,206,1959,0.00,2.42,0.00,0.000,516,0.000,0.065,2194,702,3319,3414,3224,0,0,0,0,0,0,14.82,14.56,14.83,6.33,51.10
$GC,2025,-0.64,-146.0,2194,702,3418,3224,272.3,-12.8,209,2030,0.00,2.40,0.00,0.000,3078,0.000,0.057,2185,2099,3319,3414,3224,0,0,0,0,0,0,14.62,14.57,14.65,6.33,50.78
$GC,2335,-0.64,-146.0,2185,2100,3414,3225,313.5,-13.1,225,2339,0.00,2.47,0.00,0.000,2308,0.000,0.083,2174,3503,3319,3414,3224,0,0,0,0,0,0,14.83,14.56,14.83,6.33,51.37
$GC,2395,-0.64,-146.0,2174,3504,3414,3225,321.4,-13.2,228,2399,0.05,2.35,0.00,0.000,3078,0.347,0.042,2192,2095,3318,3413,3224,0,0,0,0,0,0,14.40,14.60,14.56,6.34,51.18
$STATE,2634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2634,begin apogee
$GC,2637,-0.15,0.0,2193,2165,3415,3224,351.0,-12.2,240,2768,0.43,0.00,127.72,1.592,10246,0.262,0.000,2346,2164,2718,2777,2660,0,0,0,0,0,0,14.46,13.91,13.31,6.34,51.14
$STATE,2769,end apogee,CONTROL_FINISHED_OK
$STATE,2769,begin loiter
$GC,3055,-0.15,0.0,2346,2165,2772,2643,347.4,3.4,261,3056,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2707,2771,2643,0,0,0,0,0,0,14.56,14.56,14.56,6.28,50.78
$GC,3355,-0.15,0.0,2346,2165,2771,2642,337.4,3.3,276,3356,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2165,2705,2770,2641,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.66
$GC,3655,-0.15,0.0,2347,2164,2772,2640,327.7,3.3,291,3656,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2705,2771,2640,0,0,0,0,0,0,14.79,14.79,14.79,6.28,51.73
$GC,3955,-0.15,0.0,2346,2165,2772,2641,318.5,3.0,306,3956,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2705,2771,2639,0,0,0,0,0,0,14.85,14.85,14.85,6.28,50.90
$GC,4255,-0.15,0.0,2346,2165,2771,2639,310.4,2.6,321,4256,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2705,2771,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.06
$GC,4555,-0.15,0.0,2346,2165,2772,2639,302.7,2.5,336,4556,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2705,2771,2639,0,0,0,0,0,0,14.92,14.93,14.93,6.29,51.06
$GC,4855,-0.15,0.0,2346,2165,2772,2638,295.3,2.4,351,4856,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2704,2771,2638,0,0,0,0,0,0,14.95,14.96,14.96,6.28,51.02
$GC,5155,-0.15,0.0,2346,2165,2772,2638,288.0,2.5,366,5156,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2704,2771,2638,0,0,0,0,0,0,14.97,14.98,14.98,6.28,52.00
$GC,5455,-0.15,0.0,2346,2166,2771,2639,280.5,2.5,381,5456,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2704,2771,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.14
$GC,5755,-0.15,0.0,2346,2165,2771,2638,272.4,2.8,396,5756,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2704,2771,2638,0,0,0,0,0,0,15.01,15.01,15.01,6.28,51.96
$GC,6055,-0.15,0.0,2345,2166,2771,2640,263.5,2.9,411,6056,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2164,2704,2771,2638,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.57
$STATE,6354,end loiter,LOITER_COMPLETE
$STATE,6354,begin climb
$GC,6355,0.64,146.0,2346,2165,2772,2638,254.4,0.0,426,6495,0.62,2.60,130.38,1.431,11012,0.180,0.068,2606,754,2117,2142,2093,0,0,0,0,0,0,14.69,13.99,13.45,6.28,51.45
$GC,6575,0.64,146.0,2606,755,2136,2085,237.4,10.2,437,6579,0.00,2.45,0.00,0.000,5126,0.000,0.054,2607,2139,2110,2135,2085,0,0,0,0,0,0,14.21,14.15,14.22,6.24,49.13
$GC,6895,0.64,146.0,2608,2139,2133,2077,197.0,13.0,453,6900,0.00,2.55,0.00,0.000,4356,0.000,0.083,2607,3559,2104,2132,2077,0,0,0,0,0,0,14.62,14.33,14.62,6.24,50.43
$GC,6985,0.64,146.0,2607,3560,2132,2087,186.7,12.8,457,6989,0.00,2.38,0.00,0.000,5126,0.000,0.043,2617,2162,2104,2131,2077,0,0,0,0,0,0,14.44,14.39,14.45,6.24,50.90
$GC,7295,0.64,146.0,2618,2162,2131,2075,143.9,13.8,473,7299,0.00,2.53,0.00,0.000,4612,0.000,0.068,2628,707,2102,2129,2075,0,0,0,0,0,0,14.72,14.45,14.72,6.23,51.06
$GC,7355,0.64,146.0,2629,713,2128,2076,135.9,13.4,476,7359,0.05,2.50,0.00,0.000,5126,0.316,0.056,2609,2157,2100,2127,2074,0,0,0,0,0,0,14.32,14.45,14.45,6.24,51.06
$GC,7661,0.64,146.0,2609,2157,2128,2073,99.2,10.7,492,7664,0.00,2.45,0.00,0.000,4356,0.000,0.083,2609,3562,2100,2127,2073,0,0,0,0,0,0,14.77,14.52,14.77,6.22,50.39
$GC,7735,0.64,146.0,2609,3563,2128,2075,90.8,10.3,507,7739,0.00,2.38,0.00,0.000,5126,0.000,0.043,2618,2149,2100,2127,2074,0,0,0,0,0,0,14.57,14.53,14.58,6.22,49.96
$GC,7861,0.64,146.0,2619,2150,2128,2073,77.9,10.8,532,7864,0.00,2.42,0.00,0.000,4612,0.000,0.068,2629,744,2100,2127,2073,0,0,0,0,0,0,14.78,14.54,14.78,6.21,49.56
$GC,7905,0.64,146.0,2629,743,2126,2073,73.1,10.2,541,7909,0.05,2.40,0.00,0.000,5126,0.311,0.054,2608,2143,2099,2126,2072,0,0,0,0,0,0,14.38,14.54,14.52,6.21,49.37
$GC,8030,0.64,146.0,2609,2143,2127,2072,59.7,11.2,566,8035,0.00,2.50,0.00,0.000,4356,0.000,0.083,2608,3554,2099,2126,2072,0,0,0,0,0,0,14.79,14.52,14.79,6.21,49.01
$GC,8070,0.64,146.0,2608,3554,2126,2073,55.0,11.3,574,8075,0.00,2.35,0.00,0.000,5126,0.000,0.044,2618,2152,2099,2126,2072,0,0,0,0,0,0,14.60,14.56,14.63,6.20,49.37
$GC,8196,0.64,146.0,2618,2153,2126,2072,41.7,9.0,599,8199,0.00,2.45,0.00,0.000,4612,0.000,0.067,2628,734,2100,2129,2072,0,0,0,0,0,0,14.80,14.55,14.80,6.20,48.74
$GC,8275,0.64,146.0,2629,734,2126,2071,34.7,9.1,615,8279,0.05,2.42,0.00,0.000,5126,0.313,0.054,2608,2150,2098,2125,2071,0,0,0,0,0,0,14.38,14.52,14.53,6.20,48.85
$GC,8401,0.64,146.0,2609,2150,2126,2071,22.9,9.3,640,8404,0.00,2.45,0.00,0.000,4356,0.000,0.085,2608,3558,2098,2125,2071,0,0,0,0,0,0,14.80,14.54,14.81,6.20,49.52
$GC,8465,0.70,196.5,2609,3558,2126,2072,17.7,6.4,653,8515,0.00,2.35,43.28,0.324,11270,0.000,0.042,2617,2154,1913,1933,1893,0,0,0,0,0,0,14.59,14.55,14.32,6.20,50.03
$STATE,8604,end climb,SURFACE_DEPTH_REACHED
$STATE,8604,begin surface coast
$STATE,8624,end surface coast,CONTROL_FINISHED_OK
$STATE,8624,begin surface
$SM_CCo,8636,20.67,0.249,0,0,1821,220.03
$SM_GC,1.05,5.38,0.08,20.67,0.038,0.184,0.249,241,2088,1821,-6.46,1.05,220.03,0,0,0,0,0,0,14.61,14.51,14.35
$IRIDIUM_FIX,-6006.55,-130.67,020119,065958
$TT8_MAMPS,0.038948,0.335552
$HUMID,49.52
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3833824
$24V_AH,13.31,36.965
$10V_AH,13.62,0.000
$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,12.950,83.275,301.375,20.675,0.000,23.269,28.151,116.375,0.000,0.000,15.370,0.000,6842.478,413.036,1584.948,105.364,0.000,1050.541,0.000,1143.514,0.000,0.539,0.000
$DEVICE_MAMPS,453.645,2271.285,1591.965,248.625,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5034.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.783,0.000,0.000,0.000
$MEM,344104
$DATA_FILE_SIZE,17320,685
$CAP_FILE_SIZE,92285,0
$CFSIZE,1023623168,1002766336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.035,215.84,1
$GPS,020119,120319,-6002.905,7.842,35,0.8,65,-19.8,0.8,234.5,12,9.5