version: 66.14
glider: 640
mission: 5
dive: 177
start: 1 3 119 3 14 29
data:
$ID,640
$MISSION,5
$DIVE,177
$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,56
$R_STBD_OVSHOOT,26
$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
$GPS1,030119,030901,-6006.0391,7.4504,18,0.7,41,-19.8,0.5,319.4,11,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-63.9
$GPS2,030119,031410,-6006.0757,7.4540,9,0.7,14,-19.8,0.9,347.8,11,9.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,208.0,26678,-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,-146.0,234,2076,1799,1822,0.0,0.0,0,101,0.00,0.00,-88.43,0.000,16386,0.000,0.000,233,2075,3194,3273,3116,0,0,0,0,0,0,14.60,28.83,14.61,6.17,50.23
$GC,103,-0.64,-146.0,234,2077,3277,3115,3.1,-5.8,18,121,6.05,2.75,-4.85,0.000,19204,0.364,2.255,2172,3513,3317,3410,3224,0,0,0,0,0,0,14.18,13.43,14.35,6.28,49.29
$GC,251,-0.64,-146.0,2173,3514,3413,3225,31.3,-15.8,48,256,0.05,2.38,0.00,0.000,3078,0.348,0.041,2189,2120,3318,3412,3225,0,0,0,0,0,0,14.22,14.40,14.37,6.30,48.74
$GC,377,-0.64,-146.0,2190,2120,3412,3226,52.4,-16.4,73,380,0.00,2.47,0.00,0.000,2564,0.000,0.067,2189,693,3318,3412,3225,0,0,0,0,0,0,14.64,14.42,14.64,6.30,49.21
$GC,461,-0.64,-146.0,2189,693,3412,3226,65.0,-14.1,90,465,0.00,2.45,0.00,0.000,3078,0.000,0.056,2180,2114,3318,3412,3225,0,0,0,0,0,0,14.48,14.43,14.51,6.29,49.72
$GC,587,-0.64,-146.0,2180,2109,3412,3227,84.0,-15.6,115,590,0.00,2.42,0.00,0.000,2308,0.000,0.081,2169,3497,3318,3412,3225,0,0,0,0,0,0,14.69,14.45,14.67,6.29,48.89
$GC,611,-0.64,-146.0,2170,3498,3413,3225,88.0,-16.0,120,616,0.05,2.38,0.00,0.000,3078,0.351,0.044,2187,2100,3318,3412,3225,0,0,0,0,0,0,14.28,14.47,14.44,6.29,49.09
$GC,736,-0.64,-146.0,2188,2097,3413,3225,106.2,-14.4,139,740,0.00,2.47,0.00,0.000,2564,0.000,0.066,2187,691,3318,3412,3225,0,0,0,0,0,0,14.72,14.46,14.72,6.30,48.34
$GC,801,-0.64,-146.0,2187,692,3412,3226,114.8,-14.3,142,806,0.03,2.42,0.00,0.000,3078,0.459,0.057,2185,2093,3318,3412,3225,0,0,0,0,0,0,14.29,14.47,14.45,6.29,48.66
$GC,1116,-0.64,-146.0,2186,2094,3413,3225,156.0,-12.6,158,1120,0.00,2.50,0.00,0.000,2308,0.000,0.081,2175,3510,3318,3412,3225,0,0,0,0,0,0,14.77,14.50,14.76,6.30,49.88
$GC,1171,-0.64,-146.0,2174,3511,3412,3226,161.1,-12.7,160,1175,0.05,2.38,0.00,0.000,3078,0.361,0.043,2192,2096,3318,3412,3225,0,0,0,0,0,0,14.33,14.54,14.50,6.30,50.00
$GC,1476,-0.64,-146.0,2192,2095,3412,3225,201.8,-12.8,176,1480,0.00,2.42,0.00,0.000,2564,0.000,0.065,2192,705,3318,3411,3225,0,0,0,0,0,0,14.80,14.54,14.80,6.31,50.63
$GC,1526,-0.64,-146.0,2192,705,3412,3226,207.0,-12.9,178,1530,0.00,2.40,0.00,0.000,3078,0.000,0.056,2182,2102,3318,3412,3225,0,0,0,0,0,0,14.60,14.54,14.62,6.31,50.86
$GC,1836,-0.64,-146.0,2182,2102,3413,3224,249.1,-13.3,194,1841,0.00,2.47,0.00,0.000,2308,0.000,0.082,2172,3506,3318,3411,3225,0,0,0,0,0,0,14.81,14.54,14.82,6.33,51.29
$GC,1876,-0.64,-146.0,2172,3506,3412,3224,254.5,-13.4,196,1881,0.05,2.35,0.00,0.000,3078,0.350,0.043,2189,2103,3318,3411,3225,0,0,0,0,0,0,14.38,14.58,14.54,6.32,51.22
$GC,2196,-0.64,-146.0,2189,2103,3413,3225,295.1,-12.8,212,2200,0.00,2.45,0.00,0.000,2564,0.000,0.064,2188,696,3318,3411,3225,0,0,0,0,0,0,14.83,14.57,14.83,6.33,51.10
$GC,2266,-0.64,-146.0,2188,697,3412,3226,302.9,-13.1,215,2270,0.00,2.40,0.00,0.000,3078,0.000,0.055,2179,2099,3318,3411,3225,0,0,0,0,0,0,14.64,14.57,14.65,6.33,51.73
$GC,2576,-0.64,-146.0,2180,2099,3412,3225,343.8,-12.8,231,2580,0.00,2.45,0.00,0.000,2308,0.000,0.081,2168,3496,3318,3411,3225,0,0,0,0,0,0,14.84,14.56,14.84,6.33,51.22
$GC,2621,-0.64,-146.0,2169,3496,3412,3226,349.0,-12.9,233,2625,0.05,2.33,0.00,0.000,3078,0.360,0.042,2186,2101,3318,3411,3225,0,0,0,0,0,0,14.44,14.61,14.57,6.34,51.29
$STATE,2635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2635,begin apogee
$GC,2638,-0.15,0.0,2187,2155,3412,3226,351.6,-13.0,234,2770,0.45,0.00,128.18,1.597,10246,0.269,0.000,2347,2154,2716,2775,2657,0,0,0,0,0,0,14.44,13.93,13.33,6.33,51.33
$STATE,2771,end apogee,CONTROL_FINISHED_OK
$STATE,2771,begin loiter
$GC,3056,-0.15,0.0,2348,2155,2772,2643,347.7,3.3,255,3057,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2155,2707,2771,2643,0,0,0,0,0,0,14.56,14.56,14.56,6.29,50.94
$GC,3356,-0.15,0.0,2348,2156,2772,2643,337.8,3.4,270,3357,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2155,2706,2771,2642,0,0,0,0,0,0,14.70,14.71,14.71,6.29,51.06
$GC,3656,-0.15,0.0,2348,2155,2771,2641,328.1,3.1,285,3657,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2154,2706,2771,2641,0,0,0,0,0,0,14.79,14.79,14.79,6.29,51.10
$GC,3956,-0.15,0.0,2347,2155,2772,2640,318.9,3.1,300,3957,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2155,2705,2771,2640,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.02
$GC,4256,-0.15,0.0,2348,2155,2771,2641,309.4,3.1,315,4257,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2154,2705,2771,2640,0,0,0,0,0,0,14.90,14.90,14.90,6.29,50.98
$GC,4556,-0.15,0.0,2348,2155,2771,2641,300.4,3.1,330,4557,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2155,2705,2771,2640,0,0,0,0,0,0,14.92,14.93,14.93,6.28,51.06
$GC,4856,-0.15,0.0,2348,2155,2772,2640,292.0,2.8,345,4857,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2154,2705,2771,2640,0,0,0,0,0,0,14.95,14.96,14.95,6.28,51.29
$GC,5156,-0.15,0.0,2348,2155,2771,2642,284.1,2.5,360,5157,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2154,2705,2771,2640,0,0,0,0,0,0,14.98,14.98,14.98,6.28,50.94
$GC,5456,-0.15,0.0,2347,2155,2772,2642,277.1,2.3,375,5457,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2154,2706,2771,2641,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.61
$GC,5756,-0.15,0.0,2348,2155,2772,2642,270.2,2.3,390,5757,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2154,2706,2771,2641,0,0,0,0,0,0,15.01,15.01,15.01,6.28,51.18
$GC,6056,-0.15,0.0,2348,2155,2772,2641,263.3,2.4,405,6057,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2154,2706,2771,2642,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.45
$STATE,6355,end loiter,LOITER_COMPLETE
$STATE,6355,begin climb
$GC,6356,0.64,146.0,2348,2155,2772,2642,256.0,0.0,420,6497,0.62,2.58,131.02,1.441,10500,0.184,0.080,2596,3546,2118,2144,2093,0,0,0,0,0,0,14.68,13.98,13.45,6.29,51.37
$GC,6576,0.64,146.0,2597,3546,2142,2085,239.1,10.9,431,6580,0.00,2.40,0.00,0.000,5126,0.000,0.042,2607,2157,2112,2140,2085,0,0,0,0,0,0,14.21,14.16,14.22,6.24,48.89
$GC,6896,0.64,146.0,2607,2157,2135,2077,201.2,12.1,447,6901,0.00,2.53,0.00,0.000,4612,0.000,0.068,2619,742,2105,2134,2076,0,0,0,0,0,0,14.62,14.33,14.61,6.24,50.90
$GC,6936,0.64,146.0,2619,743,2132,2077,196.5,12.1,449,6941,0.00,2.42,0.00,0.000,5126,0.000,0.054,2619,2138,2103,2131,2076,0,0,0,0,0,0,14.42,14.38,14.47,6.24,51.06
$GC,7256,0.64,146.0,2619,2139,2131,2076,155.0,12.9,465,7260,0.00,2.53,0.00,0.000,4356,0.000,0.083,2619,3552,2102,2130,2074,0,0,0,0,0,0,14.71,14.42,14.71,6.24,50.51
$GC,7376,0.64,146.0,2619,3554,2132,2075,140.5,11.6,471,7381,0.05,2.38,0.00,0.000,5126,0.339,0.043,2610,2149,2102,2130,2074,0,0,0,0,0,0,14.31,14.47,14.45,6.23,50.39
$GC,7696,0.64,146.0,2610,2150,2130,2073,102.6,11.9,487,7700,0.00,2.47,0.00,0.000,4612,0.000,0.067,2620,745,2100,2129,2072,0,0,0,0,0,0,14.78,14.50,14.78,6.22,50.27
$GC,7776,0.64,146.0,2620,745,2128,2072,94.2,10.0,497,7781,0.03,2.40,0.00,0.000,5126,0.412,0.053,2609,2145,2099,2127,2072,0,0,0,0,0,0,14.35,14.52,14.50,6.22,50.35
$GC,7902,0.64,146.0,2609,2146,2128,2073,81.1,10.9,522,7906,0.00,2.47,0.00,0.000,4356,0.000,0.083,2609,3565,2099,2127,2072,0,0,0,0,0,0,14.78,14.52,14.78,6.22,49.33
$GC,7936,0.64,146.0,2610,3566,2128,2072,77.0,11.4,529,7941,0.00,2.38,0.00,0.000,5126,0.000,0.044,2618,2152,2099,2127,2072,0,0,0,0,0,0,14.58,14.54,14.61,6.21,49.33
$GC,8062,0.64,146.0,2618,2153,2128,2072,63.5,10.5,554,8065,0.00,2.45,0.00,0.000,4612,0.000,0.068,2629,734,2099,2127,2072,0,0,0,0,0,0,14.79,14.54,14.79,6.21,49.37
$GC,8106,0.64,146.0,2630,734,2128,2071,58.7,10.2,563,8112,0.05,2.42,0.00,0.000,5126,0.310,0.055,2609,2150,2098,2126,2071,0,0,0,0,0,0,14.38,14.52,14.52,6.21,49.21
$GC,8232,0.64,146.0,2608,2151,2127,2072,46.8,9.7,588,8236,0.00,2.45,0.00,0.000,4356,0.000,0.083,2609,3558,2098,2126,2071,0,0,0,0,0,0,14.79,14.54,14.79,6.20,48.89
$GC,8271,0.64,146.0,2609,3558,2127,2072,42.8,9.6,596,8275,0.00,2.38,0.00,0.000,5126,0.000,0.043,2618,2144,2098,2126,2071,0,0,0,0,0,0,14.62,14.57,14.63,6.20,49.60
$GC,8397,0.64,146.0,2618,2144,2128,2070,31.8,9.0,621,8401,0.00,2.47,0.00,0.000,4356,0.000,0.082,2618,3560,2098,2126,2071,0,0,0,0,0,0,14.80,14.54,14.80,6.20,49.01
$GC,8446,0.64,146.0,2619,3560,2128,2071,26.8,10.1,631,8451,0.05,2.38,0.00,0.000,5126,0.332,0.043,2609,2145,2098,2126,2071,0,0,0,0,0,0,14.37,14.54,14.52,6.20,49.84
$GC,8571,0.64,146.0,2609,2146,2127,2071,15.2,9.3,656,8575,0.00,2.45,0.00,0.000,4612,0.000,0.066,2619,747,2094,2119,2070,0,0,0,0,0,0,14.81,14.54,14.80,6.20,49.72
$GC,8611,0.64,146.0,2619,747,2127,2069,11.9,8.8,664,8615,0.00,2.42,0.00,0.000,5126,0.000,0.058,2619,2154,2097,2125,2070,0,0,0,0,0,0,14.61,14.55,14.63,6.20,50.35
$STATE,8720,end climb,SURFACE_DEPTH_REACHED
$STATE,8720,begin surface coast
$STATE,8745,end surface coast,CONTROL_FINISHED_OK
$STATE,8745,begin surface
$SM_CCo,8757,66.30,0.246,0,0,1822,220.03
$SM_GC,1.17,5.53,0.08,66.30,0.080,0.164,0.246,274,2081,1822,-6.44,1.13,220.03,0,0,0,0,0,0,14.66,14.59,14.36
$IRIDIUM_FIX,-6005.20,4.31,030119,004018
$TT8_MAMPS,0.038948,0.375249
$HUMID,49.48
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3830240
$24V_AH,13.33,38.235
$10V_AH,13.64,0.000
$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,13.100,88.025,259.200,66.300,0.000,28.181,44.766,113.215,0.000,0.000,15.350,0.000,6945.791,435.769,1645.129,109.656,0.000,1083.519,0.000,1173.001,0.000,0.539,0.000
$DEVICE_MAMPS,459.000,2255.220,1596.555,245.565,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5157.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.695,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,17325,691
$CAP_FILE_SIZE,95349,0
$CFSIZE,1023623168,1002078208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.055,173.46,1
$GPS,030119,054248,-6006.677,7.444,13,2.7,53,-19.8,0.8,340.7,4,10.6