version: 66.14
glider: 640
mission: 5
dive: 182
start: 1 3 119 16 3 22
data:
$ID,640
$MISSION,5
$DIVE,182
$N_DIVES,300
$STOP_T,1101912
$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,24
$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
$GPS1,030119,155735,-6008.4033,6.5769,16,0.8,37,-19.8,1.1,87.6,10,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-60.4
$GPS2,030119,160304,-6008.4258,6.5682,8,0.8,15,-19.8,0.4,295.1,10,9.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,207.2,22265,-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,-146.0,233,2102,1677,1690,0.0,0.0,0,105,0.00,0.00,-92.90,0.000,16386,0.000,0.000,233,2102,3136,3214,3059,0,0,0,0,0,0,14.52,28.83,14.53,6.16,50.35
$GC,107,-0.64,-146.0,234,2102,3215,3060,3.2,-5.7,19,125,6.10,2.75,-6.93,0.000,18692,0.369,2.262,2170,3501,3318,3411,3225,0,0,0,0,0,0,14.12,13.31,14.30,6.28,49.52
$GC,240,-0.64,-146.0,2170,3504,3413,3226,25.6,-15.4,46,245,0.05,2.40,0.00,0.000,3078,0.357,0.044,2188,2088,3319,3412,3226,0,0,0,0,0,0,14.19,14.35,14.33,6.30,48.34
$GC,366,-0.64,-146.0,2188,2086,3413,3226,46.3,-16.7,71,369,0.00,2.42,0.00,0.000,2564,0.000,0.067,2187,696,3319,3412,3226,0,0,0,0,0,0,14.62,14.39,14.62,6.30,49.48
$GC,470,-0.64,-146.0,2188,697,3413,3226,63.9,-15.4,92,474,0.03,2.45,0.00,0.000,3078,0.463,0.056,2185,2103,3319,3412,3226,0,0,0,0,0,0,14.23,14.40,14.39,6.30,49.56
$GC,596,-0.64,-146.0,2185,2103,3413,3226,83.1,-15.6,117,600,0.00,2.45,0.00,0.000,2308,0.000,0.083,2175,3506,3319,3412,3226,0,0,0,0,0,0,14.66,14.42,14.67,6.31,49.25
$GC,635,-0.64,-146.0,2176,3506,3413,3225,89.4,-15.7,125,640,0.05,2.38,0.00,0.000,3078,0.360,0.044,2192,2108,3318,3412,3225,0,0,0,0,0,0,14.26,14.45,14.42,6.30,49.52
$GC,770,-0.64,-146.0,2190,2108,3412,3227,108.6,-13.9,143,774,0.00,2.50,0.00,0.000,2564,0.000,0.067,2192,692,3319,3412,3226,0,0,0,0,0,0,14.71,14.45,14.71,6.30,49.40
$GC,835,-0.64,-146.0,2193,692,3413,3226,117.0,-14.1,146,839,0.00,2.45,0.00,0.000,3078,0.000,0.057,2182,2103,3319,3412,3226,0,0,0,0,0,0,14.52,14.46,14.54,6.30,48.62
$GC,1150,-0.64,-146.0,2183,2104,3413,3227,160.0,-13.5,162,1154,0.00,2.45,0.00,0.000,2308,0.000,0.083,2172,3508,3319,3412,3226,0,0,0,0,0,0,14.76,14.50,14.76,6.29,49.48
$GC,1180,-0.64,-146.0,2172,3510,3413,3227,162.7,-13.6,163,1184,0.05,2.38,0.00,0.000,3078,0.358,0.044,2188,2099,3319,3412,3226,0,0,0,0,0,0,14.33,14.52,14.49,6.30,50.11
$GC,1490,-0.64,-146.0,2189,2099,3413,3227,203.3,-12.4,179,1495,0.00,2.42,0.00,0.000,2564,0.000,0.066,2188,689,3319,3412,3226,0,0,0,0,0,0,14.78,14.54,14.79,6.31,50.86
$GC,1525,-0.64,-146.0,2191,690,3413,3227,205.9,-12.5,180,1529,0.00,2.42,0.00,0.000,3078,0.000,0.057,2179,2096,3319,3412,3226,0,0,0,0,0,0,14.59,14.54,14.62,6.31,50.78
$GC,1830,-0.64,-146.0,2179,2096,3413,3226,247.2,-13.0,196,1834,0.00,2.47,0.00,0.000,2308,0.000,0.083,2168,3525,3319,3412,3226,0,0,0,0,0,0,14.81,14.54,14.81,6.32,51.61
$GC,1890,-0.64,-146.0,2168,3525,3412,3226,255.2,-13.3,199,1894,0.08,2.40,0.00,0.000,3078,0.317,0.043,2195,2094,3319,3413,3225,0,0,0,0,0,0,14.40,14.57,14.54,6.32,51.89
$GC,2210,-0.64,-146.0,2195,2093,3413,3236,294.6,-12.3,215,2214,0.00,2.42,0.00,0.000,516,0.000,0.065,2195,704,3319,3412,3226,0,0,0,0,0,0,14.82,14.57,14.82,6.33,51.29
$GC,2270,-0.64,-146.0,2195,705,3413,3233,301.9,-12.3,218,2274,0.00,2.40,0.00,0.000,3078,0.000,0.057,2186,2099,3318,3412,3224,0,0,0,0,0,0,14.62,14.57,14.65,6.33,51.29
$GC,2590,-0.64,-146.0,2186,2101,3413,3228,342.1,-12.7,234,2594,0.00,2.47,0.00,0.000,2308,0.000,0.083,2175,3502,3318,3412,3225,0,0,0,0,0,0,14.81,14.55,14.83,6.33,51.33
$GC,2655,-0.64,-146.0,2174,3501,3413,3226,349.8,-12.8,237,2659,0.05,2.35,0.00,0.000,3078,0.347,0.042,2192,2098,3319,3413,3226,0,0,0,0,0,0,14.40,14.59,14.56,6.33,51.14
$STATE,2669,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2669,begin apogee
$GC,2673,-0.15,0.0,2193,2167,3412,3227,352.2,-12.7,238,2804,0.43,0.00,128.02,1.566,10246,0.268,0.000,2346,2166,2717,2777,2658,0,0,0,0,0,0,14.44,13.93,13.33,6.34,51.22
$STATE,2805,end apogee,CONTROL_FINISHED_OK
$STATE,2805,begin loiter
$GC,3090,-0.15,0.0,2346,2167,2773,2643,349.0,3.1,259,3091,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2707,2771,2643,0,0,0,0,0,0,14.56,14.57,14.57,6.28,50.55
$GC,3390,-0.15,0.0,2346,2167,2772,2642,339.2,3.2,274,3391,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2166,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.28,51.49
$GC,3690,-0.15,0.0,2346,2166,2773,2639,329.7,3.1,289,3691,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2705,2771,2639,0,0,0,0,0,0,14.79,14.79,14.80,6.28,51.49
$GC,3990,-0.15,0.0,2346,2167,2772,2640,320.3,3.2,304,3991,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2704,2771,2638,0,0,0,0,0,0,14.85,14.85,14.85,6.29,51.14
$GC,4290,-0.15,0.0,2346,2167,2771,2639,310.8,3.3,319,4291,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.77
$GC,4590,-0.15,0.0,2346,2167,2772,2637,300.8,3.4,334,4591,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2704,2771,2638,0,0,0,0,0,0,14.93,14.93,14.93,6.28,51.45
$GC,4890,-0.15,0.0,2346,2166,2772,2637,290.6,3.5,349,4891,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2704,2771,2637,0,0,0,0,0,0,14.95,14.96,14.96,6.28,51.18
$GC,5190,-0.15,0.0,2346,2167,2773,2637,280.0,3.6,364,5191,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2704,2771,2637,0,0,0,0,0,0,14.98,14.98,14.98,6.28,51.45
$GC,5490,-0.15,0.0,2346,2167,2772,2637,269.5,3.5,379,5491,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.33
$GC,5790,-0.15,0.0,2346,2167,2772,2638,259.3,3.3,394,5791,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2704,2771,2637,0,0,0,0,0,0,15.01,15.01,15.02,6.28,51.29
$GC,6090,-0.15,0.0,2346,2167,2772,2638,249.8,3.1,409,6091,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2704,2771,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.96
$STATE,6389,end loiter,LOITER_COMPLETE
$STATE,6389,begin climb
$GC,6390,0.64,146.0,2346,2167,2772,2638,240.9,0.0,424,6531,0.62,2.58,130.68,1.416,10500,0.183,0.082,2595,3552,2118,2146,2091,0,0,0,0,0,0,14.68,13.99,13.47,6.28,51.33
$GC,6620,0.64,146.0,2595,3552,2142,2084,223.5,10.9,435,6624,0.00,2.42,0.00,0.000,1030,0.000,0.041,2605,2154,2112,2142,2082,0,0,0,0,0,0,14.22,14.18,14.24,6.24,48.97
$GC,6930,0.64,146.0,2605,2154,2135,2076,185.0,12.2,451,6935,0.00,2.53,0.00,0.000,516,0.000,0.068,2617,743,2105,2135,2075,0,0,0,0,0,0,14.62,14.33,14.62,6.29,51.14
$GC,6980,0.64,146.0,2617,743,2133,2075,180.3,11.9,453,6984,0.00,2.42,0.00,0.000,5126,0.000,0.055,2617,2134,2103,2132,2075,0,0,0,0,0,0,14.42,14.37,14.43,6.23,50.59
$GC,7290,0.64,146.0,2618,2134,2132,2072,139.4,12.8,469,7294,0.00,2.55,0.00,0.000,4356,0.000,0.086,2617,3556,2101,2130,2072,0,0,0,0,0,0,14.71,14.42,14.71,6.23,50.63
$GC,7431,0.64,146.0,2617,3557,2131,2073,122.7,11.6,476,7435,0.08,2.35,0.00,0.000,5126,0.358,0.044,2602,2142,2101,2131,2072,0,0,0,0,0,0,14.37,14.52,14.57,6.23,50.59
$GC,7735,0.64,146.0,2603,2142,2131,2071,91.5,10.4,502,7739,0.00,2.45,0.00,0.000,516,0.000,0.067,2612,748,2100,2130,2070,0,0,0,0,0,0,14.78,14.51,14.78,6.22,49.64
$GC,7765,0.64,146.0,2612,749,2128,2072,88.5,9.8,508,7769,0.00,2.42,0.00,0.000,5126,0.000,0.054,2612,2156,2099,2128,2070,0,0,0,0,0,0,14.58,14.52,14.59,6.22,49.84
$GC,7891,0.64,146.0,2613,2152,2129,2071,75.6,10.3,533,7894,0.00,2.45,0.00,0.000,4356,0.000,0.087,2613,3555,2098,2127,2070,0,0,0,0,0,0,14.78,14.52,14.78,6.21,49.64
$GC,7930,0.64,146.0,2613,3556,2128,2072,71.3,10.7,541,7934,0.03,2.38,0.00,0.000,5126,0.428,0.044,2613,2149,2099,2127,2071,0,0,0,0,0,0,14.33,14.52,14.50,6.21,49.13
$GC,8056,0.64,146.0,2612,2150,2129,2070,59.0,10.1,566,8059,0.00,2.45,0.00,0.000,4612,0.000,0.067,2622,733,2099,2128,2070,0,0,0,0,0,0,14.79,14.54,14.79,6.21,48.97
$GC,8095,0.64,146.0,2622,733,2128,2070,55.1,9.7,574,8100,0.05,2.42,0.00,0.000,5126,0.308,0.055,2603,2141,2098,2127,2070,0,0,0,0,0,0,14.40,14.54,14.54,6.20,49.29
$GC,8221,0.64,146.0,2603,2141,2128,2068,43.8,8.5,599,8225,0.00,2.47,0.00,0.000,260,0.000,0.086,2602,3552,2098,2127,2070,0,0,0,0,0,0,14.79,14.53,14.80,6.20,49.40
$GC,8250,0.64,148.8,2603,3554,2127,2071,41.3,8.2,605,8254,0.00,2.38,0.00,0.000,5126,0.000,0.044,2611,2143,2098,2127,2070,0,0,0,0,0,0,14.58,14.54,14.60,6.20,49.09
$GC,8376,0.64,148.8,2612,2144,2128,2070,30.7,9.2,630,8379,0.00,2.42,0.00,0.000,4612,0.000,0.068,2623,737,2098,2127,2070,0,0,0,0,0,0,14.80,14.55,14.80,6.20,49.40
$GC,8405,0.65,158.1,2622,738,2127,2070,28.2,8.0,636,8414,0.00,2.42,5.18,1.216,13318,0.000,0.057,2620,2142,2070,2094,2047,0,0,0,0,0,0,14.61,14.54,13.85,6.20,49.33
$GC,8535,0.65,158.1,2623,2143,2100,2044,16.6,11.3,662,8539,0.00,2.50,0.00,0.000,4356,0.000,0.085,2623,3571,2071,2099,2044,0,0,0,0,0,0,14.78,14.51,14.78,6.20,49.76
$GC,8590,0.65,158.1,2623,3572,2100,2045,9.9,12.1,673,8594,0.05,2.40,0.00,0.000,5126,0.328,0.041,2614,2140,2072,2099,2045,0,0,0,0,0,0,14.35,14.52,14.50,6.20,50.19
$STATE,8669,end climb,SURFACE_DEPTH_REACHED
$STATE,8669,begin surface coast
$STATE,8699,end surface coast,CONTROL_FINISHED_OK
$STATE,8699,begin surface
$SM_CCo,8710,60.20,0.243,0,0,1823,220.03
$SM_GC,1.18,5.47,0.00,60.20,0.057,0.000,0.243,247,2138,1823,-6.50,1.07,220.03,0,0,0,0,0,0,14.63,14.78,14.35
$IRIDIUM_FIX,-6007.06,8.64,030119,132437
$TT8_MAMPS,0.039697,0.352779
$HUMID,49.88
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3827680
$24V_AH,13.31,39.148
$10V_AH,13.63,0.000
$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,13.125,88.125,263.875,60.200,0.000,27.106,57.614,122.135,0.000,0.000,16.524,0.000,6896.091,430.549,1663.321,114.083,0.000,1079.596,0.000,1173.051,0.000,0.540,0.000
$DEVICE_MAMPS,462.825,2262.105,1565.955,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5110.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.793,0.000,0.000,0.000
$MEM,344104
$DATA_FILE_SIZE,17316,695
$CAP_FILE_SIZE,95582,0
$CFSIZE,1023623168,1001586688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.052,212.14,1
$GPS,030119,183034,-6009.039,6.261,34,0.9,38,-19.8,0.5,204.0,11,9.5