version: 66.14
glider: 640
mission: 5
dive: 186
start: 1 4 119 2 9 35
data:
$ID,640
$MISSION,5
$DIVE,186
$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,35
$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
$GPS1,040119,020401,-6010.3652,6.1186,12,0.7,35,-19.8,1.3,133.9,11,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-63.8
$GPS2,040119,020917,-6010.3506,6.1490,8,0.9,14,-19.8,0.0,345.4,11,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,213.3,18739,-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,-146.0,234,2089,1799,1821,0.0,0.0,0,105,0.00,0.00,-92.80,0.000,16386,0.000,0.000,233,2089,3250,3330,3170,0,0,0,0,0,0,14.61,28.83,14.62,6.17,51.02
$GC,107,-0.64,-146.0,234,2089,3330,3172,3.7,-8.2,19,121,6.05,2.75,-2.38,0.000,18692,0.364,2.264,2169,3508,3317,3406,3228,0,0,0,0,0,0,14.17,13.32,14.35,6.29,49.92
$GC,216,-0.64,-146.0,2172,3507,3410,3229,25.0,-18.4,41,220,0.08,2.35,0.00,0.000,3078,0.369,0.043,2196,2102,3318,3409,3228,0,0,0,0,0,0,14.25,14.42,14.45,6.30,48.34
$GC,341,-0.64,-146.0,2197,2101,3410,3228,45.1,-14.3,66,345,0.00,2.45,0.00,0.000,516,0.000,0.067,2196,695,3318,3409,3228,0,0,0,0,0,0,14.64,14.42,14.65,6.30,49.48
$GC,380,-0.64,-146.0,2197,694,3410,3229,50.9,-14.6,74,384,0.00,2.45,0.00,0.000,3078,0.000,0.055,2187,2104,3318,3409,3228,0,0,0,0,0,0,14.47,14.42,14.49,6.30,49.21
$GC,505,-0.64,-146.0,2187,2106,3410,3230,69.3,-14.5,99,509,0.00,2.47,0.00,0.000,2564,0.000,0.065,2187,699,3318,3409,3228,0,0,0,0,0,0,14.69,14.43,14.69,6.30,48.97
$GC,540,-0.64,-146.0,2188,700,3410,3229,74.4,-14.5,106,544,0.05,2.42,0.00,0.000,3078,0.369,0.057,2193,2097,3318,3409,3228,0,0,0,0,0,0,14.26,14.44,14.42,6.29,49.52
$GC,666,-0.64,-146.0,2193,2098,3410,3229,92.1,-14.3,131,669,0.00,2.47,0.00,0.000,2308,0.000,0.085,2182,3508,3318,3409,3228,0,0,0,0,0,0,14.71,14.45,14.71,6.30,48.97
$GC,700,-0.64,-146.0,2183,3509,3410,3229,97.2,-15.0,138,704,0.00,2.38,0.00,0.000,3078,0.000,0.045,2181,2107,3318,3408,3228,0,0,0,0,0,0,14.52,14.47,14.54,6.29,48.74
$GC,840,-0.64,-146.0,2183,2106,3410,3229,118.3,-15.1,148,844,0.00,2.47,0.00,0.000,2564,0.000,0.067,2182,698,3318,3409,3228,0,0,0,0,0,0,14.73,14.47,14.73,6.29,48.58
$GC,895,-0.64,-146.0,2183,698,3410,3229,124.7,-15.6,150,899,0.05,2.42,0.00,0.000,3078,0.356,0.058,2188,2097,3318,3409,3228,0,0,0,0,0,0,14.31,14.48,14.46,6.29,48.58
$GC,1200,-0.64,-146.0,2189,2098,3410,3228,167.6,-13.3,166,1204,0.00,2.50,0.00,0.000,2308,0.000,0.084,2179,3501,3318,3408,3228,0,0,0,0,0,0,14.78,14.50,14.78,6.30,49.92
$GC,1325,-0.64,-146.0,2179,3502,3409,3228,183.1,-12.5,172,1329,0.00,2.38,0.00,0.000,3078,0.000,0.044,2179,2087,3316,3404,3228,0,0,0,0,0,0,14.58,14.54,14.61,6.30,50.51
$GC,1640,-0.64,-146.0,2179,2085,3410,3228,221.8,-9.9,188,1644,0.05,2.42,0.00,0.000,2564,0.476,0.063,2192,693,3318,3409,3228,0,0,0,0,0,0,14.40,14.54,14.62,6.31,51.45
$GC,1665,-0.64,-146.0,2192,694,3410,3229,223.6,-9.3,189,1669,0.00,2.42,0.00,0.000,3078,0.000,0.056,2182,2103,3318,3409,3228,0,0,0,0,0,0,14.60,14.55,14.63,6.32,51.14
$GC,1980,-0.64,-146.0,2182,2104,3410,3232,255.6,-10.6,205,1985,0.00,2.47,0.00,0.000,2308,0.000,0.083,2171,3505,3318,3409,3228,0,0,0,0,0,0,14.83,14.54,14.83,6.32,51.06
$GC,2095,-0.64,-146.0,2171,3506,3410,3228,266.4,-10.7,210,2099,0.05,2.35,0.00,0.000,3078,0.360,0.041,2189,2099,3318,3409,3228,0,0,0,0,0,0,14.38,14.59,14.54,6.32,51.02
$GC,2400,-0.64,-146.0,2189,2099,3410,3223,300.5,-10.8,226,2404,0.00,2.47,0.00,0.000,2308,0.000,0.082,2178,3500,3318,3409,3228,0,0,0,0,0,0,14.83,14.55,14.83,6.33,51.89
$GC,2515,-0.64,-146.0,2178,3502,3409,3229,311.5,-11.0,231,2519,0.00,2.33,0.00,0.000,3078,0.000,0.042,2178,2106,3318,3409,3228,0,0,0,0,0,0,14.64,14.59,14.66,6.33,51.33
$GC,2820,-0.64,-146.0,2179,2106,3410,3228,348.2,-11.7,247,2824,0.05,2.47,0.00,0.000,2308,0.465,0.082,2181,3505,3323,3419,3228,0,0,0,0,0,0,14.43,14.56,14.65,6.33,51.26
$STATE,2839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2839,begin apogee
$GC,2844,-0.15,0.0,2181,2149,3411,3229,350.6,-11.8,248,2976,0.47,0.00,128.57,1.580,10246,0.266,0.000,2351,2148,2716,2775,2658,0,0,0,0,0,0,14.44,13.93,13.33,6.34,51.06
$STATE,2977,end apogee,CONTROL_FINISHED_OK
$STATE,2977,begin loiter
$GC,3260,-0.15,0.0,2352,2148,2771,2643,347.2,2.9,269,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2148,2707,2770,2644,0,0,0,0,0,0,14.55,14.56,14.56,6.28,50.31
$GC,3560,-0.15,0.0,2352,2149,2771,2642,338.3,3.0,284,3561,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2148,2705,2770,2641,0,0,0,0,0,0,14.70,14.70,14.70,6.28,51.02
$GC,3860,-0.15,0.0,2352,2148,2772,2639,329.5,2.9,299,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2148,2705,2771,2639,0,0,0,0,0,0,14.78,14.78,14.79,6.28,50.98
$GC,4161,-0.15,0.0,2351,2149,2771,2640,320.8,2.8,314,4161,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2148,2704,2770,2639,0,0,0,0,0,0,14.85,14.85,14.84,6.28,51.81
$GC,4461,-0.15,0.0,2351,2148,2771,2639,311.6,3.1,329,4461,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2148,2704,2771,2638,0,0,0,0,0,0,14.89,14.89,14.89,6.29,51.18
$GC,4760,-0.15,0.0,2352,2148,2772,2637,302.3,3.2,344,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2148,2704,2771,2638,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.14
$GC,5060,-0.15,0.0,2351,2148,2771,2639,292.9,3.2,359,5061,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2148,2703,2770,2637,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.26
$GC,5360,-0.15,0.0,2352,2149,2771,2639,283.5,3.2,374,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2148,2704,2771,2638,0,0,0,0,0,0,14.97,14.97,14.97,6.28,50.98
$GC,5661,-0.15,0.0,2352,2148,2772,2637,273.7,3.4,389,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2148,2704,2771,2638,0,0,0,0,0,0,14.98,14.99,15.00,6.28,51.29
$GC,5961,-0.15,0.0,2351,2149,2771,2639,263.3,3.6,404,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2148,2703,2770,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.41
$GC,6260,-0.15,0.0,2351,2149,2770,2639,252.9,3.3,419,6261,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2148,2704,2771,2638,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.57
$STATE,6559,end loiter,LOITER_COMPLETE
$STATE,6559,begin climb
$GC,6561,0.64,146.0,2351,2149,2771,2637,243.2,0.0,434,6696,0.60,0.00,130.93,1.414,10502,0.176,0.000,2591,2146,2123,2148,2098,0,0,0,0,0,0,14.68,14.02,13.47,6.28,51.06
$GC,6980,0.64,146.0,2592,2146,2135,2077,204.2,11.1,455,6985,0.00,2.55,0.00,0.000,2308,0.000,0.083,2591,3552,2105,2134,2077,0,0,0,0,0,0,14.55,14.27,14.56,6.24,50.66
$GC,7015,0.64,146.0,2592,3553,2135,2078,201.8,11.3,456,7020,0.00,2.38,0.00,0.000,1030,0.000,0.043,2602,2162,2105,2134,2077,0,0,0,0,0,0,14.40,14.35,14.45,6.24,50.00
$GC,7321,0.64,146.0,2602,2162,2132,2075,166.3,11.1,472,7324,0.00,2.53,0.00,0.000,516,0.000,0.068,2613,741,2103,2132,2074,0,0,0,0,0,0,14.68,14.39,14.68,6.23,50.47
$GC,7365,0.64,146.0,2614,741,2130,2074,162.1,10.8,474,7370,0.00,2.42,0.00,0.000,5126,0.000,0.055,2614,2140,2101,2129,2073,0,0,0,0,0,0,14.50,14.43,14.52,6.24,50.23
$GC,7680,0.64,146.0,2615,2142,2129,2073,126.9,10.9,490,7685,0.00,2.53,0.00,0.000,4356,0.000,0.083,2615,3555,2100,2128,2073,0,0,0,0,0,0,14.75,14.45,14.74,6.23,50.51
$GC,7765,0.64,146.0,2614,3556,2129,2073,118.0,11.1,494,7770,0.05,2.38,0.00,0.000,5126,0.340,0.044,2606,2145,2100,2129,2072,0,0,0,0,0,0,14.35,14.52,14.50,6.22,50.63
$GC,8070,0.64,146.0,2607,2145,2128,2072,84.7,10.7,529,8075,0.00,2.45,0.00,0.000,4612,0.000,0.067,2616,751,2099,2128,2071,0,0,0,0,0,0,14.78,14.49,14.79,6.21,49.29
$GC,8130,0.64,146.0,2617,752,2128,2071,78.6,9.9,541,8135,0.00,2.40,0.00,0.000,5126,0.000,0.054,2616,2147,2098,2127,2070,0,0,0,0,0,0,14.56,14.51,14.58,6.21,50.15
$GC,8257,0.64,146.0,2616,2148,2127,2072,65.8,10.8,566,8260,0.00,2.47,0.00,0.000,4356,0.000,0.086,2616,3570,2098,2126,2071,0,0,0,0,0,0,14.78,14.53,14.78,6.21,49.72
$GC,8296,0.64,146.0,2617,3564,2128,2070,61.2,11.4,574,8300,0.05,2.38,0.00,0.000,5126,0.337,0.044,2608,2149,2098,2126,2071,0,0,0,0,0,0,14.38,14.54,14.53,6.20,48.85
$GC,8421,0.64,146.0,2609,2150,2128,2071,48.9,9.4,599,8425,0.00,2.42,0.00,0.000,4612,0.000,0.068,2618,746,2098,2126,2071,0,0,0,0,0,0,14.79,14.59,14.79,6.20,48.93
$GC,8485,0.64,146.0,2618,746,2127,2070,42.8,9.2,612,8490,0.00,2.42,0.00,0.000,5126,0.000,0.055,2618,2156,2098,2126,2070,0,0,0,0,0,0,14.59,14.54,14.62,6.20,49.09
$GC,8611,0.64,146.0,2618,2155,2126,2069,30.5,10.4,637,8616,0.00,2.45,0.00,0.000,4356,0.000,0.086,2618,3556,2097,2125,2070,0,0,0,0,0,0,14.79,14.53,14.80,6.20,49.80
$GC,8665,0.64,146.0,2619,3557,2126,2071,24.6,10.1,648,8670,0.05,2.35,0.00,0.000,5126,0.336,0.044,2609,2156,2097,2125,2070,0,0,0,0,0,0,14.38,14.57,14.53,6.20,49.29
$GC,8790,0.64,146.0,2609,2155,2127,2070,11.6,12.3,673,8795,0.00,2.47,0.00,0.000,4612,0.000,0.067,2619,740,2098,2126,2071,0,0,0,0,0,0,14.80,14.50,14.80,6.20,49.76
$GC,8805,0.64,146.0,2619,741,2126,2071,9.8,12.9,676,8810,0.00,2.40,0.00,0.000,5126,0.000,0.053,2619,2143,2097,2125,2069,0,0,0,0,0,0,14.63,14.54,14.62,6.20,50.19
$STATE,8884,end climb,SURFACE_DEPTH_REACHED
$STATE,8884,begin surface coast
$STATE,8910,end surface coast,CONTROL_FINISHED_OK
$STATE,8910,begin surface
$SM_CCo,8923,66.30,0.247,0,0,1822,220.03
$SM_GC,1.03,5.70,0.05,66.30,0.116,0.223,0.247,253,2083,1822,-6.46,1.07,220.03,0,0,0,0,0,0,14.62,14.57,14.35
$IRIDIUM_FIX,-6007.06,4.32,030119,233013
$TT8_MAMPS,0.039697,0.341544
$HUMID,49.60
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3825632
$24V_AH,13.32,39.856
$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,13.300,87.825,259.500,66.300,0.000,26.203,46.086,122.313,0.000,0.000,15.353,0.000,7112.144,438.309,1644.594,114.354,0.000,1079.864,0.000,1168.383,0.000,0.540,0.000
$DEVICE_MAMPS,475.830,2264.400,1580.490,247.095,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5323.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.835,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,17300,697
$CAP_FILE_SIZE,95791,0
$CFSIZE,1023623168,1001193472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,383.44,0x214640,0,24
$CURRENT,0.056,236.86,1
$GPS,040119,044043,-6010.715,5.414,14,1.6,55,-19.7,0.0,224.5,4,6.9