version: 66.14
glider: 640
mission: 5
dive: 190
start: 1 4 119 12 21 52
data:
$ID,640
$MISSION,5
$DIVE,190
$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,57
$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
$GPS1,040119,121634,-6012.3467,5.4220,36,0.7,39,-19.7,0.5,138.3,12,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-66.1
$GPS2,040119,122134,-6012.3462,5.5188,9,0.7,18,-19.7,0.6,250.8,12,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,225.8,15051,-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,-146.0,223,2076,1802,1820,0.0,0.0,0,101,0.00,0.00,-88.70,0.000,16386,0.000,0.000,222,2076,3200,3280,3120,0,0,0,0,0,0,14.61,28.83,14.62,6.17,50.35
$GC,102,-0.64,-146.0,223,2076,3281,3120,3.7,-8.7,18,120,6.05,2.75,-4.15,0.000,18692,0.356,2.264,2175,3504,3316,3409,3224,0,0,0,0,0,0,14.19,13.44,14.36,6.29,49.29
$GC,181,-0.64,-146.0,2176,3504,3411,3224,17.4,-15.4,34,185,0.05,2.35,0.00,0.000,3078,0.343,0.041,2192,2126,3317,3411,3224,0,0,0,0,0,0,14.19,14.38,14.35,6.30,48.66
$GC,307,-0.64,-146.0,2193,2126,3412,3225,37.5,-16.9,59,311,0.00,2.50,0.00,0.000,2564,0.000,0.065,2193,683,3317,3411,3224,0,0,0,0,0,0,14.63,14.40,14.63,6.30,49.13
$GC,346,-0.64,-146.0,2193,684,3412,3226,43.8,-14.9,67,351,0.00,2.47,0.00,0.000,3078,0.000,0.059,2183,2099,3318,3411,3225,0,0,0,0,0,0,14.46,14.39,14.48,6.30,49.37
$GC,471,-0.64,-146.0,2183,2099,3412,3226,62.8,-16.6,92,475,0.00,2.50,0.00,0.000,2308,0.000,0.081,2173,3503,3317,3411,3224,0,0,0,0,0,0,14.68,14.40,14.67,6.30,49.09
$GC,521,-0.64,-146.0,2173,3504,3412,3225,70.8,-15.4,102,525,0.05,2.38,0.00,0.000,3078,0.353,0.043,2190,2098,3317,3411,3224,0,0,0,0,0,0,14.26,14.45,14.42,6.29,49.33
$GC,647,-0.64,-146.0,2190,2098,3409,3226,90.4,-16.5,127,651,0.00,2.42,0.00,0.000,2564,0.000,0.067,2189,691,3317,3410,3225,0,0,0,0,0,0,14.69,14.47,14.69,6.30,48.62
$GC,716,-0.64,-146.0,2190,691,3411,3226,100.4,-15.9,139,720,0.00,2.42,0.00,0.000,3078,0.000,0.057,2180,2096,3318,3411,3225,0,0,0,0,0,0,14.52,14.47,14.54,6.30,48.54
$GC,1026,-0.64,-146.0,2180,2096,3407,3224,148.2,-14.3,155,1030,0.00,2.47,0.00,0.000,2308,0.000,0.080,2169,3502,3315,3412,3219,0,0,0,0,0,0,14.76,14.48,14.76,6.30,49.05
$GC,1076,-0.64,-146.0,2170,3502,3412,3225,153.3,-13.3,157,1080,0.05,2.35,0.00,0.000,3078,0.355,0.043,2187,2100,3318,3411,3225,0,0,0,0,0,0,14.33,14.53,14.49,6.29,49.40
$GC,1386,-0.64,-146.0,2186,2099,3413,3224,194.7,-12.8,173,1390,0.00,2.45,0.00,0.000,2564,0.000,0.065,2187,697,3317,3411,3224,0,0,0,0,0,0,14.79,14.53,14.80,6.31,50.59
$GC,1496,-0.64,-146.0,2187,698,3412,3226,207.1,-12.2,178,1501,0.03,2.40,0.00,0.000,3078,0.456,0.055,2185,2098,3317,3411,3224,0,0,0,0,0,0,14.34,14.53,14.50,6.32,51.10
$GC,1806,-0.64,-146.0,2186,2098,3412,3226,245.2,-11.9,194,1810,0.00,2.47,0.00,0.000,2308,0.000,0.083,2175,3500,3317,3411,3224,0,0,0,0,0,0,14.82,14.54,14.81,6.32,50.98
$GC,1856,-0.64,-146.0,2175,3501,3412,3223,250.2,-12.1,196,1860,0.05,2.35,0.00,0.000,3078,0.358,0.042,2193,2094,3317,3411,3224,0,0,0,0,0,0,14.37,14.57,14.53,6.32,51.29
$GC,2166,-0.64,-146.0,2193,2093,3413,3224,288.2,-11.9,212,2171,0.00,2.42,0.00,0.000,2564,0.000,0.063,2193,699,3317,3411,3224,0,0,0,0,0,0,14.83,14.57,14.83,6.33,51.14
$GC,2236,-0.64,-146.0,2193,699,3412,3224,295.5,-12.2,215,2240,0.00,2.40,0.00,0.000,3078,0.000,0.055,2183,2099,3317,3411,3224,0,0,0,0,0,0,14.62,14.57,14.64,6.33,51.06
$GC,2546,-0.64,-146.0,2183,2102,3412,3225,335.4,-12.7,231,2550,0.00,2.47,0.00,0.000,2308,0.000,0.082,2172,3506,3318,3412,3224,0,0,0,0,0,0,14.84,14.55,14.85,6.34,51.10
$GC,2586,-0.64,-146.0,2173,3507,3412,3225,340.6,-12.8,233,2590,0.05,2.35,0.00,0.000,3078,0.349,0.042,2190,2097,3317,3411,3224,0,0,0,0,0,0,14.40,14.60,14.55,6.33,51.18
$STATE,2665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2665,begin apogee
$GC,2669,-0.15,0.0,2190,2167,3412,3225,350.4,-12.3,237,2800,0.45,0.00,128.00,1.574,10246,0.266,0.000,2352,2166,2715,2775,2656,0,0,0,0,0,0,14.44,13.93,13.33,6.33,51.22
$STATE,2801,end apogee,CONTROL_FINISHED_OK
$STATE,2801,begin loiter
$GC,3086,-0.15,0.0,2353,2167,2772,2643,347.7,3.0,258,3087,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2707,2771,2643,0,0,0,0,0,0,14.56,14.57,14.57,6.28,50.35
$GC,3386,-0.15,0.0,2353,2167,2771,2641,338.8,3.1,273,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2706,2771,2641,0,0,0,0,0,0,14.71,14.71,14.71,6.28,51.10
$GC,3686,-0.15,0.0,2352,2167,2771,2641,329.6,3.1,288,3687,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2705,2771,2640,0,0,0,0,0,0,14.79,14.80,14.80,6.28,51.18
$GC,3986,-0.15,0.0,2352,2167,2771,2641,320.4,3.1,303,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2704,2770,2639,0,0,0,0,0,0,14.85,14.85,14.85,6.27,51.14
$GC,4286,-0.15,0.0,2353,2167,2772,2640,311.2,3.1,318,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2705,2771,2640,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.06
$GC,4586,-0.15,0.0,2352,2167,2772,2641,302.2,3.0,333,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2705,2771,2640,0,0,0,0,0,0,14.92,14.93,14.93,6.28,50.94
$GC,4886,-0.15,0.0,2353,2167,2773,2640,293.1,3.1,348,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2705,2771,2640,0,0,0,0,0,0,14.95,14.96,14.96,6.28,51.53
$GC,5186,-0.15,0.0,2352,2167,2772,2641,283.7,3.2,363,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2705,2771,2640,0,0,0,0,0,0,14.97,14.98,14.98,6.28,51.10
$GC,5486,-0.15,0.0,2352,2167,2772,2641,273.8,3.2,378,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2705,2771,2640,0,0,0,0,0,0,15.00,15.00,14.99,6.28,51.65
$GC,5786,-0.15,0.0,2353,2167,2772,2640,264.5,3.1,393,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2705,2771,2640,0,0,0,0,0,0,15.01,15.01,15.01,6.28,51.06
$GC,6086,-0.15,0.0,2352,2167,2771,2642,255.6,2.9,408,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2166,2705,2771,2640,0,0,0,0,0,0,15.02,15.03,15.02,6.28,51.14
$STATE,6385,end loiter,LOITER_COMPLETE
$STATE,6385,begin climb
$GC,6386,0.64,146.0,2352,2167,2771,2642,247.3,0.0,423,6527,0.60,2.58,131.07,1.420,11012,0.174,0.084,2594,3547,2118,2144,2092,0,0,0,0,0,0,14.69,13.99,13.47,6.28,51.14
$GC,6611,0.64,146.0,2595,3548,2141,2085,230.4,10.7,434,6615,0.00,2.40,0.00,0.000,1030,0.000,0.041,2605,2158,2112,2140,2085,0,0,0,0,0,0,14.23,14.19,14.25,6.24,49.17
$GC,6926,0.64,146.0,2605,2158,2134,2076,193.4,11.8,450,6931,0.00,2.53,0.00,0.000,516,0.000,0.067,2616,744,2104,2132,2076,0,0,0,0,0,0,14.61,14.32,14.62,6.23,50.31
$GC,6956,0.64,146.0,2616,744,2131,2077,191.0,11.8,451,6960,0.00,2.42,0.00,0.000,5126,0.000,0.055,2616,2138,2103,2131,2076,0,0,0,0,0,0,14.41,14.35,14.42,6.24,50.19
$GC,7266,0.64,146.0,2616,2139,2130,2075,151.0,12.6,467,7270,0.00,2.55,0.00,0.000,4356,0.000,0.084,2616,3561,2101,2129,2074,0,0,0,0,0,0,14.71,14.42,14.71,6.23,50.39
$GC,7346,0.64,146.0,2617,3562,2130,2076,140.9,12.7,471,7350,0.05,2.38,0.00,0.000,5126,0.340,0.043,2608,2154,2107,2140,2075,0,0,0,0,0,0,14.28,14.45,14.44,6.24,50.78
$GC,7666,0.64,146.0,2609,2154,2129,2074,101.4,12.7,487,7670,0.00,2.47,0.00,0.000,4612,0.000,0.067,2620,746,2100,2128,2073,0,0,0,0,0,0,14.77,14.47,14.78,6.22,50.19
$GC,7686,0.64,146.0,2618,746,2127,2074,99.0,12.5,488,7691,0.00,2.42,0.00,0.000,5126,0.000,0.053,2618,2155,2099,2126,2073,0,0,0,0,0,0,14.55,14.49,14.57,6.23,50.23
$GC,7812,0.64,146.0,2628,2155,2127,2074,83.9,11.7,513,7815,0.00,2.45,0.00,0.000,4356,0.000,0.085,2619,3555,2099,2126,2073,0,0,0,0,0,0,14.78,14.52,14.78,6.22,49.56
$GC,7866,0.64,146.0,2619,3553,2128,2073,77.2,11.7,524,7871,0.05,2.38,0.00,0.000,5126,0.333,0.043,2611,2149,2099,2126,2072,0,0,0,0,0,0,14.34,14.52,14.49,6.21,49.17
$GC,7992,0.64,146.0,2610,2148,2127,2073,63.7,11.0,549,7996,0.00,2.42,0.00,0.000,4612,0.000,0.067,2620,744,2099,2126,2072,0,0,0,0,0,0,14.77,14.54,14.78,6.21,48.93
$GC,8061,0.64,146.0,2620,744,2127,2073,56.3,10.2,563,8066,0.05,2.42,0.00,0.000,5126,0.309,0.054,2601,2154,2098,2125,2071,0,0,0,0,0,0,14.39,14.55,14.53,6.20,49.17
$GC,8187,0.64,146.0,2601,2155,2126,2072,44.1,10.2,588,8191,0.00,2.47,0.00,0.000,260,0.000,0.085,2601,3557,2098,2125,2071,0,0,0,0,0,0,14.79,14.53,14.79,6.20,48.97
$GC,8276,0.64,146.0,2601,3562,2127,2067,34.6,10.1,606,8281,0.00,2.38,0.00,0.000,5126,0.000,0.041,2610,2147,2098,2125,2072,0,0,0,0,0,0,14.58,14.54,14.60,6.20,49.25
$GC,8402,0.64,146.0,2610,2147,2126,2072,23.1,9.9,631,8406,0.00,2.42,0.00,0.000,4612,0.000,0.068,2621,740,2098,2125,2071,0,0,0,0,0,0,14.80,14.55,14.80,6.20,49.60
$GC,8441,0.64,146.0,2621,741,2125,2072,19.1,9.9,639,8446,0.05,2.42,0.00,0.000,5126,0.305,0.054,2601,2153,2098,2125,2071,0,0,0,0,0,0,14.40,14.54,14.54,6.21,49.56
$GC,8567,0.64,146.0,2602,2153,2126,2070,6.8,9.7,664,8570,0.00,2.45,0.00,0.000,260,0.000,0.085,2602,3555,2097,2125,2070,0,0,0,0,0,0,14.83,14.54,14.81,6.20,49.68
$STATE,8615,end climb,SURFACE_DEPTH_REACHED
$STATE,8615,begin surface coast
$STATE,8640,end surface coast,CONTROL_FINISHED_OK
$STATE,8640,begin surface
$SM_CCo,8655,66.20,0.242,0,0,1822,220.03
$SM_GC,1.01,5.50,2.47,66.20,0.083,0.044,0.242,272,2086,1822,-6.45,1.13,220.03,0,0,0,0,0,0,14.64,14.59,14.35
$IRIDIUM_FIX,-6010.01,4.32,040119,094736
$TT8_MAMPS,0.038948,0.354277
$HUMID,49.96
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3823584
$24V_AH,13.33,40.560
$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,13.075,88.100,259.075,66.200,0.000,26.447,19.097,130.123,0.000,0.000,19.385,0.000,6888.099,430.868,1592.142,113.082,0.000,1060.688,0.000,1138.982,0.000,0.539,0.000
$DEVICE_MAMPS,455.940,2263.635,1573.605,241.740,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5051.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.696,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17341,679
$CAP_FILE_SIZE,93066,0
$CFSIZE,1023623168,1000800256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.021,272.58,1
$GPS,040119,144803,-6012.701,5.131,14,0.8,28,-19.7,0.7,94.8,10,10.0