version: 66.14
glider: 640
mission: 5
dive: 191
start: 1 4 119 14 53 13
data:
$ID,640
$MISSION,5
$DIVE,191
$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,47
$R_STBD_OVSHOOT,27
$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
$GPS1,040119,144803,-6012.7007,5.1315,14,0.8,28,-19.7,0.7,94.8,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-65.3
$GPS2,040119,145255,-6012.6836,5.1612,12,0.8,12,-19.7,0.0,98.8,10,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,214.4,14352,-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,-146.0,234,2086,1801,1820,0.0,0.0,0,101,0.00,0.00,-89.18,0.000,16386,0.000,0.000,234,2084,3209,3290,3128,0,0,0,0,0,0,14.62,28.83,14.62,6.17,50.51
$GC,103,-0.64,-146.0,234,2086,3290,3131,3.5,-7.1,18,121,6.10,2.80,-3.92,0.000,18692,0.374,2.263,2184,3509,3316,3408,3224,0,0,0,0,0,0,14.17,13.31,14.46,6.29,49.52
$GC,175,-0.64,-146.0,2184,3511,3410,3224,16.5,-15.9,33,180,0.00,2.38,0.00,0.000,3078,0.000,0.041,2183,2119,3317,3410,3224,0,0,0,0,0,0,14.43,14.37,14.44,6.29,48.38
$GC,300,-0.64,-146.0,2184,2118,3411,3225,37.2,-17.2,58,304,0.00,2.53,0.00,0.000,2564,0.000,0.066,2183,693,3317,3410,3224,0,0,0,0,0,0,14.63,14.38,14.64,6.30,48.77
$GC,360,-0.64,-146.0,2183,694,3411,3225,47.1,-16.8,70,364,0.05,2.45,0.00,0.000,3078,0.369,0.054,2188,2100,3316,3410,3222,0,0,0,0,0,0,14.22,14.40,14.38,6.30,48.97
$GC,486,-0.64,-146.0,2189,2103,3412,3224,64.8,-13.4,95,490,0.00,2.45,0.00,0.000,2564,0.000,0.065,2188,687,3317,3410,3224,0,0,0,0,0,0,14.67,14.44,14.67,6.30,49.56
$GC,520,-0.64,-146.0,2189,688,3411,3224,69.5,-13.6,102,524,0.00,2.45,0.00,0.000,3078,0.000,0.057,2178,2100,3317,3410,3224,0,0,0,0,0,0,14.49,14.44,14.52,6.30,49.09
$GC,645,-0.64,-146.0,2178,2096,3411,3224,87.1,-14.1,127,649,0.05,2.50,0.00,0.000,2308,0.474,0.083,2181,3503,3317,3410,3224,0,0,0,0,0,0,14.31,14.43,14.52,6.30,48.77
$GC,700,-0.64,-146.0,2181,3505,3411,3225,94.5,-13.0,138,704,0.00,2.38,0.00,0.000,3078,0.000,0.043,2180,2094,3315,3406,3224,0,0,0,0,0,0,14.53,14.47,14.55,6.30,48.77
$GC,825,-0.64,-146.0,2180,2093,3411,3223,110.8,-13.0,151,829,0.00,2.45,0.00,0.000,2564,0.000,0.063,2181,668,3317,3410,3224,0,0,0,0,0,0,14.73,14.49,14.73,6.29,48.58
$GC,865,-0.64,-146.0,2181,669,3411,3224,116.2,-13.1,153,869,0.05,2.47,0.00,0.000,3078,0.362,0.058,2187,2097,3317,3410,3224,0,0,0,0,0,0,14.30,14.48,14.58,6.29,48.89
$GC,1185,-0.64,-146.0,2187,2098,3411,3223,159.7,-13.7,169,1189,0.00,2.50,0.00,0.000,2308,0.000,0.083,2176,3511,3317,3410,3224,0,0,0,0,0,0,14.78,14.50,14.78,6.29,50.03
$GC,1255,-0.64,-146.0,2176,3511,3411,3225,168.0,-13.9,172,1260,0.05,2.38,0.00,0.000,3078,0.360,0.043,2193,2097,3316,3410,3223,0,0,0,0,0,0,14.33,14.54,14.49,6.30,49.88
$GC,1565,-0.64,-146.0,2193,2097,3411,3225,208.6,-12.5,188,1570,0.00,2.42,0.00,0.000,2564,0.000,0.064,2202,680,3316,3409,3224,0,0,0,0,0,0,14.81,14.56,14.81,6.32,50.74
$GC,1640,-0.64,-146.0,2193,680,3411,3226,216.2,-12.6,191,1644,0.00,2.45,0.00,0.000,3078,0.000,0.056,2183,2103,3317,3410,3224,0,0,0,0,0,0,14.61,14.52,14.63,6.32,50.98
$GC,1945,-0.64,-146.0,2183,2104,3411,3225,256.9,-12.7,207,1949,0.00,2.47,0.00,0.000,2308,0.000,0.081,2172,3505,3317,3410,3224,0,0,0,0,0,0,14.82,14.54,14.82,6.33,51.14
$GC,1985,-0.64,-146.0,2173,3505,3411,3225,262.1,-12.9,209,1989,0.05,2.35,0.00,0.000,3078,0.353,0.042,2189,2099,3317,3410,3224,0,0,0,0,0,0,14.38,14.57,14.54,6.33,51.14
$GC,2305,-0.64,-146.0,2189,2099,3411,3225,302.1,-12.5,225,2309,0.00,2.42,0.00,0.000,2564,0.000,0.064,2189,702,3317,3410,3224,0,0,0,0,0,0,14.83,14.57,14.84,6.33,51.10
$GC,2400,-0.64,-146.0,2190,702,3411,3224,312.2,-12.6,229,2404,0.00,2.40,0.00,0.000,3078,0.000,0.055,2180,2100,3317,3410,3225,0,0,0,0,0,0,14.63,14.57,14.65,6.33,51.14
$STATE,2684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2684,begin apogee
$GC,2688,-0.15,0.0,2180,2168,3411,3224,351.1,-13.2,244,2818,0.47,0.00,127.07,1.574,10246,0.274,0.000,2348,2168,2718,2777,2659,0,0,0,0,0,0,14.44,13.93,13.34,6.33,51.10
$STATE,2819,end apogee,CONTROL_FINISHED_OK
$STATE,2819,begin loiter
$GC,3105,-0.15,0.0,2348,2168,2773,2643,349.5,2.8,265,3106,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2167,2708,2772,2644,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.59
$GC,3405,-0.15,0.0,2347,2167,2772,2643,340.5,3.0,280,3406,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2167,2707,2772,2642,0,0,0,0,0,0,14.71,14.71,14.71,6.29,51.10
$GC,3705,-0.15,0.0,2348,2168,2773,2641,331.2,3.1,295,3706,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2167,2706,2772,2640,0,0,0,0,0,0,14.80,14.80,14.80,6.28,50.98
$GC,4005,-0.15,0.0,2348,2168,2772,2641,322.3,2.9,310,4006,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2168,2706,2772,2640,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.02
$GC,4305,-0.15,0.0,2348,2168,2773,2640,314.2,2.6,325,4306,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2168,2706,2772,2640,0,0,0,0,0,0,14.90,14.90,14.90,6.28,50.98
$GC,4605,-0.15,0.0,2348,2168,2772,2641,306.5,2.5,340,4606,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2168,2705,2772,2639,0,0,0,0,0,0,14.93,14.93,14.93,6.29,51.06
$GC,4905,-0.15,0.0,2348,2168,2772,2640,298.7,2.6,355,4906,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2167,2705,2772,2639,0,0,0,0,0,0,14.96,14.96,14.96,6.28,51.06
$GC,5205,-0.15,0.0,2348,2168,2773,2639,290.8,2.7,370,5206,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2168,2705,2772,2639,0,0,0,0,0,0,14.98,14.98,14.98,6.29,51.18
$GC,5505,-0.15,0.0,2348,2167,2772,2640,282.5,2.8,385,5506,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2168,2704,2771,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.14
$GC,5805,-0.15,0.0,2349,2168,2773,2639,274.0,2.9,400,5806,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2168,2705,2772,2639,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.18
$GC,6105,-0.15,0.0,2348,2168,2773,2639,265.5,2.9,415,6106,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2167,2705,2772,2639,0,0,0,0,0,0,15.02,15.03,15.03,6.28,51.14
$STATE,6404,end loiter,LOITER_COMPLETE
$STATE,6404,begin climb
$GC,6405,0.64,146.0,2348,2168,2773,2639,257.0,0.0,430,6546,0.62,2.60,130.62,1.432,11012,0.177,0.067,2609,753,2116,2141,2092,0,0,0,0,0,0,14.68,13.97,13.45,6.28,51.49
$GC,6635,0.64,146.0,2609,755,2135,2086,240.1,10.3,441,6639,0.00,2.42,0.00,0.000,5126,0.000,0.053,2610,2124,2108,2134,2083,0,0,0,0,0,0,14.22,14.17,14.23,6.24,49.84
$GC,6945,0.64,146.0,2610,2126,2132,2078,201.1,12.4,457,6950,0.00,2.58,0.00,0.000,4356,0.000,0.083,2609,3557,2103,2131,2076,0,0,0,0,0,0,14.62,14.32,14.62,6.24,50.19
$GC,7045,0.64,146.0,2610,3557,2132,2076,188.9,12.0,462,7050,0.00,2.38,0.00,0.000,5126,0.000,0.043,2620,2158,2103,2131,2076,0,0,0,0,0,0,14.44,14.40,14.45,6.24,50.90
$GC,7365,0.64,146.0,2621,2159,2130,2074,147.8,13.0,478,7369,0.05,2.50,0.00,0.000,4612,0.441,0.067,2614,744,2101,2128,2074,0,0,0,0,0,0,14.35,14.42,14.56,6.23,50.74
$GC,7400,0.64,146.0,2615,745,2126,2075,145.2,13.0,479,7404,0.00,2.42,0.00,0.000,5126,0.000,0.054,2614,2151,2100,2126,2074,0,0,0,0,0,0,14.53,14.47,14.56,6.24,50.74
$GC,7705,0.64,146.0,2615,2152,2128,2072,105.0,12.5,495,7709,0.00,2.50,0.00,0.000,4356,0.000,0.083,2615,3556,2099,2126,2072,0,0,0,0,0,0,14.78,14.47,14.78,6.23,50.39
$GC,7800,0.64,146.0,2615,3557,2127,2073,93.5,11.7,508,7804,0.05,2.38,0.00,0.000,5126,0.329,0.042,2607,2148,2099,2126,2073,0,0,0,0,0,0,14.38,14.54,14.52,6.20,50.19
$GC,7926,0.64,146.0,2607,2149,2127,2073,79.6,11.0,533,7929,0.00,2.42,0.00,0.000,4612,0.000,0.067,2617,743,2099,2126,2072,0,0,0,0,0,0,14.78,14.54,14.78,6.22,49.25
$GC,7960,0.64,146.0,2617,743,2126,2073,76.1,9.9,540,7964,0.00,2.40,0.00,0.000,5126,0.000,0.054,2617,2144,2098,2125,2071,0,0,0,0,0,0,14.59,14.53,14.62,6.22,49.76
$GC,8086,0.64,146.0,2617,2145,2126,2071,62.5,11.6,565,8090,0.00,2.47,0.00,0.000,4356,0.000,0.085,2617,3558,2097,2125,2070,0,0,0,0,0,0,14.79,14.53,14.79,6.21,49.13
$GC,8125,0.64,146.0,2616,3558,2126,2071,57.7,12.0,573,8129,0.05,2.38,0.00,0.000,5126,0.327,0.043,2609,2148,2098,2125,2072,0,0,0,0,0,0,14.35,14.53,14.50,6.20,48.89
$GC,8251,0.64,146.0,2609,2148,2126,2067,44.8,9.5,598,8254,0.00,2.42,0.00,0.000,4612,0.000,0.067,2618,741,2098,2125,2071,0,0,0,0,0,0,14.80,14.55,14.80,6.20,49.40
$GC,8325,0.64,149.2,2618,742,2125,2071,38.2,8.2,613,8329,0.00,2.38,0.00,0.000,5126,0.000,0.053,2618,2153,2097,2124,2070,0,0,0,0,0,0,14.67,14.56,14.69,6.20,49.01
$GC,8451,0.64,149.2,2618,2154,2125,2071,27.6,9.1,638,8454,0.00,2.45,0.00,0.000,4356,0.000,0.085,2618,3558,2097,2124,2070,0,0,0,0,0,0,14.81,14.54,14.81,6.20,49.25
$GC,8510,0.64,149.2,2617,3559,2125,2072,21.6,10.5,650,8514,0.05,2.38,0.00,0.000,5126,0.322,0.043,2609,2152,2097,2124,2070,0,0,0,0,0,0,14.39,14.57,14.54,6.20,49.88
$GC,8635,0.69,185.6,2610,2146,2125,2071,11.9,6.9,675,8674,0.00,2.47,32.20,0.296,10756,0.000,0.067,2619,739,1957,1978,1937,0,0,0,0,0,0,14.81,14.54,14.35,6.20,49.88
$GC,8700,0.69,185.6,2620,740,1978,1936,4.5,13.0,688,8704,0.00,2.42,0.00,0.000,1030,0.000,0.052,2619,2151,1956,1978,1934,0,0,0,0,0,0,14.56,14.54,14.58,6.19,49.76
$STATE,8724,end climb,SURFACE_DEPTH_REACHED
$STATE,8724,begin surface coast
$STATE,8759,end surface coast,CONTROL_FINISHED_OK
$STATE,8759,begin surface
$SM_CCo,8772,32.03,0.247,0,0,1823,220.03
$SM_GC,1.59,5.57,0.10,32.03,0.083,0.139,0.247,242,2071,1823,-6.46,0.68,220.03,0,0,0,0,0,0,14.60,14.55,14.35
$IRIDIUM_FIX,-6014.82,4.34,040119,121823
$TT8_MAMPS,0.03745,0.338548
$HUMID,49.68
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3823072
$24V_AH,13.31,40.736
$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,13.225,88.400,289.900,32.025,0.000,31.565,18.907,122.834,0.000,0.000,13.137,0.000,6942.842,419.586,1623.486,113.798,0.000,1072.536,0.000,1173.030,0.000,0.539,0.000
$DEVICE_MAMPS,474.300,2262.870,1573.605,247.095,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5169.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.775,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17346,700
$CAP_FILE_SIZE,95032,0
$CFSIZE,1023623168,1000701952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.069,241.71,1
$GPS,040119,172101,-6013.196,4.521,11,0.8,41,-19.7,1.1,296.1,9,6.5