version: 66.14
glider: 640
mission: 5
dive: 205
start: 1 6 119 2 21 57
data:
$ID,640
$MISSION,5
$DIVE,205
$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,30
$R_STBD_OVSHOOT,30
$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
$GPS1,060119,021631,-6018.0176,0.4032,18,0.7,41,-19.7,0.7,263.5,10,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.2
$GPS2,060119,022138,-6018.0142,0.4526,9,0.7,15,-19.7,1.1,2.0,10,9.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,26.2,70403,-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,-146.0,221,2103,1796,1822,0.0,0.0,0,101,0.00,0.00,-88.47,0.000,16386,0.000,0.000,221,2104,3193,3270,3116,0,0,0,0,0,0,14.61,28.83,14.62,6.17,50.59
$GC,103,-0.64,-146.0,222,2105,3272,3117,3.4,-8.0,18,118,5.97,2.70,-4.68,0.000,18948,0.342,2.248,2189,695,3317,3412,3223,0,0,0,0,0,0,14.19,13.43,14.36,6.29,49.44
$GC,177,-0.64,-146.0,2190,695,3412,3225,15.2,-14.4,33,181,0.00,2.45,0.00,0.000,3078,0.000,0.056,2179,2101,3318,3412,3224,0,0,0,0,0,0,14.42,14.38,14.46,6.30,48.50
$GC,302,-0.64,-146.0,2180,2102,3413,3224,38.3,-19.5,58,306,0.00,2.47,0.00,0.000,2564,0.000,0.063,2179,699,3316,3412,3220,0,0,0,0,0,0,14.64,14.40,14.64,6.30,48.62
$GC,312,-0.64,-146.0,2179,697,3413,3226,40.4,-20.1,60,316,0.05,2.45,0.00,0.000,3078,0.362,0.057,2186,2103,3318,3412,3224,0,0,0,0,0,0,14.22,14.40,14.38,6.30,49.01
$GC,438,-0.64,-146.0,2186,2103,3413,3224,59.5,-14.0,85,441,0.00,2.45,0.00,0.000,2564,0.000,0.063,2186,686,3318,3412,3225,0,0,0,0,0,0,14.67,14.44,14.67,6.30,49.25
$GC,472,-0.64,-146.0,2186,685,3413,3225,64.5,-13.9,92,476,0.05,2.45,0.00,0.000,3078,0.366,0.058,2192,2093,3318,3412,3225,0,0,0,0,0,0,14.24,14.43,14.41,6.30,49.21
$GC,598,-0.64,-146.0,2193,2095,3414,3225,82.3,-14.9,117,601,0.00,2.47,0.00,0.000,2308,0.000,0.083,2182,3515,3318,3412,3224,0,0,0,0,0,0,14.69,14.44,14.69,6.30,48.50
$GC,612,-0.64,-146.0,2182,3516,3412,3226,84.6,-15.0,120,616,0.00,2.40,0.00,0.000,3078,0.000,0.044,2181,2100,3319,3413,3225,0,0,0,0,0,0,14.51,14.47,14.53,6.30,49.09
$GC,737,-0.64,-146.0,2182,2100,3412,3226,103.5,-14.7,142,741,0.00,2.47,0.00,0.000,2564,0.000,0.064,2182,690,3318,3412,3225,0,0,0,0,0,0,14.71,14.46,14.71,6.30,48.46
$GC,797,-0.64,-146.0,2182,691,3413,3226,112.3,-14.7,145,801,0.05,2.42,0.00,0.000,3078,0.353,0.057,2188,2091,3318,3412,3225,0,0,0,0,0,0,14.28,14.47,14.44,6.30,48.30
$GC,1117,-0.64,-146.0,2188,2092,3413,3225,155.5,-13.3,161,1121,0.00,2.47,0.00,0.000,2308,0.000,0.083,2177,3522,3318,3412,3225,0,0,0,0,0,0,14.76,14.50,14.76,6.31,49.60
$GC,1132,-0.64,-146.0,2176,3522,3413,3225,155.5,-13.3,161,1136,0.05,2.40,0.00,0.000,3078,0.353,0.043,2195,2095,3318,3412,3225,0,0,0,0,0,0,14.32,14.53,14.48,6.30,50.59
$GC,1437,-0.64,-146.0,2195,2094,3413,3225,196.1,-12.8,177,1441,0.00,2.45,0.00,0.000,516,0.000,0.064,2194,690,3318,3412,3225,0,0,0,0,0,0,14.78,14.52,14.79,6.41,50.78
$GC,1507,-0.64,-146.0,2193,691,3413,3225,203.8,-12.9,180,1511,0.00,2.45,0.00,0.000,3078,0.000,0.057,2184,2110,3318,3412,3224,0,0,0,0,0,0,14.59,14.54,14.61,6.32,50.78
$GC,1817,-0.64,-146.0,2185,2112,3413,3226,245.9,-13.6,196,1818,0.00,0.00,0.00,0.000,2054,0.000,0.000,2178,2111,3319,3414,3225,0,0,0,0,0,0,14.81,14.81,14.81,6.33,51.45
$GC,2117,-0.64,-146.0,2185,2111,3413,3225,286.9,-13.6,211,2121,0.00,2.42,0.00,0.000,2564,0.000,0.061,2184,692,3318,3412,3225,0,0,0,0,0,0,14.83,14.58,14.83,6.33,51.29
$GC,2142,-0.64,-146.0,2184,693,3413,3226,289.6,-13.6,212,2147,0.05,2.42,0.00,0.000,3078,0.363,0.056,2190,2102,3318,3412,3224,0,0,0,0,0,0,14.36,14.57,14.54,6.33,51.69
$GC,2457,-0.64,-146.0,2191,2103,3413,3224,330.9,-12.8,228,2461,0.00,2.47,0.00,0.000,2308,0.000,0.082,2180,3506,3319,3413,3225,0,0,0,0,0,0,14.83,14.55,14.83,6.33,51.02
$GC,2472,-0.64,-146.0,2180,3507,3412,3226,330.9,-12.8,228,2476,0.00,2.35,0.00,0.000,3078,0.000,0.043,2179,2103,3318,3412,3225,0,0,0,0,0,0,14.64,14.59,14.66,6.34,51.06
$STATE,2615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2615,begin apogee
$GC,2619,-0.15,0.0,2180,2156,3412,3224,351.9,-13.1,236,2749,0.47,0.00,127.60,1.575,10246,0.266,0.000,2354,2156,2719,2778,2660,0,0,0,0,0,0,14.42,13.94,13.33,6.34,51.10
$STATE,2751,end apogee,CONTROL_FINISHED_OK
$STATE,2751,begin loiter
$GC,3037,-0.15,0.0,2349,2157,2771,2643,349.5,2.9,257,3038,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2156,2706,2771,2642,0,0,0,0,0,0,14.56,14.57,14.57,6.29,50.23
$GC,3337,-0.15,0.0,2349,2156,2771,2640,340.4,3.0,272,3338,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2156,2705,2770,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.29,50.70
$GC,3637,-0.15,0.0,2349,2156,2772,2639,331.7,3.0,287,3638,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2156,2705,2772,2639,0,0,0,0,0,0,14.79,14.79,14.79,6.29,51.65
$GC,3937,-0.15,0.0,2348,2156,2771,2639,322.7,3.0,302,3938,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2156,2704,2770,2638,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.53
$GC,4237,-0.15,0.0,2349,2157,2771,2639,314.0,2.8,317,4238,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2156,2704,2771,2638,0,0,0,0,0,0,14.89,14.89,14.90,6.29,51.02
$GC,4537,-0.15,0.0,2349,2156,2772,2637,305.0,3.1,332,4538,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2156,2703,2770,2637,0,0,0,0,0,0,14.92,14.92,14.92,6.29,51.14
$GC,4837,-0.15,0.0,2349,2156,2772,2637,296.2,3.0,347,4838,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2156,2703,2770,2637,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.02
$GC,5137,-0.15,0.0,2349,2156,2771,2638,287.5,2.9,362,5138,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2155,2703,2770,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.33
$GC,5437,-0.15,0.0,2349,2156,2772,2637,278.3,3.1,377,5438,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2156,2703,2769,2637,0,0,0,0,0,0,14.99,14.99,14.98,6.28,51.26
$GC,5737,-0.15,0.0,2349,2156,2772,2637,268.6,3.2,392,5738,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2156,2703,2770,2636,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.10
$GC,6037,-0.15,0.0,2349,2156,2771,2637,259.1,3.1,407,6038,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2156,2704,2771,2637,0,0,0,0,0,0,15.02,15.01,15.02,6.28,51.22
$STATE,6335,end loiter,LOITER_COMPLETE
$STATE,6335,begin climb
$GC,6337,0.64,146.0,2349,2156,2772,2637,250.3,0.0,422,6478,0.62,2.60,130.43,1.423,11012,0.182,0.066,2608,745,2116,2141,2092,0,0,0,0,0,0,14.66,14.00,13.46,6.28,51.06
$GC,6562,0.64,146.0,2608,746,2135,2085,233.8,10.0,433,6566,0.00,2.47,0.00,0.000,5126,0.000,0.053,2608,2147,2109,2135,2084,0,0,0,0,0,0,14.22,14.16,14.24,6.24,49.17
$GC,6877,0.64,146.0,2608,2148,2131,2077,195.9,12.0,449,6881,0.00,2.53,0.00,0.000,4356,0.000,0.082,2609,3552,2103,2131,2076,0,0,0,0,0,0,14.62,14.32,14.61,6.24,50.27
$GC,6967,0.64,146.0,2609,3553,2132,2076,186.3,11.9,453,6971,0.03,2.38,0.00,0.000,5126,0.426,0.042,2609,2156,2103,2130,2076,0,0,0,0,0,0,14.20,14.38,14.35,6.24,50.47
$GC,7277,0.64,146.0,2610,2156,2129,2074,149.6,11.4,469,7281,0.00,2.50,0.00,0.000,4612,0.000,0.066,2619,740,2100,2127,2073,0,0,0,0,0,0,14.71,14.41,14.72,6.24,50.59
$GC,7337,0.64,146.0,2618,741,2124,2075,143.2,10.8,472,7341,0.00,2.42,0.00,0.000,5126,0.000,0.054,2619,2145,2099,2126,2073,0,0,0,0,0,0,14.50,14.45,14.52,6.24,50.90
$GC,7657,0.64,146.0,2619,2145,2126,2073,105.5,12.1,488,7661,0.00,2.47,0.00,0.000,4356,0.000,0.084,2619,3561,2098,2126,2071,0,0,0,0,0,0,14.78,14.49,14.78,6.23,50.07
$GC,7732,0.64,146.0,2620,3562,2138,2072,96.5,11.6,494,7736,0.05,2.38,0.00,0.000,5126,0.334,0.042,2610,2151,2098,2126,2070,0,0,0,0,0,0,14.36,14.54,14.51,6.23,50.51
$GC,7858,0.64,146.0,2610,2151,2127,2071,82.4,11.4,519,7862,0.00,2.42,0.00,0.000,4612,0.000,0.067,2619,744,2098,2126,2071,0,0,0,0,0,0,14.78,14.53,14.78,6.22,49.48
$GC,7917,0.64,146.0,2620,745,2125,2072,75.9,10.3,531,7921,0.00,2.42,0.00,0.000,5126,0.000,0.054,2619,2156,2097,2124,2070,0,0,0,0,0,0,14.56,14.50,14.58,6.22,50.31
$GC,8043,0.64,146.0,2615,2156,2126,2071,62.4,10.7,556,8046,0.00,2.45,0.00,0.000,4356,0.000,0.085,2619,3558,2097,2125,2070,0,0,0,0,0,0,14.78,14.52,14.78,6.21,49.48
$GC,8087,0.64,146.0,2620,3558,2125,2071,57.3,10.8,565,8092,0.08,2.38,0.00,0.000,5126,0.295,0.044,2602,2151,2097,2124,2071,0,0,0,0,0,0,14.37,14.52,14.50,6.21,48.81
$GC,8213,0.64,147.3,2602,2151,2125,2072,45.7,8.3,590,8217,0.00,2.42,0.00,0.000,516,0.000,0.067,2611,744,2096,2124,2069,0,0,0,0,0,0,14.78,14.54,14.78,6.21,48.58
$GC,8272,0.65,155.4,2611,745,2125,2071,40.9,8.0,602,8281,0.00,2.38,4.57,1.200,13318,0.000,0.053,2611,2157,2083,2110,2057,0,0,0,0,0,0,14.66,14.55,13.76,6.21,49.17
$GC,8402,0.65,155.4,2611,2157,2110,2057,28.4,10.6,628,8406,0.00,2.45,0.00,0.000,4356,0.000,0.084,2611,3561,2083,2109,2057,0,0,0,0,0,0,14.77,14.50,14.77,6.21,49.17
$GC,8452,0.65,155.4,2612,3562,2110,2057,22.7,11.7,638,8456,0.00,2.38,0.00,0.000,5126,0.000,0.042,2622,2149,2082,2108,2057,0,0,0,0,0,0,14.58,14.54,14.61,6.21,49.25
$GC,8577,0.65,155.4,2622,2148,2110,2057,10.1,9.4,663,8581,0.00,2.45,0.00,0.000,4612,0.000,0.064,2632,746,2083,2109,2057,0,0,0,0,0,0,14.78,14.47,14.78,6.20,49.68
$GC,8622,0.65,155.4,2634,746,2110,2056,5.6,10.3,672,8626,0.05,2.38,0.00,0.000,5126,0.323,0.050,2613,2141,2082,2108,2056,0,0,0,0,0,0,14.35,14.53,14.51,6.21,49.48
$STATE,8650,end climb,SURFACE_DEPTH_REACHED
$STATE,8650,begin surface coast
$STATE,8680,end surface coast,CONTROL_FINISHED_OK
$STATE,8680,begin surface
$SM_CCo,8693,62.47,0.243,0,0,1822,220.03
$SM_GC,1.17,5.47,0.05,62.47,0.070,0.216,0.243,267,2078,1822,-6.46,0.99,220.03,0,0,0,0,0,0,14.62,14.56,14.33
$IRIDIUM_FIX,-6017.76,0.00,050119,234744
$TT8_MAMPS,0.03745,0.351281
$HUMID,49.25
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3815904
$24V_AH,13.33,43.208
$10V_AH,13.66,0.000
$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,13.000,88.200,262.600,62.475,0.000,25.720,36.129,118.277,0.000,0.000,17.322,0.000,6930.753,426.350,1590.418,119.860,0.000,1054.895,0.000,1128.955,0.000,0.540,0.000
$DEVICE_MAMPS,426.105,2247.570,1575.135,242.505,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5093.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.698,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17318,684
$CAP_FILE_SIZE,94594,0
$CFSIZE,1023623168,999325696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.039,232.00,1
$GPS,060119,044901,-6017.600,0.217,22,0.9,45,-19.7,1.2,49.8,10,7.5