version: 66.14
glider: 640
mission: 5
dive: 226
start: 1 8 119 7 43 27
data:
$ID,640
$MISSION,5
$DIVE,226
$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,31
$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
$GPS1,080119,073755,-6009.4629,-2.3719,18,0.8,41,-19.7,0.0,175.7,10,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-64.5
$GPS2,080119,074308,-6009.5078,-2.3400,10,0.8,15,-19.7,0.8,76.9,11,9.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,31.3,54692,-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,-146.0,218,2107,1795,1825,0.0,0.0,0,102,0.00,0.00,-89.82,0.000,16386,0.000,0.000,217,2106,3249,3330,3168,0,0,0,0,0,0,14.61,28.83,14.62,6.17,50.51
$GC,104,-0.64,-146.0,218,2107,3330,3170,3.5,-7.7,18,117,6.05,2.67,-2.35,0.000,18948,0.354,2.235,2194,693,3315,3405,3226,0,0,0,0,0,0,14.17,13.43,14.45,6.30,49.60
$GC,207,-0.64,-146.0,2193,694,3408,3228,21.8,-14.8,39,211,0.00,2.40,0.00,0.000,3078,0.000,0.056,2184,2099,3317,3407,3227,0,0,0,0,0,0,14.50,14.40,14.52,6.30,48.93
$GC,331,-0.64,-146.0,2185,2098,3409,3225,41.7,-15.1,64,332,0.00,0.00,0.00,0.000,2054,0.000,0.000,2185,2094,3316,3407,3226,0,0,0,0,0,0,14.66,14.66,14.66,6.30,49.33
$GC,451,-0.64,-146.0,2185,2099,3409,3226,59.8,-15.0,88,455,0.00,2.42,0.00,0.000,2564,0.000,0.063,2184,691,3317,3408,3227,0,0,0,0,0,0,14.66,14.45,14.69,6.30,49.60
$GC,476,-0.64,-146.0,2184,693,3408,3227,63.6,-15.5,93,481,0.05,2.42,0.00,0.000,3078,0.358,0.056,2190,2090,3317,3408,3226,0,0,0,0,0,0,14.23,14.43,14.40,6.30,49.44
$GC,602,-0.64,-146.0,2191,2091,3408,3228,81.9,-14.8,118,606,0.00,2.42,0.00,0.000,2564,0.000,0.067,2191,687,3317,3408,3226,0,0,0,0,0,0,14.71,14.46,14.71,6.30,48.85
$GC,636,-0.64,-146.0,2190,688,3408,3227,87.3,-15.3,125,641,0.00,2.45,0.00,0.000,3078,0.000,0.057,2180,2099,3316,3407,3226,0,0,0,0,0,0,14.51,14.45,14.53,6.30,48.77
$GC,766,-0.64,-146.0,2181,2100,3408,3227,106.6,-14.9,145,771,0.00,2.50,0.00,0.000,2308,0.000,0.082,2170,3505,3316,3407,3226,0,0,0,0,0,0,14.73,14.44,14.73,6.30,49.21
$GC,786,-0.64,-146.0,2171,3505,3409,3226,109.6,-14.9,146,791,0.05,2.38,0.00,0.000,3078,0.358,0.045,2187,2104,3317,3408,3226,0,0,0,0,0,0,14.27,14.48,14.44,6.29,48.58
$GC,1106,-0.64,-146.0,2189,2103,3409,3226,154.7,-13.7,162,1110,0.00,2.47,0.00,0.000,2564,0.000,0.067,2187,698,3317,3408,3226,0,0,0,0,0,0,14.78,14.50,14.78,6.30,49.60
$GC,1226,-0.64,-146.0,2188,698,3409,3226,170.4,-12.8,168,1230,0.03,2.42,0.00,0.000,3078,0.452,0.057,2186,2099,3317,3408,3226,0,0,0,0,0,0,14.31,14.50,14.46,6.30,50.11
$GC,1546,-0.64,-146.0,2186,2101,3408,3227,210.9,-12.9,184,1550,0.00,2.45,0.00,0.000,2308,0.000,0.083,2176,3515,3316,3407,3226,0,0,0,0,0,0,14.81,14.53,14.81,6.31,50.90
$GC,1571,-0.64,-146.0,2176,3516,3408,3227,213.5,-12.9,185,1575,0.05,2.38,0.00,0.000,3078,0.352,0.044,2193,2103,3316,3406,3226,0,0,0,0,0,0,14.33,14.55,14.50,6.32,51.53
$GC,1886,-0.64,-146.0,2193,2102,3409,3226,253.7,-12.5,201,1890,0.00,2.47,0.00,0.000,2564,0.000,0.066,2193,689,3317,3408,3226,0,0,0,0,0,0,14.79,14.53,14.83,6.32,51.14
$GC,1956,-0.64,-146.0,2193,690,3409,3226,261.4,-12.8,204,1960,0.00,2.42,0.00,0.000,3078,0.000,0.056,2183,2103,3316,3407,3226,0,0,0,0,0,0,14.61,14.55,14.63,6.32,50.86
$GC,2266,-0.64,-146.0,2184,2104,3408,3226,303.1,-13.2,220,2271,0.00,2.47,0.00,0.000,2308,0.000,0.082,2173,3506,3316,3407,3226,0,0,0,0,0,0,14.83,14.53,14.84,6.33,51.22
$GC,2291,-0.64,-146.0,2173,3507,3409,3226,305.8,-13.2,221,2295,0.05,2.38,0.00,0.000,3078,0.351,0.044,2190,2088,3320,3408,3232,0,0,0,0,0,0,14.36,14.57,14.52,6.33,51.18
$GC,2606,-0.64,-146.0,2190,2086,3409,3225,346.2,-12.5,237,2610,0.00,2.42,0.00,0.000,2564,0.000,0.065,2190,697,3317,3408,3226,0,0,0,0,0,0,14.84,14.56,14.84,6.33,51.26
$STATE,2645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2645,begin apogee
$GC,2651,-0.15,0.0,2181,2147,3408,3227,351.3,-12.7,239,2781,0.47,0.00,127.10,1.587,10246,0.262,0.000,2349,2147,2719,2779,2660,0,0,0,0,0,0,14.38,13.93,13.33,6.34,51.57
$STATE,2782,end apogee,CONTROL_FINISHED_OK
$STATE,2782,begin loiter
$GC,3066,-0.15,0.0,2350,2147,2773,2643,349.3,2.8,260,3067,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2147,2708,2772,2644,0,0,0,0,0,0,14.57,14.57,14.57,6.28,50.31
$GC,3366,-0.15,0.0,2348,2147,2772,2643,340.8,2.8,275,3367,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2147,2706,2772,2641,0,0,0,0,0,0,14.71,14.71,14.71,6.28,51.69
$GC,3666,-0.15,0.0,2349,2148,2771,2641,332.6,2.7,290,3667,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2147,2706,2772,2640,0,0,0,0,0,0,14.80,14.81,14.80,6.28,50.98
$GC,3966,-0.15,0.0,2350,2147,2773,2639,324.3,2.9,305,3967,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2147,2705,2771,2639,0,0,0,0,0,0,14.85,14.86,14.86,6.28,51.02
$GC,4266,-0.15,0.0,2350,2147,2773,2639,315.6,3.0,320,4267,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2147,2705,2772,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.26
$GC,4566,-0.15,0.0,2350,2147,2773,2638,306.2,3.2,335,4567,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2147,2705,2771,2639,0,0,0,0,0,0,14.93,14.94,14.94,6.28,51.26
$GC,4866,-0.15,0.0,2350,2147,2773,2638,296.1,3.4,350,4867,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2147,2705,2772,2639,0,0,0,0,0,0,14.96,14.96,14.96,6.28,51.22
$GC,5166,-0.15,0.0,2350,2147,2772,2638,286.0,3.3,365,5167,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2147,2704,2771,2638,0,0,0,0,0,0,14.98,14.98,14.98,6.28,51.22
$GC,5466,-0.15,0.0,2349,2147,2772,2639,275.9,3.3,380,5467,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2147,2705,2772,2639,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.06
$GC,5766,-0.15,0.0,2350,2147,2773,2638,265.6,3.5,395,5767,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2147,2705,2772,2638,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.69
$GC,6066,-0.15,0.0,2350,2147,2773,2638,255.1,3.5,410,6067,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2147,2705,2772,2638,0,0,0,0,0,0,15.03,15.03,15.03,6.28,51.14
$STATE,6365,end loiter,LOITER_COMPLETE
$STATE,6365,begin climb
$GC,6366,0.64,146.0,2350,2147,2772,2638,245.1,0.0,425,6508,0.62,2.55,130.93,1.450,11012,0.184,0.067,2608,753,2117,2141,2093,0,0,0,0,0,0,14.65,13.99,13.45,6.28,51.37
$GC,6607,0.64,146.0,2608,753,2135,2086,225.6,10.6,437,6610,0.00,2.45,0.00,0.000,5126,0.000,0.054,2609,2143,2109,2134,2084,0,0,0,0,0,0,14.23,14.18,14.26,6.24,49.33
$GC,6927,0.64,146.0,2609,2143,2131,2078,186.4,12.4,453,6931,0.00,2.50,0.00,0.000,4356,0.000,0.083,2609,3560,2104,2131,2077,0,0,0,0,0,0,14.62,14.35,14.62,6.23,50.31
$GC,7022,0.64,146.0,2608,3560,2132,2077,176.6,12.2,457,7026,0.00,2.40,0.00,0.000,5126,0.000,0.044,2619,2153,2104,2131,2077,0,0,0,0,0,0,14.52,14.40,14.54,6.23,50.47
$GC,7327,0.64,146.0,2618,2154,2128,2075,135.6,13.1,473,7328,0.00,0.00,0.00,0.000,4102,0.000,0.000,2619,2154,2101,2128,2075,0,0,0,0,0,0,14.72,14.73,14.72,6.23,50.51
$GC,7627,0.64,146.0,2619,2154,2128,2074,98.0,12.4,488,7631,0.00,2.47,0.00,0.000,4612,0.000,0.067,2631,751,2101,2128,2074,0,0,0,0,0,0,14.78,14.49,14.78,6.23,50.63
$GC,7667,0.64,146.0,2630,751,2127,2073,93.2,11.6,496,7671,0.08,2.40,0.00,0.000,5126,0.266,0.054,2597,2144,2099,2126,2073,0,0,0,0,0,0,14.38,14.50,14.51,6.23,50.35
$GC,7792,0.64,146.0,2602,2146,2126,2074,80.1,10.1,521,7796,0.00,2.47,0.00,0.000,260,0.000,0.084,2602,3558,2099,2126,2073,0,0,0,0,0,0,14.77,14.50,14.77,6.22,49.72
$GC,7847,0.64,146.0,2602,3559,2127,2074,74.4,9.9,532,7851,0.00,2.38,0.00,0.000,5126,0.000,0.044,2610,2149,2099,2125,2073,0,0,0,0,0,0,14.58,14.53,14.60,6.21,49.48
$GC,7972,0.64,146.0,2610,2152,2127,2073,62.4,9.6,557,7976,0.00,2.47,0.00,0.000,4612,0.000,0.067,2621,744,2099,2126,2072,0,0,0,0,0,0,14.78,14.50,14.78,6.21,49.01
$GC,8032,0.64,146.0,2621,745,2126,2073,56.8,9.0,569,8036,0.05,2.40,0.00,0.000,5126,0.303,0.054,2602,2146,2098,2125,2072,0,0,0,0,0,0,14.38,14.52,14.52,6.20,49.64
$GC,8157,0.64,146.0,2603,2145,2127,2073,46.2,8.4,594,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2145,2098,2125,2072,0,0,0,0,0,0,14.78,14.79,14.79,6.21,48.58
$GC,8282,0.66,161.7,2602,2146,2126,2073,36.0,7.7,619,8297,0.00,2.42,11.25,1.311,10756,0.000,0.065,2611,744,2054,2079,2030,0,0,0,0,0,0,14.79,14.39,13.88,6.21,49.13
$GC,8362,0.66,161.7,2611,745,2080,2022,29.5,8.6,635,8366,0.00,2.38,0.00,0.000,1030,0.000,0.053,2611,2153,2052,2079,2026,0,0,0,0,0,0,14.59,14.50,14.61,6.20,49.05
$GC,8487,0.66,161.7,2611,2154,2079,2027,18.4,8.5,660,8491,0.00,2.50,0.00,0.000,260,0.000,0.083,2611,3550,2052,2078,2026,0,0,0,0,0,0,14.74,14.45,14.75,6.20,49.72
$GC,8517,0.66,161.7,2611,3553,2079,2027,15.5,9.4,666,8522,0.00,2.38,0.00,0.000,5126,0.000,0.044,2621,2154,2052,2078,2026,0,0,0,0,0,0,14.55,14.47,14.57,6.20,49.64
$GC,8643,0.66,161.7,2622,2154,2079,2025,3.3,9.6,691,8646,0.00,2.17,0.00,0.000,4611,0.000,0.067,2631,890,2051,2078,2024,0,0,0,0,0,0,14.75,14.75,14.75,6.20,50.07
$STATE,8647,end climb,SURFACE_DEPTH_REACHED
$STATE,8647,begin surface coast
$STATE,8670,end surface coast,CONTROL_FINISHED_OK
$STATE,8670,begin surface
$SM_CCo,8685,55.42,0.244,0,0,1822,220.03
$SM_GC,1.10,5.57,2.12,55.42,0.076,0.054,0.244,228,2101,1822,-6.45,-0.76,220.03,0,0,0,0,0,0,14.61,14.54,14.31
$IRIDIUM_FIX,-6007.06,0.00,080119,050915
$TT8_MAMPS,0.038199,0.220206
$HUMID,50.43
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3805152
$24V_AH,13.33,46.889
$10V_AH,13.16,0.000
$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,13.075,82.575,269.275,55.425,0.000,26.930,38.427,120.838,0.000,0.000,17.065,0.000,6897.643,423.890,1610.421,125.437,0.000,1059.363,0.000,1152.123,0.000,0.539,0.000
$DEVICE_MAMPS,452.115,2235.330,1586.610,244.035,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5084.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.830,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17300,697
$CAP_FILE_SIZE,92691,0
$CFSIZE,1023623168,997261312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.037,215.45,1
$GPS,080119,101003,-6009.105,-2.377,20,0.7,32,-19.7,0.6,134.0,10,9.9