version: 66.14
glider: 640
mission: 5
dive: 266
start: 1 12 119 13 57 17
data:
$ID,640
$MISSION,5
$DIVE,266
$N_DIVES,500
$STOP_T,1171912
$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,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
$GPS1,120119,135156,-5951.5967,0.5302,12,0.9,36,-19.7,0.3,46.8,10,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.6
$GPS2,120119,135659,-5951.5850,0.6065,8,0.9,13,-19.7,0.0,55.5,10,8.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,4.5,21463,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.64,-146.0,234,2108,1795,1825,0.0,0.0,0,102,0.00,0.00,-88.43,0.000,16386,0.000,0.000,233,2106,3207,3289,3125,0,0,0,0,0,0,14.61,28.83,14.61,6.18,50.74
$GC,104,-0.64,-146.0,234,2107,3289,3127,3.2,-7.1,18,119,6.05,2.70,-4.05,0.000,18948,0.361,2.236,2188,692,3316,3408,3224,0,0,0,0,0,0,14.14,13.40,14.44,6.29,50.11
$GC,189,-0.64,-146.0,2189,692,3411,3226,19.1,-17.4,35,193,0.00,2.42,0.00,0.000,3078,0.000,0.057,2178,2104,3317,3410,3224,0,0,0,0,0,0,14.45,14.35,14.47,6.31,48.58
$GC,313,-0.64,-146.0,2178,2105,3411,3226,41.6,-20.0,60,317,0.05,2.47,0.00,0.000,2308,0.458,0.081,2182,3513,3317,3411,3224,0,0,0,0,0,0,14.23,14.36,14.45,6.31,49.01
$GC,333,-0.64,-146.0,2182,3513,3411,3226,45.0,-17.5,64,337,0.00,2.40,0.00,0.000,3078,0.000,0.044,2181,2107,3317,3410,3225,0,0,0,0,0,0,14.46,14.40,14.47,6.31,49.09
$GC,458,-0.64,-146.0,2182,2107,3412,3225,63.3,-15.4,89,462,0.00,2.45,0.00,0.000,2564,0.000,0.062,2181,689,3318,3411,3225,0,0,0,0,0,0,14.68,14.42,14.68,6.30,49.33
$GC,488,-0.64,-146.0,2181,696,3412,3225,68.0,-15.8,95,493,0.05,2.45,0.00,0.000,3078,0.349,0.058,2188,2094,3317,3411,3224,0,0,0,0,0,0,14.18,14.40,14.37,6.30,49.01
$GC,614,-0.64,-146.0,2188,2093,3411,3224,86.7,-15.0,120,617,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2094,3317,3411,3224,0,0,0,0,0,0,14.69,14.69,14.69,6.30,48.58
$GC,743,-0.64,-146.0,2186,2095,3411,3226,106.8,-15.5,140,744,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2094,3318,3411,3225,0,0,0,0,0,0,14.72,14.72,14.72,6.30,48.70
$GC,1043,-0.64,-146.0,2189,2093,3411,3225,150.0,-13.8,155,1048,0.00,2.47,0.00,0.000,2308,0.000,0.082,2177,3517,3317,3410,3225,0,0,0,0,0,0,14.77,14.47,14.76,6.32,49.56
$GC,1078,-0.64,-146.0,2178,3515,3411,3225,152.8,-13.7,156,1082,0.03,2.40,0.00,0.000,3078,0.441,0.042,2185,2091,3317,3410,3225,0,0,0,0,0,0,14.27,14.50,14.42,6.31,50.03
$GC,1383,-0.64,-146.0,2185,2090,3411,3225,195.0,-12.9,172,1387,0.00,2.42,0.00,0.000,2564,0.000,0.063,2185,674,3317,3411,3224,0,0,0,0,0,0,14.79,14.52,14.79,6.32,50.66
$GC,1433,-0.64,-146.0,2186,675,3412,3225,200.3,-13.1,174,1437,0.05,2.45,0.00,0.000,3078,0.440,0.056,2190,2097,3317,3410,3225,0,0,0,0,0,0,14.30,14.50,14.55,6.32,50.66
$GC,1743,-0.64,-146.0,2190,2098,3411,3225,242.2,-13.3,190,1747,0.00,2.45,0.00,0.000,2308,0.000,0.083,2183,3507,3317,3410,3224,0,0,0,0,0,0,14.81,14.51,14.81,6.32,50.90
$GC,1773,-0.64,-146.0,2180,3508,3411,3224,244.9,-13.4,191,1777,0.00,2.38,0.00,0.000,3078,0.000,0.043,2179,2098,3317,3410,3224,0,0,0,0,0,0,14.59,14.54,14.61,6.33,50.82
$GC,2083,-0.64,-146.0,2179,2097,3411,3228,288.7,-13.5,207,2087,0.00,2.40,0.00,0.000,2564,0.000,0.063,2179,696,3317,3410,3224,0,0,0,0,0,0,14.83,14.55,14.82,6.33,51.02
$GC,2143,-0.64,-146.0,2180,697,3412,3225,296.8,-13.5,210,2147,0.05,2.42,0.00,0.000,3078,0.350,0.056,2186,2103,3317,3411,3224,0,0,0,0,0,0,14.31,14.52,14.64,6.33,51.02
$GC,2463,-0.64,-146.0,2186,2103,3411,3225,337.1,-12.6,226,2468,0.00,2.45,0.00,0.000,2308,0.000,0.082,2174,3514,3317,3411,3224,0,0,0,0,0,0,14.83,14.52,14.83,6.33,51.02
$GC,2503,-0.64,-146.0,2176,3514,3411,3224,342.3,-12.7,228,2508,0.05,2.35,0.00,0.000,3078,0.437,0.042,2191,2089,3317,3410,3224,0,0,0,0,0,0,14.33,14.58,14.58,6.34,50.98
$STATE,2582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2582,begin apogee
$GC,2586,-0.15,0.0,2192,2158,3410,3226,352.1,-12.3,232,2715,0.45,0.00,126.88,1.570,10246,0.262,0.000,2351,2158,2717,2777,2657,0,0,0,0,0,0,14.33,13.95,13.33,6.34,51.18
$STATE,2717,end apogee,CONTROL_FINISHED_OK
$STATE,2717,begin loiter
$GC,3003,-0.15,0.0,2351,2159,2772,2643,349.4,2.9,253,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2158,2706,2772,2641,0,0,0,0,0,0,14.56,14.57,14.57,6.29,50.51
$GC,3303,-0.15,0.0,2351,2159,2771,2640,340.9,2.8,268,3304,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2158,2705,2771,2639,0,0,0,0,0,0,14.71,14.71,14.71,6.29,50.63
$GC,3603,-0.15,0.0,2351,2159,2771,2639,332.6,2.9,283,3604,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2158,2704,2771,2638,0,0,0,0,0,0,14.79,14.80,14.80,6.29,50.90
$GC,3903,-0.15,0.0,2351,2159,2772,2638,324.1,3.0,298,3904,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2158,2704,2771,2637,0,0,0,0,0,0,14.85,14.85,14.85,6.29,51.22
$GC,4203,-0.15,0.0,2351,2159,2772,2638,314.8,3.3,313,4204,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2158,2704,2771,2637,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.06
$GC,4503,-0.15,0.0,2352,2159,2771,2637,304.6,3.5,328,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2158,2703,2770,2637,0,0,0,0,0,0,14.92,14.93,14.93,6.29,51.49
$GC,4803,-0.15,0.0,2351,2159,2773,2636,293.5,3.7,343,4804,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2158,2703,2771,2636,0,0,0,0,0,0,14.95,14.95,14.95,6.29,51.57
$GC,5103,-0.15,0.0,2352,2159,2772,2635,282.7,3.4,358,5104,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2158,2703,2771,2636,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.18
$GC,5403,-0.15,0.0,2352,2158,2771,2636,272.3,3.5,373,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2158,2703,2771,2635,0,0,0,0,0,0,14.98,14.99,14.99,6.28,51.18
$GC,5703,-0.15,0.0,2351,2159,2771,2637,262.4,3.3,388,5704,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2158,2703,2771,2635,0,0,0,0,0,0,15.00,15.00,15.01,6.28,51.61
$GC,6003,-0.15,0.0,2352,2159,2772,2635,253.2,3.0,403,6004,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2158,2703,2771,2635,0,0,0,0,0,0,15.01,15.02,15.02,6.29,51.18
$GC,6303,-0.15,0.0,2351,2159,2772,2636,243.9,3.2,418,6304,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2158,2703,2771,2635,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.22
$STATE,6321,end loiter,LOITER_COMPLETE
$STATE,6321,begin climb
$GC,6323,0.64,146.0,2352,2159,2772,2635,243.3,0.0,419,6463,0.60,2.58,130.23,1.413,10756,0.171,0.064,2603,745,2116,2141,2092,0,0,0,0,0,0,14.62,13.90,13.46,6.28,51.26
$GC,6498,0.64,149.9,2602,745,2136,2087,232.9,8.2,427,6503,0.00,2.47,0.00,0.000,1030,0.000,0.052,2603,2138,2111,2135,2087,0,0,0,0,0,0,14.15,14.11,14.21,6.24,49.33
$GC,6803,0.64,149.9,2603,2139,2131,2078,195.5,12.0,443,6808,0.00,2.50,0.00,0.000,260,0.000,0.081,2604,3556,2103,2130,2076,0,0,0,0,0,0,14.59,14.32,14.59,6.24,50.19
$GC,6888,0.64,149.9,2604,3557,2132,2077,186.0,11.8,447,6892,0.00,2.38,0.00,0.000,5126,0.000,0.042,2613,2163,2104,2131,2077,0,0,0,0,0,0,14.41,14.38,14.44,6.24,50.27
$GC,7203,0.64,149.9,2614,2170,2128,2075,146.0,12.3,463,7207,0.00,2.47,0.00,0.000,4612,0.000,0.067,2625,743,2100,2127,2074,0,0,0,0,0,0,14.71,14.44,14.71,6.24,50.98
$GC,7303,0.64,149.9,2625,743,2126,2075,135.1,10.6,468,7307,0.05,2.42,0.00,0.000,5126,0.301,0.053,2608,2147,2095,2117,2074,0,0,0,0,0,0,14.27,14.43,14.43,6.23,50.70
$GC,7623,0.64,149.9,2606,2147,2126,2072,100.9,10.4,484,7627,0.00,2.50,0.00,0.000,260,0.000,0.080,2605,3550,2098,2125,2072,0,0,0,0,0,0,14.77,14.46,14.78,6.23,50.39
$GC,7688,0.64,149.9,2605,3549,2126,2073,94.4,9.7,494,7692,0.00,2.35,0.00,0.000,5126,0.000,0.041,2614,2152,2098,2125,2072,0,0,0,0,0,0,14.57,14.50,14.59,6.22,49.80
$GC,7814,0.64,149.9,2615,2152,2126,2071,82.2,9.6,519,7818,0.00,2.45,0.00,0.000,4612,0.000,0.067,2625,738,2098,2125,2072,0,0,0,0,0,0,14.77,14.50,14.77,6.22,49.76
$GC,7853,0.64,149.9,2625,739,2125,2071,78.5,9.1,527,7858,0.05,2.42,0.00,0.000,5126,0.298,0.053,2605,2148,2097,2123,2072,0,0,0,0,0,0,14.33,14.49,14.48,6.22,50.03
$GC,7979,0.64,149.9,2605,2149,2124,2072,67.8,8.5,552,7983,0.00,2.45,0.00,0.000,260,0.000,0.082,2605,3555,2097,2123,2071,0,0,0,0,0,0,14.77,14.50,14.78,6.21,49.25
$GC,8018,0.64,149.9,2605,3556,2124,2073,64.3,8.6,560,8022,0.00,2.33,0.00,0.000,5126,0.000,0.043,2614,2151,2097,2123,2072,0,0,0,0,0,0,14.64,14.56,14.66,6.21,49.13
$GC,8143,0.64,149.9,2614,2151,2125,2071,52.9,9.5,585,8147,0.00,2.42,0.00,0.000,4612,0.000,0.066,2625,745,2097,2123,2071,0,0,0,0,0,0,14.78,14.51,14.79,6.21,48.97
$GC,8199,0.64,149.9,2625,746,2123,2073,47.6,9.9,596,8202,0.05,2.38,0.00,0.000,5126,0.405,0.053,2607,2157,2097,2123,2071,0,0,0,0,0,0,14.35,14.54,14.59,6.21,49.01
$GC,8323,0.64,149.9,2607,2158,2123,2072,35.0,10.2,621,8327,0.00,2.45,0.00,0.000,260,0.000,0.083,2607,3558,2096,2122,2071,0,0,0,0,0,0,14.78,14.50,14.78,6.20,49.37
$GC,8393,0.64,149.9,2607,3558,2123,2072,27.7,10.0,635,8398,0.00,2.38,0.00,0.000,5126,0.000,0.041,2616,2151,2096,2122,2071,0,0,0,0,0,0,14.57,14.51,14.62,6.20,49.37
$GC,8518,0.64,149.9,2616,2151,2123,2071,15.8,9.9,660,8522,0.00,2.47,0.00,0.000,4612,0.000,0.067,2627,747,2096,2122,2070,0,0,0,0,0,0,14.79,14.50,14.79,6.20,49.68
$GC,8558,0.64,149.9,2627,748,2122,2072,12.1,9.2,668,8563,0.05,2.40,0.00,0.000,5126,0.299,0.053,2608,2147,2095,2121,2070,0,0,0,0,0,0,14.33,14.52,14.48,6.20,49.37
$STATE,8661,end climb,SURFACE_DEPTH_REACHED
$STATE,8663,begin surface coast
$STATE,8691,end surface coast,CONTROL_FINISHED_OK
$STATE,8691,begin surface
$SM_CCo,8704,65.97,0.243,0,0,1821,220.03
$SM_GC,1.24,5.50,0.08,65.97,0.076,0.184,0.243,273,2078,1821,-6.46,0.93,220.03,0,0,0,0,0,0,14.61,14.54,14.30
$IRIDIUM_FIX,-5952.63,0.00,120119,112030
$TT8_MAMPS,0.038948,0.327313
$HUMID,49.72
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3784672
$24V_AH,13.33,53.922
$10V_AH,13.55,0.000
$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,13.075,83.100,257.100,65.975,0.000,24.527,14.618,130.043,0.000,0.000,14.353,0.000,6921.953,423.304,1585.332,146.053,0.000,1055.833,0.000,1140.817,0.000,0.539,0.000
$DEVICE_MAMPS,458.235,2236.095,1569.780,242.505,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5086.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.752,0.000,0.000,0.000
$MEM,344104
$DATA_FILE_SIZE,17308,695
$CAP_FILE_SIZE,94433,0
$CFSIZE,1023623168,993329152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.037,76.42,1
$GPS,120119,162431,-5951.055,0.727,15,0.7,39,-19.7,0.0,158.6,10,7.4