version: 66.14
glider: 640
mission: 5
dive: 306
start: 1 16 119 20 8 55
data:
$ID,640
$MISSION,5
$DIVE,306
$N_DIVES,500
$STOP_T,1241912
$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,48
$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
$GPS1,160119,200301,-5942.5811,2.1809,18,0.9,29,-19.8,0.6,222.3,9,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-63.7
$GPS2,160119,200837,-5942.5732,2.1747,13,0.9,15,-19.8,0.5,303.6,10,9.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,355.1,5181,-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,-146.0,217,2079,1793,1827,0.0,0.0,0,96,0.00,0.00,-82.45,0.000,16386,0.000,0.000,216,2083,3138,3219,3057,0,0,0,0,0,0,14.59,28.83,14.59,6.21,50.66
$GC,98,-0.64,-146.0,217,2080,3220,3060,3.3,-6.5,17,116,6.10,2.65,-6.60,0.000,18948,0.352,2.229,2188,713,3317,3413,3222,0,0,0,0,0,0,14.11,13.11,14.40,6.30,50.15
$GC,241,-0.64,-146.0,2189,715,3414,3224,28.5,-17.6,46,246,0.00,2.42,0.00,0.000,3078,0.000,0.054,2179,2106,3318,3413,3224,0,0,0,0,0,0,14.50,14.35,14.51,6.32,48.85
$GC,366,-0.64,-146.0,2178,2107,3414,3234,51.3,-18.8,71,370,0.00,2.45,0.00,0.000,2308,0.000,0.081,2168,3506,3318,3413,3224,0,0,0,0,0,0,14.66,14.37,14.66,6.32,50.15
$GC,426,-0.64,-146.0,2169,3505,3414,3224,63.5,-19.8,83,431,0.08,2.35,0.00,0.000,3078,0.311,0.042,2194,2116,3318,3413,3224,0,0,0,0,0,0,14.19,14.40,14.34,6.32,49.48
$GC,553,-0.64,-146.0,2194,2116,3414,3224,83.3,-15.6,108,556,0.00,2.45,0.00,0.000,260,0.000,0.080,2185,3507,3318,3413,3224,0,0,0,0,0,0,14.69,14.40,14.69,6.32,49.09
$GC,586,-0.64,-146.0,2185,3508,3414,3225,89.2,-17.0,115,590,0.00,2.38,0.00,0.000,3078,0.000,0.044,2185,2083,3318,3413,3224,0,0,0,0,0,0,14.56,14.45,14.57,6.32,48.74
$GC,717,-0.64,-146.0,2185,2084,3414,3225,108.7,-14.5,132,720,0.00,2.40,0.00,0.000,2564,0.000,0.063,2185,695,3318,3413,3224,0,0,0,0,0,0,14.72,14.45,14.72,6.32,49.40
$GC,751,-0.64,-146.0,2185,695,3414,3226,111.7,-14.5,133,756,0.05,2.45,0.00,0.000,3078,0.350,0.057,2191,2103,3318,3413,3224,0,0,0,0,0,0,14.20,14.43,14.38,6.31,48.93
$GC,1057,-0.64,-146.0,2191,2104,3414,3225,153.2,-12.3,149,1060,0.00,2.45,0.00,0.000,2308,0.000,0.081,2181,3510,3319,3413,3225,0,0,0,0,0,0,14.76,14.45,14.77,6.32,50.03
$GC,1092,-0.64,-146.0,2181,3511,3414,3224,157.5,-12.2,151,1096,0.00,2.35,0.00,0.000,3078,0.000,0.043,2180,2093,3318,3413,3224,0,0,0,0,0,0,14.62,14.52,14.63,6.33,50.78
$GC,1411,-0.64,-146.0,2180,2093,3414,3225,196.5,-12.4,167,1415,0.00,2.40,0.00,0.000,2564,0.000,0.063,2180,691,3318,3413,3223,0,0,0,0,0,0,14.80,14.50,14.80,6.33,50.74
$GC,1487,-0.64,-146.0,2181,692,3414,3224,204.1,-12.7,170,1491,0.08,2.40,0.00,0.000,3078,0.374,0.055,2193,2109,3318,3413,3224,0,0,0,0,0,0,14.28,14.52,14.54,6.33,50.82
$GC,1791,-0.64,-146.0,2194,2109,3415,3224,243.4,-12.7,186,1792,0.00,0.00,0.00,0.000,2054,0.000,0.000,2194,2109,3318,3413,3224,0,0,0,0,0,0,14.81,14.82,14.81,6.33,50.98
$GC,2091,-0.64,-146.0,2193,2110,3414,3225,282.3,-13.0,201,2092,0.00,0.00,0.00,0.000,2054,0.000,0.000,2193,2109,3318,3413,3224,0,0,0,0,0,0,14.83,14.83,14.83,6.33,50.90
$GC,2391,-0.64,-146.0,2193,2110,3414,3226,322.3,-13.5,216,2392,0.00,0.00,0.00,0.000,2054,0.000,0.000,2193,2109,3318,3413,3224,0,0,0,0,0,0,14.84,14.85,14.84,6.33,50.94
$STATE,2610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2610,begin apogee
$GC,2614,-0.15,0.0,2193,2157,3414,3225,351.5,-13.3,227,2743,0.45,0.00,125.70,1.576,10246,0.260,0.000,2354,2156,2717,2778,2656,0,0,0,0,0,0,14.33,13.94,13.33,6.34,51.06
$STATE,2744,end apogee,CONTROL_FINISHED_OK
$STATE,2744,begin loiter
$GC,3031,-0.15,0.0,2353,2157,2772,2642,353.3,1.8,248,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2157,2706,2771,2641,0,0,0,0,0,0,14.57,14.58,14.57,6.29,50.66
$GC,3331,-0.15,0.0,2353,2157,2772,2640,347.8,1.9,263,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2157,2705,2772,2639,0,0,0,0,0,0,14.72,14.73,14.73,6.29,50.94
$GC,3631,-0.15,0.0,2354,2157,2773,2637,342.5,1.8,278,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2157,2704,2772,2637,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.53
$GC,3932,-0.15,0.0,2353,2157,2772,2638,337.6,1.7,293,3932,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2157,2704,2772,2637,0,0,0,0,0,0,14.87,14.87,14.87,6.28,51.41
$GC,4231,-0.15,0.0,2353,2157,2772,2635,332.7,1.7,308,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2156,2704,2772,2636,0,0,0,0,0,0,14.91,14.91,14.92,6.29,51.22
$GC,4531,-0.15,0.0,2354,2157,2773,2636,327.5,1.9,323,4532,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2157,2703,2771,2635,0,0,0,0,0,0,14.94,14.95,14.95,6.29,51.14
$GC,4831,-0.15,0.0,2353,2157,2772,2636,321.4,2.2,338,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2156,2703,2772,2635,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.33
$GC,5131,-0.15,0.0,2354,2157,2773,2635,315.0,2.2,353,5132,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2157,2703,2771,2635,0,0,0,0,0,0,14.98,14.99,14.99,6.29,51.26
$GC,5432,-0.15,0.0,2354,2158,2772,2635,307.8,2.5,368,5432,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2156,2703,2772,2635,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.61
$GC,5731,-0.15,0.0,2354,2157,2773,2634,298.9,3.2,383,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2157,2702,2771,2634,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.29
$GC,6031,-0.15,0.0,2354,2157,2772,2635,289.0,3.4,398,6032,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2156,2702,2771,2634,0,0,0,0,0,0,15.02,15.03,15.03,6.29,51.26
$GC,6331,-0.15,0.0,2353,2157,2772,2635,279.2,3.0,413,6332,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2156,2702,2771,2634,0,0,0,0,0,0,15.04,15.04,15.04,6.28,51.29
$STATE,6350,end loiter,LOITER_COMPLETE
$STATE,6350,begin climb
$GC,6351,0.64,146.0,2354,2157,2773,2634,278.6,0.0,414,6492,0.60,2.60,130.05,1.456,10756,0.168,0.063,2605,745,2116,2140,2093,0,0,0,0,0,0,14.59,14.00,13.43,6.28,51.61
$GC,6586,0.64,146.0,2605,745,2134,2088,261.2,10.5,425,6591,0.00,2.45,0.00,0.000,1030,0.000,0.054,2605,2157,2109,2133,2085,0,0,0,0,0,0,14.27,14.18,14.29,6.24,49.56
$GC,6892,0.64,146.0,2606,2157,2131,2077,222.5,12.4,441,6896,0.00,2.50,0.00,0.000,260,0.000,0.083,2605,3562,2104,2130,2078,0,0,0,0,0,0,14.60,14.31,14.61,6.25,50.74
$GC,6966,0.64,146.0,2605,3562,2130,2076,214.9,12.6,444,6970,0.00,2.40,0.00,0.000,5126,0.000,0.043,2616,2155,2103,2129,2077,0,0,0,0,0,0,14.42,14.36,14.44,6.24,50.47
$GC,7271,0.64,146.0,2616,2155,2129,2075,174.3,12.6,460,7275,0.00,2.47,0.00,0.000,4612,0.000,0.067,2627,738,2101,2127,2075,0,0,0,0,0,0,14.72,14.42,14.72,6.24,50.70
$GC,7331,0.64,146.0,2628,739,2127,2075,167.2,12.0,463,7335,0.08,2.45,0.00,0.000,5126,0.327,0.054,2601,2176,2100,2125,2075,0,0,0,0,0,0,14.28,14.44,14.52,6.24,50.94
$GC,7651,0.64,146.0,2601,2177,2126,2075,130.1,11.5,479,7655,0.00,2.47,0.00,0.000,260,0.000,0.083,2601,3558,2099,2125,2074,0,0,0,0,0,0,14.78,14.44,14.78,6.24,50.98
$GC,7726,0.64,146.0,2601,3558,2126,2075,123.0,11.8,482,7730,0.00,2.38,0.00,0.000,5126,0.000,0.043,2608,2154,2099,2125,2074,0,0,0,0,0,0,14.64,14.50,14.65,6.23,51.14
$GC,8031,0.64,146.0,2610,2155,2126,2072,82.1,14.0,516,8035,0.00,2.50,0.00,0.000,4612,0.000,0.067,2621,737,2098,2125,2072,0,0,0,0,0,0,14.81,14.47,14.81,6.23,50.74
$GC,8101,0.64,146.0,2621,737,2125,2072,72.8,12.4,530,8106,0.05,2.40,0.00,0.000,5126,0.399,0.053,2603,2162,2098,2124,2072,0,0,0,0,0,0,14.33,14.52,14.59,6.23,50.66
$GC,8226,0.64,146.0,2603,2164,2124,2073,58.0,11.2,555,8230,0.00,2.47,0.00,0.000,260,0.000,0.083,2604,3551,2097,2123,2072,0,0,0,0,0,0,14.81,14.47,14.81,6.22,50.03
$GC,8277,0.64,146.0,2604,3552,2124,2072,52.7,10.0,565,8281,0.00,2.35,0.00,0.000,5126,0.000,0.043,2613,2136,2097,2123,2072,0,0,0,0,0,0,14.66,14.56,14.68,6.22,49.76
$GC,8403,0.64,146.8,2613,2136,2124,2072,41.4,8.3,590,8405,0.00,0.00,0.00,0.000,4102,0.000,0.000,2613,2136,2097,2123,2072,0,0,0,0,0,0,14.81,14.81,14.81,6.21,50.31
$GC,8526,0.64,146.8,2613,2136,2124,2072,31.3,8.6,615,8530,0.00,2.42,0.00,0.000,4612,0.000,0.066,2624,735,2097,2123,2071,0,0,0,0,0,0,14.82,14.52,14.82,6.22,49.56
$GC,8571,0.64,146.8,2624,736,2123,2071,27.3,8.6,624,8576,0.05,2.42,0.00,0.000,5126,0.389,0.055,2606,2141,2096,2122,2071,0,0,0,0,0,0,14.34,14.53,14.59,6.21,49.60
$GC,8697,0.65,156.0,2606,2142,2122,2072,17.1,8.0,649,8705,0.00,2.50,3.05,0.369,8452,0.000,0.083,2601,3552,2080,2104,2056,0,0,0,0,0,0,14.81,14.42,14.23,6.22,50.55
$GC,8761,0.65,156.0,2606,3553,2106,2059,10.9,9.3,662,8765,0.00,2.38,0.00,0.000,5126,0.000,0.042,2615,2141,2081,2104,2058,0,0,0,0,0,0,14.57,14.52,14.59,6.22,50.31
$STATE,8860,end climb,SURFACE_DEPTH_REACHED
$STATE,8860,begin surface coast
$STATE,8890,end surface coast,CONTROL_FINISHED_OK
$STATE,8890,begin surface
$SM_CCo,8903,61.92,0.244,0,0,1822,220.03
$SM_GC,1.20,5.47,0.00,61.92,0.070,0.000,0.244,274,2140,1822,-6.44,1.13,220.03,0,0,0,0,0,0,14.66,14.81,14.28
$IRIDIUM_FIX,-5941.93,0.00,160119,173159
$TT8_MAMPS,0.03745,0.361018
$HUMID,50.82
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3764192
$24V_AH,13.11,60.962
$10V_AH,13.59,0.000
$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,13.000,68.350,258.800,61.925,0.000,25.194,37.677,131.502,0.000,0.000,16.350,0.000,7161.498,403.918,1579.432,157.883,0.000,1020.656,0.000,1121.009,0.000,0.538,0.000
$DEVICE_MAMPS,398.565,2229.210,1575.900,244.035,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5284.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.563,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17320,688
$CAP_FILE_SIZE,89787,0
$CFSIZE,1023623168,989396992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.092,143.41,1
$GPS,160119,223927,-5942.487,2.321,41,0.7,43,-19.8,0.0,108.3,11,8.7