version: 66.14
glider: 640
mission: 5
dive: 325
start: 1 18 119 20 41 30
data:
$ID,640
$MISSION,5
$DIVE,325
$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,30
$R_STBD_OVSHOOT,32
$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
$GPS1,180119,203531,-5945.3984,5.9911,13,0.8,25,-19.8,0.8,87.1,9,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-63.8
$GPS2,180119,204111,-5945.4141,6.0692,9,0.8,17,-19.8,0.7,188.9,10,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,212.3,64294,-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,-146.0,217,2107,1798,1827,0.0,0.0,0,96,0.00,0.00,-83.15,0.000,16386,0.000,0.000,217,2106,3169,3249,3089,0,0,0,0,0,0,14.59,28.83,14.60,6.19,51.02
$GC,98,-0.64,-146.0,217,2106,3250,3089,3.6,-8.5,17,116,6.05,2.75,-5.20,0.000,18692,0.342,2.246,2173,3501,3318,3413,3224,0,0,0,0,0,0,14.08,13.09,14.40,6.30,49.64
$GC,231,-0.64,-146.0,2173,3501,3415,3225,27.9,-17.3,44,236,0.05,2.40,0.00,0.000,3078,0.347,0.042,2190,2096,3319,3414,3225,0,0,0,0,0,0,14.12,14.35,14.29,6.32,49.21
$GC,358,-0.64,-146.0,2190,2095,3415,3226,48.3,-15.1,69,361,0.00,2.47,0.00,0.000,2308,0.000,0.079,2179,3506,3315,3406,3225,0,0,0,0,0,0,14.65,14.32,14.65,6.32,49.48
$GC,382,-0.64,-146.0,2180,3507,3415,3226,52.0,-15.1,74,385,0.00,2.35,0.00,0.000,3078,0.000,0.044,2179,2097,3319,3414,3225,0,0,0,0,0,0,14.52,14.42,14.54,6.32,49.72
$GC,506,-0.64,-146.0,2179,2097,3416,3225,70.7,-16.2,99,511,0.00,2.47,0.00,0.000,2308,0.000,0.077,2168,3510,3319,3414,3225,0,0,0,0,0,0,14.69,14.38,14.69,6.32,49.64
$GC,536,-0.64,-146.0,2168,3512,3415,3227,75.6,-16.3,105,540,0.08,2.38,0.00,0.000,3078,0.354,0.044,2193,2096,3319,3414,3225,0,0,0,0,0,0,14.21,14.42,14.45,6.32,48.97
$GC,663,-0.64,-146.0,2193,2092,3414,3225,93.7,-13.0,130,666,0.00,2.42,0.00,0.000,2564,0.000,0.063,2193,693,3320,3414,3226,0,0,0,0,0,0,14.70,14.39,14.70,6.32,48.66
$GC,712,-0.64,-146.0,2193,693,3415,3226,99.9,-12.0,140,715,0.00,2.40,0.00,0.000,3078,0.000,0.055,2184,2104,3320,3414,3226,0,0,0,0,0,0,14.56,14.44,14.57,6.32,48.22
$GC,836,-0.64,-146.0,2184,2105,3415,3225,116.5,-13.8,147,841,0.00,2.45,0.00,0.000,2308,0.000,0.080,2173,3502,3320,3414,3226,0,0,0,0,0,0,14.73,14.42,14.73,6.32,48.93
$GC,886,-0.64,-146.0,2173,3508,3415,3226,122.1,-14.0,149,890,0.08,2.38,0.00,0.000,3078,0.366,0.042,2199,2076,3318,3415,3221,0,0,0,0,0,0,14.20,14.47,14.48,6.32,49.09
$GC,1196,-0.64,-146.0,2198,2076,3415,3227,163.5,-12.7,165,1200,0.00,2.38,0.00,0.000,516,0.000,0.064,2198,696,3318,3414,3222,0,0,0,0,0,0,14.78,14.47,14.78,6.33,50.23
$GC,1281,-0.64,-146.0,2198,697,3414,3226,173.6,-12.6,169,1286,0.00,2.38,0.00,0.000,3078,0.000,0.054,2188,2102,3320,3414,3226,0,0,0,0,0,0,14.62,14.49,14.63,6.33,50.90
$GC,1596,-0.64,-146.0,2188,2102,3415,3225,215.8,-13.4,185,1600,0.00,2.42,0.00,0.000,2308,0.000,0.079,2177,3500,3320,3414,3226,0,0,0,0,0,0,14.81,14.47,14.81,6.33,50.82
$GC,1626,-0.64,-146.0,2178,3505,3415,3227,218.5,-13.4,186,1631,0.05,2.38,0.00,0.000,3078,0.435,0.043,2193,2093,3320,3414,3226,0,0,0,0,0,0,14.27,14.49,14.53,6.33,50.66
$GC,1937,-0.64,-146.0,2194,2092,3415,3225,260.8,-13.1,202,1940,0.00,2.40,0.00,0.000,2564,0.000,0.063,2192,690,3320,3414,3226,0,0,0,0,0,0,14.82,14.51,14.82,6.34,50.66
$GC,2017,-0.64,-146.0,2193,690,3415,3225,271.2,-13.0,206,2020,0.00,2.38,0.00,0.000,3078,0.000,0.054,2182,2100,3319,3414,3225,0,0,0,0,0,0,14.65,14.52,14.67,6.33,51.02
$GC,2337,-0.64,-146.0,2182,2101,3415,3227,313.1,-13.2,222,2341,0.00,2.45,0.00,0.000,2308,0.000,0.080,2172,3503,3320,3414,3226,0,0,0,0,0,0,14.83,14.50,14.83,6.34,50.86
$GC,2391,-0.64,-146.0,2172,3503,3415,3225,318.5,-13.3,224,2396,0.08,2.35,0.00,0.000,3078,0.360,0.042,2198,2077,3320,3414,3226,0,0,0,0,0,0,14.29,14.54,14.55,6.34,50.70
$STATE,2635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2635,begin apogee
$GC,2639,-0.15,0.0,2199,2165,3415,3229,350.3,-12.1,237,2768,0.43,0.00,125.25,1.563,10246,0.256,0.000,2350,2164,2716,2776,2656,0,0,0,0,0,0,14.31,13.93,13.31,6.34,51.49
$STATE,2769,end apogee,CONTROL_FINISHED_OK
$STATE,2769,begin loiter
$GC,3056,-0.15,0.0,2350,2165,2771,2644,347.8,2.8,258,3057,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2164,2707,2772,2642,0,0,0,0,0,0,14.57,14.58,14.58,6.29,50.35
$GC,3356,-0.15,0.0,2350,2165,2772,2641,339.2,2.8,273,3357,0.00,0.00,0.00,0.000,2054,0.000,0.000,2350,2164,2706,2772,2640,0,0,0,0,0,0,14.72,14.73,14.73,6.29,50.59
$GC,3657,-0.15,0.0,2350,2165,2773,2638,330.7,2.9,288,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2164,2704,2771,2638,0,0,0,0,0,0,14.81,14.81,14.81,6.29,50.70
$GC,3957,-0.15,0.0,2350,2165,2772,2639,322.5,2.8,303,3957,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2164,2704,2771,2637,0,0,0,0,0,0,14.87,14.87,14.87,6.29,51.33
$GC,4256,-0.15,0.0,2350,2165,2772,2638,314.0,2.8,318,4257,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2164,2705,2772,2638,0,0,0,0,0,0,14.91,14.91,14.91,6.29,51.22
$GC,4556,-0.15,0.0,2350,2163,2773,2637,304.7,3.2,333,4557,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2164,2703,2771,2636,0,0,0,0,0,0,14.94,14.95,14.95,6.29,51.33
$GC,4856,-0.15,0.0,2350,2165,2772,2636,294.9,3.3,348,4857,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2164,2704,2772,2636,0,0,0,0,0,0,14.96,14.97,14.97,6.29,51.57
$GC,5157,-0.15,0.0,2350,2165,2772,2636,284.8,3.4,363,5157,0.00,0.00,0.00,0.000,2054,0.000,0.000,2350,2164,2703,2771,2636,0,0,0,0,0,0,14.98,14.99,14.99,6.29,51.73
$GC,5457,-0.15,0.0,2350,2165,2772,2638,274.7,3.3,378,5458,0.00,0.00,0.00,0.000,2054,0.000,0.000,2350,2164,2704,2772,2636,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.65
$GC,5756,-0.15,0.0,2349,2165,2772,2637,264.7,3.3,393,5757,0.00,0.00,0.00,0.000,2054,0.000,0.000,2350,2164,2704,2772,2636,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.57
$GC,6056,-0.15,0.0,2350,2165,2772,2637,255.2,3.1,408,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2164,2704,2772,2636,0,0,0,0,0,0,15.02,15.03,15.03,6.28,52.08
$GC,6356,-0.15,0.0,2350,2165,2773,2636,246.4,3.0,423,6357,0.00,0.00,0.00,0.000,2054,0.000,0.000,2350,2164,2702,2770,2635,0,0,0,0,0,0,15.04,15.04,15.04,6.28,51.57
$STATE,6375,end loiter,LOITER_COMPLETE
$STATE,6375,begin climb
$GC,6376,0.64,146.0,2350,2165,2772,2637,245.8,0.0,424,6513,0.62,2.50,129.20,1.405,11012,0.167,0.078,2600,3543,2121,2146,2097,0,0,0,0,0,0,14.57,13.92,13.45,6.28,51.81
$GC,6537,0.64,146.0,2601,3543,2145,2093,234.9,8.8,432,6541,0.00,2.40,0.00,0.000,5126,0.000,0.042,2611,2144,2119,2147,2092,0,0,0,0,0,0,14.19,14.12,14.21,6.26,49.37
$GC,6858,0.64,146.0,2612,2144,2136,2081,196.8,12.2,448,6861,0.00,2.47,0.00,0.000,4612,0.000,0.067,2622,741,2108,2135,2081,0,0,0,0,0,0,14.59,14.30,14.59,6.24,50.51
$GC,6887,0.64,146.0,2622,742,2132,2082,194.4,12.1,449,6892,0.05,2.42,0.00,0.000,5126,0.379,0.052,2604,2154,2106,2132,2081,0,0,0,0,0,0,14.16,14.32,14.40,6.24,50.51
$GC,7198,0.64,146.0,2604,2155,2131,2079,157.9,11.3,465,7202,0.00,2.47,0.00,0.000,260,0.000,0.083,2604,3556,2104,2131,2077,0,0,0,0,0,0,14.70,14.38,14.70,6.24,51.29
$GC,7263,0.64,146.0,2605,3557,2132,2078,151.1,11.3,468,7266,0.00,2.35,0.00,0.000,5126,0.000,0.043,2613,2147,2104,2131,2078,0,0,0,0,0,0,14.56,14.46,14.57,6.24,50.70
$GC,7578,0.64,146.0,2619,2149,2129,2077,113.7,11.9,484,7581,0.00,2.45,0.00,0.000,4612,0.000,0.067,2624,740,2103,2129,2077,0,0,0,0,0,0,14.77,14.45,14.77,6.24,51.37
$GC,7612,0.64,146.0,2624,736,2128,2078,111.3,12.0,485,7617,0.05,2.42,0.00,0.000,5126,0.385,0.054,2606,2172,2101,2126,2076,0,0,0,0,0,0,14.29,14.47,14.54,6.24,51.41
$GC,7918,0.64,146.0,2607,2172,2127,2077,74.4,10.7,534,7921,0.00,2.42,0.00,0.000,260,0.000,0.082,2606,3555,2101,2127,2076,0,0,0,0,0,0,14.78,14.46,14.78,6.23,50.51
$GC,7983,0.64,146.0,2606,3555,2127,2077,67.5,10.2,547,7987,0.00,2.33,0.00,0.000,5126,0.000,0.042,2615,2147,2101,2127,2076,0,0,0,0,0,0,14.64,14.54,14.65,6.23,50.86
$GC,8109,0.64,146.0,2616,2148,2128,2077,55.1,9.4,572,8112,0.00,2.42,0.00,0.000,4612,0.000,0.067,2626,745,2101,2127,2076,0,0,0,0,0,0,14.78,14.48,14.78,6.23,50.23
$GC,8143,0.65,153.1,2627,745,2127,2075,52.2,8.1,579,8148,0.05,2.38,0.00,0.000,5126,0.383,0.053,2615,2154,2100,2126,2075,0,0,0,0,0,0,14.31,14.50,14.54,6.23,49.56
$GC,8269,0.66,164.7,2611,2155,2126,2077,41.8,7.9,604,8287,0.00,2.45,14.25,1.328,8452,0.000,0.082,2608,3552,2043,2065,2021,0,0,0,0,0,0,14.78,14.35,13.84,6.22,49.68
$GC,8338,0.66,164.7,2609,3552,2066,2020,35.1,10.0,618,8341,0.00,2.35,0.00,0.000,5126,0.000,0.042,2625,2141,2043,2065,2021,0,0,0,0,0,0,14.57,14.47,14.59,6.21,49.17
$GC,8464,0.66,164.7,2618,2140,2066,2018,22.5,11.7,643,8468,0.00,2.47,0.00,0.000,4356,0.000,0.080,2620,3557,2041,2065,2018,0,0,0,0,0,0,14.72,14.42,14.72,6.22,49.96
$GC,8483,0.66,164.7,2618,3558,2066,2018,20.2,11.5,647,8488,0.05,2.40,0.00,0.000,5126,0.418,0.045,2611,2119,2043,2065,2021,0,0,0,0,0,0,14.25,14.46,14.50,6.21,50.19
$GC,8608,0.71,204.9,2612,2119,2067,2016,9.0,6.8,672,8652,0.00,2.40,37.53,0.280,10756,0.000,0.060,2620,747,1879,1896,1862,0,0,0,0,0,0,14.73,14.36,14.21,6.22,50.47
$GC,8678,0.71,204.9,2621,748,1893,1862,3.8,11.3,686,8681,0.00,2.40,0.00,0.000,3078,0.000,0.055,2621,2153,1876,1893,1860,0,0,0,0,0,0,14.54,14.42,14.56,6.20,49.88
$STATE,8686,end climb,SURFACE_DEPTH_REACHED
$STATE,8686,begin surface coast
$STATE,8711,end surface coast,CONTROL_FINISHED_OK
$STATE,8711,begin surface
$SM_CCo,8724,12.38,0.253,0,0,1821,220.03
$SM_GC,2.58,5.57,0.08,12.38,0.073,0.166,0.253,269,2082,1821,-6.45,1.07,220.03,0,0,0,0,0,0,14.54,14.45,14.22
$IRIDIUM_FIX,-5944.88,4.27,180119,180700
$TT8_MAMPS,0.039697,0.268142
$HUMID,50.31
$INTERNAL_PRESSURE,6.14803
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3754464
$24V_AH,13.09,64.378
$10V_AH,13.63,0.000
$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,13.200,87.325,306.225,12.375,0.000,24.710,38.003,130.876,0.000,0.000,18.148,0.000,6900.858,403.011,1604.427,172.427,0.000,1040.363,0.000,1133.239,0.000,0.540,0.000
$DEVICE_MAMPS,435.285,2246.040,1562.895,253.215,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5107.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.758,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,17319,693
$CAP_FILE_SIZE,94589,0
$CFSIZE,1023623168,987529216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.036,51.04,1
$GPS,180119,230802,-5945.800,6.350,23,0.7,30,-19.8,0.0,45.2,9,9.7