version: 66.14
glider: 640
mission: 5
dive: 353
start: 1 21 119 21 11 4
data:
$ID,640
$MISSION,5
$DIVE,353
$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,64
$R_STBD_OVSHOOT,52
$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
$GPS1,210119,210525,-5958.8960,7.5007,16,0.9,39,-19.8,0.7,83.0,9,7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.3
$GPS2,210119,211045,-5958.9111,7.4449,10,0.9,18,-19.8,0.0,177.6,9,9.7
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,198.5,39648,-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,11,-0.64,-146.0,234,2123,1792,1829,0.0,0.0,0,101,0.00,0.00,-87.57,0.000,16386,0.000,0.000,233,2123,3214,3295,3133,0,0,0,0,0,0,14.59,28.83,14.59,6.19,50.94
$GC,103,-0.64,-146.0,234,2124,3297,3135,3.4,-8.0,18,118,6.07,2.67,-3.62,0.000,18948,0.354,2.223,2176,724,3315,3407,3224,0,0,0,0,0,0,14.04,13.35,14.38,6.30,49.80
$GC,272,-0.64,-146.0,2174,727,3412,3225,33.4,-16.6,52,276,0.08,2.33,0.00,0.000,3078,0.376,0.057,2190,2080,3318,3411,3225,0,0,0,0,0,0,14.11,14.35,14.38,6.32,48.81
$GC,399,-0.64,-146.0,2191,2080,3412,3225,54.2,-15.8,77,403,0.00,2.53,0.00,0.000,2308,0.000,0.082,2179,3511,3318,3411,3225,0,0,0,0,0,0,14.64,14.32,14.65,6.32,49.72
$GC,433,-0.64,-146.0,2180,3513,3412,3226,59.5,-15.4,84,436,0.00,2.33,0.00,0.000,3078,0.000,0.044,2179,2127,3318,3411,3225,0,0,0,0,0,0,14.51,14.41,14.52,6.32,49.60
$GC,557,-0.64,-146.0,2179,2126,3413,3225,76.6,-13.5,109,561,0.00,2.50,0.00,0.000,2564,0.000,0.063,2179,685,3318,3411,3225,0,0,0,0,0,0,14.68,14.38,14.68,6.32,49.40
$GC,633,-0.64,-146.0,2179,686,3413,3226,86.6,-12.3,124,637,0.08,2.42,0.00,0.000,3078,0.374,0.056,2191,2104,3318,3411,3225,0,0,0,0,0,0,14.12,14.40,14.39,6.32,49.21
$GC,767,-0.64,-146.0,2191,2104,3413,3225,102.9,-12.2,148,771,0.00,2.45,0.00,0.000,2308,0.000,0.083,2181,3503,3318,3411,3225,0,0,0,0,0,0,14.71,14.37,14.71,6.31,48.77
$GC,802,-0.64,-146.0,2181,3503,3413,3225,105.5,-12.6,149,807,0.00,2.35,0.00,0.000,3078,0.000,0.044,2180,2095,3318,3412,3225,0,0,0,0,0,0,14.55,14.43,14.57,6.31,49.09
$GC,1107,-0.64,-146.0,2180,2095,3412,3226,146.7,-13.3,165,1112,0.00,2.40,0.00,0.000,2564,0.000,0.063,2180,696,3318,3412,3225,0,0,0,0,0,0,14.76,14.47,14.76,6.32,49.84
$GC,1167,-0.64,-146.0,2181,696,3412,3225,154.9,-13.7,168,1172,0.08,2.38,0.00,0.000,3078,0.376,0.055,2192,2100,3318,3412,3225,0,0,0,0,0,0,14.19,14.45,14.46,6.32,49.76
$GC,1488,-0.64,-146.0,2193,2101,3412,3226,196.8,-13.4,184,1491,0.00,2.47,0.00,0.000,2308,0.000,0.083,2182,3507,3318,3411,3225,0,0,0,0,0,0,14.78,14.42,14.78,6.32,50.66
$GC,1527,-0.64,-146.0,2183,3508,3413,3225,201.6,-13.5,186,1531,0.00,2.35,0.00,0.000,3078,0.000,0.044,2182,2093,3318,3411,3225,0,0,0,0,0,0,14.61,14.50,14.62,6.33,51.02
$GC,1842,-0.64,-146.0,2182,2092,3413,3225,244.7,-13.3,202,1846,0.00,2.40,0.00,0.000,2564,0.000,0.063,2181,696,3318,3412,3225,0,0,0,0,0,0,14.80,14.47,14.80,6.34,50.90
$GC,1922,-0.64,-146.0,2182,695,3412,3225,255.3,-13.3,206,1926,0.03,2.42,0.00,0.000,3078,0.242,0.055,2195,2098,3318,3411,3225,0,0,0,0,0,0,14.21,14.45,14.49,6.33,51.37
$GC,2242,-0.64,-146.0,2196,2097,3413,3225,294.1,-12.1,222,2246,0.00,2.47,0.00,0.000,260,0.000,0.083,2186,3512,3318,3411,3225,0,0,0,0,0,0,14.81,14.44,14.81,6.34,50.82
$GC,2282,-0.64,-146.0,2186,3512,3413,3225,299.1,-12.3,224,2287,0.00,2.35,0.00,0.000,3078,0.000,0.043,2185,2098,3318,3411,3225,0,0,0,0,0,0,14.63,14.51,14.65,6.34,50.90
$GC,2602,-0.64,-146.0,2186,2091,3413,3224,338.9,-12.4,240,2606,0.00,2.40,0.00,0.000,2564,0.000,0.063,2185,690,3318,3411,3225,0,0,0,0,0,0,14.81,14.48,14.81,6.34,50.82
$GC,2667,-0.64,-146.0,2186,690,3413,3225,346.5,-12.6,243,2672,0.05,2.45,0.00,0.000,3078,0.350,0.056,2192,2104,3318,3411,3225,0,0,0,0,0,0,14.19,14.46,14.38,6.34,50.90
$STATE,2700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2700,begin apogee
$GC,2705,-0.15,0.0,2192,2168,3412,3226,351.2,-12.1,245,2834,0.45,0.00,125.80,1.573,10246,0.260,0.000,2350,2167,2715,2775,2655,0,0,0,0,0,0,14.19,13.93,13.29,6.34,50.90
$STATE,2836,end apogee,CONTROL_FINISHED_OK
$STATE,2836,begin loiter
$GC,3122,-0.15,0.0,2350,2168,2772,2644,348.0,3.1,266,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2706,2771,2642,0,0,0,0,0,0,14.56,14.56,14.56,6.28,50.27
$GC,3422,-0.15,0.0,2350,2168,2773,2640,339.1,3.0,281,3423,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.29,50.63
$GC,3722,-0.15,0.0,2350,2168,2772,2640,330.1,3.0,296,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2706,2772,2640,0,0,0,0,0,0,14.79,14.80,14.80,6.29,50.86
$GC,4023,-0.15,0.0,2350,2168,2773,2639,321.3,2.9,311,4023,0.00,0.00,0.00,0.000,2054,0.000,0.000,2350,2167,2705,2772,2639,0,0,0,0,0,0,14.85,14.85,14.85,6.29,50.98
$GC,4322,-0.15,0.0,2350,2168,2772,2640,313.1,2.6,326,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2705,2771,2639,0,0,0,0,0,0,14.89,14.90,14.90,6.29,51.22
$GC,4622,-0.15,0.0,2350,2168,2772,2640,305.4,2.6,341,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2705,2772,2639,0,0,0,0,0,0,14.92,14.92,14.92,6.29,51.06
$GC,4922,-0.15,0.0,2350,2168,2772,2640,297.9,2.4,356,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2705,2772,2639,0,0,0,0,0,0,14.95,14.95,14.95,6.29,50.94
$GC,5222,-0.15,0.0,2351,2168,2772,2641,290.3,2.5,371,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2705,2772,2639,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.45
$GC,5523,-0.15,0.0,2350,2168,2773,2639,282.7,2.7,386,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2705,2771,2640,0,0,0,0,0,0,14.98,14.98,14.98,6.29,51.81
$GC,5822,-0.15,0.0,2350,2168,2773,2640,273.7,3.1,401,5823,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2706,2772,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.45
$GC,6122,-0.15,0.0,2350,2168,2772,2641,263.8,3.3,416,6123,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2167,2706,2772,2640,0,0,0,0,0,0,15.00,15.01,15.01,6.29,51.29
$STATE,6420,end loiter,LOITER_COMPLETE
$STATE,6420,begin climb
$GC,6423,0.64,146.0,2350,2168,2772,2641,254.5,0.0,431,6558,0.62,0.00,130.60,1.421,10758,0.174,0.000,2597,2168,2123,2147,2099,0,0,0,0,0,0,14.51,14.02,13.43,6.29,51.61
$GC,6842,0.64,146.0,2597,2168,2133,2078,216.9,10.4,452,6847,0.00,2.45,0.00,0.000,2308,0.000,0.081,2597,3541,2106,2133,2079,0,0,0,0,0,0,14.54,14.23,14.54,6.25,51.02
$GC,6882,0.64,146.0,2597,3542,2134,2078,212.7,10.5,454,6887,0.00,2.35,0.00,0.000,5126,0.000,0.042,2608,2150,2105,2132,2078,0,0,0,0,0,0,14.40,14.31,14.42,6.23,50.55
$GC,7203,0.64,146.0,2608,2151,2131,2076,178.6,10.7,470,7206,0.00,2.47,0.00,0.000,4612,0.000,0.067,2618,744,2103,2130,2076,0,0,0,0,0,0,14.67,14.35,14.68,6.24,50.78
$GC,7237,0.64,146.0,2620,744,2128,2076,176.5,10.6,471,7241,0.00,2.38,0.00,0.000,5126,0.000,0.054,2619,2133,2101,2127,2076,0,0,0,0,0,0,14.52,14.39,14.53,6.24,50.86
$GC,7542,0.64,146.0,2619,2133,2126,2076,138.5,12.8,487,7546,0.00,2.50,0.00,0.000,4356,0.000,0.084,2619,3555,2100,2126,2075,0,0,0,0,0,0,14.73,14.39,14.74,6.23,50.82
$GC,7613,0.64,146.0,2619,3556,2127,2077,130.9,12.7,490,7617,0.08,2.35,0.00,0.000,5126,0.350,0.043,2604,2139,2100,2126,2075,0,0,0,0,0,0,14.23,14.47,14.50,6.23,50.82
$GC,7919,0.64,146.0,2604,2141,2126,2075,95.4,11.3,511,7922,0.00,2.42,0.00,0.000,516,0.000,0.067,2614,741,2100,2126,2074,0,0,0,0,0,0,14.76,14.45,14.76,6.23,50.51
$GC,7967,0.64,146.0,2613,741,2126,2073,90.0,10.5,521,7972,0.00,2.38,0.00,0.000,5126,0.000,0.053,2614,2153,2095,2117,2074,0,0,0,0,0,0,14.60,14.47,14.62,6.23,50.63
$GC,8094,0.64,146.0,2614,2153,2125,2075,75.3,11.9,546,8098,0.00,2.47,0.00,0.000,4356,0.000,0.085,2614,3559,2099,2124,2074,0,0,0,0,0,0,14.76,14.42,14.76,6.22,49.68
$GC,8137,0.64,146.0,2615,3560,2125,2074,69.8,12.3,555,8142,0.08,2.35,0.00,0.000,5126,0.352,0.044,2598,2147,2099,2124,2074,0,0,0,0,0,0,14.26,14.47,14.52,6.22,49.25
$GC,8262,0.64,146.0,2598,2148,2125,2075,56.1,10.4,580,8266,0.00,2.42,0.00,0.000,2564,0.000,0.066,2608,744,2099,2124,2074,0,0,0,0,0,0,14.77,14.45,14.77,6.21,49.21
$GC,8297,0.64,146.0,2608,744,2124,2073,52.6,10.1,587,8301,0.00,2.38,0.00,0.000,5126,0.000,0.052,2608,2149,2098,2123,2073,0,0,0,0,0,0,14.60,14.47,14.62,6.21,49.37
$GC,8424,0.64,146.0,2609,2150,2124,2073,39.8,10.1,612,8428,0.00,2.47,0.00,0.000,4356,0.000,0.084,2608,3561,2098,2123,2073,0,0,0,0,0,0,14.76,14.42,14.76,6.21,49.17
$GC,8458,0.64,146.0,2608,3562,2124,2075,36.2,10.7,619,8461,0.00,2.35,0.00,0.000,5126,0.000,0.044,2618,2147,2098,2123,2073,0,0,0,0,0,0,14.62,14.51,14.63,6.21,49.01
$GC,8584,0.64,146.0,2619,2148,2124,2073,24.1,9.7,644,8587,0.00,2.42,0.00,0.000,4612,0.000,0.066,2629,746,2098,2123,2073,0,0,0,0,0,0,14.76,14.45,14.77,6.21,49.68
$GC,8617,0.64,146.0,2629,744,2122,2074,20.9,9.3,651,8622,0.08,2.40,0.00,0.000,5126,0.323,0.054,2602,2166,2097,2122,2073,0,0,0,0,0,0,14.27,14.47,14.52,6.21,50.23
$GC,8742,0.64,146.0,2603,2167,2122,2074,10.1,8.5,676,8746,0.00,2.47,0.00,0.000,260,0.000,0.083,2602,3563,2097,2122,2073,0,0,0,0,0,0,14.77,14.40,14.77,6.22,50.07
$GC,8777,0.64,146.0,2603,3564,2123,2072,7.0,9.1,683,8781,0.00,2.35,0.00,0.000,5126,0.000,0.043,2610,2149,2097,2122,2073,0,0,0,0,0,0,14.61,14.50,14.63,6.21,50.63
$STATE,8820,end climb,SURFACE_DEPTH_REACHED
$STATE,8821,begin surface coast
$STATE,8851,end surface coast,CONTROL_FINISHED_OK
$STATE,8851,begin surface
$SM_CCo,8865,65.82,0.243,0,0,1823,220.03
$SM_GC,1.33,5.60,0.08,65.82,0.083,0.159,0.243,227,2058,1823,-6.47,0.85,220.03,0,0,0,0,0,0,14.59,14.52,14.21
$IRIDIUM_FIX,-5959.31,4.30,210119,183748
$TT8_MAMPS,0.03745,0.291361
$HUMID,50.11
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3740128
$24V_AH,13.29,69.570
$10V_AH,13.42,0.000
$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,13.275,87.275,256.400,65.825,0.000,23.605,18.622,124.611,0.000,0.000,19.137,0.000,7054.356,420.341,1593.073,185.532,0.000,1055.093,0.000,1147.621,0.000,0.539,0.000
$DEVICE_MAMPS,375.615,2223.090,1572.840,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5269.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.696,0.000,0.000,0.000
$MEM,344104
$DATA_FILE_SIZE,17351,698
$CAP_FILE_SIZE,95717,0
$CFSIZE,1023623168,984776704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.026,212.92,1
$GPS,210119,234101,-5959.522,7.503,18,0.7,41,-19.8,0.4,187.5,11,9.6