version: 66.14
glider: 640
mission: 5
dive: 379
start: 1 24 119 18 52 24
data:
$ID,640
$MISSION,5
$DIVE,379
$N_DIVES,600
$STOP_T,2051912
$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,26
$R_STBD_OVSHOOT,62
$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
$GPS1,240119,184625,-6012.3394,1.2613,38,0.9,44,-19.7,0.8,272.5,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-64.8
$GPS2,240119,185205,-6012.4194,1.2481,8,0.9,14,-19.7,0.7,236.1,9,9.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,192.9,14086,-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,-146.0,233,2140,1791,1830,0.0,0.0,0,91,0.00,0.00,-77.45,0.000,16386,0.000,0.000,233,2139,3070,3152,2989,0,0,0,0,0,0,14.57,28.83,14.58,6.19,50.35
$GC,93,-0.64,-146.0,233,2140,3153,2990,3.1,-5.4,16,116,6.15,2.67,-9.50,0.000,18692,0.358,2.246,2175,3472,3317,3415,3220,0,0,0,0,0,0,14.00,13.03,14.35,6.29,50.55
$GC,237,-0.64,-146.0,2175,3473,3417,3223,25.3,-16.1,45,241,0.05,2.30,0.00,0.000,3078,0.437,0.041,2190,2092,3319,3416,3222,0,0,0,0,0,0,14.06,14.34,14.33,6.32,49.52
$GC,363,-0.64,-146.0,2191,2100,3417,3222,46.7,-17.9,70,367,0.00,2.45,0.00,0.000,2564,0.000,0.067,2190,689,3319,3416,3222,0,0,0,0,0,0,14.64,14.28,14.64,6.32,49.88
$GC,542,-0.64,-146.0,2190,689,3418,3216,73.0,-14.1,106,546,0.00,2.40,0.00,0.000,3078,0.000,0.056,2181,2062,3318,3415,3222,0,0,0,0,0,0,14.40,14.34,14.44,6.34,49.56
$GC,668,-0.64,-146.0,2181,2062,3417,3222,91.9,-15.1,131,671,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2062,3318,3415,3222,0,0,0,0,0,0,14.69,14.69,14.69,6.31,48.81
$GC,802,-0.64,-146.0,2181,2062,3417,3222,112.3,-15.2,146,806,0.00,2.55,0.00,0.000,2308,0.000,0.082,2169,3515,3319,3416,3222,0,0,0,0,0,0,14.73,14.35,14.73,6.31,48.58
$GC,852,-0.64,-146.0,2170,3516,3417,3222,118.4,-15.2,148,856,0.08,2.35,0.00,0.000,3078,0.357,0.042,2195,2097,3319,3416,3222,0,0,0,0,0,0,14.14,14.43,14.41,6.31,48.93
$GC,1157,-0.64,-146.0,2195,2096,3417,3222,162.0,-13.7,163,1160,0.00,2.42,0.00,0.000,516,0.000,0.064,2194,693,3319,3416,3222,0,0,0,0,0,0,14.73,14.40,14.77,6.31,49.92
$GC,1212,-0.64,-146.0,2203,694,3416,3223,169.7,-13.9,166,1215,0.00,2.40,0.00,0.000,3078,0.000,0.056,2185,2106,3319,3416,3222,0,0,0,0,0,0,14.57,14.42,14.59,6.31,50.07
$GC,1532,-0.64,-146.0,2185,2106,3416,3223,212.8,-13.1,182,1536,0.00,2.42,0.00,0.000,2308,0.000,0.083,2174,3503,3318,3414,3222,0,0,0,0,0,0,14.79,14.40,14.79,6.32,50.86
$GC,1557,-0.64,-146.0,2174,3505,3416,3223,215.4,-13.1,183,1560,0.05,2.33,0.00,0.000,3078,0.427,0.044,2190,2096,3319,3416,3222,0,0,0,0,0,0,14.19,14.48,14.46,6.32,50.98
$GC,1872,-0.64,-146.0,2190,2095,3417,3221,255.9,-12.7,199,1875,0.00,2.40,0.00,0.000,2564,0.000,0.063,2190,693,3319,3416,3222,0,0,0,0,0,0,14.81,14.44,14.81,6.33,50.94
$GC,1952,-0.64,-146.0,2190,694,3417,3222,266.0,-12.6,203,1955,0.00,2.40,0.00,0.000,3078,0.000,0.055,2179,2108,3319,3416,3222,0,0,0,0,0,0,14.60,14.46,14.62,6.33,50.98
$GC,2272,-0.64,-146.0,2179,2109,3417,3224,307.6,-13.2,219,2275,0.00,2.42,0.00,0.000,2308,0.000,0.082,2169,3508,3319,3416,3222,0,0,0,0,0,0,14.82,14.42,14.82,6.33,51.37
$GC,2302,-0.64,-146.0,2169,3508,3417,3222,309.6,-13.2,220,2306,0.08,2.33,0.00,0.000,3078,0.363,0.043,2195,2096,3319,3416,3222,0,0,0,0,0,0,14.19,14.50,14.47,6.34,51.26
$GC,2607,-0.64,-146.0,2194,2096,3416,3223,349.5,-12.2,236,2611,0.00,2.40,0.00,0.000,516,0.000,0.063,2194,696,3319,3416,3222,0,0,0,0,0,0,14.83,14.45,14.83,6.34,51.41
$STATE,2625,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2625,begin apogee
$GC,2632,-0.15,0.0,2185,2155,3417,3222,352.0,-12.3,237,2761,0.47,0.00,125.65,1.579,10246,0.258,0.000,2350,2154,2716,2776,2656,0,0,0,0,0,0,14.19,13.93,13.27,6.35,51.89
$STATE,2762,end apogee,CONTROL_FINISHED_OK
$STATE,2762,begin loiter
$GC,3047,-0.15,0.0,2351,2155,2772,2643,349.7,3.0,258,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2153,2706,2771,2642,0,0,0,0,0,0,14.56,14.56,14.56,6.29,50.59
$GC,3347,-0.15,0.0,2351,2154,2772,2639,340.8,3.0,273,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2154,2705,2771,2639,0,0,0,0,0,0,14.71,14.71,14.71,6.29,50.94
$GC,3647,-0.15,0.0,2351,2155,2772,2640,331.6,3.1,288,3647,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2154,2704,2771,2638,0,0,0,0,0,0,14.80,14.81,14.81,6.29,50.98
$GC,3947,-0.15,0.0,2351,2155,2772,2639,322.8,2.9,303,3948,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2154,2704,2771,2637,0,0,0,0,0,0,14.85,14.85,14.86,6.29,51.10
$GC,4247,-0.15,0.0,2351,2154,2772,2637,314.9,2.5,318,4248,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2154,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.22
$GC,4547,-0.15,0.0,2351,2154,2771,2637,307.0,2.7,333,4547,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2154,2704,2771,2637,0,0,0,0,0,0,14.93,14.93,14.93,6.29,51.26
$GC,4847,-0.15,0.0,2351,2154,2772,2637,298.2,3.1,348,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2154,2704,2771,2637,0,0,0,0,0,0,14.95,14.96,14.95,6.29,51.37
$GC,5147,-0.15,0.0,2351,2155,2772,2638,289.1,2.9,363,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2154,2703,2771,2636,0,0,0,0,0,0,14.97,14.98,14.98,6.28,51.29
$GC,5447,-0.15,0.0,2351,2154,2772,2636,280.9,2.6,378,5448,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2154,2703,2771,2636,0,0,0,0,0,0,14.99,15.00,15.00,6.29,51.22
$GC,5747,-0.15,0.0,2351,2155,2772,2637,273.2,2.7,393,5747,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2154,2703,2771,2636,0,0,0,0,0,0,15.00,15.01,15.01,6.28,51.61
$GC,6047,-0.15,0.0,2351,2154,2771,2636,264.7,3.1,408,6048,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2154,2703,2771,2636,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.45
$STATE,6345,end loiter,LOITER_COMPLETE
$STATE,6345,begin climb
$GC,6347,0.64,146.0,2351,2155,2772,2637,255.4,0.0,423,6482,0.62,0.00,129.32,1.421,10758,0.173,0.000,2596,2154,2122,2145,2100,0,0,0,0,0,0,14.45,13.87,13.39,6.28,51.53
$GC,6787,0.64,146.0,2597,2155,2131,2082,214.2,11.0,445,6791,0.00,2.50,0.00,0.000,2308,0.000,0.082,2596,3555,2103,2130,2076,0,0,0,0,0,0,14.56,14.21,14.56,6.24,50.47
$GC,6832,0.64,146.0,2597,3554,2132,2083,209.6,11.2,447,6835,0.00,2.35,0.00,0.000,5126,0.000,0.042,2608,2154,2106,2130,2083,0,0,0,0,0,0,14.41,14.30,14.42,6.24,50.51
$GC,7147,0.64,146.0,2609,2154,2129,2079,173.4,11.4,463,7150,0.00,2.47,0.00,0.000,4612,0.000,0.067,2619,747,2103,2127,2079,0,0,0,0,0,0,14.69,14.33,14.69,6.24,50.90
$GC,7182,0.64,146.0,2620,747,2127,2078,171.2,11.4,464,7185,0.00,2.40,0.00,0.000,5126,0.000,0.054,2619,2155,2102,2126,2079,0,0,0,0,0,0,14.51,14.37,14.52,6.24,51.14
$GC,7487,0.64,146.0,2620,2156,2126,2077,133.1,11.9,480,7490,0.00,2.47,0.00,0.000,4356,0.000,0.084,2619,3556,2101,2125,2077,0,0,0,0,0,0,14.75,14.37,14.76,6.24,51.33
$GC,7557,0.64,146.0,2619,3557,2126,2078,126.3,12.4,483,7561,0.08,2.35,0.00,0.000,5126,0.344,0.045,2605,2144,2102,2126,2078,0,0,0,0,0,0,14.20,14.45,14.47,6.23,51.18
$GC,7862,0.64,146.0,2605,2145,2127,2077,92.2,9.6,508,7865,0.00,2.42,0.00,0.000,516,0.000,0.066,2608,745,2100,2125,2076,0,0,0,0,0,0,14.78,14.42,14.78,6.22,50.70
$GC,7917,0.64,146.0,2615,746,2125,2076,87.1,8.7,519,7921,0.00,2.40,0.00,0.000,5126,0.000,0.053,2618,2160,2099,2123,2076,0,0,0,0,0,0,14.59,14.45,14.61,6.21,50.27
$GC,8043,0.64,146.0,2615,2161,2124,2077,75.9,9.0,544,8047,0.00,2.45,0.00,0.000,4356,0.000,0.084,2615,3552,2099,2123,2076,0,0,0,0,0,0,14.78,14.40,14.78,6.21,50.35
$GC,8077,0.64,146.0,2615,3553,2124,2077,72.4,9.6,551,8082,0.08,2.33,0.00,0.000,5126,0.343,0.044,2599,2152,2099,2123,2076,0,0,0,0,0,0,14.23,14.48,14.50,6.22,49.40
$GC,8202,0.64,146.0,2599,2152,2124,2076,62.1,8.7,576,8205,0.00,2.45,0.00,0.000,2564,0.000,0.067,2608,740,2099,2123,2076,0,0,0,0,0,0,14.78,14.42,14.79,6.20,49.44
$GC,8217,0.64,146.0,2609,740,2124,2076,60.7,8.5,579,8221,0.00,2.40,0.00,0.000,5126,0.000,0.054,2605,2153,2098,2121,2076,0,0,0,0,0,0,14.59,14.45,14.63,6.21,49.52
$GC,8343,0.64,146.0,2609,2154,2123,2076,49.4,8.9,604,8347,0.00,2.47,0.00,0.000,4356,0.000,0.085,2608,3559,2099,2122,2076,0,0,0,0,0,0,14.78,14.40,14.79,6.19,49.44
$GC,8427,0.64,146.0,2609,3557,2123,2076,41.4,9.3,621,8431,0.03,2.40,0.00,0.000,5126,0.418,0.044,2609,2144,2099,2122,2076,0,0,0,0,0,0,14.20,14.45,14.54,6.20,50.43
$GC,8552,0.64,146.0,2609,2143,2123,2075,29.8,8.7,646,8555,0.00,2.42,0.00,0.000,4612,0.000,0.064,2618,742,2098,2122,2075,0,0,0,0,0,0,14.79,14.43,14.79,6.21,50.27
$GC,8577,0.64,146.0,2618,743,2125,2077,27.5,9.0,651,8581,0.00,2.40,0.00,0.000,5126,0.000,0.056,2618,2149,2098,2121,2075,0,0,0,0,0,0,14.59,14.45,14.62,6.20,50.55
$GC,8703,0.64,149.1,2618,2150,2121,2076,15.7,8.2,676,8707,0.00,2.47,0.00,0.000,4356,0.000,0.082,2618,3561,2098,2121,2075,0,0,0,0,0,0,14.79,14.40,14.79,6.21,50.78
$GC,8762,0.64,149.1,2618,3561,2122,2075,9.1,10.7,688,8766,0.08,2.38,0.00,0.000,5126,0.353,0.044,2604,2136,2098,2121,2075,0,0,0,0,0,0,14.21,14.48,14.50,6.21,51.57
$STATE,8820,end climb,SURFACE_DEPTH_REACHED
$STATE,8820,begin surface coast
$STATE,8846,end surface coast,CONTROL_FINISHED_OK
$STATE,8846,begin surface
$SM_CCo,8861,66.38,0.246,0,0,1823,220.03
$SM_GC,1.15,5.97,0.00,66.38,0.164,0.000,0.246,231,2136,1823,-6.45,0.99,220.03,0,0,0,0,0,0,14.57,14.78,14.20
$IRIDIUM_FIX,-5947.33,-813.25,240119,161754
$TT8_MAMPS,0.038948,0.350532
$HUMID,51.29
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,2
$SC_FREEKB,3726816
$24V_AH,13.03,74.353
$10V_AH,13.56,0.000
$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,13.725,82.450,254.975,66.375,0.000,23.978,18.372,139.473,0.500,0.000,15.321,0.000,7064.137,410.939,1593.362,196.781,0.000,1042.650,0.000,1142.059,0.000,0.539,0.000
$DEVICE_MAMPS,436.815,2246.040,1578.960,245.565,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5266.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.406,0.000,0.000,0.000
$MEM,344052
$DATA_FILE_SIZE,17310,705
$CAP_FILE_SIZE,93480,0
$CFSIZE,1023623168,982204416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.068,228.03,1
$GPS,240119,212203,-6013.137,1.049,17,1.0,26,-19.7,0.5,181.6,9,9.1