version: 66.14
glider: 640
mission: 5
dive: 397
start: 1 26 119 16 58 27
data:
$ID,640
$MISSION,5
$DIVE,397
$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,47
$R_STBD_OVSHOOT,29
$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
$GPS1,260119,165204,-6015.4546,-0.2175,25,0.8,29,-19.7,0.9,229.3,10,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-65.4
$GPS2,260119,165808,-6015.4258,-0.1957,10,0.7,14,-19.7,0.7,88.5,11,10.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,26.0,65608,-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,12,-0.64,-146.0,219,2086,1798,1830,0.0,0.0,0,103,0.00,0.00,-89.07,0.000,16386,0.000,0.000,218,2085,3231,3310,3152,0,0,0,0,0,0,14.57,28.83,14.58,6.18,51.29
$GC,106,-0.64,-146.0,219,2086,3313,3153,3.4,-7.4,18,123,6.15,2.65,-2.97,0.000,18948,0.347,2.220,2174,706,3316,3407,3226,0,0,0,0,0,0,13.98,13.30,14.34,6.29,50.19
$GC,233,-0.64,-146.0,2173,707,3410,3226,27.4,-17.3,44,237,0.10,2.45,0.00,0.000,3078,0.340,0.056,2195,2121,3317,3409,3226,0,0,0,0,0,0,14.07,14.30,14.33,6.30,48.81
$GC,359,-0.64,-146.0,2196,2122,3410,3226,48.0,-17.7,69,363,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2122,3317,3409,3226,0,0,0,0,0,0,14.63,14.63,14.63,6.31,49.52
$GC,483,-0.64,-146.0,2194,2122,3410,3227,68.8,-15.3,94,486,0.00,2.47,0.00,0.000,516,0.000,0.063,2195,700,3318,3410,3226,0,0,0,0,0,0,14.68,14.33,14.67,6.31,49.64
$GC,553,-0.64,-146.0,2195,701,3410,3227,79.7,-15.5,108,556,0.00,2.40,0.00,0.000,3078,0.000,0.055,2186,2104,3318,3410,3226,0,0,0,0,0,0,14.50,14.37,14.52,6.31,49.44
$GC,678,-0.64,-146.0,2186,2105,3410,3228,99.3,-15.9,133,682,0.00,2.47,0.00,0.000,2308,0.000,0.083,2175,3510,3318,3410,3226,0,0,0,0,0,0,14.70,14.33,14.70,6.30,48.66
$GC,738,-0.64,-146.0,2176,3510,3410,3226,108.7,-15.8,138,742,0.05,2.35,0.00,0.000,3078,0.435,0.043,2190,2103,3317,3409,3226,0,0,0,0,0,0,14.14,14.40,14.40,6.30,49.13
$GC,1058,-0.64,-146.0,2190,2101,3411,3227,152.1,-12.1,154,1061,0.00,2.42,0.00,0.000,2564,0.000,0.063,2190,696,3318,3410,3226,0,0,0,0,0,0,14.76,14.40,14.76,6.29,49.44
$GC,1078,-0.64,-146.0,2191,696,3411,3226,154.1,-12.4,155,1081,0.00,2.38,0.00,0.000,3078,0.000,0.054,2180,2101,3318,3410,3226,0,0,0,0,0,0,14.56,14.42,14.58,6.29,49.21
$GC,1393,-0.64,-146.0,2181,2102,3410,3227,194.5,-12.4,171,1396,0.00,2.47,0.00,0.000,2308,0.000,0.082,2170,3512,3318,3410,3226,0,0,0,0,0,0,14.78,14.39,14.78,6.30,50.59
$GC,1473,-0.64,-146.0,2171,3512,3411,3226,204.3,-12.3,175,1477,0.08,2.35,0.00,0.000,3078,0.360,0.043,2195,2092,3318,3410,3226,0,0,0,0,0,0,14.18,14.47,14.45,6.31,51.29
$GC,1789,-0.64,-146.0,2195,2097,3410,3226,240.5,-11.7,191,1793,0.00,2.42,0.00,0.000,516,0.000,0.065,2195,699,3318,3410,3226,0,0,0,0,0,0,14.79,14.36,14.79,6.32,51.14
$GC,1858,-0.64,-146.0,2195,700,3410,3227,247.2,-12.0,194,1861,0.00,2.38,0.00,0.000,3078,0.000,0.054,2185,2102,3317,3410,3224,0,0,0,0,0,0,14.60,14.46,14.62,6.32,51.14
$GC,2163,-0.64,-146.0,2185,2103,3410,3227,286.3,-12.4,210,2166,0.00,2.45,0.00,0.000,2308,0.000,0.083,2174,3503,3318,3410,3226,0,0,0,0,0,0,14.81,14.42,14.82,6.32,51.14
$GC,2183,-0.64,-146.0,2173,3504,3402,3226,288.2,-12.4,211,2187,0.03,2.33,0.00,0.000,3078,0.589,0.044,2187,2100,3318,3410,3226,0,0,0,0,0,0,14.23,14.50,14.47,6.32,51.10
$GC,2493,-0.64,-146.0,2188,2099,3411,3233,326.9,-12.3,227,2496,0.00,2.42,0.00,0.000,2564,0.000,0.064,2187,690,3318,3410,3226,0,0,0,0,0,0,14.83,14.45,14.82,6.32,51.77
$GC,2553,-0.64,-146.0,2187,691,3411,3226,333.9,-12.6,230,2557,0.05,2.40,0.00,0.000,3078,0.439,0.054,2192,2107,3315,3409,3222,0,0,0,0,0,0,14.20,14.47,14.47,6.33,51.26
$STATE,2701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2701,begin apogee
$GC,2706,-0.15,0.0,2193,2108,3410,3223,352.4,-12.1,238,2834,0.45,0.05,125.70,1.580,10246,0.257,0.222,2350,2155,2718,2778,2659,0,0,0,0,0,0,14.14,13.84,13.26,6.32,51.65
$STATE,2835,end apogee,CONTROL_FINISHED_OK
$STATE,2835,begin loiter
$GC,3123,-0.15,0.0,2350,2156,2772,2643,348.6,3.3,259,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2155,2706,2771,2642,0,0,0,0,0,0,14.55,14.56,14.56,6.28,50.86
$GC,3423,-0.15,0.0,2351,2155,2772,2640,338.6,3.3,274,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2155,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.70
$GC,3723,-0.15,0.0,2350,2156,2772,2639,329.2,3.0,289,3724,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2155,2704,2771,2638,0,0,0,0,0,0,14.80,14.80,14.80,6.28,51.29
$GC,4023,-0.15,0.0,2350,2156,2772,2639,320.7,2.7,304,4024,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2155,2704,2771,2638,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.73
$GC,4323,-0.15,0.0,2350,2155,2772,2637,312.6,2.7,319,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2155,2704,2771,2637,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.22
$GC,4623,-0.15,0.0,2351,2155,2772,2637,304.1,2.9,334,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2155,2704,2771,2637,0,0,0,0,0,0,14.93,14.93,14.93,6.27,51.57
$GC,4923,-0.15,0.0,2351,2156,2773,2637,294.6,3.3,349,4924,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2155,2704,2771,2637,0,0,0,0,0,0,14.95,14.95,14.96,6.27,51.29
$GC,5223,-0.15,0.0,2351,2155,2772,2637,284.3,3.5,364,5224,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2155,2704,2771,2637,0,0,0,0,0,0,14.97,14.98,14.97,6.27,51.77
$GC,5523,-0.15,0.0,2350,2156,2772,2637,274.6,3.1,379,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2155,2703,2771,2636,0,0,0,0,0,0,14.99,14.99,14.99,6.27,51.45
$GC,5823,-0.15,0.0,2350,2156,2772,2637,266.7,2.4,394,5824,0.00,0.00,0.00,0.000,2054,0.000,0.000,2350,2155,2703,2771,2636,0,0,0,0,0,0,15.01,15.01,15.01,6.27,51.92
$GC,6123,-0.15,0.0,2349,2156,2771,2637,260.0,2.1,409,6124,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2155,2703,2771,2636,0,0,0,0,0,0,15.01,15.02,15.02,6.26,51.49
$STATE,6421,end loiter,LOITER_COMPLETE
$STATE,6421,begin climb
$GC,6423,0.64,146.0,2350,2156,2772,2637,252.8,0.0,424,6560,0.62,2.55,129.43,1.427,10756,0.173,0.067,2605,748,2119,2142,2096,0,0,0,0,0,0,14.45,13.86,13.38,6.27,51.45
$GC,6605,0.64,148.9,2606,749,2136,2092,241.2,8.2,432,6609,0.00,2.45,0.00,0.000,1030,0.000,0.052,2606,2152,2113,2135,2091,0,0,0,0,0,0,14.19,14.09,14.20,6.23,49.52
$GC,6915,0.64,148.9,2606,2153,2131,2083,204.5,11.8,448,6919,0.00,2.50,0.00,0.000,260,0.000,0.082,2606,3556,2106,2130,2082,0,0,0,0,0,0,14.57,14.22,14.57,6.23,50.59
$GC,7005,0.64,148.9,2607,3556,2130,2083,196.1,11.2,452,7009,0.00,2.35,0.00,0.000,5126,0.000,0.044,2616,2154,2105,2130,2081,0,0,0,0,0,0,14.44,14.33,14.45,6.23,51.26
$GC,7310,0.64,148.9,2617,2155,2128,2079,159.7,12.0,468,7314,0.00,2.47,0.00,0.000,4612,0.000,0.067,2627,739,2102,2127,2078,0,0,0,0,0,0,14.69,14.34,14.69,6.23,51.33
$GC,7365,0.64,148.9,2627,739,2126,2078,154.8,12.1,470,7369,0.08,2.40,0.00,0.000,5126,0.319,0.053,2601,2150,2101,2126,2077,0,0,0,0,0,0,14.19,14.38,14.44,6.23,50.94
$GC,7670,0.64,148.9,2602,2151,2127,2076,121.4,9.6,486,7674,0.00,2.47,0.00,0.000,2308,0.000,0.083,2601,3555,2100,2125,2076,0,0,0,0,0,0,14.72,14.38,14.71,6.22,51.22
$GC,7745,0.64,148.9,2611,3555,2127,2076,113.6,10.5,490,7748,0.00,2.35,0.00,0.000,5126,0.000,0.043,2610,2143,2100,2125,2076,0,0,0,0,0,0,14.58,14.47,14.59,6.22,50.35
$GC,8050,0.64,148.9,2611,2143,2127,2075,79.6,12.0,530,8054,0.00,2.42,0.00,0.000,4612,0.000,0.067,2621,744,2101,2126,2076,0,0,0,0,0,0,14.77,14.42,14.77,6.20,49.88
$GC,8085,0.64,148.9,2621,745,2126,2077,75.6,11.0,537,8090,0.05,2.40,0.00,0.000,5126,0.386,0.052,2603,2161,2100,2125,2075,0,0,0,0,0,0,14.23,14.45,14.50,6.20,49.88
$GC,8210,0.64,148.9,2603,2162,2123,2076,62.5,10.5,562,8214,0.00,2.45,0.00,0.000,260,0.000,0.083,2603,3552,2099,2124,2075,0,0,0,0,0,0,14.76,14.40,14.77,6.20,49.21
$GC,8270,0.64,148.9,2603,3553,2125,2076,56.0,10.6,574,8274,0.00,2.38,0.00,0.000,5126,0.000,0.044,2612,2134,2099,2124,2075,0,0,0,0,0,0,14.59,14.47,14.62,6.19,49.48
$GC,8395,0.64,148.9,2613,2135,2125,2076,43.3,10.4,599,8398,0.00,0.00,0.00,0.000,4102,0.000,0.000,2612,2134,2100,2125,2075,0,0,0,0,0,0,14.78,14.79,14.78,6.19,49.96
$GC,8520,0.64,148.9,2613,2135,2125,2073,29.7,10.8,624,8523,0.00,0.00,0.00,0.000,4102,0.000,0.000,2612,2134,2100,2125,2075,0,0,0,0,0,0,14.78,14.78,14.78,6.20,50.03
$GC,8645,0.64,148.9,2613,2135,2125,2075,17.0,9.9,649,8648,0.00,0.00,0.00,0.000,4102,0.000,0.000,2612,2134,2099,2125,2074,0,0,0,0,0,0,14.79,14.80,14.80,6.19,50.51
$GC,8770,0.64,148.9,2613,2134,2125,2075,5.1,9.7,674,8774,0.00,2.42,0.00,0.000,4612,0.000,0.068,2623,742,2099,2124,2074,0,0,0,0,0,0,14.78,14.42,14.78,6.20,51.06
$STATE,8793,end climb,SURFACE_DEPTH_REACHED
$STATE,8793,begin surface coast
$STATE,8803,end surface coast,CONTROL_FINISHED_OK
$STATE,8803,begin surface
$SM_CCo,8820,66.45,0.241,0,0,1823,220.03
$SM_GC,1.17,5.85,2.35,66.45,0.127,0.047,0.241,215,2099,1823,-6.47,-1.02,220.03,0,0,0,0,0,0,14.62,14.47,14.20
$IRIDIUM_FIX,-6014.82,0.00,260119,142709
$TT8_MAMPS,0.039697,0.348285
$HUMID,50.39
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,5
$SC_FREEKB,3717600
$24V_AH,13.26,77.662
$10V_AH,13.40,0.000
$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,13.500,72.850,255.125,66.450,0.000,29.469,40.069,134.319,1.250,0.000,15.148,0.000,7040.019,408.408,1611.919,192.056,0.000,1036.920,0.000,1142.228,0.000,0.540,0.000
$DEVICE_MAMPS,589.050,2220.030,1580.490,240.975,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5222.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.524,0.000,0.000,0.000
$MEM,344076
$DATA_FILE_SIZE,17331,681
$CAP_FILE_SIZE,90767,0
$CFSIZE,1023623168,980434944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.045,237.90,1
$GPS,260119,192731,-6014.981,-0.465,13,0.8,31,-19.7,0.0,157.5,10,5.6