version: 66.14
glider: 640
mission: 5
dive: 412
start: 1 28 119 7 32 40
data:
$ID,640
$MISSION,5
$DIVE,412
$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,53
$R_STBD_OVSHOOT,26
$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
$GPS1,280119,072633,-6008.8184,-2.5026,35,0.7,37,-19.7,0.0,0.4,12,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-63.4
$GPS2,280119,073221,-6008.8193,-2.4548,9,0.7,13,-19.7,0.0,112.0,12,9.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,23.2,53422,-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,-146.0,234,2083,1788,1830,0.0,0.0,0,102,0.00,0.00,-88.38,0.000,16386,0.000,0.000,233,2076,3235,3318,3153,0,0,0,0,0,0,14.56,28.83,14.57,6.17,50.90
$GC,104,-0.64,-146.0,234,2077,3319,3155,3.7,-8.6,18,118,6.10,2.62,-2.78,0.000,18948,0.346,2.215,2186,708,3316,3408,3225,0,0,0,0,0,0,13.90,13.27,14.28,6.30,50.19
$GC,167,-0.64,-146.0,2186,708,3412,3225,16.4,-16.4,31,172,0.05,2.42,0.00,0.000,3078,0.443,0.056,2190,2108,3318,3411,3225,0,0,0,0,0,0,14.04,14.29,14.30,6.31,48.77
$GC,294,-0.64,-146.0,2191,2109,3413,3227,37.8,-17.8,56,297,0.00,0.00,0.00,0.000,2054,0.000,0.000,2191,2109,3318,3411,3225,0,0,0,0,0,0,14.62,14.62,14.62,6.31,49.68
$GC,417,-0.64,-146.0,2191,2109,3413,3225,60.2,-16.9,81,421,0.00,0.00,0.00,0.000,2054,0.000,0.000,2190,2109,3319,3412,3226,0,0,0,0,0,0,14.64,14.65,14.65,6.32,49.33
$GC,543,-0.64,-146.0,2191,2108,3413,3226,77.3,-13.3,106,546,0.00,2.42,0.00,0.000,2564,0.000,0.060,2190,713,3319,3412,3226,0,0,0,0,0,0,14.66,14.31,14.67,6.31,49.37
$GC,583,-0.64,-146.0,2191,714,3412,3227,82.6,-13.3,114,586,0.00,2.40,0.00,0.000,3078,0.000,0.057,2181,2107,3319,3412,3226,0,0,0,0,0,0,14.45,14.32,14.47,6.30,49.09
$GC,708,-0.64,-146.0,2181,2107,3413,3226,99.6,-13.5,139,712,0.00,2.45,0.00,0.000,2308,0.000,0.083,2170,3503,3318,3411,3226,0,0,0,0,0,0,14.66,14.28,14.69,6.31,48.70
$GC,737,-0.64,-146.0,2170,3505,3412,3227,101.8,-13.9,141,742,0.08,2.30,0.00,0.000,3078,0.374,0.042,2194,2120,3319,3412,3226,0,0,0,0,0,0,14.09,14.40,14.37,6.31,48.81
$GC,1043,-0.64,-146.0,2194,2120,3412,3227,148.5,-13.9,157,1047,0.00,2.47,0.00,0.000,516,0.000,0.063,2194,687,3319,3412,3226,0,0,0,0,0,0,14.74,14.34,14.76,6.30,49.25
$GC,1082,-0.64,-146.0,2195,688,3413,3237,154.2,-14.0,159,1087,0.00,2.40,0.00,0.000,3078,0.000,0.055,2184,2101,3318,3412,3225,0,0,0,0,0,0,14.54,14.40,14.60,6.31,49.52
$GC,1403,-0.64,-146.0,2185,2102,3413,3225,194.6,-12.0,175,1403,0.00,0.00,0.00,0.000,2054,0.000,0.000,2183,2100,3319,3412,3226,0,0,0,0,0,0,14.77,14.77,14.77,6.32,50.90
$GC,1703,-0.64,-146.0,2185,2102,3413,3226,230.8,-12.3,190,1706,0.00,2.42,0.00,0.000,2564,0.000,0.063,2184,694,3318,3412,3225,0,0,0,0,0,0,14.79,14.38,14.78,6.32,50.94
$GC,1733,-0.64,-146.0,2184,695,3413,3226,232.7,-12.4,191,1737,0.08,2.40,0.00,0.000,3078,0.372,0.055,2197,2104,3318,3411,3226,0,0,0,0,0,0,14.09,14.40,14.39,6.32,50.86
$GC,2038,-0.64,-146.0,2197,2105,3412,3227,270.8,-11.9,207,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2103,3319,3412,3226,0,0,0,0,0,0,14.80,14.80,14.81,6.32,50.90
$GC,2338,-0.64,-146.0,2197,2105,3412,3226,306.7,-12.0,222,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2104,3319,3412,3226,0,0,0,0,0,0,14.81,14.81,14.81,6.33,50.82
$GC,2638,-0.64,-146.0,2198,2104,3413,3226,342.7,-12.0,237,2641,0.00,2.45,0.00,0.000,516,0.000,0.062,2197,686,3319,3412,3226,0,0,0,0,0,0,14.81,14.40,14.81,6.34,51.14
$GC,2677,-0.64,-146.0,2197,686,3413,3225,347.6,-12.2,239,2681,0.00,2.42,0.00,0.000,3078,0.000,0.055,2187,2107,3318,3412,3225,0,0,0,0,0,0,14.58,14.45,14.59,6.33,51.61
$STATE,2695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2695,begin apogee
$GC,2701,-0.15,0.0,2187,2156,3412,3227,350.0,-12.2,240,2828,0.47,0.00,124.93,1.602,10246,0.256,0.000,2353,2155,2721,2781,2661,0,0,0,0,0,0,14.14,13.92,13.25,6.33,51.33
$STATE,2830,end apogee,CONTROL_FINISHED_OK
$STATE,2830,begin loiter
$GC,3117,-0.15,0.0,2353,2156,2774,2645,346.0,3.4,261,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2155,2708,2773,2644,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.47
$GC,3418,-0.15,0.0,2353,2156,2774,2643,335.6,3.4,276,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2155,2707,2773,2642,0,0,0,0,0,0,14.70,14.71,14.70,6.28,50.59
$GC,3718,-0.15,0.0,2353,2156,2774,2643,325.5,3.3,291,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2155,2707,2773,2642,0,0,0,0,0,0,14.79,14.78,14.79,6.28,50.70
$GC,4018,-0.15,0.0,2353,2156,2774,2641,316.0,3.1,306,4019,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2155,2706,2773,2640,0,0,0,0,0,0,14.84,14.85,14.85,6.28,51.10
$GC,4318,-0.15,0.0,2353,2156,2774,2641,306.8,3.2,321,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2155,2706,2773,2640,0,0,0,0,0,0,14.88,14.89,14.89,6.28,50.94
$GC,4618,-0.15,0.0,2353,2156,2774,2640,297.6,3.2,336,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2155,2706,2773,2640,0,0,0,0,0,0,14.91,14.92,14.92,6.28,51.41
$GC,4918,-0.15,0.0,2353,2156,2775,2639,288.6,3.1,351,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2155,2706,2773,2640,0,0,0,0,0,0,14.94,14.95,14.95,6.28,51.22
$GC,5218,-0.15,0.0,2354,2156,2774,2641,280.1,2.8,366,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2155,2706,2773,2639,0,0,0,0,0,0,14.95,14.97,14.97,6.28,51.96
$GC,5518,-0.15,0.0,2353,2156,2773,2639,271.9,2.6,381,5519,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2155,2706,2773,2639,0,0,0,0,0,0,14.97,14.97,14.97,6.27,51.22
$GC,5818,-0.15,0.0,2353,2156,2774,2640,263.8,2.7,396,5818,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2155,2705,2772,2639,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.45
$GC,6118,-0.15,0.0,2353,2156,2774,2639,255.5,2.7,411,6118,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2155,2706,2773,2639,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.61
$STATE,6415,end loiter,LOITER_COMPLETE
$STATE,6415,begin climb
$GC,6418,0.64,146.0,2353,2156,2775,2639,247.8,0.0,426,6558,0.62,2.58,129.75,1.409,10756,0.165,0.065,2611,747,2118,2140,2097,0,0,0,0,0,0,14.43,13.98,13.38,6.28,51.41
$GC,6638,0.64,146.0,2612,747,2133,2090,231.8,9.9,437,6642,0.00,2.45,0.00,0.000,5126,0.000,0.053,2612,2150,2110,2133,2088,0,0,0,0,0,0,14.23,14.12,14.24,6.23,49.25
$GC,6953,0.64,146.0,2612,2152,2130,2083,194.1,12.3,453,6956,0.00,2.50,0.00,0.000,4356,0.000,0.082,2612,3556,2105,2129,2082,0,0,0,0,0,0,14.59,14.22,14.59,6.23,50.31
$GC,7023,0.64,146.0,2612,3557,2130,2083,187.1,12.7,456,7027,0.08,2.38,0.00,0.000,5126,0.351,0.043,2597,2146,2105,2129,2082,0,0,0,0,0,0,14.07,14.33,14.33,6.23,50.90
$GC,7344,0.64,146.0,2598,2147,2128,2078,148.0,11.8,473,7348,0.00,2.45,0.00,0.000,516,0.000,0.066,2606,743,2102,2127,2077,0,0,0,0,0,0,14.65,14.33,14.69,6.23,51.29
$GC,7403,0.64,146.0,2607,743,2127,2076,141.3,11.3,476,7407,0.00,2.42,0.00,0.000,5126,0.000,0.052,2607,2166,2101,2125,2077,0,0,0,0,0,0,14.51,14.37,14.53,6.23,50.70
$GC,7723,0.64,146.0,2606,2166,2126,2077,107.3,9.7,492,7727,0.00,2.45,0.00,0.000,4356,0.000,0.083,2607,3556,2100,2125,2076,0,0,0,0,0,0,14.75,14.35,14.76,6.22,50.82
$GC,7828,0.64,146.0,2607,3557,2126,2076,96.8,10.3,502,7832,0.00,2.35,0.00,0.000,5126,0.000,0.042,2617,2147,2100,2125,2076,0,0,0,0,0,0,14.57,14.45,14.59,6.22,50.55
$GC,7954,0.64,146.0,2617,2148,2126,2077,84.2,10.2,527,7958,0.00,2.45,0.00,0.000,4612,0.000,0.066,2628,737,2098,2125,2071,0,0,0,0,0,0,14.74,14.38,14.74,6.21,49.80
$GC,7998,0.64,146.0,2629,737,2125,2076,79.5,10.1,536,8002,0.08,2.40,0.00,0.000,5126,0.318,0.052,2601,2148,2099,2123,2076,0,0,0,0,0,0,14.20,14.42,14.47,6.21,50.07
$GC,8123,0.64,146.0,2601,2149,2124,2077,67.4,9.7,561,8127,0.00,2.47,0.00,0.000,260,0.000,0.083,2601,3552,2100,2124,2076,0,0,0,0,0,0,14.73,14.35,14.73,6.21,49.76
$GC,8153,0.64,146.0,2601,3552,2124,2077,64.2,10.6,567,8156,0.00,2.35,0.00,0.000,5126,0.000,0.044,2610,2145,2099,2123,2076,0,0,0,0,0,0,14.57,14.45,14.59,6.21,49.17
$GC,8278,0.64,146.0,2611,2145,2125,2076,51.0,10.4,592,8281,0.00,2.45,0.00,0.000,4612,0.000,0.067,2621,741,2100,2124,2076,0,0,0,0,0,0,14.76,14.38,14.76,6.20,49.60
$GC,8308,0.64,146.0,2622,742,2123,2077,48.0,9.8,598,8312,0.00,2.40,0.00,0.000,5126,0.000,0.054,2621,2151,2098,2122,2075,0,0,0,0,0,0,14.56,14.42,14.59,6.20,49.29
$GC,8434,0.64,146.0,2621,2152,2122,2076,37.1,8.5,623,8438,0.05,2.47,0.00,0.000,4356,0.421,0.082,2605,3553,2098,2122,2075,0,0,0,0,0,0,14.26,14.35,14.43,6.21,49.68
$GC,8499,0.64,152.4,2606,3554,2124,2075,31.5,8.1,636,8502,0.00,2.35,0.00,0.000,5126,0.000,0.042,2615,2141,2098,2122,2075,0,0,0,0,0,0,14.57,14.46,14.59,6.21,49.68
$GC,8625,0.64,152.4,2615,2142,2123,2076,21.6,8.8,661,8628,0.00,2.42,0.00,0.000,4612,0.000,0.067,2626,741,2098,2122,2075,0,0,0,0,0,0,14.76,14.38,14.76,6.21,50.27
$GC,8668,0.65,159.2,2626,742,2122,2075,17.7,8.1,670,8679,0.05,2.40,6.28,0.348,13318,0.379,0.053,2608,2152,2070,2092,2048,0,0,0,0,0,0,14.21,14.42,14.06,6.21,50.78
$GC,8798,0.65,159.2,2608,2152,2090,2045,6.4,9.1,696,8802,0.00,2.47,0.00,0.000,260,0.000,0.082,2608,3558,2066,2088,2045,0,0,0,0,0,0,14.76,14.36,14.76,6.21,50.63
$STATE,8831,end climb,SURFACE_DEPTH_REACHED
$STATE,8831,begin surface coast
$STATE,8841,end surface coast,CONTROL_FINISHED_OK
$STATE,8841,begin surface
$SM_CCo,8859,58.58,0.241,0,0,1822,220.03
$SM_GC,1.18,5.93,2.50,58.58,0.144,0.044,0.241,213,2090,1822,-6.46,1.07,220.03,0,0,0,0,0,0,14.58,14.46,14.16
$IRIDIUM_FIX,-6010.01,-4.32,280119,045401
$TT8_MAMPS,0.038948,0.278628
$HUMID,49.84
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,5
$SC_FREEKB,3709920
$24V_AH,13.25,80.353
$10V_AH,13.38,0.000
$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,13.575,77.975,260.950,58.575,0.000,28.666,21.289,133.752,1.250,0.000,14.157,0.000,7050.807,407.529,1602.310,206.299,0.000,1041.823,0.000,1144.863,0.000,0.540,0.000
$DEVICE_MAMPS,442.935,2214.675,1601.910,240.975,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5261.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.441,0.000,0.000,0.000
$MEM,344024
$DATA_FILE_SIZE,17347,705
$CAP_FILE_SIZE,93709,0
$CFSIZE,1023623168,978960384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.017,200.85,1
$GPS,280119,100225,-6008.329,-2.520,13,0.7,41,-19.7,0.8,251.2,12,9.2