version: 66.14
glider: 640
mission: 5
dive: 450
start: 2 1 119 10 21 23
data:
$ID,640
$MISSION,5
$DIVE,450
$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,44
$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
$GPS1,010219,101434,-5953.7969,-2.5091,33,0.7,37,-19.7,0.4,176.8,11,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-66.6
$GPS2,010219,102104,-5953.7998,-2.4183,9,0.7,16,-19.7,0.7,343.9,12,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,24.8,25657,-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,-146.0,212,2091,1713,1748,0.0,0.0,0,102,0.00,0.00,-87.78,0.000,16386,0.000,0.000,211,2090,3124,3206,3043,0,0,0,0,0,0,14.55,28.83,14.54,6.17,51.33
$GC,105,-0.64,-146.0,212,2089,3208,3044,3.1,-6.2,18,123,6.25,2.78,-7.10,0.000,18692,0.350,2.233,2188,3498,3317,3414,3220,0,0,0,0,0,0,13.85,12.95,14.22,6.29,50.82
$GC,143,-0.64,-146.0,2188,3501,3415,3224,10.2,-17.0,26,146,0.00,2.35,0.00,0.000,3078,0.000,0.041,2187,2101,3318,3414,3222,0,0,0,0,0,0,14.35,14.25,14.36,6.31,49.48
$GC,268,-0.64,-146.0,2188,2100,3416,3223,31.1,-18.4,51,272,0.00,2.45,0.00,0.000,2564,0.000,0.063,2187,697,3318,3414,3223,0,0,0,0,0,0,14.59,14.16,14.59,6.31,48.93
$GC,328,-0.64,-146.0,2187,698,3416,3223,41.5,-15.9,63,333,0.05,2.42,0.00,0.000,3078,0.436,0.055,2192,2104,3318,3414,3222,0,0,0,0,0,0,13.96,14.21,14.22,6.31,49.48
$GC,455,-0.64,-146.0,2192,2105,3415,3224,61.3,-15.4,88,457,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2104,3318,3414,3223,0,0,0,0,0,0,14.62,14.62,14.62,6.31,49.64
$GC,578,-0.64,-146.0,2192,2105,3415,3224,79.5,-14.2,113,581,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2103,3318,3414,3223,0,0,0,0,0,0,14.65,14.65,14.65,6.31,49.05
$GC,703,-0.64,-146.0,2192,2105,3415,3224,97.4,-14.1,138,706,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2104,3319,3415,3223,0,0,0,0,0,0,14.66,14.67,14.66,6.30,48.77
$GC,843,-0.64,-146.0,2193,2104,3415,3223,117.6,-14.5,148,847,0.00,2.45,0.00,0.000,2308,0.000,0.082,2181,3503,3319,3415,3224,0,0,0,0,0,0,14.69,14.18,14.69,6.31,48.81
$GC,888,-0.64,-146.0,2182,3503,3415,3223,122.6,-14.2,150,891,0.00,2.35,0.00,0.000,3078,0.000,0.041,2181,2093,3319,3414,3224,0,0,0,0,0,0,14.42,14.31,14.43,6.30,48.42
$GC,1193,-0.64,-146.0,2181,2092,3415,3225,164.3,-13.4,165,1196,0.00,2.42,0.00,0.000,2564,0.000,0.062,2180,694,3319,3414,3224,0,0,0,0,0,0,14.73,14.25,14.73,6.31,49.88
$GC,1263,-0.64,-146.0,2180,695,3415,3224,171.9,-13.9,168,1267,0.08,2.40,0.00,0.000,3078,0.355,0.055,2193,2101,3318,3414,3223,0,0,0,0,0,0,14.00,14.28,14.26,6.31,49.92
$GC,1568,-0.64,-146.0,2194,2101,3416,3223,212.5,-12.4,184,1572,0.00,2.47,0.00,0.000,2308,0.000,0.083,2182,3503,3318,3414,3223,0,0,0,0,0,0,14.75,14.21,14.74,6.31,50.63
$GC,1603,-0.64,-146.0,2183,3504,3416,3224,215.0,-12.4,185,1606,0.00,2.33,0.00,0.000,3078,0.000,0.041,2182,2099,3319,3415,3223,0,0,0,0,0,0,14.45,14.33,14.46,6.31,50.98
$GC,1908,-0.64,-146.0,2182,2098,3415,3233,255.8,-12.8,201,1911,0.00,2.42,0.00,0.000,2564,0.000,0.062,2182,697,3318,3414,3223,0,0,0,0,0,0,14.76,14.25,14.76,6.32,51.02
$GC,1953,-0.64,-146.0,2182,698,3415,3225,260.4,-12.9,203,1957,0.08,2.40,0.00,0.000,3078,0.356,0.054,2195,2102,3319,3415,3224,0,0,0,0,0,0,14.00,14.30,14.27,6.32,50.90
$GC,2263,-0.64,-146.0,2195,2102,3414,3225,298.4,-11.8,219,2267,0.00,2.47,0.00,0.000,260,0.000,0.083,2184,3503,3318,3414,3223,0,0,0,0,0,0,14.77,14.21,14.76,6.33,50.86
$GC,2288,-0.64,-146.0,2185,3503,3415,3223,300.2,-11.8,220,2291,0.00,2.33,0.00,0.000,3078,0.000,0.042,2184,2099,3319,3415,3223,0,0,0,0,0,0,14.46,14.35,14.47,6.33,50.94
$GC,2593,-0.64,-146.0,2185,2097,3415,3224,338.9,-12.3,235,2597,0.00,2.42,0.00,0.000,2564,0.000,0.062,2184,696,3319,3414,3224,0,0,0,0,0,0,14.78,14.28,14.78,6.33,51.18
$GC,2628,-0.64,-146.0,2184,697,3415,3225,343.3,-12.3,237,2631,0.00,2.40,0.00,0.000,3078,0.000,0.056,2174,2101,3319,3415,3224,0,0,0,0,0,0,14.43,14.31,14.45,6.33,51.02
$STATE,2701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2701,begin apogee
$GC,2707,-0.15,0.0,2174,2166,3415,3225,352.5,-12.3,241,2835,0.50,0.00,125.15,1.586,10246,0.256,0.000,2346,2165,2716,2776,2656,0,0,0,0,0,0,14.05,13.88,13.19,6.33,50.90
$STATE,2836,end apogee,CONTROL_FINISHED_OK
$STATE,2836,begin loiter
$GC,3123,-0.15,0.0,2346,2166,2772,2643,348.6,3.3,262,3124,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2706,2771,2642,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.59
$GC,3423,-0.15,0.0,2346,2166,2772,2641,338.7,3.2,277,3424,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.70,6.28,50.86
$GC,3723,-0.15,0.0,2347,2165,2772,2639,329.5,3.0,292,3724,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2705,2771,2639,0,0,0,0,0,0,14.79,14.80,14.80,6.28,51.22
$GC,4023,-0.15,0.0,2347,2166,2772,2638,320.5,3.0,307,4024,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2704,2771,2638,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.77
$GC,4323,-0.15,0.0,2346,2166,2772,2639,311.2,3.1,322,4324,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2704,2771,2637,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.41
$GC,4623,-0.15,0.0,2346,2166,2772,2638,301.2,3.4,337,4624,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2704,2771,2637,0,0,0,0,0,0,14.92,14.92,14.92,6.27,51.49
$GC,4923,-0.15,0.0,2346,2166,2772,2638,291.2,3.3,352,4924,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2165,2704,2770,2638,0,0,0,0,0,0,14.95,14.95,14.95,6.27,51.69
$GC,5223,-0.15,0.0,2347,2166,2773,2637,282.0,3.0,367,5224,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2704,2771,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.69
$GC,5523,-0.15,0.0,2347,2166,2773,2637,273.9,2.8,382,5524,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2704,2771,2637,0,0,0,0,0,0,14.98,14.98,14.99,6.27,51.45
$GC,5823,-0.15,0.0,2347,2165,2772,2637,265.4,2.9,397,5824,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.45
$GC,6123,-0.15,0.0,2347,2166,2772,2638,256.0,3.3,412,6124,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2165,2703,2771,2636,0,0,0,0,0,0,15.01,15.01,15.01,6.27,51.61
$STATE,6421,end loiter,LOITER_COMPLETE
$STATE,6421,begin climb
$GC,6423,0.64,146.0,2347,2165,2772,2636,246.2,0.0,427,6560,0.65,2.53,128.88,1.414,10500,0.173,0.081,2599,3546,2120,2142,2098,0,0,0,0,0,0,14.37,13.85,13.36,6.27,51.85
$GC,6600,0.64,146.0,2600,3546,2142,2096,232.8,9.6,435,6604,0.00,2.38,0.00,0.000,5126,0.000,0.041,2610,2154,2116,2141,2092,0,0,0,0,0,0,14.18,14.09,14.19,6.23,49.25
$GC,6920,0.64,146.0,2611,2154,2134,2082,193.0,12.7,451,6924,0.00,2.47,0.00,0.000,4612,0.000,0.067,2620,747,2107,2133,2082,0,0,0,0,0,0,14.57,14.21,14.57,6.23,50.82
$GC,6975,0.64,146.0,2622,746,2131,2082,186.2,12.4,454,6979,0.05,2.40,0.00,0.000,5126,0.379,0.053,2604,2140,2106,2130,2082,0,0,0,0,0,0,14.05,14.26,14.31,6.23,50.94
$GC,7292,0.64,146.0,2604,2142,2129,2080,147.9,12.2,470,7296,0.00,2.53,0.00,0.000,260,0.000,0.082,2604,3561,2103,2129,2078,0,0,0,0,0,0,14.67,14.21,14.67,6.22,51.06
$GC,7370,0.64,146.0,2605,3562,2129,2078,138.2,12.1,474,7374,0.00,2.35,0.00,0.000,5126,0.000,0.041,2613,2150,2103,2128,2079,0,0,0,0,0,0,14.50,14.39,14.52,6.22,51.29
$GC,7690,0.64,146.0,2613,2151,2128,2078,102.6,10.3,490,7694,0.00,2.45,0.00,0.000,4612,0.000,0.066,2624,745,2101,2125,2077,0,0,0,0,0,0,14.74,14.35,14.75,6.22,50.90
$GC,7715,0.64,146.0,2624,746,2127,2078,101.1,10.2,491,7720,0.05,2.40,0.00,0.000,5126,0.382,0.052,2606,2161,2101,2126,2077,0,0,0,0,0,0,14.17,14.39,14.43,6.22,50.78
$GC,8022,0.64,146.0,2607,2168,2127,2075,69.6,9.6,551,8026,0.00,2.45,0.00,0.000,260,0.000,0.082,2606,3552,2100,2125,2076,0,0,0,0,0,0,14.73,14.26,14.74,6.21,49.76
$GC,8110,0.64,146.0,2606,3552,2126,2078,60.4,10.1,569,8114,0.00,2.33,0.00,0.000,5126,0.000,0.041,2615,2148,2101,2126,2076,0,0,0,0,0,0,14.56,14.44,14.58,6.20,49.37
$GC,8237,0.65,158.1,2615,2149,2126,2077,49.5,7.9,594,8249,0.00,2.42,7.80,1.307,12804,0.000,0.067,2626,742,2071,2094,2048,0,0,0,0,0,0,14.75,14.46,13.69,6.20,49.84
$GC,8306,0.67,169.7,2626,743,2093,2049,43.8,7.9,608,8324,0.00,2.40,12.68,1.271,13318,0.000,0.053,2626,2149,2027,2050,2004,0,0,0,0,0,0,14.54,14.40,13.71,6.19,49.40
$GC,8446,0.67,169.7,2627,2149,2042,2000,30.4,10.2,636,8449,0.00,2.47,0.00,0.000,4356,0.000,0.083,2626,3550,2020,2041,2000,0,0,0,0,0,0,14.67,14.31,14.67,6.19,49.64
$GC,8495,0.67,169.7,2626,3552,2042,2002,25.0,10.4,646,8500,0.08,2.33,0.00,0.000,5126,0.345,0.041,2610,2149,2020,2041,2000,0,0,0,0,0,0,14.11,14.39,14.40,6.19,50.66
$GC,8622,0.67,169.7,2611,2150,2042,1998,13.2,9.9,671,8626,0.00,2.47,0.00,0.000,516,0.000,0.067,2621,737,2019,2041,1998,0,0,0,0,0,0,14.67,14.26,14.68,6.20,50.31
$GC,8676,0.67,169.7,2622,737,2040,1997,8.0,8.9,682,8680,0.00,2.42,0.00,0.000,5126,0.000,0.054,2621,2149,2018,2039,1997,0,0,0,0,0,0,14.51,14.36,14.53,6.20,50.51
$STATE,8733,end climb,SURFACE_DEPTH_REACHED
$STATE,8733,begin surface coast
$STATE,8758,end surface coast,CONTROL_FINISHED_OK
$STATE,8758,begin surface
$SM_CCo,8773,46.90,0.240,0,0,1822,220.03
$SM_GC,1.12,5.45,0.08,46.90,0.041,0.159,0.240,256,2077,1822,-6.45,0.99,220.03,0,0,0,0,0,0,14.53,14.42,14.12
$IRIDIUM_FIX,-5954.50,0.00,010219,073857
$TT8_MAMPS,0.038199,0.446404
$HUMID,50.55
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3690464
$24V_AH,12.95,87.205
$10V_AH,13.51,0.000
$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,13.225,77.825,274.500,46.900,0.000,27.913,47.747,141.838,0.000,0.000,17.159,0.000,6950.565,405.251,1630.867,224.612,0.000,1044.127,0.000,1146.243,0.000,0.540,0.000
$DEVICE_MAMPS,436.050,2233.035,1585.845,240.210,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5186.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.396,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17342,699
$CAP_FILE_SIZE,93623,0
$CFSIZE,1023623168,975224832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.041,167.38,1
$GPS,010219,124951,-5953.414,-2.358,23,0.8,60,-19.7,0.0,14.3,10,9.2