version: 66.14
glider: 640
mission: 5
dive: 460
start: 2 2 119 12 26 40
data:
$ID,640
$MISSION,5
$DIVE,460
$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,51
$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
$GPS1,020219,122019,-5950.1973,-1.7384,13,0.8,37,-19.7,0.0,131.6,11,7.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-70.7
$GPS2,020219,122621,-5950.2002,-1.6783,8,0.9,14,-19.7,0.0,131.4,10,9.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,21.1,18956,-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,-146.0,209,2072,1790,1830,0.0,0.0,0,97,0.00,0.00,-82.75,0.000,16386,0.000,0.000,209,2072,3115,3196,3035,0,0,0,0,0,0,14.55,28.83,14.55,6.18,51.33
$GC,100,-0.64,-146.0,209,2072,3197,3036,3.0,-5.3,17,119,6.22,2.85,-7.53,0.000,18692,0.347,2.235,2166,3503,3314,3410,3218,0,0,0,0,0,0,13.90,13.22,14.26,6.29,50.03
$GC,219,-0.64,-146.0,2167,3505,3411,3219,24.0,-16.7,41,223,0.08,2.33,0.00,0.000,3078,0.357,0.041,2190,2121,3314,3410,3219,0,0,0,0,0,0,13.96,14.24,14.22,6.31,49.88
$GC,346,-0.64,-146.0,2191,2121,3412,3220,42.6,-14.5,66,351,0.00,2.50,0.00,0.000,2564,0.000,0.064,2190,691,3314,3410,3219,0,0,0,0,0,0,14.62,14.26,14.61,6.31,49.68
$GC,384,-0.64,-146.0,2190,692,3411,3221,48.5,-14.2,74,388,0.00,2.45,0.00,0.000,3078,0.000,0.059,2181,2104,3315,3410,3220,0,0,0,0,0,0,14.35,14.21,14.39,6.30,49.52
$GC,510,-0.64,-146.0,2181,2105,3412,3221,68.1,-15.0,99,514,0.00,2.45,0.00,0.000,2564,0.000,0.062,2180,691,3315,3411,3220,0,0,0,0,0,0,14.64,14.29,14.64,6.31,49.84
$GC,534,-0.64,-146.0,2181,692,3412,3220,71.8,-14.4,104,538,0.08,2.42,0.00,0.000,3078,0.367,0.059,2193,2100,3315,3411,3220,0,0,0,0,0,0,14.00,14.23,14.30,6.30,49.21
$GC,661,-0.64,-146.0,2194,2101,3412,3220,89.0,-14.7,129,664,0.00,2.50,0.00,0.000,2308,0.000,0.085,2182,3510,3315,3411,3220,0,0,0,0,0,0,14.66,14.26,14.66,6.31,48.50
$GC,719,-0.64,-146.0,2182,3511,3411,3221,98.3,-14.4,141,724,0.00,2.38,0.00,0.000,3078,0.000,0.043,2181,2093,3315,3410,3220,0,0,0,0,0,0,14.44,14.28,14.47,6.30,48.38
$GC,854,-0.64,-146.0,2182,2092,3412,3220,117.7,-14.2,150,858,0.00,2.42,0.00,0.000,2564,0.000,0.062,2183,696,3315,3411,3220,0,0,0,0,0,0,14.71,14.33,14.71,6.27,48.46
$GC,889,-0.64,-146.0,2182,697,3411,3220,122.9,-14.2,152,894,0.08,2.42,0.00,0.000,3078,0.362,0.057,2195,2106,3315,3410,3221,0,0,0,0,0,0,14.08,14.29,14.33,6.30,49.21
$GC,1209,-0.64,-146.0,2195,2107,3412,3222,163.8,-12.6,168,1213,0.00,2.45,0.00,0.000,516,0.000,0.063,2194,697,3315,3411,3220,0,0,0,0,0,0,14.76,14.35,14.76,6.31,50.66
$GC,1229,-0.64,-146.0,2195,698,3409,3222,165.8,-12.8,169,1233,0.00,2.42,0.00,0.000,3078,0.000,0.057,2185,2104,3315,3411,3220,0,0,0,0,0,0,14.50,14.31,14.53,6.31,49.92
$GC,1544,-0.64,-146.0,2185,2105,3412,3221,209.4,-13.9,185,1548,0.00,2.47,0.00,0.000,2308,0.000,0.083,2174,3515,3315,3410,3221,0,0,0,0,0,0,14.78,14.33,14.78,6.31,51.06
$GC,1574,-0.64,-146.0,2175,3515,3411,3221,211.5,-14.0,186,1578,0.05,2.38,0.00,0.000,3078,0.423,0.043,2190,2091,3315,3410,3221,0,0,0,0,0,0,14.11,14.34,14.43,6.31,50.63
$GC,1879,-0.64,-146.0,2190,2090,3412,3222,253.6,-12.9,202,1883,0.00,2.40,0.00,0.000,2564,0.000,0.063,2189,697,3315,3410,3221,0,0,0,0,0,0,14.79,14.38,14.80,6.32,50.78
$GC,1959,-0.64,-146.0,2189,697,3411,3222,263.5,-13.1,206,1963,0.00,2.40,0.00,0.000,3078,0.000,0.055,2179,2104,3315,3410,3220,0,0,0,0,0,0,14.54,14.36,14.57,6.32,51.14
$GC,2269,-0.64,-146.0,2180,2105,3411,3222,304.8,-13.2,222,2270,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2103,3315,3410,3221,0,0,0,0,0,0,14.81,14.81,14.81,6.32,50.90
$GC,2569,-0.64,-146.0,2180,2104,3412,3221,343.8,-12.8,237,2573,0.00,2.45,0.00,0.000,2308,0.000,0.082,2169,3504,3315,3410,3221,0,0,0,0,0,0,14.81,14.35,14.82,6.32,51.53
$GC,2599,-0.64,-146.0,2173,3504,3410,3220,345.7,-12.9,238,2603,0.08,2.33,0.00,0.000,3078,0.360,0.042,2194,2100,3315,3410,3221,0,0,0,0,0,0,14.12,14.40,14.40,6.33,51.49
$STATE,2622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2622,begin apogee
$GC,2628,-0.15,0.0,2194,2155,3411,3222,350.9,-12.9,240,2756,0.45,0.00,125.22,1.580,10246,0.251,0.000,2352,2155,2715,2775,2656,0,0,0,0,0,0,14.12,13.90,13.20,6.32,51.18
$STATE,2757,end apogee,CONTROL_FINISHED_OK
$STATE,2757,begin loiter
$GC,3044,-0.15,0.0,2353,2155,2772,2643,348.4,3.0,261,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2155,2707,2771,2643,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.90
$GC,3344,-0.15,0.0,2353,2155,2772,2640,339.3,3.0,276,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2154,2705,2771,2640,0,0,0,0,0,0,14.70,14.71,14.71,6.28,51.29
$GC,3644,-0.15,0.0,2353,2153,2772,2639,329.6,3.2,291,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2155,2705,2771,2639,0,0,0,0,0,0,14.79,14.80,14.79,6.28,51.49
$GC,3944,-0.15,0.0,2352,2155,2771,2640,319.3,3.5,306,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2154,2704,2771,2638,0,0,0,0,0,0,14.85,14.85,14.85,6.27,51.81
$GC,4244,-0.15,0.0,2352,2155,2771,2640,307.8,3.9,321,4245,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2155,2704,2771,2638,0,0,0,0,0,0,14.89,14.90,14.89,6.28,51.26
$GC,4544,-0.15,0.0,2353,2155,2772,2638,295.8,4.0,336,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2154,2704,2771,2638,0,0,0,0,0,0,14.92,14.92,14.92,6.27,51.06
$GC,4844,-0.15,0.0,2352,2156,2771,2638,283.6,3.9,351,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2154,2704,2771,2637,0,0,0,0,0,0,14.95,14.95,14.94,6.27,51.26
$GC,5144,-0.15,0.0,2353,2156,2771,2639,272.3,3.6,366,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2155,2704,2771,2637,0,0,0,0,0,0,14.96,14.97,14.97,6.28,51.29
$GC,5444,-0.15,0.0,2353,2155,2771,2638,262.2,3.2,381,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2154,2704,2771,2637,0,0,0,0,0,0,14.98,14.98,14.98,6.27,51.45
$GC,5744,-0.15,0.0,2353,2156,2770,2638,253.3,3.0,396,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2155,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.49
$GC,6044,-0.15,0.0,2353,2155,2772,2638,244.0,3.3,411,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2155,2704,2771,2637,0,0,0,0,0,0,15.00,15.01,15.01,6.27,52.00
$STATE,6342,end loiter,LOITER_COMPLETE
$STATE,6342,begin climb
$GC,6344,0.64,146.0,2353,2156,2772,2638,233.2,0.0,426,6485,0.62,2.58,130.02,1.398,10756,0.169,0.064,2609,751,2117,2139,2096,0,0,0,0,0,0,14.36,13.98,13.35,6.27,51.69
$GC,6575,0.64,146.0,2609,751,2133,2088,215.2,10.5,437,6579,0.00,2.42,0.00,0.000,5126,0.000,0.052,2609,2143,2110,2132,2088,0,0,0,0,0,0,14.22,14.10,14.24,6.23,50.19
$GC,6880,0.64,146.0,2610,2144,2129,2082,178.1,11.7,452,6884,0.00,2.53,0.00,0.000,4356,0.000,0.083,2609,3556,2105,2128,2082,0,0,0,0,0,0,14.59,14.19,14.59,6.23,50.78
$GC,6955,0.64,146.0,2609,3556,2129,2081,169.1,11.9,456,6959,0.00,2.38,0.00,0.000,5126,0.000,0.043,2619,2149,2105,2128,2082,0,0,0,0,0,0,14.42,14.31,14.44,6.23,50.94
$GC,7270,0.64,146.0,2619,2149,2128,2079,133.7,11.1,472,7274,0.00,2.45,0.00,0.000,4612,0.000,0.067,2630,746,2102,2126,2078,0,0,0,0,0,0,14.70,14.31,14.70,6.22,50.82
$GC,7335,0.64,146.0,2631,747,2125,2079,127.7,10.3,475,7339,0.08,2.42,0.00,0.000,5126,0.321,0.054,2604,2156,2101,2124,2078,0,0,0,0,0,0,14.12,14.34,14.40,6.22,50.86
$GC,7642,0.64,146.0,2604,2157,2132,2077,96.7,9.6,493,7646,0.00,2.47,0.00,0.000,260,0.000,0.083,2604,3559,2100,2124,2077,0,0,0,0,0,0,14.73,14.32,14.73,6.22,50.66
$GC,7736,0.64,146.0,2604,3560,2125,2078,87.0,10.0,512,7739,0.00,2.35,0.00,0.000,5126,0.000,0.043,2613,2148,2100,2124,2077,0,0,0,0,0,0,14.54,14.42,14.61,6.21,50.82
$GC,7862,0.64,146.0,2614,2149,2125,2077,73.8,10.6,537,7866,0.00,2.47,0.00,0.000,4612,0.000,0.067,2624,738,2099,2123,2076,0,0,0,0,0,0,14.73,14.35,14.73,6.20,50.11
$GC,7946,0.64,146.0,2624,738,2123,2076,65.4,9.6,554,7950,0.05,2.40,0.00,0.000,5126,0.386,0.053,2606,2152,2099,2122,2076,0,0,0,0,0,0,14.16,14.39,14.43,6.21,50.35
$GC,8071,0.64,146.0,2605,2152,2122,2077,53.6,9.9,579,8075,0.00,2.50,0.00,0.000,260,0.000,0.083,2606,3562,2099,2122,2076,0,0,0,0,0,0,14.73,14.33,14.73,6.20,49.68
$GC,8096,0.64,146.0,2606,3563,2123,2078,51.0,10.5,584,8100,0.00,2.35,0.00,0.000,5126,0.000,0.044,2615,2152,2099,2122,2076,0,0,0,0,0,0,14.55,14.42,14.57,6.20,49.76
$GC,8223,0.64,146.0,2615,2153,2122,2076,39.4,8.5,609,8227,0.00,2.45,0.00,0.000,4612,0.000,0.067,2626,745,2098,2120,2076,0,0,0,0,0,0,14.74,14.28,14.75,6.21,49.88
$GC,8282,0.64,146.2,2626,746,2122,2076,34.3,8.3,621,8287,0.08,2.40,0.00,0.000,5126,0.314,0.054,2599,2153,2098,2120,2076,0,0,0,0,0,0,14.16,14.39,14.44,6.21,50.27
$GC,8409,0.67,168.9,2599,2154,2121,2077,25.1,7.5,646,8426,0.00,0.00,15.32,1.281,10246,0.000,0.000,2599,2153,2030,2049,2011,0,0,0,0,0,0,14.76,14.45,13.74,6.20,51.02
$GC,8549,0.67,168.9,2599,2154,2049,2005,13.2,8.7,674,8554,0.00,2.47,0.00,0.000,2308,0.000,0.083,2599,3559,2026,2047,2006,0,0,0,0,0,0,14.69,14.31,14.69,6.20,50.90
$GC,8577,0.67,168.9,2599,3559,2048,2006,10.5,9.4,680,8581,0.00,2.35,0.00,0.000,3078,0.000,0.044,2608,2151,2026,2047,2006,0,0,0,0,0,0,14.51,14.39,14.53,6.20,50.43
$STATE,8655,end climb,SURFACE_DEPTH_REACHED
$STATE,8655,begin surface coast
$STATE,8687,end surface coast,CONTROL_FINISHED_OK
$STATE,8687,begin surface
$SM_CCo,8702,48.85,0.241,0,0,1821,220.03
$SM_GC,0.98,5.43,0.08,48.85,0.040,0.167,0.241,255,2070,1821,-6.45,0.93,220.03,0,0,0,0,0,0,14.52,14.42,14.12
$IRIDIUM_FIX,-5949.69,-4.28,020219,094606
$TT8_MAMPS,0.038948,0.364014
$HUMID,50.51
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,2
$SC_FREEKB,3685344
$24V_AH,13.20,88.990
$10V_AH,13.30,0.000
$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,13.275,83.175,270.575,48.850,0.000,24.577,35.633,130.871,0.500,0.000,15.657,0.000,6878.749,401.758,1598.880,233.719,0.000,1039.926,0.000,1137.552,0.000,0.539,0.000
$DEVICE_MAMPS,423.045,2235.330,1579.725,240.975,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5110.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.520,0.000,0.000,0.000
$MEM,344024
$DATA_FILE_SIZE,17332,702
$CAP_FILE_SIZE,94166,0
$CFSIZE,1023623168,974241792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.057,176.51,1
$GPS,020219,145331,-5949.934,-1.562,16,0.8,33,-19.7,0.4,139.2,10,8.5