version: 66.14
glider: 640
mission: 5
dive: 466
start: 2 3 119 4 2 23
data:
$ID,640
$MISSION,5
$DIVE,466
$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,59
$R_STBD_OVSHOOT,30
$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
$GPS1,030219,035351,-5948.0088,-0.6472,13,0.8,39,-19.7,0.3,168.4,10,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-69.2
$GPS2,030219,040204,-5948.0186,-0.6041,8,0.8,12,-19.7,0.3,227.0,10,8.7
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,17.3,14861,-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,-146.0,219,2069,1795,1829,0.0,0.0,0,103,0.00,0.00,-88.93,0.000,16386,0.000,0.000,218,2069,3222,3305,3140,0,0,0,0,0,0,14.55,28.83,14.56,6.18,50.86
$GC,106,-0.64,-146.0,219,2070,3307,3142,3.2,-6.6,18,123,6.20,2.62,-3.33,0.000,18948,0.350,2.215,2178,729,3317,3411,3224,0,0,0,0,0,0,13.95,13.00,14.31,6.30,50.47
$GC,133,-0.64,-146.0,2178,729,3413,3224,9.5,-20.7,24,137,0.08,2.35,0.00,0.000,3078,0.363,0.056,2191,2101,3318,3412,3224,0,0,0,0,0,0,14.07,14.30,14.31,6.31,49.76
$GC,260,-0.64,-146.0,2191,2101,3414,3223,31.3,-17.5,49,264,0.00,2.53,0.00,0.000,2308,0.000,0.083,2181,3509,3319,3414,3224,0,0,0,0,0,0,14.59,14.23,14.59,6.31,49.40
$GC,293,-0.64,-146.0,2182,3509,3414,3224,37.6,-17.6,56,297,0.00,2.33,0.00,0.000,3078,0.000,0.043,2180,2119,3318,3412,3224,0,0,0,0,0,0,14.38,14.29,14.38,6.32,49.88
$GC,418,-0.64,-146.0,2181,2120,3414,3225,59.1,-16.9,81,423,0.00,2.50,0.00,0.000,2564,0.000,0.065,2180,694,3318,3412,3224,0,0,0,0,0,0,14.64,14.21,14.64,6.32,49.56
$GC,473,-0.64,-146.0,2180,695,3414,3226,68.7,-16.6,92,477,0.05,2.42,0.00,0.000,3078,0.415,0.059,2190,2102,3319,3413,3225,0,0,0,0,0,0,13.99,14.23,14.26,6.31,49.56
$GC,600,-0.64,-146.0,2190,2101,3414,3225,86.4,-13.0,117,604,0.00,2.47,0.00,0.000,2308,0.000,0.083,2180,3504,3318,3413,3224,0,0,0,0,0,0,14.66,14.27,14.66,6.31,48.97
$GC,654,-0.64,-146.0,2181,3505,3413,3225,93.2,-11.6,128,657,0.00,2.35,0.00,0.000,3078,0.000,0.042,2179,2095,3318,3413,3224,0,0,0,0,0,0,14.40,14.29,14.42,6.31,49.05
$GC,794,-0.64,-146.0,2180,2094,3420,3225,110.4,-12.5,144,795,0.00,0.00,0.00,0.000,2054,0.000,0.000,2180,2094,3319,3413,3225,0,0,0,0,0,0,14.70,14.70,14.70,6.31,48.07
$GC,1094,-0.64,-146.0,2180,2094,3414,3225,148.3,-12.2,159,1097,0.00,2.42,0.00,0.000,2564,0.000,0.063,2180,694,3319,3413,3225,0,0,0,0,0,0,14.74,14.27,14.74,6.30,49.76
$GC,1164,-0.64,-146.0,2180,695,3411,3225,155.4,-12.8,162,1168,0.08,2.42,0.00,0.000,3078,0.366,0.056,2192,2107,3319,3413,3225,0,0,0,0,0,0,14.01,14.27,14.29,6.30,49.37
$GC,1469,-0.64,-146.0,2192,2107,3414,3225,196.3,-13.3,178,1470,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2106,3319,3413,3225,0,0,0,0,0,0,14.76,14.77,14.77,6.31,51.06
$GC,1769,-0.64,-146.0,2192,2107,3414,3225,235.9,-13.1,193,1772,0.00,2.47,0.00,0.000,2308,0.000,0.083,2181,3508,3319,3413,3225,0,0,0,0,0,0,14.78,14.26,14.79,6.32,50.63
$GC,1814,-0.64,-146.0,2181,3508,3414,3226,240.5,-13.1,195,1818,0.00,2.35,0.00,0.000,3078,0.000,0.041,2181,2089,3319,3413,3225,0,0,0,0,0,0,14.47,14.35,14.49,6.32,51.45
$GC,2124,-0.64,-146.0,2181,2089,3414,3226,281.9,-12.9,211,2127,0.00,2.40,0.00,0.000,2564,0.000,0.062,2181,700,3319,3413,3225,0,0,0,0,0,0,14.80,14.30,14.80,6.33,50.82
$GC,2169,-0.64,-146.0,2181,701,3413,3226,286.5,-13.1,213,2173,0.08,2.40,0.00,0.000,3078,0.360,0.057,2193,2103,3319,3413,3225,0,0,0,0,0,0,14.04,14.32,14.32,6.32,51.06
$GC,2474,-0.64,-146.0,2193,2104,3425,3226,325.5,-12.3,228,2477,0.00,2.47,0.00,0.000,2308,0.000,0.083,2182,3509,3319,3413,3225,0,0,0,0,0,0,14.81,14.26,14.81,6.33,50.78
$GC,2514,-0.64,-146.0,2183,3509,3414,3225,329.8,-12.4,230,2517,0.00,2.33,0.00,0.000,3078,0.000,0.042,2182,2102,3319,3413,3225,0,0,0,0,0,0,14.48,14.37,14.50,6.34,50.94
$STATE,2681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2681,begin apogee
$GC,2687,-0.15,0.0,2183,2158,3414,3226,352.1,-12.8,239,2815,0.45,0.00,125.60,1.580,10246,0.252,0.000,2346,2157,2717,2777,2657,0,0,0,0,0,0,14.11,13.90,13.19,6.33,51.61
$STATE,2817,end apogee,CONTROL_FINISHED_OK
$STATE,2817,begin loiter
$GC,3104,-0.15,0.0,2346,2158,2772,2644,349.9,2.9,260,3105,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2158,2707,2771,2643,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.15
$GC,3404,-0.15,0.0,2346,2158,2773,2640,341.7,2.7,275,3405,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2705,2771,2640,0,0,0,0,0,0,14.70,14.70,14.70,6.28,50.66
$GC,3704,-0.15,0.0,2346,2157,2772,2639,334.1,2.5,290,3705,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2705,2771,2639,0,0,0,0,0,0,14.78,14.79,14.79,6.28,50.94
$GC,4004,-0.15,0.0,2347,2157,2772,2638,327.3,2.3,305,4005,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2704,2771,2638,0,0,0,0,0,0,14.84,14.84,14.84,6.28,51.06
$GC,4304,-0.15,0.0,2346,2158,2772,2638,320.3,2.4,320,4305,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2704,2771,2638,0,0,0,0,0,0,14.88,14.88,14.88,6.28,51.02
$GC,4604,-0.15,0.0,2346,2158,2772,2638,312.6,2.7,335,4605,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2157,2704,2771,2638,0,0,0,0,0,0,14.92,14.92,14.91,6.28,51.18
$GC,4904,-0.15,0.0,2346,2158,2772,2639,304.4,2.8,350,4905,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2158,2704,2771,2637,0,0,0,0,0,0,14.93,14.94,14.94,6.27,51.22
$GC,5204,-0.15,0.0,2345,2158,2771,2638,295.7,2.9,365,5205,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2158,2704,2771,2637,0,0,0,0,0,0,14.96,14.96,14.96,6.27,51.26
$GC,5504,-0.15,0.0,2346,2158,2772,2638,287.1,2.9,380,5505,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2158,2704,2771,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.29
$GC,5804,-0.15,0.0,2346,2158,2771,2638,278.6,2.7,395,5805,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2158,2704,2771,2637,0,0,0,0,0,0,14.98,14.98,14.99,6.28,51.22
$GC,6104,-0.15,0.0,2346,2158,2771,2637,270.7,2.4,410,6105,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2158,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.69
$STATE,6401,end loiter,LOITER_COMPLETE
$STATE,6402,begin climb
$GC,6404,0.64,146.0,2346,2158,2772,2638,263.7,0.0,425,6544,0.65,2.53,129.32,1.440,11012,0.171,0.081,2600,3547,2119,2141,2098,0,0,0,0,0,0,14.36,13.83,13.31,6.27,51.77
$GC,6629,0.64,146.0,2600,3547,2140,2089,248.1,10.1,436,6633,0.00,2.38,0.00,0.000,5126,0.000,0.041,2610,2146,2114,2139,2089,0,0,0,0,0,0,14.21,14.12,14.23,6.23,49.21
$GC,6939,0.64,146.0,2611,2147,2133,2082,212.1,12.3,452,6943,0.00,2.47,0.00,0.000,4612,0.000,0.067,2621,745,2107,2132,2082,0,0,0,0,0,0,14.58,14.21,14.59,6.22,50.51
$GC,6999,0.64,146.0,2621,746,2128,2082,205.3,12.5,455,7003,0.05,2.40,0.00,0.000,5126,0.372,0.054,2604,2143,2105,2128,2082,0,0,0,0,0,0,14.07,14.27,14.34,6.23,50.78
$GC,7315,0.64,146.0,2605,2143,2128,2079,167.7,11.3,471,7318,0.00,2.50,0.00,0.000,260,0.000,0.082,2604,3556,2103,2127,2079,0,0,0,0,0,0,14.69,14.28,14.69,6.23,50.90
$GC,7374,0.64,146.0,2599,3556,2129,2078,161.4,11.3,474,7378,0.00,2.35,0.00,0.000,5126,0.000,0.043,2612,2151,2103,2127,2079,0,0,0,0,0,0,14.51,14.38,14.52,6.23,50.55
$GC,7684,0.64,146.0,2613,2151,2128,2078,126.2,11.6,490,7688,0.00,2.45,0.00,0.000,4612,0.000,0.067,2624,745,2102,2127,2078,0,0,0,0,0,0,14.76,14.35,14.76,6.22,50.70
$GC,7744,0.64,146.0,2625,744,2126,2076,119.9,11.6,493,7748,0.05,2.40,0.00,0.000,5126,0.391,0.054,2605,2152,2101,2125,2077,0,0,0,0,0,0,14.16,14.39,14.42,6.22,50.82
$GC,8049,0.64,146.0,2606,2154,2126,2077,85.3,11.4,525,8053,0.00,2.47,0.00,0.000,260,0.000,0.083,2606,3556,2101,2125,2077,0,0,0,0,0,0,14.78,14.34,14.78,6.21,50.43
$GC,8134,0.64,146.0,2606,3557,2125,2078,75.4,11.2,542,8137,0.00,2.35,0.00,0.000,5126,0.000,0.042,2615,2139,2101,2125,2077,0,0,0,0,0,0,14.57,14.45,14.59,6.21,49.72
$GC,8259,0.64,146.0,2616,2139,2126,2076,61.4,10.8,567,8263,0.00,2.42,0.00,0.000,4612,0.000,0.067,2626,745,2101,2125,2077,0,0,0,0,0,0,14.78,14.37,14.78,6.19,49.88
$GC,8304,0.64,146.0,2626,746,2124,2086,57.0,9.2,576,8308,0.08,2.40,0.00,0.000,5126,0.317,0.054,2599,2155,2100,2123,2077,0,0,0,0,0,0,14.17,14.40,14.45,6.20,50.11
$GC,8430,0.65,158.8,2600,2155,2124,2077,47.1,7.8,601,8443,0.00,2.47,8.07,1.306,10500,0.000,0.084,2600,3548,2065,2084,2047,0,0,0,0,0,0,14.78,14.43,13.71,6.16,49.96
$GC,8484,0.65,158.8,2600,3549,2092,2050,42.1,9.1,612,8487,0.00,2.33,0.00,0.000,1030,0.000,0.043,2609,2149,2069,2091,2048,0,0,0,0,0,0,14.54,14.45,14.57,6.19,49.92
$GC,8609,0.65,158.8,2608,2149,2092,2049,31.2,8.7,637,8613,0.00,2.45,0.00,0.000,516,0.000,0.066,2619,738,2069,2091,2047,0,0,0,0,0,0,14.75,14.36,14.76,6.20,50.35
$GC,8674,0.65,158.8,2620,739,2091,2047,25.2,8.8,650,8678,0.00,2.40,0.00,0.000,5126,0.000,0.054,2619,2150,2068,2090,2047,0,0,0,0,0,0,14.54,14.40,14.57,6.19,50.11
$GC,8801,0.65,158.8,2620,2151,2091,2047,13.5,9.9,675,8806,0.00,2.45,0.00,0.000,4356,0.000,0.083,2620,3551,2068,2090,2046,0,0,0,0,0,0,14.75,14.34,14.74,6.20,50.82
$GC,8854,0.65,158.8,2620,3552,2092,2048,7.8,10.0,686,8858,0.08,2.33,0.00,0.000,5126,0.337,0.043,2604,2149,2068,2090,2047,0,0,0,0,0,0,14.15,14.44,14.41,6.20,50.70
$STATE,8912,end climb,SURFACE_DEPTH_REACHED
$STATE,8912,begin surface coast
$STATE,8949,end surface coast,CONTROL_FINISHED_OK
$STATE,8949,begin surface
$SM_CCo,8964,59.08,0.240,0,0,1823,220.03
$SM_GC,1.14,5.55,0.08,59.08,0.073,0.167,0.240,225,2061,1823,-6.45,0.90,220.03,0,0,0,0,0,0,14.55,14.46,14.14
$IRIDIUM_FIX,-5942.82,55.44,030219,035626
$TT8_MAMPS,0.039697,0.339297
$HUMID,50.31
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3682272
$24V_AH,13.00,90.083
$10V_AH,13.48,0.000
$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,13.375,82.550,263.000,59.075,0.000,48.496,79.570,134.299,0.000,0.000,14.140,0.000,7199.225,408.637,1681.728,227.888,0.000,1048.485,0.000,1148.882,0.000,0.540,0.000
$DEVICE_MAMPS,415.395,2215.440,1579.725,240.210,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5371.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.408,0.000,0.000,0.000
$MEM,344024
$DATA_FILE_SIZE,17337,705
$CAP_FILE_SIZE,95644,0
$CFSIZE,1023623168,973651968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.050,134.78,1
$GPS,030219,063356,-5947.646,-0.296,36,0.7,43,-19.7,0.9,327.2,12,9.7