version: 66.14
glider: 640
mission: 5
dive: 472
start: 2 3 119 19 34 3
data:
$ID,640
$MISSION,5
$DIVE,472
$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
$GPS1,030219,192725,-5945.8911,0.6248,14,0.8,38,-19.7,0.3,216.6,9,6.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-68.3
$GPS2,030219,193343,-5945.8901,0.6484,9,0.8,16,-19.7,0.0,25.7,10,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,12.5,10925,-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,13,-0.64,-146.0,212,2080,1791,1830,0.0,0.0,0,103,0.00,0.00,-88.22,0.000,16386,0.000,0.000,211,2080,3226,3308,3144,0,0,0,0,0,0,14.54,28.83,14.54,6.18,51.14
$GC,106,-0.64,-146.0,212,2080,3309,3144,3.4,-7.9,18,117,6.20,0.00,-3.12,0.000,18438,0.347,0.000,2174,2079,3316,3408,3225,0,0,0,0,0,0,13.89,12.90,14.26,6.30,49.88
$GC,240,-0.64,-146.0,2174,2080,3413,3227,29.8,-18.5,45,244,0.08,2.53,0.00,0.000,2308,0.388,0.078,2187,3504,3319,3413,3225,0,0,0,0,0,0,14.02,14.24,14.23,6.31,49.44
$GC,264,-0.64,-146.0,2187,3505,3413,3225,34.4,-17.1,50,267,0.00,2.33,0.00,0.000,3078,0.000,0.042,2186,2120,3318,3412,3225,0,0,0,0,0,0,14.39,14.30,14.40,6.31,49.25
$GC,389,-0.64,-146.0,2186,2119,3414,3225,53.7,-14.3,75,392,0.00,2.50,0.00,0.000,2564,0.000,0.063,2185,684,3318,3411,3225,0,0,0,0,0,0,14.65,14.22,14.64,6.31,49.56
$GC,469,-0.64,-146.0,2185,685,3413,3228,65.7,-13.9,91,473,0.05,2.45,0.00,0.000,3078,0.429,0.057,2190,2105,3319,3413,3225,0,0,0,0,0,0,14.00,14.28,14.26,6.31,49.48
$GC,596,-0.64,-146.0,2190,2105,3413,3227,84.0,-16.4,116,598,0.00,0.00,0.00,0.000,2054,0.000,0.000,2190,2104,3319,3413,3226,0,0,0,0,0,0,14.66,14.66,14.66,6.31,48.62
$GC,724,-0.64,-146.0,2191,2105,3413,3225,103.0,-13.8,139,727,0.00,2.47,0.00,0.000,2308,0.000,0.083,2179,3509,3316,3406,3226,0,0,0,0,0,0,14.70,14.21,14.70,6.30,48.34
$GC,779,-0.64,-146.0,2181,3510,3413,3226,110.2,-13.4,142,782,0.00,2.38,0.00,0.000,3078,0.000,0.042,2179,2086,3319,3413,3226,0,0,0,0,0,0,14.43,14.34,14.45,6.30,48.54
$GC,1099,-0.64,-146.0,2180,2085,3414,3225,149.3,-11.9,158,1103,0.00,2.40,0.00,0.000,2564,0.000,0.063,2179,700,3319,3413,3225,0,0,0,0,0,0,14.75,14.28,14.75,6.29,49.48
$GC,1139,-0.64,-146.0,2180,701,3414,3225,154.3,-12.3,160,1143,0.08,2.40,0.00,0.000,3078,0.361,0.057,2192,2104,3319,3413,3225,0,0,0,0,0,0,14.02,14.33,14.30,6.30,49.96
$GC,1459,-0.64,-146.0,2193,2105,3413,3226,192.2,-12.1,176,1463,0.00,2.47,0.00,0.000,2308,0.000,0.083,2181,3509,3319,3413,3226,0,0,0,0,0,0,14.77,14.26,14.76,6.31,50.39
$GC,1504,-0.64,-146.0,2181,3509,3413,3226,196.6,-12.3,178,1508,0.00,2.35,0.00,0.000,3078,0.000,0.043,2181,2094,3319,3413,3226,0,0,0,0,0,0,14.50,14.40,14.50,6.31,51.06
$GC,1814,-0.64,-146.0,2182,2093,3414,3225,238.2,-13.0,194,1817,0.00,2.42,0.00,0.000,2564,0.000,0.063,2181,691,3318,3412,3225,0,0,0,0,0,0,14.78,14.30,14.78,6.31,50.74
$GC,1869,-0.64,-146.0,2181,691,3414,3225,245.4,-13.1,197,1873,0.08,2.40,0.00,0.000,3078,0.357,0.056,2194,2101,3319,3413,3225,0,0,0,0,0,0,14.04,14.34,14.32,6.31,50.70
$GC,2189,-0.64,-146.0,2194,2102,3414,3225,284.6,-12.4,213,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2101,3319,3413,3226,0,0,0,0,0,0,14.79,14.80,14.80,6.32,51.18
$GC,2489,-0.64,-146.0,2194,2102,3414,3225,321.9,-12.3,228,2490,0.00,0.00,0.00,0.000,2054,0.000,0.000,2194,2103,3319,3412,3226,0,0,0,0,0,0,14.81,14.81,14.81,6.33,51.22
$STATE,2726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2726,begin apogee
$GC,2732,-0.15,0.0,2194,2167,3413,3227,351.7,-12.5,240,2860,0.45,0.00,125.25,1.579,10246,0.253,0.000,2351,2166,2719,2779,2659,0,0,0,0,0,0,14.10,13.90,13.21,6.33,50.94
$STATE,2861,end apogee,CONTROL_FINISHED_OK
$STATE,2862,begin loiter
$GC,3149,-0.15,0.0,2351,2166,2774,2645,350.5,2.7,261,3150,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2709,2774,2644,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.55
$GC,3449,-0.15,0.0,2352,2166,2774,2642,341.8,2.9,276,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2707,2773,2642,0,0,0,0,0,0,14.70,14.71,14.70,6.28,51.37
$GC,3749,-0.15,0.0,2352,2167,2774,2643,332.8,3.0,291,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2708,2774,2642,0,0,0,0,0,0,14.79,14.79,14.79,6.28,51.57
$GC,4049,-0.15,0.0,2352,2166,2775,2642,324.0,2.9,306,4050,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2707,2773,2642,0,0,0,0,0,0,14.84,14.85,14.85,6.28,51.29
$GC,4349,-0.15,0.0,2351,2167,2775,2642,315.2,2.9,321,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2707,2773,2642,0,0,0,0,0,0,14.88,14.89,14.88,6.27,51.14
$GC,4649,-0.15,0.0,2352,2166,2774,2642,306.3,3.0,336,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2707,2773,2642,0,0,0,0,0,0,14.91,14.92,14.92,6.28,51.22
$GC,4949,-0.15,0.0,2351,2167,2774,2643,296.9,3.2,351,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2707,2773,2642,0,0,0,0,0,0,14.94,14.94,14.95,6.28,51.49
$GC,5249,-0.15,0.0,2351,2167,2774,2643,287.3,3.3,366,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2708,2774,2642,0,0,0,0,0,0,14.95,14.96,14.96,6.28,51.57
$GC,5549,-0.15,0.0,2351,2167,2774,2643,278.1,2.9,381,5550,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2707,2773,2642,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.29
$GC,5849,-0.15,0.0,2351,2167,2773,2643,269.7,2.7,396,5850,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2707,2773,2642,0,0,0,0,0,0,14.98,14.99,14.99,6.28,51.41
$GC,6149,-0.15,0.0,2351,2167,2774,2643,262.8,2.2,411,6150,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2166,2707,2773,2642,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.53
$STATE,6446,end loiter,LOITER_COMPLETE
$STATE,6447,begin climb
$GC,6449,0.64,146.0,2351,2167,2774,2644,256.4,0.0,426,6590,0.62,2.58,130.35,1.431,11012,0.163,0.067,2610,757,2117,2138,2096,0,0,0,0,0,0,14.37,13.95,13.33,6.28,51.92
$GC,6675,0.64,146.0,2610,757,2132,2088,241.3,9.4,437,6679,0.00,2.40,0.00,0.000,5126,0.000,0.053,2610,2137,2110,2132,2088,0,0,0,0,0,0,14.21,14.09,14.23,6.24,49.17
$GC,6985,0.64,146.0,2611,2137,2127,2082,206.1,11.4,453,6989,0.00,2.53,0.00,0.000,4356,0.000,0.081,2610,3558,2104,2127,2082,0,0,0,0,0,0,14.58,14.19,14.58,6.23,50.55
$GC,7065,0.64,146.0,2610,3557,2128,2083,197.3,11.6,457,7069,0.05,2.35,0.00,0.000,5126,0.405,0.042,2604,2155,2104,2127,2082,0,0,0,0,0,0,14.04,14.31,14.32,6.23,50.70
$GC,7375,0.64,146.0,2604,2156,2126,2079,161.8,11.5,473,7379,0.00,2.47,0.00,0.000,516,0.000,0.066,2613,744,2102,2126,2078,0,0,0,0,0,0,14.69,14.31,14.69,6.23,50.74
$GC,7445,0.64,146.0,2614,744,2124,2078,155.4,10.8,476,7449,0.00,2.40,0.00,0.000,5126,0.000,0.054,2614,2150,2100,2122,2078,0,0,0,0,0,0,14.49,14.35,14.52,6.23,50.78
$GC,7755,0.64,146.0,2614,2151,2123,2077,118.6,11.6,492,7759,0.00,2.47,0.00,0.000,4356,0.000,0.083,2614,3555,2099,2122,2077,0,0,0,0,0,0,14.75,14.33,14.76,6.22,51.02
$GC,7840,0.64,146.0,2614,3556,2123,2077,109.8,11.8,496,7845,0.08,2.35,0.00,0.000,5126,0.345,0.042,2598,2149,2099,2122,2077,0,0,0,0,0,0,14.14,14.42,14.42,6.22,50.31
$GC,8145,0.64,146.0,2598,2150,2122,2077,76.8,10.3,544,8149,0.00,2.45,0.00,0.000,2564,0.000,0.066,2607,741,2098,2121,2076,0,0,0,0,0,0,14.77,14.36,14.77,6.21,49.84
$GC,8190,0.64,146.0,2614,741,2121,2075,72.2,9.9,553,8194,0.00,2.40,0.00,0.000,5126,0.000,0.052,2607,2155,2098,2120,2076,0,0,0,0,0,0,14.55,14.40,14.58,6.21,49.88
$GC,8317,0.64,146.0,2608,2156,2121,2076,58.7,11.3,578,8324,0.00,2.47,0.00,0.000,4356,0.000,0.085,2607,3556,2098,2120,2076,0,0,0,0,0,0,14.76,14.27,14.76,6.20,50.11
$GC,8345,0.64,146.0,2608,3557,2121,2074,55.3,12.2,584,8349,0.00,2.35,0.00,0.000,5126,0.000,0.043,2616,2144,2098,2120,2076,0,0,0,0,0,0,14.57,14.45,14.59,6.20,49.56
$GC,8472,0.64,146.0,2618,2147,2121,2076,41.5,10.8,609,8477,0.00,2.45,0.00,0.000,4612,0.000,0.067,2627,740,2098,2120,2076,0,0,0,0,0,0,14.76,14.35,14.77,6.20,49.64
$GC,8535,0.64,146.0,2629,740,2121,2076,34.5,10.5,622,8539,0.08,2.40,0.00,0.000,5126,0.315,0.053,2602,2156,2098,2120,2076,0,0,0,0,0,0,14.17,14.40,14.44,6.20,49.56
$GC,8660,0.64,146.0,2602,2156,2120,2075,22.8,8.9,647,8664,0.00,2.47,0.00,0.000,260,0.000,0.082,2601,3558,2097,2120,2075,0,0,0,0,0,0,14.78,14.34,14.78,6.20,50.15
$GC,8700,0.64,146.0,2604,3558,2121,2076,19.2,8.8,655,8704,0.00,2.33,0.00,0.000,5126,0.000,0.042,2611,2150,2097,2120,2075,0,0,0,0,0,0,14.57,14.45,14.59,6.21,50.82
$GC,8827,0.64,146.0,2611,2151,2121,2076,8.4,9.0,680,8832,0.00,2.45,0.00,0.000,4612,0.000,0.067,2622,745,2097,2120,2075,0,0,0,0,0,0,14.76,14.27,14.76,6.20,51.02
$GC,8865,0.64,146.0,2621,746,2120,2076,4.8,8.8,688,8869,0.05,2.38,0.00,0.000,5126,0.374,0.053,2603,2148,2097,2119,2075,0,0,0,0,0,0,14.19,14.40,14.45,6.20,50.55
$STATE,8888,end climb,SURFACE_DEPTH_REACHED
$STATE,8888,begin surface coast
$STATE,8918,end surface coast,CONTROL_FINISHED_OK
$STATE,8918,begin surface
$SM_CCo,8934,65.55,0.242,0,0,1821,220.03
$SM_GC,1.22,5.55,0.08,65.55,0.075,0.166,0.242,221,2069,1821,-6.44,0.93,220.03,0,0,0,0,0,0,14.59,14.49,14.14
$IRIDIUM_FIX,-5944.88,0.00,030219,165035
$TT8_MAMPS,0.038948,0.334054
$HUMID,50.39
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3679200
$24V_AH,12.90,91.167
$10V_AH,13.50,0.000
$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,13.350,72.950,255.600,65.550,0.000,28.087,38.415,136.823,0.000,0.000,17.753,0.000,7117.319,404.468,1629.097,227.461,0.000,1043.646,0.000,1157.126,0.000,0.539,0.000
$DEVICE_MAMPS,429.165,185.895,1578.960,241.740,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5340.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.487,0.000,0.000,0.000
$MEM,344024
$DATA_FILE_SIZE,17312,699
$CAP_FILE_SIZE,92473,0
$CFSIZE,1023623168,973062144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.020,163.57,1
$GPS,030219,220503,-5945.398,0.619,32,0.7,34,-19.7,0.0,340.0,11,9.9