version: 66.14
glider: 640
mission: 5
dive: 474
start: 2 4 119 0 49 22
data:
$ID,640
$MISSION,5
$DIVE,474
$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,35
$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
$GPS1,040219,004301,-5944.9502,0.5198,14,0.7,31,-19.7,1.0,316.7,12,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-69.3
$GPS2,040219,004903,-5944.9502,0.4952,13,0.8,15,-19.7,0.4,156.8,11,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,19.6,9179,-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,-146.0,219,2140,1787,1830,0.0,0.0,0,102,0.00,0.00,-87.57,0.000,16386,0.000,0.000,218,2140,3205,3287,3124,0,0,0,0,0,0,14.55,28.83,14.56,6.18,51.06
$GC,105,-0.64,-146.0,218,2141,3287,3126,3.4,-7.4,18,122,6.25,2.78,-3.97,0.000,18948,0.352,2.209,2189,698,3316,3410,3223,0,0,0,0,0,0,13.90,13.23,14.26,6.30,49.80
$GC,218,-0.64,-146.0,2189,699,3412,3225,21.8,-13.4,41,221,0.00,2.40,0.00,0.000,3078,0.000,0.056,2179,2100,3318,3413,3224,0,0,0,0,0,0,14.38,14.26,14.39,6.31,48.97
$GC,343,-0.64,-146.0,2179,2101,3413,3225,41.9,-17.0,66,346,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2100,3318,3413,3223,0,0,0,0,0,0,14.64,14.63,14.63,6.31,49.88
$GC,468,-0.64,-146.0,2180,2100,3414,3224,61.8,-16.3,91,472,0.00,2.50,0.00,0.000,2308,0.000,0.080,2169,3509,3317,3411,3224,0,0,0,0,0,0,14.66,14.21,14.66,6.31,49.88
$GC,553,-0.64,-146.0,2168,3510,3413,3225,75.2,-14.8,108,557,0.08,2.35,0.00,0.000,3078,0.363,0.042,2193,2095,3318,3412,3225,0,0,0,0,0,0,14.00,14.34,14.28,6.31,49.48
$GC,680,-0.64,-146.0,2193,2095,3413,3224,93.1,-13.9,133,685,0.00,2.42,0.00,0.000,2564,0.000,0.063,2193,697,3318,3413,3224,0,0,0,0,0,0,14.68,14.31,14.69,6.30,48.66
$GC,698,-0.64,-146.0,2193,697,3414,3224,95.9,-14.2,137,702,0.00,2.40,0.00,0.000,3078,0.000,0.054,2183,2102,3318,3413,3224,0,0,0,0,0,0,14.44,14.31,14.45,6.31,48.74
$GC,828,-0.64,-146.0,2183,2103,3414,3224,114.0,-13.8,148,832,0.00,2.45,0.00,0.000,2564,0.000,0.062,2182,691,3318,3413,3224,0,0,0,0,0,0,14.72,14.29,14.72,6.30,48.42
$GC,858,-0.64,-146.0,2183,691,3413,3224,116.1,-13.7,149,862,0.08,2.42,0.00,0.000,3078,0.356,0.056,2196,2106,3318,3413,3224,0,0,0,0,0,0,14.03,14.32,14.31,6.30,48.62
$GC,1180,-0.64,-146.0,2196,2108,3413,3225,161.4,-13.5,166,1185,0.00,2.47,0.00,0.000,260,0.000,0.081,2186,3511,3318,3413,3224,0,0,0,0,0,0,14.74,14.32,14.73,6.31,49.84
$GC,1253,-0.64,-146.0,2186,3512,3414,3224,169.4,-13.3,169,1257,0.00,2.35,0.00,0.000,3078,0.000,0.042,2185,2089,3318,3412,3224,0,0,0,0,0,0,14.49,14.38,14.50,6.31,50.74
$GC,1573,-0.64,-146.0,2186,2088,3414,3224,213.6,-13.1,186,1577,0.00,2.40,0.00,0.000,2564,0.000,0.063,2185,700,3318,3412,3224,0,0,0,0,0,0,14.79,14.32,14.79,6.32,51.49
$GC,1628,-0.64,-146.0,2185,701,3413,3225,218.9,-13.2,188,1632,0.05,2.40,0.00,0.000,3078,0.424,0.055,2190,2105,3318,3413,3224,0,0,0,0,0,0,14.09,14.36,14.34,6.31,50.90
$GC,1933,-0.64,-146.0,2190,2107,3408,3225,259.2,-12.6,204,1934,0.00,0.00,0.00,0.000,2054,0.000,0.000,2190,2106,3318,3412,3224,0,0,0,0,0,0,14.80,14.81,14.80,6.32,51.14
$GC,2233,-0.64,-146.0,2190,2107,3413,3225,296.7,-12.4,219,2234,0.00,0.00,0.00,0.000,2054,0.000,0.000,2190,2106,3315,3406,3224,0,0,0,0,0,0,14.78,14.82,14.81,6.32,51.73
$GC,2533,-0.64,-146.0,2190,2111,3413,3225,333.6,-12.2,234,2537,0.00,2.45,0.00,0.000,2308,0.000,0.081,2180,3503,3318,3413,3224,0,0,0,0,0,0,14.83,14.29,14.82,6.33,51.18
$GC,2563,-0.64,-146.0,2180,3503,3414,3224,335.5,-12.3,235,2566,0.00,2.33,0.00,0.000,3078,0.000,0.041,2179,2094,3318,3413,3224,0,0,0,0,0,0,14.54,14.42,14.55,6.33,51.41
$STATE,2666,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2666,begin apogee
$GC,2672,-0.15,0.0,2180,2162,3413,3225,351.0,-13.0,241,2800,0.50,0.00,125.10,1.577,10246,0.256,0.000,2354,2162,2715,2776,2655,0,0,0,0,0,0,14.09,13.90,13.21,6.33,51.18
$STATE,2801,end apogee,CONTROL_FINISHED_OK
$STATE,2801,begin loiter
$GC,3088,-0.15,0.0,2354,2161,2772,2643,349.6,2.8,262,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2162,2707,2772,2643,0,0,0,0,0,0,14.55,14.55,14.56,6.29,50.55
$GC,3388,-0.15,0.0,2354,2162,2772,2641,341.4,2.8,277,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2162,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.29,50.82
$GC,3688,-0.15,0.0,2354,2162,2773,2640,333.0,2.7,292,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2162,2705,2771,2640,0,0,0,0,0,0,14.80,14.81,14.81,6.28,50.82
$GC,3988,-0.15,0.0,2354,2162,2772,2641,324.9,2.6,307,3989,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2162,2705,2771,2640,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.61
$GC,4288,-0.15,0.0,2354,2162,2772,2640,316.9,2.7,322,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2162,2705,2771,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.45
$GC,4588,-0.15,0.0,2353,2162,2772,2641,308.4,3.0,337,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2162,2705,2771,2640,0,0,0,0,0,0,14.92,14.93,14.93,6.28,51.41
$GC,4888,-0.15,0.0,2354,2162,2773,2639,299.6,3.0,352,4889,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2162,2705,2771,2640,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.49
$GC,5188,-0.15,0.0,2354,2162,2772,2640,290.3,3.2,367,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2162,2705,2771,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.22
$GC,5488,-0.15,0.0,2354,2162,2773,2640,281.4,2.9,382,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2162,2706,2772,2640,0,0,0,0,0,0,14.98,14.99,14.99,6.28,52.24
$GC,5788,-0.15,0.0,2354,2162,2772,2641,272.3,3.1,397,5789,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2162,2706,2772,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.37
$GC,6088,-0.15,0.0,2354,2162,2773,2640,263.1,3.2,412,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2162,2706,2772,2640,0,0,0,0,0,0,15.01,15.02,15.02,6.28,51.89
$STATE,6386,end loiter,LOITER_COMPLETE
$STATE,6386,begin climb
$GC,6388,0.64,146.0,2354,2162,2772,2641,252.7,0.0,427,6526,0.62,2.55,129.20,1.429,10756,0.171,0.063,2609,748,2120,2142,2099,0,0,0,0,0,0,14.35,13.84,13.32,6.27,51.45
$GC,6625,0.64,146.0,2609,747,2133,2093,232.8,10.8,438,6630,0.00,2.42,0.00,0.000,5126,0.000,0.052,2609,2141,2112,2133,2091,0,0,0,0,0,0,14.21,14.11,14.24,6.24,49.80
$GC,6946,0.64,146.0,2609,2142,2130,2085,194.4,12.0,454,6949,0.00,2.50,0.00,0.000,4356,0.000,0.080,2609,3553,2107,2130,2084,0,0,0,0,0,0,14.59,14.21,14.59,6.23,50.63
$GC,7020,0.64,146.0,2609,3554,2131,2085,185.3,12.1,458,7024,0.00,2.35,0.00,0.000,5126,0.000,0.042,2619,2152,2106,2129,2084,0,0,0,0,0,0,14.43,14.32,14.45,6.24,50.82
$GC,7335,0.64,146.0,2620,2153,2127,2082,146.9,12.4,474,7339,0.00,2.47,0.00,0.000,4612,0.000,0.066,2631,742,2104,2128,2081,0,0,0,0,0,0,14.70,14.31,14.70,6.23,51.65
$GC,7386,0.64,146.0,2631,742,2127,2081,142.0,12.5,476,7390,0.08,2.40,0.00,0.000,5126,0.317,0.054,2604,2150,2102,2125,2080,0,0,0,0,0,0,14.12,14.35,14.39,6.23,51.14
$GC,7690,0.64,146.0,2605,2152,2127,2079,107.0,11.2,491,7694,0.00,2.47,0.00,0.000,4356,0.000,0.082,2604,3556,2102,2126,2079,0,0,0,0,0,0,14.76,14.32,14.75,6.21,50.59
$GC,7781,0.64,146.0,2605,3557,2127,2079,96.9,10.9,498,7785,0.00,2.35,0.00,0.000,5126,0.000,0.042,2613,2142,2102,2126,2079,0,0,0,0,0,0,14.54,14.43,14.57,6.22,50.70
$GC,7906,0.64,146.0,2613,2143,2126,2080,83.2,10.6,523,7909,0.00,2.42,0.00,0.000,4612,0.000,0.066,2624,744,2101,2125,2078,0,0,0,0,0,0,14.75,14.35,14.79,6.21,49.84
$GC,7946,0.64,146.0,2624,745,2125,2079,79.1,10.2,531,7950,0.05,2.40,0.00,0.000,5126,0.372,0.054,2606,2159,2101,2125,2078,0,0,0,0,0,0,14.17,14.42,14.44,6.21,49.92
$GC,8070,0.64,146.0,2606,2159,2120,2078,67.4,9.3,556,8074,0.00,2.47,0.00,0.000,260,0.000,0.082,2605,3557,2101,2125,2078,0,0,0,0,0,0,14.76,14.33,14.76,6.20,50.07
$GC,8130,0.64,146.0,2606,3558,2127,2078,61.4,9.9,568,8134,0.00,2.35,0.00,0.000,5126,0.000,0.042,2614,2142,2101,2124,2078,0,0,0,0,0,0,14.55,14.43,14.57,6.21,49.21
$GC,8257,0.64,146.0,2616,2143,2126,2078,49.4,9.5,593,8263,0.00,2.45,0.00,0.000,4612,0.000,0.066,2626,745,2101,2124,2078,0,0,0,0,0,0,14.73,14.29,14.74,6.20,49.40
$GC,8290,0.64,146.0,2625,746,2125,2078,45.9,9.6,600,8294,0.08,2.38,0.00,0.000,5126,0.311,0.054,2599,2148,2102,2127,2077,0,0,0,0,0,0,14.16,14.39,14.43,6.20,49.48
$GC,8416,0.67,170.1,2599,2150,2124,2078,36.2,7.4,625,8440,0.00,2.45,19.92,1.273,10500,0.000,0.083,2598,3554,2021,2039,2003,0,0,0,0,0,0,14.76,14.39,13.73,6.20,49.68
$GC,8517,0.67,171.1,2598,3556,2039,2004,28.0,8.3,645,8524,0.00,2.35,0.00,0.000,3078,0.000,0.042,2608,2146,2020,2039,2002,0,0,0,0,0,0,14.42,14.31,14.44,6.19,49.60
$GC,8647,0.67,171.1,2608,2147,2038,2000,17.1,8.7,671,8653,0.00,2.45,0.00,0.000,2564,0.000,0.065,2619,743,2018,2038,1998,0,0,0,0,0,0,14.66,14.30,14.66,6.19,50.15
$GC,8710,0.67,171.1,2620,744,2046,1998,11.3,8.8,684,8714,0.00,2.40,0.00,0.000,5126,0.000,0.053,2619,2155,2017,2037,1997,0,0,0,0,0,0,14.50,14.35,14.51,6.19,50.15
$STATE,8793,end climb,SURFACE_DEPTH_REACHED
$STATE,8793,begin surface coast
$STATE,8820,end surface coast,CONTROL_FINISHED_OK
$STATE,8820,begin surface
$SM_CCo,8836,46.35,0.242,0,0,1822,220.03
$SM_GC,1.10,5.55,0.08,46.35,0.060,0.165,0.242,249,2087,1822,-6.46,1.16,220.03,0,0,0,0,0,0,14.47,14.41,14.10
$IRIDIUM_FIX,-5946.74,0.00,030219,220743
$TT8_MAMPS,0.03745,0.317576
$HUMID,50.70
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3678176
$24V_AH,13.21,91.524
$10V_AH,13.33,0.000
$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,13.325,77.950,274.225,46.350,0.000,26.228,17.330,144.384,0.000,0.000,16.190,0.000,6993.668,401.297,1614.752,234.441,0.000,1047.841,0.000,1158.403,0.000,0.540,0.000
$DEVICE_MAMPS,423.810,2208.555,1577.430,241.740,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5243.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.501,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17302,706
$CAP_FILE_SIZE,93669,0
$CFSIZE,1023623168,972865536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.076,189.57,1
$GPS,040219,031834,-5944.809,0.403,16,0.8,42,-19.7,0.5,201.7,10,9.5