version: 66.14
glider: 640
mission: 5
dive: 476
start: 2 4 119 6 0 27
data:
$ID,640
$MISSION,5
$DIVE,476
$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,31
$R_STBD_OVSHOOT,33
$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
$GPS1,040219,055401,-5944.6802,0.4975,16,0.8,33,-19.7,0.7,109.5,10,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-67.4
$GPS2,040219,060008,-5944.7080,0.5422,9,0.9,18,-19.7,0.7,105.2,10,9.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,15.3,8734,-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,-146.0,212,2108,1789,1830,0.0,0.0,0,102,0.00,0.00,-87.32,0.000,16386,0.000,0.000,211,2108,3216,3297,3135,0,0,0,0,0,0,14.55,28.83,14.55,6.18,51.14
$GC,105,-0.64,-146.0,212,2108,3298,3136,3.5,-7.6,18,122,6.25,2.72,-3.53,0.000,18948,0.353,2.206,2170,693,3317,3410,3224,0,0,0,0,0,0,13.90,13.22,14.26,6.29,49.96
$GC,233,-0.64,-146.0,2171,694,3412,3225,26.9,-16.8,44,238,0.10,2.42,0.00,0.000,3078,0.335,0.056,2193,2099,3318,3412,3224,0,0,0,0,0,0,13.99,14.28,14.25,6.31,49.05
$GC,360,-0.64,-146.0,2193,2099,3413,3225,47.6,-15.9,69,365,0.00,2.47,0.00,0.000,2308,0.000,0.080,2182,3504,3317,3411,3224,0,0,0,0,0,0,14.62,14.25,14.62,6.31,50.03
$GC,383,-0.64,-146.0,2183,3505,3415,3225,51.5,-15.8,74,386,0.00,2.35,0.00,0.000,3078,0.000,0.043,2181,2098,3318,3412,3225,0,0,0,0,0,0,14.45,14.34,14.47,6.31,49.72
$GC,508,-0.64,-146.0,2182,2096,3413,3229,71.1,-15.7,99,512,0.00,2.45,0.00,0.000,2564,0.000,0.063,2181,688,3318,3412,3224,0,0,0,0,0,0,14.66,14.27,14.66,6.32,49.76
$GC,543,-0.64,-146.0,2180,688,3413,3225,76.5,-15.3,106,547,0.08,2.42,0.00,0.000,3078,0.356,0.056,2194,2103,3318,3412,3224,0,0,0,0,0,0,14.02,14.31,14.30,6.32,49.52
$GC,670,-0.64,-146.0,2195,2105,3413,3225,93.9,-13.2,131,676,0.00,2.50,0.00,0.000,260,0.000,0.083,2184,3510,3318,3412,3224,0,0,0,0,0,0,14.67,14.28,14.67,6.31,48.74
$GC,703,-0.64,-146.0,2185,3511,3413,3225,98.3,-12.6,138,707,0.00,2.35,0.00,0.000,3078,0.000,0.043,2184,2097,3318,3412,3224,0,0,0,0,0,0,14.45,14.34,14.47,6.31,48.81
$GC,838,-0.64,-146.0,2184,2095,3412,3224,115.4,-13.2,147,842,0.00,2.42,0.00,0.000,2564,0.000,0.063,2183,696,3318,3412,3224,0,0,0,0,0,0,14.72,14.31,14.72,6.30,48.58
$GC,903,-0.64,-146.0,2183,696,3413,3225,122.3,-12.7,150,907,0.08,2.40,0.00,0.000,3078,0.361,0.055,2197,2104,3318,3413,3224,0,0,0,0,0,0,14.05,14.36,14.32,6.30,48.62
$GC,1213,-0.64,-146.0,2198,2105,3413,3224,162.5,-12.9,166,1217,0.00,2.45,0.00,0.000,260,0.000,0.082,2188,3505,3318,3412,3224,0,0,0,0,0,0,14.76,14.30,14.76,6.31,50.00
$GC,1258,-0.64,-146.0,2188,3506,3413,3225,167.1,-13.1,168,1262,0.00,2.33,0.00,0.000,3078,0.000,0.042,2187,2096,3318,3412,3224,0,0,0,0,0,0,14.54,14.42,14.57,6.31,49.96
$GC,1563,-0.64,-146.0,2188,2094,3414,3227,208.5,-12.9,183,1567,0.00,2.40,0.00,0.000,2564,0.000,0.063,2187,700,3318,3412,3224,0,0,0,0,0,0,14.78,14.33,14.79,6.32,50.74
$GC,1608,-0.64,-146.0,2187,700,3413,3225,213.1,-13.0,185,1612,0.05,2.38,0.00,0.000,3078,0.427,0.054,2192,2103,3318,3412,3224,0,0,0,0,0,0,14.11,14.40,14.37,6.37,50.63
$GC,1913,-0.64,-146.0,2193,2103,3414,3224,251.2,-12.1,200,1914,0.00,0.00,0.00,0.000,2054,0.000,0.000,2193,2103,3318,3412,3224,0,0,0,0,0,0,14.80,14.81,14.80,6.33,50.82
$GC,2213,-0.64,-146.0,2192,2103,3413,3225,288.0,-12.5,215,2214,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2103,3318,3413,3224,0,0,0,0,0,0,14.81,14.82,14.82,6.33,50.90
$GC,2513,-0.64,-146.0,2192,2104,3413,3225,325.3,-12.4,230,2514,0.00,0.00,0.00,0.000,2054,0.000,0.000,2193,2103,3318,3412,3224,0,0,0,0,0,0,14.83,14.83,14.83,6.33,51.41
$STATE,2711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2711,begin apogee
$GC,2717,-0.15,0.0,2193,2169,3413,3224,350.1,-12.4,240,2845,0.45,0.00,125.03,1.579,10246,0.255,0.000,2350,2169,2716,2776,2656,0,0,0,0,0,0,14.11,13.91,13.21,6.33,51.02
$STATE,2846,end apogee,CONTROL_FINISHED_OK
$STATE,2846,begin loiter
$GC,3133,-0.15,0.0,2350,2169,2772,2643,348.4,2.9,261,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2169,2706,2771,2642,0,0,0,0,0,0,14.55,14.56,14.56,6.28,50.39
$GC,3433,-0.15,0.0,2350,2169,2773,2639,340.3,2.7,276,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2169,2705,2771,2640,0,0,0,0,0,0,14.71,14.72,14.71,6.28,50.66
$GC,3733,-0.15,0.0,2350,2170,2772,2640,332.1,2.8,291,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2169,2705,2771,2639,0,0,0,0,0,0,14.80,14.81,14.81,6.28,51.06
$GC,4033,-0.15,0.0,2349,2170,2772,2640,323.8,2.8,306,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2169,2704,2771,2638,0,0,0,0,0,0,14.85,14.85,14.86,6.28,51.53
$GC,4333,-0.15,0.0,2350,2170,2771,2639,315.5,2.8,321,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2169,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.22
$GC,4633,-0.15,0.0,2350,2169,2772,2638,307.3,2.6,336,4634,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2168,2704,2771,2637,0,0,0,0,0,0,14.93,14.93,14.93,6.27,51.49
$GC,4933,-0.15,0.0,2350,2170,2772,2638,299.6,2.5,351,4934,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2169,2704,2771,2637,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.45
$GC,5233,-0.15,0.0,2350,2169,2772,2637,292.2,2.4,366,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2169,2704,2771,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.27,51.22
$GC,5533,-0.15,0.0,2350,2169,2772,2637,285.2,2.4,381,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2169,2704,2771,2637,0,0,0,0,0,0,14.98,14.99,14.99,6.27,51.41
$GC,5833,-0.15,0.0,2350,2170,2772,2638,277.7,2.5,396,5834,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2169,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.92
$GC,6133,-0.15,0.0,2350,2169,2772,2637,269.7,2.7,411,6134,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2169,2704,2771,2637,0,0,0,0,0,0,15.01,15.02,15.01,6.28,51.65
$STATE,6431,end loiter,LOITER_COMPLETE
$STATE,6431,begin climb
$GC,6433,0.64,146.0,2350,2170,2772,2638,260.7,0.0,426,6574,0.62,2.60,129.55,1.438,11012,0.168,0.064,2604,752,2116,2137,2096,0,0,0,0,0,0,14.36,13.96,13.33,6.27,51.65
$GC,6694,0.64,146.0,2607,753,2131,2086,239.4,10.4,439,6698,0.00,2.40,0.00,0.000,1030,0.000,0.053,2606,2129,2108,2130,2086,0,0,0,0,0,0,14.22,14.12,14.25,6.23,49.80
$GC,7009,0.64,146.0,2607,2130,2127,2081,202.1,11.9,455,7012,0.00,2.55,0.00,0.000,4356,0.000,0.083,2607,3565,2103,2125,2081,0,0,0,0,0,0,14.59,14.19,14.60,6.22,51.41
$GC,7094,0.64,146.0,2607,3564,2129,2081,193.2,11.8,459,7098,0.00,2.35,0.00,0.000,5126,0.000,0.041,2617,2155,2103,2126,2081,0,0,0,0,0,0,14.44,14.33,14.46,6.23,50.59
$GC,7404,0.64,146.0,2617,2156,2124,2079,153.9,12.8,475,7407,0.00,2.47,0.00,0.000,4612,0.000,0.066,2629,740,2100,2123,2078,0,0,0,0,0,0,14.71,14.31,14.71,6.24,50.86
$GC,7454,0.64,146.0,2628,740,2122,2079,149.4,12.9,477,7458,0.08,2.42,0.00,0.000,5126,0.311,0.056,2601,2154,2099,2121,2077,0,0,0,0,0,0,14.14,14.35,14.40,6.23,50.63
$GC,7775,0.64,146.0,2601,2155,2121,2078,111.7,11.1,494,7781,0.00,2.47,0.00,0.000,260,0.000,0.084,2601,3556,2098,2121,2076,0,0,0,0,0,0,14.73,14.32,14.74,6.23,50.78
$GC,7849,0.64,146.0,2602,3556,2122,2077,104.7,11.6,497,7852,0.00,2.33,0.00,0.000,5126,0.000,0.041,2610,2143,2098,2121,2076,0,0,0,0,0,0,14.55,14.43,14.57,6.22,50.94
$GC,8154,0.64,146.0,2610,2149,2121,2077,71.7,8.8,552,8158,0.00,2.42,0.00,0.000,4612,0.000,0.066,2621,751,2098,2121,2076,0,0,0,0,0,0,14.77,14.36,14.77,6.21,49.80
$GC,8209,0.65,156.2,2622,751,2121,2076,67.1,7.9,563,8218,0.00,2.38,5.62,1.254,13318,0.000,0.055,2621,2150,2082,2104,2061,0,0,0,0,0,0,14.54,14.39,13.64,6.21,49.48
$GC,8339,0.65,156.2,2621,2150,2101,2059,56.3,8.8,589,8342,0.00,0.00,0.00,0.000,4102,0.000,0.000,2621,2150,2079,2100,2058,0,0,0,0,0,0,14.72,14.72,14.72,6.20,49.37
$GC,8464,0.65,156.2,2628,2150,2101,2058,46.0,8.5,614,8467,0.00,2.42,0.00,0.000,4612,0.000,0.067,2632,751,2079,2100,2058,0,0,0,0,0,0,14.75,14.36,14.75,6.20,49.52
$GC,8519,0.66,164.8,2633,759,2102,2057,41.5,8.0,625,8533,0.08,2.40,9.43,1.285,13318,0.318,0.056,2605,2161,2045,2063,2027,0,0,0,0,0,0,14.17,14.39,13.70,6.20,49.48
$GC,8654,0.66,164.8,2605,2161,2065,2020,30.3,8.6,652,8658,0.00,2.45,0.00,0.000,2308,0.000,0.083,2605,3547,2042,2064,2021,0,0,0,0,0,0,14.70,14.32,14.71,6.20,49.84
$GC,8719,0.66,164.8,2606,3547,2065,2021,24.5,8.8,665,8722,0.00,2.30,0.00,0.000,1030,0.000,0.042,2614,2155,2042,2063,2021,0,0,0,0,0,0,14.52,14.42,14.54,6.20,50.63
$GC,8846,0.66,164.8,2615,2155,2065,2021,12.9,9.7,690,8851,0.00,2.47,0.00,0.000,516,0.000,0.066,2625,741,2042,2064,2021,0,0,0,0,0,0,14.71,14.34,14.71,6.19,50.55
$GC,8884,0.66,164.8,2625,740,2064,2020,9.1,9.3,698,8887,0.00,2.42,0.00,0.000,5126,0.000,0.056,2625,2148,2042,2064,2021,0,0,0,0,0,0,14.52,14.38,14.54,6.20,50.47
$STATE,8946,end climb,SURFACE_DEPTH_REACHED
$STATE,8946,begin surface coast
$STATE,8976,end surface coast,CONTROL_FINISHED_OK
$STATE,8978,begin surface
$SM_CCo,8993,52.47,0.242,0,0,1821,220.03
$SM_GC,1.03,5.45,0.08,52.47,0.037,0.163,0.242,265,2075,1821,-6.45,0.93,220.03,0,0,0,0,0,0,14.52,14.44,14.13
$IRIDIUM_FIX,-5944.88,0.00,040219,032112
$TT8_MAMPS,0.038948,0.352779
$HUMID,50.55
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3677152
$24V_AH,13.21,91.886
$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,13.225,73.100,269.625,52.475,0.000,23.913,31.364,134.015,0.000,0.000,19.536,0.000,7147.108,399.799,1631.406,235.072,0.000,1049.431,0.000,1170.153,0.000,0.539,0.000
$DEVICE_MAMPS,426.870,2206.260,1578.960,241.740,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5401.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.465,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,20797,717
$CAP_FILE_SIZE,93395,0
$CFSIZE,1023623168,972668928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,83.56,0x235724,0,24
$CURRENT,0.071,137.20,1
$GPS,040219,083219,-5944.432,0.838,17,0.8,39,-19.7,0.6,112.6,9,6.4