version: 66.14
glider: 640
mission: 5
dive: 481
start: 2 4 119 19 8 48
data:
$ID,640
$MISSION,5
$DIVE,481
$N_DIVES,600
$STOP_T,2121912
$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,60
$R_STBD_OVSHOOT,27
$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
$GPS1,040219,190225,-5943.4551,0.4244,16,0.8,39,-19.7,0.5,94.7,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-67.6
$GPS2,040219,190829,-5943.4746,0.5071,5,0.8,13,-19.7,0.4,130.8,11,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,14.1,6452,-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,-146.0,214,2066,1790,1831,0.0,0.0,0,102,0.00,0.00,-87.45,0.000,16386,0.000,0.000,214,2066,3236,3319,3154,0,0,0,0,0,0,14.54,28.83,14.54,6.18,51.69
$GC,105,-0.64,-146.0,214,2067,3319,3155,3.5,-7.7,18,121,6.18,2.58,-2.78,0.000,18948,0.343,2.201,2180,721,3316,3408,3224,0,0,0,0,0,0,13.90,13.21,14.26,6.30,49.76
$GC,188,-0.64,-146.0,2181,721,3411,3224,18.7,-16.0,35,193,0.08,2.38,0.00,0.000,3078,0.363,0.054,2195,2106,3316,3409,3224,0,0,0,0,0,0,13.97,14.23,14.23,6.31,49.40
$GC,315,-0.64,-146.0,2195,2106,3412,3224,38.5,-15.9,60,320,0.00,2.42,0.00,0.000,516,0.000,0.063,2194,722,3317,3411,3224,0,0,0,0,0,0,14.60,14.27,14.60,6.31,49.48
$GC,343,-0.64,-146.0,2195,723,3412,3224,43.3,-16.3,66,346,0.00,2.38,0.00,0.000,3078,0.000,0.055,2185,2103,3317,3410,3224,0,0,0,0,0,0,14.42,14.29,14.42,6.31,49.80
$GC,468,-0.64,-146.0,2185,2104,3412,3224,62.6,-14.5,91,472,0.00,2.40,0.00,0.000,2564,0.000,0.063,2185,722,3317,3410,3224,0,0,0,0,0,0,14.66,14.26,14.66,6.31,49.84
$GC,503,-0.64,-146.0,2185,723,3411,3225,68.0,-15.7,98,507,0.05,2.38,0.00,0.000,3078,0.425,0.057,2188,2104,3317,3410,3224,0,0,0,0,0,0,14.04,14.32,14.29,6.32,49.52
$GC,630,-0.64,-146.0,2189,2105,3411,3225,86.4,-15.0,123,634,0.00,2.47,0.00,0.000,2308,0.000,0.081,2179,3511,3317,3411,3224,0,0,0,0,0,0,14.66,14.28,14.66,6.30,49.05
$GC,654,-0.64,-146.0,2179,3512,3412,3224,90.3,-15.3,128,658,0.05,2.33,0.00,0.000,3078,0.425,0.043,2195,2122,3317,3411,3224,0,0,0,0,0,0,14.01,14.30,14.27,6.31,48.74
$GC,784,-0.64,-146.0,2195,2122,3412,3225,109.2,-14.6,145,788,0.00,2.50,0.00,0.000,516,0.000,0.064,2195,687,3317,3411,3224,0,0,0,0,0,0,14.70,14.25,14.70,6.31,48.97
$GC,854,-0.64,-146.0,2195,686,3413,3224,116.8,-13.9,148,858,0.00,2.42,0.00,0.000,3078,0.000,0.054,2184,2106,3317,3411,3224,0,0,0,0,0,0,14.45,14.28,14.48,6.30,49.05
$GC,1159,-0.64,-146.0,2184,2107,3411,3225,160.1,-13.6,164,1163,0.00,2.45,0.00,0.000,2308,0.000,0.080,2173,3506,3317,3411,3224,0,0,0,0,0,0,14.75,14.25,14.75,6.31,50.47
$GC,1209,-0.64,-146.0,2174,3506,3412,3225,165.5,-13.6,166,1213,0.08,2.33,0.00,0.000,3078,0.358,0.041,2199,2096,3317,3410,3224,0,0,0,0,0,0,14.03,14.33,14.30,6.31,49.92
$GC,1514,-0.64,-146.0,2199,2095,3412,3225,204.9,-12.5,181,1517,0.00,2.42,0.00,0.000,516,0.000,0.064,2199,699,3317,3411,3224,0,0,0,0,0,0,14.77,14.28,14.77,6.32,51.29
$GC,1584,-0.64,-146.0,2199,699,3412,3224,211.9,-12.6,184,1588,0.00,2.40,0.00,0.000,3078,0.000,0.054,2189,2103,3317,3411,3224,0,0,0,0,0,0,14.46,14.31,14.47,6.32,50.66
$GC,1889,-0.64,-146.0,2189,2104,3412,3224,252.0,-12.7,200,1890,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2103,3317,3411,3224,0,0,0,0,0,0,14.78,14.78,14.78,6.32,50.78
$GC,2189,-0.64,-146.0,2189,2104,3412,3224,290.2,-12.8,215,2193,0.00,2.45,0.00,0.000,2564,0.000,0.062,2189,693,3317,3411,3224,0,0,0,0,0,0,14.81,14.31,14.80,6.33,50.98
$GC,2224,-0.64,-146.0,2189,693,3412,3224,294.8,-13.0,217,2228,0.05,2.40,0.00,0.000,3078,0.429,0.056,2192,2105,3317,3411,3224,0,0,0,0,0,0,14.05,14.33,14.33,6.33,51.02
$GC,2539,-0.64,-146.0,2193,2105,3412,3224,334.1,-12.6,233,2543,0.00,2.47,0.00,0.000,2308,0.000,0.082,2182,3513,3317,3411,3224,0,0,0,0,0,0,14.81,14.31,14.81,6.33,51.02
$GC,2559,-0.64,-146.0,2183,3513,3412,3224,336.6,-12.6,234,2563,0.00,2.33,0.00,0.000,3078,0.000,0.042,2182,2101,3317,3411,3224,0,0,0,0,0,0,14.50,14.37,14.50,6.33,51.02
$STATE,2677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2677,begin apogee
$GC,2682,-0.15,0.0,2182,2158,3412,3223,352.3,-13.1,240,2810,0.47,0.00,124.35,1.584,10246,0.253,0.000,2348,2158,2717,2778,2657,0,0,0,0,0,0,14.10,13.90,13.20,6.33,51.18
$STATE,2811,end apogee,CONTROL_FINISHED_OK
$STATE,2811,begin loiter
$GC,3099,-0.15,0.0,2349,2158,2773,2643,351.5,2.7,261,3100,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2707,2772,2643,0,0,0,0,0,0,14.54,14.54,14.54,6.28,50.19
$GC,3399,-0.15,0.0,2349,2158,2773,2641,343.4,2.8,276,3400,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2157,2705,2771,2640,0,0,0,0,0,0,14.70,14.71,14.71,6.28,50.86
$GC,3699,-0.15,0.0,2349,2158,2773,2640,335.0,2.9,291,3700,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2705,2771,2640,0,0,0,0,0,0,14.79,14.79,14.79,6.28,51.02
$GC,3999,-0.15,0.0,2349,2159,2772,2640,326.8,2.7,306,4000,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2705,2771,2639,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.10
$GC,4299,-0.15,0.0,2349,2158,2773,2639,319.1,2.4,321,4300,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2705,2771,2639,0,0,0,0,0,0,14.89,14.89,14.89,6.28,51.10
$GC,4599,-0.15,0.0,2349,2159,2772,2639,311.8,2.5,336,4600,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2704,2771,2638,0,0,0,0,0,0,14.91,14.92,14.92,6.28,51.18
$GC,4899,-0.15,0.0,2349,2159,2772,2639,304.6,2.5,351,4900,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2704,2771,2638,0,0,0,0,0,0,14.94,14.94,14.94,6.28,51.26
$GC,5199,-0.15,0.0,2349,2159,2772,2639,297.7,2.4,366,5200,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2157,2704,2771,2638,0,0,0,0,0,0,14.96,14.96,14.96,6.28,51.26
$GC,5499,-0.15,0.0,2349,2158,2772,2638,291.1,2.2,381,5500,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2704,2771,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.45
$GC,5799,-0.15,0.0,2349,2159,2772,2639,284.6,2.1,396,5800,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2704,2771,2638,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.18
$GC,6099,-0.15,0.0,2349,2159,2773,2637,277.9,2.3,411,6100,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2158,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.53
$STATE,6397,end loiter,LOITER_COMPLETE
$STATE,6397,begin climb
$GC,6399,0.64,146.0,2348,2159,2772,2638,270.3,0.0,426,6534,0.62,0.00,129.40,1.448,10502,0.164,0.000,2595,2158,2123,2145,2101,0,0,0,0,0,0,14.36,13.95,13.31,6.28,51.29
$GC,6839,0.64,146.0,2596,2158,2132,2082,230.1,11.1,448,6840,0.00,0.00,0.00,0.000,2054,0.000,0.000,2595,2158,2106,2130,2082,0,0,0,0,0,0,14.52,14.53,14.53,6.23,50.43
$GC,7139,0.64,146.0,2595,2159,2127,2079,196.9,11.1,463,7143,0.00,2.47,0.00,0.000,2308,0.000,0.082,2596,3550,2102,2126,2078,0,0,0,0,0,0,14.66,14.26,14.66,6.23,50.98
$GC,7184,0.64,146.0,2595,3550,2128,2078,193.0,11.1,465,7188,0.00,2.33,0.00,0.000,1030,0.000,0.042,2606,2154,2102,2126,2078,0,0,0,0,0,0,14.45,14.35,14.48,6.23,50.86
$GC,7494,0.64,146.0,2607,2154,2126,2077,155.9,11.6,481,7498,0.00,2.47,0.00,0.000,516,0.000,0.067,2618,742,2101,2125,2077,0,0,0,0,0,0,14.72,14.33,14.73,6.23,50.98
$GC,7554,0.64,146.0,2618,743,2123,2076,149.8,11.2,484,7558,0.00,2.40,0.00,0.000,5126,0.000,0.054,2619,2149,2099,2122,2076,0,0,0,0,0,0,14.51,14.36,14.54,6.22,51.18
$GC,7864,0.64,146.0,2618,2149,2123,2077,114.6,11.2,500,7868,0.00,2.45,0.00,0.000,4612,0.000,0.068,2629,744,2099,2122,2076,0,0,0,0,0,0,14.77,14.35,14.77,6.22,51.02
$GC,7984,0.64,146.0,2629,744,2122,2076,102.7,10.0,506,7988,0.08,2.40,0.00,0.000,5126,0.319,0.054,2602,2155,2095,2114,2076,0,0,0,0,0,0,14.16,14.39,14.44,6.22,51.49
$GC,8289,0.64,146.0,2603,2157,2121,2075,72.9,9.2,563,8293,0.00,2.47,0.00,0.000,260,0.000,0.084,2602,3555,2097,2120,2075,0,0,0,0,0,0,14.76,14.33,14.77,6.21,49.64
$GC,8349,0.64,146.0,2602,3556,2121,2077,67.1,9.4,575,8353,0.00,2.35,0.00,0.000,5126,0.000,0.044,2611,2149,2097,2120,2075,0,0,0,0,0,0,14.56,14.44,14.58,6.21,49.25
$GC,8474,0.64,146.0,2612,2149,2122,2076,56.1,9.3,600,8478,0.00,2.45,0.00,0.000,4612,0.000,0.067,2622,741,2097,2120,2075,0,0,0,0,0,0,14.77,14.35,14.76,6.20,49.84
$GC,8549,0.64,146.0,2623,741,2121,2074,49.1,9.1,615,8554,0.05,2.42,0.00,0.000,5126,0.374,0.054,2599,2158,2097,2120,2075,0,0,0,0,0,0,14.18,14.38,14.44,6.21,49.37
$GC,8674,0.64,146.0,2605,2160,2120,2075,38.1,9.0,640,8677,0.00,2.47,0.00,0.000,260,0.000,0.084,2604,3558,2097,2120,2074,0,0,0,0,0,0,14.73,14.33,14.74,6.21,49.60
$GC,8729,0.64,146.0,2605,3558,2120,2075,32.9,9.1,651,8733,0.00,2.35,0.00,0.000,5126,0.000,0.044,2614,2148,2097,2120,2074,0,0,0,0,0,0,14.55,14.44,14.58,6.20,49.96
$GC,8854,0.64,146.0,2614,2148,2120,2074,21.6,9.4,676,8858,0.00,2.45,0.00,0.000,4612,0.000,0.067,2625,740,2097,2120,2074,0,0,0,0,0,0,14.76,14.35,14.76,6.21,50.35
$GC,8914,0.64,146.0,2625,741,2120,2074,16.3,8.7,688,8918,0.08,2.40,0.00,0.000,5126,0.318,0.054,2598,2159,2096,2119,2074,0,0,0,0,0,0,14.16,14.38,14.43,6.21,50.03
$GC,9039,0.66,165.6,2598,2160,2120,2074,6.0,7.6,713,9055,0.00,2.47,11.82,0.271,10500,0.000,0.083,2598,3553,2041,2062,2021,0,0,0,0,0,0,14.73,14.19,14.01,6.21,50.31
$STATE,9077,end climb,SURFACE_DEPTH_REACHED
$STATE,9077,begin surface coast
$STATE,9102,end surface coast,CONTROL_FINISHED_OK
$STATE,9102,begin surface
$SM_CCo,9122,52.35,0.240,0,0,1823,220.03
$SM_GC,1.11,5.55,2.53,52.35,0.077,0.052,0.240,255,2096,1823,-6.45,0.88,220.03,0,0,0,0,0,0,14.50,14.40,14.12
$IRIDIUM_FIX,-5943.02,0.00,040219,162951
$TT8_MAMPS,0.038948,0.356524
$HUMID,50.03
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,3
$SC_FREEKB,3674592
$24V_AH,13.20,92.783
$10V_AH,13.29,0.000
$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,13.325,82.475,265.575,52.350,0.000,34.745,15.040,136.409,0.750,0.000,14.167,0.000,7259.156,404.000,1641.021,234.191,0.000,1056.128,0.000,1179.771,0.000,0.540,0.000
$DEVICE_MAMPS,429.165,2200.905,1584.315,240.210,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5524.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.387,0.000,0.000,0.000
$MEM,344076
$DATA_FILE_SIZE,20710,726
$CAP_FILE_SIZE,95211,0
$CFSIZE,1023623168,972177408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.076,154.33,1
$GPS,040219,214251,-5943.220,0.687,39,0.7,41,-19.7,0.0,140.4,11,8.8