version: 66.14
glider: 640
mission: 5
dive: 486
start: 2 5 119 8 21 29
data:
$ID,640
$MISSION,5
$DIVE,486
$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,48
$R_STBD_OVSHOOT,26
$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
$GPS1,050219,081506,-5941.8887,0.1654,36,0.7,41,-19.7,0.4,124.1,10,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-66.2
$GPS2,050219,082110,-5941.9053,0.2292,8,0.8,15,-19.7,0.0,359.4,11,9.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,18.5,3535,-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,-146.0,215,2085,1792,1829,0.0,0.0,0,97,0.00,0.00,-82.18,0.000,16386,0.000,0.000,215,2084,3162,3244,3081,0,0,0,0,0,0,14.56,28.83,14.57,6.18,51.61
$GC,100,-0.64,-146.0,216,2084,3245,3090,3.5,-6.7,17,117,6.20,2.70,-5.53,0.000,18948,0.344,2.209,2173,709,3317,3412,3223,0,0,0,0,0,0,13.89,12.97,14.25,6.30,50.27
$GC,163,-0.64,-146.0,2174,710,3415,3224,14.8,-16.3,30,167,0.10,2.40,0.00,0.000,3078,0.335,0.057,2196,2102,3318,3413,3224,0,0,0,0,0,0,13.97,14.26,14.25,6.31,49.09
$GC,290,-0.64,-146.0,2196,2102,3416,3224,34.7,-15.3,55,293,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2102,3319,3414,3224,0,0,0,0,0,0,14.62,14.62,14.61,6.31,49.29
$GC,413,-0.64,-146.0,2196,2102,3415,3224,53.9,-14.2,80,416,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2102,3319,3415,3224,0,0,0,0,0,0,14.66,14.66,14.66,6.32,49.88
$GC,538,-0.64,-146.0,2196,2102,3415,3224,70.0,-12.9,105,542,0.00,2.47,0.00,0.000,260,0.000,0.081,2185,3504,3319,3414,3224,0,0,0,0,0,0,14.68,14.23,14.69,6.32,50.19
$GC,558,-0.64,-146.0,2186,3506,3415,3225,72.7,-13.3,109,561,0.00,2.33,0.00,0.000,3078,0.000,0.042,2185,2116,3319,3414,3224,0,0,0,0,0,0,14.48,14.36,14.50,6.32,49.60
$GC,685,-0.64,-146.0,2185,2115,3415,3218,89.7,-13.7,134,689,0.00,2.47,0.00,0.000,2564,0.000,0.063,2185,692,3319,3414,3224,0,0,0,0,0,0,14.69,14.31,14.69,6.31,48.97
$GC,764,-0.64,-146.0,2185,692,3415,3226,101.2,-13.2,150,768,0.05,2.42,0.00,0.000,3078,0.431,0.055,2190,2107,3319,3414,3225,0,0,0,0,0,0,14.00,14.26,14.26,6.30,48.74
$GC,1084,-0.64,-146.0,2190,2109,3415,3225,143.2,-13.0,166,1087,0.00,2.47,0.00,0.000,2564,0.000,0.063,2189,684,3319,3414,3225,0,0,0,0,0,0,14.75,14.26,14.75,6.31,49.72
$GC,1109,-0.64,-146.0,2190,685,3415,3226,145.2,-13.0,167,1112,0.00,2.42,0.00,0.000,3078,0.000,0.055,2179,2104,3318,3413,3223,0,0,0,0,0,0,14.43,14.29,14.45,6.30,49.37
$GC,1419,-0.64,-146.0,2180,2105,3415,3225,188.4,-13.3,183,1420,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2104,3319,3414,3225,0,0,0,0,0,0,14.77,14.77,14.78,6.31,50.90
$GC,1719,-0.64,-146.0,2179,2105,3408,3226,225.4,-12.1,198,1722,0.00,2.45,0.00,0.000,2308,0.000,0.081,2168,3502,3319,3414,3225,0,0,0,0,0,0,14.79,14.25,14.79,6.32,51.14
$GC,1744,-0.64,-146.0,2169,3504,3408,3224,227.8,-12.1,199,1748,0.08,2.33,0.00,0.000,3078,0.363,0.042,2193,2096,3319,3414,3224,0,0,0,0,0,0,14.02,14.35,14.30,6.32,51.29
$GC,2054,-0.64,-146.0,2193,2095,3415,3225,264.7,-12.0,215,2057,0.00,2.42,0.00,0.000,2564,0.000,0.063,2193,696,3319,3414,3225,0,0,0,0,0,0,14.80,14.28,14.80,6.33,51.02
$GC,2129,-0.64,-146.0,2192,698,3415,3226,273.9,-12.2,219,2132,0.00,2.40,0.00,0.000,3078,0.000,0.054,2183,2104,3319,3414,3225,0,0,0,0,0,0,14.45,14.31,14.47,6.33,50.98
$GC,2444,-0.64,-146.0,2183,2105,3415,3224,313.3,-12.7,235,2447,0.00,2.47,0.00,0.000,2308,0.000,0.082,2172,3509,3319,3414,3225,0,0,0,0,0,0,14.81,14.24,14.81,6.33,51.06
$GC,2469,-0.64,-146.0,2173,3506,3414,3225,315.2,-12.6,236,2473,0.08,2.35,0.00,0.000,3078,0.350,0.043,2198,2092,3319,3414,3225,0,0,0,0,0,0,14.03,14.35,14.31,6.33,51.06
$STATE,2756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2756,begin apogee
$GC,2762,-0.15,0.0,2199,2163,3415,3226,350.6,-11.5,251,2889,0.43,0.00,124.55,1.589,10246,0.252,0.000,2346,2163,2717,2777,2657,0,0,0,0,0,0,14.09,13.90,13.19,6.34,51.10
$STATE,2890,end apogee,CONTROL_FINISHED_OK
$STATE,2890,begin loiter
$GC,3179,-0.15,0.0,2347,2164,2772,2643,347.1,3.1,272,3179,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2163,2707,2772,2643,0,0,0,0,0,0,14.54,14.55,14.54,6.28,50.47
$GC,3479,-0.15,0.0,2347,2164,2772,2641,337.8,3.2,287,3479,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2162,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.98
$GC,3779,-0.15,0.0,2347,2163,2772,2639,329.1,2.8,302,3780,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2163,2705,2772,2639,0,0,0,0,0,0,14.80,14.79,14.80,6.28,51.10
$GC,4079,-0.15,0.0,2347,2164,2773,2639,321.4,2.4,317,4080,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2163,2705,2771,2639,0,0,0,0,0,0,14.85,14.85,14.85,6.28,50.98
$GC,4379,-0.15,0.0,2347,2164,2772,2639,314.2,2.4,332,4379,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2163,2704,2771,2638,0,0,0,0,0,0,14.89,14.89,14.89,6.28,51.14
$GC,4679,-0.15,0.0,2347,2164,2772,2639,306.8,2.6,347,4679,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2163,2704,2771,2638,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.41
$GC,4979,-0.15,0.0,2347,2164,2773,2638,298.8,2.8,362,4979,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2163,2704,2771,2638,0,0,0,0,0,0,14.95,14.95,14.94,6.28,51.26
$GC,5279,-0.15,0.0,2347,2164,2773,2639,290.0,2.9,377,5280,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2163,2704,2771,2637,0,0,0,0,0,0,14.96,14.96,14.96,6.28,51.81
$GC,5579,-0.15,0.0,2346,2164,2772,2638,281.4,2.8,392,5579,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2164,2704,2771,2637,0,0,0,0,0,0,14.97,14.98,14.97,6.28,51.29
$GC,5879,-0.15,0.0,2347,2163,2773,2637,273.3,2.7,407,5880,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2163,2704,2771,2637,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.29
$GC,6179,-0.15,0.0,2347,2163,2773,2637,265.4,2.6,422,6179,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2163,2704,2772,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.61
$STATE,6476,end loiter,LOITER_COMPLETE
$STATE,6476,begin climb
$GC,6479,0.64,146.0,2347,2163,2773,2637,258.2,0.0,437,6614,0.65,2.50,129.90,1.431,10500,0.171,0.077,2600,3544,2118,2140,2097,0,0,0,0,0,0,14.33,13.83,13.31,6.28,51.45
$GC,6686,0.64,146.0,2600,3544,2140,2088,244.9,9.1,446,6690,0.00,2.38,0.00,0.000,5126,0.000,0.041,2611,2148,2113,2138,2088,0,0,0,0,0,0,14.20,14.10,14.21,6.23,49.33
$GC,6991,0.64,146.0,2612,2148,2132,2081,208.8,11.9,461,6995,0.00,2.47,0.00,0.000,4612,0.000,0.066,2622,743,2106,2131,2081,0,0,0,0,0,0,14.58,14.20,14.58,6.23,50.82
$GC,7061,0.64,146.0,2623,743,2128,2081,202.5,11.6,464,7065,0.05,2.40,0.00,0.000,5126,0.383,0.054,2604,2138,2103,2126,2081,0,0,0,0,0,0,14.04,14.29,14.31,6.23,50.66
$GC,7383,0.64,146.0,2604,2139,2126,2079,165.0,11.4,481,7387,0.00,2.53,0.00,0.000,260,0.000,0.083,2604,3556,2102,2126,2078,0,0,0,0,0,0,14.68,14.26,14.69,6.23,51.26
$GC,7477,0.64,146.0,2604,3556,2126,2079,156.1,11.1,485,7481,0.00,2.35,0.00,0.000,5126,0.000,0.043,2614,2148,2101,2125,2078,0,0,0,0,0,0,14.44,14.31,14.47,6.23,50.86
$GC,7797,0.64,146.0,2614,2148,2126,2078,116.0,12.2,502,7800,0.00,2.45,0.00,0.000,4612,0.000,0.066,2624,745,2101,2125,2077,0,0,0,0,0,0,14.73,14.31,14.75,6.23,50.98
$GC,7842,0.64,146.0,2625,746,2124,2077,111.9,11.9,504,7846,0.08,2.40,0.00,0.000,5126,0.311,0.054,2597,2163,2099,2122,2077,0,0,0,0,0,0,14.16,14.38,14.42,6.17,51.57
$GC,8147,0.64,146.0,2598,2161,2123,2076,80.6,8.7,549,8150,0.00,2.47,0.00,0.000,2308,0.000,0.082,2598,3557,2099,2122,2076,0,0,0,0,0,0,14.75,14.24,14.76,6.21,49.96
$GC,8197,0.64,146.0,2598,3558,2123,2076,76.0,9.0,559,8201,0.00,2.35,0.00,0.000,5126,0.000,0.043,2607,2145,2099,2122,2077,0,0,0,0,0,0,14.48,14.36,14.50,6.22,49.76
$GC,8324,0.66,161.1,2608,2145,2123,2076,65.5,7.8,584,8340,0.00,2.47,10.48,1.316,8708,0.000,0.066,2618,743,2058,2079,2037,0,0,0,0,0,0,14.74,14.45,13.71,6.21,49.52
$GC,8387,0.68,182.3,2617,743,2080,2036,60.6,7.5,597,8415,0.00,2.40,21.90,1.258,9222,0.000,0.054,2618,2151,1971,1987,1955,0,0,0,0,0,0,14.47,14.35,13.66,6.20,49.96
$GC,8537,0.68,182.3,2618,2152,1987,1951,45.6,10.1,627,8541,0.00,2.50,0.00,0.000,260,0.000,0.085,2618,3554,1968,1987,1949,0,0,0,0,0,0,14.61,14.23,14.61,6.19,49.17
$GC,8577,0.68,182.3,2619,3555,1988,1950,41.3,10.7,635,8581,0.00,2.35,0.00,0.000,5126,0.000,0.042,2629,2149,1968,1986,1950,0,0,0,0,0,0,14.40,14.29,14.42,6.19,49.21
$GC,8704,0.68,182.3,2629,2150,1986,1949,26.9,11.6,660,8707,0.00,2.47,0.00,0.000,4612,0.000,0.067,2640,745,1963,1986,1941,0,0,0,0,0,0,14.64,14.28,14.64,6.19,49.88
$GC,8732,0.68,182.3,2640,746,1986,1948,23.6,11.2,666,8736,0.08,2.40,0.00,0.000,5126,0.319,0.054,2613,2151,1966,1985,1948,0,0,0,0,0,0,14.11,14.33,14.38,6.19,49.84
$GC,8857,0.68,182.3,2613,2152,1986,1946,10.9,9.6,691,8861,0.00,2.50,0.00,0.000,2308,0.000,0.086,2613,3554,1966,1985,1947,0,0,0,0,0,0,14.68,14.22,14.68,6.19,50.35
$GC,8892,0.68,182.3,2613,3555,1986,1948,6.8,11.2,698,8896,0.00,2.35,0.00,0.000,5126,0.000,0.043,2622,2148,1966,1985,1947,0,0,0,0,0,0,14.50,14.39,14.52,6.20,51.37
$STATE,8930,end climb,SURFACE_DEPTH_REACHED
$STATE,8930,begin surface coast
$STATE,8955,end surface coast,CONTROL_FINISHED_OK
$STATE,8955,begin surface
$SM_CCo,8970,33.83,0.243,0,0,1821,220.03
$SM_GC,1.48,5.43,0.05,33.83,0.040,0.230,0.243,258,2099,1821,-6.44,1.13,220.03,0,0,0,0,0,0,14.53,14.41,14.11
$IRIDIUM_FIX,-5941.93,0.00,050219,053716
$TT8_MAMPS,0.03745,0.32207
$HUMID,50.78
$INTERNAL_PRESSURE,6.14803
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3672032
$24V_AH,12.97,93.681
$10V_AH,13.51,0.000
$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,13.200,78.025,286.825,33.825,0.000,25.481,24.400,134.806,0.000,0.000,16.730,0.000,7123.009,409.150,1598.496,236.817,0.000,1036.939,0.000,1142.072,0.000,0.539,0.000
$DEVICE_MAMPS,430.695,2208.555,1588.905,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5378.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.538,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17330,711
$CAP_FILE_SIZE,93123,0
$CFSIZE,1023623168,971685888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.043,130.36,1
$GPS,050219,105231,-5941.452,0.460,14,0.9,31,-19.7,0.5,97.3,10,9.2