version: 66.14
glider: 640
mission: 5
dive: 516
start: 2 8 119 14 51 14
data:
$ID,640
$MISSION,5
$DIVE,516
$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,61
$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
$GPS1,080219,144425,-5957.1216,2.7943,15,0.7,38,-19.7,0.3,208.5,11,6.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.9
$GPS2,080219,145055,-5957.1216,2.8183,9,0.8,13,-19.7,1.1,90.8,10,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,206.2,42449,-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,-146.0,232,2067,1788,1830,0.0,0.0,0,102,0.00,0.00,-86.93,0.000,16386,0.000,0.000,231,2066,3211,3292,3130,0,0,0,0,0,0,14.54,28.83,14.55,6.19,50.74
$GC,105,-0.64,-146.0,232,2067,3295,3131,3.5,-7.5,18,122,6.22,2.83,-3.60,0.000,18692,0.352,2.216,2172,3506,3311,3408,3215,0,0,0,0,0,0,13.86,13.19,14.23,6.30,49.88
$GC,143,-0.64,-146.0,2172,3506,3411,3221,11.4,-17.3,26,147,0.08,2.33,0.00,0.000,3078,0.356,0.042,2196,2118,3315,3409,3221,0,0,0,0,0,0,14.02,14.31,14.26,6.32,49.17
$GC,270,-0.64,-146.0,2197,2117,3411,3221,31.2,-16.7,51,274,0.00,2.50,0.00,0.000,516,0.000,0.063,2196,699,3315,3410,3221,0,0,0,0,0,0,14.59,14.24,14.59,6.32,49.29
$GC,344,-0.64,-146.0,2196,699,3409,3223,43.8,-16.0,66,348,0.00,2.42,0.00,0.000,3078,0.000,0.056,2181,2104,3315,3410,3221,0,0,0,0,0,0,14.34,14.19,14.38,6.31,50.00
$GC,471,-0.64,-146.0,2186,2105,3411,3223,64.8,-17.0,91,475,0.00,2.50,0.00,0.000,2308,0.000,0.082,2175,3510,3316,3410,3222,0,0,0,0,0,0,14.64,14.23,14.65,6.33,49.56
$GC,570,-0.64,-146.0,2175,3510,3411,3222,81.1,-14.8,111,575,0.05,2.38,0.00,0.000,3078,0.425,0.042,2191,2101,3316,3410,3222,0,0,0,0,0,0,14.05,14.35,14.31,6.31,49.92
$GC,697,-0.64,-146.0,2191,2101,3410,3223,99.3,-14.8,136,703,0.00,2.45,0.00,0.000,2564,0.000,0.063,2191,691,3316,3410,3222,0,0,0,0,0,0,14.68,14.29,14.68,6.32,48.30
$GC,745,-0.64,-146.0,2192,692,3411,3222,105.1,-14.5,139,749,0.00,2.42,0.00,0.000,3078,0.000,0.055,2181,2102,3315,3410,3221,0,0,0,0,0,0,14.47,14.33,14.50,6.31,48.26
$GC,1050,-0.64,-146.0,2181,2103,3405,3222,147.8,-13.8,154,1054,0.00,2.47,0.00,0.000,2308,0.000,0.083,2170,3504,3316,3411,3222,0,0,0,0,0,0,14.74,14.29,14.75,6.31,49.13
$GC,1115,-0.64,-146.0,2170,3505,3410,3223,155.5,-14.0,157,1120,0.08,2.35,0.00,0.000,3078,0.357,0.042,2195,2096,3316,3410,3222,0,0,0,0,0,0,14.07,14.40,14.34,6.31,49.72
$GC,1425,-0.64,-146.0,2196,2095,3411,3222,197.4,-12.9,173,1429,0.00,2.45,0.00,0.000,516,0.000,0.063,2195,691,3316,3411,3222,0,0,0,0,0,0,14.78,14.35,14.78,6.32,50.43
$GC,1515,-0.64,-146.0,2196,692,3407,3222,206.9,-12.7,177,1519,0.00,2.42,0.00,0.000,3078,0.000,0.055,2185,2103,3316,3411,3221,0,0,0,0,0,0,14.53,14.37,14.55,6.32,50.66
$GC,1835,-0.64,-146.0,2186,2105,3411,3223,250.1,-13.1,194,1839,0.00,2.47,0.00,0.000,2308,0.000,0.082,2174,3505,3316,3410,3222,0,0,0,0,0,0,14.80,14.32,14.80,6.33,50.63
$GC,1890,-0.64,-146.0,2175,3506,3411,3223,257.4,-13.3,197,1894,0.05,2.35,0.00,0.000,3078,0.416,0.042,2190,2090,3316,3410,3222,0,0,0,0,0,0,14.12,14.42,14.38,6.33,50.98
$GC,2207,-0.64,-146.0,2191,2090,3411,3222,297.5,-12.8,213,2213,0.00,2.40,0.00,0.000,2564,0.000,0.062,2190,700,3316,3410,3222,0,0,0,0,0,0,14.79,14.36,14.79,6.33,50.74
$GC,2275,-0.64,-146.0,2190,701,3411,3223,305.3,-13.0,216,2279,0.00,2.40,0.00,0.000,3078,0.000,0.054,2180,2106,3316,3410,3222,0,0,0,0,0,0,14.54,14.39,14.57,6.33,50.63
$GC,2580,-0.64,-146.0,2181,2107,3411,3223,346.1,-12.9,231,2584,0.00,2.45,0.00,0.000,2308,0.000,0.083,2170,3504,3316,3410,3222,0,0,0,0,0,0,14.81,14.32,14.82,6.33,51.22
$STATE,2613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2613,begin apogee
$GC,2621,-0.15,0.0,2170,2145,3411,3222,350.8,-13.0,233,2747,0.52,0.00,123.45,1.590,10246,0.252,0.000,2352,2144,2716,2780,2652,0,0,0,0,0,0,14.00,13.90,13.16,6.33,50.90
$STATE,2748,end apogee,CONTROL_FINISHED_OK
$STATE,2748,begin loiter
$GC,3035,-0.15,0.0,2353,2144,2775,2643,349.0,3.0,254,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2143,2709,2774,2644,0,0,0,0,0,0,14.55,14.56,14.56,6.28,50.51
$GC,3335,-0.15,0.0,2352,2144,2775,2642,340.5,2.8,269,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2143,2708,2774,2642,0,0,0,0,0,0,14.71,14.71,14.71,6.29,50.74
$GC,3635,-0.15,0.0,2352,2145,2774,2642,332.1,2.8,284,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2144,2707,2774,2641,0,0,0,0,0,0,14.80,14.81,14.81,6.28,51.02
$GC,3936,-0.15,0.0,2352,2145,2774,2642,323.2,3.1,299,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2144,2707,2773,2641,0,0,0,0,0,0,14.85,14.85,14.86,6.28,51.18
$GC,4235,-0.15,0.0,2352,2145,2774,2642,314.0,3.2,314,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2144,2707,2773,2641,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.77
$GC,4535,-0.15,0.0,2353,2144,2775,2641,304.5,3.2,329,4536,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2144,2707,2773,2641,0,0,0,0,0,0,14.92,14.93,14.93,6.27,51.14
$GC,4835,-0.15,0.0,2352,2145,2774,2642,294.7,3.3,344,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2144,2707,2774,2641,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.22
$GC,5135,-0.15,0.0,2353,2144,2775,2641,284.5,3.3,359,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2144,2707,2773,2641,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.49
$GC,5436,-0.15,0.0,2352,2145,2774,2642,274.6,3.2,374,5436,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2144,2707,2774,2641,0,0,0,0,0,0,14.98,14.99,14.98,6.28,51.41
$GC,5735,-0.15,0.0,2352,2145,2774,2643,265.0,3.0,389,5736,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2144,2707,2773,2641,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.92
$GC,6035,-0.15,0.0,2353,2144,2775,2642,255.7,3.1,404,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2144,2708,2774,2642,0,0,0,0,0,0,15.01,15.01,15.01,6.28,52.20
$STATE,6333,end loiter,LOITER_COMPLETE
$STATE,6333,begin climb
$GC,6335,0.64,146.0,2352,2145,2774,2643,247.4,0.0,419,6477,0.62,2.65,129.90,1.427,11012,0.171,0.084,2596,3556,2119,2140,2098,0,0,0,0,0,0,14.33,13.95,13.31,6.28,52.00
$GC,6572,0.64,146.0,2596,3557,2138,2091,231.2,10.3,430,6576,0.00,2.40,0.00,0.000,1030,0.000,0.041,2607,2148,2113,2137,2089,0,0,0,0,0,0,14.21,14.12,14.22,6.23,49.29
$GC,6877,0.64,146.0,2608,2149,2132,2083,195.9,11.2,446,6880,0.00,2.47,0.00,0.000,4612,0.000,0.066,2618,741,2107,2131,2083,0,0,0,0,0,0,14.59,14.21,14.59,6.24,50.78
$GC,6912,0.64,146.0,2620,741,2128,2083,193.7,11.1,447,6915,0.00,2.42,0.00,0.000,5126,0.000,0.054,2619,2151,2105,2127,2083,0,0,0,0,0,0,14.40,14.25,14.42,6.23,50.78
$GC,7232,0.64,146.0,2620,2152,2128,2081,156.0,11.1,464,7235,0.00,2.50,0.00,0.000,4356,0.000,0.085,2618,3559,2103,2126,2081,0,0,0,0,0,0,14.69,14.26,14.69,6.23,50.98
$GC,7307,0.64,146.0,2619,3554,2126,2082,147.6,11.2,468,7311,0.08,2.35,0.00,0.000,5126,0.341,0.042,2603,2147,2103,2126,2081,0,0,0,0,0,0,14.09,14.38,14.37,6.23,51.45
$GC,7623,0.64,146.0,2604,2147,2127,2078,112.8,10.8,484,7630,0.00,2.45,0.00,0.000,516,0.000,0.064,2614,741,2101,2125,2078,0,0,0,0,0,0,14.73,14.28,14.73,6.22,50.90
$GC,7697,0.64,146.0,2613,741,2123,2078,107.3,9.5,487,7700,0.00,2.42,0.00,0.000,5126,0.000,0.054,2614,2159,2100,2123,2077,0,0,0,0,0,0,14.52,14.37,14.55,6.22,50.86
$GC,8002,0.64,146.4,2612,2161,2123,2077,77.9,8.3,537,8005,0.00,2.47,0.00,0.000,4356,0.000,0.084,2614,3558,2099,2122,2077,0,0,0,0,0,0,14.76,14.31,14.76,6.22,50.63
$GC,8087,0.64,146.4,2613,3559,2123,2077,70.5,8.9,554,8091,0.08,2.35,0.00,0.000,5126,0.345,0.042,2598,2142,2099,2122,2077,0,0,0,0,0,0,14.12,14.43,14.41,6.21,50.11
$GC,8212,0.64,147.4,2599,2143,2124,2077,60.3,8.3,579,8216,0.00,2.42,0.00,0.000,2564,0.000,0.064,2607,745,2099,2122,2076,0,0,0,0,0,0,14.81,14.35,14.76,6.20,49.68
$GC,8237,0.64,151.0,2608,745,2122,2076,58.3,8.2,584,8240,0.00,2.40,0.00,0.000,1030,0.000,0.054,2607,2155,2098,2121,2076,0,0,0,0,0,0,14.51,14.38,14.58,6.21,49.44
$GC,8364,0.65,160.5,2608,2155,2122,2077,48.6,8.0,609,8380,0.00,2.50,10.23,1.308,8452,0.000,0.085,2608,3551,2060,2080,2040,0,0,0,0,0,0,14.75,14.38,13.66,6.20,49.64
$GC,8432,0.65,160.5,2608,3552,2081,2040,42.0,10.1,623,8436,0.00,2.35,0.00,0.000,5126,0.000,0.043,2617,2145,2059,2080,2039,0,0,0,0,0,0,14.53,14.42,14.54,6.20,49.84
$GC,8559,0.65,160.5,2618,2145,2080,2038,29.5,10.2,648,8564,0.00,2.42,0.00,0.000,4612,0.000,0.065,2629,745,2058,2079,2037,0,0,0,0,0,0,14.71,14.33,14.71,6.20,50.59
$GC,8587,0.65,160.5,2629,746,2080,2038,26.5,9.8,654,8591,0.05,2.40,0.00,0.000,5126,0.376,0.054,2611,2152,2058,2079,2037,0,0,0,0,0,0,14.16,14.37,14.38,6.21,50.31
$GC,8712,0.65,160.5,2611,2152,2080,2037,14.6,9.4,679,8716,0.00,2.47,0.00,0.000,260,0.000,0.083,2610,3551,2057,2079,2036,0,0,0,0,0,0,14.71,14.31,14.71,6.21,50.78
$GC,8727,0.65,160.5,2611,3552,2080,2038,13.1,10.0,682,8730,0.00,2.35,0.00,0.000,5126,0.000,0.044,2620,2144,2057,2079,2036,0,0,0,0,0,0,14.53,14.40,14.55,6.21,50.74
$STATE,8829,end climb,SURFACE_DEPTH_REACHED
$STATE,8829,begin surface coast
$STATE,8859,end surface coast,CONTROL_FINISHED_OK
$STATE,8859,begin surface
$SM_CCo,8876,56.38,0.240,0,0,1822,220.03
$SM_GC,0.93,5.62,0.05,56.38,0.077,0.212,0.240,244,2082,1822,-6.45,1.02,220.03,0,0,0,0,0,0,14.52,14.48,14.12
$IRIDIUM_FIX,-6002.24,12.92,080219,121213
$TT8_MAMPS,0.039697,0.270389
$HUMID,50.55
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3656640
$24V_AH,13.16,99.136
$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,13.450,87.800,263.575,56.375,0.000,24.874,45.706,139.946,0.000,0.000,14.133,0.000,6972.819,410.461,1682.889,255.445,0.000,1076.796,0.000,1199.944,0.000,0.539,0.000
$DEVICE_MAMPS,424.575,2216.205,1590.435,240.210,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5284.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.390,0.000,0.000,0.000
$MEM,344076
$DATA_FILE_SIZE,17289,709
$CAP_FILE_SIZE,96740,0
$CFSIZE,1023623168,968736768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.032,161.35,1
$GPS,080219,172104,-5957.640,2.914,16,0.8,30,-19.7,0.4,69.5,10,9.5