version: 66.14
glider: 640
mission: 5
dive: 540
start: 2 11 119 5 49 23
data:
$ID,640
$MISSION,5
$DIVE,540
$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,56
$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
$GPS1,110219,054225,-6010.8345,1.7708,16,1.1,39,-19.7,0.5,343.3,11,7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-69.8
$GPS2,110219,054904,-6010.8101,1.7666,8,0.8,14,-19.7,0.5,297.7,11,10.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,205.0,17096,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-0.64,-146.0,234,2072,1791,1832,0.0,0.0,0,103,0.00,0.00,-87.47,0.000,16386,0.000,0.000,233,2071,3217,3298,3137,0,0,0,0,0,0,14.57,28.83,14.57,6.17,51.29
$GC,106,-0.64,-146.0,232,2071,3302,3138,3.6,-8.3,18,120,6.20,2.65,-3.35,0.000,18948,0.360,2.205,2171,713,3315,3408,3223,0,0,0,0,0,0,13.90,13.18,14.29,6.30,50.43
$GC,180,-0.64,-146.0,2171,713,3411,3224,18.1,-16.8,33,184,0.10,2.40,0.00,0.000,3078,0.339,0.057,2193,2101,3317,3411,3223,0,0,0,0,0,0,13.99,14.27,14.27,6.32,49.37
$GC,307,-0.64,-146.0,2190,2103,3412,3222,38.2,-16.4,58,311,0.00,2.47,0.00,0.000,2308,0.000,0.083,2183,3504,3317,3411,3224,0,0,0,0,0,0,14.62,14.22,14.62,6.31,49.56
$GC,341,-0.64,-146.0,2183,3505,3407,3225,44.1,-16.1,65,345,0.00,2.33,0.00,0.000,3078,0.000,0.044,2182,2125,3316,3410,3223,0,0,0,0,0,0,14.45,14.32,14.46,6.32,49.60
$GC,468,-0.64,-146.0,2183,2124,3412,3223,63.3,-16.0,90,472,0.00,2.50,0.00,0.000,2564,0.000,0.066,2182,697,3317,3411,3223,0,0,0,0,0,0,14.65,14.27,14.65,6.31,49.68
$GC,502,-0.64,-146.0,2182,694,3412,3225,69.2,-16.2,97,506,0.08,2.42,0.00,0.000,3078,0.360,0.054,2195,2106,3317,3410,3224,0,0,0,0,0,0,14.01,14.31,14.29,6.32,49.44
$GC,629,-0.64,-146.0,2196,2107,3413,3223,88.3,-15.3,122,633,0.00,2.50,0.00,0.000,260,0.000,0.083,2185,3513,3317,3411,3224,0,0,0,0,0,0,14.66,14.16,14.66,6.31,49.05
$GC,648,-0.64,-146.0,2185,3514,3412,3225,91.5,-15.2,126,652,0.00,2.38,0.00,0.000,3078,0.000,0.046,2184,2098,3317,3411,3224,0,0,0,0,0,0,14.47,14.35,14.49,6.31,48.22
$GC,788,-0.64,-146.0,2185,2097,3413,3224,112.6,-15.3,142,792,0.00,2.45,0.00,0.000,2564,0.000,0.066,2184,690,3317,3411,3224,0,0,0,0,0,0,14.70,14.30,14.71,6.31,48.18
$GC,868,-0.64,-146.0,2184,690,3413,3223,123.4,-13.5,146,872,0.08,2.42,0.00,0.000,3078,0.360,0.054,2198,2108,3317,3411,3224,0,0,0,0,0,0,13.99,14.31,14.26,6.30,47.83
$GC,1188,-0.64,-146.0,2198,2109,3412,3225,162.1,-12.2,162,1192,0.00,2.47,0.00,0.000,260,0.000,0.083,2189,3509,3317,3411,3224,0,0,0,0,0,0,14.74,14.26,14.74,6.31,49.80
$GC,1288,-0.64,-146.0,2189,3509,3413,3223,173.4,-11.9,167,1292,0.00,2.35,0.00,0.000,3078,0.000,0.044,2188,2095,3317,3411,3224,0,0,0,0,0,0,14.52,14.39,14.54,6.31,50.23
$GC,1598,-0.64,-146.0,2189,2094,3413,3224,212.7,-12.6,183,1602,0.00,2.42,0.00,0.000,2564,0.000,0.065,2188,696,3317,3411,3224,0,0,0,0,0,0,14.77,14.34,14.77,6.32,50.51
$GC,1698,-0.64,-146.0,2188,696,3412,3222,225.0,-12.1,188,1702,0.00,2.40,0.00,0.000,3078,0.000,0.054,2178,2102,3317,3412,3222,0,0,0,0,0,0,14.52,14.36,14.54,6.33,50.74
$GC,2018,-0.64,-146.0,2179,2101,3412,3223,265.3,-12.7,204,2022,0.03,2.47,0.00,0.000,2308,0.603,0.081,2179,3501,3318,3412,3224,0,0,0,0,0,0,14.29,14.22,14.42,6.33,50.98
$GC,2048,-0.64,-146.0,2179,3505,3412,3227,267.1,-12.6,205,2051,0.00,2.33,0.00,0.000,3078,0.000,0.044,2179,2101,3317,3411,3223,0,0,0,0,0,0,14.54,14.41,14.57,6.32,50.78
$GC,2353,-0.64,-146.0,2179,2101,3412,3225,308.2,-13.1,221,2357,0.00,2.45,0.00,0.000,2564,0.000,0.064,2178,690,3317,3411,3223,0,0,0,0,0,0,14.79,14.30,14.80,6.33,50.98
$GC,2448,-0.64,-146.0,2179,690,3413,3223,320.4,-12.7,226,2452,0.08,2.40,0.00,0.000,3078,0.356,0.054,2192,2099,3316,3410,3223,0,0,0,0,0,0,14.04,14.38,14.31,6.33,51.49
$STATE,2705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2706,begin apogee
$GC,2712,-0.15,0.0,2192,2164,3412,3225,351.7,-12.2,239,2840,0.45,0.00,124.78,1.597,10246,0.251,0.000,2349,2163,2716,2776,2657,0,0,0,0,0,0,14.04,13.88,13.14,6.33,51.06
$STATE,2841,end apogee,CONTROL_FINISHED_OK
$STATE,2841,begin loiter
$GC,3128,-0.15,0.0,2349,2164,2772,2644,350.5,2.4,260,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2164,2707,2771,2644,0,0,0,0,0,0,14.54,14.53,14.54,6.28,50.27
$GC,3428,-0.15,0.0,2350,2164,2773,2641,343.8,2.2,275,3429,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2164,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.70
$GC,3728,-0.15,0.0,2350,2163,2773,2640,337.5,2.2,290,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2164,2705,2771,2640,0,0,0,0,0,0,14.79,14.80,14.80,6.28,51.49
$GC,4028,-0.15,0.0,2350,2164,2772,2641,331.2,2.1,305,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2163,2705,2771,2639,0,0,0,0,0,0,14.85,14.85,14.85,6.29,51.49
$GC,4328,-0.15,0.0,2350,2165,2772,2640,324.6,2.2,320,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2164,2705,2771,2639,0,0,0,0,0,0,14.88,14.89,14.89,6.28,51.26
$GC,4628,-0.15,0.0,2350,2164,2773,2639,318.0,2.2,335,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2163,2705,2771,2639,0,0,0,0,0,0,14.92,14.92,14.92,6.29,50.98
$GC,4928,-0.15,0.0,2350,2165,2772,2640,311.2,2.2,350,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2164,2705,2771,2639,0,0,0,0,0,0,14.94,14.94,14.94,6.28,51.37
$GC,5228,-0.15,0.0,2350,2164,2772,2640,304.4,2.3,365,5229,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2164,2704,2771,2638,0,0,0,0,0,0,14.95,14.96,14.96,6.28,51.41
$GC,5528,-0.15,0.0,2350,2164,2772,2637,296.9,2.6,380,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2164,2704,2771,2638,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.33
$GC,5828,-0.15,0.0,2350,2164,2772,2638,288.8,2.7,395,5829,0.00,0.00,0.00,0.000,2054,0.000,0.000,2350,2164,2704,2771,2638,0,0,0,0,0,0,14.98,14.98,14.98,6.28,51.69
$GC,6128,-0.15,0.0,2349,2164,2772,2639,280.8,2.7,410,6129,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2704,2771,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.57
$STATE,6426,end loiter,LOITER_COMPLETE
$STATE,6426,begin climb
$GC,6428,0.64,146.0,2350,2164,2772,2639,273.8,0.0,425,6570,0.62,2.62,129.93,1.463,11012,0.168,0.067,2607,746,2116,2136,2097,0,0,0,0,0,0,14.31,13.95,13.27,6.28,51.41
$GC,6645,0.64,146.0,2607,747,2131,2091,261.3,8.5,435,6649,0.00,2.42,0.00,0.000,5126,0.000,0.054,2607,2136,2110,2131,2089,0,0,0,0,0,0,14.18,14.06,14.19,6.23,49.68
$GC,6950,0.64,146.0,2607,2137,2126,2084,227.7,10.6,451,6954,0.00,2.55,0.00,0.000,260,0.000,0.084,2606,3562,2104,2125,2083,0,0,0,0,0,0,14.57,14.17,14.57,6.24,51.26
$GC,7030,0.64,146.0,2608,3555,2126,2083,219.2,10.6,455,7034,0.00,2.35,0.00,0.000,5126,0.000,0.044,2617,2156,2104,2125,2083,0,0,0,0,0,0,14.41,14.29,14.43,6.24,50.59
$GC,7350,0.64,146.0,2618,2156,2123,2080,182.7,11.6,471,7354,0.00,2.50,0.00,0.000,4612,0.000,0.068,2629,738,2100,2122,2079,0,0,0,0,0,0,14.69,14.28,14.70,6.23,51.29
$GC,7385,0.64,146.0,2624,738,2121,2079,178.7,11.6,473,7389,0.08,2.42,0.00,0.000,5126,0.318,0.055,2602,2154,2099,2120,2079,0,0,0,0,0,0,14.10,14.33,14.38,6.23,50.82
$GC,7700,0.64,146.0,2602,2155,2121,2078,145.6,10.1,489,7704,0.00,2.47,0.00,0.000,260,0.000,0.084,2602,3553,2099,2120,2078,0,0,0,0,0,0,14.75,14.30,14.76,6.23,51.10
$GC,7795,0.64,146.0,2602,3554,2121,2078,137.5,10.1,493,7798,0.00,2.35,0.00,0.000,5126,0.000,0.044,2610,2142,2099,2120,2078,0,0,0,0,0,0,14.53,14.40,14.57,6.22,50.74
$GC,8115,0.64,146.0,2611,2143,2120,2078,104.0,9.5,510,8119,0.00,2.45,0.00,0.000,4612,0.000,0.067,2622,741,2098,2119,2077,0,0,0,0,0,0,14.78,14.35,14.78,6.22,50.70
$GC,8165,0.64,146.0,2623,741,2120,2077,101.0,9.0,512,8169,0.05,2.40,0.00,0.000,5126,0.381,0.053,2604,2152,2097,2118,2077,0,0,0,0,0,0,14.16,14.39,14.42,6.22,50.74
$GC,8472,0.64,146.0,2604,2153,2118,2077,69.8,11.4,573,8477,0.00,2.47,0.00,0.000,260,0.000,0.083,2604,3552,2097,2118,2076,0,0,0,0,0,0,14.76,14.31,14.76,6.21,49.40
$GC,8540,0.64,146.0,2604,3557,2118,2075,61.7,11.2,587,8544,0.00,2.35,0.00,0.000,5126,0.000,0.044,2613,2142,2097,2118,2077,0,0,0,0,0,0,14.54,14.42,14.57,6.27,49.17
$GC,8667,0.64,146.0,2614,2142,2118,2078,49.0,9.7,612,8671,0.00,2.45,0.00,0.000,4612,0.000,0.067,2624,742,2097,2118,2076,0,0,0,0,0,0,14.75,14.25,14.75,6.21,49.60
$GC,8706,0.64,146.0,2624,743,2118,2077,45.1,9.5,620,8711,0.05,2.40,0.00,0.000,5126,0.377,0.054,2605,2152,2096,2117,2076,0,0,0,0,0,0,14.10,14.31,14.37,6.20,49.37
$GC,8833,0.65,155.4,2606,2152,2117,2077,34.4,8.0,645,8844,0.00,2.50,4.32,1.189,8452,0.000,0.083,2606,3551,2082,2103,2062,0,0,0,0,0,0,14.76,14.44,13.50,6.20,50.15
$GC,8916,0.65,155.4,2606,3552,2104,2063,26.6,9.5,662,8920,0.00,2.33,0.00,0.000,5126,0.000,0.044,2615,2153,2084,2103,2065,0,0,0,0,0,0,14.49,14.42,14.50,6.20,50.11
$GC,9043,0.65,155.4,2615,2153,2104,2065,15.5,8.9,687,9049,0.00,2.45,0.00,0.000,4612,0.000,0.066,2626,739,2083,2103,2064,0,0,0,0,0,0,14.73,14.34,14.74,6.20,50.43
$GC,9096,0.65,155.4,2626,740,2104,2064,10.6,9.1,698,9100,0.05,2.40,0.00,0.000,5126,0.377,0.052,2608,2151,2082,2103,2062,0,0,0,0,0,0,14.10,14.31,14.35,6.20,50.78
$STATE,9184,end climb,SURFACE_DEPTH_REACHED
$STATE,9184,begin surface coast
$STATE,9214,end surface coast,CONTROL_FINISHED_OK
$STATE,9214,begin surface
$SM_CCo,9230,62.58,0.239,0,0,1822,220.03
$SM_GC,1.11,5.47,0.08,62.58,0.060,0.162,0.239,275,2078,1822,-6.44,1.02,220.03,0,0,0,0,0,0,14.55,14.45,14.12
$IRIDIUM_FIX,-6010.01,-4.32,110219,030745
$TT8_MAMPS,0.038948,0.355775
$HUMID,50.59
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3644736
$24V_AH,13.14,103.577
$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,13.325,87.875,259.025,62.575,0.000,28.321,40.017,144.122,0.000,0.000,15.345,0.000,7277.955,410.727,1736.728,264.833,0.000,1094.301,0.000,1243.411,0.000,0.539,0.000
$DEVICE_MAMPS,602.820,2205.495,1597.320,239.445,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5639.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.338,0.000,0.000,0.000
$MEM,344076
$DATA_FILE_SIZE,20764,722
$CAP_FILE_SIZE,98828,0
$CFSIZE,1023623168,966361088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.032,238.46,1
$GPS,110219,082525,-6011.269,1.606,36,0.8,42,-19.7,0.4,245.7,11,8.4