version: 66.14
glider: 640
mission: 5
dive: 578
start: 2 15 119 9 49 1
data:
$ID,640
$MISSION,5
$DIVE,578
$N_DIVES,700
$STOP_T,2171912
$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,57
$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
$GPS1,150219,094202,-6009.1655,-1.4409,15,0.8,28,-19.7,0.4,80.4,11,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.7
$GPS2,150219,094842,-6009.1997,-1.4480,13,0.8,16,-19.7,1.1,153.6,11,9.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,26.1,54095,-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,14,-0.64,-146.0,234,2074,1786,1830,0.0,0.0,0,98,0.00,0.00,-82.00,0.000,16386,0.000,0.000,233,2074,3148,3229,3067,0,0,0,0,0,0,14.54,28.83,14.55,6.17,51.53
$GC,101,-0.64,-146.0,233,2075,3229,3069,3.2,-5.7,17,118,6.20,2.65,-6.18,0.000,18948,0.350,2.198,2170,713,3317,3413,3222,0,0,0,0,0,0,13.85,12.90,14.26,6.28,50.39
$GC,201,-0.64,-146.0,2170,714,3415,3224,19.5,-16.1,37,207,0.10,2.40,0.00,0.000,3078,0.334,0.055,2193,2103,3318,3414,3223,0,0,0,0,0,0,13.97,14.26,14.25,6.29,48.93
$GC,332,-0.64,-146.0,2194,2103,3416,3223,40.6,-16.6,63,335,0.00,2.50,0.00,0.000,2308,0.000,0.082,2182,3512,3319,3414,3224,0,0,0,0,0,0,14.63,14.21,14.63,6.29,49.64
$GC,361,-0.64,-146.0,2182,3513,3415,3225,45.8,-16.7,69,364,0.00,2.35,0.00,0.000,3078,0.000,0.044,2182,2126,3319,3415,3223,0,0,0,0,0,0,14.44,14.33,14.46,6.30,49.68
$GC,486,-0.64,-146.0,2182,2123,3415,3224,65.7,-14.1,94,489,0.00,2.47,0.00,0.000,2308,0.000,0.082,2172,3510,3318,3413,3224,0,0,0,0,0,0,14.68,14.23,14.68,6.30,50.43
$GC,511,-0.64,-146.0,2173,3511,3415,3224,69.1,-14.1,99,515,0.08,2.40,0.00,0.000,3078,0.355,0.044,2197,2086,3318,3414,3223,0,0,0,0,0,0,14.01,14.37,14.26,6.30,50.03
$GC,638,-0.64,-146.0,2197,2086,3416,3224,84.6,-12.2,124,643,0.00,2.42,0.00,0.000,516,0.000,0.063,2197,696,3319,3414,3224,0,0,0,0,0,0,14.68,14.28,14.68,6.30,49.21
$GC,686,-0.64,-146.0,2198,695,3417,3224,90.8,-12.3,134,689,0.00,2.42,0.00,0.000,3078,0.000,0.056,2187,2101,3319,3414,3224,0,0,0,0,0,0,14.47,14.31,14.49,6.30,49.05
$GC,821,-0.64,-146.0,2188,2102,3414,3224,109.4,-14.7,152,821,0.00,0.00,0.00,0.000,2054,0.000,0.000,2187,2101,3319,3415,3223,0,0,0,0,0,0,14.72,14.73,14.73,6.29,48.03
$GC,1121,-0.64,-146.0,2188,2102,3415,3224,150.6,-13.8,167,1124,0.00,2.45,0.00,0.000,2564,0.000,0.061,2187,695,3319,3414,3224,0,0,0,0,0,0,14.76,14.33,14.76,6.29,49.25
$GC,1146,-0.64,-146.0,2187,697,3415,3225,153.4,-13.7,168,1150,0.05,2.42,0.00,0.000,3078,0.431,0.054,2191,2105,3320,3416,3224,0,0,0,0,0,0,14.04,14.35,14.33,6.29,49.48
$GC,1456,-0.64,-146.0,2191,2105,3416,3224,193.2,-12.3,184,1456,0.00,0.00,0.00,0.000,2054,0.000,0.000,2191,2104,3319,3414,3224,0,0,0,0,0,0,14.78,14.79,14.79,6.30,50.39
$GC,1756,-0.64,-146.0,2191,2105,3415,3226,230.2,-12.3,199,1756,0.00,0.00,0.00,0.000,2054,0.000,0.000,2191,2104,3319,3414,3224,0,0,0,0,0,0,14.81,14.81,14.81,6.30,50.74
$GC,2056,-0.64,-146.0,2191,2105,3415,3225,267.5,-12.6,214,2057,0.00,0.00,0.00,0.000,2054,0.000,0.000,2191,2105,3319,3414,3224,0,0,0,0,0,0,14.81,14.81,14.81,6.30,51.29
$GC,2356,-0.64,-146.0,2192,2105,3416,3224,305.0,-12.5,229,2359,0.00,2.45,0.00,0.000,2564,0.000,0.063,2191,692,3319,3414,3224,0,0,0,0,0,0,14.83,14.35,14.82,6.31,51.61
$GC,2391,-0.64,-146.0,2193,693,3416,3224,309.4,-12.6,231,2394,0.00,2.42,0.00,0.000,3078,0.000,0.054,2181,2105,3319,3414,3224,0,0,0,0,0,0,14.54,14.38,14.57,6.30,50.90
$STATE,2703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2703,begin apogee
$GC,2710,-0.15,0.0,2181,2170,3425,3225,350.4,-13.1,247,2837,0.47,0.00,124.97,1.583,10246,0.253,0.000,2346,2169,2718,2778,2659,0,0,0,0,0,0,14.02,13.89,13.14,6.31,51.73
$STATE,2838,end apogee,CONTROL_FINISHED_OK
$STATE,2838,begin loiter
$GC,3126,-0.15,0.0,2346,2169,2771,2645,349.9,2.5,268,3127,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2707,2771,2643,0,0,0,0,0,0,14.56,14.57,14.57,6.27,50.51
$GC,3426,-0.15,0.0,2346,2169,2772,2642,342.2,2.6,283,3426,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2706,2771,2642,0,0,0,0,0,0,14.73,14.73,14.73,6.27,51.14
$GC,3726,-0.15,0.0,2346,2169,2772,2640,334.8,2.4,298,3726,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2705,2771,2640,0,0,0,0,0,0,14.81,14.81,14.82,6.26,51.18
$GC,4026,-0.15,0.0,2346,2170,2772,2641,327.6,2.3,313,4026,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2705,2770,2640,0,0,0,0,0,0,14.87,14.87,14.87,6.27,51.06
$GC,4326,-0.15,0.0,2346,2170,2771,2641,321.1,2.1,328,4326,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2169,2705,2771,2640,0,0,0,0,0,0,14.90,14.91,14.90,6.26,52.12
$GC,4626,-0.15,0.0,2346,2170,2771,2640,315.0,2.1,343,4627,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2705,2771,2639,0,0,0,0,0,0,14.93,14.93,14.93,6.26,51.33
$GC,4926,-0.15,0.0,2346,2169,2772,2639,308.9,2.1,358,4927,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2705,2771,2639,0,0,0,0,0,0,14.95,14.95,14.96,6.26,51.41
$GC,5226,-0.15,0.0,2346,2169,2772,2639,302.2,2.3,373,5227,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2169,2705,2771,2639,0,0,0,0,0,0,14.97,14.97,14.97,6.26,51.81
$GC,5526,-0.15,0.0,2346,2170,2772,2638,295.1,2.4,388,5526,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2169,2704,2770,2639,0,0,0,0,0,0,14.99,14.99,15.00,6.27,51.77
$GC,5826,-0.15,0.0,2346,2169,2772,2638,287.0,2.9,403,5826,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2705,2771,2639,0,0,0,0,0,0,15.00,15.00,15.00,6.26,51.45
$GC,6126,-0.15,0.0,2345,2170,2772,2640,277.5,3.4,418,6127,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2169,2704,2770,2638,0,0,0,0,0,0,15.01,15.02,15.02,6.26,51.49
$STATE,6423,end loiter,LOITER_COMPLETE
$STATE,6423,begin climb
$GC,6426,0.64,146.0,2346,2170,2771,2639,267.2,0.0,433,6559,0.65,0.00,129.73,1.445,10502,0.172,0.000,2598,2169,2125,2145,2105,0,0,0,0,0,0,14.29,13.97,13.28,6.26,51.77
$GC,6846,0.64,146.0,2598,2170,2130,2087,227.3,11.2,454,6850,0.00,2.53,0.00,0.000,2564,0.000,0.065,2609,748,2108,2130,2086,0,0,0,0,0,0,14.53,14.16,14.53,6.21,50.59
$GC,6881,0.64,146.0,2609,748,2128,2087,223.4,11.1,456,6885,0.00,2.40,0.00,0.000,5126,0.000,0.052,2609,2135,2106,2127,2086,0,0,0,0,0,0,14.35,14.21,14.38,6.21,50.66
$GC,7201,0.64,146.0,2610,2136,2126,2085,184.6,12.4,472,7205,0.00,2.55,0.00,0.000,4356,0.000,0.083,2610,3559,2105,2126,2084,0,0,0,0,0,0,14.67,14.23,14.67,6.21,51.02
$GC,7286,0.64,146.0,2610,3560,2127,2084,174.9,12.9,476,7290,0.05,2.35,0.00,0.000,5126,0.405,0.042,2603,2152,2104,2125,2084,0,0,0,0,0,0,14.07,14.35,14.35,6.21,50.86
$GC,7596,0.64,146.0,2604,2153,2125,2083,135.7,12.5,492,7600,0.00,2.47,0.00,0.000,516,0.000,0.065,2613,738,2102,2124,2081,0,0,0,0,0,0,14.74,14.31,14.73,6.20,51.06
$GC,7676,0.64,146.0,2614,738,2122,2082,126.9,11.8,496,7680,0.00,2.42,0.00,0.000,5126,0.000,0.051,2614,2156,2101,2121,2081,0,0,0,0,0,0,14.51,14.35,14.53,6.21,50.94
$GC,7981,0.64,146.0,2614,2156,2122,2080,90.5,10.7,523,7985,0.00,2.47,0.00,0.000,4356,0.000,0.085,2614,3553,2100,2121,2080,0,0,0,0,0,0,14.76,14.29,14.76,6.19,50.78
$GC,8046,0.64,146.0,2614,3554,2122,2081,83.5,10.3,536,8050,0.08,2.35,0.00,0.000,5126,0.345,0.043,2598,2142,2100,2121,2080,0,0,0,0,0,0,14.10,14.42,14.43,6.19,50.35
$GC,8174,0.64,146.0,2599,2143,2121,2080,72.4,8.8,561,8180,0.00,2.42,0.00,0.000,2564,0.000,0.065,2608,745,2100,2121,2079,0,0,0,0,0,0,14.74,14.27,14.74,6.19,49.92
$GC,8251,0.64,146.9,2608,746,2121,2079,65.6,8.3,577,8255,0.00,2.40,0.00,0.000,5126,0.000,0.053,2608,2154,2099,2120,2078,0,0,0,0,0,0,14.52,14.36,14.55,6.19,49.76
$GC,8379,0.64,146.9,2608,2155,2121,2079,54.8,9.0,602,8383,0.00,2.50,0.00,0.000,4356,0.000,0.085,2611,3559,2099,2120,2078,0,0,0,0,0,0,14.75,14.28,14.75,6.18,49.60
$GC,8418,0.64,146.9,2608,3560,2121,2074,50.9,9.2,610,8422,0.00,2.35,0.00,0.000,5126,0.000,0.044,2619,2150,2099,2120,2078,0,0,0,0,0,0,14.53,14.40,14.56,6.18,49.52
$GC,8543,0.64,146.9,2619,2150,2121,2078,39.5,9.3,635,8546,0.00,2.45,0.00,0.000,4612,0.000,0.067,2629,745,2099,2121,2078,0,0,0,0,0,0,14.76,14.32,14.76,6.18,49.92
$GC,8613,0.64,146.9,2629,746,2120,2079,33.1,8.7,649,8617,0.08,2.40,0.00,0.000,5126,0.316,0.053,2602,2151,2099,2120,2078,0,0,0,0,0,0,14.12,14.36,14.39,6.18,49.88
$GC,8738,0.65,154.0,2604,2152,2121,2078,23.2,8.1,674,8742,0.00,2.47,0.00,0.000,2308,0.000,0.083,2602,3553,2099,2120,2078,0,0,0,0,0,0,14.75,14.28,14.75,6.18,50.51
$GC,8798,0.65,154.0,2602,3555,2120,2079,18.0,8.4,686,8802,0.00,2.35,0.00,0.000,5126,0.000,0.043,2612,2147,2099,2120,2078,0,0,0,0,0,0,14.54,14.40,14.55,6.19,51.29
$GC,8925,0.65,154.0,2612,2147,2121,2078,7.6,8.7,711,8930,0.00,2.45,0.00,0.000,4612,0.000,0.064,2622,739,2098,2120,2077,0,0,0,0,0,0,14.75,14.32,14.74,6.18,50.74
$GC,8973,0.65,157.5,2622,739,2119,2077,3.3,8.2,721,8976,0.00,2.05,0.00,0.000,1027,0.000,0.052,2622,1953,2097,2118,2077,0,0,0,0,0,0,28.83,14.76,28.83,6.19,50.90
$STATE,8977,end climb,SURFACE_DEPTH_REACHED
$STATE,8977,begin surface coast
$STATE,9010,end surface coast,CONTROL_FINISHED_OK
$STATE,9010,begin surface
$SM_CCo,9026,66.28,0.239,0,0,1823,220.03
$SM_GC,1.36,5.43,0.25,66.28,0.039,0.080,0.239,267,2129,1823,-6.44,-0.79,220.03,0,0,0,0,0,0,14.50,14.48,14.09
$IRIDIUM_FIX,-6011.71,-51.95,150219,070604
$TT8_MAMPS,0.038199,0.361767
$HUMID,50.43
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3625280
$24V_AH,12.90,110.545
$10V_AH,13.43,0.000
$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,13.175,73.100,254.700,66.275,0.000,28.035,35.553,140.118,0.000,0.000,17.354,0.000,7209.583,405.655,1600.873,275.811,0.000,1027.233,0.000,1127.393,0.000,0.540,0.000
$DEVICE_MAMPS,430.695,2197.845,1582.785,238.680,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5438.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.468,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,20761,729
$CAP_FILE_SIZE,92278,0
$CFSIZE,1023623168,962641920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.053,221.32,1
$GPS,150219,122136,-6008.778,-1.640,28,0.8,33,-19.7,0.7,133.2,10,9.5