version: 66.14
glider: 640
mission: 5
dive: 588
start: 2 16 119 12 17 29
data:
$ID,640
$MISSION,5
$DIVE,588
$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,31
$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
$GPS1,160219,121028,-6005.5479,-1.9843,19,0.8,38,-19.7,0.3,124.2,10,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-70.4
$GPS2,160219,121710,-6005.5610,-1.9748,8,0.8,12,-19.7,0.0,15.6,10,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,25.6,47375,-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,-146.0,208,2098,1783,1833,0.0,0.0,0,104,0.00,0.00,-88.28,0.000,16386,0.000,0.000,208,2097,3271,3354,3189,0,0,0,0,0,0,14.53,28.83,14.55,6.15,51.69
$GC,107,-0.64,-146.0,207,2097,3355,3191,3.7,-8.4,18,120,6.32,2.72,-1.48,0.000,18948,0.357,2.191,2174,692,3316,3406,3226,0,0,0,0,0,0,13.83,13.13,14.26,6.28,50.59
$GC,135,-0.64,-146.0,2175,693,3409,3226,11.3,-25.4,24,139,0.10,2.45,0.00,0.000,3078,0.342,0.055,2196,2106,3317,3408,3227,0,0,0,0,0,0,14.00,14.27,14.28,6.29,49.48
$GC,262,-0.64,-146.0,2197,2106,3410,3227,31.9,-15.8,49,266,0.00,2.50,0.00,0.000,260,0.000,0.083,2187,3505,3317,3409,3226,0,0,0,0,0,0,14.60,14.20,14.60,6.29,49.60
$GC,281,-0.64,-146.0,2187,3506,3411,3226,35.3,-15.5,53,285,0.00,2.38,0.00,0.000,3078,0.000,0.044,2186,2097,3317,3409,3226,0,0,0,0,0,0,14.42,14.29,14.44,6.29,49.48
$GC,406,-0.64,-146.0,2186,2097,3410,3227,55.9,-15.4,78,409,0.00,0.00,0.00,0.000,2054,0.000,0.000,2185,2096,3318,3410,3226,0,0,0,0,0,0,14.66,14.66,14.66,6.30,49.64
$GC,531,-0.64,-146.0,2186,2097,3411,3227,73.5,-14.6,103,535,0.00,2.50,0.00,0.000,2308,0.000,0.080,2176,3503,3318,3410,3227,0,0,0,0,0,0,14.68,14.23,14.69,6.29,49.76
$GC,551,-0.64,-146.0,2177,3504,3411,3226,76.5,-14.3,107,555,0.05,2.38,0.00,0.000,3078,0.428,0.044,2191,2085,3318,3410,3226,0,0,0,0,0,0,14.02,14.33,14.28,6.30,49.25
$GC,679,-0.64,-146.0,2192,2089,3410,3227,93.8,-13.2,132,681,0.00,0.00,0.00,0.000,2054,0.000,0.000,2191,2089,3315,3404,3226,0,0,0,0,0,0,14.67,14.68,14.68,6.29,48.50
$GC,807,-0.64,-146.0,2192,2089,3411,3225,110.9,-13.3,146,807,0.00,0.00,0.00,0.000,2054,0.000,0.000,2191,2089,3318,3410,3226,0,0,0,0,0,0,14.72,14.72,14.72,6.28,48.22
$GC,1107,-0.64,-146.0,2192,2089,3412,3226,148.5,-12.6,161,1110,0.00,2.42,0.00,0.000,2564,0.000,0.062,2191,693,3318,3410,3226,0,0,0,0,0,0,14.76,14.31,14.76,6.28,49.33
$GC,1157,-0.64,-146.0,2191,693,3411,3227,153.6,-12.8,163,1160,0.00,2.42,0.00,0.000,3078,0.000,0.055,2182,2103,3319,3411,3227,0,0,0,0,0,0,14.50,14.34,14.52,6.28,50.27
$GC,1462,-0.64,-146.0,2182,2103,3411,3228,194.4,-13.0,178,1465,0.00,2.45,0.00,0.000,2564,0.000,0.062,2181,693,3318,3410,3226,0,0,0,0,0,0,14.79,14.33,14.78,6.29,50.59
$GC,1487,-0.64,-146.0,2182,693,3412,3226,196.4,-13.1,179,1491,0.08,2.42,0.00,0.000,3078,0.360,0.057,2195,2103,3318,3410,3226,0,0,0,0,0,0,14.03,14.35,14.33,6.29,50.78
$GC,1792,-0.64,-146.0,2195,2104,3411,3225,235.1,-12.2,194,1795,0.00,2.47,0.00,0.000,260,0.000,0.083,2184,3504,3318,3410,3226,0,0,0,0,0,0,14.79,14.28,14.80,6.30,50.98
$GC,1827,-0.64,-146.0,2184,3508,3411,3227,239.5,-12.2,196,1830,0.00,2.33,0.00,0.000,3078,0.000,0.043,2183,2102,3318,3410,3226,0,0,0,0,0,0,14.54,14.40,14.56,6.30,51.18
$GC,2142,-0.64,-146.0,2184,2101,3412,3226,279.0,-12.5,212,2145,0.00,2.42,0.00,0.000,2564,0.000,0.063,2183,697,3318,3410,3226,0,0,0,0,0,0,14.81,14.33,14.81,6.30,51.57
$GC,2187,-0.64,-146.0,2184,698,3411,3227,284.1,-12.6,214,2191,0.08,2.40,0.00,0.000,3078,0.359,0.054,2198,2102,3318,3410,3226,0,0,0,0,0,0,14.04,14.36,14.33,6.30,51.29
$GC,2497,-0.64,-146.0,2198,2101,3411,3226,321.0,-11.8,230,2500,0.00,2.47,0.00,0.000,260,0.000,0.083,2188,3501,3318,3411,3226,0,0,0,0,0,0,14.81,14.28,14.81,6.30,51.22
$GC,2552,-0.64,-146.0,2189,3502,3411,3226,327.6,-12.0,233,2555,0.00,2.35,0.00,0.000,3078,0.000,0.042,2188,2091,3318,3410,3226,0,0,0,0,0,0,14.54,14.41,14.57,6.26,50.90
$STATE,2744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2744,begin apogee
$GC,2751,-0.15,0.0,2188,2160,3412,3226,351.7,-12.5,243,2879,0.47,0.00,125.30,1.589,10246,0.249,0.000,2355,2160,2716,2776,2657,0,0,0,0,0,0,13.95,13.88,13.11,6.31,51.06
$STATE,2880,end apogee,CONTROL_FINISHED_OK
$STATE,2880,begin loiter
$GC,3167,-0.15,0.0,2353,2161,2772,2644,350.8,2.8,264,3167,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2707,2772,2643,0,0,0,0,0,0,14.56,14.57,14.56,6.26,50.63
$GC,3467,-0.15,0.0,2354,2160,2773,2642,342.6,2.9,279,3468,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2706,2771,2642,0,0,0,0,0,0,14.72,14.73,14.73,6.27,50.82
$GC,3767,-0.15,0.0,2353,2160,2772,2640,333.6,3.1,294,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2705,2771,2640,0,0,0,0,0,0,14.81,14.81,14.81,6.26,51.26
$GC,4067,-0.15,0.0,2354,2160,2773,2640,324.2,3.2,309,4067,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2705,2771,2640,0,0,0,0,0,0,14.87,14.87,14.87,6.27,51.02
$GC,4367,-0.15,0.0,2353,2161,2772,2641,314.8,3.1,324,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2705,2771,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.26,51.22
$GC,4667,-0.15,0.0,2353,2160,2772,2639,305.9,2.9,339,4668,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2705,2771,2639,0,0,0,0,0,0,14.93,14.93,14.93,6.26,51.92
$GC,4967,-0.15,0.0,2353,2161,2772,2640,297.1,2.9,354,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2705,2771,2639,0,0,0,0,0,0,14.95,14.96,14.95,6.27,51.45
$GC,5267,-0.15,0.0,2353,2161,2772,2640,288.3,2.9,369,5268,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2705,2771,2639,0,0,0,0,0,0,14.97,14.97,14.97,6.27,51.53
$GC,5567,-0.15,0.0,2353,2161,2772,2639,279.5,2.9,384,5567,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2705,2771,2639,0,0,0,0,0,0,14.99,14.99,14.99,6.26,51.45
$GC,5867,-0.15,0.0,2353,2161,2772,2640,270.8,3.0,399,5867,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2705,2771,2639,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.49
$GC,6167,-0.15,0.0,2354,2160,2772,2639,262.2,2.9,414,6167,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2160,2705,2771,2639,0,0,0,0,0,0,15.01,15.01,15.01,6.26,51.53
$STATE,6464,end loiter,LOITER_COMPLETE
$STATE,6464,begin climb
$GC,6467,0.64,146.0,2354,2161,2772,2640,253.4,0.0,429,6608,0.62,2.58,130.18,1.435,10756,0.161,0.065,2609,754,2117,2136,2098,0,0,0,0,0,0,14.31,13.95,13.27,6.26,51.73
$GC,6708,0.64,146.0,2611,754,2129,2091,234.7,10.0,441,6712,0.00,2.42,0.00,0.000,5126,0.000,0.051,2611,2145,2109,2128,2091,0,0,0,0,0,0,14.20,14.07,14.22,6.21,49.56
$GC,7023,0.64,146.0,2611,2146,2126,2085,197.9,12.0,457,7027,0.00,2.53,0.00,0.000,4356,0.000,0.083,2611,3553,2104,2124,2085,0,0,0,0,0,0,14.59,14.18,14.60,6.21,51.18
$GC,7094,0.64,146.0,2611,3554,2124,2086,191.1,12.3,460,7098,0.05,2.35,0.00,0.000,5126,0.414,0.044,2604,2158,2104,2123,2085,0,0,0,0,0,0,14.02,14.30,14.30,6.20,51.18
$GC,7416,0.64,146.0,2604,2158,2122,2080,154.2,10.5,477,7420,0.00,2.50,0.00,0.000,516,0.000,0.066,2614,743,2101,2121,2082,0,0,0,0,0,0,14.69,14.24,14.69,6.20,51.69
$GC,7480,0.64,146.0,2614,743,2121,2081,148.2,10.0,480,7483,0.00,2.42,0.00,0.000,5126,0.000,0.052,2614,2159,2100,2120,2080,0,0,0,0,0,0,14.49,14.33,14.51,6.20,50.90
$GC,7790,0.64,146.0,2614,2162,2120,2080,116.0,10.1,496,7793,0.00,2.47,0.00,0.000,4356,0.000,0.084,2615,3556,2099,2120,2078,0,0,0,0,0,0,14.77,14.28,14.77,6.20,50.86
$GC,7855,0.64,146.0,2614,3557,2120,2080,110.3,10.2,499,7859,0.08,2.35,0.00,0.000,5126,0.344,0.044,2599,2150,2099,2120,2079,0,0,0,0,0,0,14.02,14.33,14.31,6.20,50.82
$GC,8160,0.64,146.0,2598,2151,2120,2079,80.3,9.4,544,8164,0.00,2.47,0.00,0.000,2564,0.000,0.067,2609,735,2098,2119,2078,0,0,0,0,0,0,14.78,14.33,14.78,6.18,49.92
$GC,8230,0.64,146.0,2610,735,2119,2077,74.1,8.6,558,8234,0.00,2.42,0.00,0.000,5126,0.000,0.052,2609,2157,2097,2118,2077,0,0,0,0,0,0,14.52,14.37,14.55,6.18,50.63
$GC,8357,0.64,146.0,2609,2158,2118,2078,63.2,9.2,583,8361,0.00,2.47,0.00,0.000,4356,0.000,0.085,2609,3550,2097,2117,2077,0,0,0,0,0,0,14.76,14.28,14.76,6.18,49.76
$GC,8427,0.64,146.0,2610,3551,2119,2078,56.6,8.9,597,8430,0.00,2.35,0.00,0.000,5126,0.000,0.044,2619,2146,2097,2118,2077,0,0,0,0,0,0,14.54,14.40,14.56,6.17,49.29
$GC,8554,0.64,146.0,2620,2146,2119,2077,46.2,9.0,622,8560,0.00,2.42,0.00,0.000,4612,0.000,0.067,2630,749,2097,2117,2077,0,0,0,0,0,0,14.76,14.28,14.75,6.18,49.76
$GC,8641,0.64,146.6,2630,750,2117,2078,38.6,8.3,640,8645,0.08,2.40,0.00,0.000,5126,0.314,0.052,2603,2158,2097,2117,2077,0,0,0,0,0,0,14.10,14.36,14.39,6.17,49.96
$GC,8766,0.64,150.9,2604,2159,2117,2078,28.3,8.2,665,8770,0.00,2.50,0.00,0.000,260,0.000,0.083,2603,3560,2096,2116,2076,0,0,0,0,0,0,14.73,14.28,14.73,6.19,50.94
$GC,8811,0.64,150.9,2603,3561,2118,2078,24.4,8.9,674,8815,0.00,2.35,0.00,0.000,5126,0.000,0.044,2613,2149,2096,2117,2076,0,0,0,0,0,0,14.53,14.40,14.55,6.18,51.37
$GC,8939,0.64,150.9,2613,2149,2117,2078,13.6,8.4,699,8942,0.00,2.45,0.00,0.000,4612,0.000,0.065,2623,743,2096,2117,2076,0,0,0,0,0,0,14.75,14.31,14.75,6.18,51.10
$GC,8998,0.64,150.9,2625,744,2117,2076,8.3,8.6,711,9002,0.05,2.42,0.00,0.000,5126,0.378,0.051,2605,2157,2096,2116,2076,0,0,0,0,0,0,14.12,14.36,14.39,6.19,51.02
$STATE,9060,end climb,SURFACE_DEPTH_REACHED
$STATE,9060,begin surface coast
$STATE,9097,end surface coast,CONTROL_FINISHED_OK
$STATE,9097,begin surface
$SM_CCo,9114,65.93,0.239,0,0,1822,220.03
$SM_GC,1.43,5.50,0.10,65.93,0.058,0.138,0.239,269,2066,1822,-6.45,0.82,220.03,0,0,0,0,0,0,14.56,14.43,14.09
$IRIDIUM_FIX,-6004.12,0.00,160219,093331
$TT8_MAMPS,0.038948,0.301098
$HUMID,50.31
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3620160
$24V_AH,13.11,112.376
$10V_AH,13.27,0.000
$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,13.475,83.200,255.475,65.925,0.000,25.908,40.795,141.459,0.000,0.000,13.336,0.000,7202.354,405.947,1683.532,286.909,0.000,1070.661,0.000,1200.919,0.000,0.540,0.000
$DEVICE_MAMPS,428.400,2190.960,1588.905,239.445,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5525.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.371,0.000,0.000,0.000
$MEM,344076
$DATA_FILE_SIZE,20738,731
$CAP_FILE_SIZE,97380,0
$CFSIZE,1023623168,961658880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.081,189.51,1
$GPS,160219,145133,-6005.366,-1.971,34,0.8,36,-19.7,0.5,108.9,10,9.3