version: 66.14
glider: 640
mission: 5
dive: 595
start: 2 17 119 6 50 5
data:
$ID,640
$MISSION,5
$DIVE,595
$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,38
$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
$GPS1,170219,064253,-6003.4800,-1.7873,36,0.8,40,-19.7,0.7,5.3,10,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-64.2
$GPS2,170219,064946,-6003.5430,-1.7432,12,0.8,16,-19.7,1.2,37.4,11,8.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,21.5,43632,-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,-146.0,214,2096,1795,1831,0.0,0.0,0,98,0.00,0.00,-81.88,0.000,16386,0.000,0.000,213,2096,3143,3220,3066,0,0,0,0,0,0,14.52,28.83,14.53,6.17,51.61
$GC,101,-0.64,-146.0,214,2096,3226,3066,3.3,-7.3,17,118,6.32,2.80,-6.07,0.000,18692,0.357,2.209,2183,3505,3317,3414,3220,0,0,0,0,0,0,13.93,12.87,14.28,6.27,50.59
$GC,144,-0.64,-146.0,2183,3506,3416,3222,12.0,-17.7,26,148,0.00,2.38,0.00,0.000,3078,0.000,0.043,2188,2099,3318,3415,3222,0,0,0,0,0,0,14.33,14.21,14.33,6.29,49.80
$GC,272,-0.64,-146.0,2183,2098,3416,3222,33.8,-20.9,51,274,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2097,3318,3415,3222,0,0,0,0,0,0,14.60,14.60,14.60,6.29,49.92
$GC,395,-0.64,-146.0,2183,2098,3416,3223,54.5,-14.8,76,398,0.00,2.45,0.00,0.000,2564,0.000,0.062,2182,695,3318,3414,3223,0,0,0,0,0,0,14.65,14.25,14.65,6.29,50.15
$GC,460,-0.64,-146.0,2183,695,3416,3223,63.0,-12.9,89,464,0.08,2.42,0.00,0.000,3078,0.369,0.054,2195,2102,3319,3415,3223,0,0,0,0,0,0,13.97,14.21,14.27,6.29,50.27
$GC,587,-0.64,-146.0,2195,2103,3416,3223,82.0,-14.8,114,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2103,3319,3415,3223,0,0,0,0,0,0,14.66,14.66,14.66,6.29,49.72
$GC,710,-0.64,-146.0,2193,2103,3415,3224,98.9,-13.1,139,714,0.00,2.50,0.00,0.000,260,0.000,0.084,2183,3503,3317,3412,3223,0,0,0,0,0,0,14.70,14.24,14.70,6.29,48.93
$GC,730,-0.64,-146.0,2184,3503,3415,3224,100.9,-13.0,142,734,0.00,2.35,0.00,0.000,3078,0.000,0.043,2183,2097,3319,3415,3223,0,0,0,0,0,0,14.48,14.35,14.50,6.29,48.62
$GC,1040,-0.64,-146.0,2182,2097,3415,3223,141.1,-11.9,158,1044,0.00,2.42,0.00,0.000,2564,0.000,0.062,2183,697,3319,3415,3223,0,0,0,0,0,0,14.75,14.32,14.78,6.28,49.09
$GC,1090,-0.64,-146.0,2183,697,3416,3224,145.4,-12.2,160,1094,0.08,2.42,0.00,0.000,3078,0.360,0.055,2196,2106,3319,3415,3224,0,0,0,0,0,0,14.03,14.35,14.32,6.29,49.29
$GC,1410,-0.64,-146.0,2197,2106,3416,3224,185.4,-12.6,177,1414,0.00,2.47,0.00,0.000,260,0.000,0.084,2182,3504,3319,3415,3224,0,0,0,0,0,0,14.77,14.28,14.78,6.29,50.51
$GC,1445,-0.64,-146.0,2186,3504,3416,3223,188.0,-12.7,178,1448,0.00,2.35,0.00,0.000,3078,0.000,0.043,2186,2093,3319,3415,3223,0,0,0,0,0,0,14.53,14.39,14.55,6.29,50.55
$GC,1765,-0.64,-146.0,2186,2092,3415,3224,232.3,-13.4,195,1769,0.00,2.42,0.00,0.000,2564,0.000,0.061,2186,697,3319,3415,3224,0,0,0,0,0,0,14.79,14.33,14.80,6.30,50.66
$GC,1820,-0.64,-146.0,2186,697,3416,3223,239.7,-13.5,198,1824,0.03,2.40,0.00,0.000,3078,0.607,0.054,2189,2101,3319,3414,3224,0,0,0,0,0,0,14.08,14.37,14.34,6.30,51.33
$GC,2135,-0.64,-146.0,2190,2102,3416,3224,279.0,-12.2,214,2139,0.00,2.47,0.00,0.000,2308,0.000,0.083,2179,3503,3319,3415,3224,0,0,0,0,0,0,14.81,14.29,14.81,6.30,50.74
$GC,2170,-0.64,-146.0,2180,3504,3416,3224,283.3,-12.3,216,2174,0.00,2.35,0.00,0.000,3078,0.000,0.043,2179,2095,3319,3414,3224,0,0,0,0,0,0,14.54,14.41,14.56,6.30,51.10
$GC,2485,-0.64,-146.0,2179,2089,3415,3224,322.4,-12.3,232,2489,0.03,2.42,0.00,0.000,2564,0.616,0.059,2189,694,3319,3415,3224,0,0,0,0,0,0,14.31,14.35,14.42,6.31,51.02
$GC,2545,-0.64,-146.0,2188,695,3415,3224,329.7,-12.1,235,2549,0.00,2.42,0.00,0.000,3078,0.000,0.055,2179,2107,3318,3414,3223,0,0,0,0,0,0,14.53,14.37,14.56,6.31,51.45
$STATE,2722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2722,begin apogee
$GC,2729,-0.15,0.0,2180,2160,3416,3224,351.2,-12.1,244,2855,0.50,0.00,123.62,1.623,10246,0.257,0.000,2352,2161,2718,2778,2658,0,0,0,0,0,0,14.00,13.87,13.11,6.30,50.82
$STATE,2856,end apogee,CONTROL_FINISHED_OK
$STATE,2856,begin loiter
$GC,3145,-0.15,0.0,2353,2160,2773,2645,347.8,3.2,265,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2160,2708,2772,2645,0,0,0,0,0,0,14.55,14.56,14.56,6.27,50.43
$GC,3445,-0.15,0.0,2352,2160,2773,2643,339.0,2.7,280,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2160,2707,2771,2643,0,0,0,0,0,0,14.72,14.73,14.72,6.27,51.02
$GC,3745,-0.15,0.0,2353,2160,2773,2642,331.4,2.4,295,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2160,2706,2771,2642,0,0,0,0,0,0,14.81,14.81,14.81,6.27,51.26
$GC,4045,-0.15,0.0,2353,2160,2773,2642,324.7,2.1,310,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2159,2706,2771,2641,0,0,0,0,0,0,14.86,14.87,14.87,6.27,51.10
$GC,4345,-0.15,0.0,2352,2160,2772,2642,318.9,1.9,325,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2159,2706,2772,2641,0,0,0,0,0,0,14.90,14.90,14.90,6.26,51.10
$GC,4645,-0.15,0.0,2352,2160,2772,2642,313.4,1.9,340,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2160,2706,2771,2641,0,0,0,0,0,0,14.93,14.93,14.93,6.26,51.22
$GC,4945,-0.15,0.0,2353,2160,2772,2640,307.3,2.1,355,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2159,2706,2772,2640,0,0,0,0,0,0,14.95,14.95,14.95,6.26,51.96
$GC,5245,-0.15,0.0,2353,2160,2773,2640,300.5,2.3,370,5246,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2160,2706,2772,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.26,51.41
$GC,5545,-0.15,0.0,2352,2161,2772,2641,293.5,2.2,385,5546,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2160,2705,2771,2640,0,0,0,0,0,0,14.98,14.99,14.99,6.26,51.65
$GC,5845,-0.15,0.0,2353,2160,2773,2640,286.7,2.2,400,5846,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2160,2705,2771,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.26,51.37
$GC,6145,-0.15,0.0,2353,2160,2773,2640,280.2,2.2,415,6146,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2160,2705,2771,2640,0,0,0,0,0,0,15.00,15.00,15.01,6.26,51.53
$STATE,6442,end loiter,LOITER_COMPLETE
$STATE,6442,begin climb
$GC,6445,0.64,146.0,2352,2160,2772,2641,273.0,0.0,430,6586,0.62,2.58,129.05,1.449,10500,0.170,0.080,2597,3546,2119,2141,2098,0,0,0,0,0,0,14.28,13.94,13.24,6.26,51.57
$GC,6676,0.64,146.0,2597,3547,2138,2092,257.4,9.8,441,6680,0.00,2.38,0.00,0.000,5126,0.000,0.041,2607,2150,2112,2137,2088,0,0,0,0,0,0,14.20,14.09,14.22,6.21,49.40
$GC,6981,0.64,146.0,2608,2154,2131,2087,225.2,10.1,456,6985,0.00,2.47,0.00,0.000,4612,0.000,0.065,2619,746,2108,2130,2086,0,0,0,0,0,0,14.59,14.21,14.59,6.22,51.41
$GC,7041,0.64,146.0,2619,747,2127,2086,219.9,9.8,459,7045,0.00,2.42,0.00,0.000,5126,0.000,0.053,2619,2148,2105,2126,2085,0,0,0,0,0,0,14.40,14.26,14.42,6.21,50.63
$GC,7351,0.64,146.0,2619,2148,2126,2084,185.8,11.0,475,7355,0.00,2.50,0.00,0.000,4356,0.000,0.083,2619,3553,2104,2125,2084,0,0,0,0,0,0,14.70,14.25,14.71,6.21,50.98
$GC,7446,0.64,146.0,2619,3553,2126,2085,176.9,11.1,479,7450,0.08,2.35,0.00,0.000,5126,0.341,0.042,2604,2147,2104,2125,2084,0,0,0,0,0,0,14.07,14.38,14.36,6.20,50.90
$GC,7766,0.64,146.0,2604,2148,2126,2081,142.1,10.2,496,7770,0.00,2.47,0.00,0.000,516,0.000,0.065,2614,738,2103,2125,2081,0,0,0,0,0,0,14.76,14.32,14.75,6.20,50.94
$GC,7836,0.64,146.0,2614,738,2123,2080,137.0,9.5,499,7840,0.00,2.42,0.00,0.000,5126,0.000,0.052,2614,2151,2101,2122,2080,0,0,0,0,0,0,14.52,14.36,14.54,6.20,51.14
$GC,8141,0.64,146.0,2615,2153,2123,2079,105.7,10.6,515,8145,0.00,2.47,0.00,0.000,4356,0.000,0.085,2614,3553,2099,2118,2080,0,0,0,0,0,0,14.76,14.30,14.79,6.14,50.59
$GC,8206,0.64,146.0,2615,3553,2123,2080,98.8,10.6,519,8210,0.08,2.33,0.00,0.000,5126,0.342,0.042,2598,2150,2101,2122,2080,0,0,0,0,0,0,14.11,14.42,14.40,6.19,50.19
$GC,8334,0.64,146.0,2598,2150,2122,2080,86.6,9.8,544,8339,0.00,2.45,0.00,0.000,2564,0.000,0.065,2615,742,2100,2122,2079,0,0,0,0,0,0,14.76,14.22,14.76,6.18,50.19
$GC,8396,0.64,146.0,2608,742,2122,2078,80.2,9.7,557,8400,0.00,2.40,0.00,0.000,5126,0.000,0.052,2608,2151,2099,2121,2078,0,0,0,0,0,0,14.53,14.38,14.56,6.18,49.88
$GC,8524,0.64,146.0,2609,2152,2122,2078,66.4,10.6,582,8528,0.00,2.50,0.00,0.000,4356,0.000,0.085,2608,3557,2099,2121,2078,0,0,0,0,0,0,14.76,14.20,14.76,6.17,49.44
$GC,8553,0.64,146.0,2603,3558,2122,2079,63.3,10.2,588,8556,0.00,2.35,0.00,0.000,5126,0.000,0.044,2618,2151,2099,2121,2078,0,0,0,0,0,0,14.47,14.42,14.49,6.17,49.37
$GC,8680,0.70,196.4,2618,2151,2122,2078,54.4,6.4,613,8731,0.00,2.50,45.70,1.244,10756,0.000,0.064,2629,747,1914,1927,1901,0,0,0,0,0,0,14.76,14.26,13.58,6.17,49.44
$GC,8808,0.70,196.4,2629,749,1923,1898,43.1,9.8,639,8811,0.00,2.42,0.00,0.000,5126,0.000,0.052,2629,2156,1909,1923,1896,0,0,0,0,0,0,14.38,14.24,14.40,6.16,49.29
$GC,8935,0.70,196.4,2629,2157,1923,1892,28.1,12.7,664,8940,0.00,2.53,0.00,0.000,4356,0.000,0.088,2629,3553,1907,1922,1893,0,0,0,0,0,0,14.59,14.20,14.59,6.15,50.23
$GC,8978,0.70,196.4,2629,3554,1923,1894,22.0,13.6,673,8982,0.05,2.35,0.00,0.000,5126,0.405,0.044,2623,2152,1907,1922,1893,0,0,0,0,0,0,14.04,14.31,14.31,6.16,50.19
$GC,9103,0.70,196.4,2623,2152,1922,1891,6.4,13.7,698,9107,0.00,2.50,0.00,0.000,516,0.000,0.070,2633,741,1906,1921,1891,0,0,0,0,0,0,14.65,14.18,14.65,6.16,50.70
$STATE,9135,end climb,SURFACE_DEPTH_REACHED
$STATE,9135,begin surface coast
$STATE,9165,end surface coast,CONTROL_FINISHED_OK
$STATE,9165,begin surface
$SM_CCo,9185,19.48,0.246,0,0,1823,220.03
$SM_GC,1.59,5.65,2.55,19.48,0.075,0.096,0.246,268,2101,1823,-6.45,-0.68,220.03,0,0,0,0,0,0,14.41,14.26,14.04
$IRIDIUM_FIX,-6007.06,0.00,170219,041023
$TT8_MAMPS,0.038948,0.358022
$HUMID,51.10
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3616768
$24V_AH,12.87,113.655
$10V_AH,13.38,0.000
$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,13.500,88.075,298.375,19.475,0.000,24.984,24.925,160.699,0.000,0.000,17.154,0.000,7244.163,389.509,1693.547,287.717,0.000,1064.995,0.000,1200.821,0.000,0.540,0.000
$DEVICE_MAMPS,615.825,2209.320,1623.330,245.565,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5592.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.323,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,20775,711
$CAP_FILE_SIZE,96849,0
$CFSIZE,1023623168,960970752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.038,133.56,1
$GPS,170219,092522,-6003.072,-1.402,71,1.0,85,-19.7,0.5,248.9,8,9.0