version: 66.14
glider: 640
mission: 5
dive: 621
start: 2 20 119 4 13 1
data:
$ID,640
$MISSION,5
$DIVE,621
$N_DIVES,700
$STOP_T,2271912
$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,55
$R_STBD_OVSHOOT,28
$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
$GPS1,200219,040619,-5952.7373,-1.5123,13,0.7,37,-19.7,0.6,42.8,11,5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.1
$GPS2,200219,041242,-5952.7031,-1.4917,9,0.7,15,-19.7,0.6,70.9,11,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,19.8,23567,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-0.64,-146.0,222,2072,1791,1829,0.0,0.0,0,103,0.00,0.00,-86.40,0.000,16386,0.000,0.000,220,2071,3208,3292,3124,0,0,0,0,0,0,14.60,28.83,14.61,6.16,51.26
$GC,106,-0.64,-146.0,222,2072,3293,3126,3.6,-8.0,18,123,6.28,2.90,-3.70,0.000,18692,0.353,2.212,2177,3504,3317,3412,3223,0,0,0,0,0,0,13.91,12.90,14.28,6.28,50.11
$GC,179,-0.64,-146.0,2178,3505,3415,3224,17.2,-15.8,33,183,0.05,2.35,0.00,0.000,3078,0.427,0.044,2192,2111,3319,3414,3224,0,0,0,0,0,0,14.02,14.30,14.28,6.29,49.01
$GC,307,-0.64,-146.0,2193,2110,3415,3224,37.9,-16.4,58,313,0.00,2.47,0.00,0.000,2564,0.000,0.066,2192,687,3319,3414,3224,0,0,0,0,0,0,14.71,14.26,14.71,6.30,49.52
$GC,359,-0.64,-146.0,2193,687,3415,3224,46.7,-15.4,69,363,0.00,2.45,0.00,0.000,3078,0.000,0.057,2182,2107,3319,3414,3224,0,0,0,0,0,0,14.47,14.31,14.49,6.30,49.60
$GC,485,-0.64,-146.0,2182,2108,3415,3225,66.4,-15.8,94,488,0.00,2.47,0.00,0.000,2564,0.000,0.065,2182,688,3319,3414,3224,0,0,0,0,0,0,14.78,14.31,14.78,6.30,50.03
$GC,515,-0.64,-146.0,2182,689,3415,3225,71.2,-15.9,100,519,0.08,2.45,0.00,0.000,3078,0.357,0.058,2196,2106,3319,3414,3224,0,0,0,0,0,0,14.03,14.33,14.31,6.30,50.07
$GC,642,-0.64,-146.0,2196,2106,3415,3225,89.6,-14.3,125,647,0.00,2.50,0.00,0.000,260,0.000,0.086,2186,3510,3319,3414,3224,0,0,0,0,0,0,14.78,14.27,14.78,6.29,49.09
$GC,679,-0.64,-146.0,2186,3511,3416,3224,95.3,-14.3,133,683,0.00,2.35,0.00,0.000,3078,0.000,0.044,2185,2100,3319,3414,3224,0,0,0,0,0,0,14.52,14.39,14.54,6.29,48.74
$GC,815,-0.64,-146.0,2186,2100,3416,3224,114.4,-14.3,145,818,0.00,2.45,0.00,0.000,2564,0.000,0.066,2185,690,3318,3413,3224,0,0,0,0,0,0,14.84,14.34,14.85,6.28,48.62
$GC,879,-0.64,-146.0,2186,690,3415,3224,122.0,-13.9,148,883,0.05,2.42,0.00,0.000,3078,0.430,0.057,2190,2104,3319,3414,3224,0,0,0,0,0,0,14.09,14.38,14.35,6.28,48.34
$GC,1184,-0.64,-146.0,2190,2105,3415,3225,160.4,-11.9,163,1185,0.00,0.00,0.00,0.000,2054,0.000,0.000,2190,2104,3319,3414,3225,0,0,0,0,0,0,14.90,14.90,14.90,6.29,50.27
$GC,1485,-0.64,-146.0,2191,2105,3416,3224,197.6,-12.9,178,1488,0.00,2.45,0.00,0.000,2564,0.000,0.064,2191,688,3319,3414,3225,0,0,0,0,0,0,14.93,14.40,14.93,6.29,50.78
$GC,1509,-0.64,-146.0,2191,688,3415,3224,199.6,-13.1,179,1513,0.00,2.42,0.00,0.000,3078,0.000,0.057,2180,2106,3319,3414,3224,0,0,0,0,0,0,14.59,14.42,14.62,6.29,50.55
$GC,1814,-0.64,-146.0,2180,2106,3416,3225,243.7,-14.2,194,1815,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2106,3319,3414,3225,0,0,0,0,0,0,14.95,14.95,14.96,6.30,51.29
$GC,2114,-0.64,-146.0,2180,2106,3415,3226,285.6,-13.7,209,2115,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2106,3319,3414,3225,0,0,0,0,0,0,14.97,14.98,14.98,6.31,51.92
$GC,2415,-0.64,-146.0,2180,2106,3415,3224,325.0,-12.9,224,2418,0.00,2.42,0.00,0.000,2564,0.000,0.062,2179,696,3319,3414,3225,0,0,0,0,0,0,14.99,14.43,15.00,6.30,51.81
$GC,2445,-0.64,-146.0,2179,696,3415,3226,327.0,-13.0,225,2449,0.08,2.40,0.00,0.000,3078,0.363,0.055,2192,2105,3319,3414,3225,0,0,0,0,0,0,14.12,14.46,14.41,6.30,51.69
$STATE,2622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2622,begin apogee
$GC,2628,-0.15,0.0,2193,2171,3415,3224,350.8,-12.1,235,2756,0.45,0.00,124.40,1.582,10246,0.253,0.000,2349,2170,2717,2777,2658,0,0,0,0,0,0,14.07,13.94,13.16,6.31,51.61
$STATE,2756,end apogee,CONTROL_FINISHED_OK
$STATE,2756,begin loiter
$GC,3044,-0.15,0.0,2350,2171,2772,2644,348.6,3.0,256,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2171,2707,2771,2644,0,0,0,0,0,0,14.60,14.60,14.60,6.27,51.33
$GC,3344,-0.15,0.0,2350,2170,2771,2644,340.6,2.7,271,3345,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2171,2706,2770,2643,0,0,0,0,0,0,14.76,14.76,14.76,6.27,51.18
$GC,3644,-0.15,0.0,2350,2171,2772,2642,333.0,2.5,286,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2170,2706,2771,2642,0,0,0,0,0,0,14.83,14.83,14.83,6.27,51.22
$GC,3945,-0.15,0.0,2349,2171,2771,2642,325.1,2.7,301,3945,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2171,2705,2770,2641,0,0,0,0,0,0,14.88,14.89,14.89,6.26,51.45
$GC,4244,-0.15,0.0,2350,2171,2772,2640,317.2,2.6,316,4245,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2171,2705,2771,2640,0,0,0,0,0,0,14.92,14.92,14.92,6.26,51.33
$GC,4545,-0.15,0.0,2350,2171,2772,2640,309.2,2.8,331,4546,0.00,0.00,0.00,0.000,2054,0.000,0.000,2350,2170,2705,2771,2640,0,0,0,0,0,0,14.95,14.95,14.95,6.26,51.33
$GC,4845,-0.15,0.0,2349,2171,2771,2641,301.4,2.7,346,4846,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2171,2705,2771,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.26,51.73
$GC,5145,-0.15,0.0,2350,2171,2772,2640,293.6,2.7,361,5146,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2171,2705,2771,2640,0,0,0,0,0,0,14.99,14.99,14.99,6.26,51.92
$GC,5445,-0.15,0.0,2350,2171,2771,2640,285.2,2.9,376,5446,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2170,2705,2770,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.26,51.89
$GC,5745,-0.15,0.0,2349,2172,2771,2640,276.2,3.1,391,5746,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2171,2705,2770,2640,0,0,0,0,0,0,15.01,15.01,15.01,6.26,52.24
$GC,6045,-0.15,0.0,2349,2171,2771,2640,267.1,3.1,406,6046,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2171,2705,2770,2640,0,0,0,0,0,0,15.02,15.02,15.02,6.26,51.57
$STATE,6342,end loiter,LOITER_COMPLETE
$STATE,6342,begin climb
$GC,6345,0.64,146.0,2349,2171,2771,2641,257.7,0.0,421,6486,0.62,2.55,129.02,1.434,10500,0.167,0.082,2594,3541,2119,2139,2099,0,0,0,0,0,0,14.28,13.95,13.26,6.26,51.61
$GC,6566,0.64,146.0,2594,3542,2137,2091,241.1,10.1,432,6570,0.00,2.38,0.00,0.000,1030,0.000,0.042,2603,2151,2113,2136,2091,0,0,0,0,0,0,14.19,14.09,14.21,6.21,50.00
$GC,6881,0.64,146.0,2604,2152,2129,2086,207.6,10.7,448,6885,0.00,2.50,0.00,0.000,516,0.000,0.067,2615,740,2106,2128,2084,0,0,0,0,0,0,14.59,14.20,14.59,6.21,50.70
$GC,6946,0.64,146.0,2616,740,2126,2086,201.8,10.6,451,6950,0.00,2.40,0.00,0.000,5126,0.000,0.055,2615,2130,2104,2125,2084,0,0,0,0,0,0,14.40,14.26,14.43,6.21,50.86
$GC,7256,0.64,146.0,2616,2131,2125,2082,165.9,11.2,467,7260,0.00,2.55,0.00,0.000,4356,0.000,0.087,2612,3555,2103,2124,2082,0,0,0,0,0,0,14.71,14.24,14.71,6.21,51.18
$GC,7341,0.64,146.0,2616,3556,2126,2082,157.4,11.3,471,7345,0.08,2.35,0.00,0.000,5126,0.340,0.044,2600,2149,2103,2124,2082,0,0,0,0,0,0,14.07,14.36,14.35,6.21,51.33
$GC,7646,0.64,146.0,2597,2151,2124,2082,124.0,10.9,486,7650,0.00,2.47,0.00,0.000,516,0.000,0.067,2610,744,2101,2122,2080,0,0,0,0,0,0,14.76,14.31,14.76,6.20,50.90
$GC,7691,0.64,146.0,2610,745,2121,2080,120.1,11.0,488,7695,0.00,2.42,0.00,0.000,5126,0.000,0.054,2609,2161,2099,2120,2079,0,0,0,0,0,0,14.51,14.35,14.54,6.20,51.22
$GC,7996,0.64,146.0,2611,2162,2121,2080,85.5,10.0,521,8000,0.00,2.47,0.00,0.000,4356,0.000,0.086,2610,3551,2099,2120,2078,0,0,0,0,0,0,14.78,14.28,14.78,6.19,50.35
$GC,8081,0.64,146.0,2610,3552,2120,2080,77.0,9.7,538,8085,0.05,2.35,0.00,0.000,5126,0.408,0.043,2603,2141,2099,2120,2078,0,0,0,0,0,0,14.11,14.41,14.40,6.19,50.19
$GC,8208,0.64,151.7,2603,2142,2121,2077,66.4,8.1,563,8214,0.00,2.45,0.00,0.000,516,0.000,0.067,2613,743,2099,2121,2078,0,0,0,0,0,0,14.76,14.32,14.76,6.18,49.64
$GC,8256,0.67,171.2,2614,744,2121,2077,62.6,7.6,573,8284,0.00,2.40,20.98,1.280,9222,0.000,0.054,2613,2148,2018,2036,2001,0,0,0,0,0,0,14.50,14.36,13.65,6.18,49.68
$GC,8406,0.67,173.8,2614,2148,2033,1995,50.0,8.2,603,8410,0.00,2.50,0.00,0.000,260,0.000,0.086,2613,3553,2013,2031,1995,0,0,0,0,0,0,14.68,14.26,14.68,6.17,49.96
$GC,8431,0.67,176.5,2614,3554,2032,1997,48.0,8.2,608,8440,0.00,2.38,5.50,1.228,13318,0.000,0.045,2624,2144,2000,2016,1984,0,0,0,0,0,0,14.48,14.36,13.44,6.17,49.52
$GC,8561,0.67,176.5,2624,2145,2013,1979,37.4,8.4,634,8565,0.00,2.45,0.00,0.000,4612,0.000,0.067,2635,743,1995,2012,1978,0,0,0,0,0,0,14.66,14.28,14.66,6.17,49.80
$GC,8621,0.69,186.9,2636,744,2012,1979,32.5,7.9,646,8635,0.00,2.42,10.62,1.265,13318,0.000,0.056,2635,2153,1960,1974,1946,0,0,0,0,0,0,14.47,14.31,13.54,6.17,50.63
$GC,8756,0.69,186.9,2635,2154,1969,1938,19.2,10.7,673,8760,0.00,2.50,0.00,0.000,4356,0.000,0.086,2635,3559,1952,1968,1937,0,0,0,0,0,0,14.63,14.23,14.63,6.17,51.18
$GC,8811,0.69,186.9,2636,3559,1969,1937,12.9,11.1,684,8815,0.08,2.38,0.00,0.000,5126,0.342,0.044,2621,2146,1952,1967,1937,0,0,0,0,0,0,14.06,14.34,14.31,6.16,51.14
$STATE,8908,end climb,SURFACE_DEPTH_REACHED
$STATE,8908,begin surface coast
$STATE,8933,end surface coast,CONTROL_FINISHED_OK
$STATE,8933,begin surface
$SM_CCo,8951,30.70,0.243,0,0,1821,220.03
$SM_GC,1.18,5.68,0.05,30.70,0.081,0.202,0.243,237,2068,1821,-6.45,1.07,220.03,0,0,0,0,0,0,14.44,14.42,14.07
$IRIDIUM_FIX,-5952.63,0.00,200219,013204
$TT8_MAMPS,0.038199,0.346787
$HUMID,51.06
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3604608
$24V_AH,12.90,118.608
$10V_AH,12.97,0.000
$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,13.475,78.575,290.525,30.700,0.000,25.592,44.022,116.860,0.000,0.000,16.150,0.000,7085.951,393.098,1596.316,286.560,0.000,1036.077,0.000,1140.095,0.000,0.539,0.000
$DEVICE_MAMPS,429.930,2211.615,1582.020,242.505,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2613.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.226,0.000,0.000,0.000
$MEM,344116
$DATA_FILE_SIZE,17300,709
$CAP_FILE_SIZE,93838,0
$CFSIZE,1023623168,958414848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.036,267.87,1
$GPS,200219,064352,-5952.118,-1.893,37,1.0,41,-19.7,0.8,287.3,8,10.0