version: 66.14
glider: 640
mission: 5
dive: 647
start: 2 23 119 1 42 29
data:
$ID,640
$MISSION,5
$DIVE,647
$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,33
$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
$GPS1,230219,013526,-6001.3267,0.8643,13,0.8,38,-19.7,0.5,32.1,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-68.3
$GPS2,230219,014209,-6001.3120,0.9510,9,0.9,15,-19.7,0.0,108.1,9,10.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5957.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,3.2,8034,-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,-146.0,229,2095,1789,1831,0.0,0.0,0,98,0.00,0.00,-82.18,0.000,16386,0.000,0.000,229,2094,3159,3240,3078,0,0,0,0,0,0,14.59,28.83,14.59,6.16,51.26
$GC,101,-0.64,-146.0,229,2095,3241,3080,3.5,-6.8,17,118,6.32,2.75,-5.50,0.000,18948,0.363,2.189,2182,687,3318,3414,3222,0,0,0,0,0,0,13.81,12.86,14.26,6.28,49.92
$GC,197,-0.64,-146.0,2183,687,3416,3224,19.8,-15.6,36,202,0.05,2.42,0.00,0.000,3078,0.343,0.057,2188,2096,3319,3415,3223,0,0,0,0,0,0,13.94,14.26,14.11,6.29,48.77
$GC,327,-0.64,-146.0,2188,2097,3415,3225,41.2,-17.2,62,333,0.00,2.47,0.00,0.000,2308,0.000,0.081,2178,3506,3319,3415,3224,0,0,0,0,0,0,14.72,14.19,14.72,6.30,49.52
$GC,364,-0.64,-146.0,2179,3507,3415,3224,47.7,-16.1,70,368,0.05,2.35,0.00,0.000,3078,0.432,0.044,2193,2100,3319,3415,3223,0,0,0,0,0,0,14.04,14.35,14.30,6.30,49.68
$GC,492,-0.64,-146.0,2194,2098,3415,3225,67.3,-15.6,95,496,0.00,2.45,0.00,0.000,516,0.000,0.065,2193,695,3319,3415,3224,0,0,0,0,0,0,14.76,14.31,14.76,6.30,49.92
$GC,566,-0.64,-146.0,2194,696,3416,3223,78.3,-14.0,110,570,0.00,2.42,0.00,0.000,3078,0.000,0.056,2182,2108,3320,3416,3224,0,0,0,0,0,0,14.50,14.34,14.52,6.29,49.52
$GC,694,-0.64,-146.0,2183,2108,3416,3224,97.2,-15.4,135,697,0.00,2.45,0.00,0.000,2308,0.000,0.081,2172,3505,3319,3415,3224,0,0,0,0,0,0,14.79,14.28,14.79,6.29,49.01
$GC,713,-0.64,-146.0,2173,3506,3416,3224,100.6,-15.1,139,717,0.08,2.35,0.00,0.000,3078,0.356,0.044,2197,2092,3319,3415,3224,0,0,0,0,0,0,14.04,14.39,14.33,6.29,48.46
$GC,1035,-0.64,-146.0,2197,2092,3415,3225,145.0,-13.3,155,1041,0.00,2.40,0.00,0.000,516,0.000,0.063,2197,700,3320,3415,3225,0,0,0,0,0,0,14.86,14.33,14.86,6.28,48.85
$GC,1138,-0.64,-146.0,2197,701,3416,3225,158.4,-13.2,160,1142,0.00,2.40,0.00,0.000,3078,0.000,0.056,2187,2102,3319,3415,3224,0,0,0,0,0,0,14.56,14.40,14.59,6.28,49.01
$GC,1453,-0.64,-146.0,2187,2102,3416,3224,198.8,-12.8,176,1457,0.00,2.45,0.00,0.000,2308,0.000,0.083,2176,3504,3319,3415,3224,0,0,0,0,0,0,14.92,14.34,14.92,6.29,50.23
$GC,1478,-0.64,-146.0,2176,3505,3415,3225,200.7,-12.9,177,1482,0.05,2.33,0.00,0.000,3078,0.424,0.044,2192,2100,3319,3415,3224,0,0,0,0,0,0,14.15,14.47,14.40,6.29,50.70
$GC,1783,-0.64,-146.0,2192,2099,3416,3224,240.0,-12.4,192,1787,0.00,2.42,0.00,0.000,2564,0.000,0.063,2191,691,3318,3413,3224,0,0,0,0,0,0,14.95,14.40,14.95,6.30,50.86
$GC,1848,-0.64,-146.0,2192,692,3416,3225,246.9,-12.5,195,1851,0.00,2.40,0.00,0.000,3078,0.000,0.055,2180,2102,3319,3415,3224,0,0,0,0,0,0,14.60,14.44,14.63,6.30,51.10
$GC,2158,-0.64,-146.0,2182,2102,3416,3224,287.0,-12.5,211,2162,0.00,2.45,0.00,0.000,2308,0.000,0.083,2171,3502,3319,3414,3224,0,0,0,0,0,0,14.97,14.36,14.97,6.30,50.74
$GC,2178,-0.64,-146.0,2170,3504,3415,3225,288.9,-12.5,212,2182,0.08,2.33,0.00,0.000,3078,0.351,0.044,2196,2094,3319,3415,3224,0,0,0,0,0,0,14.12,14.49,14.40,6.30,51.14
$GC,2488,-0.64,-146.0,2195,2094,3416,3225,326.5,-11.9,228,2491,0.00,2.42,0.00,0.000,516,0.000,0.064,2195,691,3319,3415,3224,0,0,0,0,0,0,14.98,14.42,14.99,6.30,51.61
$GC,2548,-0.64,-146.0,2195,692,3415,3225,333.0,-12.0,231,2551,0.00,2.40,0.00,0.000,3078,0.000,0.054,2186,2103,3319,3414,3224,0,0,0,0,0,0,14.62,14.45,14.65,6.31,50.78
$STATE,2695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2695,begin apogee
$GC,2702,-0.15,0.0,2186,2168,3416,3224,351.5,-12.2,239,2829,0.47,0.00,124.25,1.589,10246,0.255,0.000,2351,2168,2717,2776,2658,0,0,0,0,0,0,14.04,13.93,13.12,6.30,51.02
$STATE,2829,end apogee,CONTROL_FINISHED_OK
$STATE,2829,begin loiter
$GC,3118,-0.15,0.0,2352,2169,2773,2645,348.8,3.2,260,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2708,2771,2645,0,0,0,0,0,0,14.60,14.61,14.61,6.27,50.31
$GC,3418,-0.15,0.0,2351,2169,2772,2643,339.1,3.3,275,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2707,2771,2643,0,0,0,0,0,0,14.76,14.76,14.76,6.26,51.18
$GC,3718,-0.15,0.0,2351,2168,2772,2642,329.3,3.3,290,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2706,2771,2642,0,0,0,0,0,0,14.83,14.84,14.84,6.26,51.33
$GC,4018,-0.15,0.0,2351,2168,2772,2642,319.3,3.3,305,4019,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2706,2771,2642,0,0,0,0,0,0,14.88,14.89,14.89,6.26,51.61
$GC,4318,-0.15,0.0,2352,2168,2772,2641,309.3,3.3,320,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2706,2771,2641,0,0,0,0,0,0,14.92,14.92,14.92,6.26,51.26
$GC,4618,-0.15,0.0,2350,2169,2771,2640,299.4,3.2,335,4619,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2168,2706,2771,2641,0,0,0,0,0,0,14.95,14.95,14.95,6.26,51.57
$GC,4918,-0.15,0.0,2351,2169,2772,2642,289.8,3.2,350,4919,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2705,2771,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.26,51.37
$GC,5218,-0.15,0.0,2351,2168,2772,2640,280.6,3.0,365,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2705,2771,2640,0,0,0,0,0,0,14.99,14.99,14.99,6.27,51.61
$GC,5518,-0.15,0.0,2351,2169,2772,2640,271.7,3.0,380,5519,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2705,2771,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.26,52.00
$GC,5818,-0.15,0.0,2351,2168,2772,2640,262.8,3.0,395,5819,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2705,2771,2640,0,0,0,0,0,0,15.01,15.01,15.01,6.26,51.73
$GC,6118,-0.15,0.0,2351,2168,2772,2639,253.3,3.2,410,6119,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2168,2705,2771,2640,0,0,0,0,0,0,15.02,15.02,15.02,6.26,51.57
$STATE,6415,end loiter,LOITER_COMPLETE
$STATE,6415,begin climb
$GC,6418,0.64,146.0,2352,2169,2771,2641,243.4,0.0,425,6558,0.62,2.60,130.40,1.428,11012,0.163,0.063,2606,752,2118,2137,2099,0,0,0,0,0,0,14.28,13.81,13.24,6.26,51.69
$GC,6613,0.64,146.0,2606,752,2132,2094,230.9,8.9,434,6617,0.00,2.42,0.00,0.000,1030,0.000,0.053,2606,2131,2112,2131,2093,0,0,0,0,0,0,14.16,14.04,14.18,6.21,49.52
$GC,6933,0.64,146.0,2606,2132,2125,2087,193.1,11.4,451,6937,0.00,2.55,0.00,0.000,260,0.000,0.082,2607,3561,2105,2125,2086,0,0,0,0,0,0,14.59,14.19,14.59,6.21,50.47
$GC,7013,0.64,146.0,2607,3561,2126,2087,184.6,11.4,455,7017,0.00,2.38,0.00,0.000,5126,0.000,0.043,2617,2151,2105,2125,2085,0,0,0,0,0,0,14.42,14.30,14.44,6.21,50.82
$GC,7324,0.64,146.0,2618,2151,2123,2083,146.7,12.3,471,7327,0.00,2.47,0.00,0.000,4612,0.000,0.067,2629,745,2102,2122,2083,0,0,0,0,0,0,14.71,14.28,14.71,6.20,51.02
$GC,7398,0.64,146.0,2629,745,2121,2083,138.3,11.3,475,7402,0.08,2.42,0.00,0.000,5126,0.311,0.054,2601,2160,2101,2120,2082,0,0,0,0,0,0,14.09,14.32,14.36,6.20,51.14
$GC,7716,0.64,146.0,2602,2161,2121,2080,106.3,9.0,491,7719,0.00,2.47,0.00,0.000,260,0.000,0.083,2600,3554,2100,2120,2080,0,0,0,0,0,0,14.74,14.20,14.75,6.20,51.37
$GC,7760,0.64,146.0,2602,3556,2121,2081,102.5,8.9,493,7764,0.00,2.35,0.00,0.000,5126,0.000,0.044,2611,2142,2100,2120,2080,0,0,0,0,0,0,14.52,14.40,14.55,6.20,50.55
$GC,8065,0.64,146.0,2612,2143,2121,2080,75.7,8.5,550,8068,0.00,2.45,0.00,0.000,4612,0.000,0.067,2622,741,2099,2120,2078,0,0,0,0,0,0,14.76,14.32,14.77,6.19,49.92
$GC,8125,0.65,154.4,2622,742,2120,2080,70.7,8.0,562,8129,0.00,2.40,0.00,0.000,5126,0.000,0.052,2622,2149,2098,2119,2078,0,0,0,0,0,0,14.52,14.36,14.54,6.18,50.07
$GC,8253,0.65,159.5,2624,2147,2120,2078,60.3,8.1,587,8268,0.00,2.53,9.18,1.313,12548,0.000,0.086,2622,3556,2064,2082,2047,0,0,0,0,0,0,14.76,14.41,13.55,6.18,49.44
$GC,8300,0.65,159.5,2622,3557,2085,2049,56.0,9.0,597,8304,0.08,2.35,0.00,0.000,5126,0.332,0.044,2606,2145,2064,2082,2047,0,0,0,0,0,0,14.14,14.42,14.40,6.17,49.56
$GC,8428,0.69,185.5,2606,2145,2082,2046,46.6,7.3,622,8459,0.00,2.45,26.73,1.253,10756,0.000,0.066,2617,745,1957,1972,1943,0,0,0,0,0,0,14.71,14.14,13.57,6.17,49.88
$GC,8515,0.69,185.5,2617,745,1981,1941,39.4,8.5,640,8519,0.00,2.42,0.00,0.000,1030,0.000,0.053,2616,2153,1954,1970,1939,0,0,0,0,0,0,14.40,14.28,14.44,6.16,49.92
$GC,8642,0.69,185.5,2617,2154,1970,1938,27.6,9.6,665,8647,0.00,2.47,0.00,0.000,260,0.000,0.085,2617,3550,1950,1970,1931,0,0,0,0,0,0,14.63,14.19,14.63,6.17,50.39
$GC,8690,0.69,185.5,2612,3551,1970,1938,22.4,10.3,675,8694,0.00,2.35,0.00,0.000,5126,0.000,0.043,2627,2147,1953,1969,1937,0,0,0,0,0,0,14.45,14.33,14.48,6.17,50.55
$GC,8818,0.69,185.5,2627,2147,1969,1935,9.6,10.2,700,8823,0.00,2.45,0.00,0.000,4612,0.000,0.067,2639,742,1951,1968,1935,0,0,0,0,0,0,14.66,14.23,14.66,6.18,51.45
$GC,8875,0.69,185.5,2639,743,1969,1934,3.3,10.3,712,8878,0.00,2.08,0.00,0.000,1027,0.000,0.049,2639,1969,1950,1967,1934,0,0,0,0,0,0,28.83,14.69,28.83,6.17,50.94
$STATE,8879,end climb,SURFACE_DEPTH_REACHED
$STATE,8879,begin surface coast
$STATE,8907,end surface coast,CONTROL_FINISHED_OK
$STATE,8907,begin surface
$SM_CCo,8925,30.70,0.243,0,0,1821,220.03
$SM_GC,1.64,5.65,0.22,30.70,0.062,0.090,0.243,220,2119,1821,-6.48,-0.79,220.03,0,0,0,0,0,0,14.51,14.42,14.04
$IRIDIUM_FIX,-6005.20,0.00,220219,225932
$TT8_MAMPS,0.038948,0.237433
$HUMID,50.94
$INTERNAL_PRESSURE,6.10897
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3596288
$24V_AH,12.86,123.142
$10V_AH,13.45,0.000
$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,13.525,87.600,290.550,30.700,0.000,26.045,44.025,126.166,0.000,0.000,16.371,0.000,6989.833,314.459,1743.851,307.937,0.000,1062.766,0.000,1174.098,0.000,0.540,0.000
$DEVICE_MAMPS,432.225,2188.665,1588.905,242.505,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2501.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.273,0.000,0.000,0.000
$MEM,344060
$DATA_FILE_SIZE,20758,719
$CAP_FILE_SIZE,96121,0
$CFSIZE,1023623168,955842560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.019,91.53,1
$GPS,230219,041255,-6000.818,0.788,13,0.8,41,-19.7,0.6,104.3,9,9.6