version: 66.14
glider: 640
mission: 5
dive: 652
start: 2 23 119 14 53 8
data:
$ID,640
$MISSION,5
$DIVE,652
$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,34
$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
$GPS1,230219,144603,-5959.5605,0.6189,30,0.8,33,-19.7,0.6,117.7,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-67.6
$GPS2,230219,145248,-5959.5605,0.6921,9,0.8,13,-19.7,0.0,213.0,10,9.7
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5957.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,359.7,4785,-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,-146.0,222,2093,1791,1832,0.0,0.0,0,98,0.00,0.00,-81.50,0.000,16386,0.000,0.000,221,2093,3134,3213,3055,0,0,0,0,0,0,14.59,28.83,14.59,6.16,51.22
$GC,101,-0.64,-146.0,222,2093,3216,3055,3.1,-5.8,17,119,6.25,2.78,-6.65,0.000,18692,0.350,2.202,2161,3500,3318,3414,3222,0,0,0,0,0,0,13.87,12.80,14.28,6.27,50.35
$GC,207,-0.64,-146.0,2161,3501,3416,3224,20.4,-16.1,38,213,0.10,2.35,0.00,0.000,3078,0.314,0.043,2202,2096,3319,3415,3224,0,0,0,0,0,0,13.99,14.33,14.15,6.30,49.17
$GC,337,-0.64,-146.0,2203,2096,3416,3224,40.6,-15.2,64,342,0.00,2.42,0.00,0.000,4612,0.000,0.065,2202,698,3319,3415,3224,0,0,0,0,0,0,14.73,14.24,14.73,6.30,49.52
$GC,380,-0.64,-146.0,2201,698,3415,3224,47.3,-14.1,73,383,0.00,2.40,0.00,0.000,3078,0.000,0.055,2192,2099,3319,3415,3224,0,0,0,0,0,0,14.47,14.32,14.50,6.30,49.37
$GC,505,-0.64,-146.0,2193,2100,3416,3224,64.0,-12.6,98,508,0.00,2.45,0.00,0.000,2564,0.000,0.063,2191,688,3319,3415,3224,0,0,0,0,0,0,14.79,14.32,14.79,6.30,50.31
$GC,555,-0.64,-146.0,2192,690,3415,3225,70.4,-12.2,108,558,0.00,2.42,0.00,0.000,3078,0.000,0.057,2181,2100,3319,3415,3224,0,0,0,0,0,0,14.51,14.35,14.53,6.30,49.60
$GC,680,-0.64,-146.0,2182,2101,3415,3224,87.4,-14.3,133,684,0.00,2.47,0.00,0.000,2308,0.000,0.082,2171,3504,3319,3415,3224,0,0,0,0,0,0,14.82,14.30,14.82,6.30,49.29
$GC,720,-0.64,-146.0,2171,3505,3415,3225,93.2,-14.6,141,723,0.08,2.33,0.00,0.000,3078,0.363,0.044,2195,2100,3319,3415,3224,0,0,0,0,0,0,14.05,14.41,14.34,6.29,48.97
$GC,850,-0.64,-146.0,2195,2100,3416,3224,111.1,-13.6,155,853,0.00,2.45,0.00,0.000,516,0.000,0.064,2195,691,3319,3415,3224,0,0,0,0,0,0,14.85,14.35,14.86,6.29,48.46
$GC,885,-0.64,-146.0,2196,693,3415,3226,113.8,-13.5,156,888,0.00,2.42,0.00,0.000,3078,0.000,0.055,2185,2109,3320,3415,3225,0,0,0,0,0,0,14.54,14.38,14.57,6.28,48.22
$GC,1205,-0.64,-146.0,2186,2109,3416,3224,159.4,-13.8,173,1208,0.00,2.45,0.00,0.000,2564,0.000,0.063,2185,693,3319,3415,3223,0,0,0,0,0,0,14.90,14.38,14.91,6.28,49.64
$GC,1230,-0.64,-146.0,2185,693,3416,3225,161.5,-13.9,174,1234,0.08,2.40,0.00,0.000,3078,0.360,0.055,2198,2101,3320,3415,3225,0,0,0,0,0,0,14.09,14.42,14.38,6.29,49.52
$GC,1535,-0.64,-146.0,2199,2102,3416,3225,201.8,-12.6,189,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2101,3319,3415,3224,0,0,0,0,0,0,14.94,14.94,14.94,6.29,50.23
$GC,1835,-0.64,-146.0,2198,2102,3415,3225,239.6,-12.6,204,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2101,3320,3415,3225,0,0,0,0,0,0,14.96,14.97,14.97,6.30,50.98
$GC,2135,-0.64,-146.0,2198,2102,3416,3225,276.9,-12.4,219,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2101,3320,3415,3225,0,0,0,0,0,0,14.98,14.99,14.98,6.30,51.45
$GC,2435,-0.64,-146.0,2198,2102,3416,3225,312.3,-11.5,234,2438,0.00,2.47,0.00,0.000,260,0.000,0.083,2188,3513,3319,3415,3224,0,0,0,0,0,0,15.00,14.38,15.00,6.30,51.22
$GC,2460,-0.64,-146.0,2189,3513,3415,3224,314.7,-11.5,235,2463,0.00,2.33,0.00,0.000,3078,0.000,0.043,2188,2095,3319,3415,3224,0,0,0,0,0,0,14.66,14.52,14.68,6.31,51.14
$STATE,2767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2767,begin apogee
$GC,2774,-0.15,0.0,2189,2164,3416,3224,352.0,-11.9,251,2901,0.45,0.00,124.22,1.593,10246,0.249,0.000,2345,2164,2718,2777,2659,0,0,0,0,0,0,14.07,13.94,13.14,6.31,51.02
$STATE,2901,end apogee,CONTROL_FINISHED_OK
$STATE,2901,begin loiter
$GC,3190,-0.15,0.0,2346,2165,2772,2646,348.7,3.3,272,3190,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2164,2708,2771,2645,0,0,0,0,0,0,14.62,14.62,14.62,6.27,50.51
$GC,3490,-0.15,0.0,2346,2164,2772,2643,339.3,3.0,287,3490,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2163,2706,2770,2643,0,0,0,0,0,0,14.76,14.77,14.76,6.27,51.61
$GC,3790,-0.15,0.0,2346,2165,2772,2643,330.9,2.7,302,3790,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2164,2706,2770,2642,0,0,0,0,0,0,14.85,14.85,14.85,6.26,51.49
$GC,4090,-0.15,0.0,2346,2164,2771,2643,323.7,2.2,317,4090,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2164,2706,2771,2642,0,0,0,0,0,0,14.90,14.90,14.90,6.26,51.26
$GC,4390,-0.15,0.0,2346,2164,2772,2643,317.0,2.2,332,4390,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2164,2705,2770,2641,0,0,0,0,0,0,14.93,14.93,14.93,6.26,51.96
$GC,4690,-0.15,0.0,2346,2164,2772,2641,310.4,2.2,347,4690,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2164,2706,2770,2642,0,0,0,0,0,0,14.95,14.96,14.96,6.26,51.49
$GC,4990,-0.15,0.0,2346,2164,2771,2642,303.1,2.7,362,4991,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2163,2706,2771,2641,0,0,0,0,0,0,14.97,14.97,14.98,6.27,51.45
$GC,5290,-0.15,0.0,2346,2164,2772,2640,294.5,3.1,377,5291,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2164,2706,2771,2641,0,0,0,0,0,0,15.00,15.00,15.00,6.26,52.04
$GC,5590,-0.15,0.0,2346,2164,2771,2641,284.4,3.4,392,5591,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2164,2705,2771,2640,0,0,0,0,0,0,15.01,15.01,15.01,6.27,51.45
$GC,5890,-0.15,0.0,2346,2165,2771,2641,273.4,3.7,407,5891,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2164,2705,2771,2640,0,0,0,0,0,0,15.02,15.02,15.02,6.26,51.69
$GC,6190,-0.15,0.0,2346,2165,2771,2641,262.8,3.4,422,6191,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2164,2705,2771,2640,0,0,0,0,0,0,15.02,15.03,15.02,6.26,51.53
$STATE,6487,end loiter,LOITER_COMPLETE
$STATE,6487,begin climb
$GC,6490,0.64,146.0,2346,2164,2773,2640,252.3,0.0,437,6630,0.65,2.55,130.20,1.429,11012,0.173,0.083,2597,3540,2121,2141,2101,0,0,0,0,0,0,14.26,13.81,13.23,6.26,52.04
$GC,6691,0.64,146.0,2598,3540,2139,2095,237.0,10.1,447,6694,0.00,2.35,0.00,0.000,5126,0.000,0.041,2608,2155,2116,2138,2095,0,0,0,0,0,0,14.18,14.08,14.20,6.21,49.13
$GC,7005,0.64,146.0,2607,2156,2131,2089,200.2,11.7,463,7009,0.00,2.50,0.00,0.000,4612,0.000,0.067,2619,740,2108,2130,2087,0,0,0,0,0,0,14.59,14.21,14.60,6.21,50.59
$GC,7075,0.64,146.0,2620,741,2127,2087,194.1,11.3,466,7079,0.00,2.42,0.00,0.000,5126,0.000,0.053,2619,2141,2106,2126,2087,0,0,0,0,0,0,14.40,14.26,14.44,6.21,50.43
$GC,7395,0.64,146.0,2620,2142,2127,2085,154.2,12.1,483,7399,0.00,2.50,0.00,0.000,4356,0.000,0.083,2619,3553,2105,2125,2086,0,0,0,0,0,0,14.71,14.26,14.71,6.20,51.14
$GC,7455,0.64,146.0,2620,3554,2126,2086,146.7,12.4,486,7459,0.08,2.35,0.00,0.000,5126,0.337,0.044,2605,2148,2105,2125,2086,0,0,0,0,0,0,14.07,14.37,14.35,6.21,50.74
$GC,7776,0.64,146.0,2604,2148,2125,2085,112.2,10.7,502,7779,0.00,2.47,0.00,0.000,516,0.000,0.066,2610,742,2103,2123,2084,0,0,0,0,0,0,14.76,14.32,14.76,6.20,50.66
$GC,7845,0.64,146.0,2615,742,2122,2083,106.3,10.8,505,7849,0.00,2.40,0.00,0.000,5126,0.000,0.053,2614,2151,2101,2120,2083,0,0,0,0,0,0,14.52,14.36,14.54,6.20,50.63
$GC,8150,0.64,146.0,2615,2152,2122,2083,73.4,9.7,558,8154,0.00,2.50,0.00,0.000,4356,0.000,0.085,2615,3562,2101,2121,2082,0,0,0,0,0,0,14.77,14.28,14.78,6.19,49.92
$GC,8235,0.64,146.0,2615,3562,2122,2083,64.7,10.0,575,8239,0.08,2.35,0.00,0.000,5126,0.338,0.043,2599,2148,2101,2121,2082,0,0,0,0,0,0,14.09,14.41,14.38,6.19,49.72
$GC,8363,0.64,149.5,2600,2148,2122,2081,54.1,8.2,600,8368,0.00,2.47,0.00,0.000,2564,0.000,0.067,2608,727,2101,2121,2081,0,0,0,0,0,0,14.76,14.30,14.76,6.17,49.88
$GC,8435,0.68,179.9,2609,728,2122,2080,48.4,7.2,615,8470,0.00,2.42,29.80,1.261,11270,0.000,0.051,2609,2153,1985,1998,1972,0,0,0,0,0,0,14.52,14.37,13.60,6.17,49.88
$GC,8591,0.68,179.9,2609,2153,1993,1961,36.2,8.6,646,8594,0.00,0.00,0.00,0.000,2054,0.000,0.000,2609,2152,1976,1992,1961,0,0,0,0,0,0,14.64,14.64,14.64,6.16,49.56
$GC,8715,0.68,179.9,2609,2154,1993,1960,24.8,9.5,671,8719,0.00,2.50,0.00,0.000,2308,0.000,0.086,2616,3556,1975,1992,1959,0,0,0,0,0,0,14.66,14.23,14.66,6.17,49.88
$GC,8740,0.68,179.9,2609,3557,1992,1961,22.3,10.3,676,8744,0.00,2.38,0.00,0.000,1030,0.000,0.045,2619,2142,1975,1992,1959,0,0,0,0,0,0,14.45,14.34,14.48,6.17,50.35
$GC,8868,0.68,179.9,2620,2142,1993,1958,10.1,10.2,701,8874,0.00,2.47,0.00,0.000,516,0.000,0.068,2630,733,1974,1991,1958,0,0,0,0,0,0,14.67,14.21,14.67,6.17,50.78
$GC,8930,0.68,179.9,2631,734,1992,1958,4.1,9.1,714,8934,0.00,2.42,0.00,0.000,5126,0.000,0.055,2631,2147,1974,1990,1958,0,0,0,0,0,0,14.47,14.32,14.50,6.18,50.94
$STATE,8942,end climb,SURFACE_DEPTH_REACHED
$STATE,8942,begin surface coast
$STATE,8972,end surface coast,CONTROL_FINISHED_OK
$STATE,8972,begin surface
$SM_CCo,8990,36.00,0.242,0,0,1822,220.03
$SM_GC,1.43,5.70,0.08,36.00,0.073,0.158,0.242,221,2069,1822,-6.49,0.90,220.03,0,0,0,0,0,0,14.47,14.42,14.04
$IRIDIUM_FIX,-6002.25,0.00,230219,121206
$TT8_MAMPS,0.038948,0.181258
$HUMID,51.06
$INTERNAL_PRESSURE,6.10897
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3594688
$24V_AH,12.80,124.025
$10V_AH,13.39,0.000
$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,13.450,73.400,284.225,36.000,0.000,32.251,43.455,124.001,0.000,0.000,14.335,0.000,7122.636,311.674,1701.958,292.813,0.000,1036.240,0.000,1155.737,0.000,0.540,0.000
$DEVICE_MAMPS,362.610,2202.435,1592.730,241.740,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2497.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.322,0.000,0.000,0.000
$MEM,344060
$DATA_FILE_SIZE,20777,723
$CAP_FILE_SIZE,92671,0
$CFSIZE,1023623168,955351040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.012,30.75,1
$GPS,230219,172431,-5958.971,0.428,15,0.8,26,-19.7,0.6,32.8,10,9.1