version: 66.14
glider: 640
mission: 5
dive: 653
start: 2 23 119 17 31 7
data:
$ID,640
$MISSION,5
$DIVE,653
$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,59
$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
$GPS1,230219,172431,-5958.9712,0.4282,15,0.8,26,-19.7,0.6,32.8,10,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.0
$GPS2,230219,173047,-5958.9346,0.4422,7,0.8,14,-19.7,0.4,67.6,10,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5957.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,11.4,3606,-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,-146.0,221,2070,1789,1835,0.0,0.0,0,98,0.00,0.00,-81.85,0.000,16386,0.000,0.000,221,2069,3131,3213,3049,0,0,0,0,0,0,14.59,28.83,14.60,6.16,51.57
$GC,101,-0.64,-146.0,222,2070,3214,3050,3.0,-5.7,17,120,6.25,2.85,-6.78,0.000,18692,0.347,2.205,2172,3501,3316,3413,3220,0,0,0,0,0,0,13.88,13.08,14.28,6.27,50.11
$GC,165,-0.64,-146.0,2173,3501,3415,3222,13.7,-14.6,30,169,0.08,2.30,0.00,0.000,3078,0.353,0.043,2197,2129,3318,3414,3222,0,0,0,0,0,0,14.01,14.33,14.28,6.29,49.56
$GC,293,-0.64,-146.0,2197,2128,3415,3223,33.3,-16.2,55,298,0.00,2.50,0.00,0.000,516,0.000,0.064,2197,694,3318,3414,3222,0,0,0,0,0,0,14.69,14.23,14.69,6.30,49.96
$GC,350,-0.64,-146.0,2198,695,3415,3222,42.7,-14.9,67,354,0.00,2.42,0.00,0.000,3078,0.000,0.057,2187,2099,3318,3414,3222,0,0,0,0,0,0,14.46,14.30,14.49,6.30,50.23
$GC,475,-0.64,-146.0,2188,2099,3415,3223,63.0,-15.1,92,479,0.00,2.50,0.00,0.000,2308,0.000,0.084,2176,3510,3318,3414,3223,0,0,0,0,0,0,14.76,14.26,14.76,6.30,49.52
$GC,535,-0.64,-146.0,2176,3510,3415,3224,72.1,-14.8,104,539,0.05,2.35,0.00,0.000,3078,0.422,0.044,2192,2095,3318,3414,3222,0,0,0,0,0,0,14.07,14.38,14.33,6.30,49.40
$GC,660,-0.64,-146.0,2193,2093,3415,3223,90.1,-14.4,129,664,0.00,2.45,0.00,0.000,2564,0.000,0.066,2192,693,3318,3414,3223,0,0,0,0,0,0,14.76,14.32,14.75,6.29,48.66
$GC,705,-0.64,-146.0,2192,692,3415,3223,97.1,-15.4,138,709,0.00,2.42,0.00,0.000,3078,0.000,0.056,2182,2104,3318,3414,3223,0,0,0,0,0,0,14.52,14.35,14.54,6.29,48.26
$GC,845,-0.64,-146.0,2182,2106,3415,3224,118.5,-15.5,148,846,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2105,3318,3414,3223,0,0,0,0,0,0,14.84,14.84,14.84,6.29,48.34
$GC,1145,-0.64,-146.0,2183,2105,3415,3222,163.4,-14.3,163,1146,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2104,3318,3414,3223,0,0,0,0,0,0,14.89,14.89,14.89,6.29,49.56
$GC,1445,-0.64,-146.0,2183,2105,3414,3223,204.1,-13.3,178,1446,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2104,3318,3414,3223,0,0,0,0,0,0,14.92,14.92,14.92,6.29,50.47
$GC,1745,-0.64,-146.0,2183,2105,3415,3223,242.8,-12.8,193,1749,0.00,2.45,0.00,0.000,2308,0.000,0.083,2172,3508,3318,3414,3223,0,0,0,0,0,0,14.95,14.36,14.95,6.30,50.94
$GC,1780,-0.64,-146.0,2172,3509,3414,3224,247.4,-12.9,195,1784,0.08,2.33,0.00,0.000,3078,0.346,0.044,2197,2098,3318,3414,3223,0,0,0,0,0,0,14.13,14.48,14.40,6.30,51.22
$GC,2095,-0.64,-146.0,2197,2097,3415,3224,284.5,-11.7,211,2099,0.00,2.42,0.00,0.000,516,0.000,0.063,2197,696,3318,3414,3223,0,0,0,0,0,0,14.96,14.42,14.97,6.30,51.69
$GC,2155,-0.64,-146.0,2197,696,3415,3223,291.5,-11.8,214,2159,0.00,2.40,0.00,0.000,3078,0.000,0.054,2187,2105,3318,3414,3223,0,0,0,0,0,0,14.62,14.45,14.64,6.30,50.94
$GC,2475,-0.64,-146.0,2187,2105,3415,3224,329.6,-11.9,230,2479,0.00,2.42,0.00,0.000,2308,0.000,0.083,2176,3502,3318,3414,3223,0,0,0,0,0,0,14.97,14.38,14.98,6.31,51.18
$GC,2501,-0.64,-146.0,2176,3503,3415,3224,331.4,-12.0,231,2504,0.05,2.33,0.00,0.000,3078,0.422,0.044,2192,2089,3318,3414,3223,0,0,0,0,0,0,14.18,14.50,14.43,6.30,51.22
$STATE,2647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2647,begin apogee
$GC,2655,-0.15,0.0,2192,2157,3415,3224,350.3,-11.7,239,2781,0.45,0.00,123.85,1.589,10246,0.249,0.000,2350,2156,2716,2775,2657,0,0,0,0,0,0,14.07,13.93,13.14,6.31,50.94
$STATE,2782,end apogee,CONTROL_FINISHED_OK
$STATE,2782,begin loiter
$GC,3070,-0.15,0.0,2350,2156,2772,2646,347.2,3.2,260,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2708,2771,2645,0,0,0,0,0,0,14.60,14.60,14.60,6.27,50.59
$GC,3370,-0.15,0.0,2350,2156,2772,2644,337.9,3.1,275,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2707,2771,2643,0,0,0,0,0,0,14.75,14.76,14.76,6.27,51.14
$GC,3670,-0.15,0.0,2351,2156,2772,2642,328.7,3.2,290,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2155,2706,2770,2642,0,0,0,0,0,0,14.83,14.83,14.83,6.27,51.10
$GC,3970,-0.15,0.0,2351,2156,2771,2643,319.8,2.8,305,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2706,2771,2642,0,0,0,0,0,0,14.88,14.88,14.89,6.26,51.69
$GC,4270,-0.15,0.0,2351,2156,2772,2642,311.5,2.7,320,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2706,2771,2642,0,0,0,0,0,0,14.92,14.92,14.92,6.26,51.57
$GC,4570,-0.15,0.0,2351,2155,2772,2642,302.7,3.0,335,4571,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2706,2771,2641,0,0,0,0,0,0,14.95,14.95,14.95,6.26,51.14
$GC,4871,-0.15,0.0,2351,2157,2771,2642,293.7,3.2,350,4871,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2155,2706,2771,2641,0,0,0,0,0,0,14.96,14.97,14.96,6.26,51.45
$GC,5171,-0.15,0.0,2351,2156,2772,2640,285.1,2.8,365,5171,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2706,2771,2641,0,0,0,0,0,0,14.97,14.98,14.98,6.26,51.33
$GC,5471,-0.15,0.0,2351,2156,2772,2640,277.3,2.4,380,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2705,2771,2640,0,0,0,0,0,0,14.99,14.99,14.99,6.27,51.37
$GC,5771,-0.15,0.0,2351,2156,2772,2640,269.9,2.4,395,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2155,2705,2771,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.26,51.81
$GC,6071,-0.15,0.0,2350,2156,2772,2642,262.6,2.5,410,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2156,2705,2771,2640,0,0,0,0,0,0,15.01,15.02,15.02,6.26,51.53
$STATE,6368,end loiter,LOITER_COMPLETE
$STATE,6368,begin climb
$GC,6371,0.64,146.0,2350,2157,2771,2641,255.3,0.0,425,6507,0.62,0.00,130.82,1.443,10502,0.166,0.000,2595,2157,2121,2140,2102,0,0,0,0,0,0,14.27,13.78,13.22,6.26,51.57
$GC,6792,0.64,146.0,2594,2156,2128,2087,220.8,9.8,446,6796,0.00,2.50,0.00,0.000,2564,0.000,0.067,2605,749,2106,2126,2086,0,0,0,0,0,0,14.54,14.16,14.54,6.21,50.51
$GC,6827,0.64,146.0,2605,756,2126,2084,218.8,9.8,447,6831,0.00,2.42,0.00,0.000,1030,0.000,0.053,2602,2153,2105,2125,2085,0,0,0,0,0,0,14.34,14.22,14.37,6.21,50.94
$GC,7147,0.64,146.0,2607,2153,2124,2083,185.1,10.1,464,7151,0.00,2.50,0.00,0.000,260,0.000,0.083,2607,3559,2102,2122,2083,0,0,0,0,0,0,14.68,14.23,14.69,6.21,51.10
$GC,7227,0.64,146.0,2607,3559,2124,2083,177.6,10.0,468,7231,0.00,2.35,0.00,0.000,5126,0.000,0.044,2617,2152,2103,2121,2085,0,0,0,0,0,0,14.48,14.35,14.50,6.21,50.94
$GC,7537,0.64,146.0,2617,2152,2121,2081,145.7,10.3,484,7541,0.00,2.47,0.00,0.000,4612,0.000,0.068,2627,738,2101,2121,2082,0,0,0,0,0,0,14.75,14.31,14.75,6.21,50.94
$GC,7587,0.64,146.0,2628,738,2121,2079,142.3,10.1,486,7591,0.08,2.42,0.00,0.000,5126,0.314,0.054,2601,2155,2099,2120,2079,0,0,0,0,0,0,14.04,14.35,14.31,6.20,50.78
$GC,7907,0.64,146.0,2602,2155,2121,2078,111.7,9.0,503,7911,0.00,2.47,0.00,0.000,2308,0.000,0.083,2601,3557,2099,2120,2078,0,0,0,0,0,0,14.78,14.23,14.78,6.20,50.70
$GC,7972,0.64,146.0,2602,3558,2121,2078,106.0,9.4,506,7976,0.00,2.35,0.00,0.000,5126,0.000,0.043,2611,2142,2099,2120,2078,0,0,0,0,0,0,14.54,14.42,14.57,6.19,50.51
$GC,8277,0.65,155.0,2612,2143,2121,2077,79.0,8.0,557,8286,0.00,2.42,4.85,1.247,12804,0.000,0.065,2622,739,2084,2104,2064,0,0,0,0,0,0,14.78,14.14,13.41,6.18,50.39
$GC,8342,0.67,172.7,2622,740,2105,2066,74.0,7.7,570,8365,0.00,2.40,18.23,1.304,13318,0.000,0.053,2622,2150,2016,2031,2001,0,0,0,0,0,0,14.54,14.40,13.59,6.18,50.43
$GC,8487,0.67,172.7,2623,2150,2028,1994,60.6,9.7,599,8491,0.00,2.47,0.00,0.000,4356,0.000,0.085,2622,3552,2010,2027,1993,0,0,0,0,0,0,14.67,14.26,14.67,6.17,49.17
$GC,8527,0.67,172.7,2622,3553,2027,1995,56.7,9.9,607,8531,0.05,2.35,0.00,0.000,5126,0.400,0.044,2616,2145,2010,2027,1994,0,0,0,0,0,0,14.10,14.36,14.34,6.17,49.48
$GC,8655,0.67,172.7,2617,2145,2028,1993,44.9,9.5,632,8658,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2145,2010,2027,1993,0,0,0,0,0,0,14.68,14.69,14.69,6.17,49.84
$GC,8779,0.67,172.7,2616,2146,2027,1994,32.8,9.3,657,8782,0.00,2.47,0.00,0.000,516,0.000,0.067,2625,735,2009,2026,1993,0,0,0,0,0,0,14.71,14.30,14.71,6.17,50.39
$GC,8803,0.67,172.7,2626,735,2027,1992,30.5,9.3,662,8807,0.00,2.42,0.00,0.000,5126,0.000,0.053,2625,2150,2008,2025,1992,0,0,0,0,0,0,14.50,14.34,14.51,6.17,50.43
$GC,8931,0.67,172.7,2625,2151,2026,1993,18.5,9.7,687,8937,0.00,2.45,0.00,0.000,4356,0.000,0.085,2625,3548,2008,2025,1992,0,0,0,0,0,0,14.71,14.21,14.71,6.18,50.66
$GC,8988,0.67,172.7,2626,3548,2026,1992,12.3,10.2,699,8992,0.08,2.35,0.00,0.000,5126,0.341,0.044,2610,2143,2008,2024,1992,0,0,0,0,0,0,13.99,14.28,14.25,6.18,50.90
$STATE,9090,end climb,SURFACE_DEPTH_REACHED
$STATE,9093,begin surface coast
$STATE,9120,end surface coast,CONTROL_FINISHED_OK
$STATE,9120,begin surface
$SM_CCo,9138,44.58,0.239,0,0,1823,220.03
$SM_GC,1.21,5.62,0.05,44.58,0.076,0.204,0.239,232,2071,1823,-6.46,0.99,220.03,0,0,0,0,0,0,14.51,14.48,14.07
$IRIDIUM_FIX,-5957.44,0.00,230219,144913
$TT8_MAMPS,0.038199,0.351281
$HUMID,50.74
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3594368
$24V_AH,13.08,124.199
$10V_AH,13.12,0.000
$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,13.400,73.150,277.750,44.575,0.000,24.964,19.251,132.248,0.000,0.000,15.358,0.000,7265.694,316.632,1676.255,298.144,0.000,1038.502,0.000,1154.887,0.000,0.539,0.000
$DEVICE_MAMPS,421.515,2205.495,1588.905,238.680,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2764.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.231,0.000,0.000,0.000
$MEM,344068
$DATA_FILE_SIZE,20745,726
$CAP_FILE_SIZE,93650,0
$CFSIZE,1023623168,955252736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.054,244.25,1
$GPS,230219,200521,-5958.432,-0.227,40,0.7,42,-19.7,0.6,137.5,11,9.3