version: 66.14
glider: 640
mission: 5
dive: 656
start: 2 24 119 1 36 30
data:
$ID,640
$MISSION,5
$DIVE,656
$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,31
$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
$GPS1,240219,013001,-6000.0625,0.0709,15,0.8,26,-19.7,0.0,163.8,11,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-68.0
$GPS2,240219,013610,-6000.1143,0.1052,7,0.9,17,-19.7,0.0,187.8,9,9.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6003.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,207.1,5345,-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,-146.0,217,2110,1789,1830,0.0,0.0,0,103,0.00,0.00,-86.85,0.000,16386,0.000,0.000,216,2110,3191,3270,3112,0,0,0,0,0,0,14.60,28.83,14.61,6.16,51.45
$GC,106,-0.64,-146.0,216,2111,3273,3113,3.1,-6.5,18,123,6.22,2.78,-4.47,0.000,18948,0.340,2.189,2170,700,3317,3412,3223,0,0,0,0,0,0,13.88,12.82,14.28,6.28,50.43
$GC,240,-0.64,-146.0,2171,701,3414,3225,26.2,-16.0,45,244,0.10,2.40,0.00,0.000,3078,0.332,0.055,2193,2101,3318,3413,3224,0,0,0,0,0,0,13.99,14.28,14.28,6.30,49.37
$GC,367,-0.64,-146.0,2194,2102,3414,3225,46.0,-15.7,70,373,0.00,2.45,0.00,0.000,2308,0.000,0.083,2183,3499,3319,3414,3224,0,0,0,0,0,0,14.74,14.21,14.74,6.30,49.96
$GC,420,-0.64,-146.0,2184,3500,3415,3224,54.5,-15.2,81,423,0.00,2.33,0.00,0.000,3078,0.000,0.043,2182,2099,3319,3414,3224,0,0,0,0,0,0,14.50,14.37,14.52,6.30,50.03
$GC,547,-0.64,-146.0,2183,2099,3414,3225,74.1,-15.8,106,553,0.00,2.45,0.00,0.000,2308,0.000,0.080,2173,3505,3318,3413,3224,0,0,0,0,0,0,14.78,14.23,14.78,6.30,49.76
$GC,580,-0.64,-146.0,2173,3506,3414,3225,79.6,-15.9,113,584,0.08,2.33,0.00,0.000,3078,0.358,0.043,2198,2096,3319,3414,3224,0,0,0,0,0,0,14.04,14.39,14.32,6.30,50.00
$GC,705,-0.64,-146.0,2200,2095,3415,3223,96.7,-13.3,138,708,0.00,2.42,0.00,0.000,516,0.000,0.063,2198,697,3319,3414,3224,0,0,0,0,0,0,14.80,14.33,14.81,6.29,49.56
$GC,775,-0.64,-146.0,2199,698,3415,3225,104.0,-13.1,145,778,0.00,2.40,0.00,0.000,3078,0.000,0.054,2188,2105,3319,3414,3224,0,0,0,0,0,0,14.53,14.37,14.55,6.29,48.11
$GC,1095,-0.64,-146.0,2189,2106,3416,3224,146.4,-12.5,162,1098,0.00,2.42,0.00,0.000,2308,0.000,0.082,2177,3504,3319,3414,3224,0,0,0,0,0,0,14.90,14.33,14.90,6.28,49.01
$GC,1195,-0.64,-146.0,2178,3504,3415,3224,158.8,-12.3,167,1199,0.05,2.33,0.00,0.000,3078,0.423,0.041,2193,2086,3319,3414,3224,0,0,0,0,0,0,14.14,14.46,14.39,6.28,49.60
$GC,1515,-0.64,-146.0,2194,2085,3415,3224,197.0,-11.9,183,1518,0.00,2.40,0.00,0.000,2564,0.000,0.062,2193,693,3319,3414,3224,0,0,0,0,0,0,14.94,14.40,14.93,6.29,50.59
$GC,1570,-0.64,-146.0,2193,693,3415,3225,203.6,-11.9,186,1573,0.00,2.40,0.00,0.000,3078,0.000,0.054,2183,2106,3319,3414,3224,0,0,0,0,0,0,14.60,14.43,14.62,6.30,50.70
$GC,1885,-0.64,-146.0,2183,2107,3415,3224,242.1,-12.6,202,1888,0.00,2.42,0.00,0.000,2308,0.000,0.082,2172,3504,3319,3414,3224,0,0,0,0,0,0,14.96,14.37,14.97,6.29,50.90
$GC,1930,-0.64,-146.0,2172,3505,3415,3225,247.2,-12.7,204,1934,0.08,2.30,0.00,0.000,3078,0.344,0.042,2198,2101,3319,3414,3224,0,0,0,0,0,0,14.13,14.50,14.40,6.30,51.18
$GC,2240,-0.64,-146.0,2198,2100,3415,3225,284.3,-11.8,220,2243,0.00,2.42,0.00,0.000,516,0.000,0.062,2198,692,3319,3414,3224,0,0,0,0,0,0,14.98,14.42,14.98,6.30,51.02
$GC,2315,-0.64,-146.0,2198,693,3415,3225,293.1,-11.7,224,2318,0.00,2.38,0.00,0.000,3078,0.000,0.054,2187,2102,3319,3415,3224,0,0,0,0,0,0,14.62,14.45,14.65,6.31,51.61
$GC,2630,-0.64,-146.0,2188,2102,3415,3224,331.1,-12.3,240,2633,0.00,2.42,0.00,0.000,2308,0.000,0.083,2177,3502,3319,3414,3224,0,0,0,0,0,0,15.00,14.38,15.00,6.30,51.57
$GC,2685,-0.64,-146.0,2177,3503,3415,3223,337.9,-12.3,243,2689,0.05,2.30,0.00,0.000,3078,0.418,0.042,2193,2092,3319,3414,3224,0,0,0,0,0,0,14.19,14.51,14.43,6.31,51.33
$STATE,2797,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2797,begin apogee
$GC,2804,-0.15,0.0,2193,2160,3415,3224,351.5,-11.8,249,2931,0.45,0.00,124.32,1.588,10246,0.250,0.000,2351,2160,2718,2777,2659,0,0,0,0,0,0,14.07,13.93,13.14,6.31,51.41
$STATE,2931,end apogee,CONTROL_FINISHED_OK
$STATE,2931,begin loiter
$GC,3220,-0.15,0.0,2352,2160,2772,2644,348.7,3.2,270,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2160,2708,2771,2645,0,0,0,0,0,0,14.61,14.62,14.62,6.27,50.63
$GC,3520,-0.15,0.0,2352,2161,2772,2643,339.2,3.2,285,3520,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2706,2771,2642,0,0,0,0,0,0,14.76,14.76,14.76,6.27,50.94
$GC,3820,-0.15,0.0,2351,2161,2772,2643,329.8,3.1,300,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2706,2771,2642,0,0,0,0,0,0,14.84,14.85,14.85,6.26,51.22
$GC,4120,-0.15,0.0,2352,2161,2772,2644,321.2,2.7,315,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2706,2771,2642,0,0,0,0,0,0,14.89,14.90,14.90,6.27,51.14
$GC,4420,-0.15,0.0,2351,2160,2771,2641,313.5,2.5,330,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2706,2771,2641,0,0,0,0,0,0,14.92,14.93,14.93,6.26,51.53
$GC,4720,-0.15,0.0,2352,2160,2772,2641,305.8,2.4,345,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2706,2771,2641,0,0,0,0,0,0,14.95,14.95,14.95,6.26,51.22
$GC,5020,-0.15,0.0,2351,2160,2772,2640,298.2,2.5,360,5021,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2706,2771,2641,0,0,0,0,0,0,14.97,14.97,14.97,6.26,51.22
$GC,5320,-0.15,0.0,2352,2160,2772,2640,290.5,2.5,375,5321,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2705,2771,2640,0,0,0,0,0,0,14.99,15.00,15.00,6.27,51.96
$GC,5620,-0.15,0.0,2351,2160,2771,2640,283.1,2.4,390,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2705,2771,2640,0,0,0,0,0,0,15.00,15.01,15.00,6.26,51.37
$GC,5920,-0.15,0.0,2352,2160,2772,2640,275.7,2.5,405,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2705,2770,2640,0,0,0,0,0,0,15.02,15.02,15.02,6.26,51.73
$GC,6220,-0.15,0.0,2351,2161,2772,2641,268.4,2.4,420,6221,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2705,2771,2640,0,0,0,0,0,0,15.02,15.02,15.02,6.26,51.49
$GC,6520,-0.15,0.0,2351,2160,2772,2640,261.1,2.4,435,6521,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2160,2705,2771,2640,0,0,0,0,0,0,15.03,15.04,15.04,6.26,51.53
$STATE,6537,end loiter,LOITER_COMPLETE
$STATE,6537,begin climb
$GC,6540,0.64,146.0,2352,2161,2772,2640,260.6,0.0,436,6680,0.62,2.58,130.75,1.437,10500,0.163,0.083,2596,3549,2117,2137,2097,0,0,0,0,0,0,14.28,13.80,13.21,6.26,51.61
$GC,6701,0.66,164.8,2596,3548,2137,2095,251.1,7.6,444,6723,0.00,2.38,17.48,1.422,11270,0.000,0.043,2607,2152,2044,2064,2025,0,0,0,0,0,0,14.13,14.04,13.16,6.21,49.64
$GC,7043,0.66,164.8,2608,2153,2056,2012,213.9,10.9,461,7047,0.00,2.47,0.00,0.000,516,0.000,0.067,2618,746,2033,2055,2012,0,0,0,0,0,0,14.52,14.17,14.54,6.20,50.35
$GC,7092,0.66,164.8,2619,747,2053,2011,209.5,10.7,463,7096,0.00,2.40,0.00,0.000,5126,0.000,0.053,2619,2142,2030,2052,2009,0,0,0,0,0,0,14.37,14.23,14.40,6.20,50.86
$GC,7397,0.66,164.8,2619,2143,2052,2011,173.7,11.8,478,7401,0.00,2.50,0.00,0.000,4356,0.000,0.084,2619,3554,2030,2051,2010,0,0,0,0,0,0,14.69,14.16,14.69,6.20,50.66
$GC,7477,0.66,164.8,2619,3554,2053,2011,164.7,12.1,482,7481,0.05,2.35,0.00,0.000,5126,0.409,0.044,2612,2148,2031,2052,2010,0,0,0,0,0,0,14.00,14.25,14.27,6.20,51.14
$GC,7787,0.66,164.8,2612,2148,2051,2008,126.6,12.1,498,7791,0.00,2.47,0.00,0.000,516,0.000,0.067,2622,737,2028,2050,2006,0,0,0,0,0,0,14.75,14.22,14.76,6.20,51.06
$GC,7892,0.66,164.8,2623,738,2048,2006,116.7,10.3,503,7896,0.00,2.42,0.00,0.000,5126,0.000,0.053,2621,2160,2027,2048,2006,0,0,0,0,0,0,14.50,14.38,14.54,6.19,51.45
$GC,8197,0.66,164.8,2622,2160,2048,2004,85.1,9.7,539,8201,0.00,2.47,0.00,0.000,4356,0.000,0.086,2622,3559,2026,2047,2006,0,0,0,0,0,0,14.76,14.20,14.76,6.18,50.43
$GC,8277,0.66,164.8,2623,3560,2049,2007,77.5,9.3,555,8281,0.08,2.35,0.00,0.000,5126,0.337,0.044,2608,2148,2026,2047,2006,0,0,0,0,0,0,14.01,14.33,14.30,6.18,49.56
$GC,8403,0.68,179.7,2607,2148,2048,2006,67.5,7.8,580,8420,0.00,2.47,11.57,1.327,10756,0.000,0.067,2617,744,1981,1998,1965,0,0,0,0,0,0,14.77,14.42,13.60,6.18,49.68
$GC,8447,0.69,188.3,2618,743,1998,1965,64.0,8.0,589,8461,0.00,2.38,9.48,1.278,9222,0.000,0.053,2617,2147,1952,1967,1937,0,0,0,0,0,0,14.32,14.26,13.52,6.17,49.56
$GC,8582,0.69,188.3,2616,2143,1962,1930,52.6,8.7,616,8586,0.00,2.50,0.00,0.000,260,0.000,0.086,2618,3558,1945,1961,1929,0,0,0,0,0,0,14.71,14.26,14.68,6.17,49.64
$GC,8662,0.69,188.3,2617,3560,1962,1931,45.2,9.2,632,8666,0.00,2.35,0.00,0.000,5126,0.000,0.044,2628,2150,1945,1961,1930,0,0,0,0,0,0,14.49,14.37,14.50,6.17,49.80
$GC,8790,0.69,188.3,2628,2150,1962,1929,33.4,10.2,657,8796,0.00,2.45,0.00,0.000,4612,0.000,0.067,2639,744,1944,1961,1928,0,0,0,0,0,0,14.69,14.25,14.69,6.17,50.94
$GC,8832,0.69,188.3,2640,744,1961,1929,28.6,10.2,666,8837,0.05,2.40,0.00,0.000,5126,0.371,0.054,2622,2151,1944,1960,1928,0,0,0,0,0,0,14.12,14.33,14.38,6.19,50.98
$GC,8960,0.69,188.3,2623,2152,1962,1927,16.7,10.4,691,8965,0.00,2.47,0.00,0.000,260,0.000,0.084,2622,3559,1943,1960,1927,0,0,0,0,0,0,14.69,14.22,14.70,6.18,50.63
$GC,9017,0.69,188.3,2623,3558,1961,1927,10.8,8.8,703,9021,0.00,2.35,0.00,0.000,5126,0.000,0.044,2631,2145,1943,1960,1926,0,0,0,0,0,0,14.42,14.30,14.43,6.18,51.14
$STATE,9089,end climb,SURFACE_DEPTH_REACHED
$STATE,9090,begin surface coast
$STATE,9117,end surface coast,CONTROL_FINISHED_OK
$STATE,9117,begin surface
$SM_CCo,9134,28.62,0.242,0,0,1821,220.03
$SM_GC,1.00,5.53,0.05,28.62,0.046,0.223,0.242,264,2086,1821,-6.46,1.07,220.03,0,0,0,0,0,0,14.54,14.43,14.07
$IRIDIUM_FIX,-6002.25,0.00,230219,225329
$TT8_MAMPS,0.038948,0.262899
$HUMID,50.82
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3593408
$24V_AH,12.82,124.727
$10V_AH,13.32,0.000
$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,13.350,87.275,293.600,28.625,0.000,26.401,13.946,124.183,0.000,0.000,18.654,0.000,7145.832,319.858,1748.818,314.934,0.000,1086.013,0.000,1225.328,0.000,0.539,0.000
$DEVICE_MAMPS,423.045,2189.430,1588.140,241.740,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2591.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.229,0.000,0.000,0.000
$MEM,344072
$DATA_FILE_SIZE,20760,723
$CAP_FILE_SIZE,99316,0
$CFSIZE,1023623168,954941440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.059,106.00,1
$GPS,240219,041025,-6000.542,0.645,13,0.8,42,-19.7,0.5,183.3,9,7.8