version: 66.14
glider: 640
mission: 5
dive: 680
start: 2 26 119 17 47 56
data:
$ID,640
$MISSION,5
$DIVE,680
$N_DIVES,750
$STOP_T,3041912
$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,49
$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
$GPS1,260219,174055,-5958.4829,-0.1781,16,0.8,38,-19.7,0.3,298.9,9,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-69.2
$GPS2,260219,174736,-5958.5044,-0.2237,9,0.8,15,-19.7,0.5,259.1,10,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6003.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,193.7,8328,-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,15,-0.64,-146.0,216,2081,1790,1833,0.0,0.0,0,99,0.00,0.00,-81.90,0.000,16386,0.000,0.000,215,2081,3167,3249,3086,0,0,0,0,0,0,14.59,28.83,14.59,6.17,51.26
$GC,102,-0.64,-146.0,216,2082,3250,3088,3.3,-5.7,17,119,6.22,2.70,-5.32,0.000,18948,0.340,2.186,2171,721,3318,3413,3223,0,0,0,0,0,0,13.87,12.81,14.27,6.28,50.39
$GC,236,-0.64,-146.0,2171,721,3415,3224,26.6,-16.5,44,240,0.10,2.38,0.00,0.000,3078,0.330,0.056,2193,2103,3319,3414,3224,0,0,0,0,0,0,13.98,14.29,14.27,6.30,49.40
$GC,363,-0.64,-146.0,2194,2104,3415,3224,47.3,-17.1,69,368,0.00,2.45,0.00,0.000,2308,0.000,0.084,2183,3504,3319,3414,3224,0,0,0,0,0,0,14.73,14.20,14.74,6.30,50.15
$GC,441,-0.64,-146.0,2183,3504,3416,3224,60.1,-14.5,85,444,0.00,2.30,0.00,0.000,3078,0.000,0.042,2182,2114,3319,3414,3224,0,0,0,0,0,0,14.50,14.38,14.52,6.30,49.76
$GC,568,-0.64,-146.0,2183,2114,3417,3224,77.5,-14.3,110,574,0.00,2.42,0.00,0.000,2564,0.000,0.061,2182,697,3319,3414,3224,0,0,0,0,0,0,14.78,14.28,14.79,6.29,49.96
$GC,636,-0.64,-146.0,2183,698,3416,3224,87.5,-13.6,124,640,0.08,2.35,0.00,0.000,3078,0.353,0.054,2196,2109,3319,3414,3224,0,0,0,0,0,0,14.04,14.35,14.33,6.30,49.13
$GC,773,-0.64,-146.0,2197,2109,3416,3224,105.6,-13.6,145,778,0.00,2.45,0.00,0.000,260,0.000,0.083,2186,3507,3319,3414,3224,0,0,0,0,0,0,14.83,14.24,14.83,6.29,48.42
$GC,821,-0.64,-146.0,2186,3507,3415,3225,110.8,-13.3,147,824,0.00,2.33,0.00,0.000,3078,0.000,0.042,2186,2100,3319,3414,3224,0,0,0,0,0,0,14.55,14.42,14.57,6.29,48.34
$GC,1131,-0.64,-146.0,2186,2099,3416,3225,148.9,-12.1,163,1134,0.00,2.42,0.00,0.000,2564,0.000,0.062,2185,689,3319,3415,3224,0,0,0,0,0,0,14.91,14.38,14.91,6.28,49.44
$GC,1151,-0.64,-146.0,2185,690,3415,3226,150.8,-12.2,164,1155,0.05,2.40,0.00,0.000,3078,0.429,0.055,2191,2102,3319,3414,3224,0,0,0,0,0,0,14.12,14.40,14.38,6.28,49.33
$GC,1461,-0.64,-146.0,2191,2102,3415,3225,187.6,-11.6,180,1464,0.00,2.45,0.00,0.000,2308,0.000,0.083,2181,3504,3319,3414,3225,0,0,0,0,0,0,14.94,14.35,14.94,6.29,50.51
$GC,1536,-0.64,-146.0,2181,3505,3415,3226,196.2,-11.5,184,1540,0.00,2.33,0.00,0.000,3078,0.000,0.042,2180,2088,3319,3414,3224,0,0,0,0,0,0,14.62,14.48,14.64,6.29,50.74
$GC,1851,-0.64,-146.0,2181,2087,3416,3224,232.6,-11.7,200,1854,0.00,2.38,0.00,0.000,2564,0.000,0.062,2180,700,3319,3414,3225,0,0,0,0,0,0,14.97,14.42,14.97,6.30,50.98
$GC,1886,-0.64,-146.0,2180,701,3415,3226,236.9,-12.0,202,1890,0.08,2.38,0.00,0.000,3078,0.356,0.054,2194,2100,3319,3414,3224,0,0,0,0,0,0,14.11,14.44,14.39,6.30,50.90
$GC,2201,-0.64,-146.0,2194,2101,3415,3226,273.4,-11.8,218,2204,0.00,2.45,0.00,0.000,260,0.000,0.083,2183,3507,3319,3414,3224,0,0,0,0,0,0,14.99,14.37,14.99,6.30,51.02
$GC,2266,-0.64,-146.0,2184,3507,3416,3224,280.6,-12.0,221,2269,0.00,2.30,0.00,0.000,3078,0.000,0.041,2183,2101,3319,3414,3224,0,0,0,0,0,0,14.64,14.51,14.66,6.31,51.53
$GC,2576,-0.64,-146.0,2183,2100,3416,3225,319.9,-12.8,237,2579,0.00,2.40,0.00,0.000,2564,0.000,0.061,2182,697,3319,3415,3224,0,0,0,0,0,0,15.00,14.42,15.00,6.31,50.98
$GC,2636,-0.64,-146.0,2182,698,3415,3225,327.0,-13.1,240,2640,0.08,2.38,0.00,0.000,3078,0.351,0.054,2197,2100,3319,3414,3224,0,0,0,0,0,0,14.13,14.45,14.40,6.31,51.14
$STATE,2823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2823,begin apogee
$GC,2830,-0.15,0.0,2198,2167,3416,3224,350.6,-12.2,250,2958,0.43,0.00,124.35,1.590,10246,0.252,0.000,2346,2166,2715,2774,2656,0,0,0,0,0,0,14.06,13.93,13.12,6.31,51.26
$STATE,2958,end apogee,CONTROL_FINISHED_OK
$STATE,2958,begin loiter
$GC,3246,-0.15,0.0,2346,2167,2771,2645,351.5,2.1,271,3246,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2707,2771,2644,0,0,0,0,0,0,14.62,14.62,14.62,6.27,50.51
$GC,3546,-0.15,0.0,2346,2167,2772,2644,344.7,2.2,286,3547,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2706,2770,2643,0,0,0,0,0,0,14.77,14.78,14.77,6.27,50.82
$GC,3846,-0.15,0.0,2346,2167,2771,2643,337.3,2.4,301,3846,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2706,2770,2642,0,0,0,0,0,0,14.85,14.85,14.85,6.27,51.69
$GC,4146,-0.15,0.0,2346,2166,2770,2642,329.4,2.7,316,4146,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2705,2770,2641,0,0,0,0,0,0,14.90,14.90,14.90,6.27,51.29
$GC,4446,-0.15,0.0,2346,2166,2771,2641,321.1,2.7,331,4446,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2705,2770,2641,0,0,0,0,0,0,14.94,14.94,14.94,6.27,51.45
$GC,4746,-0.15,0.0,2347,2166,2771,2641,312.5,2.9,346,4747,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2705,2770,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.27,51.33
$GC,5046,-0.15,0.0,2346,2167,2771,2641,303.6,2.9,361,5047,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2705,2770,2640,0,0,0,0,0,0,14.98,14.98,14.98,6.27,51.45
$GC,5346,-0.15,0.0,2346,2167,2771,2641,294.8,3.0,376,5347,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2705,2770,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.33
$GC,5646,-0.15,0.0,2346,2166,2772,2640,286.1,2.9,391,5647,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2705,2770,2640,0,0,0,0,0,0,15.01,15.02,15.01,6.27,52.36
$GC,5946,-0.15,0.0,2347,2166,2771,2641,277.4,2.9,406,5947,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2705,2770,2640,0,0,0,0,0,0,15.02,15.02,15.02,6.26,51.69
$GC,6246,-0.15,0.0,2346,2166,2772,2640,268.9,2.9,421,6247,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2166,2705,2770,2640,0,0,0,0,0,0,15.03,15.03,15.03,6.27,51.49
$STATE,6543,end loiter,LOITER_COMPLETE
$STATE,6543,begin climb
$GC,6546,0.64,146.0,2347,2166,2771,2640,260.4,0.0,436,6686,0.65,2.58,130.62,1.437,11012,0.174,0.061,2610,760,2118,2137,2100,0,0,0,0,0,0,14.26,13.79,13.21,6.27,51.49
$GC,6726,0.64,146.0,2609,760,2131,2096,248.6,8.4,445,6730,0.00,2.40,0.00,0.000,5126,0.000,0.051,2609,2132,2112,2131,2094,0,0,0,0,0,0,14.16,14.03,14.17,6.21,49.52
$GC,7041,0.64,146.0,2610,2133,2126,2086,214.1,11.1,461,7045,0.00,2.55,0.00,0.000,4356,0.000,0.083,2609,3556,2105,2124,2086,0,0,0,0,0,0,14.59,14.17,14.59,6.21,50.74
$GC,7121,0.64,146.0,2610,3556,2125,2086,205.1,11.3,465,7125,0.00,2.35,0.00,0.000,5126,0.000,0.042,2619,2152,2105,2124,2086,0,0,0,0,0,0,14.42,14.30,14.44,6.21,50.63
$GC,7441,0.64,146.0,2620,2153,2122,2084,168.0,11.7,481,7445,0.03,2.47,0.00,0.000,4612,0.603,0.063,2617,738,2102,2121,2083,0,0,0,0,0,0,14.25,14.28,14.38,6.21,50.98
$GC,7491,0.64,146.0,2617,738,2120,2083,164.1,11.4,483,7495,0.00,2.42,0.00,0.000,5126,0.000,0.053,2617,2151,2101,2119,2083,0,0,0,0,0,0,14.48,14.33,14.52,6.21,51.14
$GC,7811,0.64,146.0,2617,2152,2120,2081,126.2,11.4,500,7815,0.00,2.50,0.00,0.000,4356,0.000,0.086,2617,3563,2100,2119,2082,0,0,0,0,0,0,14.77,14.27,14.78,6.21,50.94
$GC,7886,0.64,146.0,2617,3564,2120,2083,119.3,11.4,503,7890,0.08,2.35,0.00,0.000,5126,0.339,0.043,2602,2147,2100,2119,2082,0,0,0,0,0,0,14.09,14.40,14.38,6.21,50.82
$GC,8191,0.68,177.8,2602,2146,2119,2081,92.0,7.1,535,8224,0.00,2.47,26.98,1.295,10756,0.000,0.065,2611,746,1990,2003,1977,0,0,0,0,0,0,14.78,14.34,13.59,6.19,50.31
$GC,8289,0.70,198.2,2612,748,2002,1974,84.9,7.6,554,8314,0.00,2.40,19.70,1.281,11270,0.000,0.052,2611,2151,1909,1919,1900,0,0,0,0,0,0,14.45,14.31,13.47,6.18,49.88
$GC,8436,0.70,198.2,2612,2152,1919,1895,71.4,9.2,584,8440,0.00,2.50,0.00,0.000,2308,0.000,0.085,2610,3559,1905,1918,1893,0,0,0,0,0,0,14.60,14.20,14.60,6.17,49.68
$GC,8467,0.70,198.2,2612,3560,1918,1893,68.4,10.0,590,8471,0.00,2.38,0.00,0.000,5126,0.000,0.044,2622,2145,1905,1917,1893,0,0,0,0,0,0,14.42,14.30,14.44,6.17,48.93
$GC,8594,0.70,198.2,2622,2145,1917,1893,56.1,10.2,615,8599,0.00,2.45,0.00,0.000,516,0.000,0.067,2633,745,1904,1917,1892,0,0,0,0,0,0,14.62,14.21,14.63,6.17,49.84
$GC,8636,0.70,198.2,2632,744,1916,1891,51.7,9.2,624,8640,0.00,2.42,0.00,0.000,5126,0.000,0.054,2633,2158,1903,1915,1891,0,0,0,0,0,0,14.44,14.28,14.47,6.16,49.37
$GC,8764,0.70,198.2,2633,2159,1916,1892,38.2,11.2,649,8770,0.00,2.47,0.00,0.000,4356,0.000,0.086,2633,3557,1903,1916,1891,0,0,0,0,0,0,14.66,14.19,14.66,6.16,50.15
$GC,8812,0.70,198.2,2633,3558,1916,1892,32.6,11.0,659,8816,0.05,2.35,0.00,0.000,5126,0.406,0.044,2627,2147,1903,1915,1891,0,0,0,0,0,0,14.07,14.35,14.33,6.16,50.47
$GC,8936,0.70,198.2,2628,2148,1916,1889,19.4,10.8,684,8940,0.00,2.47,0.00,0.000,516,0.000,0.066,2636,739,1902,1915,1889,0,0,0,0,0,0,14.71,14.28,14.71,6.17,50.59
$GC,8987,0.70,198.2,2637,740,1914,1890,14.2,9.8,694,8991,0.00,2.42,0.00,0.000,5126,0.000,0.054,2636,2153,1901,1913,1889,0,0,0,0,0,0,14.48,14.32,14.51,6.17,50.43
$STATE,9089,end climb,SURFACE_DEPTH_REACHED
$STATE,9089,begin surface coast
$STATE,9113,end surface coast,CONTROL_FINISHED_OK
$STATE,9113,begin surface
$SM_CCo,9131,18.38,0.248,0,0,1822,220.03
$SM_GC,1.44,5.62,0.08,18.38,0.064,0.168,0.248,208,2102,1822,-6.47,1.13,220.03,0,0,0,0,0,0,14.52,14.40,14.02
$IRIDIUM_FIX,-6002.21,25.85,260219,150300
$TT8_MAMPS,0.038948,0.266644
$HUMID,50.94
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3585152
$24V_AH,12.81,129.000
$10V_AH,13.05,0.000
$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,13.450,87.375,301.650,18.375,0.000,26.535,36.422,129.753,0.000,0.000,16.340,0.000,7167.566,311.656,1746.669,321.649,0.000,1066.454,0.000,1195.429,0.000,0.540,0.000
$DEVICE_MAMPS,602.820,2185.605,1590.435,247.860,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2583.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.275,0.000,0.000,0.000
$MEM,344072
$DATA_FILE_SIZE,20773,720
$CAP_FILE_SIZE,97459,0
$CFSIZE,1023623168,952598528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.044,206.07,1
$GPS,260219,202134,-5959.138,-0.311,35,0.7,39,-19.7,0.4,213.1,11,9.1