version: 66.14
glider: 640
mission: 5
dive: 61
start: 12 21 118 23 41 40
data:
$ID,640
$MISSION,5
$DIVE,61
$N_DIVES,85
$STOP_T,12271812
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,400
$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,110
$T_MISSION,190
$T_ABORT,200
$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,50
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,602
$VBD_MAX,3962
$C_VBD,2690
$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
$GPS1,211218,233701,-6007.6646,-12.0698,17,0.9,28,-19.6,0.9,229.7,11,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-67.6
$GPS2,211218,234122,-6007.6636,-12.1280,8,1.1,18,-19.6,0.7,315.1,9,9.3
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,35.1,125846,-16.8,-9.091,-19.85,2456
$D_GRID,300
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,8,-0.67,-146.0,235,2071,1768,1797,0.0,0.0,0,105,0.00,0.00,-94.12,0.000,16386,0.000,0.000,234,2071,3222,3303,3142,0,0,0,0,0,0,14.61,28.83,14.62,6.16,50.15
$GC,106,-0.67,-146.0,235,2072,3304,3142,3.5,-8.1,19,120,6.00,2.75,-2.40,0.000,18692,0.373,2.281,2162,3503,3287,3376,3198,0,0,0,0,0,0,14.23,13.47,14.39,6.27,48.81
$GC,190,-0.67,-146.0,2163,3503,3378,3198,18.1,-15.6,36,195,0.05,2.35,0.00,0.000,3078,0.366,0.048,2179,2130,3290,3381,3199,0,0,0,0,0,0,14.24,14.39,14.38,6.29,47.83
$GC,315,-0.67,-146.0,2180,2130,3378,3199,39.6,-17.7,61,316,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2129,3288,3377,3199,0,0,0,0,0,0,14.65,14.65,14.65,6.29,48.26
$GC,435,-0.67,-146.0,2179,2130,3378,3200,58.2,-15.1,85,439,0.00,2.42,0.00,0.000,2308,0.000,0.084,2170,3498,3288,3377,3199,0,0,0,0,0,0,14.69,14.43,14.69,6.29,48.74
$GC,470,-0.67,-146.0,2170,3499,3378,3200,63.4,-14.8,92,475,0.00,2.38,0.00,0.000,3078,0.000,0.049,2170,2098,3288,3377,3199,0,0,0,0,0,0,14.52,14.46,14.54,6.29,48.62
$GC,595,-0.67,-146.0,2165,2098,3378,3200,82.3,-15.8,117,599,0.00,2.50,0.00,0.000,2564,0.000,0.074,2168,683,3288,3378,3198,0,0,0,0,0,0,14.71,14.47,14.71,6.28,48.81
$GC,635,-0.67,-146.0,2170,684,3379,3199,88.9,-16.4,125,639,0.05,2.45,0.00,0.000,3078,0.398,0.061,2176,2096,3287,3377,3198,0,0,0,0,0,0,14.33,14.48,14.47,6.28,49.25
$GC,770,-0.67,-146.0,2176,2097,3378,3200,110.1,-15.9,143,770,0.00,0.00,0.00,0.000,2054,0.000,0.000,2169,2096,3291,3385,3198,0,0,0,0,0,0,14.74,14.74,14.74,6.27,48.38
$GC,1070,-0.67,-146.0,2176,2096,3379,3199,155.1,-14.5,158,1074,0.00,2.47,0.00,0.000,2308,0.000,0.086,2166,3502,3287,3377,3198,0,0,0,0,0,0,14.79,14.54,14.79,6.28,49.56
$GC,1150,-0.67,-146.0,2167,3502,3379,3199,166.6,-14.4,162,1154,0.03,2.38,0.00,0.000,3078,0.491,0.047,2173,2086,3287,3377,3198,0,0,0,0,0,0,14.40,14.57,14.54,6.29,50.51
$GC,1470,-0.67,-146.0,2174,2085,3379,3198,211.1,-13.6,178,1474,0.00,2.42,0.00,0.000,2564,0.000,0.073,2173,698,3284,3371,3198,0,0,0,0,0,0,14.83,14.57,14.83,6.30,51.53
$GC,1520,-0.67,-146.0,2174,698,3378,3198,216.5,-13.6,180,1524,0.05,2.40,0.00,0.000,3078,0.383,0.060,2180,2098,3287,3377,3198,0,0,0,0,0,0,14.43,14.60,14.59,6.31,50.82
$GC,1830,-0.67,-146.0,2181,2098,3379,3198,257.2,-12.7,196,1830,0.00,0.00,0.00,0.000,2054,0.000,0.000,2179,2097,3288,3378,3198,0,0,0,0,0,0,14.85,14.85,14.85,6.32,51.26
$GC,2130,-0.67,-146.0,2180,2098,3379,3199,295.4,-12.8,211,2134,0.00,2.45,0.00,0.000,2308,0.000,0.086,2171,3499,3287,3377,3198,0,0,0,0,0,0,14.88,14.62,14.88,6.32,51.33
$GC,2160,-0.67,-146.0,2169,3499,3378,3198,298.0,-12.9,212,2164,0.00,2.33,0.00,0.000,3078,0.000,0.048,2170,2106,3290,3377,3204,0,0,0,0,0,0,14.69,14.64,14.71,6.32,51.29
$STATE,2169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2169,begin apogee
$GC,2172,-0.15,0.0,2173,2159,3377,3198,300.6,-13.0,213,2309,0.50,0.00,132.12,1.548,10246,0.281,0.000,2348,2158,2683,2740,2627,0,0,0,0,0,0,14.49,13.90,13.31,6.32,51.26
$STATE,2310,end apogee,CONTROL_FINISHED_OK
$STATE,2310,begin loiter
$GC,2610,-0.15,0.0,2348,2159,2740,2614,295.9,3.4,235,2610,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2676,2738,2614,0,0,0,0,0,0,14.56,14.56,14.56,6.27,51.14
$GC,2910,-0.15,0.0,2348,2159,2739,2613,285.1,3.6,250,2910,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2675,2739,2612,0,0,0,0,0,0,14.69,14.69,14.69,6.27,50.51
$GC,3210,-0.15,0.0,2348,2159,2739,2611,274.4,3.5,265,3210,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2159,2674,2738,2611,0,0,0,0,0,0,14.76,14.78,14.78,6.27,51.49
$GC,3510,-0.15,0.0,2348,2159,2739,2612,263.8,3.5,280,3511,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2674,2738,2610,0,0,0,0,0,0,14.83,14.83,14.84,6.27,51.10
$GC,3810,-0.15,0.0,2348,2159,2739,2611,253.7,3.2,295,3811,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2158,2673,2738,2609,0,0,0,0,0,0,14.88,14.88,14.88,6.27,50.98
$GC,4110,-0.15,0.0,2348,2159,2739,2610,244.0,3.3,310,4110,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2673,2738,2608,0,0,0,0,0,0,14.91,14.91,14.92,6.27,50.98
$GC,4410,-0.15,0.0,2348,2159,2739,2610,234.6,3.2,325,4410,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2673,2738,2609,0,0,0,0,0,0,14.94,14.94,14.94,6.27,51.45
$GC,4710,-0.15,0.0,2348,2159,2739,2610,225.5,3.0,340,4710,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2673,2738,2609,0,0,0,0,0,0,14.97,14.97,14.97,6.27,50.94
$GC,5010,-0.15,0.0,2348,2159,2738,2610,216.9,2.8,355,5011,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2673,2738,2609,0,0,0,0,0,0,14.98,14.98,14.98,6.27,51.61
$GC,5310,-0.15,0.0,2348,2159,2739,2610,208.4,2.9,370,5310,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2673,2738,2608,0,0,0,0,0,0,15.00,15.00,15.00,6.27,50.90
$GC,5610,-0.15,0.0,2349,2159,2739,2608,199.4,3.0,385,5610,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2673,2738,2608,0,0,0,0,0,0,15.02,15.02,15.01,6.28,51.61
$STATE,5909,end loiter,LOITER_COMPLETE
$STATE,5909,begin climb
$GC,5910,0.67,146.0,2348,2159,2739,2608,189.8,0.0,400,6051,0.65,2.55,133.80,1.388,10756,0.190,0.080,2616,753,2088,2110,2066,0,0,0,0,0,0,14.71,13.97,13.46,6.27,50.86
$GC,6110,0.67,146.0,2616,753,2108,2055,174.1,10.3,410,6114,0.00,2.47,0.00,0.000,1030,0.000,0.059,2617,2143,2080,2106,2054,0,0,0,0,0,0,14.16,14.11,14.20,6.24,48.89
$GC,6430,0.67,146.0,2617,2144,2105,2047,135.6,12.0,426,6435,0.00,2.55,0.00,0.000,260,0.000,0.087,2617,3560,2075,2103,2047,0,0,0,0,0,0,14.59,14.33,14.59,6.22,50.00
$GC,6520,0.67,146.0,2617,3562,2102,2048,125.8,12.3,430,6524,0.00,2.40,0.00,0.000,5126,0.000,0.050,2627,2150,2074,2102,2047,0,0,0,0,0,0,14.45,14.39,14.46,6.22,50.63
$GC,6825,0.67,146.0,2627,2150,2097,2044,88.3,11.4,460,6829,0.00,2.50,0.00,0.000,4612,0.000,0.080,2638,750,2072,2102,2042,0,0,0,0,0,0,14.71,14.45,14.71,6.21,49.17
$GC,6875,0.67,146.0,2638,751,2101,2042,82.7,10.9,470,6879,0.05,2.42,0.00,0.000,5126,0.317,0.059,2620,2155,2071,2101,2041,0,0,0,0,0,0,14.36,14.48,14.49,6.21,49.56
$GC,7000,0.67,146.0,2621,2155,2103,2041,69.2,10.8,495,7005,0.00,2.47,0.00,0.000,260,0.000,0.086,2620,3546,2071,2102,2041,0,0,0,0,0,0,14.72,14.47,14.73,6.19,48.89
$GC,7025,0.67,146.0,2620,3547,2102,2041,66.3,11.7,500,7029,0.00,2.35,0.00,0.000,5126,0.000,0.052,2629,2161,2071,2101,2041,0,0,0,0,0,0,14.56,14.50,14.57,6.20,49.25
$GC,7150,0.67,146.0,2629,2161,2101,2040,51.8,12.1,525,7154,0.00,2.53,0.00,0.000,4612,0.000,0.080,2640,715,2070,2100,2040,0,0,0,0,0,0,14.73,14.50,14.74,6.20,48.89
$GC,7185,0.67,146.0,2640,716,2101,2041,47.7,11.8,532,7190,0.05,2.47,0.00,0.000,5126,0.314,0.058,2621,2154,2070,2100,2040,0,0,0,0,0,0,14.39,14.51,14.52,6.20,48.66
$GC,7310,0.67,146.0,2622,2155,2102,2040,33.9,10.6,557,7314,0.00,2.47,0.00,0.000,4356,0.000,0.088,2621,3549,2070,2100,2040,0,0,0,0,0,0,14.76,14.51,14.76,6.20,48.81
$GC,7405,0.67,146.0,2622,3549,2101,2040,23.7,10.8,576,7409,0.00,2.35,0.00,0.000,5126,0.000,0.050,2630,2158,2070,2100,2040,0,0,0,0,0,0,14.59,14.54,14.62,6.19,48.89
$GC,7530,0.67,146.0,2629,2159,2101,2040,11.7,11.3,601,7535,0.00,2.50,0.00,0.000,4612,0.000,0.079,2641,747,2069,2100,2038,0,0,0,0,0,0,14.78,14.53,14.78,6.20,48.93
$GC,7570,0.67,146.0,2642,747,2100,2039,7.1,11.2,609,7574,0.05,2.40,0.00,0.000,5126,0.316,0.060,2622,2142,2069,2099,2039,0,0,0,0,0,0,14.43,14.55,14.56,6.19,49.29
$STATE,7609,end climb,SURFACE_DEPTH_REACHED
$STATE,7609,begin surface coast
$STATE,7639,end surface coast,CONTROL_FINISHED_OK
$STATE,7639,begin surface
$SM_CCo,7650,68.97,0.249,0,0,1790,220.03
$SM_GC,1.07,5.40,0.08,68.97,0.051,0.174,0.249,266,2082,1790,-6.44,0.76,220.03,0,0,0,0,0,0,14.64,14.57,14.37
$IRIDIUM_FIX,-6009.98,-21.62,211218,212502
$TT8_MAMPS,0.038948,0.093625
$HUMID,48.70
$INTERNAL_PRESSURE,6.10897
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3889632
$24V_AH,13.31,18.002
$10V_AH,13.49,0.000
$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,12.875,63.900,265.925,68.975,0.000,25.090,43.499,93.153,0.000,0.000,19.959,0.000,6078.760,435.643,1418.642,54.254,0.000,992.827,0.000,1000.804,0.000,0.539,0.000
$DEVICE_MAMPS,491.130,2281.230,1548.360,248.625,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4031.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.905,0.000,0.000,0.000
$MEM,344104
$DATA_FILE_SIZE,17316,623
$CAP_FILE_SIZE,82386,0
$CFSIZE,1023623168,1013481472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.061,263.10,1
$GPS,221218,015119,-6007.231,-12.291,16,0.7,39,-19.6,0.4,281.7,11,5.3