version: 66.14
glider: 640
mission: 5
dive: 95
start: 12 25 118 12 51 40
data:
$ID,640
$MISSION,5
$DIVE,95
$N_DIVES,160
$STOP_T,12311812
$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,35
$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
$GPS1,251218,124702,-5952.7666,-9.1706,19,0.8,42,-19.6,0.3,267.0,10,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-63.5
$GPS2,251218,125122,-5952.7876,-9.1337,9,0.8,13,-19.6,1.1,103.7,11,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,16.4,98150,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-0.64,-146.0,234,2090,1766,1797,0.0,0.0,0,100,0.00,0.00,-89.03,0.000,16386,0.000,0.000,233,2089,3189,3267,3111,0,0,0,0,0,0,14.62,28.83,14.63,6.16,49.68
$GC,101,-0.64,-146.0,234,2090,3268,3110,3.5,-7.4,18,116,6.00,2.65,-3.78,0.000,18948,0.366,2.270,2186,698,3287,3377,3198,0,0,0,0,0,0,14.23,13.48,14.40,6.28,48.97
$GC,230,-0.64,-146.0,2187,699,3380,3200,23.3,-14.3,44,235,0.05,2.42,0.00,0.000,3078,0.380,0.058,2193,2098,3289,3379,3199,0,0,0,0,0,0,14.26,14.41,14.40,6.24,48.26
$GC,355,-0.64,-146.0,2194,2098,3380,3199,41.3,-12.9,69,356,0.00,0.00,0.00,0.000,2054,0.000,0.000,2193,2098,3289,3379,3199,0,0,0,0,0,0,14.67,14.68,14.67,6.30,48.46
$GC,475,-0.64,-146.0,2193,2099,3380,3200,57.3,-14.0,93,475,0.00,0.00,0.00,0.000,2054,0.000,0.000,2193,2098,3289,3379,3199,0,0,0,0,0,0,14.70,14.71,14.70,6.29,48.85
$GC,595,-0.64,-146.0,2193,2098,3380,3200,73.9,-13.7,117,599,0.00,2.47,0.00,0.000,2564,0.000,0.070,2193,693,3289,3379,3199,0,0,0,0,0,0,14.72,14.47,14.72,6.30,49.13
$GC,625,-0.64,-146.0,2193,694,3380,3199,78.2,-14.4,123,630,0.00,2.42,0.00,0.000,3078,0.000,0.057,2179,2098,3292,3386,3199,0,0,0,0,0,0,14.54,14.48,14.57,6.29,49.09
$GC,750,-0.64,-146.0,2184,2098,3380,3199,95.6,-13.5,148,751,0.00,0.00,0.00,0.000,2054,0.000,0.000,2183,2098,3289,3379,3199,0,0,0,0,0,0,14.73,14.73,14.73,6.29,49.01
$GC,885,-0.64,-146.0,2183,2098,3380,3200,114.4,-13.6,160,889,0.00,2.47,0.00,0.000,2308,0.000,0.085,2173,3499,3289,3379,3199,0,0,0,0,0,0,14.76,14.50,14.76,6.29,48.66
$GC,905,-0.64,-146.0,2173,3499,3380,3200,117.3,-13.8,161,909,0.05,2.35,0.00,0.000,3078,0.360,0.047,2189,2109,3289,3379,3199,0,0,0,0,0,0,14.38,14.54,14.51,6.29,48.66
$GC,1225,-0.64,-146.0,2189,2108,3379,3200,159.2,-12.2,177,1230,0.00,2.47,0.00,0.000,2564,0.000,0.070,2190,698,3289,3379,3199,0,0,0,0,0,0,14.80,14.55,14.80,6.30,50.63
$GC,1245,-0.64,-146.0,2189,699,3379,3200,161.6,-12.2,178,1250,0.00,2.40,0.00,0.000,3078,0.000,0.057,2182,2096,3291,3384,3199,0,0,0,0,0,0,14.61,14.56,14.63,6.30,50.55
$GC,1565,-0.64,-146.0,2180,2097,3380,3200,202.7,-12.8,194,1569,0.00,2.47,0.00,0.000,2308,0.000,0.083,2169,3506,3289,3379,3199,0,0,0,0,0,0,14.83,14.57,14.83,6.31,51.37
$GC,1590,-0.64,-146.0,2168,3507,3380,3199,205.4,-12.9,195,1595,0.08,2.38,0.00,0.000,3078,0.332,0.047,2196,2090,3288,3379,3198,0,0,0,0,0,0,14.45,14.59,14.58,6.31,51.18
$GC,1905,-0.64,-146.0,2196,2089,3380,3198,245.7,-12.5,211,1909,0.00,2.42,0.00,0.000,516,0.000,0.070,2196,698,3289,3379,3199,0,0,0,0,0,0,14.84,14.59,14.84,6.32,51.33
$GC,1980,-0.64,-146.0,2205,698,3381,3198,253.2,-12.6,214,1984,0.00,2.40,0.00,0.000,3078,0.000,0.057,2186,2104,3289,3379,3199,0,0,0,0,0,0,14.66,14.59,14.68,6.33,51.22
$GC,2285,-0.64,-146.0,2186,2105,3380,3199,293.9,-12.8,230,2286,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2104,3288,3379,3198,0,0,0,0,0,0,14.85,14.85,14.85,6.33,51.26
$GC,2585,-0.64,-146.0,2187,2104,3380,3199,332.3,-12.9,245,2586,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2104,3288,3379,3198,0,0,0,0,0,0,14.86,14.88,14.87,6.33,51.49
$STATE,2724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2724,begin apogee
$GC,2727,-0.15,0.0,2186,2173,3380,3200,350.1,-12.6,252,2860,0.45,0.00,130.12,1.607,10246,0.272,0.000,2347,2168,2687,2746,2629,0,0,0,0,0,0,14.52,13.90,13.30,6.33,51.33
$STATE,2861,end apogee,CONTROL_FINISHED_OK
$STATE,2861,begin loiter
$GC,3145,-0.15,0.0,2347,2169,2740,2616,346.9,3.2,273,3145,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2168,2677,2739,2615,0,0,0,0,0,0,14.54,14.55,14.55,6.28,50.31
$GC,3445,-0.15,0.0,2348,2169,2739,2613,337.0,3.4,288,3445,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2168,2675,2739,2612,0,0,0,0,0,0,14.69,14.69,14.69,6.28,50.86
$GC,3745,-0.15,0.0,2348,2169,2741,2611,326.8,3.4,303,3746,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2168,2674,2738,2611,0,0,0,0,0,0,14.78,14.78,14.78,6.28,50.66
$GC,4045,-0.15,0.0,2348,2168,2740,2611,316.8,3.4,318,4046,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2168,2674,2739,2610,0,0,0,0,0,0,14.84,14.84,14.84,6.28,51.14
$GC,4345,-0.15,0.0,2347,2169,2740,2610,307.0,3.3,333,4346,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2168,2674,2739,2609,0,0,0,0,0,0,14.88,14.88,14.89,6.28,51.06
$GC,4645,-0.15,0.0,2347,2169,2740,2610,296.8,3.4,348,4645,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2168,2674,2739,2609,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.02
$GC,4945,-0.15,0.0,2347,2169,2740,2610,286.5,3.4,363,4946,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2168,2673,2739,2608,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.41
$GC,5245,-0.15,0.0,2347,2169,2740,2610,275.8,3.6,378,5246,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2168,2673,2739,2608,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.29
$GC,5545,-0.15,0.0,2347,2169,2740,2609,265.4,3.3,393,5546,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2168,2674,2740,2608,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.10
$GC,5845,-0.15,0.0,2347,2169,2740,2609,255.8,3.1,408,5846,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2168,2673,2739,2608,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.22
$GC,6145,-0.15,0.0,2347,2169,2740,2609,246.4,3.1,423,6146,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2168,2673,2739,2608,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.18
$STATE,6444,end loiter,LOITER_COMPLETE
$STATE,6444,begin climb
$GC,6445,0.64,146.0,2348,2169,2740,2608,237.0,0.0,438,6586,0.62,2.60,132.02,1.423,10756,0.182,0.073,2608,754,2088,2112,2064,0,0,0,0,0,0,14.71,13.97,13.44,6.28,51.14
$GC,6605,0.64,146.0,2608,754,2112,2059,225.7,8.9,446,6609,0.00,2.45,0.00,0.000,5126,0.000,0.057,2608,2124,2084,2110,2058,0,0,0,0,0,0,14.10,14.04,14.12,6.24,49.01
$GC,6925,0.64,146.0,2608,2126,2105,2049,184.8,12.9,462,6930,0.00,2.47,0.00,0.000,4612,0.000,0.073,2619,746,2076,2104,2048,0,0,0,0,0,0,14.58,14.34,14.59,6.31,49.84
$GC,7040,0.64,146.0,2619,746,2103,2046,173.1,11.5,467,7044,0.03,2.45,0.00,0.000,5126,0.415,0.057,2609,2148,2070,2102,2039,0,0,0,0,0,0,14.24,14.39,14.39,6.24,50.23
$GC,7345,0.64,146.0,2609,2154,2103,2041,132.6,12.8,483,7349,0.00,2.50,0.00,0.000,4612,0.000,0.072,2617,744,2072,2102,2042,0,0,0,0,0,0,14.71,14.47,14.71,6.23,50.31
$GC,7476,0.64,146.0,2618,744,2102,2040,118.6,11.5,489,7479,0.00,2.40,0.00,0.000,5126,0.000,0.058,2618,2161,2070,2101,2040,0,0,0,0,0,0,14.60,14.51,14.62,6.24,50.31
$GC,7780,0.64,146.0,2617,2161,2101,2041,81.8,10.8,528,7784,0.00,2.50,0.00,0.000,4612,0.000,0.073,2629,747,2070,2101,2040,0,0,0,0,0,0,14.78,14.52,14.78,6.22,49.96
$GC,7910,0.64,146.0,2629,748,2101,2039,68.8,10.0,554,7914,0.05,2.40,0.00,0.000,5126,0.317,0.057,2610,2146,2068,2099,2038,0,0,0,0,0,0,14.43,14.55,14.57,6.22,49.33
$GC,8035,0.64,146.0,2609,2147,2101,2040,55.9,10.2,579,8040,0.00,2.50,0.00,0.000,4356,0.000,0.086,2609,3556,2069,2100,2038,0,0,0,0,0,0,14.80,14.54,14.80,6.20,49.25
$GC,8085,0.64,146.0,2610,3558,2101,2040,50.6,10.2,589,8089,0.00,2.35,0.00,0.000,5126,0.000,0.046,2618,2158,2069,2100,2039,0,0,0,0,0,0,14.62,14.57,14.64,6.20,48.97
$GC,8210,0.64,146.0,2618,2159,2101,2039,37.7,10.6,614,8214,0.00,2.50,0.00,0.000,4612,0.000,0.073,2629,737,2073,2100,2047,0,0,0,0,0,0,14.81,14.56,14.81,6.21,48.97
$GC,8285,0.64,146.0,2631,738,2101,2038,30.0,9.8,629,8289,0.05,2.42,0.00,0.000,5126,0.321,0.057,2609,2150,2068,2099,2037,0,0,0,0,0,0,14.45,14.57,14.58,6.19,49.40
$GC,8410,0.64,146.0,2609,2151,2100,2037,18.3,9.3,654,8414,0.00,2.47,0.00,0.000,4356,0.000,0.086,2609,3550,2068,2100,2037,0,0,0,0,0,0,14.81,14.55,14.82,6.19,48.97
$GC,8465,0.64,146.0,2609,3551,2099,2038,13.0,9.1,665,8469,0.00,2.35,0.00,0.000,5126,0.000,0.045,2618,2153,2068,2099,2037,0,0,0,0,0,0,14.64,14.59,14.66,6.20,49.33
$STATE,8579,end climb,SURFACE_DEPTH_REACHED
$STATE,8579,begin surface coast
$STATE,8614,end surface coast,CONTROL_FINISHED_OK
$STATE,8614,begin surface
$SM_CCo,8625,67.22,0.252,0,0,1793,220.03
$SM_GC,1.31,5.55,0.08,67.22,0.081,0.170,0.252,262,2077,1793,-6.50,0.99,220.03,0,0,0,0,0,0,14.65,14.61,14.40
$IRIDIUM_FIX,-5952.63,0.00,251218,101902
$TT8_MAMPS,0.038948,0.08988
$HUMID,48.85
$INTERNAL_PRESSURE,6.10897
$TCM_TEMP,0.00
$XPDR_PINGS,1
$SC_FREEKB,3872224
$24V_AH,13.30,23.667
$10V_AH,13.43,0.000
$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,12.925,63.875,262.150,67.225,0.000,23.507,36.374,99.963,0.250,0.000,15.148,0.000,6908.523,426.825,1551.957,70.487,0.000,1038.913,0.000,1128.068,0.000,0.539,0.000
$DEVICE_MAMPS,414.630,2269.755,1607.265,252.450,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5026.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.878,0.000,0.000,0.000
$MEM,344104
$DATA_FILE_SIZE,17319,695
$CAP_FILE_SIZE,88433,0
$CFSIZE,1023623168,1010139136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.061,128.08,1
$GPS,251218,151731,-5952.557,-8.729,14,1.2,37,-19.6,0.0,0.7,9,9.7