version: 66.14
glider: 640
mission: 5
dive: 113
start: 12 27 118 10 11 5
data:
$ID,640
$MISSION,5
$DIVE,113
$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,42
$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
$GPS1,271218,100536,-5945.7139,-6.8351,33,0.8,38,-19.7,0.2,170.5,9,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-64.8
$GPS2,271218,101047,-5945.7437,-6.8079,9,0.8,15,-19.7,0.8,189.3,10,9.5
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5900.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,20.9,84966,-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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,10,-0.64,-146.0,224,2083,1767,1793,0.0,0.0,0,101,0.00,0.00,-88.97,0.000,16386,0.000,0.000,224,2086,3177,3257,3097,0,0,0,0,0,0,14.60,28.83,14.60,6.16,50.31
$GC,102,-0.64,-146.0,225,2086,3258,3096,3.4,-7.3,18,120,6.03,2.75,-4.12,0.000,18692,0.360,2.274,2174,3505,3286,3378,3195,0,0,0,0,0,0,14.21,13.46,14.38,6.28,49.17
$GC,161,-0.64,-146.0,2174,3505,3379,3197,13.7,-16.5,30,165,0.05,2.38,0.00,0.000,3078,0.356,0.041,2191,2107,3287,3379,3195,0,0,0,0,0,0,14.20,14.36,14.34,6.30,48.46
$GC,286,-0.64,-146.0,2192,2104,3381,3189,33.6,-16.2,55,291,0.00,2.45,0.00,0.000,2564,0.000,0.066,2191,695,3287,3380,3195,0,0,0,0,0,0,14.62,14.40,14.62,6.29,48.66
$GC,316,-0.64,-146.0,2191,696,3381,3197,38.4,-16.0,61,320,0.00,2.45,0.00,0.000,3078,0.000,0.057,2182,2102,3287,3380,3195,0,0,0,0,0,0,14.45,14.40,14.47,6.30,48.85
$GC,441,-0.64,-146.0,2182,2103,3381,3195,58.2,-13.9,86,445,0.00,2.47,0.00,0.000,2564,0.000,0.063,2181,698,3287,3380,3195,0,0,0,0,0,0,14.66,14.42,14.66,6.29,49.05
$GC,451,-0.64,-146.0,2182,699,3381,3197,59.6,-14.1,88,455,0.05,2.42,0.00,0.000,3078,0.361,0.057,2188,2093,3287,3380,3195,0,0,0,0,0,0,14.28,14.43,14.42,6.29,48.77
$GC,576,-0.64,-146.0,2189,2094,3382,3195,77.5,-14.4,113,580,0.00,2.53,0.00,0.000,2308,0.000,0.083,2178,3512,3287,3380,3195,0,0,0,0,0,0,14.68,14.43,14.68,6.29,48.93
$GC,596,-0.64,-146.0,2178,3513,3380,3197,80.4,-14.4,117,600,0.03,2.40,0.00,0.000,3078,0.451,0.044,2187,2096,3287,3380,3195,0,0,0,0,0,0,14.28,14.47,14.44,6.24,48.74
$GC,721,-0.64,-146.0,2187,2096,3381,3195,98.5,-14.9,142,725,0.00,2.45,0.00,0.000,2564,0.000,0.067,2186,705,3288,3380,3197,0,0,0,0,0,0,14.69,14.46,14.70,6.29,48.50
$GC,806,-0.64,-146.0,2186,704,3381,3195,110.7,-15.3,149,811,0.03,2.42,0.00,0.000,3078,0.463,0.057,2185,2101,3287,3380,3195,0,0,0,0,0,0,14.31,14.48,14.46,6.29,48.38
$GC,1121,-0.64,-146.0,2185,2103,3381,3197,155.5,-13.8,165,1125,0.00,2.47,0.00,0.000,2564,0.000,0.065,2184,700,3284,3380,3189,0,0,0,0,0,0,14.76,14.52,14.76,6.29,49.72
$GC,1151,-0.64,-146.0,2184,693,3380,3195,158.4,-14.0,166,1156,0.03,2.42,0.00,0.000,3078,0.460,0.058,2183,2094,3289,3380,3198,0,0,0,0,0,0,14.35,14.52,14.50,6.29,49.60
$GC,1461,-0.64,-146.0,2183,2097,3380,3197,201.4,-13.3,182,1465,0.00,2.50,0.00,0.000,2308,0.000,0.085,2173,3511,3287,3380,3195,0,0,0,0,0,0,14.78,14.53,14.79,6.30,50.59
$GC,1496,-0.64,-146.0,2173,3512,3381,3195,204.1,-13.3,183,1501,0.05,2.38,0.00,0.000,3078,0.365,0.043,2190,2090,3287,3380,3195,0,0,0,0,0,0,14.40,14.57,14.54,6.31,50.74
$GC,1801,-0.64,-146.0,2190,2086,3380,3196,245.2,-12.7,199,1806,0.00,2.42,0.00,0.000,2564,0.000,0.065,2189,698,3287,3380,3195,0,0,0,0,0,0,14.81,14.57,14.81,6.31,50.94
$GC,1856,-0.64,-146.0,2190,698,3381,3195,250.4,-12.7,201,1860,0.00,2.40,0.00,0.000,3078,0.000,0.056,2180,2096,3287,3380,3195,0,0,0,0,0,0,14.63,14.57,14.64,6.32,51.10
$GC,2161,-0.64,-146.0,2181,2097,3381,3195,291.2,-12.8,217,2165,0.00,2.47,0.00,0.000,2308,0.000,0.083,2170,3506,3287,3380,3195,0,0,0,0,0,0,14.83,14.57,14.83,6.32,51.57
$GC,2191,-0.64,-146.0,2170,3506,3386,3196,293.8,-12.7,218,2195,0.05,2.35,0.00,0.000,3078,0.358,0.043,2187,2101,3287,3379,3195,0,0,0,0,0,0,14.43,14.60,14.58,6.32,50.98
$GC,2501,-0.64,-146.0,2188,2096,3381,3195,332.3,-11.9,234,2505,0.00,2.42,0.00,0.000,2564,0.000,0.065,2187,701,3287,3380,3195,0,0,0,0,0,0,14.83,14.59,14.84,6.32,51.77
$GC,2556,-0.64,-146.0,2187,701,3381,3195,337.1,-12.1,236,2560,0.03,2.40,0.00,0.000,3078,0.459,0.057,2186,2102,3287,3379,3195,0,0,0,0,0,0,14.42,14.59,14.57,6.33,51.77
$STATE,2660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2660,begin apogee
$GC,2663,-0.15,0.0,2186,2163,3376,3197,351.1,-11.6,242,2795,0.45,0.00,128.77,1.616,10246,0.263,0.000,2348,2163,2689,2748,2631,0,0,0,0,0,0,14.48,13.90,13.29,6.33,51.10
$STATE,2796,end apogee,CONTROL_FINISHED_OK
$STATE,2796,begin loiter
$GC,3081,-0.15,0.0,2348,2164,2743,2617,346.0,3.5,263,3082,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2163,2679,2743,2616,0,0,0,0,0,0,14.55,14.55,14.55,6.27,50.23
$GC,3381,-0.15,0.0,2349,2163,2743,2614,335.9,3.4,278,3382,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2163,2678,2742,2614,0,0,0,0,0,0,14.69,14.69,14.69,6.28,50.82
$GC,3681,-0.15,0.0,2349,2163,2743,2613,325.6,3.4,293,3682,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2163,2677,2742,2613,0,0,0,0,0,0,14.78,14.78,14.78,6.28,51.10
$GC,3981,-0.15,0.0,2348,2164,2742,2613,315.3,3.5,308,3982,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2163,2676,2741,2612,0,0,0,0,0,0,14.84,14.84,14.84,6.28,50.86
$GC,4281,-0.15,0.0,2348,2164,2742,2613,304.5,3.7,323,4282,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2677,2742,2612,0,0,0,0,0,0,14.88,14.88,14.89,6.28,50.98
$GC,4581,-0.15,0.0,2349,2163,2743,2611,293.1,3.9,338,4582,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2163,2676,2741,2612,0,0,0,0,0,0,14.92,14.92,14.92,6.27,50.98
$GC,4881,-0.15,0.0,2349,2164,2743,2611,281.1,4.0,353,4882,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2163,2676,2741,2612,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.22
$GC,5181,-0.15,0.0,2348,2164,2742,2612,269.1,3.9,368,5182,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2163,2676,2742,2611,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.53
$GC,5481,-0.15,0.0,2349,2163,2743,2611,257.1,4.0,383,5482,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2163,2676,2741,2611,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.18
$GC,5781,-0.15,0.0,2349,2163,2743,2611,245.6,3.7,398,5782,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2163,2676,2742,2611,0,0,0,0,0,0,15.00,15.01,15.00,6.28,51.85
$GC,6081,-0.15,0.0,2349,2163,2743,2611,234.7,3.6,413,6082,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2163,2675,2741,2610,0,0,0,0,0,0,15.02,15.02,15.02,6.27,51.14
$STATE,6380,end loiter,LOITER_COMPLETE
$STATE,6380,begin climb
$GC,6381,0.64,146.0,2349,2164,2742,2612,223.6,0.0,428,6522,0.62,2.60,132.30,1.405,11012,0.169,0.070,2612,753,2089,2115,2064,0,0,0,0,0,0,14.71,13.97,13.45,6.28,51.49
$GC,6626,0.64,146.0,2612,753,2110,2053,202.4,11.2,440,6630,0.00,2.45,0.00,0.000,5126,0.000,0.057,2612,2136,2081,2108,2054,0,0,0,0,0,0,14.23,14.19,14.26,6.23,48.93
$GC,6941,0.64,146.0,2613,2137,2105,2047,160.4,13.3,456,6946,0.00,2.47,0.00,0.000,4612,0.000,0.068,2623,748,2076,2105,2047,0,0,0,0,0,0,14.62,14.35,14.61,6.23,50.59
$GC,7061,0.64,146.0,2622,749,2103,2046,145.6,12.2,462,7066,0.05,2.45,0.00,0.000,5126,0.314,0.057,2604,2153,2074,2103,2046,0,0,0,0,0,0,14.27,14.38,14.40,6.23,50.27
$GC,7381,0.64,146.0,2604,2154,2103,2043,105.9,11.8,478,7385,0.00,2.50,0.00,0.000,260,0.000,0.086,2604,3556,2072,2102,2042,0,0,0,0,0,0,14.72,14.45,14.72,6.22,50.15
$GC,7436,0.64,146.0,2605,3553,2104,2042,101.2,11.7,480,7440,0.00,2.35,0.00,0.000,5126,0.000,0.044,2613,2157,2072,2102,2042,0,0,0,0,0,0,14.55,14.52,14.57,6.22,49.80
$GC,7741,0.64,146.0,2613,2157,2103,2041,65.9,10.8,541,7745,0.00,2.47,0.00,0.000,4612,0.000,0.069,2624,751,2071,2102,2040,0,0,0,0,0,0,14.76,14.50,14.76,6.21,49.13
$GC,7776,0.64,146.0,2625,752,2103,2040,62.4,10.0,548,7781,0.05,2.40,0.00,0.000,5126,0.309,0.057,2605,2145,2071,2102,2040,0,0,0,0,0,0,14.40,14.52,14.56,6.20,49.21
$GC,7901,0.64,146.0,2605,2147,2102,2041,50.9,8.6,573,7905,0.00,2.47,0.00,0.000,260,0.000,0.086,2605,3557,2070,2101,2040,0,0,0,0,0,0,14.77,14.52,14.77,6.20,48.81
$GC,7941,0.64,146.0,2605,3558,2102,2041,47.1,9.3,581,7945,0.00,2.38,0.00,0.000,5126,0.000,0.045,2614,2148,2070,2101,2040,0,0,0,0,0,0,14.57,14.52,14.59,6.20,49.29
$GC,8066,0.64,146.0,2614,2148,2102,2040,36.0,9.6,606,8071,0.00,2.45,0.00,0.000,4612,0.000,0.068,2625,748,2070,2101,2040,0,0,0,0,0,0,14.78,14.53,14.78,6.19,48.81
$GC,8101,0.64,146.0,2625,749,2101,2040,32.5,9.6,613,8106,0.05,2.40,0.00,0.000,5126,0.308,0.055,2605,2148,2070,2101,2039,0,0,0,0,0,0,14.40,14.52,14.53,6.20,49.13
$GC,8226,0.64,148.9,2605,2148,2102,2038,22.5,8.2,638,8231,0.00,2.50,0.00,0.000,260,0.000,0.085,2605,3553,2069,2100,2039,0,0,0,0,0,0,14.78,14.52,14.79,6.19,49.21
$GC,8281,0.64,148.9,2606,3554,2102,2039,16.3,10.9,649,8285,0.00,2.38,0.00,0.000,5126,0.000,0.046,2615,2141,2070,2101,2039,0,0,0,0,0,0,14.59,14.55,14.60,6.19,49.84
$GC,8406,0.64,148.9,2615,2141,2100,2039,3.0,11.0,674,8411,0.00,2.42,0.00,0.000,4356,0.000,0.070,2615,3555,2069,2100,2038,0,0,0,0,0,0,14.79,14.56,14.79,6.19,50.55
$STATE,8415,end climb,SURFACE_DEPTH_REACHED
$STATE,8415,begin surface coast
$STATE,8445,end surface coast,CONTROL_FINISHED_OK
$STATE,8445,begin surface
$SM_CCo,8459,67.70,0.251,0,0,1791,220.03
$SM_GC,1.12,5.60,2.47,67.70,0.093,0.041,0.251,247,2081,1791,-6.48,1.05,220.03,0,0,0,0,0,0,14.62,14.61,14.36
$IRIDIUM_FIX,-5944.87,12.81,271218,073453
$TT8_MAMPS,0.038948,0.349783
$HUMID,49.29
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,11
$SC_FREEKB,3863008
$24V_AH,13.29,26.805
$10V_AH,13.41,0.000
$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,13.150,88.225,261.075,67.700,0.000,23.881,44.262,132.954,2.750,0.000,16.164,0.000,6692.862,449.575,1618.469,83.260,0.000,1079.512,0.000,1139.147,0.000,0.540,0.000
$DEVICE_MAMPS,462.825,2274.345,1615.680,250.920,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4857.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.804,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17317,682
$CAP_FILE_SIZE,93978,0
$CFSIZE,1023623168,1008369664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.059,139.26,1
$GPS,271218,123404,-5945.393,-6.360,27,0.8,30,-19.7,0.6,314.8,11,8.8