version: 66.14
glider: 640
mission: 5
dive: 220
start: 1 7 119 16 30 52
data:
$ID,640
$MISSION,5
$DIVE,220
$N_DIVES,300
$STOP_T,1101912
$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,34
$R_STBD_OVSHOOT,31
$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
$GPS1,070119,162535,-6011.7222,-1.6475,14,0.8,30,-19.7,0.5,163.4,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-65.5
$GPS2,070119,163034,-6011.7583,-1.6350,9,0.7,16,-19.7,0.4,292.3,10,9.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,31.4,58836,-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,-146.0,233,2111,1797,1825,0.0,0.0,0,101,0.00,0.00,-88.68,0.000,16386,0.000,0.000,233,2116,3222,3305,3140,0,0,0,0,0,0,14.62,28.83,14.62,6.17,50.47
$GC,103,-0.64,-146.0,234,2111,3307,3147,3.6,-7.6,18,117,6.03,2.70,-3.28,0.000,18948,0.359,2.245,2190,694,3317,3407,3228,0,0,0,0,0,0,14.18,13.27,14.45,6.29,49.68
$GC,156,-0.64,-146.0,2190,695,3410,3225,14.3,-16.0,29,160,0.00,2.45,0.00,0.000,3078,0.000,0.058,2179,2095,3317,3409,3226,0,0,0,0,0,0,14.42,14.37,14.45,6.30,48.58
$GC,281,-0.64,-146.0,2179,2095,3410,3226,36.7,-17.8,54,285,0.00,2.42,0.00,0.000,2564,0.000,0.063,2179,693,3318,3410,3226,0,0,0,0,0,0,14.65,14.42,14.65,6.30,49.60
$GC,306,-0.64,-146.0,2179,694,3410,3226,40.7,-16.1,59,311,0.05,2.45,0.00,0.000,3078,0.354,0.056,2186,2100,3318,3410,3226,0,0,0,0,0,0,14.22,14.40,14.38,6.30,49.92
$GC,432,-0.64,-146.0,2186,2100,3411,3225,58.0,-14.7,84,436,0.00,2.45,0.00,0.000,2308,0.000,0.083,2176,3506,3318,3410,3226,0,0,0,0,0,0,14.68,14.42,14.68,6.30,49.64
$GC,491,-0.64,-146.0,2176,3507,3410,3227,66.3,-12.8,96,495,0.05,2.38,0.00,0.000,3078,0.361,0.042,2193,2099,3317,3410,3225,0,0,0,0,0,0,14.25,14.46,14.40,6.30,49.25
$GC,617,-0.64,-146.0,2193,2099,3409,3226,82.8,-13.8,121,621,0.00,2.42,0.00,0.000,2564,0.000,0.065,2193,693,3317,3410,3225,0,0,0,0,0,0,14.71,14.47,14.71,6.30,49.44
$GC,651,-0.64,-146.0,2194,694,3410,3226,87.8,-14.0,128,655,0.00,2.42,0.00,0.000,3078,0.000,0.056,2184,2096,3317,3410,3224,0,0,0,0,0,0,14.52,14.46,14.53,6.30,48.89
$GC,776,-0.64,-146.0,2184,2097,3411,3225,105.9,-14.6,147,781,0.00,2.50,0.00,0.000,2308,0.000,0.081,2173,3503,3318,3410,3226,0,0,0,0,0,0,14.73,14.44,14.73,6.29,48.58
$GC,796,-0.64,-146.0,2173,3504,3410,3227,108.9,-14.7,148,801,0.05,2.38,0.00,0.000,3078,0.355,0.044,2189,2103,3318,3410,3226,0,0,0,0,0,0,14.28,14.49,14.45,6.30,48.97
$GC,1116,-0.64,-146.0,2190,2102,3411,3225,154.2,-14.2,164,1120,0.00,2.47,0.00,0.000,2564,0.000,0.064,2190,687,3317,3410,3225,0,0,0,0,0,0,14.78,14.50,14.78,6.30,50.07
$GC,1267,-0.64,-146.0,2189,688,3410,3226,173.2,-13.0,171,1271,0.00,2.38,0.00,0.000,3078,0.000,0.056,2181,2102,3317,3410,3225,0,0,0,0,0,0,14.69,14.54,14.66,6.31,50.07
$GC,1571,-0.64,-146.0,2181,2102,3411,3225,215.9,-13.8,186,1572,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2101,3317,3410,3224,0,0,0,0,0,0,14.81,14.81,14.81,6.32,50.86
$GC,1871,-0.64,-146.0,2189,2102,3411,3225,255.9,-13.0,201,1872,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2102,3317,3410,3225,0,0,0,0,0,0,14.83,14.83,14.83,6.32,51.10
$GC,2171,-0.64,-146.0,2181,2103,3411,3226,294.5,-12.9,216,2172,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2102,3317,3410,3225,0,0,0,0,0,0,14.83,14.84,14.84,6.33,51.29
$GC,2471,-0.64,-146.0,2181,2103,3411,3226,333.3,-12.9,231,2472,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2102,3317,3410,3225,0,0,0,0,0,0,14.85,14.85,14.85,6.34,51.89
$STATE,2610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2610,begin apogee
$GC,2614,-0.15,0.0,2181,2168,3411,3225,351.7,-13.2,238,2745,0.47,0.00,127.75,1.558,10246,0.270,0.000,2348,2168,2715,2775,2656,0,0,0,0,0,0,14.42,13.95,13.34,6.33,51.92
$STATE,2746,end apogee,CONTROL_FINISHED_OK
$STATE,2746,begin loiter
$GC,3031,-0.15,0.0,2349,2168,2772,2642,349.3,2.9,259,3032,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2168,2706,2770,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.47
$GC,3331,-0.15,0.0,2349,2169,2771,2641,341.2,2.7,274,3332,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2168,2705,2770,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.29,51.10
$GC,3631,-0.15,0.0,2349,2169,2770,2640,333.2,2.8,289,3632,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2168,2704,2770,2639,0,0,0,0,0,0,14.81,14.80,14.81,6.29,51.14
$GC,3931,-0.15,0.0,2349,2168,2772,2638,325.0,2.8,304,3932,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2168,2703,2770,2637,0,0,0,0,0,0,14.85,14.86,14.86,6.28,51.14
$GC,4231,-0.15,0.0,2349,2169,2772,2637,317.1,2.6,319,4232,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2168,2704,2770,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.61
$GC,4531,-0.15,0.0,2349,2168,2772,2637,309.1,2.7,334,4532,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2168,2703,2770,2637,0,0,0,0,0,0,14.94,14.94,14.94,6.29,51.02
$GC,4831,-0.15,0.0,2349,2169,2772,2638,300.8,2.8,349,4832,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2168,2704,2771,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.69
$GC,5131,-0.15,0.0,2349,2169,2770,2638,291.5,3.3,364,5132,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2168,2704,2771,2638,0,0,0,0,0,0,14.99,14.99,14.99,6.29,51.57
$GC,5431,-0.15,0.0,2349,2168,2772,2637,281.5,3.4,379,5432,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2168,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.02
$GC,5731,-0.15,0.0,2349,2169,2771,2639,270.9,3.6,394,5732,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2168,2703,2770,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.65
$GC,6031,-0.15,0.0,2349,2168,2772,2637,260.1,3.5,409,6032,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2168,2703,2770,2637,0,0,0,0,0,0,15.03,15.03,15.03,6.28,51.41
$STATE,6330,end loiter,LOITER_COMPLETE
$STATE,6330,begin climb
$GC,6331,0.64,146.0,2349,2168,2772,2637,250.0,0.0,424,6472,0.62,2.62,130.52,1.421,10756,0.176,0.066,2610,744,2116,2141,2092,0,0,0,0,0,0,14.66,14.00,13.47,6.28,51.53
$GC,6531,0.64,146.0,2610,744,2136,2087,235.5,9.6,434,6535,0.00,2.45,0.00,0.000,5126,0.000,0.052,2610,2153,2110,2135,2086,0,0,0,0,0,0,14.23,14.14,14.26,6.24,49.01
$GC,6851,0.64,146.0,2610,2154,2130,2078,197.0,12.4,450,6856,0.00,2.53,0.00,0.000,4356,0.000,0.083,2610,3552,2104,2131,2077,0,0,0,0,0,0,14.61,14.31,14.61,6.24,50.31
$GC,6941,0.64,146.0,2611,3553,2132,2078,186.8,12.6,454,6945,0.03,2.38,0.00,0.000,5126,0.435,0.042,2610,2154,2104,2131,2077,0,0,0,0,0,0,14.18,14.38,14.33,6.24,50.19
$GC,7251,0.64,146.0,2611,2154,2130,2075,145.4,13.0,470,7255,0.00,2.47,0.00,0.000,4612,0.000,0.065,2620,749,2105,2128,2082,0,0,0,0,0,0,14.72,14.42,14.73,6.20,50.82
$GC,7271,0.64,146.0,2621,749,2128,2075,142.9,12.8,471,7275,0.05,2.42,0.00,0.000,5126,0.308,0.054,2602,2154,2100,2127,2074,0,0,0,0,0,0,14.28,14.43,14.42,6.24,50.82
$GC,7591,0.64,146.0,2602,2155,2127,2073,107.0,10.4,487,7595,0.00,2.50,0.00,0.000,516,0.000,0.066,2610,741,2100,2127,2073,0,0,0,0,0,0,14.77,14.46,14.78,6.22,50.27
$GC,7611,0.64,146.0,2611,742,2125,2073,105.0,10.3,488,7615,0.00,2.42,0.00,0.000,5126,0.000,0.054,2610,2150,2099,2125,2073,0,0,0,0,0,0,14.54,14.48,14.57,6.22,50.15
$GC,7916,0.64,146.0,2611,2151,2127,2072,71.8,10.8,540,7920,0.00,2.50,0.00,0.000,4356,0.000,0.084,2610,3557,2103,2125,2082,0,0,0,0,0,0,14.80,14.50,14.80,6.21,49.21
$GC,8006,0.64,146.0,2611,3557,2127,2072,62.1,10.5,558,8010,0.05,2.35,0.00,0.000,5126,0.330,0.042,2602,2154,2099,2126,2072,0,0,0,0,0,0,14.35,14.56,14.52,6.21,48.97
$GC,8132,0.64,146.0,2603,2154,2126,2073,50.1,9.1,583,8136,0.00,2.42,0.00,0.000,516,0.000,0.067,2612,747,2098,2126,2071,0,0,0,0,0,0,14.80,14.54,14.80,6.20,49.52
$GC,8236,0.64,146.0,2612,748,2125,2072,41.0,8.8,604,8240,0.00,2.40,0.00,0.000,5126,0.000,0.054,2612,2149,2098,2125,2071,0,0,0,0,0,0,14.60,14.54,14.62,6.20,49.29
$GC,8361,0.64,146.0,2621,2149,2126,2072,28.5,10.4,629,8364,0.00,0.00,0.00,0.000,4102,0.000,0.000,2612,2149,2098,2125,2071,0,0,0,0,0,0,14.81,14.81,14.81,6.20,49.56
$GC,8486,0.64,146.0,2611,2149,2125,2070,16.0,8.8,654,8487,0.00,0.00,0.00,0.000,4102,0.000,0.000,2612,2149,2097,2125,2070,0,0,0,0,0,0,14.82,14.82,14.82,6.15,49.72
$GC,8606,0.64,146.0,2613,2149,2126,2070,4.6,9.6,678,8610,0.00,2.45,0.00,0.000,4356,0.000,0.083,2612,3555,2097,2125,2070,0,0,0,0,0,0,14.81,14.52,14.82,6.20,50.19
$STATE,8625,end climb,SURFACE_DEPTH_REACHED
$STATE,8625,begin surface coast
$STATE,8655,end surface coast,CONTROL_FINISHED_OK
$STATE,8655,begin surface
$SM_CCo,8669,66.47,0.245,0,0,1820,220.03
$SM_GC,1.43,5.50,2.50,66.47,0.079,0.050,0.245,281,2092,1820,-6.45,1.02,220.03,0,0,0,0,0,0,14.64,14.59,14.35
$IRIDIUM_FIX,-6010.01,0.00,070119,135750
$TT8_MAMPS,0.038948,0.363265
$HUMID,49.84
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3808224
$24V_AH,13.27,45.831
$10V_AH,13.65,0.000
$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,12.900,63.925,258.275,66.475,0.000,24.333,20.263,125.398,0.000,0.000,17.855,0.000,6964.712,412.952,1540.962,118.747,0.000,1016.983,0.000,1109.313,0.000,0.539,0.000
$DEVICE_MAMPS,435.285,2244.510,1557.540,244.800,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5067.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.736,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17338,688
$CAP_FILE_SIZE,86792,0
$CFSIZE,1023623168,997851136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.071,220.21,1
$GPS,070119,185731,-6011.474,-1.911,16,0.7,40,-19.7,0.5,146.2,11,4.2