version: 66.14
glider: 640
mission: 5
dive: 222
start: 1 7 119 21 35 57
data:
$ID,640
$MISSION,5
$DIVE,222
$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,49
$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,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
$GPS1,070119,213019,-6011.1821,-1.7869,18,0.7,41,-19.7,0.8,70.1,12,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-66.7
$GPS2,070119,213538,-6011.1704,-1.6850,9,0.7,17,-19.7,0.8,86.2,12,8.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,22.8,57749,-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,-146.0,233,2075,1798,1825,0.0,0.0,0,96,0.00,0.00,-83.68,0.000,16386,0.000,0.000,233,2074,3148,3230,3067,0,0,0,0,0,0,14.62,28.83,14.62,6.17,50.55
$GC,98,-0.64,-146.0,233,2075,3231,3070,3.5,-7.2,17,112,6.00,0.00,-6.15,0.000,18694,0.356,0.000,2195,2073,3317,3413,3222,0,0,0,0,0,0,14.16,13.28,14.45,6.28,50.07
$GC,231,-0.64,-146.0,2195,2074,3415,3225,26.3,-17.5,44,235,0.00,2.38,0.00,0.000,516,0.000,0.065,2193,710,3319,3414,3224,0,0,0,0,0,0,14.65,14.40,14.65,6.30,49.01
$GC,356,-0.64,-146.0,2195,710,3415,3226,46.0,-14.4,69,361,0.00,2.42,0.00,0.000,3078,0.000,0.056,2185,2105,3319,3414,3225,0,0,0,0,0,0,14.48,14.42,14.51,6.30,49.44
$GC,481,-0.64,-146.0,2186,2106,3416,3225,64.5,-15.1,94,485,0.00,2.50,0.00,0.000,2308,0.000,0.081,2175,3508,3319,3414,3225,0,0,0,0,0,0,14.71,14.42,14.71,6.30,49.37
$GC,511,-0.64,-146.0,2175,3508,3426,3226,69.1,-15.4,100,515,0.05,2.35,0.00,0.000,3078,0.356,0.043,2192,2122,3319,3414,3225,0,0,0,0,0,0,14.24,14.47,14.42,6.30,49.44
$GC,638,-0.64,-146.0,2192,2121,3415,3226,87.7,-15.0,125,641,0.00,2.47,0.00,0.000,2564,0.000,0.064,2192,684,3319,3414,3225,0,0,0,0,0,0,14.71,14.47,14.71,6.30,48.97
$GC,691,-0.64,-146.0,2192,685,3416,3225,96.0,-14.7,136,695,0.00,2.45,0.00,0.000,3078,0.000,0.057,2182,2100,3319,3414,3225,0,0,0,0,0,0,14.52,14.47,14.54,6.30,48.70
$GC,821,-0.64,-146.0,2182,2101,3415,3227,115.8,-15.5,147,825,0.00,2.47,0.00,0.000,2564,0.000,0.065,2181,694,3319,3414,3225,0,0,0,0,0,0,14.75,14.47,14.75,6.29,48.93
$GC,841,-0.64,-146.0,2182,695,3415,3225,119.0,-15.7,148,845,0.05,2.42,0.00,0.000,3078,0.363,0.056,2188,2100,3319,3414,3225,0,0,0,0,0,0,14.28,14.48,14.44,6.30,49.01
$GC,1161,-0.64,-146.0,2187,2101,3415,3226,165.2,-13.3,164,1162,0.00,0.00,0.00,0.000,2054,0.000,0.000,2188,2101,3319,3414,3225,0,0,0,0,0,0,14.78,14.78,14.79,6.30,50.55
$GC,1461,-0.64,-146.0,2188,2101,3415,3226,204.3,-13.2,179,1462,0.00,0.00,0.00,0.000,2054,0.000,0.000,2191,2101,3320,3415,3225,0,0,0,0,0,0,14.81,14.81,14.81,6.31,51.06
$GC,1761,-0.64,-146.0,2188,2101,3415,3226,243.4,-13.0,194,1765,0.00,2.42,0.00,0.000,2564,0.000,0.063,2187,684,3319,3414,3225,0,0,0,0,0,0,14.83,14.57,14.83,6.32,51.37
$GC,1791,-0.64,-146.0,2187,684,3415,3226,246.1,-13.0,195,1795,0.03,2.45,0.00,0.000,3078,0.457,0.057,2185,2102,3319,3414,3225,0,0,0,0,0,0,14.35,14.55,14.50,6.33,51.41
$GC,2101,-0.64,-146.0,2186,2103,3415,3225,287.9,-13.0,211,2105,0.00,2.42,0.00,0.000,2308,0.000,0.083,2175,3505,3319,3414,3225,0,0,0,0,0,0,14.83,14.56,14.83,6.33,51.33
$GC,2126,-0.64,-146.0,2174,3507,3413,3226,290.6,-13.1,212,2130,0.05,2.38,0.00,0.000,3078,0.352,0.043,2193,2088,3319,3414,3225,0,0,0,0,0,0,14.37,14.58,14.52,6.32,51.73
$GC,2441,-0.64,-146.0,2193,2087,3416,3225,330.6,-12.3,228,2445,0.00,2.42,0.00,0.000,2564,0.000,0.063,2193,697,3319,3414,3225,0,0,0,0,0,0,14.84,14.57,14.85,6.33,51.49
$GC,2506,-0.64,-146.0,2193,698,3415,3225,338.1,-12.4,231,2510,0.00,2.40,0.00,0.000,3078,0.000,0.055,2183,2096,3318,3414,3223,0,0,0,0,0,0,14.62,14.57,14.65,6.34,51.45
$STATE,2600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2600,begin apogee
$GC,2604,-0.15,0.0,2183,2182,3415,3226,350.4,-12.5,236,2735,0.47,0.00,128.15,1.579,10246,0.269,0.000,2351,2182,2718,2778,2659,0,0,0,0,0,0,14.41,13.94,13.33,6.34,51.73
$STATE,2736,end apogee,CONTROL_FINISHED_OK
$STATE,2736,begin loiter
$GC,3021,-0.15,0.0,2352,2183,2772,2643,346.0,3.3,257,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2182,2707,2771,2643,0,0,0,0,0,0,14.57,14.57,14.57,6.28,50.98
$GC,3321,-0.15,0.0,2352,2183,2772,2641,336.1,3.2,272,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2183,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.82
$GC,3621,-0.15,0.0,2352,2184,2772,2641,326.3,3.3,287,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2182,2705,2771,2639,0,0,0,0,0,0,14.80,14.80,14.80,6.28,51.77
$GC,3921,-0.15,0.0,2352,2183,2772,2638,316.0,3.4,302,3922,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2182,2704,2771,2638,0,0,0,0,0,0,14.85,14.86,14.85,6.28,51.06
$GC,4221,-0.15,0.0,2352,2183,2772,2638,305.5,3.6,317,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2182,2705,2772,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.81
$GC,4521,-0.15,0.0,2351,2183,2772,2639,294.7,3.7,332,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2183,2704,2771,2638,0,0,0,0,0,0,14.93,14.94,14.94,6.28,51.45
$GC,4821,-0.15,0.0,2351,2183,2772,2639,283.2,3.9,347,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2182,2704,2771,2638,0,0,0,0,0,0,14.96,14.96,14.96,6.28,51.06
$GC,5121,-0.15,0.0,2352,2183,2772,2639,271.4,3.9,362,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2183,2705,2772,2638,0,0,0,0,0,0,14.98,14.98,14.98,6.28,51.53
$GC,5421,-0.15,0.0,2352,2183,2772,2639,260.1,3.8,377,5422,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2182,2704,2771,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.45
$GC,5721,-0.15,0.0,2352,2183,2772,2637,249.3,3.5,392,5722,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2182,2704,2771,2638,0,0,0,0,0,0,15.01,15.02,15.02,6.28,51.53
$GC,6021,-0.15,0.0,2351,2183,2772,2639,239.1,3.4,407,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2182,2704,2771,2637,0,0,0,0,0,0,15.02,15.03,15.02,6.28,51.41
$STATE,6320,end loiter,LOITER_COMPLETE
$STATE,6320,begin climb
$GC,6321,0.64,146.0,2351,2183,2772,2638,229.4,0.0,422,6461,0.60,2.50,130.93,1.401,11012,0.181,0.080,2591,3534,2122,2145,2099,0,0,0,0,0,0,14.66,14.00,13.48,6.27,51.33
$GC,6506,0.64,146.0,2591,3535,2154,2086,216.3,9.4,431,6510,0.00,2.38,0.00,0.000,1030,0.000,0.041,2601,2163,2114,2142,2086,0,0,0,0,0,0,14.18,14.14,14.20,6.24,49.64
$GC,6821,0.64,146.0,2602,2163,2136,2077,177.8,12.2,447,6825,0.00,2.55,0.00,0.000,516,0.000,0.067,2612,740,2105,2134,2076,0,0,0,0,0,0,14.60,14.31,14.60,6.23,50.27
$GC,6876,0.64,146.0,2613,740,2132,2076,173.1,12.0,449,6881,0.00,2.40,0.00,0.000,5126,0.000,0.053,2613,2120,2103,2130,2076,0,0,0,0,0,0,14.42,14.38,14.45,6.23,50.63
$GC,7181,0.64,146.0,2613,2119,2130,2075,134.3,11.9,465,7186,0.00,2.45,0.00,0.000,4612,0.000,0.067,2624,742,2102,2130,2075,0,0,0,0,0,0,14.71,14.40,14.71,6.24,50.59
$GC,7306,0.64,146.0,2623,743,2128,2076,121.1,10.8,471,7310,0.05,2.42,0.00,0.000,5126,0.304,0.054,2604,2150,2100,2127,2074,0,0,0,0,0,0,14.31,14.47,14.46,6.23,50.43
$GC,7611,0.64,146.0,2604,2151,2128,2074,89.4,9.7,500,7616,0.00,2.50,0.00,0.000,260,0.000,0.083,2604,3550,2100,2127,2073,0,0,0,0,0,0,14.77,14.45,14.78,6.22,49.92
$GC,7671,0.64,146.0,2605,3552,2129,2073,83.4,9.6,512,7676,0.00,2.38,0.00,0.000,5126,0.000,0.043,2613,2147,2100,2127,2073,0,0,0,0,0,0,14.55,14.50,14.56,6.22,49.68
$GC,7796,0.64,146.0,2614,2147,2128,2074,71.3,10.1,537,7800,0.00,2.47,0.00,0.000,4612,0.000,0.067,2624,742,2097,2127,2068,0,0,0,0,0,0,14.78,14.50,14.79,6.21,48.97
$GC,7841,0.64,146.0,2623,743,2126,2075,66.7,9.5,546,7845,0.05,2.42,0.00,0.000,5126,0.304,0.055,2604,2150,2099,2126,2072,0,0,0,0,0,0,14.33,14.49,14.48,6.20,49.64
$GC,7966,0.64,146.0,2606,2151,2128,2072,55.4,9.1,571,7970,0.00,2.45,0.00,0.000,260,0.000,0.083,2605,3556,2098,2125,2072,0,0,0,0,0,0,14.78,14.52,14.79,6.20,49.05
$GC,8036,0.64,146.0,2605,3557,2127,2072,49.2,8.4,585,8040,0.00,2.38,0.00,0.000,5126,0.000,0.043,2614,2145,2098,2124,2072,0,0,0,0,0,0,14.60,14.55,14.62,6.20,48.85
$GC,8162,0.65,154.2,2615,2145,2126,2072,38.9,8.0,610,8166,0.00,2.42,0.00,0.000,4612,0.000,0.067,2625,742,2098,2126,2071,0,0,0,0,0,0,14.79,14.54,14.80,6.20,49.25
$GC,8211,0.67,171.7,2625,742,2127,2072,35.0,7.7,620,8237,0.00,2.38,20.38,1.291,13318,0.000,0.054,2634,2153,2019,2042,1996,0,0,0,0,0,0,14.66,14.54,13.88,6.20,49.48
$GC,8356,0.67,171.7,2625,2154,2038,1991,21.6,10.4,649,8360,0.00,2.45,0.00,0.000,4356,0.000,0.084,2625,3552,2013,2037,1990,0,0,0,0,0,0,14.69,14.44,14.69,6.19,49.52
$GC,8406,0.67,171.7,2625,3554,2040,1990,16.1,10.7,659,8410,0.05,2.38,0.00,0.000,5126,0.331,0.045,2617,2152,2014,2038,1990,0,0,0,0,0,0,14.29,14.46,14.43,6.19,49.80
$GC,8532,0.67,171.7,2617,2153,2037,1988,3.2,11.0,684,8536,0.00,2.45,0.00,0.000,516,0.000,0.068,2626,744,2012,2037,1988,0,0,0,0,0,0,14.72,14.47,14.72,6.19,50.15
$STATE,8540,end climb,SURFACE_DEPTH_REACHED
$STATE,8540,begin surface coast
$STATE,8565,end surface coast,CONTROL_FINISHED_OK
$STATE,8565,begin surface
$SM_CCo,8578,45.85,0.245,0,0,1820,220.03
$SM_GC,1.29,5.53,2.38,45.85,0.071,0.051,0.245,280,2104,1820,-6.44,-0.74,220.03,0,0,0,0,0,0,14.57,14.50,14.31
$IRIDIUM_FIX,-6010.01,0.00,070119,185921
$TT8_MAMPS,0.036701,0.283871
$HUMID,49.76
$INTERNAL_PRESSURE,6.11873
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3807200
$24V_AH,13.28,46.185
$10V_AH,13.66,0.000
$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,12.925,77.825,279.450,45.850,0.000,26.395,45.083,120.189,0.000,0.000,19.188,0.000,6834.989,418.117,1569.272,125.346,0.000,1030.975,0.000,1109.637,0.000,0.540,0.000
$DEVICE_MAMPS,456.705,155.295,1578.960,244.800,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4978.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.710,0.000,0.000,0.000
$MEM,344108
$DATA_FILE_SIZE,17300,691
$CAP_FILE_SIZE,90107,0
$CFSIZE,1023623168,997654528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.025,196.88,1
$GPS,080119,000031,-6010.758,-1.732,15,0.8,26,-19.7,0.5,24.7,9,9.5