version: 66.14
glider: 640
mission: 5
dive: 223
start: 1 8 119 0 5 35
data:
$ID,640
$MISSION,5
$DIVE,223
$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,35
$R_STBD_OVSHOOT,26
$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
$GPS1,080119,000031,-6010.7583,-1.7322,15,0.8,26,-19.7,0.5,24.7,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-66.7
$GPS2,080119,000517,-6010.7300,-1.7160,9,1.0,13,-19.7,0.4,329.6,10,9.7
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,22.9,56934,-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,-146.0,234,2106,1798,1825,0.0,0.0,0,102,0.00,0.00,-89.82,0.000,16386,0.000,0.000,233,2105,3243,3324,3162,0,0,0,0,0,0,14.59,28.83,14.60,6.17,50.47
$GC,104,-0.64,-146.0,234,2105,3325,3162,3.5,-7.8,18,121,6.00,2.70,-2.55,0.000,18948,0.359,2.241,2190,693,3315,3405,3225,0,0,0,0,0,0,14.16,13.42,14.44,6.28,49.72
$GC,166,-0.64,-146.0,2190,694,3402,3226,15.7,-16.3,31,170,0.00,2.47,0.00,0.000,3078,0.000,0.057,2180,2104,3316,3407,3225,0,0,0,0,0,0,14.38,14.33,14.40,6.30,48.62
$GC,292,-0.64,-146.0,2179,2106,3409,3225,38.6,-19.4,56,295,0.00,2.47,0.00,0.000,2308,0.000,0.085,2169,3508,3316,3408,3225,0,0,0,0,0,0,14.62,14.37,14.62,6.30,49.09
$GC,326,-0.64,-146.0,2170,3508,3409,3224,45.4,-19.1,63,330,0.08,2.40,0.00,0.000,3078,0.304,0.045,2213,2100,3316,3408,3225,0,0,0,0,0,0,14.26,14.38,14.45,6.30,49.29
$GC,452,-0.64,-146.0,2213,2099,3408,3226,64.4,-14.4,88,456,0.00,2.45,0.00,0.000,4612,0.000,0.067,2213,690,3317,3408,3226,0,0,0,0,0,0,14.66,14.42,14.66,6.30,50.07
$GC,526,-0.64,-146.0,2213,691,3409,3225,74.4,-12.2,103,530,0.00,2.45,0.00,0.000,5126,0.000,0.058,2204,2098,3316,3408,3225,0,0,0,0,0,0,14.56,14.46,14.57,6.30,49.05
$GC,651,-0.64,-146.0,2205,2098,3409,3224,90.5,-13.0,128,655,0.00,2.50,0.00,0.000,4356,0.000,0.083,2193,3505,3316,3408,3225,0,0,0,0,0,0,14.70,14.42,14.70,6.29,48.89
$GC,681,-0.64,-146.0,2193,3501,3408,3225,94.5,-13.4,134,685,0.00,2.38,0.00,0.000,1030,0.000,0.044,2193,2105,3316,3408,3225,0,0,0,0,0,0,14.51,14.47,14.53,6.29,48.97
$GC,806,-0.64,-146.0,2193,2105,3409,3226,111.1,-13.7,147,810,0.00,2.50,0.00,0.000,2564,0.000,0.065,2193,686,3316,3408,3225,0,0,0,0,0,0,14.73,14.46,14.73,6.30,48.66
$GC,866,-0.64,-146.0,2193,687,3409,3226,119.1,-13.5,150,870,0.00,2.45,0.00,0.000,3078,0.000,0.058,2182,2099,3316,3408,3225,0,0,0,0,0,0,14.52,14.47,14.54,6.30,48.34
$GC,1186,-0.64,-146.0,2182,2099,3409,3226,161.8,-13.2,166,1190,0.00,2.47,0.00,0.000,2308,0.000,0.082,2171,3497,3316,3408,3225,0,0,0,0,0,0,14.78,14.48,14.78,6.30,49.84
$GC,1206,-0.64,-146.0,2172,3498,3409,3226,164.6,-13.3,167,1211,0.05,2.38,0.00,0.000,3078,0.358,0.044,2188,2092,3316,3408,3225,0,0,0,0,0,0,14.32,14.54,14.49,6.30,50.31
$GC,1526,-0.64,-146.0,2189,2091,3409,3224,206.8,-13.0,183,1531,0.00,2.42,0.00,0.000,2564,0.000,0.064,2188,701,3316,3408,3224,0,0,0,0,0,0,14.80,14.52,14.80,6.31,50.86
$GC,1601,-0.64,-146.0,2188,701,3408,3233,214.6,-13.1,186,1605,0.00,2.40,0.00,0.000,3078,0.000,0.056,2179,2097,3315,3408,3223,0,0,0,0,0,0,14.59,14.53,14.62,6.32,50.86
$GC,1906,-0.64,-146.0,2178,2097,3408,3226,256.5,-13.2,202,1910,0.00,2.45,0.00,0.000,2308,0.000,0.080,2168,3516,3316,3408,3224,0,0,0,0,0,0,14.82,14.55,14.82,6.32,51.14
$GC,1931,-0.64,-146.0,2169,3517,3409,3224,259.2,-13.3,203,1936,0.08,2.38,0.00,0.000,3078,0.320,0.043,2195,2101,3316,3408,3224,0,0,0,0,0,0,14.38,14.57,14.53,6.33,51.33
$GC,2246,-0.64,-146.0,2196,2100,3409,3225,299.7,-12.6,219,2250,0.00,2.45,0.00,0.000,516,0.000,0.064,2195,699,3316,3408,3225,0,0,0,0,0,0,14.83,14.55,14.83,6.33,51.89
$GC,2301,-0.64,-146.0,2195,698,3409,3224,304.9,-12.8,221,2305,0.00,2.40,0.00,0.000,3078,0.000,0.055,2186,2099,3316,3408,3224,0,0,0,0,0,0,14.62,14.57,14.64,6.33,51.29
$GC,2606,-0.64,-146.0,2186,2099,3409,3224,346.1,-13.0,237,2610,0.00,2.47,0.00,0.000,2308,0.000,0.080,2175,3505,3316,3408,3224,0,0,0,0,0,0,14.85,14.54,14.84,6.34,51.81
$GC,2621,-0.64,-146.0,2175,3504,3409,3226,346.1,-13.0,237,2626,0.05,2.35,0.00,0.000,3078,0.348,0.043,2192,2101,3316,3408,3224,0,0,0,0,0,0,14.39,14.59,14.54,6.33,51.29
$STATE,2645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2645,begin apogee
$GC,2649,-0.15,0.0,2193,2155,3408,3225,351.4,-13.1,239,2779,0.45,0.00,127.35,1.569,10246,0.264,0.000,2354,2155,2718,2777,2659,0,0,0,0,0,0,14.42,13.95,13.33,6.33,51.37
$STATE,2780,end apogee,CONTROL_FINISHED_OK
$STATE,2780,begin loiter
$GC,3066,-0.15,0.0,2354,2155,2772,2644,349.1,2.9,260,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2155,2706,2771,2642,0,0,0,0,0,0,14.57,14.57,14.57,6.29,50.51
$GC,3366,-0.15,0.0,2354,2155,2772,2642,341.1,2.6,275,3367,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2154,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.29,51.14
$GC,3666,-0.15,0.0,2355,2155,2772,2639,333.6,2.3,290,3667,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2155,2704,2770,2639,0,0,0,0,0,0,14.80,14.81,14.81,6.29,51.18
$GC,3966,-0.15,0.0,2355,2155,2773,2639,326.7,2.2,305,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2155,2705,2771,2639,0,0,0,0,0,0,14.85,14.86,14.86,6.27,51.10
$GC,4266,-0.15,0.0,2354,2155,2772,2640,320.0,2.4,320,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2154,2705,2771,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.28,50.98
$GC,4566,-0.15,0.0,2355,2155,2772,2640,311.8,2.9,335,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2155,2705,2771,2639,0,0,0,0,0,0,14.93,14.94,14.94,6.28,51.73
$GC,4866,-0.15,0.0,2355,2155,2772,2640,301.7,3.6,350,4867,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2155,2705,2771,2639,0,0,0,0,0,0,14.96,14.97,14.96,6.28,51.10
$GC,5166,-0.15,0.0,2355,2156,2772,2640,290.9,3.6,365,5167,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2155,2705,2772,2639,0,0,0,0,0,0,14.98,14.99,14.99,6.28,51.41
$GC,5466,-0.15,0.0,2355,2154,2772,2640,280.7,3.3,380,5467,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2155,2705,2771,2639,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.10
$GC,5766,-0.15,0.0,2355,2155,2772,2641,271.7,3.0,395,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2154,2705,2771,2640,0,0,0,0,0,0,15.01,15.02,15.02,6.28,51.53
$GC,6066,-0.15,0.0,2355,2155,2772,2641,262.6,3.1,410,6067,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2155,2705,2771,2640,0,0,0,0,0,0,15.02,15.04,15.03,6.28,51.49
$STATE,6365,end loiter,LOITER_COMPLETE
$STATE,6365,begin climb
$GC,6366,0.64,146.0,2354,2155,2772,2641,252.8,0.0,425,6507,0.60,2.60,130.85,1.428,10756,0.173,0.067,2607,747,2117,2142,2093,0,0,0,0,0,0,14.67,14.00,13.47,6.28,51.18
$GC,6561,0.64,146.0,2608,747,2137,2086,239.4,9.5,434,6566,0.00,2.47,0.00,0.000,5126,0.000,0.053,2607,2144,2110,2135,2086,0,0,0,0,0,0,14.19,14.14,14.21,6.24,49.21
$GC,6866,0.64,146.0,2608,2145,2132,2078,200.2,12.3,450,6871,0.00,2.50,0.00,0.000,4356,0.000,0.082,2608,3555,2104,2131,2078,0,0,0,0,0,0,14.59,14.34,14.60,6.23,50.31
$GC,6951,0.64,146.0,2608,3556,2132,2077,190.4,12.2,454,6955,0.00,2.40,0.00,0.000,5126,0.000,0.043,2618,2151,2104,2131,2077,0,0,0,0,0,0,14.44,14.39,14.46,6.23,50.43
$GC,7266,0.64,146.0,2618,2151,2131,2075,152.2,11.6,470,7270,0.00,2.47,0.00,0.000,4612,0.000,0.067,2629,751,2102,2130,2075,0,0,0,0,0,0,14.72,14.41,14.72,6.23,50.98
$GC,7321,0.64,146.0,2629,752,2128,2075,147.7,11.4,472,7326,0.05,2.42,0.00,0.000,5126,0.311,0.055,2609,2154,2101,2127,2075,0,0,0,0,0,0,14.31,14.47,14.45,6.23,50.66
$GC,7626,0.64,146.0,2609,2155,2127,2074,115.0,9.1,488,7630,0.00,2.47,0.00,0.000,4356,0.000,0.083,2609,3547,2100,2127,2073,0,0,0,0,0,0,14.78,14.45,14.78,6.23,50.43
$GC,7726,0.64,146.0,2609,3549,2128,2074,105.4,9.5,493,7730,0.00,2.35,0.00,0.000,5126,0.000,0.042,2618,2154,2100,2127,2073,0,0,0,0,0,0,14.56,14.51,14.57,6.22,49.80
$GC,8031,0.64,146.0,2618,2155,2127,2073,73.8,10.4,545,8035,0.00,2.47,0.00,0.000,4612,0.000,0.067,2629,747,2099,2126,2072,0,0,0,0,0,0,14.81,14.52,14.81,6.22,49.72
$GC,8091,0.64,146.0,2629,748,2126,2073,67.8,9.6,557,8095,0.05,2.40,0.00,0.000,5126,0.307,0.054,2609,2146,2098,2125,2071,0,0,0,0,0,0,14.38,14.54,14.52,6.21,49.48
$GC,8217,0.64,146.0,2609,2147,2125,2071,55.8,9.6,582,8221,0.00,2.45,0.00,0.000,4356,0.000,0.083,2609,3553,2098,2125,2071,0,0,0,0,0,0,14.81,14.53,14.81,6.20,48.97
$GC,8301,0.64,146.0,2609,3554,2126,2071,47.6,9.6,599,8305,0.00,2.38,0.00,0.000,5126,0.000,0.042,2618,2146,2098,2125,2071,0,0,0,0,0,0,14.62,14.57,14.63,6.20,49.64
$GC,8426,0.64,146.0,2619,2145,2126,2073,36.1,8.6,624,8430,0.00,0.00,0.00,0.000,4102,0.000,0.000,2618,2145,2098,2125,2071,0,0,0,0,0,0,14.81,14.81,14.81,6.20,49.17
$GC,8551,0.64,146.0,2619,2145,2126,2071,25.0,9.0,649,8555,0.00,2.50,0.00,0.000,4356,0.000,0.082,2619,3577,2097,2124,2071,0,0,0,0,0,0,14.81,14.54,14.82,6.20,49.76
$GC,8626,0.64,146.0,2619,3578,2126,2071,17.2,10.8,664,8631,0.08,2.40,0.00,0.000,5126,0.356,0.043,2603,2133,2098,2125,2071,0,0,0,0,0,0,14.42,14.57,14.64,6.20,50.00
$GC,8752,0.64,146.0,2604,2132,2126,2071,6.0,9.2,689,8756,0.00,2.40,0.00,0.000,516,0.000,0.067,2613,744,2097,2125,2070,0,0,0,0,0,0,14.81,14.57,14.82,6.20,50.11
$GC,8776,0.64,146.0,2613,745,2125,2071,3.5,9.3,694,8780,0.00,2.40,0.00,0.000,5126,0.000,0.054,2613,2144,2097,2124,2070,0,0,0,0,0,0,14.57,14.52,14.60,6.20,50.43
$STATE,8785,end climb,SURFACE_DEPTH_REACHED
$STATE,8785,begin surface coast
$STATE,8815,end surface coast,CONTROL_FINISHED_OK
$STATE,8815,begin surface
$SM_CCo,8827,66.40,0.243,0,0,1823,220.03
$SM_GC,1.34,5.50,0.05,66.40,0.078,0.223,0.243,273,2099,1823,-6.45,1.07,220.03,0,0,0,0,0,0,14.66,14.59,14.35
$IRIDIUM_FIX,-6010.00,-8.65,070119,213213
$TT8_MAMPS,0.039697,0.368508
$HUMID,49.88
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3806688
$24V_AH,13.33,46.360
$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,12.975,88.175,258.200,66.400,0.000,26.794,22.101,114.984,0.000,0.000,14.345,0.000,7016.916,429.332,1610.161,127.396,0.000,1077.558,0.000,1171.616,0.000,0.539,0.000
$DEVICE_MAMPS,358.785,2241.450,1569.015,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5227.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.694,0.000,0.000,0.000
$MEM,344092
$DATA_FILE_SIZE,17364,702
$CAP_FILE_SIZE,94997,0
$CFSIZE,1023623168,997556224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.013,219.54,1
$GPS,080119,023451,-6010.241,-1.869,36,0.7,38,-19.7,0.5,246.0,10,9.3