version: 66.14
glider: 640
mission: 5
dive: 242
start: 1 10 119 0 17 19
data:
$ID,640
$MISSION,5
$DIVE,242
$N_DIVES,500
$STOP_T,1171912
$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,31
$R_STBD_OVSHOOT,32
$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
$GPS1,100119,001158,-6001.8032,-3.0738,37,0.9,41,-19.7,0.0,231.9,10,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-66.5
$GPS2,100119,001701,-6001.8169,-3.0683,8,0.9,13,-19.7,0.6,291.3,11,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,26.9,40506,-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,-146.0,232,2114,1794,1826,0.0,0.0,0,96,0.00,0.00,-83.38,0.000,16386,0.000,0.000,232,2114,3127,3207,3048,0,0,0,0,0,0,14.62,28.83,14.62,6.18,51.18
$GC,98,-0.64,-146.0,233,2114,3208,3049,3.1,-5.8,17,116,5.97,2.72,-7.25,0.000,18948,0.353,2.245,2187,695,3318,3414,3223,0,0,0,0,0,0,14.17,13.22,14.45,6.28,49.64
$GC,216,-0.64,-146.0,2188,695,3415,3225,22.1,-15.5,41,220,0.03,2.45,0.00,0.000,3078,0.460,0.055,2185,2101,3319,3413,3225,0,0,0,0,0,0,14.18,14.37,14.34,6.30,48.70
$GC,342,-0.64,-146.0,2186,2101,3415,3225,44.2,-18.0,66,346,0.00,2.47,0.00,0.000,2308,0.000,0.082,2175,3513,3319,3414,3224,0,0,0,0,0,0,14.66,14.40,14.66,6.31,49.33
$GC,391,-0.64,-146.0,2175,3514,3415,3226,52.4,-14.4,76,395,0.05,2.40,0.00,0.000,3078,0.358,0.042,2192,2098,3319,3414,3225,0,0,0,0,0,0,14.21,14.44,14.38,6.32,49.44
$GC,517,-0.64,-146.0,2193,2097,3415,3225,69.9,-14.2,101,521,0.00,2.47,0.00,0.000,2308,0.000,0.080,2182,3509,3319,3414,3225,0,0,0,0,0,0,14.69,14.43,14.69,6.31,49.64
$GC,536,-0.64,-146.0,2183,3509,3415,3225,72.7,-14.3,105,540,0.00,2.40,0.00,0.000,3078,0.000,0.044,2182,2103,3319,3414,3225,0,0,0,0,0,0,14.50,14.47,14.52,6.31,49.44
$GC,661,-0.64,-146.0,2182,2102,3415,3225,91.1,-14.7,130,665,0.00,2.47,0.00,0.000,2564,0.000,0.064,2181,670,3319,3414,3225,0,0,0,0,0,0,14.71,14.46,14.71,6.30,49.13
$GC,711,-0.64,-146.0,2182,670,3415,3228,98.6,-14.5,140,716,0.08,2.42,0.00,0.000,3078,0.381,0.055,2193,2102,3319,3414,3225,0,0,0,0,0,0,14.28,14.47,14.52,6.30,49.21
$GC,846,-0.64,-146.0,2193,2103,3414,3226,117.8,-14.4,149,850,0.00,2.50,0.00,0.000,2308,0.000,0.083,2184,3504,3319,3414,3225,0,0,0,0,0,0,14.75,14.45,14.75,6.30,48.42
$GC,876,-0.64,-146.0,2184,3504,3415,3226,120.7,-14.4,150,881,0.00,2.40,0.00,0.000,3078,0.000,0.044,2183,2091,3319,3414,3225,0,0,0,0,0,0,14.54,14.50,14.57,6.30,48.50
$GC,1186,-0.64,-146.0,2183,2090,3415,3226,169.1,-15.0,166,1190,0.00,2.42,0.00,0.000,2564,0.000,0.064,2183,678,3319,3414,3225,0,0,0,0,0,0,14.78,14.52,14.78,6.30,49.84
$GC,1276,-0.64,-146.0,2184,678,3415,3225,181.2,-15.2,170,1280,0.05,2.45,0.00,0.000,3078,0.351,0.055,2189,2097,3319,3414,3225,0,0,0,0,0,0,14.31,14.51,14.47,6.31,50.03
$GC,1586,-0.64,-146.0,2189,2098,3414,3226,222.3,-12.3,186,1591,0.00,2.47,0.00,0.000,2308,0.000,0.082,2179,3527,3316,3408,3225,0,0,0,0,0,0,14.81,14.52,14.81,6.31,50.74
$GC,1616,-0.64,-146.0,2179,3527,3414,3225,224.8,-12.3,187,1620,0.00,2.40,0.00,0.000,3078,0.000,0.042,2178,2100,3319,3414,3225,0,0,0,0,0,0,14.60,14.55,14.62,6.27,50.59
$GC,1926,-0.64,-146.0,2179,2093,3414,3227,266.2,-12.9,203,1930,0.05,2.42,0.00,0.000,2564,0.469,0.063,2192,688,3319,3414,3225,0,0,0,0,0,0,14.36,14.56,14.57,6.32,51.22
$GC,1971,-0.64,-146.0,2192,689,3414,3226,271.3,-12.9,205,1976,0.00,2.42,0.00,0.000,3078,0.000,0.057,2182,2097,3319,3414,3225,0,0,0,0,0,0,14.60,14.58,14.63,6.32,51.18
$GC,2286,-0.64,-146.0,2182,2097,3414,3226,312.0,-12.8,221,2290,0.00,2.47,0.00,0.000,2308,0.000,0.082,2171,3500,3319,3414,3225,0,0,0,0,0,0,14.83,14.52,14.84,6.33,51.14
$GC,2316,-0.64,-146.0,2172,3501,3415,3225,314.6,-12.9,222,2321,0.05,2.35,0.00,0.000,3078,0.358,0.042,2189,2098,3319,3414,3225,0,0,0,0,0,0,14.34,14.57,14.51,6.33,51.22
$STATE,2605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2605,begin apogee
$GC,2609,-0.15,0.0,2189,2157,3414,3226,352.4,-12.6,237,2740,0.45,0.00,127.68,1.558,10246,0.268,0.000,2348,2156,2716,2776,2656,0,0,0,0,0,0,14.40,13.95,13.34,6.34,52.16
$STATE,2741,end apogee,CONTROL_FINISHED_OK
$STATE,2741,begin loiter
$GC,3026,-0.15,0.0,2349,2157,2771,2642,349.0,3.4,258,3027,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2156,2706,2771,2642,0,0,0,0,0,0,14.57,14.58,14.57,6.28,51.06
$GC,3326,-0.15,0.0,2349,2157,2773,2640,339.0,3.4,273,3327,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2156,2705,2771,2640,0,0,0,0,0,0,14.72,14.72,14.72,6.29,50.82
$GC,3626,-0.15,0.0,2349,2157,2772,2641,329.0,3.3,288,3627,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2156,2705,2771,2639,0,0,0,0,0,0,14.81,14.81,14.81,6.28,50.94
$GC,3926,-0.15,0.0,2349,2157,2772,2640,319.3,3.2,303,3927,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2156,2705,2771,2639,0,0,0,0,0,0,14.86,14.86,14.86,6.28,51.49
$GC,4226,-0.15,0.0,2349,2157,2771,2640,309.7,3.2,318,4227,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2156,2705,2771,2639,0,0,0,0,0,0,14.91,14.91,14.91,6.28,51.61
$GC,4526,-0.15,0.0,2349,2157,2772,2640,300.0,3.2,333,4527,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2156,2705,2771,2639,0,0,0,0,0,0,14.94,14.95,14.94,6.28,52.04
$GC,4826,-0.15,0.0,2349,2157,2771,2641,290.2,3.4,348,4827,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2156,2705,2771,2639,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.85
$GC,5126,-0.15,0.0,2349,2156,2772,2640,280.0,3.4,363,5127,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2156,2705,2771,2639,0,0,0,0,0,0,14.98,14.99,14.99,6.28,51.73
$GC,5426,-0.15,0.0,2349,2156,2773,2639,269.8,3.4,378,5427,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2156,2705,2771,2639,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.92
$GC,5726,-0.15,0.0,2349,2157,2772,2641,259.6,3.4,393,5727,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2156,2705,2772,2639,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.29
$GC,6026,-0.15,0.0,2349,2157,2773,2640,250.0,3.1,408,6027,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2156,2706,2772,2640,0,0,0,0,0,0,15.03,15.03,15.03,6.28,51.37
$STATE,6325,end loiter,LOITER_COMPLETE
$STATE,6325,begin climb
$GC,6326,0.64,146.0,2349,2157,2773,2640,240.8,0.0,423,6468,0.62,2.58,131.38,1.407,10756,0.183,0.067,2608,750,2116,2141,2092,0,0,0,0,0,0,14.65,14.00,13.47,6.28,51.33
$GC,6487,0.64,146.9,2608,751,2138,2092,230.3,8.3,431,6490,0.00,2.47,0.00,0.000,5126,0.000,0.053,2608,2140,2113,2137,2089,0,0,0,0,0,0,14.12,14.08,14.15,6.24,49.33
$GC,6807,0.64,146.9,2608,2141,2133,2079,191.2,12.3,447,6811,0.00,2.53,0.00,0.000,4356,0.000,0.082,2608,3560,2104,2131,2078,0,0,0,0,0,0,14.62,14.33,14.59,6.24,50.31
$GC,6907,0.64,146.9,2608,3560,2132,2079,179.0,11.9,452,6911,0.00,2.40,0.00,0.000,5126,0.000,0.042,2619,2152,2104,2131,2077,0,0,0,0,0,0,14.43,14.39,14.45,6.24,50.23
$GC,7227,0.64,146.9,2619,2153,2130,2076,137.9,12.6,468,7231,0.00,2.50,0.00,0.000,4612,0.000,0.067,2630,741,2102,2129,2075,0,0,0,0,0,0,14.71,14.43,14.72,6.23,50.43
$GC,7247,0.64,146.9,2630,742,2130,2075,135.3,12.6,469,7251,0.05,2.45,0.00,0.000,5126,0.298,0.054,2609,2159,2101,2127,2075,0,0,0,0,0,0,14.30,14.45,14.44,6.24,50.55
$GC,7567,0.64,146.9,2610,2159,2127,2074,100.9,10.8,485,7571,0.00,2.50,0.00,0.000,4612,0.000,0.066,2619,747,2100,2127,2073,0,0,0,0,0,0,14.77,14.49,14.78,6.22,49.80
$GC,7587,0.64,146.9,2619,747,2126,2074,98.8,10.7,486,7591,0.00,2.42,0.00,0.000,5126,0.000,0.054,2619,2151,2099,2126,2073,0,0,0,0,0,0,14.55,14.50,14.58,6.22,50.07
$GC,7713,0.64,146.9,2619,2152,2126,2074,84.6,11.8,511,7716,0.00,2.47,0.00,0.000,4356,0.000,0.085,2619,3561,2099,2125,2073,0,0,0,0,0,0,14.77,14.50,14.77,6.22,50.00
$GC,7767,0.64,146.9,2620,3561,2127,2074,77.9,11.4,522,7771,0.05,2.38,0.00,0.000,5126,0.324,0.042,2610,2153,2099,2125,2073,0,0,0,0,0,0,14.33,14.52,14.49,6.21,49.37
$GC,7893,0.64,146.9,2610,2154,2126,2074,65.2,10.0,547,7896,0.00,2.42,0.00,0.000,4612,0.000,0.066,2619,745,2099,2126,2072,0,0,0,0,0,0,14.78,14.52,14.78,6.20,49.01
$GC,7927,0.64,146.9,2620,746,2126,2072,61.7,9.2,554,7931,0.03,2.42,0.00,0.000,5126,0.402,0.054,2609,2153,2098,2125,2072,0,0,0,0,0,0,14.33,14.51,14.47,6.20,49.52
$GC,8053,0.64,146.9,2609,2154,2126,2073,50.6,9.2,579,8056,0.00,2.47,0.00,0.000,4356,0.000,0.085,2609,3562,2098,2125,2072,0,0,0,0,0,0,14.78,14.51,14.78,6.21,49.13
$GC,8142,0.64,146.9,2609,3564,2126,2073,42.0,8.7,597,8146,0.00,2.38,0.00,0.000,5126,0.000,0.041,2618,2152,2098,2125,2072,0,0,0,0,0,0,14.59,14.54,14.61,6.20,49.88
$GC,8268,0.64,149.5,2618,2158,2124,2070,31.6,8.2,622,8272,0.00,2.42,0.00,0.000,4612,0.000,0.067,2628,745,2095,2125,2066,0,0,0,0,0,0,14.78,14.53,14.78,6.20,49.56
$GC,8337,0.65,154.7,2629,746,2125,2072,25.5,8.1,636,8342,0.05,2.42,1.52,0.396,13318,0.302,0.054,2609,2154,2090,2116,2064,0,0,0,0,0,0,14.35,14.52,14.26,6.20,49.44
$GC,8462,0.65,154.7,2609,2155,2116,2062,15.4,8.9,661,8466,0.00,2.45,0.00,0.000,260,0.000,0.084,2609,3561,2088,2114,2063,0,0,0,0,0,0,14.79,14.52,14.80,6.20,50.23
$GC,8507,0.65,154.7,2610,3562,2115,2064,10.9,9.8,670,8511,0.00,2.38,0.00,0.000,5126,0.000,0.042,2618,2150,2089,2114,2064,0,0,0,0,0,0,14.59,14.54,14.61,6.21,50.27
$STATE,8595,end climb,SURFACE_DEPTH_REACHED
$STATE,8595,begin surface coast
$STATE,8626,end surface coast,CONTROL_FINISHED_OK
$STATE,8626,begin surface
$SM_CCo,8639,64.62,0.243,0,0,1822,220.03
$SM_GC,1.27,5.55,0.05,64.62,0.073,0.192,0.243,256,2079,1822,-6.50,1.05,220.03,0,0,0,0,0,0,14.64,14.57,14.33
$IRIDIUM_FIX,-6002.25,-4.31,090119,214356
$TT8_MAMPS,0.039697,0.364014
$HUMID,49.72
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3796960
$24V_AH,13.22,49.705
$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,13.075,88.350,260.575,64.625,0.000,24.429,19.796,127.966,0.000,0.000,14.376,0.000,6876.355,422.293,1573.580,136.951,0.000,1049.302,0.000,1126.661,0.000,0.539,0.000
$DEVICE_MAMPS,468.945,2245.275,1558.305,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5039.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.724,0.000,0.000,0.000
$MEM,344104
$DATA_FILE_SIZE,17345,694
$CAP_FILE_SIZE,94309,0
$CFSIZE,1023623168,995688448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.017,141.92,1
$GPS,100119,024325,-6001.299,-2.904,15,0.8,38,-19.7,0.0,4.1,11,5.5