version: 66.14
glider: 640
mission: 5
dive: 320
start: 1 18 119 7 59 3
data:
$ID,640
$MISSION,5
$DIVE,320
$N_DIVES,500
$STOP_T,1241912
$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,28
$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
$GPS1,180119,075334,-5943.0039,4.4903,23,0.8,26,-19.8,0.6,72.4,10,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-66.0
$GPS2,180119,075843,-5942.9995,4.6270,8,0.8,13,-19.8,0.5,10.8,11,9.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,223.4,68656,-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,-146.0,233,2134,1792,1827,0.0,0.0,0,95,0.00,0.00,-82.45,0.000,16386,0.000,0.000,232,2133,3153,3233,3073,0,0,0,0,0,0,14.61,28.83,14.61,6.19,50.47
$GC,97,-0.64,-146.0,233,2134,3234,3075,3.2,-6.0,17,115,6.05,2.70,-6.20,0.000,18692,0.351,2.247,2182,3503,3318,3413,3223,0,0,0,0,0,0,14.11,13.10,14.42,6.30,50.35
$GC,220,-0.64,-146.0,2186,3504,3414,3225,23.7,-16.1,42,224,0.00,2.35,0.00,0.000,3078,0.000,0.041,2182,2094,3319,3414,3224,0,0,0,0,0,0,14.49,14.39,14.50,6.32,48.89
$GC,346,-0.64,-146.0,2183,2094,3414,3225,43.6,-16.3,67,349,0.00,2.42,0.00,0.000,2564,0.000,0.062,2182,693,3319,3414,3224,0,0,0,0,0,0,14.66,14.38,14.66,6.32,49.40
$GC,360,-0.64,-146.0,2182,694,3414,3224,45.9,-15.7,70,365,0.08,2.42,0.00,0.000,3078,0.363,0.057,2198,2109,3319,3415,3224,0,0,0,0,0,0,14.18,14.40,14.43,6.33,49.80
$GC,487,-0.64,-146.0,2195,2110,3415,3228,62.2,-12.2,95,490,0.00,2.45,0.00,0.000,260,0.000,0.083,2185,3505,3319,3414,3224,0,0,0,0,0,0,14.67,14.38,14.68,6.32,49.29
$GC,540,-0.64,-146.0,2185,3505,3415,3226,68.8,-11.8,106,544,0.00,2.33,0.00,0.000,3078,0.000,0.043,2185,2101,3319,3414,3224,0,0,0,0,0,0,14.55,14.45,14.57,6.31,49.25
$GC,665,-0.64,-146.0,2184,2100,3415,3226,84.5,-13.0,131,669,0.00,2.42,0.00,0.000,2564,0.000,0.064,2184,696,3319,3414,3225,0,0,0,0,0,0,14.71,14.42,14.71,6.32,48.66
$GC,700,-0.64,-146.0,2184,696,3414,3226,89.2,-13.4,138,705,0.05,2.40,0.00,0.000,3078,0.428,0.057,2189,2103,3319,3414,3225,0,0,0,0,0,0,14.22,14.44,14.47,6.31,48.42
$GC,832,-0.64,-146.0,2190,2103,3415,3225,105.3,-12.2,158,833,0.00,0.00,0.00,0.000,2054,0.000,0.000,2189,2103,3319,3414,3225,0,0,0,0,0,0,14.73,14.73,14.73,6.31,49.40
$GC,1130,-0.64,-146.0,2190,2104,3415,3226,141.5,-12.0,173,1135,0.00,2.42,0.00,0.000,2564,0.000,0.064,2190,695,3319,3414,3225,0,0,0,0,0,0,14.78,14.47,14.78,6.32,50.27
$GC,1200,-0.64,-146.0,2190,696,3415,3225,149.0,-12.3,176,1204,0.00,2.42,0.00,0.000,3078,0.000,0.056,2179,2099,3319,3414,3224,0,0,0,0,0,0,14.52,14.45,14.55,6.32,50.59
$GC,1511,-0.64,-146.0,2180,2101,3415,3225,190.8,-13.6,192,1514,0.00,2.47,0.00,0.000,2308,0.000,0.082,2168,3506,3318,3414,3222,0,0,0,0,0,0,14.80,14.47,14.80,6.33,50.82
$GC,1585,-0.64,-146.0,2168,3508,3414,3226,201.1,-13.8,196,1589,0.08,2.38,0.00,0.000,3078,0.369,0.042,2193,2073,3319,3414,3225,0,0,0,0,0,0,14.28,14.57,14.54,6.33,51.26
$GC,1906,-0.64,-146.0,2193,2073,3415,3226,242.8,-12.9,212,1909,0.00,2.38,0.00,0.000,2564,0.000,0.064,2192,689,3319,3414,3225,0,0,0,0,0,0,14.81,14.51,14.82,6.33,51.02
$GC,1975,-0.64,-146.0,2193,689,3414,3226,249.9,-12.9,215,1979,0.00,2.40,0.00,0.000,3078,0.000,0.055,2183,2106,3319,3414,3225,0,0,0,0,0,0,14.65,14.51,14.66,6.34,51.10
$GC,2280,-0.64,-146.0,2184,2106,3415,3225,290.4,-12.7,231,2284,0.00,2.42,0.00,0.000,2308,0.000,0.082,2173,3503,3319,3414,3225,0,0,0,0,0,0,14.83,14.50,14.83,6.34,51.02
$GC,2340,-0.64,-146.0,2174,3504,3416,3225,298.1,-12.9,234,2345,0.05,2.35,0.00,0.000,3078,0.335,0.042,2190,2101,3319,3414,3225,0,0,0,0,0,0,14.25,14.52,14.43,6.34,51.10
$GC,2660,-0.64,-146.0,2191,2100,3425,3224,337.8,-12.5,250,2664,0.00,2.40,0.00,0.000,2564,0.000,0.063,2190,698,3319,3414,3225,0,0,0,0,0,0,14.81,14.52,14.83,6.34,51.89
$GC,2751,-0.64,-146.0,2191,698,3415,3225,347.6,-12.2,254,2755,0.00,2.38,0.00,0.000,3078,0.000,0.054,2181,2107,3319,3414,3225,0,0,0,0,0,0,14.66,14.54,14.69,6.34,51.02
$STATE,2779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2779,begin apogee
$GC,2783,-0.15,0.0,2181,2157,3424,3226,352.3,-11.7,256,2912,0.47,0.00,125.68,1.567,10246,0.259,0.000,2349,2156,2717,2778,2657,0,0,0,0,0,0,14.31,13.94,13.31,6.34,51.14
$STATE,2913,end apogee,CONTROL_FINISHED_OK
$STATE,2913,begin loiter
$GC,3200,-0.15,0.0,2349,2157,2772,2644,348.1,3.6,277,3201,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2156,2707,2772,2642,0,0,0,0,0,0,14.58,14.58,14.57,6.29,50.47
$GC,3500,-0.15,0.0,2349,2157,2773,2640,337.3,3.7,292,3501,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2156,2706,2772,2640,0,0,0,0,0,0,14.73,14.73,14.73,6.29,50.78
$GC,3800,-0.15,0.0,2350,2157,2773,2639,326.0,3.8,307,3801,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2156,2705,2772,2639,0,0,0,0,0,0,14.81,14.81,14.81,6.29,50.78
$GC,4101,-0.15,0.0,2349,2157,2773,2640,315.1,3.5,322,4102,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2156,2705,2772,2639,0,0,0,0,0,0,14.87,14.87,14.87,6.29,51.18
$GC,4400,-0.15,0.0,2349,2157,2772,2640,304.4,3.6,337,4401,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2156,2705,2772,2638,0,0,0,0,0,0,14.91,14.91,14.91,6.29,51.37
$GC,4701,-0.15,0.0,2349,2157,2773,2638,293.8,3.6,352,4701,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2156,2705,2772,2639,0,0,0,0,0,0,14.94,14.94,14.94,6.29,51.37
$GC,5000,-0.15,0.0,2349,2157,2773,2640,283.0,3.6,367,5001,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2156,2705,2772,2638,0,0,0,0,0,0,14.97,14.97,14.97,6.29,51.22
$GC,5300,-0.15,0.0,2349,2157,2772,2640,272.5,3.3,382,5301,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2156,2705,2772,2639,0,0,0,0,0,0,14.99,14.99,14.99,6.29,51.45
$GC,5601,-0.15,0.0,2349,2157,2773,2640,262.8,3.1,397,5602,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2156,2705,2772,2639,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.37
$GC,5900,-0.15,0.0,2349,2157,2773,2640,254.2,2.9,412,5901,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2156,2705,2772,2639,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.37
$GC,6201,-0.15,0.0,2349,2157,2772,2640,246.2,2.8,427,6201,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2156,2705,2772,2639,0,0,0,0,0,0,15.03,15.03,15.03,6.29,51.61
$GC,6501,-0.15,0.0,2349,2157,2773,2639,236.1,3.8,442,6501,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2156,2706,2772,2640,0,0,0,0,0,0,15.04,15.04,15.04,6.28,52.20
$STATE,6519,end loiter,LOITER_COMPLETE
$STATE,6519,begin climb
$GC,6520,0.64,146.0,2349,2157,2773,2639,235.3,0.0,443,6661,0.62,2.60,130.00,1.403,10756,0.170,0.067,2610,742,2117,2141,2094,0,0,0,0,0,0,14.57,14.01,13.47,6.29,51.57
$GC,6670,0.64,146.0,2610,743,2139,2093,225.5,8.7,450,6674,0.00,2.45,0.00,0.000,5126,0.000,0.052,2610,2143,2115,2138,2092,0,0,0,0,0,0,14.16,14.07,14.18,6.24,50.03
$GC,6981,0.64,146.0,2611,2138,2133,2080,183.7,13.2,466,6985,0.00,2.50,0.00,0.000,4356,0.000,0.081,2610,3552,2106,2132,2080,0,0,0,0,0,0,14.58,14.28,14.58,6.24,50.94
$GC,7066,0.64,146.0,2610,3553,2132,2081,173.4,12.8,470,7070,0.05,2.35,0.00,0.000,5126,0.415,0.043,2604,2152,2105,2131,2079,0,0,0,0,0,0,14.14,14.37,14.40,6.24,50.82
$GC,7375,0.64,146.0,2604,2153,2131,2075,135.3,12.4,486,7379,0.00,2.47,0.00,0.000,516,0.000,0.067,2613,737,2103,2130,2076,0,0,0,0,0,0,14.71,14.40,14.71,6.23,50.74
$GC,7430,0.64,146.0,2614,737,2128,2076,130.5,12.3,488,7434,0.00,2.40,0.00,0.000,5126,0.000,0.053,2614,2150,2101,2127,2076,0,0,0,0,0,0,14.56,14.44,14.58,6.24,50.70
$GC,7737,0.64,146.0,2615,2150,2128,2075,89.5,13.6,513,7741,0.00,2.47,0.00,0.000,4356,0.000,0.083,2614,3561,2100,2126,2075,0,0,0,0,0,0,14.76,14.44,14.76,6.24,51.49
$GC,7805,0.64,146.0,2614,3562,2127,2076,80.5,12.5,527,7810,0.08,2.35,0.00,0.000,5126,0.356,0.044,2598,2146,2100,2126,2075,0,0,0,0,0,0,14.29,14.50,14.54,6.24,50.82
$GC,7931,0.64,146.0,2599,2146,2127,2075,66.0,11.8,552,7934,0.00,2.45,0.00,0.000,2564,0.000,0.068,2608,737,2100,2126,2074,0,0,0,0,0,0,14.77,14.47,14.77,6.23,50.15
$GC,8015,0.64,146.0,2608,737,2126,2075,56.2,11.4,569,8019,0.00,2.42,0.00,0.000,5126,0.000,0.053,2608,2172,2096,2125,2067,0,0,0,0,0,0,14.62,14.48,14.64,6.22,50.19
$GC,8142,0.64,146.0,2609,2172,2127,2073,42.1,10.9,594,8146,0.00,2.42,0.00,0.000,4356,0.000,0.085,2608,3556,2099,2125,2073,0,0,0,0,0,0,14.77,14.45,14.78,6.22,50.15
$GC,8201,0.64,146.0,2609,3557,2126,2074,35.3,11.0,606,8204,0.00,2.35,0.00,0.000,5126,0.000,0.044,2619,2143,2099,2124,2074,0,0,0,0,0,0,14.63,14.53,14.65,6.22,49.25
$GC,8327,0.64,146.0,2619,2143,2126,2074,23.1,10.2,631,8331,0.00,2.42,0.00,0.000,4612,0.000,0.067,2629,740,2099,2125,2073,0,0,0,0,0,0,14.78,14.48,14.78,6.22,49.68
$GC,8345,0.64,146.0,2630,740,2126,2073,21.1,10.1,635,8350,0.08,2.40,0.00,0.000,5126,0.331,0.054,2603,2161,2098,2124,2073,0,0,0,0,0,0,14.33,14.50,14.57,6.22,50.31
$GC,8472,0.64,146.0,2603,2162,2125,2074,9.4,9.7,660,8475,0.00,2.45,0.00,0.000,260,0.000,0.083,2603,3559,2098,2124,2072,0,0,0,0,0,0,14.79,14.47,14.79,6.21,50.63
$GC,8536,0.69,190.2,2603,3560,2126,2073,3.6,6.6,673,8551,0.00,2.35,11.40,0.259,11266,0.000,0.044,2611,2144,2048,2070,2026,0,0,0,0,0,0,14.64,14.54,14.66,6.24,50.43
$STATE,8552,end climb,SURFACE_DEPTH_REACHED
$STATE,8552,begin surface coast
$STATE,8609,end surface coast,CONTROL_FINISHED_OK
$STATE,8609,begin surface
$SM_CCo,8623,53.28,0.240,0,0,1822,220.03
$SM_GC,1.19,5.38,0.05,53.28,0.039,0.211,0.240,255,2083,1822,-6.45,1.05,220.03,0,0,0,0,0,0,14.57,14.54,14.26
$IRIDIUM_FIX,-5938.56,120.92,180119,052413
$TT8_MAMPS,0.039697,0.363265
$HUMID,50.15
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3757024
$24V_AH,13.10,63.487
$10V_AH,13.63,0.000
$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,12.975,82.500,267.075,53.275,0.000,24.065,16.492,126.429,0.000,0.000,15.034,0.000,6834.251,406.772,1577.882,170.153,0.000,1038.841,0.000,1139.377,0.000,0.541,0.000
$DEVICE_MAMPS,427.635,2246.805,1566.720,240.210,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5005.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.906,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17324,688
$CAP_FILE_SIZE,93811,0
$CFSIZE,1023623168,988020736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.058,71.70,1
$GPS,180119,102435,-5943.240,4.987,21,0.8,31,-19.8,0.0,128.9,11,9.0