version: 66.14
glider: 640
mission: 5
dive: 355
start: 1 22 119 2 20 59
data:
$ID,640
$MISSION,5
$DIVE,355
$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,30
$R_STBD_OVSHOOT,29
$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
$GPS1,220119,021519,-6000.0532,7.5527,41,0.7,42,-19.8,0.6,116.6,11,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-69.2
$GPS2,220119,022040,-6000.0762,7.6158,9,0.7,15,-19.8,0.4,18.5,11,9.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,208.9,37553,-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,11,-0.64,-146.0,218,2139,1793,1828,0.0,0.0,0,96,0.00,0.00,-82.82,0.000,16386,0.000,0.000,217,2139,3149,3230,3069,0,0,0,0,0,0,14.58,28.83,14.60,6.19,51.26
$GC,98,-0.64,-146.0,218,2139,3231,3070,3.3,-6.4,17,116,6.12,2.80,-6.18,0.000,18948,0.348,2.225,2181,700,3317,3412,3223,0,0,0,0,0,0,14.04,13.04,14.38,6.30,50.70
$GC,193,-0.64,-146.0,2181,701,3414,3224,19.5,-16.7,36,197,0.08,2.40,0.00,0.000,3078,0.368,0.055,2194,2100,3318,3413,3224,0,0,0,0,0,0,14.07,14.31,14.32,6.32,49.48
$GC,318,-0.64,-146.0,2194,2101,3414,3224,39.6,-15.8,61,322,0.00,2.50,0.00,0.000,260,0.000,0.083,2184,3512,3318,3413,3224,0,0,0,0,0,0,14.63,14.27,14.63,6.32,49.52
$GC,351,-0.64,-146.0,2184,3513,3414,3225,45.0,-15.4,68,355,0.00,2.38,0.00,0.000,3078,0.000,0.044,2184,2096,3318,3413,3224,0,0,0,0,0,0,14.50,14.39,14.51,6.32,49.92
$GC,477,-0.64,-146.0,2184,2095,3414,3225,61.6,-11.9,93,480,0.00,2.50,0.00,0.000,2308,0.000,0.081,2174,3509,3318,3413,3224,0,0,0,0,0,0,14.67,14.35,14.67,6.32,49.80
$GC,577,-0.64,-146.0,2173,3510,3413,3225,74.1,-13.2,113,581,0.08,2.35,0.00,0.000,3078,0.370,0.041,2198,2092,3318,3413,3224,0,0,0,0,0,0,14.15,14.42,14.42,6.32,50.00
$GC,703,-0.64,-146.0,2199,2091,3415,3224,90.1,-12.5,138,707,0.00,2.42,0.00,0.000,516,0.000,0.064,2198,698,3318,3413,3224,0,0,0,0,0,0,14.69,14.35,14.70,6.31,48.81
$GC,752,-0.64,-146.0,2197,699,3414,3225,96.7,-13.2,148,755,0.00,2.40,0.00,0.000,3078,0.000,0.056,2188,2103,3319,3413,3225,0,0,0,0,0,0,14.54,14.41,14.57,6.31,49.05
$GC,882,-0.64,-146.0,2188,2105,3414,3225,114.9,-14.7,159,885,0.00,2.45,0.00,0.000,2308,0.000,0.080,2177,3505,3320,3416,3225,0,0,0,0,0,0,14.73,14.39,14.73,6.31,48.66
$GC,911,-0.64,-146.0,2178,3505,3414,3225,117.1,-15.0,160,916,0.05,2.33,0.00,0.000,3078,0.438,0.043,2192,2101,3318,3412,3225,0,0,0,0,0,0,14.19,14.46,14.45,6.32,48.70
$GC,1217,-0.64,-146.0,2193,2101,3414,3226,160.4,-13.3,176,1220,0.00,2.42,0.00,0.000,2564,0.000,0.063,2192,691,3319,3413,3225,0,0,0,0,0,0,14.77,14.45,14.77,6.32,49.96
$GC,1267,-0.64,-146.0,2193,699,3414,3223,165.8,-13.4,178,1270,0.00,2.40,0.00,0.000,3078,0.000,0.056,2182,2106,3318,3412,3225,0,0,0,0,0,0,14.59,14.47,14.61,6.32,50.43
$GC,1577,-0.64,-146.0,2182,2106,3414,3225,208.0,-13.1,194,1577,0.00,0.00,0.00,0.000,2054,0.000,0.000,2182,2106,3319,3413,3225,0,0,0,0,0,0,14.80,14.80,14.80,6.33,50.90
$GC,1877,-0.64,-146.0,2182,2106,3407,3225,247.1,-13.1,209,1880,0.00,2.42,0.00,0.000,2308,0.000,0.082,2171,3505,3319,3413,3225,0,0,0,0,0,0,14.81,14.45,14.81,6.33,51.18
$GC,1902,-0.64,-146.0,2172,3506,3414,3226,249.8,-13.1,210,1905,0.08,2.33,0.00,0.000,3078,0.359,0.043,2197,2095,3318,3413,3224,0,0,0,0,0,0,14.24,14.52,14.51,6.33,51.33
$GC,2217,-0.64,-146.0,2197,2094,3414,3226,289.4,-12.4,226,2221,0.00,2.40,0.00,0.000,516,0.000,0.063,2196,697,3319,3413,3225,0,0,0,0,0,0,14.82,14.49,14.83,6.33,51.73
$GC,2302,-0.64,-146.0,2197,697,3414,3224,299.3,-12.3,230,2305,0.00,2.38,0.00,0.000,3078,0.000,0.054,2186,2107,3318,3413,3224,0,0,0,0,0,0,14.64,14.50,14.65,6.34,51.10
$GC,2617,-0.64,-146.0,2186,2108,3414,3225,339.9,-12.8,246,2620,0.00,2.42,0.00,0.000,2308,0.000,0.082,2175,3504,3319,3413,3225,0,0,0,0,0,0,14.83,14.46,14.83,6.34,51.18
$GC,2647,-0.64,-146.0,2175,3505,3414,3226,342.4,-12.8,247,2650,0.05,2.33,0.00,0.000,3078,0.432,0.042,2190,2092,3318,3413,3224,0,0,0,0,0,0,14.26,14.54,14.52,6.34,51.33
$STATE,2695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2695,begin apogee
$GC,2700,-0.15,0.0,2192,2162,3420,3224,350.1,-12.8,250,2829,0.45,0.00,126.30,1.574,10246,0.262,0.000,2349,2161,2717,2777,2658,0,0,0,0,0,0,14.22,13.93,13.29,6.43,51.26
$STATE,2830,end apogee,CONTROL_FINISHED_OK
$STATE,2830,begin loiter
$GC,3117,-0.15,0.0,2350,2162,2773,2643,348.1,2.9,271,3117,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2162,2707,2771,2643,0,0,0,0,0,0,14.56,14.57,14.57,6.30,50.63
$GC,3417,-0.15,0.0,2350,2162,2772,2640,339.0,3.0,286,3417,0.00,0.00,0.00,0.000,2054,0.000,0.000,2350,2161,2705,2771,2640,0,0,0,0,0,0,14.71,14.72,14.72,6.29,50.94
$GC,3717,-0.15,0.0,2350,2162,2773,2639,329.7,3.0,301,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2161,2705,2771,2639,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.10
$GC,4017,-0.15,0.0,2351,2162,2772,2639,320.8,2.8,316,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2161,2705,2771,2639,0,0,0,0,0,0,14.86,14.86,14.86,6.29,51.41
$GC,4317,-0.15,0.0,2350,2162,2773,2638,312.6,2.7,331,4317,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2161,2704,2771,2638,0,0,0,0,0,0,14.90,14.91,14.91,6.29,51.14
$GC,4617,-0.15,0.0,2349,2162,2772,2639,304.8,2.6,346,4617,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2162,2704,2771,2638,0,0,0,0,0,0,14.94,14.93,14.94,6.29,51.37
$GC,4917,-0.15,0.0,2350,2162,2773,2638,296.9,2.7,361,4917,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2161,2704,2771,2638,0,0,0,0,0,0,14.96,14.96,14.96,6.29,51.49
$GC,5217,-0.15,0.0,2349,2162,2772,2639,289.1,2.5,376,5217,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2161,2704,2771,2637,0,0,0,0,0,0,14.98,14.98,14.98,6.28,51.33
$GC,5517,-0.15,0.0,2350,2163,2772,2638,281.4,2.7,391,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2161,2703,2770,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.29,51.49
$GC,5817,-0.15,0.0,2349,2162,2772,2639,273.3,2.8,406,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2161,2704,2771,2637,0,0,0,0,0,0,15.01,15.02,15.02,6.28,51.69
$GC,6117,-0.15,0.0,2350,2162,2772,2638,264.6,2.9,421,6117,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2161,2704,2771,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.29
$STATE,6415,end loiter,LOITER_COMPLETE
$STATE,6415,begin climb
$GC,6417,0.64,146.0,2350,2162,2772,2638,255.6,0.0,436,6557,0.62,2.60,130.05,1.437,11012,0.176,0.066,2608,752,2117,2141,2094,0,0,0,0,0,0,14.51,13.99,13.42,6.29,51.37
$GC,6617,0.64,146.0,2608,752,2136,2089,240.9,9.8,446,6621,0.00,2.42,0.00,0.000,5126,0.000,0.053,2608,2144,2110,2134,2087,0,0,0,0,0,0,14.23,14.13,14.24,6.24,49.44
$GC,6932,0.64,146.0,2616,2144,2132,2079,202.6,12.5,462,6935,0.00,2.53,0.00,0.000,4356,0.000,0.083,2608,3556,2105,2131,2079,0,0,0,0,0,0,14.59,14.26,14.59,6.24,50.55
$GC,7012,0.64,146.0,2608,3557,2132,2079,192.6,12.5,466,7016,0.00,2.35,0.00,0.000,5126,0.000,0.042,2618,2149,2105,2131,2079,0,0,0,0,0,0,14.46,14.35,14.47,6.24,50.59
$GC,7327,0.64,146.0,2618,2150,2129,2078,151.0,13.3,482,7331,0.00,2.45,0.00,0.000,4612,0.000,0.067,2629,744,2102,2128,2076,0,0,0,0,0,0,14.71,14.38,14.71,6.24,51.22
$GC,7382,0.64,146.0,2629,744,2127,2078,144.3,12.4,485,7387,0.08,2.40,0.00,0.000,5126,0.321,0.055,2602,2153,2101,2126,2077,0,0,0,0,0,0,14.23,14.41,14.47,6.24,50.66
$GC,7702,0.64,146.0,2603,2153,2127,2076,105.9,11.6,501,7706,0.00,2.47,0.00,0.000,260,0.000,0.082,2602,3564,2100,2125,2076,0,0,0,0,0,0,14.76,14.41,14.77,6.23,50.86
$GC,7767,0.64,146.0,2603,3557,2127,2076,98.6,10.9,506,7771,0.00,2.33,0.00,0.000,5126,0.000,0.042,2612,2152,2101,2126,2076,0,0,0,0,0,0,14.59,14.49,14.62,6.23,50.59
$GC,7893,0.64,146.0,2612,2152,2127,2075,85.2,11.0,531,7897,0.00,2.45,0.00,0.000,4612,0.000,0.067,2622,744,2100,2125,2076,0,0,0,0,0,0,14.76,14.44,14.76,6.23,50.90
$GC,7922,0.64,146.0,2622,744,2125,2077,82.0,10.6,537,7926,0.05,2.40,0.00,0.000,5126,0.386,0.054,2605,2158,2099,2124,2075,0,0,0,0,0,0,14.26,14.46,14.52,6.22,50.23
$GC,8048,0.64,146.0,2605,2159,2125,2076,69.9,9.1,562,8052,0.00,2.45,0.00,0.000,260,0.000,0.083,2604,3555,2100,2124,2076,0,0,0,0,0,0,14.76,14.42,14.76,6.22,49.84
$GC,8107,0.64,146.0,2605,3555,2125,2075,64.2,9.2,574,8111,0.00,2.33,0.00,0.000,5126,0.000,0.042,2613,2150,2099,2124,2075,0,0,0,0,0,0,14.61,14.49,14.62,6.21,50.11
$GC,8233,0.64,146.0,2614,2151,2125,2075,53.0,9.8,599,8236,0.00,0.00,0.00,0.000,4102,0.000,0.000,2614,2150,2099,2124,2075,0,0,0,0,0,0,14.77,14.77,14.77,6.22,49.21
$GC,8357,0.65,155.0,2614,2151,2125,2076,41.8,8.0,624,8366,0.00,2.47,4.45,1.170,12548,0.000,0.081,2614,3558,2085,2109,2061,0,0,0,0,0,0,14.78,14.49,13.66,6.21,49.44
$GC,8432,0.65,158.9,2614,3558,2111,2062,35.7,8.2,639,8441,0.00,2.35,5.07,1.219,13318,0.000,0.042,2624,2140,2072,2096,2048,0,0,0,0,0,0,14.60,14.50,13.72,6.21,49.64
$GC,8562,0.65,158.9,2624,2141,2092,2048,24.2,9.7,665,8565,0.00,2.42,0.00,0.000,4612,0.000,0.066,2635,736,2069,2092,2047,0,0,0,0,0,0,14.74,14.42,14.74,6.21,50.00
$GC,8612,0.65,158.9,2636,737,2093,2045,19.4,9.4,675,8616,0.08,2.40,0.00,0.000,5126,0.326,0.054,2608,2150,2068,2092,2045,0,0,0,0,0,0,14.26,14.46,14.49,6.21,50.27
$GC,8738,0.65,158.9,2608,2152,2093,2046,8.2,8.9,700,8742,0.00,2.45,0.00,0.000,260,0.000,0.080,2608,3553,2068,2091,2045,0,0,0,0,0,0,14.74,14.41,14.75,6.21,50.47
$STATE,8790,end climb,SURFACE_DEPTH_REACHED
$STATE,8790,begin surface coast
$STATE,8800,end surface coast,CONTROL_FINISHED_OK
$STATE,8800,begin surface
$SM_CCo,8817,59.22,0.243,0,0,1821,220.03
$SM_GC,1.22,5.95,2.50,59.22,0.154,0.043,0.243,216,2093,1821,-6.45,0.90,220.03,0,0,0,0,0,0,14.59,14.50,14.21
$IRIDIUM_FIX,-6000.38,8.61,210119,234317
$TT8_MAMPS,0.039697,0.325815
$HUMID,50.07
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3739104
$24V_AH,13.04,69.928
$10V_AH,13.61,0.000
$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,13.675,87.500,265.875,59.225,0.000,24.646,15.133,129.201,0.000,0.000,16.337,0.000,6984.761,413.991,1614.155,185.973,0.000,1060.059,0.000,1167.584,0.000,0.539,0.000
$DEVICE_MAMPS,437.580,2225.385,1574.370,242.505,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5218.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.782,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17313,713
$CAP_FILE_SIZE,96109,0
$CFSIZE,1023623168,984580096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.017,208.57,1
$GPS,220119,045003,-6000.589,7.617,21,0.8,41,-19.8,0.0,137.6,10,9.9