version: 66.14
glider: 640
mission: 5
dive: 360
start: 1 22 119 15 22 15
data:
$ID,640
$MISSION,5
$DIVE,360
$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,35
$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
$GPS1,220119,151625,-6002.4839,6.9560,14,0.8,38,-19.8,0.7,95.7,9,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-68.9
$GPS2,220119,152155,-6002.5083,7.0336,9,0.8,18,-19.8,0.7,111.7,9,9.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,214.0,33030,-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,-146.0,219,2097,1792,1826,0.0,0.0,0,96,0.00,0.00,-83.03,0.000,16386,0.000,0.000,218,2096,3172,3251,3093,0,0,0,0,0,0,14.59,28.83,14.60,6.19,50.35
$GC,98,-0.64,-146.0,219,2097,3252,3093,3.4,-6.8,17,116,6.18,2.78,-5.25,0.000,18692,0.358,2.244,2169,3495,3318,3412,3224,0,0,0,0,0,0,14.07,13.07,14.38,6.31,49.52
$GC,193,-0.64,-146.0,2169,3497,3415,3224,19.8,-16.6,36,197,0.08,2.35,0.00,0.000,3078,0.366,0.042,2193,2095,3318,3413,3224,0,0,0,0,0,0,14.04,14.33,14.31,6.33,48.97
$GC,318,-0.64,-146.0,2202,2094,3414,3224,41.0,-17.4,61,322,0.00,2.42,0.00,0.000,2564,0.000,0.063,2189,693,3319,3414,3225,0,0,0,0,0,0,14.64,14.28,14.64,6.32,49.72
$GC,362,-0.64,-146.0,2194,693,3414,3224,48.5,-16.7,70,365,0.00,2.42,0.00,0.000,3078,0.000,0.059,2184,2101,3319,3413,3225,0,0,0,0,0,0,14.49,14.35,14.50,6.32,49.84
$GC,487,-0.64,-146.0,2184,2102,3415,3225,66.9,-14.6,95,490,0.00,2.47,0.00,0.000,2308,0.000,0.083,2173,3508,3319,3413,3225,0,0,0,0,0,0,14.68,14.33,14.68,6.32,50.03
$GC,577,-0.64,-146.0,2174,3508,3415,3225,79.0,-12.7,113,582,0.05,2.40,0.00,0.000,3078,0.341,0.043,2190,2091,3319,3414,3225,0,0,0,0,0,0,14.12,14.40,14.25,6.31,49.33
$GC,703,-0.64,-146.0,2191,2090,3414,3226,94.8,-12.5,138,707,0.00,2.40,0.00,0.000,2564,0.000,0.063,2190,700,3319,3413,3225,0,0,0,0,0,0,14.70,14.33,14.67,6.32,48.93
$GC,732,-0.64,-146.0,2191,701,3414,3226,98.6,-12.5,144,735,0.00,2.40,0.00,0.000,3078,0.000,0.057,2180,2103,3319,3413,3225,0,0,0,0,0,0,14.54,14.40,14.56,6.32,48.97
$GC,867,-0.64,-146.0,2182,2103,3415,3225,115.9,-13.0,153,871,0.00,2.45,0.00,0.000,2308,0.000,0.082,2170,3509,3319,3413,3225,0,0,0,0,0,0,14.73,14.38,14.73,6.31,48.85
$GC,942,-0.64,-146.0,2170,3510,3415,3226,123.4,-12.7,156,946,0.08,2.33,0.00,0.000,3078,0.356,0.043,2196,2105,3319,3414,3225,0,0,0,0,0,0,14.19,14.46,14.45,6.31,49.48
$GC,1247,-0.64,-146.0,2196,2104,3415,3225,161.8,-12.9,172,1250,0.00,2.42,0.00,0.000,516,0.000,0.063,2195,696,3320,3414,3227,0,0,0,0,0,0,14.77,14.44,14.77,6.31,50.66
$GC,1312,-0.64,-146.0,2197,695,3414,3225,168.8,-12.8,175,1316,0.00,2.40,0.00,0.000,3078,0.000,0.055,2185,2107,3319,3413,3225,0,0,0,0,0,0,14.59,14.46,14.65,6.32,51.10
$GC,1622,-0.64,-146.0,2186,2109,3415,3226,210.4,-13.2,191,1625,0.00,2.42,0.00,0.000,2308,0.000,0.083,2175,3504,3318,3414,3222,0,0,0,0,0,0,14.80,14.43,14.80,6.33,50.82
$GC,1652,-0.64,-146.0,2176,3511,3414,3225,213.1,-13.2,192,1655,0.05,2.33,0.00,0.000,3078,0.429,0.043,2191,2095,3319,3413,3225,0,0,0,0,0,0,14.23,14.50,14.49,6.33,50.94
$GC,1962,-0.64,-146.0,2191,2094,3414,3226,254.1,-12.7,208,1966,0.00,2.40,0.00,0.000,2564,0.000,0.063,2191,695,3319,3413,3225,0,0,0,0,0,0,14.81,14.47,14.81,6.38,51.45
$GC,2032,-0.64,-146.0,2191,695,3414,3226,261.7,-12.8,211,2035,0.00,2.38,0.00,0.000,3078,0.000,0.055,2181,2101,3319,3413,3225,0,0,0,0,0,0,14.62,14.49,14.64,6.33,50.94
$GC,2337,-0.64,-146.0,2181,2103,3414,3226,302.2,-13.2,226,2340,0.00,2.45,0.00,0.000,2308,0.000,0.082,2170,3504,3319,3413,3225,0,0,0,0,0,0,14.82,14.45,14.82,6.34,51.18
$GC,2387,-0.64,-146.0,2167,3504,3414,3226,307.0,-13.3,228,2391,0.08,2.33,0.00,0.000,3078,0.353,0.041,2196,2092,3319,3413,3225,0,0,0,0,0,0,14.24,14.52,14.51,6.34,51.14
$GC,2692,-0.64,-146.0,2196,2091,3414,3225,346.9,-12.4,244,2696,0.00,2.40,0.00,0.000,516,0.000,0.062,2196,693,3319,3413,3225,0,0,0,0,0,0,14.84,14.48,14.83,6.34,51.22
$STATE,2730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2730,begin apogee
$GC,2737,-0.15,0.0,2185,2151,3414,3225,352.0,-12.5,246,2865,0.47,0.00,125.10,1.577,10246,0.253,0.000,2354,2150,2719,2779,2660,0,0,0,0,0,0,14.23,13.93,13.33,6.34,51.57
$STATE,2866,end apogee,CONTROL_FINISHED_OK
$STATE,2866,begin loiter
$GC,3152,-0.15,0.0,2353,2150,2774,2643,352.2,2.2,267,3152,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2150,2708,2773,2643,0,0,0,0,0,0,14.56,14.57,14.57,6.29,51.14
$GC,3452,-0.15,0.0,2354,2150,2773,2642,346.2,2.0,282,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2150,2706,2772,2641,0,0,0,0,0,0,14.72,14.72,14.72,6.29,50.98
$GC,3752,-0.15,0.0,2353,2151,2770,2642,340.7,1.8,297,3752,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2150,2706,2772,2640,0,0,0,0,0,0,14.81,14.81,14.81,6.29,51.53
$GC,4052,-0.15,0.0,2354,2150,2773,2640,334.5,2.3,312,4053,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2149,2705,2771,2640,0,0,0,0,0,0,14.86,14.87,14.86,6.29,51.10
$GC,4352,-0.15,0.0,2354,2150,2773,2639,326.6,2.8,327,4352,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2149,2705,2772,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.45
$GC,4652,-0.15,0.0,2354,2150,2773,2639,317.4,3.2,342,4652,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2150,2705,2772,2639,0,0,0,0,0,0,14.93,14.93,14.94,6.29,51.41
$GC,4952,-0.15,0.0,2354,2151,2773,2640,307.3,3.4,357,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2149,2705,2772,2639,0,0,0,0,0,0,14.96,14.96,14.96,6.29,52.04
$GC,5252,-0.15,0.0,2354,2150,2773,2638,297.5,3.2,372,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2150,2705,2772,2638,0,0,0,0,0,0,14.98,14.98,14.98,6.29,51.49
$GC,5552,-0.15,0.0,2354,2150,2773,2639,288.2,3.0,387,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2150,2705,2772,2638,0,0,0,0,0,0,14.99,15.00,15.00,6.29,51.49
$GC,5852,-0.15,0.0,2354,2150,2773,2638,279.5,2.9,402,5852,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2150,2705,2772,2638,0,0,0,0,0,0,15.01,15.02,15.01,6.29,51.96
$GC,6152,-0.15,0.0,2354,2150,2773,2638,271.0,2.8,417,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2150,2705,2772,2638,0,0,0,0,0,0,15.02,15.02,15.02,6.29,51.45
$STATE,6450,end loiter,LOITER_COMPLETE
$STATE,6450,begin climb
$GC,6452,0.64,146.0,2354,2150,2773,2639,262.2,0.0,432,6592,0.60,2.60,129.80,1.432,10500,0.172,0.083,2592,3553,2117,2142,2093,0,0,0,0,0,0,14.50,13.98,13.41,6.29,52.12
$GC,6662,0.64,146.0,2592,3554,2140,2088,247.1,10.3,442,6665,0.00,2.38,0.00,0.000,1030,0.000,0.041,2603,2156,2113,2140,2086,0,0,0,0,0,0,14.23,14.15,14.26,6.24,49.40
$GC,6972,0.64,146.0,2604,2156,2133,2079,210.0,11.8,458,6976,0.00,2.47,0.00,0.000,516,0.000,0.066,2613,747,2105,2133,2078,0,0,0,0,0,0,14.59,14.28,14.59,6.19,50.35
$GC,7032,0.64,146.0,2614,747,2129,2080,203.1,11.6,461,7036,0.00,2.42,0.00,0.000,5126,0.000,0.054,2614,2157,2103,2128,2078,0,0,0,0,0,0,14.45,14.32,14.47,6.24,50.59
$GC,7352,0.64,146.0,2614,2157,2128,2077,162.9,12.4,477,7356,0.00,2.47,0.00,0.000,4356,0.000,0.084,2614,3557,2101,2127,2076,0,0,0,0,0,0,14.71,14.35,14.71,6.24,50.98
$GC,7397,0.64,146.0,2611,3558,2128,2077,158.4,12.5,479,7401,0.08,2.35,0.00,0.000,5126,0.350,0.043,2600,2141,2102,2127,2077,0,0,0,0,0,0,14.20,14.43,14.46,6.24,51.57
$GC,7707,0.64,146.0,2600,2142,2128,2075,123.0,10.3,495,7710,0.00,2.42,0.00,0.000,2564,0.000,0.066,2609,740,2100,2126,2075,0,0,0,0,0,0,14.76,14.42,14.76,6.24,51.29
$GC,7772,0.64,146.0,2609,740,2126,2075,117.7,9.0,498,7775,0.00,2.40,0.00,0.000,5126,0.000,0.052,2609,2154,2100,2125,2075,0,0,0,0,0,0,14.59,14.45,14.61,6.23,50.86
$GC,8077,0.64,146.0,2610,2154,2125,2075,88.8,10.1,530,8081,0.00,2.45,0.00,0.000,4356,0.000,0.083,2609,3553,2100,2125,2075,0,0,0,0,0,0,14.79,14.42,14.79,6.23,50.27
$GC,8117,0.64,146.0,2609,3554,2131,2075,84.4,10.9,538,8121,0.00,2.33,0.00,0.000,5126,0.000,0.042,2619,2152,2100,2125,2075,0,0,0,0,0,0,14.62,14.50,14.64,6.24,50.23
$GC,8243,0.64,146.0,2620,2152,2126,2075,70.2,11.5,563,8247,0.00,2.45,0.00,0.000,4612,0.000,0.066,2630,744,2100,2125,2075,0,0,0,0,0,0,14.78,14.45,14.78,6.21,49.84
$GC,8282,0.64,146.0,2630,745,2125,2076,65.8,11.0,571,8286,0.08,2.40,0.00,0.000,5126,0.321,0.054,2603,2154,2098,2123,2074,0,0,0,0,0,0,14.28,14.47,14.53,6.21,49.80
$GC,8408,0.64,146.0,2603,2154,2124,2074,53.4,9.2,596,8412,0.00,2.45,0.00,0.000,260,0.000,0.083,2603,3554,2098,2122,2074,0,0,0,0,0,0,14.78,14.42,14.79,6.21,49.60
$GC,8497,0.64,146.0,2597,3553,2124,2074,45.2,8.7,614,8502,0.00,2.38,0.00,0.000,5126,0.000,0.042,2612,2149,2098,2122,2075,0,0,0,0,0,0,14.54,14.48,14.56,6.21,49.29
$GC,8623,0.64,146.0,2613,2148,2124,2074,34.6,8.5,639,8627,0.00,2.45,0.00,0.000,4612,0.000,0.067,2624,737,2094,2115,2074,0,0,0,0,0,0,14.79,14.45,14.79,6.21,49.56
$GC,8702,0.64,150.9,2624,737,2123,2073,27.9,8.1,655,8706,0.03,2.40,0.00,0.000,5126,0.555,0.054,2608,2151,2097,2122,2073,0,0,0,0,0,0,14.28,14.48,14.51,6.21,50.11
$GC,8827,0.64,152.5,2608,2152,2121,2074,17.8,8.3,680,8830,0.00,2.45,0.00,0.000,260,0.000,0.083,2608,3553,2097,2121,2073,0,0,0,0,0,0,14.79,14.42,14.83,6.21,50.27
$GC,8882,0.64,152.5,2608,3554,2116,2074,12.6,9.2,691,8885,0.00,2.33,0.00,0.000,5126,0.000,0.042,2618,2150,2097,2121,2074,0,0,0,0,0,0,14.62,14.51,14.64,6.22,51.06
$STATE,8990,end climb,SURFACE_DEPTH_REACHED
$STATE,8990,begin surface coast
$STATE,9015,end surface coast,CONTROL_FINISHED_OK
$STATE,9015,begin surface
$SM_CCo,9029,66.07,0.240,0,0,1822,220.03
$SM_GC,1.38,5.53,0.08,66.07,0.063,0.164,0.240,255,2068,1822,-6.50,0.90,220.03,0,0,0,0,0,0,14.62,14.54,14.23
$IRIDIUM_FIX,-6002.25,0.00,220119,123947
$TT8_MAMPS,0.039697,0.341544
$HUMID,50.63
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3736544
$24V_AH,13.07,70.832
$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,13.275,92.175,254.900,66.075,0.000,23.832,20.961,128.551,0.000,0.000,19.318,0.000,7165.699,420.055,1651.062,189.447,0.000,1077.201,0.000,1194.573,0.000,0.539,0.000
$DEVICE_MAMPS,555.390,2243.745,1577.430,240.210,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5434.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.600,0.000,0.000,0.000
$MEM,344096
$DATA_FILE_SIZE,20762,718
$CAP_FILE_SIZE,96979,0
$CFSIZE,1023623168,984088576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.022,220.37,1
$GPS,220119,175456,-6003.016,6.768,17,0.7,41,-19.8,0.6,71.6,11,8.2