version: 66.14
glider: 640
mission: 5
dive: 386
start: 1 25 119 12 46 52
data:
$ID,640
$MISSION,5
$DIVE,386
$N_DIVES,600
$STOP_T,2051912
$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,58
$R_STBD_OVSHOOT,30
$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
$GPS1,250119,124031,-6016.5591,0.4436,14,0.7,54,-19.7,0.5,163.7,12,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-64.9
$GPS2,250119,124633,-6016.5776,0.5275,9,0.7,19,-19.7,0.8,163.9,12,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,202.1,6356,-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,-146.0,217,2067,1799,1825,0.0,0.0,0,102,0.00,0.00,-88.55,0.000,16386,0.000,0.000,216,2067,3198,3278,3118,0,0,0,0,0,0,14.58,28.83,14.58,6.19,51.33
$GC,104,-0.64,-146.0,217,2068,3279,3120,3.1,-6.2,18,122,6.18,2.62,-4.28,0.000,18948,0.351,2.222,2190,719,3317,3411,3223,0,0,0,0,0,0,14.00,13.05,14.32,6.30,50.35
$GC,262,-0.64,-146.0,2191,720,3413,3225,30.2,-14.7,50,265,0.00,2.38,0.00,0.000,3078,0.000,0.054,2181,2106,3318,3412,3224,0,0,0,0,0,0,14.45,14.33,14.47,6.34,49.09
$GC,387,-0.64,-146.0,2181,2107,3413,3225,50.6,-16.4,75,390,0.00,2.47,0.00,0.000,2308,0.000,0.083,2170,3508,3318,3412,3224,0,0,0,0,0,0,14.65,14.30,14.68,6.33,49.92
$GC,452,-0.64,-146.0,2170,3509,3412,3225,60.2,-14.1,88,456,0.08,2.30,0.00,0.000,3078,0.357,0.042,2195,2124,3318,3412,3224,0,0,0,0,0,0,14.11,14.40,14.38,6.32,49.72
$GC,578,-0.64,-146.0,2195,2123,3413,3225,74.9,-10.8,113,582,0.00,2.45,0.00,0.000,260,0.000,0.080,2185,3510,3318,3413,3224,0,0,0,0,0,0,14.67,14.30,14.67,6.32,49.64
$GC,617,-0.64,-146.0,2186,3511,3413,3224,79.3,-11.0,121,621,0.00,2.35,0.00,0.000,3078,0.000,0.044,2185,2102,3318,3412,3224,0,0,0,0,0,0,14.52,14.41,14.54,6.32,49.72
$GC,743,-0.64,-146.0,2185,2101,3414,3224,93.6,-11.5,146,747,0.00,2.45,0.00,0.000,2564,0.000,0.064,2185,686,3318,3413,3224,0,0,0,0,0,0,14.69,14.31,14.69,6.30,48.74
$GC,807,-0.64,-146.0,2185,687,3413,3226,100.6,-11.6,158,810,0.08,2.40,0.00,0.000,3078,0.361,0.055,2198,2100,3318,3413,3224,0,0,0,0,0,0,14.14,14.40,14.40,6.31,48.54
$GC,1117,-0.64,-146.0,2198,2106,3413,3224,141.3,-14.0,174,1120,0.00,2.45,0.00,0.000,260,0.000,0.080,2188,3509,3318,3412,3225,0,0,0,0,0,0,14.75,14.38,14.76,6.30,49.29
$GC,1142,-0.64,-146.0,2188,3504,3413,3226,143.4,-13.9,175,1146,0.00,2.33,0.00,0.000,3078,0.000,0.043,2188,2096,3318,3412,3225,0,0,0,0,0,0,14.57,14.46,14.64,6.31,49.40
$GC,1452,-0.64,-146.0,2188,2095,3414,3223,188.2,-13.8,191,1455,0.00,2.40,0.00,0.000,2564,0.000,0.063,2187,697,3318,3412,3224,0,0,0,0,0,0,14.78,14.43,14.78,6.31,50.35
$GC,1547,-0.64,-146.0,2188,698,3414,3224,201.1,-13.5,196,1551,0.05,2.38,0.00,0.000,3078,0.434,0.054,2192,2101,3318,3412,3225,0,0,0,0,0,0,14.19,14.45,14.46,6.31,50.66
$GC,1867,-0.64,-146.0,2193,2102,3413,3225,242.7,-12.9,212,1870,0.00,2.45,0.00,0.000,2308,0.000,0.082,2182,3503,3318,3412,3225,0,0,0,0,0,0,14.81,14.41,14.81,6.32,51.37
$GC,1912,-0.64,-146.0,2182,3503,3413,3224,247.3,-13.1,214,1916,0.00,2.33,0.00,0.000,3078,0.000,0.042,2181,2096,3318,3412,3224,0,0,0,0,0,0,14.62,14.50,14.63,6.32,51.10
$GC,2222,-0.64,-146.0,2181,2096,3413,3226,289.8,-13.3,230,2225,0.00,2.40,0.00,0.000,2564,0.000,0.063,2181,697,3318,3412,3225,0,0,0,0,0,0,14.82,14.45,14.79,6.33,51.81
$GC,2307,-0.64,-146.0,2182,697,3413,3225,299.9,-13.5,234,2310,0.08,2.38,0.00,0.000,3078,0.359,0.054,2195,2101,3318,3412,3224,0,0,0,0,0,0,14.20,14.47,14.47,6.33,51.37
$GC,2617,-0.64,-146.0,2195,2102,3413,3225,340.5,-12.8,250,2620,0.00,2.45,0.00,0.000,260,0.000,0.082,2184,3503,3318,3412,3224,0,0,0,0,0,0,14.82,14.42,14.83,6.33,51.45
$GC,2657,-0.64,-146.0,2185,3503,3413,3224,345.1,-12.8,252,2660,0.00,2.33,0.00,0.000,3078,0.000,0.042,2185,2092,3318,3412,3225,0,0,0,0,0,0,14.62,14.51,14.64,6.34,51.37
$STATE,2690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2690,begin apogee
$GC,2695,-0.15,0.0,2184,2163,3413,3226,350.2,-12.9,254,2824,0.47,0.00,126.10,1.565,10246,0.255,0.000,2352,2162,2717,2777,2658,0,0,0,0,0,0,14.17,13.93,13.27,6.34,51.26
$STATE,2825,end apogee,CONTROL_FINISHED_OK
$STATE,2825,begin loiter
$GC,3112,-0.15,0.0,2352,2163,2772,2644,348.5,2.9,275,3112,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2162,2707,2771,2643,0,0,0,0,0,0,14.56,14.56,14.56,6.29,50.66
$GC,3412,-0.15,0.0,2352,2163,2773,2640,339.2,3.2,290,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2162,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.94
$GC,3712,-0.15,0.0,2352,2163,2772,2640,329.4,3.3,305,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2162,2704,2771,2638,0,0,0,0,0,0,14.81,14.80,14.80,6.29,51.26
$GC,4012,-0.15,0.0,2352,2163,2772,2638,319.1,3.6,320,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2162,2704,2771,2638,0,0,0,0,0,0,14.85,14.85,14.85,6.29,51.22
$GC,4312,-0.15,0.0,2352,2162,2772,2638,308.0,3.7,335,4312,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2162,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.29,51.85
$GC,4612,-0.15,0.0,2352,2163,2772,2639,296.7,3.7,350,4612,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2162,2704,2771,2637,0,0,0,0,0,0,14.93,14.93,14.93,6.29,51.33
$GC,4912,-0.15,0.0,2352,2163,2773,2637,285.9,3.3,365,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2162,2704,2771,2637,0,0,0,0,0,0,14.95,14.95,14.95,6.29,51.73
$GC,5212,-0.15,0.0,2352,2163,2773,2637,276.3,3.2,380,5213,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2162,2704,2771,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.37
$GC,5512,-0.15,0.0,2353,2163,2772,2637,266.7,3.2,395,5513,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2162,2704,2771,2637,0,0,0,0,0,0,14.99,14.99,15.00,6.28,52.00
$GC,5812,-0.15,0.0,2351,2163,2772,2637,256.8,3.2,410,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2162,2704,2771,2637,0,0,0,0,0,0,15.00,15.01,15.01,6.28,51.49
$GC,6112,-0.15,0.0,2352,2163,2772,2638,248.0,2.9,425,6112,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2162,2704,2771,2637,0,0,0,0,0,0,15.02,15.02,15.02,6.28,51.77
$STATE,6410,end loiter,LOITER_COMPLETE
$STATE,6410,begin climb
$GC,6412,0.64,146.0,2352,2163,2772,2637,240.2,0.0,440,6552,0.62,2.55,129.77,1.403,10500,0.171,0.078,2600,3541,2122,2141,2104,0,0,0,0,0,0,14.47,13.98,13.42,6.28,51.26
$GC,6632,0.64,146.0,2601,3545,2139,2087,223.6,10.7,451,6635,0.00,2.38,0.00,0.000,5126,0.000,0.041,2610,2151,2112,2138,2086,0,0,0,0,0,0,14.26,14.16,14.26,6.24,49.33
$GC,6952,0.64,146.0,2610,2152,2132,2079,185.3,12.3,467,6956,0.00,2.47,0.00,0.000,4612,0.000,0.067,2621,744,2104,2131,2078,0,0,0,0,0,0,14.60,14.27,14.60,6.24,50.74
$GC,7002,0.64,146.0,2621,744,2128,2080,180.6,12.1,469,7006,0.05,2.40,0.00,0.000,5126,0.379,0.053,2604,2141,2102,2127,2078,0,0,0,0,0,0,14.12,14.31,14.37,6.24,50.63
$GC,7307,0.64,146.0,2604,2141,2127,2078,143.4,11.5,484,7311,0.00,2.53,0.00,0.000,260,0.000,0.082,2604,3564,2101,2127,2076,0,0,0,0,0,0,14.71,14.33,14.71,6.23,50.94
$GC,7387,0.64,146.0,2604,3565,2127,2078,135.2,11.0,488,7390,0.00,2.38,0.00,0.000,5126,0.000,0.043,2613,2142,2101,2127,2076,0,0,0,0,0,0,14.54,14.42,14.56,6.23,50.82
$GC,7702,0.64,146.0,2613,2142,2127,2077,100.0,11.2,504,7706,0.00,2.45,0.00,0.000,4612,0.000,0.065,2624,735,2101,2126,2076,0,0,0,0,0,0,14.76,14.41,14.76,6.21,50.39
$GC,7752,0.64,146.0,2625,734,2126,2074,95.0,9.6,511,7756,0.05,2.42,0.00,0.000,5126,0.379,0.053,2606,2161,2100,2125,2075,0,0,0,0,0,0,14.26,14.43,14.49,6.22,50.47
$GC,7877,0.64,146.0,2606,2163,2125,2076,82.9,10.2,536,7880,0.00,2.45,0.00,0.000,260,0.000,0.083,2606,3553,2100,2125,2075,0,0,0,0,0,0,14.76,14.38,14.76,6.21,49.76
$GC,7917,0.64,146.0,2605,3554,2125,2076,78.6,10.8,544,7921,0.00,2.33,0.00,0.000,5126,0.000,0.044,2615,2151,2099,2124,2075,0,0,0,0,0,0,14.59,14.47,14.61,6.21,50.15
$GC,8043,0.64,146.0,2616,2148,2125,2076,63.3,12.2,569,8047,0.00,2.45,0.00,0.000,4612,0.000,0.067,2626,741,2099,2124,2075,0,0,0,0,0,0,14.76,14.42,14.76,6.21,49.40
$GC,8117,0.64,146.0,2626,742,2124,2076,55.9,9.4,584,8121,0.08,2.40,0.00,0.000,5126,0.314,0.053,2599,2157,2098,2123,2074,0,0,0,0,0,0,14.24,14.45,14.50,6.21,50.00
$GC,8244,0.64,146.0,2600,2157,2123,2074,44.8,8.4,609,8248,0.00,2.47,0.00,0.000,2308,0.000,0.083,2598,3562,2103,2123,2084,0,0,0,0,0,0,14.76,14.39,14.76,6.21,49.80
$GC,8302,0.65,158.6,2600,3562,2124,2075,39.9,7.8,621,8315,0.00,2.38,7.12,1.271,9222,0.000,0.043,2608,2141,2070,2093,2048,0,0,0,0,0,0,14.57,14.47,13.74,6.21,50.74
$GC,8438,0.65,158.6,2608,2142,2094,2049,28.3,9.7,648,8441,0.00,2.42,0.00,0.000,516,0.000,0.067,2619,744,2070,2093,2048,0,0,0,0,0,0,14.73,14.40,14.74,6.20,50.86
$GC,8462,0.65,158.6,2620,744,2095,2048,25.6,10.0,653,8467,0.00,2.40,0.00,0.000,5126,0.000,0.051,2619,2160,2070,2093,2048,0,0,0,0,0,0,14.57,14.44,14.59,6.20,50.51
$GC,8589,0.65,158.6,2620,2160,2095,2048,12.6,12.0,678,8593,0.00,2.45,0.00,0.000,4356,0.000,0.084,2619,3556,2071,2094,2048,0,0,0,0,0,0,14.73,14.38,14.74,6.21,50.63
$GC,8637,0.65,158.6,2620,3557,2095,2049,6.1,13.2,688,8641,0.08,2.33,0.00,0.000,5126,0.360,0.040,2605,2141,2071,2094,2048,0,0,0,0,0,0,14.19,14.47,14.45,6.21,50.86
$STATE,8665,end climb,SURFACE_DEPTH_REACHED
$STATE,8666,begin surface coast
$STATE,8690,end surface coast,CONTROL_FINISHED_OK
$STATE,8690,begin surface
$SM_CCo,8705,60.10,0.241,0,0,1822,220.03
$SM_GC,0.96,5.65,0.00,60.10,0.097,0.000,0.241,262,2139,1822,-6.46,1.10,220.03,0,0,0,0,0,0,14.53,14.74,14.19
$IRIDIUM_FIX,-6019.63,0.00,250119,101016
$TT8_MAMPS,0.038199,0.212716
$HUMID,50.23
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,4
$SC_FREEKB,3723232
$24V_AH,13.05,75.621
$10V_AH,13.59,0.000
$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,13.450,87.050,263.000,60.100,0.000,26.608,44.718,128.792,1.000,0.000,20.637,0.000,6874.117,416.811,1640.605,196.657,0.000,1060.905,0.000,1161.983,0.000,0.540,0.000
$DEVICE_MAMPS,433.755,2221.560,1565.190,240.975,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5108.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.587,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17334,699
$CAP_FILE_SIZE,95069,0
$CFSIZE,1023623168,981516288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.022,330.80,1
$GPS,250119,151401,-6016.920,0.567,20,0.8,38,-19.7,1.6,181.8,9,6.8