version: 66.14
glider: 640
mission: 5
dive: 409
start: 1 27 119 23 49 43
data:
$ID,640
$MISSION,5
$DIVE,409
$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,45
$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
$GPS1,270119,234049,-6010.2480,-2.5015,17,0.8,40,-19.7,0.5,124.7,10,6.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-66.9
$GPS2,270119,234924,-6010.2246,-2.5279,8,0.8,22,-19.7,0.0,22.0,9,9.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,29.1,56026,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,12,-0.64,-146.0,210,2085,1789,1828,0.0,0.0,0,102,0.00,0.00,-87.97,0.000,16386,0.000,0.000,210,2085,3184,3260,3108,0,0,0,0,0,0,14.55,28.83,14.55,6.18,50.94
$GC,104,-0.64,-146.0,210,2086,3270,3109,3.0,-6.4,18,122,6.07,2.70,-4.90,0.000,18948,0.334,2.216,2174,708,3317,3412,3223,0,0,0,0,0,0,13.95,13.01,14.31,6.30,50.03
$GC,173,-0.64,-146.0,2175,708,3414,3224,15.3,-15.7,32,177,0.10,2.40,0.00,0.000,3078,0.339,0.057,2196,2098,3318,3413,3224,0,0,0,0,0,0,14.02,14.28,14.28,6.31,48.62
$GC,299,-0.64,-146.0,2197,2099,3414,3224,35.3,-16.3,57,302,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2098,3318,3413,3224,0,0,0,0,0,0,14.59,14.62,14.62,6.31,49.88
$GC,423,-0.64,-146.0,2196,2099,3415,3224,56.4,-18.1,82,427,0.00,2.50,0.00,0.000,260,0.000,0.082,2186,3512,3319,3414,3224,0,0,0,0,0,0,14.65,14.26,14.66,6.32,49.64
$GC,483,-0.64,-146.0,2187,3514,3414,3225,67.0,-16.5,94,487,0.00,2.38,0.00,0.000,3078,0.000,0.042,2185,2118,3318,3413,3224,0,0,0,0,0,0,14.49,14.35,14.50,6.32,49.68
$GC,608,-0.64,-146.0,2185,2116,3415,3224,85.7,-14.2,119,612,0.00,2.47,0.00,0.000,2564,0.000,0.063,2185,692,3318,3413,3224,0,0,0,0,0,0,14.69,14.30,14.69,6.31,49.09
$GC,653,-0.64,-146.0,2186,692,3415,3224,91.8,-13.2,128,657,0.05,2.42,0.00,0.000,3078,0.438,0.057,2190,2109,3319,3414,3224,0,0,0,0,0,0,14.08,14.36,14.34,6.31,48.58
$GC,783,-0.64,-146.0,2191,2109,3415,3224,107.7,-12.4,145,784,0.00,0.00,0.00,0.000,2054,0.000,0.000,2190,2109,3318,3413,3224,0,0,0,0,0,0,14.72,14.72,14.72,6.30,48.30
$GC,1083,-0.64,-146.0,2190,2109,3415,3224,144.1,-12.5,160,1084,0.00,0.00,0.00,0.000,2054,0.000,0.000,2190,2108,3318,3413,3224,0,0,0,0,0,0,14.76,14.76,14.76,6.30,49.84
$GC,1383,-0.64,-146.0,2190,2109,3415,3224,183.5,-13.1,175,1384,0.00,0.00,0.00,0.000,2054,0.000,0.000,2190,2108,3319,3414,3224,0,0,0,0,0,0,14.79,14.79,14.78,6.31,50.74
$GC,1683,-0.64,-146.0,2191,2109,3415,3225,222.6,-12.9,190,1687,0.00,2.45,0.00,0.000,2564,0.000,0.062,2190,686,3318,3413,3224,0,0,0,0,0,0,14.81,14.39,14.81,6.32,50.82
$GC,1708,-0.64,-146.0,2189,686,3414,3226,225.3,-13.0,191,1711,0.00,2.42,0.00,0.000,3078,0.000,0.056,2180,2108,3318,3413,3224,0,0,0,0,0,0,14.58,14.45,14.59,6.32,50.78
$GC,2018,-0.64,-146.0,2180,2108,3413,3226,267.2,-13.1,207,2019,0.00,0.00,0.00,0.000,2054,0.000,0.000,2180,2108,3319,3414,3224,0,0,0,0,0,0,14.82,14.82,14.82,6.32,51.14
$GC,2318,-0.64,-146.0,2180,2109,3413,3225,305.3,-12.6,222,2319,0.00,0.00,0.00,0.000,2054,0.000,0.000,2180,2108,3319,3414,3224,0,0,0,0,0,0,14.83,14.83,14.83,6.33,51.06
$GC,2618,-0.64,-146.0,2180,2109,3414,3225,343.0,-12.4,237,2622,0.03,2.45,0.00,0.000,2564,0.623,0.062,2186,686,3319,3414,3224,0,0,0,0,0,0,14.48,14.38,14.53,6.33,51.26
$GC,2643,-0.64,-146.0,2186,687,3415,3224,345.5,-12.5,238,2646,0.00,2.40,0.00,0.000,3078,0.000,0.056,2176,2101,3319,3414,3224,0,0,0,0,0,0,14.58,14.47,14.60,6.33,52.04
$STATE,2691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2691,begin apogee
$GC,2696,-0.15,0.0,2176,2167,3415,3224,352.3,-12.3,241,2825,0.50,0.00,125.18,1.584,10246,0.261,0.000,2349,2167,2714,2775,2654,0,0,0,0,0,0,14.17,13.93,13.26,6.33,51.26
$STATE,2826,end apogee,CONTROL_FINISHED_OK
$STATE,2826,begin loiter
$GC,3113,-0.15,0.0,2350,2168,2773,2642,347.0,3.8,262,3114,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2706,2771,2642,0,0,0,0,0,0,14.56,14.56,14.56,6.28,50.63
$GC,3413,-0.15,0.0,2350,2167,2772,2640,335.9,3.6,277,3414,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.28,51.02
$GC,3713,-0.15,0.0,2350,2167,2773,2638,325.7,3.4,292,3714,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2705,2771,2639,0,0,0,0,0,0,14.80,14.81,14.80,6.28,51.10
$GC,4013,-0.15,0.0,2349,2167,2772,2638,316.2,3.1,307,4014,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2704,2771,2638,0,0,0,0,0,0,14.85,14.86,14.85,6.28,51.45
$GC,4313,-0.15,0.0,2350,2167,2773,2638,307.0,3.0,322,4314,0.00,0.00,0.00,0.000,2054,0.000,0.000,2350,2167,2704,2771,2637,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.18
$GC,4613,-0.15,0.0,2349,2168,2772,2638,298.3,2.9,337,4614,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2704,2772,2637,0,0,0,0,0,0,14.93,14.93,14.93,6.28,51.33
$GC,4913,-0.15,0.0,2349,2168,2772,2638,290.2,2.4,352,4914,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2704,2771,2637,0,0,0,0,0,0,14.95,14.96,14.96,6.28,51.33
$GC,5213,-0.15,0.0,2350,2168,2772,2637,282.7,2.4,367,5214,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2704,2771,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.37
$GC,5513,-0.15,0.0,2350,2167,2773,2637,276.0,2.2,382,5514,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2704,2771,2637,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.53
$GC,5813,-0.15,0.0,2350,2168,2772,2638,269.5,2.3,397,5814,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2703,2771,2636,0,0,0,0,0,0,15.00,15.00,15.01,6.28,51.22
$GC,6113,-0.15,0.0,2349,2168,2772,2637,262.2,2.6,412,6114,0.00,0.00,0.00,0.000,2054,0.000,0.000,2349,2167,2703,2771,2636,0,0,0,0,0,0,15.02,15.02,15.02,6.27,52.04
$STATE,6411,end loiter,LOITER_COMPLETE
$STATE,6411,begin climb
$GC,6413,0.64,146.0,2350,2167,2772,2636,253.0,0.0,427,6553,0.62,2.55,129.60,1.421,11012,0.174,0.083,2595,3540,2117,2141,2094,0,0,0,0,0,0,14.43,13.94,13.38,6.27,51.69
$GC,6628,0.64,146.0,2595,3540,2140,2086,236.9,10.9,437,6632,0.00,2.35,0.00,0.000,1030,0.000,0.041,2606,2149,2116,2145,2087,0,0,0,0,0,0,14.23,14.14,14.24,6.23,49.64
$GC,6933,0.64,146.0,2606,2149,2132,2081,195.7,13.3,453,6937,0.00,2.47,0.00,0.000,516,0.000,0.067,2617,745,2105,2131,2079,0,0,0,0,0,0,14.59,14.24,14.58,6.23,50.70
$GC,6988,0.64,146.0,2617,746,2128,2080,190.6,13.1,455,6992,0.00,2.38,0.00,0.000,5126,0.000,0.052,2617,2132,2103,2127,2079,0,0,0,0,0,0,14.43,14.29,14.45,6.23,50.98
$GC,7293,0.64,146.0,2617,2132,2127,2078,149.6,12.3,471,7297,0.00,2.53,0.00,0.000,4356,0.000,0.083,2617,3555,2102,2126,2078,0,0,0,0,0,0,14.70,14.31,14.69,6.23,51.02
$GC,7388,0.64,146.0,2617,3556,2127,2078,138.6,11.4,476,7392,0.08,2.35,0.00,0.000,5126,0.343,0.044,2600,2146,2101,2126,2077,0,0,0,0,0,0,14.15,14.41,14.41,6.22,50.86
$GC,7703,0.64,146.0,2603,2146,2127,2076,106.9,9.6,492,7707,0.00,2.45,0.00,0.000,516,0.000,0.067,2612,738,2100,2125,2076,0,0,0,0,0,0,14.76,14.38,14.78,6.22,50.94
$GC,7783,0.64,146.0,2612,739,2124,2077,100.0,8.6,496,7787,0.00,2.40,0.00,0.000,5126,0.000,0.051,2612,2152,2099,2123,2076,0,0,0,0,0,0,14.54,14.42,14.59,6.22,51.22
$GC,7910,0.64,146.0,2613,2152,2124,2081,88.1,10.3,521,7913,0.00,2.47,0.00,0.000,4356,0.000,0.085,2613,3556,2099,2122,2076,0,0,0,0,0,0,14.76,14.37,14.76,6.22,50.27
$GC,7963,0.64,146.0,2613,3557,2124,2076,82.2,10.3,532,7968,0.05,2.38,0.00,0.000,5126,0.413,0.044,2606,2137,2099,2123,2076,0,0,0,0,0,0,14.19,14.45,14.47,6.22,49.68
$GC,8090,0.64,146.0,2607,2140,2124,2076,70.1,10.1,557,8093,0.00,2.42,0.00,0.000,516,0.000,0.066,2616,742,2099,2123,2076,0,0,0,0,0,0,14.76,14.40,14.76,6.21,49.56
$GC,8123,0.64,146.0,2616,743,2122,2077,66.3,10.6,564,8128,0.03,2.40,0.00,0.000,5126,0.565,0.054,2606,2159,2098,2122,2075,0,0,0,0,0,0,14.30,14.42,14.48,6.21,49.96
$GC,8250,0.64,146.0,2605,2160,2122,2076,53.2,9.7,589,8253,0.00,2.45,0.00,0.000,260,0.000,0.083,2606,3555,2098,2121,2075,0,0,0,0,0,0,14.76,14.38,14.77,6.19,49.84
$GC,8318,0.64,146.0,2606,3556,2122,2077,46.0,10.5,603,8322,0.00,2.33,0.00,0.000,5126,0.000,0.043,2615,2150,2098,2121,2076,0,0,0,0,0,0,14.59,14.47,14.61,6.20,49.33
$GC,8443,0.64,146.0,2615,2150,2122,2077,33.2,9.9,628,8447,0.00,2.45,0.00,0.000,4612,0.000,0.067,2626,742,2098,2121,2075,0,0,0,0,0,0,14.78,14.40,14.79,6.20,50.63
$GC,8498,0.64,146.0,2627,743,2122,2074,28.2,8.9,639,8502,0.08,2.38,0.00,0.000,5126,0.321,0.053,2600,2151,2097,2120,2075,0,0,0,0,0,0,14.21,14.44,14.48,6.20,49.80
$GC,8623,0.64,146.0,2600,2150,2121,2074,17.6,8.5,664,8627,0.00,2.47,0.00,0.000,2308,0.000,0.084,2600,3553,2097,2120,2074,0,0,0,0,0,0,14.78,14.38,14.78,6.21,50.35
$GC,8678,0.64,146.0,2600,3554,2121,2082,12.8,8.7,675,8681,0.00,2.33,0.00,0.000,5126,0.000,0.044,2609,2151,2097,2119,2075,0,0,0,0,0,0,14.59,14.47,14.61,6.20,50.66
$STATE,8791,end climb,SURFACE_DEPTH_REACHED
$STATE,8791,begin surface coast
$STATE,8826,end surface coast,CONTROL_FINISHED_OK
$STATE,8826,begin surface
$SM_CCo,8840,65.75,0.242,0,0,1822,220.03
$SM_GC,1.23,5.35,0.08,65.75,0.038,0.164,0.242,243,2074,1822,-6.44,0.93,220.03,0,0,0,0,0,0,14.60,14.51,14.18
$IRIDIUM_FIX,-6014.82,0.00,270119,234316
$TT8_MAMPS,0.03745,0.346787
$HUMID,50.11
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,2
$SC_FREEKB,3711456
$24V_AH,13.01,79.833
$10V_AH,13.57,0.000
$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,12.950,68.300,254.775,65.750,0.000,62.034,87.822,135.646,0.500,0.000,23.077,0.000,7138.442,408.077,1675.249,200.481,0.000,1024.647,0.000,1118.953,0.000,0.540,0.000
$DEVICE_MAMPS,622.710,2216.205,1583.550,241.740,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5247.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.475,0.000,0.000,0.000
$MEM,344076
$DATA_FILE_SIZE,17330,705
$CAP_FILE_SIZE,91115,0
$CFSIZE,1023623168,979255296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.029,239.47,1
$GPS,280119,021906,-6009.718,-2.548,15,0.9,31,-19.7,0.0,331.9,9,9.5