version: 66.14
glider: 640
mission: 5
dive: 428
start: 1 30 119 1 1 42
data:
$ID,640
$MISSION,5
$DIVE,428
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,300119,005455,-6001.0557,-2.8592,17,0.7,40,-19.7,0.5,77.3,10,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-67.3
$GPS2,300119,010122,-6001.0581,-2.8266,10,0.7,16,-19.7,0.0,181.2,10,9.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,27.3,39089,-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,9,begin dive
$GC,11,-0.64,-146.0,212,2099,1790,1830,0.0,0.0,0,96,0.00,0.00,-82.18,0.000,16386,0.000,0.000,212,2099,3130,3211,3049,0,0,0,0,0,0,14.55,28.83,14.55,6.18,51.06
$GC,98,-0.64,-146.0,212,2106,3212,3048,3.1,-6.4,17,116,6.20,2.72,-7.00,0.000,18948,0.345,2.215,2194,685,3317,3414,3220,0,0,0,0,0,0,13.96,13.00,14.32,6.28,49.84
$GC,237,-0.64,-146.0,2195,686,3414,3223,25.4,-14.9,45,241,0.00,2.45,0.00,0.000,3078,0.000,0.057,2184,2103,3318,3414,3223,0,0,0,0,0,0,14.43,14.28,14.45,6.30,48.58
$GC,362,-0.64,-146.0,2185,2104,3416,3223,45.6,-16.4,70,366,0.00,2.50,0.00,0.000,2308,0.000,0.083,2174,3512,3318,3414,3223,0,0,0,0,0,0,14.64,14.26,14.64,6.31,49.88
$GC,392,-0.64,-146.0,2172,3512,3415,3224,50.6,-16.7,76,396,0.08,2.38,0.00,0.000,3078,0.365,0.044,2196,2096,3318,3414,3223,0,0,0,0,0,0,14.04,14.35,14.33,6.31,49.68
$GC,518,-0.64,-146.0,2199,2095,3415,3224,67.8,-12.2,101,522,0.00,2.47,0.00,0.000,516,0.000,0.064,2199,687,3318,3414,3223,0,0,0,0,0,0,14.66,14.25,14.66,6.31,49.80
$GC,567,-0.64,-146.0,2199,692,3415,3225,73.8,-11.5,111,571,0.00,2.42,0.00,0.000,3078,0.000,0.057,2189,2098,3318,3413,3223,0,0,0,0,0,0,14.48,14.33,14.47,6.31,49.44
$GC,693,-0.64,-146.0,2188,2099,3415,3225,89.3,-12.8,136,697,0.00,2.50,0.00,0.000,2308,0.000,0.083,2178,3509,3318,3414,3223,0,0,0,0,0,0,14.68,14.23,14.69,6.30,48.46
$GC,732,-0.64,-146.0,2178,3510,3408,3225,94.6,-13.2,144,736,0.05,2.38,0.00,0.000,3078,0.429,0.043,2193,2090,3318,3414,3223,0,0,0,0,0,0,14.09,14.38,14.36,6.30,49.17
$GC,857,-0.64,-146.0,2194,2090,3415,3224,111.3,-13.4,157,861,0.00,2.42,0.00,0.000,2564,0.000,0.065,2193,696,3316,3414,3218,0,0,0,0,0,0,14.72,14.35,14.72,6.30,48.42
$GC,937,-0.64,-146.0,2193,696,3416,3224,121.1,-13.0,161,940,0.00,2.42,0.00,0.000,3078,0.000,0.056,2182,2111,3319,3414,3224,0,0,0,0,0,0,14.52,14.38,14.54,6.30,48.62
$GC,1247,-0.64,-146.0,2183,2112,3416,3225,164.9,-13.6,177,1251,0.00,2.45,0.00,0.000,2308,0.000,0.083,2172,3506,3318,3414,3223,0,0,0,0,0,0,14.76,14.35,14.76,6.30,49.92
$GC,1277,-0.64,-146.0,2172,3508,3415,3225,167.6,-13.5,178,1281,0.08,2.35,0.00,0.000,3078,0.357,0.043,2198,2092,3323,3423,3224,0,0,0,0,0,0,14.12,14.43,14.40,6.31,50.07
$GC,1582,-0.64,-146.0,2197,2092,3415,3225,206.3,-12.1,193,1585,0.00,2.42,0.00,0.000,516,0.000,0.064,2197,690,3319,3414,3224,0,0,0,0,0,0,14.78,14.40,14.78,6.31,50.98
$GC,1667,-0.64,-146.0,2197,691,3415,3225,215.4,-12.0,197,1670,0.00,2.42,0.00,0.000,3078,0.000,0.057,2187,2108,3319,3414,3224,0,0,0,0,0,0,14.57,14.41,14.58,6.31,50.63
$GC,1972,-0.64,-146.0,2190,2109,3415,3223,254.4,-12.7,212,1973,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2108,3319,3414,3224,0,0,0,0,0,0,14.81,14.81,14.80,6.29,51.18
$GC,2272,-0.64,-146.0,2187,2109,3416,3223,293.1,-13.0,227,2276,0.00,2.42,0.00,0.000,2564,0.000,0.062,2186,697,3319,3414,3224,0,0,0,0,0,0,14.81,14.42,14.81,6.32,51.53
$GC,2297,-0.64,-146.0,2186,697,3414,3225,295.1,-13.0,228,2301,0.05,2.40,0.00,0.000,3078,0.437,0.055,2191,2108,3318,3414,3223,0,0,0,0,0,0,14.16,14.44,14.47,6.32,51.14
$GC,2602,-0.64,-146.0,2191,2109,3415,3223,335.0,-12.7,243,2603,0.00,0.00,0.00,0.000,2054,0.000,0.000,2191,2108,3319,3415,3224,0,0,0,0,0,0,14.82,14.82,14.82,6.33,51.41
$STATE,2720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2720,begin apogee
$GC,2725,-0.15,0.0,2191,2159,3415,3225,350.1,-12.5,249,2854,0.45,0.00,125.45,1.575,10246,0.256,0.000,2348,2158,2716,2776,2656,0,0,0,0,0,0,14.08,13.92,13.24,6.33,51.45
$STATE,2855,end apogee,CONTROL_FINISHED_OK
$STATE,2855,begin loiter
$GC,3142,-0.15,0.0,2348,2158,2773,2643,348.0,2.9,270,3143,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2707,2772,2643,0,0,0,0,0,0,14.56,14.56,14.56,6.28,50.63
$GC,3442,-0.15,0.0,2348,2159,2772,2641,338.9,3.1,285,3443,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2706,2771,2641,0,0,0,0,0,0,14.71,14.71,14.71,6.28,51.41
$GC,3742,-0.15,0.0,2348,2159,2772,2641,330.1,2.8,300,3743,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2706,2772,2640,0,0,0,0,0,0,14.80,14.81,14.81,6.28,51.18
$GC,4042,-0.15,0.0,2349,2159,2773,2640,321.7,2.6,315,4043,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2705,2771,2640,0,0,0,0,0,0,14.85,14.85,14.86,6.28,51.22
$GC,4342,-0.15,0.0,2348,2158,2773,2639,314.0,2.6,330,4343,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2706,2772,2640,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.41
$GC,4642,-0.15,0.0,2348,2158,2773,2640,306.6,2.6,345,4643,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2158,2706,2772,2640,0,0,0,0,0,0,14.93,14.93,14.93,6.28,51.33
$GC,4942,-0.15,0.0,2348,2158,2772,2640,298.8,2.6,360,4943,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2706,2772,2640,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.37
$GC,5242,-0.15,0.0,2348,2160,2772,2640,290.3,3.0,375,5243,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2706,2772,2640,0,0,0,0,0,0,14.97,14.97,14.97,6.27,51.61
$GC,5542,-0.15,0.0,2348,2159,2772,2641,281.2,3.1,390,5543,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2706,2772,2640,0,0,0,0,0,0,14.99,14.99,14.99,6.27,51.53
$GC,5842,-0.15,0.0,2348,2159,2773,2641,271.6,3.2,405,5843,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2706,2772,2640,0,0,0,0,0,0,15.00,15.00,15.00,6.28,52.00
$GC,6142,-0.15,0.0,2348,2158,2773,2640,262.0,3.1,420,6143,0.00,0.00,0.00,0.000,2054,0.000,0.000,2348,2158,2706,2772,2640,0,0,0,0,0,0,15.01,15.01,15.02,6.28,51.69
$STATE,6440,end loiter,LOITER_COMPLETE
$STATE,6440,begin climb
$GC,6442,0.64,146.0,2348,2159,2772,2641,252.2,0.0,435,6583,0.62,2.58,129.98,1.421,10500,0.165,0.083,2597,3544,2118,2140,2096,0,0,0,0,0,0,14.41,13.97,13.37,6.27,52.24
$GC,6618,0.64,146.0,2596,3544,2141,2092,241.2,8.6,443,6622,0.00,2.38,0.00,0.000,1030,0.000,0.041,2606,2150,2114,2139,2090,0,0,0,0,0,0,14.17,14.09,14.19,6.23,49.40
$GC,6923,0.64,146.0,2607,2151,2133,2081,202.2,12.5,459,6927,0.00,2.50,0.00,0.000,516,0.000,0.067,2617,741,2105,2131,2080,0,0,0,0,0,0,14.56,14.21,14.57,6.23,50.90
$GC,6972,0.64,146.0,2617,738,2128,2080,197.4,12.3,461,6976,0.00,2.42,0.00,0.000,5126,0.000,0.054,2617,2146,2104,2127,2081,0,0,0,0,0,0,14.40,14.26,14.42,6.23,50.51
$GC,7278,0.64,146.0,2618,2146,2127,2077,157.7,12.8,476,7281,0.00,2.50,0.00,0.000,4356,0.000,0.085,2617,3555,2102,2126,2078,0,0,0,0,0,0,14.68,14.28,14.68,6.23,51.18
$GC,7382,0.64,146.0,2618,3556,2127,2079,145.6,12.5,481,7387,0.08,2.35,0.00,0.000,5126,0.343,0.044,2602,2152,2102,2126,2078,0,0,0,0,0,0,14.12,14.39,14.40,6.23,51.45
$GC,7688,0.64,146.0,2603,2152,2127,2076,112.6,9.6,496,7691,0.00,2.45,0.00,0.000,516,0.000,0.067,2611,743,2100,2125,2076,0,0,0,0,0,0,14.74,14.36,14.75,6.22,50.63
$GC,7767,0.64,146.0,2612,744,2123,2077,105.9,8.9,500,7771,0.00,2.40,0.00,0.000,5126,0.000,0.054,2612,2153,2099,2122,2076,0,0,0,0,0,0,14.54,14.40,14.57,6.22,50.63
$GC,8073,0.64,146.0,2612,2154,2123,2077,75.1,10.0,551,8076,0.00,2.50,0.00,0.000,4356,0.000,0.085,2612,3561,2099,2122,2076,0,0,0,0,0,0,14.76,14.34,14.76,6.21,50.15
$GC,8168,0.64,146.0,2613,3557,2123,2075,65.0,10.5,570,8172,0.05,2.35,0.00,0.000,5126,0.409,0.043,2605,2147,2099,2122,2076,0,0,0,0,0,0,14.17,14.45,14.45,6.20,49.09
$GC,8293,0.64,146.0,2606,2148,2123,2076,53.3,8.9,595,8296,0.00,2.45,0.00,0.000,516,0.000,0.067,2612,746,2098,2122,2075,0,0,0,0,0,0,14.76,14.38,14.76,6.19,49.37
$GC,8353,0.66,164.3,2615,747,2121,2077,48.4,7.6,607,8371,0.00,2.40,13.65,1.291,13318,0.000,0.054,2615,2151,2045,2065,2025,0,0,0,0,0,0,14.56,14.41,13.76,6.19,49.25
$GC,8493,0.66,164.3,2615,2151,2065,2022,36.5,9.3,635,8495,0.00,0.00,0.00,0.000,4102,0.000,0.000,2615,2151,2043,2065,2021,0,0,0,0,0,0,14.70,14.73,14.70,6.19,49.09
$GC,8618,0.66,164.3,2616,2151,2066,2020,24.8,9.2,660,8622,0.00,2.50,0.00,0.000,4356,0.000,0.085,2615,3559,2040,2060,2021,0,0,0,0,0,0,14.71,14.33,14.71,6.20,49.84
$GC,8653,0.66,164.3,2615,3560,2064,2022,21.2,10.1,667,8656,0.00,2.35,0.00,0.000,5126,0.000,0.044,2621,2154,2042,2064,2021,0,0,0,0,0,0,14.54,14.42,14.56,6.15,50.11
$GC,8779,0.66,164.3,2626,2153,2066,2020,7.9,11.3,692,8783,0.00,2.45,0.00,0.000,4612,0.000,0.065,2637,743,2042,2064,2020,0,0,0,0,0,0,14.71,14.35,14.71,6.20,51.02
$GC,8813,0.66,164.3,2638,743,2065,2020,4.2,10.5,699,8817,0.08,2.40,0.00,0.000,5126,0.322,0.055,2610,2151,2041,2063,2019,0,0,0,0,0,0,14.16,14.40,14.44,6.20,50.39
$STATE,8826,end climb,SURFACE_DEPTH_REACHED
$STATE,8826,begin surface coast
$STATE,8851,end surface coast,CONTROL_FINISHED_OK
$STATE,8851,begin surface
$SM_CCo,8865,52.47,0.243,0,0,1821,220.03
$SM_GC,1.15,5.45,0.08,52.47,0.055,0.165,0.243,258,2071,1821,-6.44,1.02,220.03,0,0,0,0,0,0,14.57,14.45,14.14
$IRIDIUM_FIX,-6005.19,-8.63,290119,222221
$TT8_MAMPS,0.038948,0.278628
$HUMID,50.15
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3701728
$24V_AH,13.00,83.212
$10V_AH,13.56,0.000
$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,13.175,78.250,269.075,52.475,0.000,27.856,42.003,147.655,0.000,0.000,17.354,0.000,7044.652,402.275,1648.349,211.075,0.000,1040.761,0.000,1156.310,0.000,0.539,0.000
$DEVICE_MAMPS,436.815,2215.440,1575.135,243.270,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5272.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.487,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17304,707
$CAP_FILE_SIZE,93955,0
$CFSIZE,1023623168,977387520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.049,180.99,1
$GPS,300119,033129,-6000.769,-2.750,38,0.8,43,-19.7,0.6,122.2,10,8.8