version: 66.14
glider: 640
mission: 5
dive: 448
start: 2 1 119 5 5 17
data:
$ID,640
$MISSION,5
$DIVE,448
$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,34
$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
$GPS1,010219,045833,-5954.5562,-2.7178,17,0.7,31,-19.7,0.6,107.4,11,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-67.4
$GPS2,010219,050458,-5954.5913,-2.7142,13,0.7,17,-19.7,0.9,171.0,11,9.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,23.2,27142,-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,-146.0,230,2143,1790,1827,0.0,0.0,0,97,0.00,0.00,-82.65,0.000,16386,0.000,0.000,230,2142,3139,3220,3059,0,0,0,0,0,0,14.55,28.83,14.55,6.18,50.94
$GC,99,-0.64,-146.0,225,2144,3220,3060,3.5,-7.8,17,117,6.18,2.70,-6.32,0.000,18692,0.352,2.230,2165,3501,3317,3413,3222,0,0,0,0,0,0,13.92,13.00,14.26,6.28,50.27
$GC,128,-0.64,-146.0,2165,3502,3414,3224,9.1,-17.5,23,132,0.08,2.35,0.00,0.000,3078,0.367,0.044,2190,2094,3318,3414,3223,0,0,0,0,0,0,14.06,14.30,14.31,6.31,49.48
$GC,255,-0.64,-146.0,2190,2094,3415,3225,29.6,-16.6,48,258,0.00,2.45,0.00,0.000,2564,0.000,0.064,2189,695,3318,3414,3223,0,0,0,0,0,0,14.60,14.26,14.61,6.30,49.84
$GC,333,-0.64,-146.0,2190,695,3415,3225,42.9,-15.0,64,336,0.00,2.42,0.00,0.000,3078,0.000,0.057,2180,2102,3319,3414,3224,0,0,0,0,0,0,14.40,14.28,14.42,6.30,49.25
$GC,458,-0.64,-146.0,2180,2103,3416,3224,62.8,-16.5,89,462,0.00,2.47,0.00,0.000,2308,0.000,0.080,2169,3503,3319,3414,3224,0,0,0,0,0,0,14.66,14.22,14.66,6.31,50.39
$GC,503,-0.64,-146.0,2169,3505,3415,3224,70.4,-16.7,98,508,0.08,2.35,0.00,0.000,3078,0.363,0.042,2194,2102,3318,3414,3223,0,0,0,0,0,0,14.02,14.33,14.29,6.31,49.68
$GC,630,-0.64,-146.0,2194,2098,3415,3223,88.2,-13.3,123,635,0.00,2.47,0.00,0.000,516,0.000,0.063,2194,691,3318,3414,3223,0,0,0,0,0,0,14.66,14.31,14.68,6.30,48.97
$GC,698,-0.64,-146.0,2194,691,3415,3224,97.5,-12.8,137,701,0.00,2.42,0.00,0.000,3078,0.000,0.055,2184,2107,3319,3414,3224,0,0,0,0,0,0,14.45,14.32,14.47,6.31,48.62
$GC,838,-0.64,-146.0,2184,2108,3415,3224,117.9,-14.9,147,839,0.00,0.00,0.00,0.000,2054,0.000,0.000,2184,2108,3319,3414,3224,0,0,0,0,0,0,14.72,14.73,14.73,6.30,48.34
$GC,1138,-0.64,-146.0,2184,2109,3415,3225,160.6,-14.3,162,1142,0.00,2.45,0.00,0.000,2308,0.000,0.081,2173,3504,3321,3418,3224,0,0,0,0,0,0,14.76,14.28,14.76,6.31,50.70
$GC,1188,-0.64,-146.0,2173,3506,3415,3225,166.5,-14.6,164,1192,0.08,2.35,0.00,0.000,3078,0.358,0.041,2198,2089,3319,3415,3224,0,0,0,0,0,0,14.06,14.40,14.35,6.31,50.35
$GC,1493,-0.64,-146.0,2199,2087,3415,3224,208.2,-12.9,179,1496,0.00,2.40,0.00,0.000,516,0.000,0.063,2198,702,3319,3414,3224,0,0,0,0,0,0,14.78,14.33,14.78,6.31,50.82
$GC,1558,-0.64,-146.0,2198,702,3415,3223,215.4,-13.1,182,1562,0.00,2.40,0.00,0.000,3078,0.000,0.057,2188,2107,3319,3414,3224,0,0,0,0,0,0,14.49,14.35,14.50,6.38,50.66
$GC,1863,-0.64,-146.0,2188,2107,3415,3225,255.6,-12.8,197,1867,0.00,2.45,0.00,0.000,2308,0.000,0.083,2177,3503,3319,3414,3224,0,0,0,0,0,0,14.80,14.27,14.80,6.32,51.06
$GC,1883,-0.64,-146.0,2177,3503,3415,3224,257.6,-12.8,198,1887,0.05,2.33,0.00,0.000,3078,0.425,0.043,2193,2103,3319,3414,3224,0,0,0,0,0,0,14.13,14.42,14.36,6.32,51.10
$GC,2193,-0.64,-146.0,2193,2102,3416,3224,294.9,-11.5,214,2197,0.00,2.42,0.00,0.000,2564,0.000,0.063,2192,699,3318,3414,3223,0,0,0,0,0,0,14.81,14.35,14.81,6.32,50.86
$GC,2248,-0.64,-146.0,2193,704,3415,3225,299.6,-11.6,216,2252,0.00,2.40,0.00,0.000,3078,0.000,0.055,2182,2105,3319,3414,3224,0,0,0,0,0,0,14.52,14.38,14.54,6.33,51.02
$GC,2553,-0.64,-146.0,2182,2105,3415,3224,337.5,-12.1,232,2557,0.00,2.45,0.00,0.000,2308,0.000,0.082,2171,3503,3319,3414,3224,0,0,0,0,0,0,14.81,14.28,14.82,6.33,51.02
$GC,2578,-0.64,-146.0,2172,3505,3415,3225,339.4,-12.1,233,2582,0.08,2.33,0.00,0.000,3078,0.355,0.041,2196,2099,3319,3414,3224,0,0,0,0,0,0,14.09,14.46,14.37,6.33,51.49
$STATE,2666,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2666,begin apogee
$GC,2671,-0.15,0.0,2197,2157,3416,3224,351.2,-11.6,238,2800,0.45,0.00,125.78,1.576,10246,0.258,0.000,2354,2156,2717,2777,2658,0,0,0,0,0,0,14.12,13.90,13.21,6.33,51.29
$STATE,2801,end apogee,CONTROL_FINISHED_OK
$STATE,2801,begin loiter
$GC,3088,-0.15,0.0,2354,2157,2772,2643,346.8,3.2,259,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2156,2706,2771,2642,0,0,0,0,0,0,14.54,14.55,14.55,6.28,50.51
$GC,3388,-0.15,0.0,2354,2157,2772,2640,338.0,2.7,274,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2156,2705,2771,2640,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.98
$GC,3688,-0.15,0.0,2354,2157,2772,2639,330.0,2.4,289,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2156,2705,2771,2639,0,0,0,0,0,0,14.80,14.80,14.80,6.28,51.18
$GC,3988,-0.15,0.0,2354,2157,2771,2639,322.9,2.2,304,3989,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2156,2703,2770,2637,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.45
$GC,4288,-0.15,0.0,2354,2157,2772,2639,316.3,2.2,319,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2156,2704,2771,2638,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.29
$GC,4588,-0.15,0.0,2354,2157,2772,2638,309.5,2.4,334,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2156,2704,2771,2638,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.96
$GC,4888,-0.15,0.0,2354,2157,2772,2637,301.8,2.7,349,4889,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2156,2704,2771,2637,0,0,0,0,0,0,14.95,14.95,14.95,6.27,51.29
$GC,5188,-0.15,0.0,2354,2157,2771,2638,292.6,3.3,364,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2156,2703,2770,2637,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.49
$GC,5488,-0.15,0.0,2354,2157,2771,2638,282.9,3.3,379,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2156,2704,2771,2637,0,0,0,0,0,0,14.98,14.99,14.99,6.28,51.49
$GC,5788,-0.15,0.0,2354,2157,2771,2638,273.4,3.1,394,5789,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2156,2704,2771,2637,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.49
$GC,6088,-0.15,0.0,2354,2157,2772,2638,264.5,2.9,409,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2157,2704,2771,2637,0,0,0,0,0,0,15.01,15.01,15.01,6.28,51.49
$STATE,6386,end loiter,LOITER_COMPLETE
$STATE,6386,begin climb
$GC,6388,0.64,146.0,2354,2157,2770,2638,255.6,0.0,424,6529,0.62,2.60,129.90,1.432,10756,0.164,0.064,2612,744,2116,2137,2096,0,0,0,0,0,0,14.39,13.97,13.34,6.27,51.57
$GC,6629,0.64,146.0,2612,745,2132,2088,236.7,10.2,436,6632,0.00,2.45,0.00,0.000,5126,0.000,0.052,2612,2147,2108,2131,2086,0,0,0,0,0,0,14.23,14.11,14.24,6.23,49.52
$GC,6944,0.64,146.0,2612,2148,2127,2082,199.9,11.6,452,6947,0.00,2.53,0.00,0.000,4356,0.000,0.082,2612,3560,2103,2126,2080,0,0,0,0,0,0,14.59,14.21,14.59,6.23,50.66
$GC,7034,0.64,146.0,2613,3558,2126,2081,191.3,11.4,456,7038,0.05,2.38,0.00,0.000,5126,0.411,0.042,2606,2148,2103,2126,2081,0,0,0,0,0,0,14.04,14.32,14.33,6.23,50.66
$GC,7355,0.64,146.0,2607,2148,2126,2077,153.9,11.8,473,7359,0.00,2.47,0.00,0.000,516,0.000,0.067,2616,735,2100,2124,2077,0,0,0,0,0,0,14.69,14.32,14.69,6.22,50.86
$GC,7424,0.64,146.0,2617,736,2122,2077,146.8,12.0,476,7427,0.00,2.42,0.00,0.000,5126,0.000,0.054,2616,2158,2099,2121,2077,0,0,0,0,0,0,14.50,14.35,14.52,6.23,50.90
$GC,7729,0.64,146.0,2617,2159,2122,2076,109.7,11.1,491,7732,0.00,2.47,0.00,0.000,4868,0.000,0.083,2616,3553,2098,2121,2076,0,0,0,0,0,0,14.75,14.33,14.76,6.22,50.63
$GC,7739,0.64,146.0,2617,3554,2121,2077,109.7,11.1,491,7743,0.08,2.35,0.00,0.000,5126,0.344,0.043,2601,2148,2098,2121,2076,0,0,0,0,0,0,14.14,14.43,14.43,6.22,50.63
$GC,8044,0.64,146.0,2602,2149,2123,2076,79.7,8.8,537,8047,0.00,2.47,0.00,0.000,260,0.000,0.080,2602,3551,2098,2120,2076,0,0,0,0,0,0,14.76,14.34,14.76,6.21,49.76
$GC,8094,0.64,146.0,2602,3552,2120,2077,75.1,9.0,547,8098,0.00,2.35,0.00,0.000,5126,0.000,0.042,2611,2143,2098,2121,2076,0,0,0,0,0,0,14.56,14.44,14.58,6.22,49.44
$GC,8219,0.64,146.0,2612,2143,2121,2076,64.4,8.6,572,8223,0.00,2.45,0.00,0.000,4612,0.000,0.067,2622,740,2098,2120,2076,0,0,0,0,0,0,14.76,14.37,14.76,6.20,49.21
$GC,8264,0.64,148.3,2623,740,2121,2076,60.7,8.2,581,8268,0.05,2.40,0.00,0.000,5126,0.371,0.054,2603,2149,2097,2120,2075,0,0,0,0,0,0,14.19,14.37,14.45,6.20,50.03
$GC,8389,0.64,148.3,2603,2150,2120,2076,51.0,8.3,606,8392,0.00,2.50,0.00,0.000,260,0.000,0.083,2603,3556,2097,2120,2075,0,0,0,0,0,0,14.76,14.33,14.76,6.20,49.92
$GC,8510,0.64,148.3,2603,3557,2114,2076,39.6,9.7,630,8514,0.00,2.35,0.00,0.000,5126,0.000,0.041,2613,2149,2097,2120,2075,0,0,0,0,0,0,14.56,14.44,14.58,6.20,50.00
$GC,8636,0.64,148.3,2613,2150,2121,2075,28.2,8.7,655,8639,0.00,2.45,0.00,0.000,4612,0.000,0.067,2623,745,2097,2120,2075,0,0,0,0,0,0,14.75,14.37,14.75,6.20,50.11
$GC,8694,0.65,155.4,2621,746,2119,2076,23.0,8.1,667,8700,0.00,2.40,1.67,0.425,13318,0.000,0.054,2623,2155,2088,2111,2065,0,0,0,0,0,0,14.54,14.40,13.95,6.20,50.11
$GC,8820,0.65,155.4,2624,2156,2109,2065,11.1,10.9,692,8823,0.00,2.47,0.00,0.000,4356,0.000,0.086,2623,3555,2086,2109,2064,0,0,0,0,0,0,14.74,14.33,14.75,6.20,50.31
$GC,8860,0.65,155.4,2624,3555,2111,2064,6.3,11.9,700,8863,0.08,2.35,0.00,0.000,5126,0.347,0.045,2608,2148,2087,2109,2065,0,0,0,0,0,0,14.13,14.42,14.40,6.21,50.59
$STATE,8892,end climb,SURFACE_DEPTH_REACHED
$STATE,8893,begin surface coast
$STATE,8917,end surface coast,CONTROL_FINISHED_OK
$STATE,8917,begin surface
$SM_CCo,8932,63.35,0.239,0,0,1821,220.03
$SM_GC,1.11,5.50,0.05,63.35,0.061,0.216,0.239,275,2082,1821,-6.45,1.13,220.03,0,0,0,0,0,0,14.53,14.47,14.14
$IRIDIUM_FIX,-5952.63,0.00,010219,022308
$TT8_MAMPS,0.038948,0.16478
$HUMID,50.00
$INTERNAL_PRESSURE,6.13826
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3691488
$24V_AH,13.00,86.833
$10V_AH,13.53,0.000
$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,13.350,87.625,257.350,63.350,0.000,26.738,38.212,144.596,0.000,0.000,18.356,0.000,7089.861,409.128,1653.000,229.659,0.000,1055.502,0.000,1165.773,0.000,0.539,0.000
$DEVICE_MAMPS,424.575,2229.975,1575.900,238.680,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5344.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.408,0.000,0.000,0.000
$MEM,344024
$DATA_FILE_SIZE,20769,712
$CAP_FILE_SIZE,97739,0
$CFSIZE,1023623168,975421440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.031,162.29,1
$GPS,010219,073625,-5954.297,-2.651,16,0.8,45,-19.7,0.0,198.5,9,4.9