version: 66.14
glider: 640
mission: 5
dive: 497
start: 2 6 119 13 5 53
data:
$ID,640
$MISSION,5
$DIVE,497
$N_DIVES,600
$STOP_T,2121912
$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,56
$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
$GPS1,060219,125655,-5947.6309,2.6584,15,0.8,38,-19.7,0.3,118.9,10,7.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-66.2
$GPS2,060219,130534,-5947.6367,2.7786,9,0.8,14,-19.8,0.0,103.2,10,9.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,218.4,59991,-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,13,-0.64,-146.0,215,2078,1790,1829,0.0,0.0,0,98,0.00,0.00,-83.28,0.000,16386,0.000,0.000,216,2078,3135,3218,3052,0,0,0,0,0,0,14.53,28.83,14.57,6.19,51.26
$GC,101,-0.64,-146.0,216,2078,3219,3054,3.1,-6.3,17,118,6.22,2.83,-6.68,0.000,18692,0.347,2.222,2157,3504,3317,3413,3222,0,0,0,0,0,0,13.88,13.19,14.28,6.30,50.11
$GC,243,-0.64,-146.0,2153,3503,3414,3223,27.2,-17.1,46,247,0.10,2.33,0.00,0.000,3078,0.317,0.041,2190,2116,3318,3413,3224,0,0,0,0,0,0,13.99,14.31,14.24,6.32,48.85
$GC,370,-0.64,-146.0,2191,2116,3413,3225,46.6,-16.0,71,376,0.00,2.50,0.00,0.000,2564,0.000,0.063,2191,687,3318,3413,3224,0,0,0,0,0,0,14.62,14.26,14.60,6.32,49.56
$GC,458,-0.64,-146.0,2190,688,3414,3225,61.1,-14.9,89,462,0.00,2.42,0.00,0.000,3078,0.000,0.056,2181,2099,3318,3413,3223,0,0,0,0,0,0,14.40,14.26,14.42,6.32,49.48
$GC,585,-0.64,-146.0,2181,2099,3414,3225,80.1,-14.8,114,591,0.00,2.50,0.00,0.000,2308,0.000,0.080,2170,3509,3318,3413,3224,0,0,0,0,0,0,14.66,14.26,14.66,6.32,49.68
$GC,613,-0.64,-146.0,2171,3510,3414,3224,84.7,-15.4,120,618,0.08,2.38,0.00,0.000,3078,0.345,0.043,2198,2090,3318,3413,3224,0,0,0,0,0,0,14.00,14.33,14.15,6.32,48.93
$GC,748,-0.64,-146.0,2203,2089,3414,3224,103.0,-13.0,144,752,0.00,2.42,0.00,0.000,4612,0.000,0.063,2202,694,3318,3413,3224,0,0,0,0,0,0,14.71,14.23,14.71,6.32,48.34
$GC,798,-0.64,-146.0,2203,695,3415,3224,108.6,-13.5,146,802,0.00,2.42,0.00,0.000,3078,0.000,0.055,2193,2108,3318,3413,3224,0,0,0,0,0,0,14.44,14.30,14.46,6.32,48.38
$GC,1103,-0.64,-146.0,2193,2109,3414,3224,149.1,-12.6,161,1107,0.00,2.45,0.00,0.000,2308,0.000,0.081,2182,3504,3320,3416,3224,0,0,0,0,0,0,14.72,14.26,14.76,6.32,49.48
$GC,1178,-0.64,-146.0,2181,3505,3414,3225,158.6,-12.7,165,1182,0.00,2.35,0.00,0.000,3078,0.000,0.041,2181,2090,3318,3413,3224,0,0,0,0,0,0,14.48,14.36,14.50,6.32,49.68
$GC,1493,-0.64,-146.0,2181,2090,3414,3225,198.3,-12.5,181,1497,0.00,2.40,0.00,0.000,2564,0.000,0.061,2181,701,3318,3413,3224,0,0,0,0,0,0,14.78,14.28,14.78,6.32,50.47
$GC,1573,-0.64,-146.0,2181,702,3414,3225,207.6,-12.4,185,1577,0.08,2.38,0.00,0.000,3078,0.355,0.054,2195,2100,3318,3413,3224,0,0,0,0,0,0,14.05,14.35,14.31,6.33,50.82
$GC,1883,-0.64,-146.0,2195,2101,3415,3224,244.5,-12.0,201,1887,0.00,2.47,0.00,0.000,260,0.000,0.082,2183,3504,3318,3413,3224,0,0,0,0,0,0,14.80,14.26,14.79,6.32,50.63
$GC,1928,-0.64,-146.0,2183,3505,3411,3225,249.3,-12.0,203,1932,0.00,2.33,0.00,0.000,3078,0.000,0.041,2183,2103,3318,3413,3224,0,0,0,0,0,0,14.48,14.40,14.50,6.33,50.66
$GC,2238,-0.64,-146.0,2183,2102,3414,3225,288.0,-12.4,219,2242,0.00,2.45,0.00,0.000,2564,0.000,0.062,2183,690,3318,3413,3224,0,0,0,0,0,0,14.81,14.29,14.81,6.34,50.86
$GC,2313,-0.64,-146.0,2183,687,3413,3225,297.4,-12.6,223,2317,0.08,2.40,0.00,0.000,3078,0.352,0.055,2196,2102,3314,3405,3224,0,0,0,0,0,0,14.03,14.36,14.31,6.34,50.78
$GC,2630,-0.64,-146.0,2197,2102,3414,3224,334.6,-12.0,239,2636,0.00,2.50,0.00,0.000,260,0.000,0.083,2186,3514,3318,3413,3224,0,0,0,0,0,0,14.80,14.33,14.80,6.34,51.06
$GC,2678,-0.64,-146.0,2187,3515,3415,3224,339.5,-12.1,241,2682,0.00,2.35,0.00,0.000,3078,0.000,0.041,2186,2092,3318,3413,3223,0,0,0,0,0,0,14.52,14.39,14.54,6.34,50.90
$STATE,2761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2761,begin apogee
$GC,2767,-0.15,0.0,2186,2166,3414,3225,351.1,-12.2,245,2894,0.47,0.00,123.95,1.589,10246,0.250,0.000,2352,2165,2715,2775,2656,0,0,0,0,0,0,14.07,13.90,13.18,6.34,50.78
$STATE,2895,end apogee,CONTROL_FINISHED_OK
$STATE,2895,begin loiter
$GC,3183,-0.15,0.0,2352,2166,2772,2644,348.8,2.9,266,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2707,2772,2643,0,0,0,0,0,0,14.55,14.56,14.56,6.28,50.27
$GC,3483,-0.15,0.0,2352,2166,2772,2642,340.3,2.6,281,3484,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2165,2706,2772,2641,0,0,0,0,0,0,14.71,14.72,14.72,6.28,50.78
$GC,3783,-0.15,0.0,2352,2165,2773,2639,332.4,2.6,296,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2705,2771,2640,0,0,0,0,0,0,14.80,14.81,14.81,6.29,51.37
$GC,4083,-0.15,0.0,2352,2165,2773,2640,324.8,2.5,311,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2706,2772,2640,0,0,0,0,0,0,14.85,14.85,14.85,6.28,50.78
$GC,4383,-0.15,0.0,2352,2165,2773,2639,317.4,2.3,326,4384,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2705,2771,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.02
$GC,4683,-0.15,0.0,2352,2166,2772,2640,310.1,2.4,341,4684,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2705,2772,2639,0,0,0,0,0,0,14.92,14.93,14.93,6.28,51.89
$GC,4983,-0.15,0.0,2352,2166,2772,2640,302.9,2.4,356,4984,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2704,2771,2638,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.29
$GC,5283,-0.15,0.0,2353,2165,2772,2638,295.6,2.3,371,5284,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2704,2771,2638,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.49
$GC,5583,-0.15,0.0,2352,2166,2773,2639,287.6,2.8,386,5584,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2705,2772,2638,0,0,0,0,0,0,14.98,14.99,14.98,6.28,51.33
$GC,5883,-0.15,0.0,2352,2166,2772,2639,279.2,2.9,401,5884,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2705,2772,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.61
$GC,6183,-0.15,0.0,2352,2166,2772,2639,270.7,2.7,416,6184,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,2704,2771,2638,0,0,0,0,0,0,15.01,15.01,15.01,6.28,51.49
$STATE,6481,end loiter,LOITER_COMPLETE
$STATE,6481,begin climb
$GC,6483,0.64,146.0,2352,2165,2772,2638,262.3,0.0,431,6624,0.62,2.55,129.32,1.434,10500,0.171,0.078,2596,3542,2117,2139,2096,0,0,0,0,0,0,14.33,13.95,13.31,6.28,51.73
$GC,6724,0.64,146.0,2596,3543,2137,2088,243.9,10.4,443,6727,0.00,2.38,0.00,0.000,1030,0.000,0.041,2606,2151,2112,2136,2089,0,0,0,0,0,0,14.21,14.12,14.23,6.24,49.33
$GC,7039,0.64,146.0,2608,2149,2132,2080,209.6,11.0,459,7042,0.00,2.47,0.00,0.000,4612,0.000,0.065,2619,745,2105,2130,2081,0,0,0,0,0,0,14.59,14.22,14.59,6.24,51.02
$GC,7094,0.64,146.0,2619,746,2128,2080,203.8,10.8,462,7097,0.00,2.40,0.00,0.000,5126,0.000,0.053,2618,2140,2103,2126,2080,0,0,0,0,0,0,14.41,14.27,14.43,6.24,51.33
$GC,7409,0.64,146.0,2618,2141,2126,2079,166.7,12.1,478,7412,0.00,2.53,0.00,0.000,4356,0.000,0.084,2618,3556,2102,2126,2078,0,0,0,0,0,0,14.70,14.27,14.70,6.23,51.06
$GC,7484,0.64,146.0,2618,3558,2125,2079,159.5,12.1,481,7488,0.08,2.35,0.00,0.000,5126,0.343,0.041,2603,2149,2101,2125,2078,0,0,0,0,0,0,14.09,14.38,14.38,6.24,50.90
$GC,7804,0.64,146.0,2603,2150,2126,2078,124.5,10.5,498,7807,0.00,2.47,0.00,0.000,516,0.000,0.064,2613,740,2100,2125,2076,0,0,0,0,0,0,14.76,14.34,14.76,6.23,51.06
$GC,7884,0.64,146.0,2613,740,2123,2077,116.9,10.1,502,7888,0.00,2.42,0.00,0.000,5126,0.000,0.053,2614,2157,2098,2121,2076,0,0,0,0,0,0,14.53,14.38,14.55,6.23,51.14
$GC,8189,0.64,146.0,2614,2158,2123,2076,85.1,10.0,538,8191,0.00,0.00,0.00,0.000,4102,0.000,0.000,2613,2158,2099,2122,2076,0,0,0,0,0,0,14.78,14.78,14.78,6.22,50.82
$GC,8314,0.64,146.0,2614,2158,2122,2076,72.4,10.5,563,8318,0.00,2.47,0.00,0.000,4356,0.000,0.083,2614,3555,2099,2122,2076,0,0,0,0,0,0,14.78,14.33,14.78,6.21,50.07
$GC,8334,0.64,146.0,2614,3555,2123,2076,70.2,11.3,567,8338,0.08,2.35,0.00,0.000,5126,0.343,0.043,2598,2146,2099,2122,2076,0,0,0,0,0,0,14.14,14.44,14.42,6.21,50.11
$GC,8461,0.64,146.0,2598,2147,2122,2077,58.3,9.4,592,8466,0.00,2.45,0.00,0.000,2564,0.000,0.065,2607,739,2099,2122,2076,0,0,0,0,0,0,14.76,14.35,14.76,6.21,49.68
$GC,8569,0.64,146.0,2607,740,2121,2076,48.4,8.8,614,8572,0.00,2.40,0.00,0.000,5126,0.000,0.052,2607,2153,2097,2120,2075,0,0,0,0,0,0,14.54,14.40,14.57,6.20,50.31
$GC,8695,0.64,146.0,2608,2153,2122,2075,37.1,8.8,639,8699,0.00,2.47,0.00,0.000,4356,0.000,0.085,2607,3550,2097,2121,2074,0,0,0,0,0,0,14.76,14.31,14.76,6.21,49.96
$GC,8734,0.64,146.0,2607,3551,2121,2076,33.4,9.1,647,8738,0.00,2.33,0.00,0.000,5126,0.000,0.042,2618,2148,2098,2121,2075,0,0,0,0,0,0,14.56,14.43,14.58,6.21,50.03
$GC,8861,0.64,146.0,2618,2148,2121,2076,22.3,8.9,672,8867,0.00,2.45,0.00,0.000,4612,0.000,0.065,2629,740,2096,2120,2073,0,0,0,0,0,0,14.76,14.27,14.77,6.21,50.78
$GC,8929,0.64,146.0,2629,740,2121,2075,16.2,8.9,686,8933,0.08,2.40,0.00,0.000,5126,0.324,0.051,2602,2151,2097,2120,2074,0,0,0,0,0,0,14.14,14.39,14.42,6.22,50.39
$GC,9054,0.65,155.7,2603,2152,2132,2074,5.7,8.0,711,9063,0.00,2.50,2.70,0.302,10500,0.000,0.081,2602,3555,2081,2102,2060,0,0,0,0,0,0,14.78,14.29,14.04,6.22,51.49
$STATE,9082,end climb,SURFACE_DEPTH_REACHED
$STATE,9082,begin surface coast
$STATE,9112,end surface coast,CONTROL_FINISHED_OK
$STATE,9112,begin surface
$SM_CCo,9129,62.12,0.237,0,0,1822,220.03
$SM_GC,1.00,5.40,2.47,62.12,0.034,0.037,0.237,252,2085,1822,-6.46,1.02,220.03,0,0,0,0,0,0,14.58,14.46,14.12
$IRIDIUM_FIX,-5949.69,-4.28,060219,125943
$TT8_MAMPS,0.039697,0.331807
$HUMID,50.31
$INTERNAL_PRESSURE,6.14803
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3666400
$24V_AH,13.18,95.665
$10V_AH,13.25,0.000
$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,13.275,87.850,255.975,62.125,0.000,58.181,79.738,138.668,0.000,0.000,15.351,0.000,7262.767,409.338,1789.446,248.525,0.000,1087.670,0.000,1229.520,0.000,0.540,0.000
$DEVICE_MAMPS,354.960,2221.560,1588.905,237.150,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5535.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.452,0.000,0.000,0.000
$MEM,344112
$DATA_FILE_SIZE,20747,723
$CAP_FILE_SIZE,98891,0
$CFSIZE,1023623168,970588160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.047,100.20,1
$GPS,060219,154003,-5947.987,3.003,29,0.7,31,-19.8,0.0,133.1,11,9.7