version: 66.14
glider: 640
mission: 5
dive: 625
start: 2 20 119 14 49 51
data:
$ID,640
$MISSION,5
$DIVE,625
$N_DIVES,700
$STOP_T,2271912
$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,55
$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
$GPS1,200219,144203,-5950.7866,-1.2945,27,0.7,30,-19.7,0.0,116.3,11,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-67.6
$GPS2,200219,144931,-5950.8159,-1.2837,9,0.7,13,-19.7,0.0,36.6,11,9.6
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6003.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,203.4,22596,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-0.64,-146.0,227,2074,1789,1830,0.0,0.0,0,98,0.00,0.00,-82.35,0.000,16386,0.000,0.000,225,2073,3134,3216,3052,0,0,0,0,0,0,14.57,28.83,14.58,6.17,51.65
$GC,101,-0.64,-146.0,226,2074,3217,3053,3.4,-6.7,17,119,6.25,2.65,-6.50,0.000,18948,0.352,2.194,2168,721,3317,3413,3222,0,0,0,0,0,0,13.88,12.85,14.27,6.29,50.27
$GC,259,-0.64,-146.0,2169,721,3415,3224,31.2,-16.3,49,263,0.10,2.38,0.00,0.000,3078,0.340,0.056,2190,2100,3319,3414,3224,0,0,0,0,0,0,13.97,14.28,14.26,6.30,49.17
$GC,387,-0.64,-146.0,2191,2100,3416,3224,51.6,-17.1,74,391,0.00,2.50,0.00,0.000,2308,0.000,0.084,2180,3507,3319,3414,3224,0,0,0,0,0,0,14.73,14.24,14.73,6.30,49.92
$GC,471,-0.64,-146.0,2181,3508,3414,3225,64.7,-14.0,91,475,0.00,2.33,0.00,0.000,3078,0.000,0.042,2180,2118,3319,3415,3224,0,0,0,0,0,0,14.50,14.38,14.52,6.30,49.92
$GC,599,-0.64,-146.0,2180,2117,3416,3224,82.3,-14.1,116,604,0.00,2.45,0.00,0.000,2564,0.000,0.063,2179,692,3319,3414,3224,0,0,0,0,0,0,14.76,14.28,14.77,6.30,49.40
$GC,661,-0.64,-146.0,2179,692,3415,3225,91.5,-13.5,129,665,0.08,2.42,0.00,0.000,3078,0.362,0.055,2192,2101,3319,3415,3224,0,0,0,0,0,0,14.03,14.35,14.32,6.29,48.89
$GC,786,-0.64,-146.0,2193,2102,3416,3224,108.4,-14.0,145,787,0.00,0.00,0.00,0.000,2054,0.000,0.000,2192,2101,3319,3414,3224,0,0,0,0,0,0,14.83,14.83,14.83,6.29,47.91
$GC,1086,-0.64,-146.0,2193,2102,3415,3226,146.5,-12.6,160,1090,0.00,2.47,0.00,0.000,2308,0.000,0.083,2182,3510,3319,3414,3224,0,0,0,0,0,0,14.88,14.32,14.88,6.29,49.17
$GC,1126,-0.64,-146.0,2182,3511,3415,3225,150.9,-12.5,162,1130,0.00,2.35,0.00,0.000,3078,0.000,0.043,2182,2093,3318,3414,3223,0,0,0,0,0,0,14.58,14.45,14.60,6.29,50.15
$GC,1436,-0.64,-146.0,2182,2092,3415,3225,189.9,-12.2,178,1440,0.00,2.40,0.00,0.000,2564,0.000,0.063,2182,697,3319,3414,3224,0,0,0,0,0,0,14.92,14.39,14.92,6.29,50.55
$GC,1536,-0.64,-146.0,2182,698,3415,3225,201.4,-12.0,183,1540,0.08,2.40,0.00,0.000,3078,0.360,0.054,2195,2106,3319,3414,3224,0,0,0,0,0,0,14.09,14.42,14.38,6.30,50.39
$GC,1846,-0.64,-146.0,2196,2106,3416,3224,238.2,-12.0,199,1850,0.00,2.47,0.00,0.000,260,0.000,0.083,2185,3512,3319,3414,3224,0,0,0,0,0,0,14.94,14.35,14.95,6.30,51.02
$GC,1876,-0.64,-146.0,2185,3512,3415,3225,240.7,-12.0,200,1880,0.00,2.35,0.00,0.000,3078,0.000,0.043,2185,2090,3319,3415,3224,0,0,0,0,0,0,14.62,14.48,14.64,6.30,50.94
$GC,2181,-0.64,-146.0,2186,2089,3414,3224,278.9,-12.1,215,2185,0.00,2.40,0.00,0.000,2564,0.000,0.061,2185,690,3319,3414,3224,0,0,0,0,0,0,14.96,14.42,14.96,6.31,51.53
$GC,2216,-0.64,-146.0,2185,690,3415,3224,283.3,-12.3,217,2220,0.05,2.40,0.00,0.000,3078,0.429,0.056,2189,2100,3319,3414,3224,0,0,0,0,0,0,14.16,14.44,14.42,6.30,51.10
$GC,2531,-0.64,-146.0,2190,2101,3415,3225,320.7,-11.9,233,2535,0.00,2.50,0.00,0.000,2308,0.000,0.085,2179,3513,3319,3414,3224,0,0,0,0,0,0,14.97,14.37,14.97,6.31,51.10
$GC,2611,-0.64,-146.0,2179,3514,3415,3225,329.7,-12.1,237,2615,0.00,2.33,0.00,0.000,3078,0.000,0.041,2179,2097,3319,3414,3224,0,0,0,0,0,0,14.64,14.51,14.66,6.31,51.77
$STATE,2778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2778,begin apogee
$GC,2785,-0.15,0.0,2180,2169,3416,3224,351.0,-12.3,246,2911,0.50,0.00,123.78,1.592,10246,0.255,0.000,2353,2168,2719,2778,2660,0,0,0,0,0,0,14.05,13.94,13.16,6.31,51.77
$STATE,2912,end apogee,CONTROL_FINISHED_OK
$STATE,2912,begin loiter
$GC,3201,-0.15,0.0,2353,2169,2771,2645,348.8,3.0,267,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2169,2707,2771,2644,0,0,0,0,0,0,14.59,14.60,14.59,6.27,50.55
$GC,3501,-0.15,0.0,2353,2170,2771,2643,340.3,2.8,282,3502,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2168,2706,2770,2642,0,0,0,0,0,0,14.74,14.75,14.75,6.27,51.49
$GC,3801,-0.15,0.0,2353,2169,2772,2642,331.4,2.9,297,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2169,2706,2770,2642,0,0,0,0,0,0,14.83,14.83,14.83,6.27,51.02
$GC,4101,-0.15,0.0,2354,2169,2772,2640,322.3,3.0,312,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2168,2705,2770,2640,0,0,0,0,0,0,14.88,14.88,14.88,6.26,51.10
$GC,4401,-0.15,0.0,2353,2169,2771,2641,313.0,3.2,327,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2169,2704,2770,2639,0,0,0,0,0,0,14.91,14.92,14.92,6.26,51.22
$GC,4701,-0.15,0.0,2353,2169,2771,2640,303.7,3.0,342,4702,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2168,2705,2770,2640,0,0,0,0,0,0,14.94,14.94,14.94,6.26,51.26
$GC,5002,-0.15,0.0,2353,2169,2771,2641,294.9,2.8,357,5002,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2169,2705,2770,2640,0,0,0,0,0,0,14.95,14.96,14.96,6.26,51.37
$GC,5301,-0.15,0.0,2353,2169,2771,2640,287.1,2.4,372,5302,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2169,2705,2770,2640,0,0,0,0,0,0,14.97,14.98,14.98,6.26,51.53
$GC,5601,-0.15,0.0,2353,2169,2771,2640,280.3,2.2,387,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2168,2704,2770,2639,0,0,0,0,0,0,14.99,15.00,15.00,6.26,51.49
$GC,5901,-0.15,0.0,2353,2169,2771,2640,274.7,1.8,402,5902,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2168,2704,2770,2639,0,0,0,0,0,0,15.00,15.00,15.00,6.26,51.92
$GC,6201,-0.15,0.0,2353,2169,2771,2641,270.4,1.3,417,6202,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2169,2704,2770,2638,0,0,0,0,0,0,15.01,15.01,15.01,6.26,51.49
$STATE,6499,end loiter,LOITER_COMPLETE
$STATE,6499,begin climb
$GC,6502,0.64,146.0,2354,2169,2771,2638,266.4,0.0,432,6642,0.62,2.58,128.88,1.440,11012,0.163,0.085,2599,3553,2118,2138,2099,0,0,0,0,0,0,14.29,13.95,13.24,6.27,51.53
$GC,6723,0.64,146.0,2599,3547,2136,2091,252.4,9.3,443,6726,0.00,2.38,0.00,0.000,5126,0.000,0.041,2609,2156,2113,2135,2091,0,0,0,0,0,0,14.19,14.09,14.21,6.21,49.25
$GC,7038,0.64,146.0,2610,2155,2128,2086,218.8,11.0,459,7041,0.00,2.50,0.00,0.000,4612,0.000,0.067,2621,744,2106,2127,2085,0,0,0,0,0,0,14.59,14.21,14.60,6.21,50.82
$GC,7103,0.64,146.0,2621,745,2123,2086,212.9,10.8,462,7107,0.05,2.40,0.00,0.000,5126,0.377,0.054,2603,2137,2104,2124,2084,0,0,0,0,0,0,14.04,14.26,14.31,6.21,50.55
$GC,7413,0.64,146.0,2603,2138,2124,2081,178.0,11.1,478,7416,0.00,2.53,0.00,0.000,260,0.000,0.083,2603,3558,2101,2123,2080,0,0,0,0,0,0,14.71,14.25,14.71,6.21,51.22
$GC,7493,0.64,146.0,2603,3558,2125,2081,169.5,11.4,482,7496,0.00,2.35,0.00,0.000,5126,0.000,0.043,2612,2148,2101,2123,2080,0,0,0,0,0,0,14.50,14.37,14.52,6.21,51.69
$GC,7803,0.64,146.0,2612,2148,2122,2079,133.8,11.6,498,7806,0.00,2.47,0.00,0.000,4612,0.000,0.067,2623,736,2100,2122,2078,0,0,0,0,0,0,14.77,14.31,14.78,6.21,51.53
$GC,7848,0.64,146.0,2624,736,2121,2077,129.7,11.6,500,7851,0.05,2.42,0.00,0.000,5126,0.372,0.054,2605,2152,2099,2120,2078,0,0,0,0,0,0,14.14,14.35,14.40,6.21,51.14
$GC,8155,0.64,146.0,2605,2153,2121,2078,95.8,10.4,518,8160,0.00,2.47,0.00,0.000,260,0.000,0.084,2605,3556,2098,2120,2077,0,0,0,0,0,0,14.77,14.26,14.77,6.19,50.90
$GC,8238,0.64,146.0,2605,3557,2121,2079,87.1,9.9,535,8241,0.00,2.35,0.00,0.000,5126,0.000,0.042,2614,2144,2098,2120,2077,0,0,0,0,0,0,14.54,14.42,14.57,6.19,50.11
$GC,8365,0.64,146.0,2615,2145,2121,2077,75.2,9.4,560,8369,0.00,2.45,0.00,0.000,4612,0.000,0.067,2625,744,2098,2120,2077,0,0,0,0,0,0,14.78,14.33,14.78,6.18,49.96
$GC,8409,0.64,146.0,2626,744,2120,2077,71.0,8.9,569,8413,0.08,2.40,0.00,0.000,5126,0.308,0.054,2599,2151,2098,2120,2076,0,0,0,0,0,0,14.04,14.28,14.31,6.19,50.00
$GC,8534,0.67,170.6,2599,2151,2121,2076,61.1,7.4,594,8558,0.00,2.47,19.52,1.285,10500,0.000,0.083,2603,3556,2021,2038,2005,0,0,0,0,0,0,14.73,14.39,13.65,6.18,49.84
$GC,8614,0.67,170.6,2599,3556,2039,2004,54.5,8.5,610,8618,0.00,2.35,0.00,0.000,3078,0.000,0.043,2608,2150,2020,2038,2003,0,0,0,0,0,0,14.50,14.38,14.52,6.17,49.17
$GC,8742,0.67,170.6,2609,2151,2039,2001,44.0,8.4,635,8748,0.00,2.47,0.00,0.000,2308,0.000,0.081,2608,3553,2019,2037,2001,0,0,0,0,0,0,14.67,14.24,14.67,6.17,49.92
$GC,8764,0.67,170.6,2608,3554,2038,2002,41.7,9.8,640,8768,0.00,2.35,0.00,0.000,5126,0.000,0.045,2619,2151,2019,2037,2001,0,0,0,0,0,0,14.49,14.36,14.51,6.17,49.88
$GC,8892,0.67,170.6,2619,2151,2037,2000,30.4,9.3,665,8897,0.00,2.45,0.00,0.000,4612,0.000,0.067,2630,742,2017,2036,1999,0,0,0,0,0,0,14.69,14.26,14.69,6.17,50.90
$GC,8929,0.67,170.6,2630,743,2036,1998,26.8,9.0,673,8933,0.05,2.42,0.00,0.000,5126,0.366,0.054,2611,2156,2016,2035,1998,0,0,0,0,0,0,14.03,14.24,14.29,6.18,50.35
$GC,9055,0.69,189.3,2611,2156,2035,1999,16.4,7.6,698,9077,0.00,2.53,16.38,0.326,10500,0.000,0.083,2611,3553,1944,1958,1930,0,0,0,0,0,0,14.72,14.29,13.95,6.18,50.86
$GC,9114,0.69,189.3,2612,3553,1959,1929,10.9,9.6,710,9118,0.00,2.35,0.00,0.000,1030,0.000,0.044,2620,2151,1943,1958,1929,0,0,0,0,0,0,14.47,14.35,14.50,6.18,50.66
$STATE,9191,end climb,SURFACE_DEPTH_REACHED
$STATE,9191,begin surface coast
$STATE,9219,end surface coast,CONTROL_FINISHED_OK
$STATE,9219,begin surface
$SM_CCo,9235,28.27,0.243,0,0,1821,220.03
$SM_GC,1.20,5.50,0.08,28.27,0.048,0.165,0.243,271,2080,1821,-6.44,0.93,220.03,0,0,0,0,0,0,14.54,14.41,14.06
$IRIDIUM_FIX,-5954.50,0.00,200219,120259
$TT8_MAMPS,0.038199,0.258405
$HUMID,50.63
$INTERNAL_PRESSURE,6.10897
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3603328
$24V_AH,12.85,119.291
$10V_AH,13.44,0.000
$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,13.400,87.675,288.550,28.275,0.000,32.707,35.791,184.095,0.000,0.000,14.339,0.000,7282.005,390.827,1710.817,326.732,0.000,1068.156,0.000,1206.778,0.000,0.539,0.000
$DEVICE_MAMPS,429.165,2194.020,1591.965,242.505,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2743.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.229,0.000,0.000,0.000
$MEM,344188
$DATA_FILE_SIZE,20759,731
$CAP_FILE_SIZE,99145,0
$CFSIZE,1023623168,957988864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.014,280.82,1
$GPS,200219,172525,-5951.251,-1.315,18,0.9,41,-19.7,0.4,233.7,9,7.8