version: 66.14
glider: 640
mission: 5
dive: 530
start: 2 10 119 3 28 3
data:
$ID,640
$MISSION,5
$DIVE,530
$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,60
$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
$GPS1,100219,032133,-6004.6338,2.3785,30,0.8,33,-19.7,0.6,175.3,10,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-63.6
$GPS2,100219,032744,-6004.6079,2.3829,9,0.8,14,-19.7,0.9,286.7,10,8.8
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,202.7,28590,-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,-146.0,234,2063,1790,1829,0.0,0.0,0,97,0.00,0.00,-81.90,0.000,16386,0.000,0.000,233,2064,3122,3205,3039,0,0,0,0,0,0,14.54,28.83,14.54,6.19,51.18
$GC,100,-0.64,-146.0,234,2065,3205,3041,3.2,-6.0,17,118,6.18,2.83,-6.97,0.000,18692,0.351,2.221,2174,3501,3314,3410,3218,0,0,0,0,0,0,13.88,12.90,14.23,6.30,50.39
$GC,213,-0.64,-146.0,2175,3502,3413,3218,20.8,-15.9,40,217,0.08,2.30,0.00,0.000,3078,0.356,0.045,2199,2132,3314,3411,3218,0,0,0,0,0,0,13.97,14.29,14.24,6.31,48.93
$GC,340,-0.64,-146.0,2200,2131,3412,3218,39.7,-15.7,65,344,0.00,2.55,0.00,0.000,516,0.000,0.067,2198,687,3315,3411,3219,0,0,0,0,0,0,14.62,14.26,14.62,6.33,49.68
$GC,379,-0.64,-146.0,2200,686,3412,3219,46.4,-16.2,73,384,0.00,2.45,0.00,0.000,3078,0.000,0.056,2189,2105,3315,3411,3219,0,0,0,0,0,0,14.44,14.28,14.45,6.32,49.56
$GC,504,-0.64,-146.0,2189,2106,3412,3219,66.4,-15.6,98,508,0.00,2.47,0.00,0.000,2564,0.000,0.064,2188,688,3314,3411,3218,0,0,0,0,0,0,14.67,14.28,14.67,6.31,50.00
$GC,580,-0.64,-146.0,2188,688,3412,3219,77.4,-14.2,113,584,0.05,2.45,0.00,0.000,3078,0.440,0.057,2194,2106,3315,3411,3219,0,0,0,0,0,0,14.03,14.31,14.31,6.32,50.07
$GC,706,-0.64,-146.0,2194,2106,3413,3219,95.5,-14.9,138,712,0.00,2.47,0.00,0.000,260,0.000,0.083,2183,3499,3315,3411,3219,0,0,0,0,0,0,14.69,14.26,14.69,6.31,48.66
$GC,734,-0.64,-146.0,2183,3500,3411,3220,100.1,-15.8,144,738,0.00,2.38,0.00,0.000,3078,0.000,0.046,2182,2089,3315,3411,3219,0,0,0,0,0,0,14.47,14.33,14.50,6.31,48.62
$GC,1044,-0.64,-146.0,2182,2089,3412,3221,147.0,-14.7,160,1048,0.00,2.50,0.00,0.000,2308,0.000,0.080,2171,3504,3315,3411,3220,0,0,0,0,0,0,14.75,14.29,14.76,6.31,49.09
$GC,1099,-0.64,-146.0,2173,3504,3412,3220,152.7,-14.5,162,1103,0.08,2.35,0.00,0.000,3078,0.358,0.046,2197,2100,3315,3411,3220,0,0,0,0,0,0,14.04,14.29,14.33,6.31,50.00
$GC,1422,-0.64,-146.0,2197,2101,3412,3221,194.1,-11.5,179,1427,0.00,2.45,0.00,0.000,516,0.000,0.067,2197,691,3315,3411,3220,0,0,0,0,0,0,14.76,14.35,14.76,6.31,50.63
$GC,1504,-0.64,-146.0,2198,692,3412,3220,203.0,-11.2,183,1508,0.00,2.42,0.00,0.000,3078,0.000,0.055,2186,2101,3315,3411,3220,0,0,0,0,0,0,14.50,14.31,14.53,6.31,50.51
$GC,1815,-0.64,-146.0,2186,2102,3412,3221,239.4,-11.9,199,1815,0.00,0.00,0.00,0.000,2054,0.000,0.000,2186,2101,3315,3411,3220,0,0,0,0,0,0,14.80,14.79,14.79,6.32,50.86
$GC,2114,-0.64,-146.0,2187,2101,3412,3220,275.6,-12.2,214,2118,0.00,2.47,0.00,0.000,2564,0.000,0.065,2186,685,3317,3414,3220,0,0,0,0,0,0,14.81,14.36,14.81,6.32,50.98
$GC,2134,-0.64,-146.0,2186,688,3412,3220,277.5,-12.2,215,2138,0.05,2.42,0.00,0.000,3078,0.439,0.055,2190,2105,3315,3411,3220,0,0,0,0,0,0,14.10,14.37,14.38,6.32,51.02
$GC,2444,-0.64,-146.0,2190,2105,3413,3220,315.5,-12.1,231,2448,0.00,2.45,0.00,0.000,2308,0.000,0.083,2179,3504,3315,3410,3220,0,0,0,0,0,0,14.82,14.33,14.82,6.33,51.22
$GC,2489,-0.64,-146.0,2180,3505,3412,3219,320.5,-12.4,233,2493,0.03,2.35,0.00,0.000,3078,0.591,0.045,2190,2095,3315,3411,3220,0,0,0,0,0,0,14.17,14.38,14.38,6.33,51.41
$STATE,2737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2737,begin apogee
$GC,2743,-0.15,0.0,2191,2166,3412,3221,352.3,-12.7,246,2870,0.45,0.00,124.53,1.582,10246,0.257,0.000,2346,2165,2718,2777,2659,0,0,0,0,0,0,14.05,13.89,13.17,6.33,51.22
$STATE,2871,end apogee,CONTROL_FINISHED_OK
$STATE,2871,begin loiter
$GC,3159,-0.15,0.0,2346,2166,2772,2645,351.9,2.4,267,3160,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2707,2771,2643,0,0,0,0,0,0,14.56,14.56,14.56,6.28,51.10
$GC,3459,-0.15,0.0,2347,2165,2773,2642,344.6,2.5,282,3460,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2706,2771,2641,0,0,0,0,0,0,14.72,14.72,14.72,6.28,51.02
$GC,3759,-0.15,0.0,2347,2166,2772,2640,337.2,2.5,297,3760,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2705,2771,2640,0,0,0,0,0,0,14.81,14.81,14.81,6.28,50.94
$GC,4059,-0.15,0.0,2346,2165,2772,2640,329.5,2.8,312,4060,0.00,0.00,0.00,0.000,2054,0.000,0.000,2345,2165,2705,2771,2640,0,0,0,0,0,0,14.86,14.86,14.86,6.27,51.33
$GC,4360,-0.15,0.0,2346,2166,2771,2640,321.9,2.6,327,4360,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2705,2771,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.49
$GC,4659,-0.15,0.0,2346,2165,2771,2640,314.1,2.6,342,4660,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2705,2771,2639,0,0,0,0,0,0,14.93,14.93,14.93,6.28,51.33
$GC,4960,-0.15,0.0,2346,2165,2771,2640,305.8,2.8,357,4960,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2705,2771,2639,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.69
$GC,5259,-0.15,0.0,2346,2166,2770,2640,297.4,2.9,372,5260,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2704,2771,2638,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.57
$GC,5559,-0.15,0.0,2346,2165,2772,2639,289.0,2.7,387,5560,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2704,2771,2638,0,0,0,0,0,0,14.99,14.99,14.98,6.28,51.49
$GC,5859,-0.15,0.0,2346,2165,2772,2638,280.4,3.0,402,5860,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2704,2771,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.27,51.37
$GC,6160,-0.15,0.0,2346,2166,2771,2639,272.1,2.7,417,6160,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2165,2704,2771,2637,0,0,0,0,0,0,15.00,15.01,15.01,6.28,52.16
$STATE,6457,end loiter,LOITER_COMPLETE
$STATE,6457,begin climb
$GC,6459,0.64,146.0,2346,2166,2771,2640,264.6,0.0,432,6598,0.65,2.58,130.57,1.436,11012,0.171,0.080,2600,3549,2118,2139,2097,0,0,0,0,0,0,14.32,13.95,13.31,6.28,51.57
$GC,6650,0.64,146.0,2600,3549,2139,2091,253.0,8.6,441,6654,0.00,2.42,0.00,0.000,5126,0.000,0.045,2610,2149,2114,2138,2091,0,0,0,0,0,0,14.17,14.07,14.18,6.24,49.48
$GC,6955,0.64,146.0,2611,2150,2131,2083,218.7,11.1,456,6959,0.00,2.50,0.00,0.000,4612,0.000,0.070,2621,742,2106,2129,2083,0,0,0,0,0,0,14.56,14.19,14.57,6.24,50.90
$GC,7010,0.64,146.0,2622,743,2127,2083,212.9,10.7,459,7014,0.05,2.40,0.00,0.000,5126,0.376,0.053,2604,2138,2104,2126,2083,0,0,0,0,0,0,14.03,14.24,14.29,6.24,50.59
$GC,7330,0.64,146.0,2604,2139,2119,2080,177.6,11.5,475,7334,0.00,2.53,0.00,0.000,260,0.000,0.083,2604,3556,2101,2124,2079,0,0,0,0,0,0,14.69,14.25,14.69,6.23,51.06
$GC,7415,0.64,146.0,2604,3556,2126,2079,168.8,11.8,479,7419,0.00,2.38,0.00,0.000,5126,0.000,0.045,2614,2144,2102,2125,2079,0,0,0,0,0,0,14.49,14.35,14.51,6.23,51.02
$GC,7725,0.64,146.0,2613,2144,2124,2078,129.0,12.5,495,7726,0.00,0.00,0.00,0.000,4102,0.000,0.000,2613,2144,2100,2123,2078,0,0,0,0,0,0,14.75,14.75,14.74,6.22,51.41
$GC,8025,0.64,146.0,2613,2144,2123,2078,95.9,10.3,513,8029,0.00,2.50,0.00,0.000,4356,0.000,0.080,2613,3556,2099,2122,2077,0,0,0,0,0,0,14.78,14.32,14.77,6.22,50.47
$GC,8045,0.64,146.0,2621,3557,2123,2078,93.6,11.1,517,8049,0.05,2.35,0.00,0.000,5126,0.405,0.047,2606,2151,2099,2121,2077,0,0,0,0,0,0,14.14,14.42,14.42,6.21,50.55
$GC,8170,0.64,146.0,2607,2151,2124,2077,80.8,10.3,542,8174,0.00,2.47,0.00,0.000,516,0.000,0.070,2616,739,2099,2122,2077,0,0,0,0,0,0,14.74,14.33,14.75,6.21,50.43
$GC,8210,0.64,146.0,2616,740,2121,2078,76.8,9.9,550,8214,0.00,2.42,0.00,0.000,5126,0.000,0.054,2615,2161,2098,2120,2076,0,0,0,0,0,0,14.53,14.38,14.56,6.21,50.19
$GC,8337,0.64,146.0,2616,2161,2121,2077,64.3,9.4,575,8343,0.00,2.47,0.00,0.000,4356,0.000,0.084,2616,3556,2098,2120,2077,0,0,0,0,0,0,14.75,14.25,14.75,6.21,50.23
$GC,8355,0.64,146.0,2617,3556,2121,2077,62.4,9.4,579,8359,0.08,2.35,0.00,0.000,5126,0.336,0.047,2601,2150,2097,2119,2076,0,0,0,0,0,0,14.12,14.41,14.41,6.20,49.37
$GC,8480,0.71,204.6,2601,2150,2121,2076,54.0,6.1,604,8538,0.00,2.47,53.58,1.237,10756,0.000,0.070,2610,742,1877,1893,1861,0,0,0,0,0,0,14.74,14.23,13.59,6.20,49.56
$GC,8565,0.71,207.7,2610,743,1889,1866,47.7,8.2,621,8569,0.00,2.42,0.00,0.000,3078,0.000,0.053,2610,2149,1876,1888,1864,0,0,0,0,0,0,14.35,14.23,14.36,6.19,48.70
$GC,8692,0.71,207.7,2611,2149,1889,1860,36.3,9.7,646,8696,0.00,2.53,0.00,0.000,2308,0.000,0.085,2611,3557,1873,1887,1860,0,0,0,0,0,0,14.54,14.17,14.54,6.18,49.17
$GC,8711,0.71,207.7,2611,3558,1888,1861,33.9,11.5,650,8715,0.00,2.40,0.00,0.000,3078,0.000,0.048,2621,2148,1873,1887,1860,0,0,0,0,0,0,14.38,14.25,14.40,6.18,49.29
$GC,8839,0.71,207.7,2621,2147,1887,1859,20.3,11.7,675,8844,0.00,2.50,0.00,0.000,2564,0.000,0.071,2632,733,1871,1886,1857,0,0,0,0,0,0,14.60,14.23,14.59,6.19,50.70
$GC,8891,0.71,207.7,2632,734,1885,1858,14.8,9.4,686,8895,0.00,2.45,0.00,0.000,5126,0.000,0.054,2641,2155,1870,1884,1857,0,0,0,0,0,0,14.42,14.28,14.45,6.18,50.43
$STATE,8999,end climb,SURFACE_DEPTH_REACHED
$STATE,8999,begin surface coast
$STATE,9019,end surface coast,CONTROL_FINISHED_OK
$STATE,9019,begin surface
$SM_CCo,9034,10.60,0.254,0,0,1822,220.03
$SM_GC,2.26,5.53,0.10,10.60,0.046,0.139,0.254,276,2077,1822,-6.45,0.76,220.03,0,0,0,0,0,0,14.42,14.35,14.03
$IRIDIUM_FIX,-6005.20,0.00,100219,004827
$TT8_MAMPS,0.038948,0.356524
$HUMID,51.45
$INTERNAL_PRESSURE,6.1285
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3649856
$24V_AH,12.90,101.698
$10V_AH,13.43,0.000
$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,13.250,83.675,308.675,10.600,0.000,25.042,17.298,143.080,0.000,0.000,15.338,0.000,7158.904,402.468,1591.876,262.171,0.000,1038.746,0.000,1135.219,0.000,0.539,0.000
$DEVICE_MAMPS,591.345,2220.795,1582.020,253.980,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5443.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.497,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,20699,712
$CAP_FILE_SIZE,93959,0
$CFSIZE,1023623168,967360512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.048,245.83,1
$GPS,100219,060004,-6005.230,1.974,44,0.8,47,-19.7,0.0,24.0,11,8.8