version: 66.14
glider: 640
mission: 5
dive: 500
start: 2 6 119 21 3 1
data:
$ID,640
$MISSION,5
$DIVE,500
$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,31
$R_STBD_OVSHOOT,32
$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
$GPS1,060219,205624,-5949.2471,2.6296,40,0.8,46,-19.7,0.5,55.4,11,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-67.6
$GPS2,060219,210242,-5949.2568,2.6469,9,0.9,20,-19.7,0.6,254.3,10,9.7
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,-6020.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,198.8,56988,-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,-146.0,219,2105,1789,1832,0.0,0.0,0,108,0.00,0.00,-93.10,0.000,16386,0.000,0.000,218,2104,3276,3359,3193,0,0,0,0,0,0,14.54,28.83,14.54,6.19,51.02
$GC,111,-0.64,-146.0,218,2105,3359,3195,3.4,-8.7,19,123,6.15,2.72,-1.38,0.000,19204,0.338,2.202,2189,687,3316,3407,3226,0,0,0,0,0,0,13.91,13.20,14.28,6.31,50.00
$GC,128,-0.64,-146.0,2189,687,3413,3226,8.8,-25.4,23,133,0.05,2.42,0.00,0.000,3078,0.452,0.052,2192,2103,3317,3409,3226,0,0,0,0,0,0,14.03,14.28,14.30,6.32,49.72
$GC,255,-0.64,-146.0,2192,2104,3410,3227,31.2,-17.2,48,260,0.00,2.47,0.00,0.000,2308,0.000,0.082,2181,3503,3318,3410,3226,0,0,0,0,0,0,14.60,14.22,14.60,6.31,49.09
$GC,368,-0.64,-146.0,2182,3503,3411,3226,48.6,-14.4,71,372,0.00,2.35,0.00,0.000,3078,0.000,0.041,2181,2093,3318,3410,3226,0,0,0,0,0,0,14.45,14.33,14.47,6.32,49.37
$GC,495,-0.64,-146.0,2181,2093,3412,3226,67.6,-15.3,96,498,0.00,0.00,0.00,0.000,2054,0.000,0.000,2181,2091,3318,3411,3226,0,0,0,0,0,0,14.65,14.65,14.66,6.32,49.40
$GC,618,-0.64,-146.0,2181,2092,3412,3226,86.6,-15.4,121,622,0.00,2.38,0.00,0.000,2564,0.000,0.063,2181,690,3315,3404,3226,0,0,0,0,0,0,14.69,14.29,14.69,6.31,49.01
$GC,668,-0.64,-146.0,2180,691,3412,3227,94.3,-15.1,131,672,0.08,2.42,0.00,0.000,3078,0.356,0.056,2193,2105,3319,3411,3227,0,0,0,0,0,0,14.00,14.33,14.29,6.32,48.70
$GC,793,-0.64,-146.0,2193,2105,3411,3227,112.2,-14.4,144,797,0.00,2.45,0.00,0.000,516,0.000,0.063,2193,699,3318,3411,3226,0,0,0,0,0,0,14.71,14.29,14.71,6.31,48.22
$GC,828,-0.64,-146.0,2194,698,3412,3226,117.5,-14.9,146,832,0.00,2.38,0.00,0.000,3078,0.000,0.054,2184,2096,3318,3410,3226,0,0,0,0,0,0,14.46,14.33,14.48,6.31,48.03
$GC,1143,-0.64,-146.0,2184,2097,3412,3227,160.5,-13.5,162,1147,0.00,2.47,0.00,0.000,2308,0.000,0.081,2173,3504,3318,3411,3226,0,0,0,0,0,0,14.76,14.31,14.76,6.31,49.40
$GC,1178,-0.64,-146.0,2173,3504,3412,3226,165.2,-13.5,164,1182,0.08,2.33,0.00,0.000,3078,0.363,0.042,2198,2100,3318,3411,3226,0,0,0,0,0,0,14.07,14.42,14.36,6.31,49.52
$GC,1493,-0.64,-146.0,2198,2101,3411,3228,204.2,-12.3,180,1497,0.00,2.42,0.00,0.000,516,0.000,0.063,2206,699,3318,3411,3226,0,0,0,0,0,0,14.78,14.36,14.78,6.32,50.59
$GC,1588,-0.64,-146.0,2199,700,3412,3226,214.2,-12.5,184,1592,0.00,2.38,0.00,0.000,3078,0.000,0.054,2188,2102,3318,3411,3226,0,0,0,0,0,0,14.54,14.44,14.56,6.32,50.51
$GC,1908,-0.64,-146.0,2188,2103,3410,3227,255.7,-12.6,201,1912,0.00,2.47,0.00,0.000,2308,0.000,0.081,2177,3507,3318,3411,3226,0,0,0,0,0,0,14.81,14.33,14.81,6.32,51.37
$GC,1963,-0.64,-146.0,2175,3508,3412,3227,262.6,-12.5,204,1967,0.05,2.35,0.00,0.000,3078,0.421,0.041,2193,2091,3318,3411,3226,0,0,0,0,0,0,14.13,14.44,14.35,6.32,51.02
$GC,2278,-0.64,-146.0,2193,2090,3412,3226,300.2,-11.8,220,2282,0.00,2.40,0.00,0.000,2564,0.000,0.063,2192,702,3318,3411,3226,0,0,0,0,0,0,14.81,14.33,14.81,6.33,50.94
$GC,2363,-0.64,-146.0,2193,702,3412,3226,309.0,-11.7,224,2367,0.00,2.38,0.00,0.000,3078,0.000,0.054,2182,2099,3318,3411,3226,0,0,0,0,0,0,14.56,14.40,14.58,6.32,51.18
$GC,2673,-0.64,-146.0,2182,2099,3412,3227,347.1,-12.0,240,2677,0.00,2.45,0.00,0.000,2308,0.000,0.082,2172,3501,3318,3411,3226,0,0,0,0,0,0,14.82,14.29,14.81,6.33,51.18
$STATE,2706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2706,begin apogee
$GC,2714,-0.15,0.0,2172,2151,3412,3226,351.4,-12.1,242,2842,0.50,0.00,125.20,1.586,10246,0.250,0.000,2347,2149,2716,2776,2657,0,0,0,0,0,0,14.09,13.90,13.18,6.33,51.26
$STATE,2843,end apogee,CONTROL_FINISHED_OK
$STATE,2843,begin loiter
$GC,3128,-0.15,0.0,2347,2150,2772,2644,345.9,3.8,263,3129,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2149,2707,2771,2643,0,0,0,0,0,0,14.55,14.55,14.55,6.28,50.63
$GC,3428,-0.15,0.0,2347,2150,2771,2642,335.3,3.4,278,3429,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2149,2706,2771,2641,0,0,0,0,0,0,14.71,14.71,14.71,6.28,51.18
$GC,3728,-0.15,0.0,2347,2150,2772,2641,325.5,3.1,293,3729,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2150,2705,2771,2640,0,0,0,0,0,0,14.81,14.81,14.81,6.27,51.29
$GC,4028,-0.15,0.0,2347,2150,2772,2641,316.5,3.0,308,4029,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2149,2705,2771,2639,0,0,0,0,0,0,14.85,14.85,14.86,6.28,51.26
$GC,4328,-0.15,0.0,2347,2150,2772,2640,308.0,2.9,323,4329,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2149,2705,2771,2639,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.37
$GC,4628,-0.15,0.0,2347,2150,2773,2639,299.6,2.8,338,4629,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2149,2705,2772,2639,0,0,0,0,0,0,14.93,14.93,14.93,6.28,51.29
$GC,4928,-0.15,0.0,2347,2150,2772,2639,291.3,2.8,353,4929,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2149,2704,2771,2638,0,0,0,0,0,0,14.95,14.95,14.95,6.28,51.33
$GC,5228,-0.15,0.0,2347,2150,2771,2639,282.3,3.0,368,5229,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2149,2705,2772,2638,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.65
$GC,5528,-0.15,0.0,2347,2150,2773,2638,272.8,3.3,383,5529,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2149,2704,2771,2638,0,0,0,0,0,0,14.99,14.99,14.99,6.28,52.12
$GC,5828,-0.15,0.0,2347,2150,2772,2639,263.2,3.1,398,5829,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2149,2704,2771,2638,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.77
$GC,6128,-0.15,0.0,2346,2150,2772,2639,254.4,2.9,413,6129,0.00,0.00,0.00,0.000,2054,0.000,0.000,2346,2149,2704,2771,2638,0,0,0,0,0,0,15.01,15.01,15.01,6.27,51.53
$STATE,6426,end loiter,LOITER_COMPLETE
$STATE,6426,begin climb
$GC,6428,0.64,146.0,2347,2150,2773,2638,246.4,0.0,428,6569,0.62,2.58,129.93,1.415,10756,0.167,0.063,2603,748,2117,2138,2097,0,0,0,0,0,0,14.33,13.97,13.33,6.28,51.69
$GC,6574,0.69,186.6,2603,748,2136,2096,238.8,6.8,435,6618,0.00,2.45,38.90,1.369,11270,0.000,0.051,2603,2146,1958,1975,1941,0,0,0,0,0,0,14.12,14.02,13.25,6.24,49.68
$GC,6929,0.69,186.6,2610,2146,1964,1921,196.2,11.9,453,6933,0.00,2.50,0.00,0.000,2564,0.000,0.066,2614,745,1942,1963,1921,0,0,0,0,0,0,14.50,14.14,14.50,6.21,50.63
$GC,6980,0.69,186.6,2614,745,1962,1921,191.8,11.6,455,6983,0.00,2.42,0.00,0.000,3078,0.000,0.052,2614,2145,1940,1960,1921,0,0,0,0,0,0,14.33,14.19,14.35,6.22,50.35
$GC,7285,0.69,186.6,2613,2149,1960,1920,153.3,12.5,470,7288,0.00,2.53,0.00,0.000,2308,0.000,0.083,2614,3568,1939,1960,1919,0,0,0,0,0,0,14.65,14.23,14.65,6.22,50.66
$GC,7354,0.69,186.6,2614,3565,1961,1919,146.3,12.7,473,7359,0.00,2.35,0.00,0.000,5126,0.000,0.043,2624,2155,1939,1959,1919,0,0,0,0,0,0,14.46,14.33,14.49,6.21,50.98
$GC,7659,0.69,186.6,2624,2156,1959,1917,105.4,12.7,489,7663,0.00,2.47,0.00,0.000,4612,0.000,0.067,2636,739,1937,1958,1916,0,0,0,0,0,0,14.73,14.32,14.73,6.21,51.22
$GC,7744,0.69,186.6,2635,740,1958,1917,95.1,11.8,497,7749,0.05,2.42,0.00,0.000,5126,0.383,0.054,2619,2166,1936,1956,1916,0,0,0,0,0,0,14.14,14.35,14.40,6.21,50.47
$GC,7869,0.69,186.6,2619,2161,1957,1916,79.5,12.4,522,7873,0.00,2.47,0.00,0.000,260,0.000,0.083,2619,3549,1935,1956,1915,0,0,0,0,0,0,14.73,14.31,14.73,6.20,50.27
$GC,7894,0.69,186.6,2619,3551,1957,1917,76.2,13.6,527,7898,0.00,2.33,0.00,0.000,5126,0.000,0.045,2628,2152,1936,1956,1916,0,0,0,0,0,0,14.52,14.40,14.55,6.20,50.63
$GC,8022,0.69,186.6,2629,2153,1957,1915,61.5,11.6,552,8026,0.00,2.47,0.00,0.000,4612,0.000,0.067,2639,735,1935,1956,1915,0,0,0,0,0,0,14.73,14.33,14.73,6.19,50.35
$GC,8035,0.69,186.6,2640,736,1957,1915,59.6,11.5,555,8039,0.05,2.40,0.00,0.000,5126,0.373,0.054,2622,2141,1935,1956,1915,0,0,0,0,0,0,14.16,14.37,14.42,6.19,49.88
$GC,8161,0.69,186.6,2622,2142,1957,1915,46.4,10.6,580,8165,0.00,2.50,0.00,0.000,260,0.000,0.084,2622,3555,1935,1956,1915,0,0,0,0,0,0,14.74,14.31,14.75,6.18,49.48
$GC,8211,0.69,186.6,2622,3559,1957,1916,40.8,10.7,590,8214,0.00,2.35,0.00,0.000,5126,0.000,0.043,2631,2146,1935,1956,1914,0,0,0,0,0,0,14.54,14.42,14.56,6.19,49.48
$GC,8337,0.69,186.6,2631,2146,1958,1916,26.9,11.5,615,8343,0.00,2.45,0.00,0.000,4612,0.000,0.066,2643,743,1934,1955,1914,0,0,0,0,0,0,14.73,14.30,14.73,6.20,50.66
$GC,8350,0.69,186.6,2643,744,1956,1914,25.2,11.6,618,8354,0.10,2.40,0.00,0.000,5126,0.291,0.054,2609,2157,1934,1955,1914,0,0,0,0,0,0,14.12,14.37,14.41,6.19,50.66
$GC,8476,0.69,186.6,2607,2158,1961,1915,12.5,10.3,643,8479,0.00,2.47,0.00,0.000,2308,0.000,0.084,2606,3554,1934,1955,1914,0,0,0,0,0,0,14.74,14.31,14.74,6.20,50.35
$GC,8515,0.69,186.6,2606,3555,1956,1915,8.4,10.0,651,8519,0.00,2.35,0.00,0.000,3078,0.000,0.044,2616,2149,1934,1955,1914,0,0,0,0,0,0,14.54,14.42,14.57,6.19,50.98
$STATE,8568,end climb,SURFACE_DEPTH_REACHED
$STATE,8568,begin surface coast
$STATE,8593,end surface coast,CONTROL_FINISHED_OK
$STATE,8593,begin surface
$SM_CCo,8609,26.12,0.248,0,0,1822,220.03
$SM_GC,0.81,5.43,0.08,26.12,0.038,0.164,0.248,260,2076,1822,-6.45,0.90,220.03,0,0,0,0,0,0,14.52,14.46,14.12
$IRIDIUM_FIX,-5949.69,0.00,060219,182001
$TT8_MAMPS,0.038948,0.230692
$HUMID,50.90
$INTERNAL_PRESSURE,6.14803
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3664864
$24V_AH,13.18,96.220
$10V_AH,13.30,0.000
$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,13.150,87.550,294.025,26.125,0.000,26.277,33.165,133.507,0.000,0.000,21.289,0.000,6777.979,401.435,1586.782,244.966,0.000,1037.232,0.000,1120.989,0.000,0.539,0.000
$DEVICE_MAMPS,452.115,2202.435,1585.845,247.860,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5018.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.586,0.000,0.000,0.000
$MEM,344084
$DATA_FILE_SIZE,17360,667
$CAP_FILE_SIZE,93953,0
$CFSIZE,1023623168,970309632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.038,175.93,1
$GPS,060219,232801,-5949.765,2.752,15,0.7,38,-19.7,0.5,340.9,11,5.8