version: 66.11
glider: 615
mission: 5
dive: 303
start: 11 3 115 23 51 3
data:
$ID,615
$MISSION,5
$DIVE,303
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$T_BOOST,4
$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,360
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54445
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0035031899
$HD_B,0.0146577
$HD_C,4.3681601e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.2002
$TGT_DEFAULT_LON,-12224.4
$TGT_AUTO_DEFAULT,0
$SM_CC,579.63446
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-19364.939
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,191
$PITCH_MAX,3898
$C_PITCH,2960
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$PITCH_GAIN,32
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,192
$ROLL_MAX,3824
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,510
$VBD_MAX,3960
$C_VBD,2873
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,350
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-156.51088
$PRESSURE_SLOPE,0.00013730999
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,166
$DEVICE3,147
$DEVICE4,133
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044134618
$SEABIRD_T_H,0.00064964173
$SEABIRD_T_I,2.6219326e-05
$SEABIRD_T_J,3.1475095e-06
$SEABIRD_C_G,-9.8766012
$SEABIRD_C_H,1.1351171
$SEABIRD_C_I,-0.0017266128
$SEABIRD_C_J,0.00019839592
$GPS1,031115,233858,1801.484,8928.901,71,1.4,71,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-73.2
$GPS2,031115,235036,1801.424,8929.048,4,0.8,4,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,SW
$TGT_LATLONG,1755.320,8921.600
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,241.8,17323,-21.4,-9.167,-25.88,2022
$D_GRID,990
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.82,-126.5,190,2185,547,496,0.0,0.0,0,55,0.00,0.00,-38.35,0.000,16386,0.000,0.000,190,2184,1609,1607,1611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.82,-126.5,190,2185,1607,1611,3.3,-7.6,6,117,11.00,2.30,-37.50,0.000,18948,0.359,0.073,2672,801,3390,3404,3377,0,0,0,0,0,0,14.14,14.35,14.83
$GC,140,-0.82,-126.5,2672,802,3404,3377,26.1,-34.6,19,147,0.08,2.28,0.00,0.000,3078,0.356,0.049,2674,2210,3390,3404,3377,0,0,0,0,0,0,14.31,14.57,28.83
$GC,336,-0.82,-126.5,2675,2210,3404,3377,81.6,-20.9,56,344,0.00,2.35,0.00,0.000,260,0.000,0.060,2665,3620,3390,3404,3377,0,0,0,0,0,0,28.83,14.54,28.83
$GC,497,-0.82,-126.5,2666,3620,3404,3378,111.7,-15.4,86,504,0.00,2.33,0.00,0.000,1030,0.000,0.037,2666,2185,3390,3404,3377,0,0,0,0,0,0,28.83,14.57,28.83
$GC,693,-0.82,-126.5,2666,2185,3404,3379,142.6,-15.6,123,700,0.00,2.33,0.00,0.000,260,0.000,0.057,2655,3614,3391,3404,3379,0,0,0,0,0,0,28.83,14.62,28.83
$GC,759,-0.82,-126.5,2655,3614,3404,3379,153.2,-15.4,135,767,0.10,2.22,0.00,0.000,3078,0.295,0.036,2674,2193,3391,3404,3379,0,0,0,0,0,0,14.38,14.69,28.83
$GC,954,-0.82,-126.5,2674,2192,3404,3379,181.3,-14.2,172,961,0.00,2.30,0.00,0.000,516,0.000,0.055,2674,809,3391,3404,3379,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1006,-0.82,-126.5,2674,809,3404,3380,188.9,-14.6,181,1013,0.00,2.22,0.00,0.000,1030,0.000,0.044,2666,2209,3391,3404,3379,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1203,-0.82,-126.5,2665,2209,3404,3379,217.8,-15.0,207,1213,0.00,2.25,0.00,0.000,260,0.000,0.060,2655,3600,3391,3404,3379,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1238,-0.82,-126.5,2655,3600,3404,3379,223.2,-15.7,213,1248,0.08,2.20,0.00,0.000,3078,0.234,0.037,2675,2192,3391,3404,3378,0,0,0,0,0,0,14.22,14.71,28.83
$GC,1547,-0.82,-126.5,2675,2192,3404,3376,267.9,-14.4,245,1556,0.00,2.22,0.00,0.000,516,0.000,0.057,2675,803,3390,3404,3376,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1600,-0.82,-126.5,2675,803,3404,3376,275.7,-13.8,255,1610,0.00,2.22,0.00,0.000,1030,0.000,0.045,2667,2197,3389,3403,3375,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1911,-0.82,-126.5,2668,2197,3403,3372,321.0,-14.8,287,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2197,3388,3404,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2210,-0.82,-126.5,2667,2197,3404,3369,365.4,-14.8,312,2216,0.00,2.25,0.00,0.000,516,0.000,0.060,2667,816,3385,3403,3368,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2263,-0.82,-126.5,2668,816,3403,3368,373.6,-14.6,323,2273,0.05,2.30,0.00,0.000,3078,0.237,0.047,2672,2200,3386,3404,3368,0,0,0,0,0,0,14.28,14.49,28.83
$GC,2571,-0.82,-126.5,2672,2200,3403,3362,417.8,-14.6,339,2577,0.00,2.25,0.00,0.000,516,0.000,0.061,2672,820,3382,3403,3362,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2599,-0.82,-126.5,2672,819,3403,3362,422.4,-15.1,345,2603,0.08,2.22,0.00,0.000,3078,0.298,0.049,2677,2201,3382,3403,3362,0,0,0,0,0,0,14.47,14.68,28.83
$GC,2912,-0.82,-126.5,2677,2201,3403,3357,466.5,-14.1,362,2918,0.00,2.25,0.00,0.000,516,0.000,0.061,2677,822,3379,3403,3356,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2931,-0.82,-126.5,2677,822,3403,3356,469.4,-14.1,366,2937,0.00,2.22,0.00,0.000,1030,0.000,0.050,2669,2203,3379,3403,3356,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3241,-0.82,-126.5,2669,2203,3403,3352,512.6,-13.9,383,3247,0.00,2.28,0.00,0.000,516,0.000,0.063,2669,820,3377,3403,3352,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3280,-0.82,-126.5,2669,820,3402,3352,518.4,-13.6,391,3284,0.10,2.22,0.00,0.000,3078,0.273,0.050,2679,2200,3377,3403,3352,0,0,0,0,0,0,14.44,14.68,28.83
$GC,3602,-0.82,-126.5,2679,2201,3401,3349,559.9,-13.1,405,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2201,3375,3401,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3902,-0.82,-126.5,2679,2201,3401,3346,599.1,-12.9,415,3906,0.00,2.28,0.00,0.000,516,0.000,0.063,2679,820,3373,3401,3346,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3951,-0.82,-126.5,2679,820,3400,3346,606.0,-13.4,425,3955,0.00,2.25,0.00,0.000,1030,0.000,0.052,2671,2206,3373,3400,3346,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4264,-0.82,-126.5,2670,2205,3399,3344,646.7,-13.2,437,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2206,3371,3399,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4564,-0.82,-126.5,2671,2206,3397,3343,686.5,-13.3,447,4570,0.00,2.30,0.00,0.000,516,0.000,0.065,2671,816,3370,3397,3343,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4596,-0.82,-126.5,2671,816,3397,3343,691.4,-13.9,454,4602,0.05,2.28,0.00,0.000,3078,0.232,0.052,2675,2193,3369,3396,3342,0,0,0,0,0,0,14.35,14.59,28.83
$GC,4925,-0.82,-126.5,2675,2194,3396,3341,734.7,-13.3,469,4931,0.00,2.28,0.00,0.000,516,0.000,0.064,2675,812,3368,3396,3340,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4973,-0.82,-126.5,2675,812,3395,3341,741.4,-13.8,479,4977,0.00,2.25,0.00,0.000,1030,0.000,0.052,2667,2201,3367,3394,3340,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5285,-0.82,-126.5,2667,2202,3393,3338,781.8,-13.1,491,5291,0.00,2.35,0.00,0.000,260,0.000,0.071,2657,3604,3366,3394,3338,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5333,-0.82,-126.5,2657,3604,3393,3337,788.4,-12.6,501,5338,0.10,2.22,0.00,0.000,3078,0.265,0.044,2677,2212,3365,3392,3338,0,0,0,0,0,0,14.42,14.71,28.83
$GC,5640,-0.82,-126.5,2677,2211,3393,3337,825.3,-12.2,512,5646,0.00,2.33,0.00,0.000,516,0.000,0.066,2677,804,3365,3394,3336,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5714,-0.82,-126.5,2677,803,3392,3337,834.6,-12.1,527,5718,0.00,2.28,0.00,0.000,1030,0.000,0.053,2669,2199,3364,3392,3337,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6026,-0.82,-126.5,2670,2200,3390,3336,873.0,-12.3,539,6027,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2200,3362,3390,3335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6326,-0.82,-126.5,2669,2200,3390,3335,909.1,-11.8,549,6332,0.00,2.30,0.00,0.000,516,0.000,0.067,2669,810,3362,3390,3334,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6388,-0.82,-126.5,2669,810,3389,3334,916.7,-11.0,562,6393,0.05,2.33,0.00,0.000,3078,0.242,0.053,2681,2202,3361,3389,3334,0,0,0,0,0,0,14.31,14.53,28.83
$GC,6716,-0.82,-126.5,2681,2203,3389,3333,953.1,-11.2,577,6722,0.00,2.38,0.00,0.000,260,0.000,0.073,2672,3612,3361,3389,3333,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6746,-0.82,-126.5,2672,3612,3388,3333,956.5,-11.8,583,6752,0.00,2.28,0.00,0.000,1030,0.000,0.044,2672,2201,3361,3388,3334,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,7044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7044,begin apogee
$GC,7049,-0.16,0.0,2672,2130,3387,3332,991.8,-11.9,598,7205,0.75,0.00,150.30,2.026,10246,0.220,0.000,2885,2128,2873,2922,2824,0,0,0,0,0,0,14.19,28.83,13.15
$STATE,7206,end apogee,CONTROL_FINISHED_OK
$STATE,7206,begin climb
$GC,7208,0.82,126.5,2885,2128,2916,2818,997.0,0.0,630,7330,1.00,2.58,112.28,2.285,10500,0.125,0.070,3204,3538,2350,2409,2291,0,0,0,0,0,0,14.00,13.78,12.90
$GC,7376,0.82,126.5,3204,3539,2403,2285,989.1,10.4,664,7380,0.00,2.38,0.00,0.000,1030,0.000,0.045,3214,2147,2344,2403,2285,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7704,0.82,126.5,3214,2147,2402,2283,953.3,11.2,679,7710,0.00,2.38,0.00,0.000,516,0.000,0.070,3225,737,2342,2402,2283,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7764,0.82,126.5,3225,737,2402,2283,946.5,11.4,691,7768,0.00,2.33,0.00,0.000,1030,0.000,0.050,3225,2146,2342,2402,2283,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8097,0.82,126.5,3225,2146,2401,2281,909.7,11.0,707,8098,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2146,2341,2401,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8396,0.82,126.5,3225,2146,2400,2280,876.9,10.8,717,8402,0.00,2.38,0.00,0.000,516,0.000,0.070,3235,729,2340,2400,2281,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8457,0.82,126.5,3236,729,2399,2281,870.5,10.8,729,8463,0.00,2.28,0.00,0.000,1030,0.000,0.051,3236,2138,2340,2399,2281,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8786,0.82,126.5,3236,2139,2398,2280,835.6,10.4,745,8790,0.00,2.33,0.00,0.000,516,0.000,0.070,3245,740,2339,2398,2280,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8819,0.82,126.5,3245,740,2398,2280,832.3,10.5,751,8825,0.00,2.28,0.00,0.000,1030,0.000,0.051,3245,2143,2338,2397,2280,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9148,0.82,126.5,3245,2144,2397,2280,798.5,10.3,767,9154,0.00,2.38,0.00,0.000,516,0.000,0.070,3256,728,2338,2396,2280,0,0,0,0,0,0,28.83,14.58,28.83
$GC,9196,0.82,126.5,3256,728,2397,2279,793.3,10.0,777,9201,0.08,2.30,0.00,0.000,5126,0.295,0.051,3243,2145,2338,2397,2280,0,0,0,0,0,0,14.44,14.64,28.83
$GC,9503,0.82,126.5,3243,2145,2396,2279,763.2,9.9,788,9504,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2145,2337,2396,2279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9803,0.82,126.5,3243,2145,2396,2278,732.7,10.5,798,9807,0.00,2.35,0.00,0.000,260,0.000,0.071,3243,3544,2337,2396,2278,0,0,0,0,0,0,28.83,14.59,28.83
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$STATE,17399,end climb,SURFACE_DEPTH_REACHED
$STATE,17399,begin surface coast
$FINISH,0.3,1.018545
$STATE,17426,end surface coast,CONTROL_FINISHED_OK
$STATE,17426,begin surface
$SM_CCo,17444,7.40,0.137,0,0,510,579.63
$SM_GC,3.87,9.10,2.22,7.40,0.075,0.038,0.137,194,2196,510,-8.58,1.05,579.63,0,0,0,0,0,0,14.55,14.58,14.39
$IRIDIUM_FIX,1754.17,8932.79,300808,131316
$TT8_MAMPS,0.018725,0.018725
$HUMID,48.58
$INTERNAL_PRESSURE,6.67994
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,12.9,111.121
$10V_AH,11.5,0.000
$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
$DEVICE_SECS,23.225,189.525,568.250,7.400,0.000,122.841,209.860,0.000,0.000,0.000,5.725,3330.620,10657.609,664.622,3266.943,219.367,0.000,2068.849,0.000,2422.690,0.000,0.554,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,891.871,585.286,1533.242,936.826,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322348
$DATA_FILE_SIZE,134126,1650
$CAP_FILE_SIZE,181608,0
$CFSIZE,2097086464,2044297216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074, 99.3,1
$GPS,041115,044422,1800.439,8928.163,110,1.2,110,-0.9