version: 66.11
glider: 615
mission: 5
dive: 304
start: 11 4 115 5 1 46
data:
$ID,615
$MISSION,5
$DIVE,304
$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,-19366.197
$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,36
$R_STBD_OVSHOOT,43
$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
$GPS1,041115,044422,1800.439,8928.163,110,1.2,110,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-72.0
$GPS2,041115,050119,1800.337,8928.118,4,1.2,4,-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,249.0,14775,-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,-126.5,190,2183,556,493,0.0,0.0,0,57,0.00,0.00,-40.15,0.000,16386,0.000,0.000,190,2183,1652,1651,1653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60,-0.82,-126.5,190,2182,1651,1653,3.1,-6.2,6,119,10.75,2.38,-37.58,0.000,19204,0.346,0.073,2664,3609,3391,3405,3377,0,0,0,0,0,0,14.16,14.38,14.84
$GC,203,-0.82,-126.5,2665,3608,3405,3376,49.3,-40.8,31,210,0.00,2.25,0.00,0.000,1030,0.000,0.038,2664,2188,3390,3405,3376,0,0,0,0,0,0,28.83,14.63,28.83
$GC,393,-0.82,-126.5,1680,2184,3391,3374,98.2,-17.0,68,401,0.08,2.30,0.00,0.000,2564,0.324,0.049,2676,802,3390,3405,3376,0,0,0,0,0,0,14.50,14.52,28.83
$GC,535,-0.82,-126.5,2677,801,3405,3377,120.4,-15.6,95,542,0.00,2.22,0.00,0.000,1030,0.000,0.041,2668,2212,3391,3405,3377,0,0,0,0,0,0,28.83,14.65,28.83
$GC,724,-0.82,-126.5,2668,2213,3405,3377,151.5,-14.3,132,731,0.00,2.33,0.00,0.000,260,0.000,0.058,2657,3598,3391,3405,3377,0,0,0,0,0,0,28.83,14.55,28.83
$GC,754,-0.82,-126.5,2657,3598,3405,3377,155.9,-14.9,137,762,0.10,2.20,0.00,0.000,3078,0.262,0.035,2678,2185,3391,3405,3377,0,0,0,0,0,0,14.44,14.71,28.83
$GC,944,-0.82,-126.5,2678,2184,3405,3377,181.5,-14.8,174,952,0.00,2.25,0.00,0.000,516,0.000,0.054,2678,824,3391,3405,3377,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1019,-0.82,-126.5,2678,825,3405,3378,191.9,-14.0,188,1026,0.00,2.25,0.00,0.000,1030,0.000,0.043,2670,2200,3391,3405,3377,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1211,-0.82,-126.5,2670,2200,3405,3376,218.2,-13.3,212,1219,0.00,2.28,0.00,0.000,260,0.000,0.062,2660,3602,3390,3405,3375,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1261,-0.82,-126.5,2660,3601,3405,3376,225.9,-14.3,222,1272,0.10,2.17,0.00,0.000,3078,0.252,0.037,2681,2205,3390,3405,3376,0,0,0,0,0,0,14.48,14.73,28.83
$GC,1573,-0.82,-126.5,2681,2204,3405,3372,268.3,-13.9,254,1582,0.00,2.25,0.00,0.000,516,0.000,0.063,2681,815,3388,3405,3372,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1644,-0.82,-126.5,2682,815,3405,3372,278.8,-13.8,268,1648,0.00,2.22,0.00,0.000,1030,0.000,0.050,2673,2203,3388,3405,3372,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1950,-0.82,-126.5,2673,2203,3405,3369,323.7,-14.7,299,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2203,3386,3405,3368,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2250,-0.82,-126.5,2673,2203,3405,3363,367.4,-14.4,323,2255,0.00,2.28,0.00,0.000,516,0.000,0.065,2673,814,3383,3405,3362,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2318,-0.82,-126.5,2674,815,3404,3362,377.6,-14.0,337,2322,0.08,2.22,0.00,0.000,3078,0.308,0.050,2677,2200,3383,3404,3362,0,0,0,0,0,0,14.48,14.69,28.83
$GC,2630,-0.82,-126.5,2677,2201,3404,3356,420.4,-13.6,354,2636,0.00,2.28,0.00,0.000,516,0.000,0.065,2677,815,3380,3404,3356,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2679,-0.82,-126.5,2677,814,3404,3356,427.5,-13.5,364,2683,0.00,2.25,0.00,0.000,1030,0.000,0.051,2669,2209,3379,3404,3355,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2986,-0.82,-126.5,2669,2209,3403,3352,470.1,-14.0,380,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2209,3377,3403,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3295,-0.82,-126.5,2669,2209,3401,3347,513.3,-13.9,394,3299,0.00,2.30,0.00,0.000,516,0.000,0.066,2669,816,3375,3402,3348,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3356,-0.82,-126.5,2669,816,3401,3347,521.7,-13.4,406,3361,0.05,2.22,0.00,0.000,3078,0.253,0.053,2674,2198,3374,3401,3347,0,0,0,0,0,0,14.40,14.65,28.83
$GC,3688,-0.82,-126.5,2673,2198,3400,3345,564.9,-12.9,422,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2198,3372,3400,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3989,-0.82,-126.5,2674,2198,3398,3343,603.0,-12.7,432,3993,0.00,2.28,0.00,0.000,516,0.000,0.067,2674,818,3370,3398,3342,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4038,-0.82,-126.5,2674,817,3397,3343,609.4,-12.4,442,4042,0.00,2.25,0.00,0.000,1030,0.000,0.054,2667,2202,3370,3398,3343,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4346,-0.82,-126.5,2667,2202,3396,3340,648.5,-12.7,453,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2202,3368,3396,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4646,-0.82,-126.5,2666,2202,3394,3339,686.8,-12.8,463,4652,0.00,2.30,0.00,0.000,516,0.000,0.068,2667,818,3366,3394,3338,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4677,-0.82,-126.5,2667,818,3394,3338,691.4,-13.6,470,4683,0.05,2.30,0.00,0.000,3078,0.250,0.055,2684,2199,3366,3394,3338,0,0,0,0,0,0,14.35,14.59,28.83
$GC,5006,-0.82,-126.5,2685,2199,3393,3337,730.0,-11.9,485,5012,0.00,2.30,0.00,0.000,516,0.000,0.070,2685,820,3365,3393,3337,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5073,-0.82,-126.5,2685,820,3392,3336,738.4,-11.8,499,5077,0.00,2.25,0.00,0.000,1030,0.000,0.056,2678,2200,3364,3392,3337,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5396,-0.82,-126.5,2679,2200,3391,3336,777.8,-12.3,513,5402,0.00,2.38,0.00,0.000,260,0.000,0.076,2668,3608,3363,3391,3336,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5433,-0.82,-126.5,2668,3608,3390,3336,782.9,-12.5,521,5437,0.00,2.25,0.00,0.000,1030,0.000,0.044,2668,2213,3363,3390,3336,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5756,-0.82,-126.5,2667,2212,3389,3333,823.1,-12.5,535,5762,0.00,2.33,0.00,0.000,516,0.000,0.070,2668,805,3361,3389,3334,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5839,-0.82,-126.5,2667,805,3389,3334,833.9,-12.6,552,5846,0.00,2.35,0.00,0.000,1030,0.000,0.056,2659,2190,3361,3389,3334,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6147,-0.82,-126.5,2659,2191,3388,3333,872.7,-12.9,563,6153,0.10,2.33,0.00,0.000,2564,0.312,0.068,2678,804,3360,3388,3333,0,0,0,0,0,0,14.47,14.57,28.83
$GC,6179,-0.82,-126.5,2678,804,3388,3333,877.2,-11.9,570,6184,0.00,2.30,0.00,0.000,1030,0.000,0.055,2671,2209,3360,3388,3333,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6507,-0.82,-126.5,2671,2209,3387,3332,916.9,-12.2,585,6513,0.00,2.35,0.00,0.000,516,0.000,0.070,2671,802,3359,3387,3332,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6555,-0.82,-126.5,2671,801,3386,3332,923.3,-12.2,595,6560,0.00,2.30,0.00,0.000,1030,0.000,0.057,2669,2200,3359,3387,3332,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6862,-0.82,-126.5,2670,2202,3385,3330,960.8,-12.4,606,6863,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2202,3357,3385,3330,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7101,begin apogee
$GC,7106,-0.16,0.0,2670,2135,3384,3329,990.8,-12.6,614,7230,0.90,0.00,119.43,2.228,10246,0.300,0.000,2888,2134,2872,2919,2825,0,0,0,0,0,0,13.95,28.83,13.00
$STATE,7232,end apogee,CONTROL_FINISHED_OK
$STATE,7232,begin climb
$GC,7234,0.82,126.5,2888,2134,2913,2818,996.0,0.0,640,7356,1.15,2.58,111.82,2.362,10500,0.217,0.071,3210,3544,2349,2408,2291,0,0,0,0,0,0,14.02,13.83,12.93
$GC,7376,0.83,131.3,2336,3543,2353,2281,990.2,8.9,669,7381,0.00,2.38,0.00,0.000,1030,0.000,0.045,3221,2148,2345,2404,2286,0,0,0,0,0,0,28.83,14.02,28.83
$GC,7704,0.83,131.3,3222,2149,2403,2283,956.4,10.5,684,7710,0.00,2.38,0.00,0.000,516,0.000,0.070,3232,735,2343,2403,2284,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7742,0.83,131.3,3233,735,2403,2284,952.2,10.6,692,7746,0.00,2.33,0.00,0.000,1030,0.000,0.050,3232,2146,2343,2403,2284,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8059,0.83,131.3,3232,2146,2402,2283,919.6,10.0,705,8061,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2146,2342,2402,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8360,0.83,131.3,3233,2146,2402,2283,890.0,9.6,715,8364,0.00,2.38,0.00,0.000,516,0.000,0.070,3242,731,2342,2402,2283,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8469,0.83,131.3,3243,730,2401,2283,878.8,9.7,737,8473,0.00,2.33,0.00,0.000,1030,0.000,0.051,3242,2149,2342,2401,2283,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8776,0.83,131.3,3243,2150,2400,2282,848.2,10.2,748,8782,0.00,2.38,0.00,0.000,516,0.000,0.070,3253,733,2341,2400,2282,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8844,0.83,131.3,3253,734,2399,2282,841.0,10.2,762,8848,0.00,2.30,0.00,0.000,1030,0.000,0.051,3253,2142,2341,2400,2282,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9162,0.83,131.3,3253,2142,2398,2281,808.5,10.6,775,9168,0.00,2.35,0.00,0.000,260,0.000,0.070,3253,3550,2339,2398,2281,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9193,0.83,131.3,3253,3550,2397,2281,804.6,11.7,782,9199,0.10,2.35,0.00,0.000,5126,0.318,0.046,3245,2135,2339,2397,2281,0,0,0,0,0,0,14.35,14.60,28.83
$GC,9522,0.83,131.3,3244,2135,2397,2280,771.4,10.1,797,9528,0.00,2.30,0.00,0.000,516,0.000,0.070,3255,742,2338,2397,2280,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9595,0.83,131.3,3255,742,2397,2281,763.5,10.8,812,9599,0.00,2.28,0.00,0.000,1030,0.000,0.050,3255,2140,2339,2397,2281,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9907,0.83,131.3,3255,2140,2396,2280,730.8,10.8,824,9913,0.00,2.35,0.00,0.000,260,0.000,0.069,3255,3548,2338,2396,2280,0,0,0,0,0,0,28.83,14.61,28.83
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$STATE,17607,end climb,SURFACE_DEPTH_REACHED
$STATE,17607,begin surface coast
$FINISH,0.3,1.018546
$STATE,17643,end surface coast,CONTROL_FINISHED_OK
$STATE,17643,begin surface
$SM_CCo,17660,17.80,0.135,0,0,508,579.63
$SM_GC,5.41,9.10,0.10,17.80,0.071,0.141,0.135,189,2232,508,-8.58,-0.96,579.63,0,0,0,0,0,0,14.57,14.61,14.40
$IRIDIUM_FIX,1751.90,8957.73,300808,181811
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.36
$INTERNAL_PRESSURE,6.67994
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,12.9,111.465
$10V_AH,11.2,0.000
$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,23.375,190.075,518.175,17.800,0.000,140.251,140.162,318.667,0.000,0.000,5.720,3450.280,10609.487,664.490,3716.675,244.558,0.000,2122.992,0.000,2552.502,0.000,0.553,0.000
$DEVICE_MAMPS,345.780,172.125,2362.320,135.405,0.000,29.840,160.000,223.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,912.965,607.194,1593.362,973.559,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322188
$DATA_FILE_SIZE,140906,1742
$CAP_FILE_SIZE,193031,0
$CFSIZE,2097086464,2044067840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.057, 73.2,1
$GPS,041115,095902,1759.859,8926.957,116,0.9,120,-0.9