version: 66.11
glider: 615
mission: 5
dive: 494
start: 12 19 115 16 31 33
data:
$ID,615
$MISSION,5
$DIVE,494
$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,-26401.188
$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,50
$R_STBD_OVSHOOT,69
$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,315
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$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
$GPS1,191215,150703,1730.191,8859.572,75,1.4,75,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-70.8
$GPS2,191215,163052,1730.101,8857.602,8,0.9,9,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,ES
$TGT_LATLONG,1730.000,8900.000
$TGT_RADIUS,500.000
$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,88.7,4240,-23.5,-9.167,-27.67,1717
$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,17,-0.86,-106.5,115,2240,560,493,0.0,0.0,0,63,0.00,0.00,-44.72,0.000,16386,0.000,0.000,115,2240,1792,1787,1798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.86,-106.5,115,2240,1787,1799,3.9,-9.4,7,114,11.32,2.40,-28.62,0.000,18948,0.353,0.076,2659,800,3309,3323,3295,0,0,0,0,0,0,14.04,14.64,14.96
$GC,122,-0.86,-106.5,2658,800,3323,3295,18.9,-25.6,15,130,0.08,2.17,0.00,0.000,3078,0.350,0.044,2661,2178,3309,3323,3295,0,0,0,0,0,0,14.42,14.69,28.83
$GC,316,-0.86,-106.5,1648,2176,3304,3291,82.8,-21.0,52,323,0.00,2.35,0.00,0.000,260,0.000,0.060,2651,3603,3307,3322,3293,0,0,0,0,0,0,28.83,14.59,28.83
$GC,459,-0.86,-106.5,1608,3603,3303,3291,110.4,-17.8,79,466,0.00,2.20,0.00,0.000,1030,0.000,0.036,2652,2194,3308,3323,3293,0,0,0,0,0,0,28.83,14.75,28.83
$GC,652,-0.86,-106.5,2652,2193,3323,3293,138.5,-14.7,116,659,0.00,2.28,0.00,0.000,516,0.000,0.054,2651,811,3308,3323,3293,0,0,0,0,0,0,28.83,14.56,28.83
$GC,733,-0.86,-106.5,1632,811,3305,3291,149.6,-13.2,131,740,0.10,2.17,0.00,0.000,3078,0.287,0.041,2660,2211,3308,3323,3293,0,0,0,0,0,0,14.47,14.73,28.83
$GC,926,-0.86,-106.5,1664,2209,3305,3291,171.8,-11.7,168,933,0.00,2.30,0.00,0.000,260,0.000,0.062,2652,3585,3308,3323,3293,0,0,0,0,0,0,28.83,14.56,28.83
$GC,991,-0.86,-106.5,2652,3585,3323,3293,180.2,-12.9,180,998,0.00,2.22,0.00,0.000,1030,0.000,0.037,2652,2208,3307,3322,3293,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1185,-0.86,-106.5,2652,2208,3323,3293,205.8,-13.5,213,1189,0.00,2.25,0.00,0.000,260,0.000,0.061,2642,3592,3307,3323,3292,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1242,-0.86,-106.5,2642,3592,3323,3292,214.0,-13.7,224,1250,0.08,2.25,0.00,0.000,3078,0.217,0.036,2663,2195,3307,3323,3292,0,0,0,0,0,0,14.38,14.60,28.83
$GC,1549,-0.86,-106.5,2663,2196,3323,3289,250.3,-11.7,255,1560,0.00,2.22,0.00,0.000,516,0.000,0.060,2663,807,3306,3323,3289,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1617,-0.86,-106.5,2663,807,3322,3289,258.8,-11.7,268,1624,0.00,2.25,0.00,0.000,1030,0.000,0.044,2656,2186,3306,3323,3289,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1925,-0.86,-106.5,2656,2186,3322,3284,298.9,-13.4,299,1935,0.00,2.30,0.00,0.000,260,0.000,0.065,2646,3598,3302,3322,3283,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2001,-0.86,-106.5,2646,3597,3322,3282,308.9,-13.2,313,2012,0.05,2.20,0.00,0.000,3078,0.230,0.038,2660,2199,3301,3322,3281,0,0,0,0,0,0,14.35,14.76,28.83
$GC,2313,-0.86,-106.5,2660,2198,3322,3276,349.3,-13.0,345,2323,0.00,2.22,0.00,0.000,516,0.000,0.062,2660,817,3299,3322,3276,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2406,-0.86,-106.5,2660,817,3322,3275,362.4,-12.7,363,2410,0.00,2.22,0.00,0.000,1030,0.000,0.047,2654,2211,3298,3322,3275,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2713,-0.86,-106.5,2654,2212,3321,3270,402.3,-13.4,379,2719,0.00,2.25,0.00,0.000,516,0.000,0.062,2654,818,3295,3321,3270,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2774,-0.86,-106.5,2653,817,3320,3270,410.5,-13.5,391,2780,0.00,2.22,0.00,0.000,1030,0.000,0.049,2652,2216,3294,3320,3269,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3094,-0.86,-106.5,2652,2216,3319,3265,452.8,-13.1,410,3100,0.00,2.28,0.00,0.000,516,0.000,0.063,2652,816,3292,3319,3266,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3135,-0.86,-106.5,2652,816,3318,3266,458.3,-13.5,418,3141,0.00,2.22,0.00,0.000,1030,0.000,0.050,2652,2212,3292,3318,3266,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3455,-0.86,-106.5,2652,2212,3315,3262,499.0,-12.4,437,3461,0.00,2.30,0.00,0.000,516,0.000,0.064,2652,812,3289,3316,3262,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3486,-0.86,-106.5,2652,812,3314,3262,503.0,-13.0,443,3493,0.03,2.22,0.00,0.000,3078,0.321,0.050,2658,2199,3288,3315,3261,0,0,0,0,0,0,14.41,14.65,28.83
$GC,3817,-0.86,-106.5,2658,2199,3313,3258,542.0,-11.7,459,3821,0.00,2.33,0.00,0.000,516,0.000,0.066,2658,809,3285,3312,3258,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3868,-0.86,-106.5,2658,809,3312,3258,548.7,-12.2,469,3872,0.00,2.25,0.00,0.000,1030,0.000,0.050,2657,2202,3285,3312,3259,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4175,-0.86,-106.5,2657,2202,3311,3255,586.0,-12.4,480,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2202,3283,3311,3255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4475,-0.86,-106.5,2657,2202,3310,3254,623.3,-12.5,490,4481,0.00,2.30,0.00,0.000,516,0.000,0.067,2656,809,3281,3309,3253,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4535,-0.86,-106.5,2657,809,3309,3254,631.1,-12.8,502,4541,0.00,2.25,0.00,0.000,1030,0.000,0.052,2657,2202,3281,3309,3253,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4865,-0.86,-106.5,2657,2201,3307,3251,673.4,-12.9,518,4871,0.00,2.28,0.00,0.000,516,0.000,0.068,2657,819,3279,3307,3251,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4903,-0.86,-106.5,2657,819,3306,3251,678.8,-13.5,526,4907,0.00,2.25,0.00,0.000,1030,0.000,0.053,2657,2201,3278,3306,3251,0,0,0,0,0,0,28.83,14.63,28.83
$GC,5222,-0.86,-106.5,2657,2201,3305,3249,719.6,-13.0,539,5227,0.00,2.28,0.00,0.000,516,0.000,0.068,2657,818,3277,3305,3249,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5274,-0.86,-106.5,2657,819,3305,3249,727.0,-13.0,550,5282,0.00,2.33,0.00,0.000,1030,0.000,0.054,2656,2192,3276,3304,3248,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5582,-0.86,-106.5,2657,2192,3303,3246,765.4,-12.5,561,5588,0.00,2.28,0.00,0.000,516,0.000,0.069,2657,819,3275,3303,3247,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5614,-0.86,-106.5,2657,819,3303,3246,769.9,-13.0,568,5618,0.00,2.25,0.00,0.000,1030,0.000,0.054,2657,2200,3274,3303,3246,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5937,-0.86,-106.5,2657,2200,3302,3245,809.5,-12.1,582,5943,0.00,2.28,0.00,0.000,516,0.000,0.070,2657,824,3273,3302,3245,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6015,-0.86,-106.5,2657,824,3301,3245,819.6,-12.4,598,6019,0.00,2.25,0.00,0.000,1030,0.000,0.055,2657,2200,3273,3301,3245,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6322,-0.86,-106.5,2656,2200,3301,3243,856.5,-12.1,609,6323,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2200,3272,3301,3243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6623,-0.86,-106.5,2657,2200,3300,3242,892.8,-12.1,619,6629,0.00,2.30,0.00,0.000,516,0.000,0.070,2656,814,3271,3300,3242,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6696,-0.86,-106.5,2657,814,3297,3242,902.5,-12.8,634,6700,0.00,2.28,0.00,0.000,1030,0.000,0.056,2657,2198,3270,3298,3242,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7008,-0.86,-106.5,2656,2199,3297,3241,940.4,-12.3,646,7014,0.00,2.30,0.00,0.000,516,0.000,0.070,2656,816,3269,3298,3241,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7051,-0.86,-106.5,2656,816,3298,3241,946.1,-12.7,655,7056,0.00,2.28,0.00,0.000,1030,0.000,0.057,2656,2201,3269,3297,3241,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7365,-0.86,-106.5,2657,2202,3297,3239,983.7,-12.0,667,7371,0.00,2.33,0.00,0.000,516,0.000,0.071,2657,814,3268,3297,3239,0,0,0,0,0,0,28.83,14.40,28.83
$STATE,7409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7409,begin apogee
$GC,7419,-0.16,0.0,2657,2146,3297,3239,990.0,-12.9,677,7515,0.90,0.00,90.03,2.427,10246,0.271,0.000,2887,2147,2869,2916,2822,0,0,0,0,0,0,14.02,28.83,12.82
$STATE,7516,end apogee,CONTROL_FINISHED_OK
$STATE,7516,begin climb
$GC,7519,0.86,106.5,2887,2147,2911,2814,994.2,0.0,697,7622,1.02,0.00,98.25,2.481,10758,0.112,0.000,3228,2148,2438,2492,2385,0,0,0,0,0,0,14.15,28.83,12.97
$GC,7908,0.88,118.3,3228,2148,2477,2367,970.5,8.5,720,7925,0.00,2.42,10.60,1.992,8708,0.000,0.070,3238,749,2383,2441,2326,0,0,0,0,0,0,28.83,14.52,13.26
$GC,8002,0.88,118.3,3238,749,2438,2324,961.3,9.5,740,8007,0.00,2.28,0.00,0.000,1030,0.000,0.050,3238,2145,2381,2438,2324,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8321,0.88,118.3,3238,2144,2437,2320,930.1,10.0,753,8327,0.00,2.30,0.00,0.000,516,0.000,0.068,3248,757,2379,2437,2321,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8353,0.88,118.3,3248,757,2437,2321,926.6,10.4,760,8357,0.00,2.25,0.00,0.000,1030,0.000,0.050,3248,2141,2378,2436,2321,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8676,0.88,118.3,3248,2141,2434,2319,893.8,10.1,774,8677,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,2141,2377,2436,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8976,0.88,118.3,3248,2141,2435,2318,864.6,9.5,784,8982,0.00,2.30,0.00,0.000,516,0.000,0.069,3258,759,2376,2435,2318,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9006,0.88,120.9,3258,759,2435,2318,861.8,9.0,790,9010,0.00,2.25,0.00,0.000,1030,0.000,0.050,3258,2142,2376,2434,2318,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9339,0.88,121.4,3258,2142,2434,2317,831.1,9.1,806,9340,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,2142,2375,2434,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9639,0.89,128.8,3258,2142,2433,2316,804.8,8.7,816,9650,0.00,2.38,4.28,1.389,8708,0.000,0.068,3268,753,2352,2412,2292,0,0,0,0,0,0,28.83,14.55,13.32
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$STATE,18375,end climb,SURFACE_DEPTH_REACHED
$STATE,18375,begin surface coast
$FINISH,0.2,1.008344
$STATE,18408,end surface coast,CONTROL_FINISHED_OK
$STATE,18408,begin surface
$SM_CCo,18432,1.58,0.155,0,0,509,579.63
$SM_GC,2.22,9.15,2.20,1.58,0.061,0.040,0.155,186,2193,509,-8.57,1.36,579.63,0,0,0,0,0,0,14.63,14.60,14.40
$IRIDIUM_FIX,1720.22,8858.98,141008,232342
$TT8_MAMPS,0.017976,0.017976
$HUMID,51.18
$INTERNAL_PRESSURE,6.72877
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,12.8,180.848
$10V_AH,10.3,0.000
$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
$DEVICE_SECS,23.425,201.825,569.650,1.575,0.000,158.279,39.625,0.000,0.250,0.000,9.929,4063.070,10923.364,680.825,3377.005,4410.954,0.000,2196.482,0.000,2642.082,0.000,0.554,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,958.639,634.251,1610.465,984.231,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322944
$DATA_FILE_SIZE,147415,1803
$CAP_FILE_SIZE,195317,0
$CFSIZE,2097086464,1959034880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.048,100.5,1
$GPS,191215,214055,1730.013,8859.844,64,2.5,84,-0.9