version: 66.11
glider: 615
mission: 5
dive: 530
start: 1 5 116 16 53 2
data:
$ID,615
$MISSION,5
$DIVE,530
$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,7
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-29119.027
$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,33
$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
$MINV_10V,9.8000002
$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
$GPS1,050116,144427,1748.080,8940.215,40,1.5,40,-0.9
$_CALLS,7
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-68.9
$GPS2,050116,165233,1748.543,8941.299,31,0.9,31,-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,244.5,80625,-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,17,-0.82,-126.5,185,2208,552,505,0.0,0.0,0,74,0.00,0.00,-54.80,0.000,16386,0.000,0.000,185,2208,1998,1999,1998,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.82,-126.5,184,2208,1999,1998,3.2,-7.2,9,131,10.62,2.35,-31.05,0.000,18692,0.332,0.078,2664,3611,3389,3401,3378,0,0,0,0,0,0,14.13,14.32,14.91
$GC,211,-0.82,-126.5,2663,3611,3401,3378,35.4,-27.1,31,218,0.08,2.25,0.00,0.000,3078,0.269,0.038,2677,2184,3389,3401,3378,0,0,0,0,0,0,14.43,14.65,28.83
$GC,411,-0.82,-126.5,2677,2182,3401,3377,94.8,-22.3,68,418,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2181,3389,3401,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,611,-0.82,-126.5,2677,2181,3401,3377,129.8,-14.1,105,617,0.00,2.20,0.00,0.000,516,0.000,0.054,2677,806,3388,3401,3376,0,0,0,0,0,0,28.83,14.59,28.83
$GC,668,-0.82,-126.5,2677,806,3401,3377,137.8,-14.8,115,675,0.00,2.22,0.00,0.000,1030,0.000,0.043,2669,2220,3389,3401,3377,0,0,0,0,0,0,28.83,14.64,28.83
$GC,866,-0.82,-126.5,2669,2220,3402,3377,164.3,-14.4,152,873,0.00,2.33,0.00,0.000,260,0.000,0.058,2658,3601,3389,3401,3377,0,0,0,0,0,0,28.83,14.44,28.83
$GC,960,-0.82,-126.5,2658,3601,3401,3377,176.9,-12.9,169,968,0.10,2.20,0.00,0.000,3078,0.246,0.036,2681,2181,3389,3401,3377,0,0,0,0,0,0,14.42,14.71,28.83
$GC,1165,-0.82,-126.5,2681,2181,3401,3377,201.7,-12.4,206,1169,0.00,2.33,0.00,0.000,260,0.000,0.059,2672,3606,3389,3401,3377,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1201,-0.82,-126.5,2671,3606,3401,3377,206.5,-12.4,213,1208,0.00,2.20,0.00,0.000,1030,0.000,0.036,2671,2199,3389,3401,3377,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1508,-0.82,-126.5,2672,2199,3401,3375,244.6,-13.3,244,1516,0.00,2.28,0.00,0.000,260,0.000,0.060,2661,3603,3387,3401,3374,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1533,-0.82,-126.5,1680,3603,3387,3371,248.0,-12.5,249,1541,0.08,2.20,0.00,0.000,3078,0.257,0.037,2676,2197,3387,3401,3373,0,0,0,0,0,0,14.47,14.70,28.83
$GC,1840,-0.82,-126.5,2676,2197,3401,3371,283.9,-11.6,280,1841,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2197,3386,3401,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2145,-0.82,-126.5,2676,2196,3401,3365,320.8,-12.7,310,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2196,3383,3401,3365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2462,-0.82,-126.5,2676,2196,3401,3359,361.2,-12.5,338,2468,0.00,2.25,0.00,0.000,516,0.000,0.061,2677,819,3380,3401,3359,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2530,-0.82,-126.5,2676,819,3399,3359,370.1,-11.9,352,2534,0.00,2.22,0.00,0.000,1030,0.000,0.050,2669,2197,3379,3399,3359,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2838,-0.82,-126.5,2669,2198,3396,3354,408.0,-12.8,368,2844,0.00,2.25,0.00,0.000,516,0.000,0.064,2668,827,3375,3397,3354,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2886,-0.82,-126.5,2668,827,3396,3354,414.2,-11.7,378,2891,0.10,2.22,0.00,0.000,3078,0.254,0.051,2681,2201,3375,3396,3354,0,0,0,0,0,0,14.33,14.55,28.83
$GC,3201,-0.82,-126.5,2681,2202,3395,3351,451.0,-12.0,395,3205,0.00,2.38,0.00,0.000,260,0.000,0.075,2672,3601,3373,3395,3351,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3266,-0.82,-126.5,2672,3601,3394,3351,458.3,-11.5,407,3272,0.00,2.22,0.00,0.000,1030,0.000,0.043,2672,2203,3372,3394,3350,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3587,-0.82,-126.5,2672,2203,3392,3346,497.5,-12.3,426,3591,0.00,2.33,0.00,0.000,516,0.000,0.070,2672,810,3369,3392,3346,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3623,-0.82,-126.5,2672,809,3392,3346,502.5,-12.4,433,3627,0.00,2.30,0.00,0.000,1030,0.000,0.056,2668,2208,3369,3392,3346,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3952,-0.82,-126.5,2668,2209,3390,3344,544.6,-13.1,448,3958,0.00,2.35,0.00,0.000,260,0.000,0.076,2657,3595,3366,3390,3343,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3990,-0.82,-126.5,2657,3595,3389,3343,549.9,-13.0,456,3997,0.10,2.28,0.00,0.000,3078,0.223,0.047,2679,2201,3366,3389,3343,0,0,0,0,0,0,14.35,14.56,28.83
$GC,4312,-0.82,-126.5,2679,2200,3388,3342,586.8,-11.2,470,4318,0.00,2.30,0.00,0.000,516,0.000,0.067,2679,805,3364,3387,3341,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4405,-0.82,-126.5,2679,805,3386,3341,597.5,-10.8,489,4411,0.00,2.30,0.00,0.000,1030,0.000,0.054,2672,2209,3363,3386,3341,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4732,-0.82,-126.5,2672,2209,3385,3337,634.6,-11.4,504,4733,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2209,3361,3385,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5034,-0.82,-126.5,2671,2209,3383,3336,669.4,-11.8,514,5040,0.00,2.33,0.00,0.000,516,0.000,0.068,2672,809,3359,3383,3336,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5072,-0.82,-126.5,2671,808,3382,3336,674.5,-12.1,522,5079,0.08,2.30,0.00,0.000,3078,0.288,0.055,2677,2205,3359,3382,3336,0,0,0,0,0,0,14.27,14.47,28.83
$GC,5394,-0.82,-126.5,2677,2205,3380,3335,712.0,-11.8,536,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2205,3357,3380,3335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5694,-0.82,-126.5,2677,2205,3378,3334,747.1,-11.8,546,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2205,3356,3379,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5994,-0.82,-126.5,2677,2205,3378,3333,781.0,-11.1,556,6000,0.00,2.35,0.00,0.000,516,0.000,0.071,2677,806,3355,3378,3332,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6087,-0.82,-126.5,2677,805,3378,3333,791.7,-10.9,575,6093,0.00,2.33,0.00,0.000,1030,0.000,0.057,2671,2205,3355,3378,3333,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6414,-0.82,-126.5,2671,2206,3377,3331,828.5,-11.4,590,6420,0.00,2.40,0.00,0.000,260,0.000,0.080,2669,3602,3354,3377,3331,0,0,0,0,0,0,28.83,14.22,28.83
$GC,6447,-0.82,-126.5,2669,3602,3377,3331,832.5,-11.6,597,6453,0.00,2.33,0.00,0.000,1030,0.000,0.047,2669,2192,3353,3376,3331,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6774,-0.82,-126.5,2669,2192,3377,3328,869.3,-11.4,612,6780,0.00,2.33,0.00,0.000,516,0.000,0.072,2669,810,3352,3377,3328,0,0,0,0,0,0,28.83,14.20,28.83
$GC,6857,-0.82,-126.5,2669,810,3376,3326,879.1,-11.5,629,6864,0.00,2.33,0.00,0.000,1030,0.000,0.060,2669,2196,3352,3376,3328,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7164,-0.82,-126.5,2669,2197,3375,3327,913.2,-11.2,640,7170,0.00,2.35,0.00,0.000,516,0.000,0.072,2669,806,3351,3375,3327,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7202,-0.82,-126.5,2669,806,3375,3327,917.9,-11.4,648,7208,0.00,2.35,0.00,0.000,1030,0.000,0.060,2669,2208,3350,3374,3327,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7524,-0.82,-126.5,2669,2208,3374,3326,953.6,-11.2,662,7525,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2208,3349,3374,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7824,-0.82,-126.5,2669,2208,3373,3325,987.2,-11.2,672,7825,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2208,3348,3373,3324,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7853,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7853,begin apogee
$GC,7861,-0.16,0.0,2669,2131,3372,3324,990.6,-11.2,673,8018,0.82,0.00,149.27,1.992,10246,0.241,0.000,2884,2130,2873,2920,2826,0,0,0,0,0,0,13.58,28.83,13.07
$STATE,8019,end apogee,CONTROL_FINISHED_OK
$STATE,8019,begin climb
$GC,8023,0.82,126.5,2884,2130,2912,2818,996.5,0.0,706,8152,1.08,2.50,113.68,2.343,10500,0.178,0.074,3202,3548,2345,2403,2287,0,0,0,0,0,0,14.06,14.12,12.96
$GC,8165,0.89,175.8,3202,3548,2402,2285,991.9,6.7,734,8216,0.10,2.38,45.05,2.281,11270,0.227,0.050,3229,2145,2155,2219,2091,0,0,0,0,0,0,14.17,14.28,13.02
$GC,8519,0.89,175.8,3229,2145,2200,2073,949.2,13.0,754,8525,0.00,2.40,0.00,0.000,516,0.000,0.089,3228,744,2137,2201,2073,0,0,0,0,0,0,28.83,14.39,28.83
$GC,8669,0.89,175.8,3230,744,2200,2073,929.9,12.7,784,8675,0.00,2.30,0.00,0.000,1030,0.000,0.059,3229,2139,2136,2200,2073,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9000,0.89,175.8,3229,2139,2199,2071,887.2,13.0,800,9006,0.00,2.38,0.00,0.000,516,0.000,0.086,3235,734,2134,2198,2071,0,0,0,0,0,0,28.83,14.41,28.83
$GC,9126,0.89,175.8,2256,734,2141,2065,871.0,13.2,825,9132,0.00,2.30,0.00,0.000,1030,0.000,0.057,3232,2137,2134,2198,2071,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9450,0.89,175.8,3232,2137,2196,2070,829.3,12.6,840,9456,0.00,2.40,0.00,0.000,516,0.000,0.085,3236,740,2133,2197,2070,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9534,0.89,175.8,3237,740,2197,2069,818.6,12.5,857,9541,0.00,2.33,0.00,0.000,1030,0.000,0.057,3233,2141,2133,2197,2070,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9841,0.89,175.8,3233,2141,2196,2069,781.0,12.3,868,9843,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2142,2132,2196,2069,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10141,0.89,175.8,3233,2141,2196,2069,745.1,11.9,878,10147,0.00,2.40,0.00,0.000,516,0.000,0.083,3240,744,2132,2195,2069,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10277,0.89,175.8,3240,744,2195,2069,728.8,12.1,905,10282,0.00,2.30,0.00,0.000,1030,0.000,0.057,3237,2139,2131,2194,2069,0,0,0,0,0,0,28.83,14.42,28.83
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$STATE,17038,end climb,SURFACE_DEPTH_REACHED
$STATE,17038,begin surface coast
$FINISH,0.6,1.020370
$STATE,17067,end surface coast,CONTROL_FINISHED_OK
$STATE,17067,begin surface
$SM_CCo,17089,63.70,0.128,0,0,509,579.63
$SM_GC,2.32,8.98,0.08,63.70,0.063,0.181,0.128,184,2228,509,-8.57,-0.96,579.63,0,0,0,0,0,0,14.57,14.59,14.31
$IRIDIUM_FIX,1740.58,8842.96,011108,060659
$TT8_MAMPS,0.018725,0.018725
$HUMID,52.87
$INTERNAL_PRESSURE,6.67018
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,13.0,201.724
$10V_AH,10.0,0.000
$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,22.425,169.275,547.600,63.700,0.000,168.958,349.327,258.931,0.000,0.000,32.013,4003.178,10213.392,702.598,3789.342,6110.719,0.000,2111.723,0.000,2456.737,0.000,0.555,0.000
$DEVICE_MAMPS,332.010,180.540,2343.195,127.755,0.000,29.840,160.000,223.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,890.731,591.820,1475.176,901.836,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322372
$DATA_FILE_SIZE,134276,1680
$CAP_FILE_SIZE,180311,0
$CFSIZE,2097086464,1940946944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.052, 37.8,1
$GPS,050116,214021,1748.250,8939.836,41,0.9,41,-0.9