version: 66.11
glider: 615
mission: 5
dive: 533
start: 1 6 116 14 14 20
data:
$ID,615
$MISSION,5
$DIVE,533
$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,-29122.799
$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,74
$R_STBD_OVSHOOT,71
$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
$GPS1,060116,115333,1747.447,8937.106,41,1.0,41,-0.9
$_CALLS,7
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.3
$GPS2,060116,141350,1748.380,8936.636,37,1.2,38,-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,231.4,73116,-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,-126.5,135,2157,553,502,0.0,0.0,0,75,0.00,0.00,-56.20,0.000,16386,0.000,0.000,135,2157,2040,2041,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.82,-126.5,135,2157,2041,2040,3.3,-7.7,9,126,10.85,2.40,-28.08,0.000,18692,0.333,0.083,2663,3576,3390,3402,3378,0,0,0,0,0,0,14.10,14.59,14.90
$GC,228,-0.82,-126.5,2663,3576,3401,3378,44.3,-29.1,35,237,0.08,2.12,0.00,0.000,3078,0.273,0.037,2676,2222,3390,3402,3378,0,0,0,0,0,0,14.45,14.67,28.83
$GC,423,-0.82,-126.5,2677,2220,3402,3377,97.6,-19.4,72,431,0.00,2.33,0.00,0.000,516,0.000,0.052,2677,812,3389,3402,3377,0,0,0,0,0,0,28.83,14.47,28.83
$GC,450,-0.82,-126.5,2677,811,3402,3377,102.9,-20.6,76,457,0.00,2.22,0.00,0.000,1030,0.000,0.045,2669,2168,3389,3402,3377,0,0,0,0,0,0,28.83,14.43,28.83
$GC,644,-0.82,-126.5,2669,2168,3402,3377,134.3,-15.3,113,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2168,3389,3402,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,837,-0.82,-126.5,2669,2168,3402,3377,161.0,-12.8,150,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2168,3389,3402,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1030,-0.82,-126.5,2669,2168,3402,3377,187.4,-13.8,187,1038,0.00,2.38,0.00,0.000,260,0.000,0.067,2658,3609,3390,3402,3378,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1092,-0.82,-126.5,2657,3609,3402,3377,195.7,-12.6,198,1100,0.05,2.30,0.00,0.000,3078,0.204,0.036,2683,2191,3389,3402,3377,0,0,0,0,0,0,14.34,14.52,28.83
$GC,1288,-0.82,-126.5,2683,2192,3402,3377,218.6,-12.4,220,1297,0.00,2.30,0.00,0.000,260,0.000,0.065,2675,3601,3389,3402,3377,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1350,-0.82,-126.5,2675,3601,3402,3377,227.7,-13.4,232,1359,0.00,2.20,0.00,0.000,1030,0.000,0.037,2674,2199,3389,3402,3377,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1660,-0.82,-126.5,2675,2199,3402,3373,265.0,-12.7,264,1669,0.00,2.30,0.00,0.000,260,0.000,0.065,2664,3602,3387,3402,3373,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1716,-0.82,-126.5,2664,3602,3402,3372,272.5,-12.7,275,1723,0.08,2.22,0.00,0.000,3078,0.259,0.037,2679,2197,3387,3402,3372,0,0,0,0,0,0,14.49,14.69,28.83
$GC,2023,-0.82,-126.5,2679,2197,3402,3370,312.0,-13.2,306,2032,0.00,2.25,0.00,0.000,516,0.000,0.063,2679,808,3385,3402,3369,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2088,-0.82,-126.5,1712,809,3387,3366,321.1,-13.4,319,2096,0.00,2.25,0.00,0.000,1030,0.000,0.047,2671,2209,3385,3401,3369,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2409,-0.82,-126.5,2671,2209,3401,3362,364.2,-13.6,346,2415,0.00,2.28,0.00,0.000,516,0.000,0.062,2671,811,3381,3401,3362,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2458,-0.82,-126.5,2671,811,3401,3362,371.6,-14.0,356,2462,0.08,2.25,0.00,0.000,3078,0.287,0.050,2676,2206,3381,3401,3362,0,0,0,0,0,0,14.40,14.60,28.83
$GC,2773,-0.82,-126.5,2676,2206,3400,3356,411.6,-12.2,373,2777,0.00,2.30,0.00,0.000,516,0.000,0.065,2676,815,3378,3400,3356,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2829,-0.82,-126.5,2676,814,3399,3356,419.1,-12.6,384,2836,0.00,2.33,0.00,0.000,1030,0.000,0.051,2668,2196,3377,3398,3356,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3137,-0.82,-126.5,2668,2197,3397,3352,458.1,-12.7,400,3142,0.00,2.28,0.00,0.000,516,0.000,0.064,2668,813,3374,3397,3352,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3198,-0.82,-126.5,2668,813,3396,3352,466.0,-12.2,412,3203,0.00,2.22,0.00,0.000,1030,0.000,0.053,2665,2193,3374,3396,3352,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3508,-0.82,-126.5,2665,2193,3395,3349,505.4,-12.9,430,3514,0.00,2.38,0.00,0.000,260,0.000,0.074,2656,3602,3372,3395,3349,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3551,-0.82,-126.5,2657,3602,3394,3349,511.3,-12.6,439,3558,0.10,2.25,0.00,0.000,3078,0.236,0.041,2679,2203,3371,3394,3349,0,0,0,0,0,0,14.38,14.62,28.83
$GC,3868,-0.82,-126.5,2679,2203,3392,3345,548.9,-12.0,452,3874,0.00,2.30,0.00,0.000,516,0.000,0.067,2678,811,3368,3392,3345,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3951,-0.82,-126.5,2679,812,3391,3344,559.3,-12.0,469,3958,0.00,2.28,0.00,0.000,1030,0.000,0.052,2671,2203,3367,3390,3345,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4258,-0.82,-126.5,2671,2203,3390,3343,596.6,-12.5,480,4259,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2203,3366,3389,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4558,-0.82,-126.5,2671,2204,3388,3341,632.8,-11.9,490,4564,0.00,2.30,0.00,0.000,516,0.000,0.068,2671,795,3365,3389,3341,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4642,-0.82,-126.5,2671,795,3387,3341,642.9,-11.7,507,4649,0.08,2.33,0.00,0.000,3078,0.303,0.054,2676,2208,3364,3387,3341,0,0,0,0,0,0,14.29,14.51,28.83
$GC,4949,-0.82,-126.5,2676,2208,3385,3337,677.4,-11.3,518,4954,0.00,2.33,0.00,0.000,516,0.000,0.070,2676,812,3361,3385,3337,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4978,-0.82,-126.5,2676,812,3385,3337,681.0,-12.1,524,4982,0.00,2.28,0.00,0.000,1030,0.000,0.054,2669,2199,3361,3385,3337,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5312,-0.82,-126.5,2669,2199,3383,3336,720.3,-11.9,540,5318,0.00,2.33,0.00,0.000,516,0.000,0.068,2669,807,3360,3384,3336,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5355,-0.82,-126.5,2669,806,3383,3336,725.9,-12.3,549,5361,0.00,2.30,0.00,0.000,1030,0.000,0.055,2665,2201,3359,3383,3336,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5672,-0.82,-126.5,2665,2200,3381,3335,764.1,-12.2,562,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2200,3357,3381,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5972,-0.82,-126.5,2666,2201,3380,3333,800.9,-12.3,572,5977,0.00,2.33,0.00,0.000,516,0.000,0.070,2666,810,3356,3379,3333,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6005,-0.82,-126.5,2666,810,3379,3333,805.3,-12.9,579,6011,0.00,2.30,0.00,0.000,1030,0.000,0.056,2666,2198,3356,3380,3333,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6332,-0.82,-126.5,2666,2199,3379,3332,844.8,-12.1,594,6338,0.00,2.33,0.00,0.000,516,0.000,0.070,2665,817,3355,3379,3332,0,0,0,0,0,0,28.83,14.27,28.83
$GC,6355,-0.82,-126.5,2666,817,3378,3332,847.9,-13.1,599,6361,0.00,2.30,0.00,0.000,1030,0.000,0.056,2666,2201,3355,3378,3332,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6662,-0.82,-126.5,2666,2202,3378,3330,884.8,-12.1,610,6668,0.00,2.35,0.00,0.000,516,0.000,0.070,2666,814,3353,3378,3329,0,0,0,0,0,0,28.83,14.24,28.83
$GC,6692,-0.82,-126.5,2666,814,3378,3330,888.6,-13.4,616,6696,0.00,2.33,0.00,0.000,1030,0.000,0.056,2666,2202,3353,3378,3329,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7025,-0.82,-126.5,2666,2203,3378,3328,929.2,-12.1,632,7030,0.00,2.35,0.00,0.000,516,0.000,0.071,2666,811,3353,3378,3328,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7055,-0.82,-126.5,2665,812,3378,3328,932.8,-12.9,638,7059,0.00,2.33,0.00,0.000,1030,0.000,0.057,2665,2200,3352,3377,3328,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7387,-0.82,-126.5,2666,2201,3377,3328,971.2,-11.4,654,7389,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2201,3352,3377,3327,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7564,begin apogee
$GC,7573,-0.16,0.0,2666,2138,3377,3326,991.6,-11.3,660,7687,0.90,0.00,109.28,2.462,10246,0.279,0.000,2884,2138,2873,2920,2826,0,0,0,0,0,0,13.48,28.83,12.86
$STATE,7690,end apogee,CONTROL_FINISHED_OK
$STATE,7690,begin climb
$GC,7694,0.82,126.5,2885,2137,2912,2816,995.9,0.0,684,7821,1.15,2.55,114.25,2.433,10500,0.226,0.073,3198,3552,2348,2408,2289,0,0,0,0,0,0,14.00,14.14,12.96
$GC,7871,0.83,134.0,3197,3552,2402,2286,988.1,8.8,720,7881,0.00,2.33,3.47,1.240,9222,0.000,0.047,3197,2149,2326,2385,2267,0,0,0,0,0,0,28.83,14.37,12.93
$GC,8202,0.85,145.6,3198,2149,2393,2275,959.6,8.6,736,8224,0.08,2.42,15.85,2.101,10756,0.262,0.084,3211,739,2272,2332,2212,0,0,0,0,0,0,14.53,14.47,13.27
$GC,8372,0.85,145.6,3211,739,2325,2209,943.2,9.3,770,8379,0.00,2.38,0.00,0.000,1030,0.000,0.054,3212,2150,2266,2324,2208,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8680,0.85,145.6,3211,2150,2324,2205,913.9,9.6,781,8686,0.00,2.42,0.00,0.000,516,0.000,0.086,3211,739,2264,2324,2205,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8779,0.85,145.6,3211,739,2324,2205,904.2,9.3,801,8783,0.00,2.33,0.00,0.000,1030,0.000,0.054,3211,2147,2264,2324,2205,0,0,0,0,0,0,28.83,14.55,28.83
$GC,9103,0.85,145.6,3211,2147,2323,2204,873.5,9.7,815,9107,0.00,2.45,0.00,0.000,516,0.000,0.085,3211,739,2263,2323,2204,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9237,0.85,145.6,3211,738,2322,2204,860.5,9.4,841,9243,0.00,2.30,0.00,0.000,1030,0.000,0.054,3211,2139,2263,2322,2204,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9558,0.85,145.6,3210,2139,2321,2202,828.9,10.0,855,9564,0.00,2.40,0.00,0.000,516,0.000,0.086,3210,742,2262,2322,2202,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9661,0.85,145.6,3211,742,2321,2202,818.4,10.0,876,9668,0.00,2.33,0.00,0.000,1030,0.000,0.054,3207,2153,2261,2321,2202,0,0,0,0,0,0,28.83,14.52,28.83
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$STATE,17584,end climb,SURFACE_DEPTH_REACHED
$STATE,17584,begin surface coast
$FINISH,0.2,1.002867
$STATE,17622,end surface coast,CONTROL_FINISHED_OK
$STATE,17622,begin surface
$SM_CCo,17645,54.67,0.126,0,0,508,579.63
$SM_GC,1.79,8.90,0.12,54.67,0.052,0.122,0.126,177,2256,508,-8.59,-0.76,579.63,0,0,0,0,0,0,14.57,14.58,14.31
$IRIDIUM_FIX,1740.58,8939.62,021108,030303
$TT8_MAMPS,0.018725,0.018725
$HUMID,53.18
$INTERNAL_PRESSURE,6.66041
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,12.9,203.076
$10V_AH,9.9,0.000
$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
$DEVICE_SECS,22.725,192.300,511.700,54.675,0.000,174.223,286.113,807.849,0.000,0.000,39.416,4112.812,10502.318,691.810,4464.214,6325.243,0.000,2185.073,0.000,2597.086,0.000,0.554,0.000
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$SENSOR_SECS,900.995,587.709,1513.822,925.568,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322652
$DATA_FILE_SIZE,144065,1782
$CAP_FILE_SIZE,195173,0
$CFSIZE,2097086464,1939668992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.054,356.5,1
$GPS,060116,191035,1747.834,8935.121,31,1.0,31,-0.9