version: 66.11
glider: 615
mission: 5
dive: 536
start: 1 7 116 11 46 26
data:
$ID,615
$MISSION,5
$DIVE,536
$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,-29126.568
$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,41
$R_STBD_OVSHOOT,50
$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
$GPS1,070116,093951,1747.812,8933.331,39,1.3,39,-0.9
$_CALLS,7
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-66.9
$GPS2,070116,114557,1748.343,8931.281,39,0.8,39,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,ES
$TGT_LATLONG,1740.000,8930.000
$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,192.4,15616,-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,-126.5,115,2210,551,503,0.0,0.0,0,75,0.00,0.00,-56.05,0.000,16386,0.000,0.000,115,2210,2022,2025,2019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.82,-126.5,115,2210,2025,2020,3.1,-7.0,9,132,11.00,2.35,-30.67,0.000,18948,0.330,0.076,2677,801,3389,3402,3377,0,0,0,0,0,0,14.09,14.25,14.92
$GC,215,-0.82,-126.5,1616,801,3386,3375,36.6,-30.1,32,222,0.00,2.28,0.00,0.000,1030,0.000,0.047,2669,2176,3389,3402,3377,0,0,0,0,0,0,28.83,14.43,28.83
$GC,410,-0.82,-126.5,2669,2177,3402,3376,93.5,-20.6,69,418,0.00,2.35,0.00,0.000,260,0.000,0.063,2658,3614,3389,3402,3377,0,0,0,0,0,0,28.83,14.58,28.83
$GC,447,-0.82,-126.5,1632,3614,3387,3374,100.5,-18.9,75,454,0.10,2.25,0.00,0.000,3078,0.245,0.034,2679,2180,3389,3402,3376,0,0,0,0,0,0,14.42,14.69,28.83
$GC,641,-0.82,-126.5,2679,2178,3402,3376,135.6,-15.7,112,648,0.00,2.28,0.00,0.000,516,0.000,0.055,2679,812,3389,3402,3376,0,0,0,0,0,0,28.83,14.42,28.83
$GC,697,-0.82,-126.5,2679,811,3402,3376,143.3,-13.4,122,704,0.00,2.28,0.00,0.000,1030,0.000,0.040,2671,2215,3389,3402,3376,0,0,0,0,0,0,28.83,14.49,28.83
$GC,892,-0.82,-126.5,2671,2215,3402,3376,168.7,-13.9,159,899,0.00,2.25,0.00,0.000,260,0.000,0.062,2661,3595,3389,3402,3376,0,0,0,0,0,0,28.83,14.59,28.83
$GC,948,-0.82,-126.5,2660,3595,3402,3376,176.5,-13.7,169,957,0.08,2.17,0.00,0.000,3078,0.262,0.033,2676,2190,3389,3402,3376,0,0,0,0,0,0,14.47,14.71,28.83
$GC,1143,-0.82,-126.5,2676,2190,3402,3376,200.3,-12.0,206,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2190,3389,3402,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1446,-0.82,-126.5,2676,2189,3401,3374,237.9,-13.0,236,1455,0.00,2.30,0.00,0.000,260,0.000,0.062,2667,3601,3387,3402,3373,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1489,-0.82,-126.5,2667,3601,3401,3373,243.9,-13.0,244,1497,0.00,2.17,0.00,0.000,1030,0.000,0.034,2667,2203,3386,3401,3372,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1799,-0.82,-126.5,2667,2203,3402,3370,284.2,-12.8,276,1808,0.00,2.22,0.00,0.000,516,0.000,0.054,2667,816,3386,3402,3370,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1855,-0.82,-126.5,2667,816,3401,3370,291.9,-13.0,287,1862,0.10,2.20,0.00,0.000,3078,0.256,0.042,2679,2202,3385,3401,3370,0,0,0,0,0,0,14.41,14.64,28.83
$GC,2162,-0.82,-126.5,2679,2203,3401,3364,329.0,-12.1,318,2163,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2203,3382,3401,3364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2463,-0.82,-126.5,2679,2203,3401,3356,366.0,-12.4,342,2467,0.00,2.28,0.00,0.000,516,0.000,0.058,2679,813,3379,3401,3357,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2519,-0.82,-126.5,2679,813,3401,3357,373.4,-12.6,353,2527,0.00,2.30,0.00,0.000,1030,0.000,0.044,2671,2196,3378,3400,3357,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2827,-0.82,-126.5,2671,2197,3399,3352,412.3,-12.8,369,2833,0.00,2.30,0.00,0.000,260,0.000,0.067,2660,3596,3375,3399,3352,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2855,-0.82,-126.5,2660,3596,3398,3352,416.2,-12.9,375,2866,0.08,2.20,0.00,0.000,3078,0.249,0.037,2677,2203,3375,3398,3352,0,0,0,0,0,0,14.45,14.67,28.83
$GC,3168,-0.82,-126.5,2677,2203,3396,3350,453.2,-11.7,392,3174,0.00,2.25,0.00,0.000,516,0.000,0.059,2677,817,3373,3396,3350,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3250,-0.82,-126.5,2677,817,3395,3350,462.6,-11.3,408,3254,0.00,2.22,0.00,0.000,1030,0.000,0.045,2669,2202,3372,3394,3350,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3574,-0.82,-126.5,2669,2202,3393,3345,501.0,-11.9,427,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2202,3369,3393,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3874,-0.82,-126.5,2669,2202,3390,3343,536.6,-11.8,437,3880,0.00,2.30,0.00,0.000,516,0.000,0.065,2669,812,3367,3391,3343,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3897,-0.82,-126.5,2669,812,3391,3343,539.7,-12.7,442,3905,0.10,2.35,0.00,0.000,3078,0.255,0.049,2681,2202,3367,3391,3343,0,0,0,0,0,0,14.26,14.36,28.83
$GC,4204,-0.82,-126.5,2681,2202,3389,3340,574.1,-11.3,453,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2202,3364,3389,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4504,-0.82,-126.5,2681,2202,3387,3337,608.1,-11.3,463,4509,0.00,2.33,0.00,0.000,516,0.000,0.067,2682,817,3363,3388,3338,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4561,-0.82,-126.5,2682,817,3387,3337,614.9,-11.2,474,4568,0.00,2.35,0.00,0.000,1030,0.000,0.052,2674,2198,3362,3387,3337,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4869,-0.82,-126.5,2674,2198,3385,3336,651.4,-12.0,485,4875,0.00,2.38,0.00,0.000,260,0.000,0.076,2664,3620,3360,3384,3336,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4900,-0.82,-126.5,2664,3620,3384,3336,655.1,-12.3,491,4907,0.03,2.28,0.00,0.000,3078,0.223,0.042,2674,2205,3360,3384,3336,0,0,0,0,0,0,14.35,14.53,28.83
$GC,5231,-0.82,-126.5,2674,2204,3383,3334,693.3,-11.4,507,5238,0.00,2.33,0.00,0.000,516,0.000,0.066,2674,810,3358,3382,3334,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5323,-0.82,-126.5,2675,810,3382,3334,703.7,-10.9,525,5329,0.00,2.25,0.00,0.000,1030,0.000,0.050,2667,2199,3357,3381,3334,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5654,-0.82,-126.5,2667,2199,3380,3332,740.6,-10.9,541,5655,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2199,3356,3380,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5954,-0.82,-126.5,2667,2199,3378,3331,773.3,-10.9,551,5958,0.00,2.35,0.00,0.000,516,0.000,0.065,2666,803,3354,3379,3330,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5990,-0.82,-126.5,2667,803,3378,3330,777.7,-11.3,558,5995,0.10,2.33,0.00,0.000,3078,0.256,0.058,2677,2197,3354,3378,3330,0,0,0,0,0,0,14.20,14.42,28.83
$GC,6320,-0.82,-126.5,2677,2198,3378,3327,812.8,-10.9,573,6321,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2198,3352,3377,3327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6620,-0.82,-126.5,2677,2197,3377,3327,846.6,-11.5,583,6624,0.00,2.38,0.00,0.000,516,0.000,0.068,2677,807,3352,3377,3327,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6666,-0.82,-126.5,2677,807,3377,3327,852.4,-12.1,592,6673,0.00,2.30,0.00,0.000,1030,0.000,0.051,2669,2203,3352,3377,3327,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6984,-0.82,-126.5,2669,2204,3377,3325,889.5,-11.6,605,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2204,3351,3377,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7284,-0.82,-126.5,2669,2204,3375,3325,923.7,-11.3,615,7290,0.00,2.35,0.00,0.000,516,0.000,0.066,2669,812,3350,3375,3325,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7323,-0.82,-126.5,2669,812,3374,3324,928.5,-11.7,623,7327,0.08,2.33,0.00,0.000,3078,0.282,0.052,2675,2206,3350,3375,3325,0,0,0,0,0,0,14.20,14.41,28.83
$GC,7647,-0.82,-126.5,2675,2206,3374,3322,962.6,-10.5,637,7648,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2206,3348,3374,3322,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7913,begin apogee
$GC,7922,-0.16,0.0,2675,2144,3373,3321,991.0,-10.6,646,8081,0.75,0.00,151.30,2.018,10246,0.207,0.000,2886,2144,2872,2921,2823,0,0,0,0,0,0,13.76,28.83,13.16
$STATE,8082,end apogee,CONTROL_FINISHED_OK
$STATE,8082,begin climb
$GC,8086,0.82,126.5,2886,2144,2913,2816,996.5,0.0,679,8201,1.00,0.00,111.05,2.141,10502,0.138,0.000,3202,2143,2355,2418,2293,0,0,0,0,0,0,14.13,28.83,13.04
$GC,8482,0.84,141.6,3202,2143,2403,2279,971.4,8.4,709,8502,0.00,2.45,13.77,2.069,8708,0.000,0.080,3208,743,2287,2349,2226,0,0,0,0,0,0,28.83,14.42,13.23
$GC,8554,0.84,141.6,3207,743,2343,2223,964.8,9.2,724,8560,0.00,2.30,0.00,0.000,1030,0.000,0.052,3208,2140,2282,2342,2223,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8873,0.85,143.2,3208,2140,2342,2221,936.1,9.1,737,8879,0.00,2.38,0.00,0.000,516,0.000,0.081,3208,747,2280,2341,2220,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8936,0.85,144.3,3208,747,2341,2221,930.2,9.1,750,8940,0.00,2.30,0.00,0.000,1030,0.000,0.052,3208,2148,2281,2341,2221,0,0,0,0,0,0,28.83,14.56,28.83
$GC,9259,0.85,144.3,3208,2148,2341,2219,899.9,9.7,764,9264,0.00,2.38,0.00,0.000,516,0.000,0.079,3213,747,2279,2340,2219,0,0,0,0,0,0,28.83,14.37,28.83
$GC,9332,0.85,144.3,3213,747,2340,2219,892.4,9.9,779,9338,0.00,2.30,0.00,0.000,1030,0.000,0.052,3213,2146,2279,2339,2219,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9649,0.85,144.3,3213,2147,2339,2219,860.3,10.3,792,9654,0.00,2.38,0.00,0.000,516,0.000,0.079,3216,749,2279,2339,2219,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9739,0.85,144.3,3216,749,2339,2219,851.1,10.0,810,9745,0.00,2.28,0.00,0.000,1030,0.000,0.052,3216,2142,2278,2339,2218,0,0,0,0,0,0,28.83,14.48,28.83
$GC,10069,0.85,144.3,3216,2142,2338,2218,818.1,10.1,826,10075,0.00,2.35,0.00,0.000,516,0.000,0.076,3225,750,2278,2338,2218,0,0,0,0,0,0,28.83,14.30,28.83
$GC,10177,0.85,144.3,3226,750,2338,2218,807.0,9.6,848,10187,0.00,2.30,0.00,0.000,1030,0.000,0.051,3225,2144,2278,2338,2218,0,0,0,0,0,0,28.83,14.51,28.83
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$STATE,18594,end climb,SURFACE_DEPTH_REACHED
$STATE,18594,begin surface coast
$FINISH,0.4,1.020465
$STATE,18616,end surface coast,CONTROL_FINISHED_OK
$STATE,18617,begin surface
$SM_CCo,18641,42.60,0.125,0,0,508,579.63
$SM_GC,2.03,9.02,2.42,42.60,0.057,0.045,0.125,178,2208,508,-8.58,-0.88,579.63,0,0,0,0,0,0,14.55,14.44,14.29
$IRIDIUM_FIX,1742.84,8930.56,031108,010142
$TT8_MAMPS,0.018725,0.018725
$HUMID,52.63
$INTERNAL_PRESSURE,6.65065
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,13.0,204.398
$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,23.075,186.250,561.025,42.600,0.000,183.938,248.395,0.000,0.000,0.000,39.845,4207.771,11383.693,735.711,3575.177,6326.969,0.000,2218.990,0.000,2580.013,0.000,0.555,0.000
$DEVICE_MAMPS,330.480,166.005,2141.235,125.460,0.000,29.840,160.000,0.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,932.340,602.905,1563.291,955.399,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322780
$DATA_FILE_SIZE,140530,1761
$CAP_FILE_SIZE,189883,0
$CFSIZE,2097086464,1937997824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.039, 23.2,1
$GPS,070116,165903,1746.853,8930.975,28,0.9,28,-0.9