version: 66.11
glider: 615
mission: 5
dive: 65
start: 9 15 115 15 43 13
data:
$ID,615
$MISSION,5
$DIVE,65
$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,700
$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,-18897.455
$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,48
$R_STBD_OVSHOOT,40
$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,11.5
$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,49
$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
$GPS1,150915,153551,1815.546,8929.037,72,1.1,72,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.0
$GPS2,150915,154246,1815.478,8929.133,5,0.9,6,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,ES
$TGT_LATLONG,1525.000,8900.000
$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,189.9,319981,-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,14,-0.82,-126.5,163,2252,564,482,0.0,0.0,0,56,0.00,0.00,-39.70,0.000,16386,0.000,0.000,161,2252,1652,1659,1645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.82,-126.5,161,2252,1659,1645,3.3,-7.8,6,112,10.82,2.33,-35.20,0.000,19204,0.358,0.095,2668,3604,3390,3404,3377,0,0,0,0,0,0,14.33,14.57,14.78
$GC,243,-0.82,-126.5,1680,3603,3391,3375,59.9,-27.3,40,251,0.00,2.28,0.00,0.000,1030,0.000,0.039,2668,2195,3391,3405,3377,0,0,0,0,0,0,28.83,14.60,28.83
$GC,435,-0.82,-126.5,2667,2192,3405,3378,98.9,-13.6,77,442,0.00,2.22,0.00,0.000,516,0.000,0.055,2667,802,3391,3405,3378,0,0,0,0,0,0,28.83,14.66,28.83
$GC,601,-0.82,-126.5,2667,801,3405,3379,124.5,-15.6,109,609,0.10,2.20,0.00,0.000,3078,0.309,0.041,2676,2207,3392,3405,3379,0,0,0,0,0,0,14.52,14.71,28.83
$GC,791,-0.82,-126.5,2676,2208,3405,3380,153.3,-14.5,146,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2208,3392,3405,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,981,-0.82,-126.5,2676,2208,3405,3380,181.3,-14.5,183,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2208,3392,3405,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1176,-0.82,-126.5,2676,2208,3405,3379,208.8,-14.0,215,1185,0.00,2.20,0.00,0.000,516,0.000,0.055,2676,812,3391,3404,3379,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1218,-0.82,-126.5,2677,812,3405,3379,215.5,-15.4,223,1228,0.00,2.17,0.00,0.000,1030,0.000,0.043,2668,2197,3391,3404,3378,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1529,-0.82,-126.5,2668,2198,3405,3377,260.7,-14.2,255,1538,0.00,2.25,0.00,0.000,260,0.000,0.065,2658,3599,3390,3405,3376,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1563,-0.82,-126.5,2658,3598,3405,3376,266.1,-14.7,262,1573,0.05,2.22,0.00,0.000,3078,0.243,0.038,2672,2192,3390,3405,3376,0,0,0,0,0,0,14.52,14.73,28.83
$GC,1871,-0.82,-126.5,2672,2192,3404,3372,308.3,-13.8,293,1881,0.00,2.20,0.00,0.000,516,0.000,0.057,2672,809,3388,3404,3372,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1947,-0.82,-126.5,2672,809,3404,3372,319.1,-13.3,308,1955,0.03,2.25,0.00,0.000,3078,0.320,0.045,2672,2197,3387,3403,3371,0,0,0,0,0,0,14.54,14.71,28.83
$GC,2255,-0.82,-126.5,2671,2196,3404,3368,361.3,-13.8,335,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2196,3386,3404,3368,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2554,-0.82,-126.5,2671,2197,3404,3363,401.8,-13.6,350,2561,0.00,2.22,0.00,0.000,516,0.000,0.058,2671,807,3383,3404,3362,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2615,-0.82,-126.5,2671,806,3404,3362,410.1,-13.0,362,2622,0.08,2.20,0.00,0.000,3078,0.325,0.047,2676,2201,3382,3404,3361,0,0,0,0,0,0,14.64,14.82,28.83
$GC,2935,-0.82,-126.5,2676,2201,3404,3356,452.1,-13.0,381,2936,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2201,3380,3404,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3235,-0.82,-126.5,2675,2201,3403,3352,491.3,-13.1,396,3241,0.00,2.22,0.00,0.000,516,0.000,0.060,2676,816,3377,3403,3352,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3288,-0.82,-126.5,2675,816,3402,3352,498.8,-13.3,407,3297,0.00,2.28,0.00,0.000,1030,0.000,0.050,2667,2202,3377,3402,3352,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3615,-0.82,-126.5,2667,2202,3401,3350,543.9,-14.1,419,3621,0.00,2.30,0.00,0.000,260,0.000,0.073,2655,3605,3375,3401,3349,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3648,-0.82,-126.5,2657,3605,3401,3349,548.9,-14.1,426,3653,0.05,2.22,0.00,0.000,3078,0.240,0.043,2672,2213,3375,3401,3349,0,0,0,0,0,0,14.64,14.83,28.83
$GC,3976,-0.82,-126.5,2672,2211,3398,3347,592.5,-13.3,441,3982,0.00,2.25,0.00,0.000,516,0.000,0.063,2672,810,3372,3397,3347,0,0,0,0,0,0,28.83,14.82,28.83
$GC,4079,-0.82,-126.5,2672,810,3397,3347,606.5,-12.6,462,4084,0.08,2.22,0.00,0.000,3078,0.326,0.051,2677,2200,3371,3395,3347,0,0,0,0,0,0,14.65,14.83,28.83
$GC,4396,-0.82,-126.5,2676,2201,3395,3345,646.5,-12.7,475,4402,0.00,2.28,0.00,0.000,516,0.000,0.067,2677,806,3370,3396,3345,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4419,-0.82,-126.5,2677,806,3395,3345,649.8,-13.0,480,4427,0.00,2.28,0.00,0.000,1030,0.000,0.054,2668,2194,3370,3395,3345,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4727,-0.82,-126.5,2669,2194,3393,3344,688.8,-12.8,491,4728,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2194,3368,3393,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5026,-0.82,-126.5,2669,2194,3392,3342,727.0,-12.6,501,5032,0.00,2.25,0.00,0.000,516,0.000,0.067,2669,807,3367,3392,3342,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5056,-0.82,-126.5,2669,807,3392,3342,730.9,-12.9,507,5063,0.10,2.22,0.00,0.000,3078,0.300,0.053,2678,2202,3367,3392,3343,0,0,0,0,0,0,14.64,14.84,28.83
$GC,5386,-0.82,-126.5,2678,2202,3390,3340,769.8,-11.7,523,5388,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2202,3365,3390,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5687,-0.82,-126.5,2678,2202,3389,3339,805.6,-11.8,533,5693,0.00,2.28,0.00,0.000,516,0.000,0.068,2679,810,3364,3390,3339,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5739,-0.82,-126.5,2679,810,3389,3339,812.2,-11.9,544,5747,0.00,2.28,0.00,0.000,1030,0.000,0.053,2671,2194,3364,3389,3339,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6047,-0.82,-126.5,2671,2193,3388,3338,849.1,-12.1,555,6048,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2194,3362,3388,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6346,-0.82,-126.5,2671,2194,3387,3337,885.3,-12.1,565,6351,0.00,2.28,0.00,0.000,516,0.000,0.067,2671,806,3361,3387,3336,0,0,0,0,0,0,28.83,14.80,28.83
$GC,6391,-0.82,-126.5,2670,806,3387,3336,891.0,-11.7,574,6396,0.08,2.25,0.00,0.000,3078,0.334,0.054,2674,2205,3361,3387,3336,0,0,0,0,0,0,14.63,14.83,28.83
$GC,6708,-0.82,-126.5,2674,2206,3385,3336,928.6,-12.1,587,6709,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2206,3360,3385,3335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7009,-0.82,-126.5,2674,2207,3384,3335,964.1,-12.0,597,7015,0.00,2.30,0.00,0.000,516,0.000,0.070,2674,806,3359,3384,3335,0,0,0,0,0,0,28.83,14.79,28.83
$GC,7056,-0.82,-126.5,2674,806,3384,3335,970.2,-11.9,607,7060,0.00,2.25,0.00,0.000,1030,0.000,0.054,2666,2201,3359,3383,3335,0,0,0,0,0,0,28.83,14.83,28.83
$STATE,7248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7248,begin apogee
$GC,7252,-0.16,0.0,2666,2144,3383,3334,993.0,-12.3,615,7370,0.80,0.00,109.22,2.430,10246,0.262,0.000,2883,2142,2865,2911,2820,0,0,0,0,0,0,14.50,28.83,13.22
$STATE,7371,end apogee,CONTROL_FINISHED_OK
$STATE,7371,begin climb
$GC,7373,0.82,126.5,2884,2143,2908,2818,997.5,0.0,639,7492,1.08,2.55,109.53,2.289,10500,0.178,0.075,3203,3541,2346,2402,2291,0,0,0,0,0,0,14.02,13.93,13.24
$GC,7512,0.82,126.5,3203,3540,2397,2286,990.5,9.3,667,7517,0.00,2.35,0.00,0.000,1030,0.000,0.048,3211,2154,2341,2397,2285,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7825,0.82,126.5,3211,2153,2397,2282,956.6,11.2,679,7831,0.00,2.40,0.00,0.000,516,0.000,0.077,3222,736,2340,2397,2283,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7953,0.82,126.5,3222,736,2396,2283,942.0,11.3,705,7958,0.00,2.30,0.00,0.000,1030,0.000,0.052,3222,2137,2339,2396,2283,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8270,0.82,126.5,3222,2137,2395,2281,906.0,11.2,718,8274,0.00,2.35,0.00,0.000,516,0.000,0.077,3232,739,2338,2395,2281,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8304,0.82,126.5,3233,739,2395,2281,901.9,11.8,725,8308,0.00,2.28,0.00,0.000,1030,0.000,0.052,3233,2139,2338,2395,2281,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8627,0.82,126.5,3233,2139,2394,2280,865.1,11.5,739,8633,0.00,2.35,0.00,0.000,516,0.000,0.076,3242,736,2336,2394,2278,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8687,0.82,126.5,3242,736,2394,2281,858.0,12.1,751,8693,0.00,2.28,0.00,0.000,1030,0.000,0.052,3242,2140,2337,2394,2281,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9017,0.82,126.5,3242,2140,2393,2280,819.7,11.6,767,9023,0.00,2.35,0.00,0.000,516,0.000,0.076,3252,733,2336,2393,2280,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9065,0.82,126.5,3252,733,2393,2280,813.7,11.5,777,9069,0.00,2.30,0.00,0.000,1030,0.000,0.052,3252,2149,2336,2393,2280,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9377,0.82,126.5,3252,2150,2392,2279,777.4,11.8,789,9383,0.00,2.35,0.00,0.000,516,0.000,0.075,3262,738,2335,2391,2279,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9468,0.82,126.5,3262,738,2392,2280,766.4,11.9,807,9473,0.10,2.30,0.00,0.000,5126,0.291,0.052,3243,2149,2335,2392,2279,0,0,0,0,0,0,14.59,14.78,28.83
$GC,9800,0.82,126.5,3243,2149,2391,2279,728.9,11.4,823,9806,0.00,2.35,0.00,0.000,516,0.000,0.073,3252,733,2335,2392,2279,0,0,0,0,0,0,28.83,14.74,28.83
$GC,9822,0.82,126.5,3250,733,2392,2279,726.1,11.6,828,9830,0.00,2.33,0.00,0.000,1030,0.000,0.051,3252,2135,2335,2392,2279,0,0,0,0,0,0,28.83,14.70,28.83
$GC,10131,0.82,126.5,3252,2136,2391,2278,691.8,11.0,839,10135,0.00,2.35,0.00,0.000,260,0.000,0.077,3252,3545,2334,2391,2278,0,0,0,0,0,0,28.83,14.76,28.83
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$GC,16278,1.03,290.5,3274,2138,2019,1905,98.9,5.7,1458,16329,0.00,2.35,42.60,0.480,8708,0.000,0.066,3284,732,1693,1749,1637,0,0,0,0,0,0,28.83,14.53,14.25
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$STATE,17591,end climb,SURFACE_DEPTH_REACHED
$STATE,17591,begin surface coast
$FINISH,0.3,1.018387
$STATE,17621,end surface coast,CONTROL_FINISHED_OK
$STATE,17621,begin surface
$SM_CCo,17637,1.15,0.210,0,0,509,579.63
$SM_CCo,17640,-0.10,0.000,0,0,512,579.63
$SM_CCo,17643,0.50,0.284,0,0,509,579.63
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$IRIDIUM_FIX,1807.77,8928.21,120708,000029
$TT8_MAMPS,0.018725,0.018725
$HUMID,44.21
$INTERNAL_PRESSURE,6.68971
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,13.2,34.748
$10V_AH,12.8,0.000
$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
$DEVICE_SECS,23.175,170.100,512.100,1.650,0.000,23.845,17.926,261.598,0.000,0.000,7.001,3486.772,10393.597,639.265,3363.979,165.530,0.000,2066.296,0.000,2509.247,0.000,0.554,0.000
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$SENSOR_SECS,943.560,635.371,1690.018,1032.440,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322024
$DATA_FILE_SIZE,137179,1703
$CAP_FILE_SIZE,182680,0
$CFSIZE,2097086464,2083586048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.068,187.3,1
$GPS,150915,203904,1813.073,8928.820,70,0.8,70,-0.9