version: 66.11
glider: 615
mission: 5
dive: 76
start: 9 17 115 22 45 23
data:
$ID,615
$MISSION,5
$DIVE,76
$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,-18912.229
$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,45
$R_STBD_OVSHOOT,74
$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
$GPS1,170915,223743,1802.788,8924.946,176,0.8,177,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-73.5
$GPS2,170915,224456,1802.837,8924.904,38,0.8,38,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,SE
$TGT_LATLONG,1755.320,8933.540
$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,119.3,20624,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.82,-126.5,189,2246,557,484,0.0,0.0,0,56,0.00,0.00,-39.60,0.000,16386,0.000,0.000,189,2246,1673,1677,1669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.82,-126.5,190,2246,1677,1669,3.7,-8.2,6,110,10.73,0.00,-34.33,0.000,18950,0.360,0.000,2676,2247,3390,3402,3378,0,0,0,0,0,0,14.33,28.83,14.79
$GC,293,-0.82,-126.5,2676,2247,3402,3377,77.1,-23.2,50,301,0.00,2.38,0.00,0.000,516,0.000,0.057,2676,796,3389,3402,3377,0,0,0,0,0,0,28.83,14.62,28.83
$GC,358,-0.82,-126.5,2676,795,3402,3377,91.3,-21.0,62,366,0.00,2.22,0.00,0.000,1030,0.000,0.044,2668,2162,3389,3402,3377,0,0,0,0,0,0,28.83,14.60,28.83
$GC,548,-0.82,-126.5,2668,2162,3402,3379,123.3,-16.0,99,555,0.00,2.20,0.00,0.000,516,0.000,0.055,2668,793,3391,3403,3379,0,0,0,0,0,0,28.83,14.68,28.83
$GC,616,-0.82,-126.5,2668,792,3403,3379,133.5,-14.3,112,624,0.05,2.28,0.00,0.000,3078,0.278,0.042,2672,2200,3391,3403,3379,0,0,0,0,0,0,14.49,14.67,28.83
$GC,809,-0.82,-126.5,2672,2201,3403,3380,161.1,-16.2,149,817,0.00,2.28,0.00,0.000,260,0.000,0.063,2663,3608,3391,3403,3380,0,0,0,0,0,0,28.83,14.71,28.83
$GC,834,-0.82,-126.5,2663,3608,3403,3380,164.5,-13.6,153,843,0.08,2.20,0.00,0.000,3078,0.302,0.036,2676,2187,3391,3403,3380,0,0,0,0,0,0,14.57,14.76,28.83
$GC,1026,-0.82,-126.5,2675,2186,3403,3379,192.2,-15.1,190,1033,0.00,2.25,0.00,0.000,516,0.000,0.055,2676,813,3391,3403,3380,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1112,-0.82,-126.5,2676,812,3402,3379,204.8,-14.3,206,1120,0.00,2.17,0.00,0.000,1030,0.000,0.042,2667,2201,3391,3403,3380,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1421,-0.82,-126.5,2667,2201,3402,3378,248.3,-13.9,238,1430,0.00,2.22,0.00,0.000,516,0.000,0.056,2668,810,3390,3402,3378,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1451,-0.82,-126.5,2667,810,3403,3378,252.7,-14.2,244,1456,0.10,2.20,0.00,0.000,3078,0.297,0.044,2677,2208,3390,3402,3378,0,0,0,0,0,0,14.60,14.78,28.83
$GC,1757,-0.82,-126.5,2677,2209,3403,3375,294.8,-14.2,275,1767,0.00,2.25,0.00,0.000,516,0.000,0.059,2677,809,3388,3402,3374,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1800,-0.82,-126.5,2677,810,3402,3374,301.1,-14.6,283,1810,0.00,2.20,0.00,0.000,1030,0.000,0.046,2669,2199,3388,3402,3374,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2111,-0.82,-126.5,2669,2198,3402,3371,348.0,-15.2,315,2121,0.00,2.22,0.00,0.000,516,0.000,0.060,2669,817,3386,3402,3371,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2154,-0.82,-126.5,2669,817,3402,3370,354.5,-15.5,323,2160,0.10,2.20,0.00,0.000,3078,0.289,0.047,2680,2203,3386,3402,3371,0,0,0,0,0,0,14.62,14.81,28.83
$GC,2474,-0.82,-126.5,2680,2204,3402,3365,398.1,-13.2,342,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2204,3383,3402,3365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2774,-0.82,-126.5,2680,2204,3402,3361,437.4,-12.9,357,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2204,3381,3402,3361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3074,-0.82,-126.5,2680,2204,3402,3356,475.7,-12.8,372,3080,0.00,2.25,0.00,0.000,516,0.000,0.064,2680,814,3379,3402,3356,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3107,-0.82,-126.5,2680,813,3402,3356,480.5,-13.6,379,3114,0.00,2.28,0.00,0.000,1030,0.000,0.050,2672,2199,3378,3401,3356,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3424,-0.82,-126.5,2672,2199,3401,3352,523.0,-13.7,393,3430,0.00,2.25,0.00,0.000,516,0.000,0.065,2672,819,3377,3402,3352,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3446,-0.82,-126.5,2672,819,3401,3352,526.6,-14.6,398,3455,0.05,2.28,0.00,0.000,3078,0.265,0.052,2676,2199,3376,3401,3352,0,0,0,0,0,0,14.54,14.73,28.83
$GC,3754,-0.82,-126.5,2676,2199,3400,3351,567.3,-13.3,409,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2199,3375,3400,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4054,-0.82,-126.5,2676,2200,3398,3348,606.9,-13.2,419,4060,0.00,2.25,0.00,0.000,516,0.000,0.065,2676,812,3372,3396,3348,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4115,-0.82,-126.5,2676,812,3397,3348,614.8,-12.8,431,4121,0.00,2.22,0.00,0.000,1030,0.000,0.050,2669,2215,3372,3397,3347,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4444,-0.82,-126.5,2668,2215,3396,3345,658.2,-13.1,447,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2215,3371,3396,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4744,-0.82,-126.5,2668,2216,3395,3344,697.7,-13.3,457,4749,0.00,2.30,0.00,0.000,516,0.000,0.067,2668,812,3370,3395,3345,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4789,-0.82,-126.5,2668,812,3394,3344,704.2,-13.5,466,4794,0.10,2.22,0.00,0.000,3078,0.295,0.051,2679,2202,3369,3394,3344,0,0,0,0,0,0,14.64,14.84,28.83
$GC,5107,-0.82,-126.5,2678,2202,3393,3343,744.5,-12.8,479,5113,0.00,2.30,0.00,0.000,260,0.000,0.077,2670,3600,3367,3393,3342,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5128,-0.82,-126.5,2670,3600,3392,3342,747.7,-12.7,484,5136,0.00,2.25,0.00,0.000,1030,0.000,0.044,2670,2217,3367,3392,3342,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5436,-0.82,-126.5,2670,2216,3391,3341,788.1,-13.3,495,5440,0.00,2.33,0.00,0.000,516,0.000,0.067,2670,799,3366,3392,3341,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5486,-0.82,-126.5,2670,798,3391,3341,795.1,-12.7,505,5491,0.10,2.25,0.00,0.000,3078,0.313,0.052,2679,2201,3365,3390,3341,0,0,0,0,0,0,14.61,14.83,28.83
$GC,5798,-0.82,-126.5,2679,2201,3390,3339,834.5,-12.7,517,5799,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2201,3364,3390,3339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6098,-0.82,-126.5,2679,2201,3389,3338,871.9,-12.4,527,6104,0.00,2.28,0.00,0.000,516,0.000,0.070,2679,806,3363,3389,3338,0,0,0,0,0,0,28.83,14.79,28.83
$GC,6158,-0.82,-126.5,2679,806,3389,3338,879.4,-12.3,539,6164,0.00,2.25,0.00,0.000,1030,0.000,0.053,2671,2207,3363,3389,3338,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6488,-0.82,-126.5,2671,2208,3388,3337,920.8,-12.5,555,6494,0.00,2.30,0.00,0.000,516,0.000,0.067,2672,799,3362,3388,3337,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6518,-0.82,-126.5,2672,799,3387,3337,924.5,-12.7,561,6525,0.08,2.25,0.00,0.000,3078,0.345,0.053,2674,2201,3362,3387,3337,0,0,0,0,0,0,14.59,14.83,28.83
$GC,6848,-0.82,-126.5,2674,2202,3386,3336,964.7,-12.2,577,6854,0.00,2.30,0.00,0.000,516,0.000,0.070,2674,799,3361,3386,3336,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6878,-0.82,-126.5,2674,799,3385,3336,968.5,-12.7,583,6884,0.00,2.25,0.00,0.000,1030,0.000,0.054,2666,2200,3360,3385,3336,0,0,0,0,0,0,28.83,14.82,28.83
$STATE,7056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7056,begin apogee
$GC,7060,-0.16,0.0,2666,2135,3384,3336,991.0,-12.5,594,7216,0.80,0.00,147.98,2.063,10246,0.269,0.000,2884,2134,2868,2913,2823,0,0,0,0,0,0,14.49,28.83,13.40
$STATE,7217,end apogee,CONTROL_FINISHED_OK
$STATE,7217,begin climb
$GC,7218,0.82,126.5,2884,2134,2912,2821,996.9,0.0,626,7336,1.08,2.53,109.60,2.212,10756,0.185,0.080,3207,752,2347,2402,2293,0,0,0,0,0,0,14.00,13.90,13.23
$GC,7371,0.82,126.5,3207,752,2397,2291,989.6,9.6,642,7376,0.00,2.35,0.00,0.000,1030,0.000,0.050,3207,2137,2344,2397,2291,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7689,0.82,126.5,3207,2137,2396,2286,956.4,10.5,655,7690,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2137,2341,2396,2286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7989,0.82,126.5,3207,2137,2395,2285,924.8,10.4,665,7995,0.00,2.35,0.00,0.000,516,0.000,0.080,3214,748,2340,2395,2285,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8081,0.82,126.5,3214,748,2395,2284,914.6,10.5,684,8085,0.00,2.33,0.00,0.000,1030,0.000,0.052,3214,2140,2339,2394,2285,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8409,0.82,126.5,3214,2140,2394,2284,880.0,10.7,699,8413,0.00,2.35,0.00,0.000,516,0.000,0.078,3224,752,2339,2394,2284,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8489,0.82,126.5,3225,752,2394,2284,871.2,10.4,715,8493,0.00,2.30,0.00,0.000,1030,0.000,0.053,3224,2137,2339,2394,2284,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8801,0.82,126.5,3225,2138,2393,2283,837.9,10.8,727,8805,0.00,2.35,0.00,0.000,516,0.000,0.078,3234,742,2338,2393,2283,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8871,0.82,126.5,3234,742,2393,2283,830.0,10.9,741,8875,0.00,2.28,0.00,0.000,1030,0.000,0.051,3234,2149,2338,2393,2283,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9194,0.82,126.5,3234,2149,2392,2283,793.7,11.5,755,9195,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2149,2337,2392,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9493,0.82,126.5,3235,2149,2391,2283,758.8,11.6,765,9499,0.00,2.33,0.00,0.000,516,0.000,0.077,3244,750,2337,2392,2283,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9516,0.82,126.5,3243,751,2392,2283,755.8,11.6,770,9524,0.00,2.30,0.00,0.000,1030,0.000,0.051,3244,2142,2337,2392,2283,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9825,0.82,126.5,3244,2142,2391,2282,720.0,11.8,781,9831,0.00,2.30,0.00,0.000,516,0.000,0.076,3254,746,2336,2391,2282,0,0,0,0,0,0,28.83,14.71,28.83
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$STATE,17496,end climb,SURFACE_DEPTH_REACHED
$STATE,17497,begin surface coast
$FINISH,0.2,0.998326
$STATE,17544,end surface coast,CONTROL_FINISHED_OK
$STATE,17544,begin surface
$SM_CCo,17560,1.02,0.222,0,0,508,579.63
$SM_CCo,17563,0.00,0.000,0,0,510,579.63
$SM_CCo,17565,0.22,0.491,0,0,508,579.63
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$IRIDIUM_FIX,1756.43,8925.99,140708,070742
$TT8_MAMPS,0.018725,0.018725
$HUMID,44.48
$INTERNAL_PRESSURE,6.68971
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,13.2,38.299
$10V_AH,12.7,0.000
$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
$DEVICE_SECS,23.100,178.575,546.900,1.250,0.000,26.971,19.735,242.466,0.000,0.000,39.670,3488.831,10317.559,683.452,3339.599,162.320,0.000,2084.867,0.000,2459.970,0.000,0.553,0.000
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$SENSOR_SECS,943.564,637.118,1623.428,992.030,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322248
$DATA_FILE_SIZE,137385,1679
$CAP_FILE_SIZE,182609,0
$CFSIZE,2097086464,2081783808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.015,325.2,1
$GPS,180915,034027,1802.103,8926.510,102,1.0,102,-0.9