version: 66.11
glider: 615
mission: 5
dive: 83
start: 9 19 115 9 45 52
data:
$ID,615
$MISSION,5
$DIVE,83
$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,-18923.709
$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,38
$R_STBD_OVSHOOT,48
$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
$GPS1,190915,093828,1757.746,8932.624,50,0.8,51,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.5
$GPS2,190915,094526,1757.788,8932.596,5,1.0,6,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,NE
$TGT_LATLONG,1806.660,8933.540
$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,21.1,16515,-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,15,-0.82,-126.5,162,2213,560,480,0.0,0.0,0,62,0.00,0.00,-45.25,0.000,16386,0.000,0.000,160,2213,1781,1788,1774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.82,-126.5,160,2213,1788,1774,3.4,-7.9,7,117,10.73,2.28,-32.83,0.000,19204,0.353,0.072,2663,3601,3389,3402,3377,0,0,0,0,0,0,14.32,14.57,14.78
$GC,230,-0.82,-126.5,2663,3601,3402,3377,57.4,-30.8,37,238,0.08,2.22,0.00,0.000,3078,0.316,0.038,2674,2187,3389,3402,3377,0,0,0,0,0,0,14.45,14.64,28.83
$GC,422,-0.82,-126.5,2674,2184,3402,3377,97.2,-16.5,74,429,0.00,2.28,0.00,0.000,516,0.000,0.057,2674,805,3389,3402,3377,0,0,0,0,0,0,28.83,14.61,28.83
$GC,511,-0.82,-126.5,1696,804,3390,3376,111.0,-15.3,91,518,0.00,2.20,0.00,0.000,1030,0.000,0.043,2666,2199,3390,3402,3378,0,0,0,0,0,0,28.83,14.69,28.83
$GC,701,-0.82,-126.5,2666,2199,3402,3380,139.8,-15.9,128,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2199,3391,3402,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,891,-0.82,-126.5,2666,2199,3402,3380,167.0,-14.1,165,899,0.00,2.25,0.00,0.000,516,0.000,0.058,2666,800,3391,3403,3380,0,0,0,0,0,0,28.83,14.69,28.83
$GC,930,-0.82,-126.5,1696,800,3389,3378,173.0,-15.9,172,938,0.08,2.28,0.00,0.000,3078,0.244,0.045,2686,2201,3391,3402,3380,0,0,0,0,0,0,14.55,14.69,28.83
$GC,1122,-0.82,-126.5,2686,2201,3403,3380,199.0,-14.0,209,1129,0.00,2.28,0.00,0.000,260,0.000,0.065,2677,3604,3391,3403,3380,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1147,-0.82,-126.5,2677,3604,3402,3380,202.3,-12.9,213,1157,0.00,2.20,0.00,0.000,1030,0.000,0.037,2677,2189,3391,3403,3380,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1457,-0.82,-126.5,2677,2188,3400,3378,246.6,-14.6,245,1466,0.00,2.20,0.00,0.000,516,0.000,0.058,2677,814,3390,3402,3378,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1511,-0.82,-126.5,2677,814,3402,3378,254.9,-14.4,256,1520,0.00,2.25,0.00,0.000,1030,0.000,0.046,2667,2196,3390,3402,3378,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1820,-0.82,-126.5,2667,2197,3402,3374,298.6,-14.8,287,1829,0.00,2.30,0.00,0.000,260,0.000,0.067,2656,3611,3388,3402,3374,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1844,-0.82,-126.5,2656,3611,3402,3374,302.7,-14.8,292,1854,0.08,2.25,0.00,0.000,3078,0.226,0.039,2678,2204,3387,3402,3373,0,0,0,0,0,0,14.51,14.69,28.83
$GC,2152,-0.82,-126.5,2678,2204,3402,3371,343.9,-13.5,323,2162,0.00,2.25,0.00,0.000,516,0.000,0.063,2678,811,3386,3401,3371,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2218,-0.82,-126.5,2678,811,3402,3370,352.9,-12.9,336,2223,0.00,2.28,0.00,0.000,1030,0.000,0.048,2670,2207,3386,3402,3370,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2537,-0.82,-126.5,2671,2209,3402,3365,396.9,-14.4,354,2543,0.00,2.28,0.00,0.000,516,0.000,0.061,2670,803,3383,3402,3365,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2579,-0.82,-126.5,2670,803,3402,3365,403.4,-14.2,363,2584,0.05,2.28,0.00,0.000,3078,0.243,0.049,2675,2202,3382,3401,3364,0,0,0,0,0,0,14.59,14.76,28.83
$GC,2897,-0.82,-126.5,2675,2203,3402,3360,446.3,-13.5,381,2903,0.00,2.28,0.00,0.000,516,0.000,0.064,2676,807,3381,3403,3359,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2919,-0.82,-126.5,2676,807,3401,3360,449.7,-14.2,386,2924,0.00,2.28,0.00,0.000,1030,0.000,0.049,2667,2202,3380,3402,3359,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3237,-0.82,-126.5,2667,2203,3401,3355,492.4,-13.5,404,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2204,3378,3402,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3537,-0.82,-126.5,2667,2204,3401,3352,532.3,-13.0,415,3543,0.00,2.28,0.00,0.000,516,0.000,0.064,2667,807,3376,3401,3352,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3600,-0.82,-126.5,2667,806,3401,3352,541.0,-12.8,428,3605,0.05,2.28,0.00,0.000,3078,0.249,0.050,2672,2199,3376,3401,3352,0,0,0,0,0,0,14.60,14.78,28.83
$GC,3928,-0.82,-126.5,2672,2201,3400,3349,583.0,-13.1,443,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2201,3374,3400,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4228,-0.82,-126.5,2672,2201,3398,3346,622.7,-13.1,453,4232,0.00,2.28,0.00,0.000,516,0.000,0.067,2672,812,3372,3398,3346,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4261,-0.82,-126.5,2672,812,3397,3347,627.6,-13.0,460,4266,0.00,2.28,0.00,0.000,1030,0.000,0.051,2665,2200,3371,3397,3346,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4590,-0.82,-126.5,2664,2202,3396,3345,672.1,-13.6,475,4596,0.08,2.28,0.00,0.000,2564,0.356,0.064,2676,811,3370,3397,3344,0,0,0,0,0,0,14.68,14.80,28.83
$GC,4621,-0.82,-126.5,2676,811,3396,3344,676.3,-14.3,481,4627,0.00,2.22,0.00,0.000,1030,0.000,0.050,2668,2208,3369,3395,3344,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4949,-0.82,-126.5,2668,2208,3395,3343,721.1,-13.6,497,4955,0.00,2.30,0.00,0.000,260,0.000,0.076,2658,3604,3368,3394,3342,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4967,-0.82,-126.5,2658,3604,3394,3343,723.9,-14.2,501,4972,0.10,2.22,0.00,0.000,3078,0.272,0.044,2678,2197,3368,3395,3342,0,0,0,0,0,0,14.64,14.87,28.83
$GC,5280,-0.82,-126.5,2678,2196,3393,3340,764.0,-12.8,513,5284,0.00,2.28,0.00,0.000,516,0.000,0.067,2678,812,3367,3393,3341,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5359,-0.82,-126.5,2678,812,3393,3341,774.5,-12.3,529,5363,0.00,2.22,0.00,0.000,1030,0.000,0.050,2670,2201,3366,3392,3340,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5672,-0.82,-126.5,2670,2202,3392,3339,813.4,-12.5,541,5677,0.00,2.28,0.00,0.000,516,0.000,0.066,2670,811,3365,3391,3339,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5719,-0.82,-126.5,2670,810,3391,3339,819.8,-12.8,551,5724,0.10,2.25,0.00,0.000,3078,0.308,0.051,2679,2211,3365,3391,3339,0,0,0,0,0,0,14.59,14.83,28.83
$GC,6032,-0.82,-126.5,2679,2212,3390,3337,854.9,-11.2,563,6038,0.00,2.30,0.00,0.000,516,0.000,0.067,2679,810,3363,3390,3337,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6079,-0.82,-126.5,2679,810,3390,3337,860.5,-11.1,573,6083,0.00,2.22,0.00,0.000,1030,0.000,0.052,2671,2199,3363,3390,3337,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6392,-0.82,-126.5,2671,2199,3389,3336,895.8,-11.3,585,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2199,3362,3389,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6692,-0.82,-126.5,2671,2199,3389,3336,931.8,-12.2,595,6698,0.00,2.30,0.00,0.000,516,0.000,0.069,2671,805,3362,3389,3336,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6782,-0.82,-126.5,2671,805,3388,3336,942.9,-11.6,613,6786,0.00,2.22,0.00,0.000,1030,0.000,0.054,2666,2197,3362,3388,3336,0,0,0,0,0,0,28.83,14.78,28.83
$GC,7114,-0.82,-126.5,2665,2198,3387,3335,984.6,-12.8,629,7115,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2198,3361,3387,3335,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7172,begin apogee
$GC,7177,-0.16,0.0,2665,2143,3386,3335,992.2,-12.8,631,7332,0.85,0.00,147.80,2.046,10246,0.292,0.000,2884,2142,2869,2914,2825,0,0,0,0,0,0,14.45,28.83,13.43
$STATE,7332,end apogee,CONTROL_FINISHED_OK
$STATE,7333,begin climb
$GC,7334,0.82,126.5,2884,2142,2911,2821,997.8,0.0,663,7452,1.12,2.47,108.25,2.197,10500,0.214,0.073,3200,3544,2350,2406,2295,0,0,0,0,0,0,13.99,13.92,13.19
$GC,7477,0.82,126.5,3200,3544,2402,2291,990.4,10.5,692,7482,0.00,2.40,0.00,0.000,1030,0.000,0.050,3208,2162,2346,2403,2290,0,0,0,0,0,0,28.83,14.10,28.83
$GC,7806,0.82,126.5,3208,2162,2402,2286,953.3,11.5,707,7812,0.00,2.42,0.00,0.000,516,0.000,0.082,3214,732,2344,2402,2286,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7968,0.82,126.5,3214,732,2402,2286,933.8,11.9,740,7972,0.00,2.33,0.00,0.000,1030,0.000,0.053,3214,2141,2344,2402,2286,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8286,0.82,126.5,3214,2141,2401,2285,898.2,11.2,753,8292,0.00,2.35,0.00,0.000,516,0.000,0.080,3219,739,2343,2401,2285,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8383,0.82,126.5,3220,739,2400,2285,886.8,11.3,773,8388,0.00,2.30,0.00,0.000,1030,0.000,0.053,3219,2145,2342,2399,2285,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8700,0.82,126.5,3219,2145,2398,2284,851.7,10.8,786,8706,0.00,2.38,0.00,0.000,516,0.000,0.081,3230,735,2341,2398,2284,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8768,0.82,126.5,3230,734,2398,2284,844.1,11.3,800,8772,0.00,2.30,0.00,0.000,1030,0.000,0.052,3229,2145,2341,2398,2284,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9090,0.82,126.5,3230,2145,2397,2283,809.9,10.6,814,9094,0.00,2.38,0.00,0.000,516,0.000,0.080,3239,734,2340,2397,2284,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9181,0.82,126.5,3239,733,2397,2284,800.3,10.3,832,9185,0.00,2.30,0.00,0.000,1030,0.000,0.052,3239,2149,2340,2397,2284,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9502,0.82,126.5,3239,2149,2396,2283,766.8,10.3,846,9506,0.00,2.38,0.00,0.000,516,0.000,0.080,3249,733,2339,2396,2283,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9589,0.82,126.5,3249,733,2395,2283,757.4,11.1,863,9595,0.00,2.28,0.00,0.000,1030,0.000,0.052,3249,2142,2339,2395,2283,0,0,0,0,0,0,28.83,14.77,28.83
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$GC,15618,0.88,174.9,3271,736,2221,2112,158.2,8.9,1365,15625,0.00,2.28,0.00,0.000,1030,0.000,0.049,3271,2141,2166,2221,2112,0,0,0,0,0,0,28.83,14.65,28.83
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$STATE,17625,end climb,SURFACE_DEPTH_REACHED
$STATE,17625,begin surface coast
$FINISH,0.4,1.018998
$STATE,17642,end surface coast,CONTROL_FINISHED_OK
$STATE,17643,begin surface
$SM_CCo,17658,1.00,0.228,0,0,509,579.63
$SM_CCo,17662,0.00,0.000,0,0,510,579.63
$SM_CCo,17664,0.25,0.448,0,0,509,579.63
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$IRIDIUM_FIX,1747.37,8935.07,150708,181806
$TT8_MAMPS,0.018725,0.018725
$HUMID,43.62
$INTERNAL_PRESSURE,6.68971
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,13.2,40.553
$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,22.900,189.525,555.700,1.250,0.000,23.668,19.622,257.143,0.000,0.000,6.973,3515.283,10269.489,676.582,3439.230,171.905,0.000,2150.244,0.000,2562.511,0.000,0.554,0.000
$DEVICE_MAMPS,356.490,338.895,2197.080,447.525,0.000,29.840,160.000,223.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
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$SENSOR_SECS,947.508,636.547,1690.009,1032.299,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322284
$DATA_FILE_SIZE,140931,1743
$CAP_FILE_SIZE,187430,0
$CFSIZE,2097086464,2080636928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.019,276.4,1
$GPS,190915,144233,1759.499,8933.027,99,0.8,99,-0.9