version: 66.11
glider: 615
mission: 5
dive: 85
start: 9 19 115 19 32 25
data:
$ID,615
$MISSION,5
$DIVE,85
$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,-18926.219
$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,55
$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
$GPS1,190915,191833,1801.291,8933.546,65,0.8,65,-0.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-70.2
$GPS2,190915,193159,1801.486,8933.805,5,0.8,5,-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,353.5,9593,-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,-126.5,152,2226,569,479,0.0,0.0,0,61,0.00,0.00,-43.30,0.000,16386,0.000,0.000,150,2227,1728,1735,1721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.82,-126.5,150,2226,1736,1721,3.1,-7.3,7,116,10.73,2.40,-36.00,0.000,18948,0.351,0.079,2674,798,3391,3403,3379,0,0,0,0,0,0,14.35,14.58,14.79
$GC,175,-0.82,-126.5,2674,797,3403,3379,32.8,-28.5,26,182,0.00,2.28,0.00,0.000,1030,0.000,0.050,2666,2177,3390,3403,3378,0,0,0,0,0,0,28.83,14.57,28.83
$GC,373,-0.82,-126.5,2665,2179,3403,3378,87.3,-18.6,63,379,0.00,2.22,0.00,0.000,516,0.000,0.054,2665,794,3390,3403,3378,0,0,0,0,0,0,28.83,14.65,28.83
$GC,442,-0.82,-126.5,2666,794,3403,3378,99.3,-15.8,76,451,0.08,2.28,0.00,0.000,3078,0.257,0.042,2683,2202,3390,3403,3378,0,0,0,0,0,0,14.49,14.64,28.83
$GC,638,-0.82,-126.5,2683,2202,3403,3378,127.9,-14.7,113,645,0.00,2.25,0.00,0.000,260,0.000,0.061,2675,3598,3391,3403,3380,0,0,0,0,0,0,28.83,14.70,28.83
$GC,694,-0.82,-126.5,2675,3598,3404,3380,136.5,-15.1,123,700,0.00,2.20,0.00,0.000,1030,0.000,0.036,2675,2182,3391,3403,3380,0,0,0,0,0,0,28.83,14.75,28.83
$GC,888,-0.82,-126.5,2675,2182,3404,3380,164.3,-14.3,160,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2182,3391,3403,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1083,-0.82,-126.5,2675,2181,3404,3380,192.2,-13.5,197,1090,0.00,2.20,0.00,0.000,516,0.000,0.056,2675,805,3392,3404,3380,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1122,-0.82,-126.5,2675,805,3403,3380,197.9,-14.4,204,1130,0.03,2.25,0.00,0.000,3078,0.321,0.044,2672,2197,3391,3403,3379,0,0,0,0,0,0,14.55,14.69,28.83
$GC,1313,-0.82,-126.5,2672,2197,3403,3378,224.4,-13.7,224,1322,0.00,2.28,0.00,0.000,260,0.000,0.063,2663,3607,3390,3403,3378,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1344,-0.82,-126.5,2662,3607,3403,3378,228.8,-14.4,230,1349,0.08,2.20,0.00,0.000,3078,0.285,0.037,2676,2189,3390,3403,3378,0,0,0,0,0,0,14.62,14.81,28.83
$GC,1650,-0.82,-126.5,2677,2187,3403,3375,272.9,-15.4,261,1660,0.00,2.20,0.00,0.000,516,0.000,0.057,2676,810,3389,3403,3375,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1684,-0.82,-126.5,2676,810,3403,3374,277.8,-14.9,267,1694,0.00,2.20,0.00,0.000,1030,0.000,0.044,2668,2217,3388,3403,3374,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1993,-0.82,-126.5,2668,2217,3403,3371,324.3,-14.8,299,2003,0.00,2.25,0.00,0.000,516,0.000,0.058,2668,817,3386,3402,3371,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2038,-0.82,-126.5,2668,817,3403,3370,331.5,-14.8,308,2047,0.05,2.22,0.00,0.000,3078,0.261,0.045,2673,2192,3386,3403,3370,0,0,0,0,0,0,14.50,14.66,28.83
$GC,2356,-0.82,-126.5,2673,2192,3403,3365,376.5,-14.1,331,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2192,3384,3403,3365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2656,-0.82,-126.5,2673,2193,3402,3360,418.9,-14.1,346,2660,0.00,2.22,0.00,0.000,516,0.000,0.063,2673,819,3380,3402,3359,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2732,-0.82,-126.5,2673,819,3402,3359,429.8,-13.9,361,2740,0.00,2.25,0.00,0.000,1030,0.000,0.050,2665,2192,3380,3402,3359,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3038,-0.82,-126.5,2665,2192,3402,3355,473.1,-14.1,377,3044,0.00,2.33,0.00,0.000,260,0.000,0.073,2654,3607,3377,3401,3354,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3061,-0.82,-126.5,2654,3607,3401,3354,476.8,-14.5,382,3066,0.05,2.25,0.00,0.000,3078,0.238,0.042,2683,2207,3377,3401,3354,0,0,0,0,0,0,14.64,14.80,28.83
$GC,3378,-0.82,-126.5,2683,2207,3400,3352,518.0,-13.2,398,3382,0.00,2.28,0.00,0.000,516,0.000,0.066,2683,803,3376,3401,3352,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3478,-0.82,-126.5,2683,802,3399,3352,531.7,-13.5,418,3482,0.00,2.25,0.00,0.000,1030,0.000,0.049,2675,2210,3376,3400,3352,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3796,-0.82,-126.5,2675,2211,3398,3349,575.6,-14.0,431,3802,0.00,2.28,0.00,0.000,516,0.000,0.063,2675,795,3373,3398,3349,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3857,-0.82,-126.5,2675,795,3397,3348,585.0,-14.7,444,3862,0.00,2.30,0.00,0.000,1030,0.000,0.050,2665,2204,3373,3397,3349,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4185,-0.82,-126.5,2665,2203,3396,3345,631.3,-14.1,459,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2204,3370,3396,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4485,-0.82,-126.5,2664,2204,3395,3344,673.5,-14.2,469,4489,0.00,2.28,0.00,0.000,516,0.000,0.066,2665,807,3369,3395,3343,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4530,-0.82,-126.5,2665,806,3394,3344,680.2,-14.3,478,4535,0.10,2.25,0.00,0.000,3078,0.285,0.051,2675,2211,3369,3394,3344,0,0,0,0,0,0,14.64,14.83,28.83
$GC,4842,-0.82,-126.5,2675,2212,3393,3342,720.9,-12.9,490,4846,0.00,2.30,0.00,0.000,516,0.000,0.067,2675,809,3367,3393,3342,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4881,-0.82,-126.5,2675,808,3393,3342,726.5,-13.1,498,4885,0.00,2.25,0.00,0.000,1030,0.000,0.051,2667,2209,3367,3393,3342,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5203,-0.82,-126.5,2667,2209,3391,3340,768.7,-13.2,512,5207,0.00,2.28,0.00,0.000,516,0.000,0.066,2667,809,3366,3392,3340,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5230,-0.82,-126.5,2667,809,3391,3340,772.3,-14.4,517,5237,0.10,2.22,0.00,0.000,3078,0.293,0.052,2678,2201,3365,3391,3340,0,0,0,0,0,0,14.62,14.83,28.83
$GC,5560,-0.82,-126.5,2678,2201,3390,3338,812.5,-12.2,533,5564,0.00,2.28,0.00,0.000,516,0.000,0.068,2678,808,3364,3390,3338,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5624,-0.82,-126.5,2678,807,3389,3338,820.8,-12.1,546,5629,0.00,2.28,0.00,0.000,1030,0.000,0.052,2670,2198,3364,3390,3338,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5952,-0.82,-126.5,2670,2198,3388,3337,861.1,-12.6,561,5958,0.00,2.28,0.00,0.000,516,0.000,0.067,2670,809,3362,3388,3337,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5984,-0.82,-126.5,2670,809,3388,3337,865.6,-13.2,568,5989,0.05,2.28,0.00,0.000,3078,0.263,0.053,2675,2194,3362,3388,3337,0,0,0,0,0,0,14.55,14.76,28.83
$GC,6313,-0.82,-126.5,2675,2195,3387,3336,904.9,-12.1,583,6318,0.00,2.28,0.00,0.000,516,0.000,0.067,2675,810,3361,3387,3335,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6342,-0.82,-126.5,2675,810,3385,3336,908.7,-12.4,589,6348,0.00,2.22,0.00,0.000,1030,0.000,0.053,2668,2197,3361,3387,3336,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6672,-0.82,-126.5,2668,2197,3385,3335,950.2,-12.7,605,6678,0.00,2.28,0.00,0.000,516,0.000,0.067,2667,810,3360,3385,3335,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6694,-0.82,-126.5,2667,810,3385,3335,953.5,-12.9,610,6703,0.05,2.30,0.00,0.000,3078,0.274,0.054,2672,2196,3360,3385,3335,0,0,0,0,0,0,14.47,14.69,28.83
$STATE,7001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7001,begin apogee
$GC,7004,-0.16,0.0,2672,2197,3384,3334,991.2,-12.2,621,7160,0.80,0.05,147.60,2.046,10246,0.283,0.224,2885,2156,2868,2914,2823,0,0,0,0,0,0,14.45,13.99,13.43
$STATE,7161,end apogee,CONTROL_FINISHED_OK
$STATE,7161,begin climb
$GC,7163,0.82,126.5,2885,2156,2912,2820,996.5,0.0,653,7280,1.12,2.45,108.90,2.194,10500,0.211,0.073,3201,3540,2348,2405,2291,0,0,0,0,0,0,14.00,13.92,13.24
$GC,7316,0.82,126.5,3201,3540,2400,2286,988.0,10.5,684,7320,0.00,2.38,0.00,0.000,1030,0.000,0.050,3209,2144,2342,2400,2285,0,0,0,0,0,0,28.83,14.15,28.83
$GC,7634,0.82,126.5,3209,2143,2397,2283,952.7,11.1,697,7640,0.00,2.40,0.00,0.000,516,0.000,0.083,3214,732,2340,2398,2282,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7754,0.82,126.5,3214,732,2398,2283,939.2,11.0,721,7760,0.00,2.33,0.00,0.000,1030,0.000,0.054,3214,2145,2340,2397,2283,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8083,0.82,126.5,3214,2145,2396,2280,902.8,11.0,737,8088,0.00,2.40,0.00,0.000,516,0.000,0.081,3222,733,2338,2397,2280,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8147,0.82,126.5,3222,733,2397,2281,895.5,10.8,750,8153,0.00,2.35,0.00,0.000,1030,0.000,0.052,3221,2144,2338,2396,2280,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8476,0.82,126.5,3221,2143,2395,2280,859.7,11.1,765,8480,0.00,2.40,0.00,0.000,516,0.000,0.080,3229,731,2337,2395,2280,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8515,0.82,126.5,3229,730,2395,2280,854.8,11.6,773,8519,0.00,2.30,0.00,0.000,1030,0.000,0.053,3230,2149,2337,2395,2280,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8838,0.82,126.5,3230,2150,2394,2279,818.0,11.6,787,8844,0.00,2.38,0.00,0.000,516,0.000,0.080,3239,733,2336,2394,2278,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8976,0.82,126.5,3239,733,2393,2279,801.2,11.7,815,8981,0.00,2.30,0.00,0.000,1030,0.000,0.053,3239,2151,2336,2394,2279,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9283,0.82,126.5,3239,2151,2393,2278,766.7,11.3,826,9287,0.00,2.38,0.00,0.000,516,0.000,0.079,3248,733,2335,2393,2278,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9423,0.82,126.5,3249,733,2393,2279,750.8,10.7,854,9431,0.00,2.35,0.00,0.000,1030,0.000,0.053,3248,2145,2335,2393,2278,0,0,0,0,0,0,28.83,14.71,28.83
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$GC,17060,1.45,633.7,3339,2139,1254,1149,17.7,-2.1,1710,17161,0.20,2.40,92.93,0.186,10756,0.114,0.067,3433,739,510,576,444,0,0,0,0,0,0,14.54,14.54,14.45
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$STATE,17286,end climb,SURFACE_DEPTH_REACHED
$STATE,17286,begin surface coast
$FINISH,0.3,1.009971
$STATE,17314,end surface coast,CONTROL_FINISHED_OK
$STATE,17314,begin surface
$SM_CCo,17329,1.05,0.220,0,0,508,579.63
$SM_CCo,17333,-0.10,0.000,0,0,512,579.63
$SM_CCo,17335,0.52,0.278,0,0,508,579.63
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$IRIDIUM_FIX,1754.17,8935.06,160708,080834
$TT8_MAMPS,0.018725,0.018725
$HUMID,44.64
$INTERNAL_PRESSURE,6.67994
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,13.2,41.224
$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,23.050,184.400,549.100,1.575,0.000,84.745,91.060,379.046,0.000,0.000,6.544,3471.139,10136.705,668.144,3684.687,173.753,0.000,2129.876,0.000,2574.654,0.000,0.552,0.000
$DEVICE_MAMPS,351.135,224.145,2194.020,278.460,0.000,29.840,160.000,223.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
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$SENSOR_SECS,931.685,628.852,1606.256,981.279,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322228
$DATA_FILE_SIZE,140683,1755
$CAP_FILE_SIZE,190034,0
$CFSIZE,2097086464,2080309248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.017,245.7,1
$GPS,200915,002327,1803.125,8933.537,90,1.1,90,-0.9