version: 66.11
glider: 615
mission: 5
dive: 128
start: 9 28 115 17 27 15
data:
$ID,615
$MISSION,5
$DIVE,128
$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,-18987.068
$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,49
$R_STBD_OVSHOOT,69
$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
$GPS1,280915,172003,1800.654,8921.675,42,0.8,42,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-72.8
$GPS2,280915,172648,1800.646,8921.634,5,0.8,5,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,NW
$TGT_LATLONG,1806.660,8921.600
$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,358.3,11138,-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,-126.5,182,2224,541,493,0.0,0.0,0,60,0.00,0.00,-43.53,0.000,16386,0.000,0.000,182,2223,1764,1766,1762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.82,-126.5,182,2223,1766,1762,3.5,-8.6,7,115,10.65,2.22,-33.47,0.000,18692,0.350,0.080,2667,3576,3385,3398,3373,0,0,0,0,0,0,14.28,14.54,14.78
$GC,142,-0.82,-126.5,2667,3575,3398,3373,28.2,-38.1,20,150,0.00,2.25,0.00,0.000,1030,0.000,0.040,2666,2180,3385,3398,3373,0,0,0,0,0,0,28.83,14.57,28.83
$GC,339,-0.82,-126.5,2666,2176,3398,3373,87.7,-25.0,57,346,0.00,2.22,0.00,0.000,516,0.000,0.054,2666,794,3385,3398,3372,0,0,0,0,0,0,28.83,14.62,28.83
$GC,467,-0.82,-126.5,2666,795,3398,3373,112.8,-15.5,81,475,0.10,2.17,0.00,0.000,3078,0.286,0.039,2675,2176,3385,3398,3373,0,0,0,0,0,0,14.47,14.67,28.83
$GC,663,-0.82,-126.5,2676,2176,3398,3375,140.5,-13.9,118,670,0.00,2.35,0.00,0.000,260,0.000,0.057,2667,3618,3386,3398,3375,0,0,0,0,0,0,28.83,14.66,28.83
$GC,687,-0.82,-126.5,2667,3618,3398,3375,144.1,-14.5,122,694,0.00,2.28,0.00,0.000,1030,0.000,0.034,2667,2188,3386,3398,3375,0,0,0,0,0,0,28.83,14.67,28.83
$GC,884,-0.82,-126.5,2666,2186,3398,3376,171.3,-13.7,159,890,0.00,2.28,0.00,0.000,260,0.000,0.057,2657,3601,3387,3398,3376,0,0,0,0,0,0,28.83,14.69,28.83
$GC,919,-0.82,-126.5,2657,3600,3398,3376,176.4,-16.3,165,926,0.10,2.17,0.00,0.000,3078,0.263,0.035,2678,2197,3387,3398,3376,0,0,0,0,0,0,14.54,14.76,28.83
$GC,1118,-0.82,-126.5,2678,2196,3398,3376,204.5,-13.8,200,1122,0.00,2.20,0.00,0.000,516,0.000,0.054,2678,816,3386,3398,3375,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1197,-0.82,-126.5,2678,816,3399,3376,215.2,-14.3,215,1207,0.00,2.17,0.00,0.000,1030,0.000,0.039,2669,2204,3387,3398,3376,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1506,-0.82,-126.5,2669,2204,3398,3373,262.1,-16.2,247,1516,0.00,2.25,0.00,0.000,260,0.000,0.060,2659,3601,3385,3397,3373,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1520,-0.82,-126.5,2659,3601,3398,3373,264.8,-16.4,250,1529,0.05,2.22,0.00,0.000,3078,0.217,0.037,2674,2203,3385,3397,3373,0,0,0,0,0,0,14.47,14.64,28.83
$GC,1829,-0.82,-126.5,2674,2202,3398,3371,312.4,-15.1,281,1838,0.00,2.22,0.00,0.000,516,0.000,0.057,2674,812,3384,3398,3371,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1881,-0.82,-126.5,2674,811,3397,3371,320.3,-14.5,291,1891,0.00,2.20,0.00,0.000,1030,0.000,0.044,2665,2204,3384,3398,3371,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2192,-0.82,-126.5,2665,2204,3398,3367,365.0,-13.9,318,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2204,3382,3398,3367,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2491,-0.82,-126.5,2666,2204,3397,3362,408.1,-14.4,333,2497,0.00,2.25,0.00,0.000,516,0.000,0.059,2666,810,3379,3397,3361,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2534,-0.82,-126.5,2666,810,3397,3362,414.6,-13.5,342,2539,0.05,2.25,0.00,0.000,3078,0.244,0.047,2671,2196,3379,3397,3361,0,0,0,0,0,0,14.55,14.74,28.83
$GC,2852,-0.82,-126.5,2671,2197,3397,3356,459.0,-14.2,360,2858,0.00,2.22,0.00,0.000,516,0.000,0.060,2671,816,3376,3397,3356,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2892,-0.82,-126.5,2671,816,3397,3356,464.7,-14.3,368,2899,0.08,2.22,0.00,0.000,3078,0.304,0.048,2677,2211,3376,3397,3355,0,0,0,0,0,0,14.61,14.79,28.83
$GC,3211,-0.82,-126.5,2677,2212,3397,3352,508.7,-13.5,386,3215,0.00,2.28,0.00,0.000,516,0.000,0.060,2677,806,3374,3397,3352,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3240,-0.82,-126.5,2677,806,3397,3352,512.9,-13.3,392,3245,0.00,2.28,0.00,0.000,1030,0.000,0.049,2669,2198,3374,3397,3352,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3568,-0.82,-126.5,2669,2198,3396,3349,558.7,-14.1,407,3574,0.00,2.25,0.00,0.000,516,0.000,0.060,2669,807,3371,3395,3348,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3600,-0.82,-126.5,2670,807,3395,3348,563.6,-13.8,414,3605,0.05,2.28,0.00,0.000,3078,0.245,0.050,2674,2200,3371,3395,3348,0,0,0,0,0,0,14.57,14.75,28.83
$GC,3928,-0.82,-126.5,2674,2201,3393,3345,608.8,-13.9,429,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2201,3369,3394,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4228,-0.82,-126.5,2675,2201,3392,3343,648.6,-13.1,439,4234,0.00,2.25,0.00,0.000,516,0.000,0.063,2675,814,3368,3393,3343,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4260,-0.82,-126.5,2675,813,3392,3343,653.1,-12.4,446,4264,0.00,2.28,0.00,0.000,1030,0.000,0.050,2666,2202,3367,3392,3343,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4588,-0.82,-126.5,2667,2202,3390,3341,694.8,-12.9,461,4594,0.00,2.25,0.00,0.000,516,0.000,0.063,2666,817,3366,3391,3341,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4635,-0.82,-126.5,2666,817,3390,3341,701.5,-13.0,471,4640,0.10,2.22,0.00,0.000,3078,0.275,0.051,2678,2201,3365,3390,3341,0,0,0,0,0,0,14.61,14.81,28.83
$GC,4949,-0.82,-126.5,2678,2201,3390,3338,739.7,-12.3,483,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2201,3363,3389,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5248,-0.82,-126.5,2678,2201,3388,3338,777.7,-12.6,493,5254,0.00,2.28,0.00,0.000,516,0.000,0.066,2678,815,3362,3388,3337,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5290,-0.82,-126.5,2677,814,3388,3337,783.4,-12.5,502,5295,0.00,2.22,0.00,0.000,1030,0.000,0.053,2670,2198,3362,3388,3337,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5608,-0.82,-126.5,2670,2199,3387,3336,822.9,-12.6,515,5609,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2199,3361,3386,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5909,-0.82,-126.5,2669,2199,3385,3335,860.5,-12.4,525,5913,0.00,2.28,0.00,0.000,516,0.000,0.067,2670,813,3360,3385,3335,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5957,-0.82,-126.5,2670,813,3384,3334,867.0,-12.4,535,5962,0.10,2.25,0.00,0.000,3078,0.287,0.056,2681,2202,3359,3384,3335,0,0,0,0,0,0,14.58,14.78,28.83
$GC,6271,-0.82,-126.5,2681,2202,3383,3334,902.6,-11.7,547,6277,0.00,2.30,0.00,0.000,516,0.000,0.068,2681,803,3358,3383,3334,0,0,0,0,0,0,28.83,14.72,28.83
$GC,6300,-0.82,-126.5,2681,803,3383,3334,906.2,-12.7,553,6306,0.00,2.25,0.00,0.000,1030,0.000,0.052,2673,2201,3359,3384,3334,0,0,0,0,0,0,28.83,14.79,28.83
$GC,6631,-0.82,-126.5,2673,2201,3382,3333,948.5,-13.1,569,6636,0.00,2.28,0.00,0.000,516,0.000,0.068,2673,816,3357,3381,3333,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6662,-0.82,-126.5,2673,816,3381,3333,953.2,-13.2,576,6668,0.03,2.28,0.00,0.000,3078,0.289,0.053,2670,2192,3357,3381,3333,0,0,0,0,0,0,14.56,14.73,28.83
$STATE,6958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6958,begin apogee
$GC,6962,-0.16,0.0,2670,2193,3380,3332,991.2,-12.8,590,7073,0.75,0.00,105.05,2.454,10246,0.232,0.000,2887,2194,2867,2913,2822,0,0,0,0,0,0,14.48,28.83,13.26
$STATE,7074,end apogee,CONTROL_FINISHED_OK
$STATE,7075,begin climb
$GC,7076,0.82,126.5,2887,2194,2910,2819,995.7,0.0,613,7193,1.02,2.47,107.50,2.212,10500,0.149,0.074,3203,3548,2348,2407,2290,0,0,0,0,0,0,14.03,13.93,13.20
$GC,7214,0.84,135.1,3203,3548,2403,2287,989.2,8.7,641,7224,0.00,2.35,3.50,1.185,9222,0.000,0.047,3211,2160,2322,2382,2263,0,0,0,0,0,0,28.83,14.10,13.25
$GC,7531,0.84,135.1,3210,2160,2394,2275,954.7,11.3,654,7539,0.00,2.47,1.70,0.179,8708,0.000,0.076,3222,742,2325,2385,2266,0,0,0,0,0,0,28.83,14.42,14.40
$GC,7681,0.84,135.1,3221,742,2392,2276,937.6,11.2,684,7689,0.00,2.30,1.62,0.184,9222,0.000,0.051,3221,2146,2321,2380,2263,0,0,0,0,0,0,28.83,14.56,14.42
$GC,8011,0.84,135.1,3221,2145,2391,2275,900.9,11.0,700,8019,0.00,2.42,1.48,0.185,8708,0.000,0.074,3232,742,2322,2381,2264,0,0,0,0,0,0,28.83,14.57,14.52
$GC,8073,0.84,135.1,2384,742,2342,2269,893.6,11.8,713,8080,0.00,2.33,1.30,0.175,9222,0.000,0.050,3232,2136,2320,2378,2262,0,0,0,0,0,0,28.83,14.62,14.54
$GC,8397,0.84,135.1,3232,2137,2389,2274,856.9,11.4,727,8404,0.00,2.33,1.20,0.198,8708,0.000,0.073,3242,742,2323,2381,2265,0,0,0,0,0,0,28.83,14.57,14.54
$GC,8440,0.84,135.1,3242,742,2387,2274,851.6,11.3,736,8444,0.00,2.28,0.00,0.000,1030,0.000,0.050,3241,2142,2330,2387,2274,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8758,0.84,135.1,3241,2142,2387,2274,814.7,11.8,749,8764,0.00,2.35,0.00,0.000,516,0.000,0.076,3252,740,2331,2388,2274,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8826,0.84,135.1,3252,740,2388,2274,806.2,12.0,763,8830,0.00,2.28,0.00,0.000,1030,0.000,0.051,3252,2142,2330,2387,2274,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9149,0.84,135.1,3252,2142,2387,2274,769.1,11.2,777,9150,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,2142,2330,2387,2273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9448,0.84,135.1,3252,2142,2386,2272,736.3,10.9,787,9452,0.00,2.38,0.00,0.000,516,0.000,0.076,3262,734,2330,2387,2273,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9488,0.84,135.1,3262,733,2387,2273,731.7,11.1,795,9493,0.10,2.28,0.00,0.000,5126,0.278,0.050,3242,2141,2330,2387,2273,0,0,0,0,0,0,14.54,14.75,28.83
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$GC,16895,1.30,515.6,2464,2144,1053,956,25.3,6.3,1622,16935,0.00,2.38,33.28,0.210,8452,0.000,0.059,3363,3547,772,829,716,0,0,0,0,0,0,28.83,14.54,14.38
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$STATE,17158,end climb,SURFACE_DEPTH_REACHED
$STATE,17158,begin surface coast
$FINISH,0.2,1.019136
$STATE,17200,end surface coast,CONTROL_FINISHED_OK
$STATE,17200,begin surface
$SM_CCo,17216,37.17,0.138,0,0,509,579.63
$SM_CCo,17256,-0.05,0.000,0,0,512,579.63
$SM_CCo,17259,0.43,0.396,0,0,509,579.63
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$IRIDIUM_FIX,1749.63,8921.48,250708,010100
$TT8_MAMPS,0.018725,0.018725
$HUMID,44.21
$INTERNAL_PRESSURE,6.65065
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,12.9,55.090
$10V_AH,12.6,0.000
$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
$DEVICE_SECS,22.650,192.825,485.700,37.600,0.000,26.037,17.284,246.119,0.000,0.000,6.978,3392.633,10156.972,661.316,3275.916,168.739,0.000,2062.118,0.000,2450.614,0.000,0.552,0.000
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$SENSOR_SECS,905.964,603.620,1548.309,946.495,0.000,0.000,0.000,0.000,0.000,0.000
$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,134406,1679
$CAP_FILE_SIZE,185460,0
$CFSIZE,2097086464,2073264128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.044,237.1,1
$GPS,280915,221604,1802.201,8921.280,32,0.7,32,-0.9