version: 66.11
glider: 615
mission: 5
dive: 137
start: 9 30 115 14 0 50
data:
$ID,615
$MISSION,5
$DIVE,137
$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,-19001.598
$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,47
$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
$GPS1,300915,135303,1758.534,8929.510,31,0.8,31,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-69.9
$GPS2,300915,140024,1758.586,8929.444,5,1.3,5,-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,131.0,9417,-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,-126.5,163,2148,548,488,0.0,0.0,0,62,0.00,0.00,-44.90,0.000,16386,0.000,0.000,161,2148,1771,1777,1766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.82,-126.5,162,2147,1777,1766,3.0,-6.4,7,118,10.82,2.47,-35.55,0.000,18692,0.353,0.083,2663,3604,3390,3402,3379,0,0,0,0,0,0,14.26,14.54,14.76
$GC,130,-0.82,-126.5,2663,3604,3402,3380,21.4,-38.2,17,138,0.08,2.25,0.00,0.000,3078,0.314,0.041,2674,2199,3391,3402,3380,0,0,0,0,0,0,14.37,14.58,28.83
$GC,322,-0.82,-126.5,2673,2194,3402,3379,84.2,-25.8,54,329,0.00,2.30,0.00,0.000,516,0.000,0.055,2673,807,3390,3402,3379,0,0,0,0,0,0,28.83,14.55,28.83
$GC,483,-0.82,-126.5,2673,806,3403,3380,116.9,-17.1,85,491,0.00,2.20,0.00,0.000,1030,0.000,0.041,2665,2202,3391,3402,3380,0,0,0,0,0,0,28.83,14.66,28.83
$GC,674,-0.82,-126.5,2665,2202,3402,3383,145.0,-13.8,122,681,0.00,2.33,0.00,0.000,260,0.000,0.060,2654,3602,3392,3402,3383,0,0,0,0,0,0,28.83,14.62,28.83
$GC,748,-0.82,-126.5,1672,3601,3389,3381,155.1,-14.7,136,756,0.08,2.28,0.00,0.000,3078,0.223,0.036,2685,2181,3393,3403,3383,0,0,0,0,0,0,14.50,14.67,28.83
$GC,940,-0.82,-126.5,2685,2181,3402,3383,179.2,-13.2,173,948,0.00,2.20,0.00,0.000,516,0.000,0.054,2685,806,3393,3403,3383,0,0,0,0,0,0,28.83,14.68,28.83
$GC,985,-0.82,-126.5,2685,806,3403,3383,186.0,-15.3,181,993,0.00,2.20,0.00,0.000,1030,0.000,0.041,2677,2204,3393,3403,3383,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1182,-0.82,-126.5,2677,2205,3403,3383,214.1,-13.9,209,1192,0.00,2.22,0.00,0.000,516,0.000,0.055,2676,814,3393,3403,3383,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1245,-0.82,-126.5,2677,814,3403,3383,223.7,-14.3,221,1255,0.00,2.17,0.00,0.000,1030,0.000,0.043,2666,2198,3393,3403,3383,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1556,-0.82,-126.5,2667,2198,3403,3380,268.9,-14.7,253,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2198,3391,3403,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1856,-0.82,-126.5,2666,2198,3402,3376,314.0,-14.7,283,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2198,3390,3403,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2166,-0.82,-126.5,2666,2198,3402,3372,359.5,-14.7,311,2172,0.00,2.22,0.00,0.000,516,0.000,0.059,2666,810,3387,3403,3372,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2226,-0.82,-126.5,2667,810,3402,3372,368.6,-14.6,323,2233,0.10,2.22,0.00,0.000,3078,0.272,0.047,2678,2205,3386,3402,3371,0,0,0,0,0,0,14.59,14.77,28.83
$GC,2546,-0.82,-126.5,2678,2205,3402,3368,412.3,-13.7,342,2552,0.00,2.25,0.00,0.000,516,0.000,0.060,2678,814,3385,3403,3368,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2568,-0.82,-126.5,2678,815,3402,3368,415.8,-14.3,347,2573,0.00,2.25,0.00,0.000,1030,0.000,0.048,2670,2197,3385,3402,3368,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2886,-0.82,-126.5,2670,2198,3402,3362,462.1,-14.8,365,2892,0.00,2.25,0.00,0.000,516,0.000,0.061,2670,810,3382,3402,3363,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2918,-0.82,-126.5,2669,810,3402,3362,467.6,-15.6,372,2928,0.05,2.30,0.00,0.000,3078,0.248,0.050,2675,2204,3382,3402,3362,0,0,0,0,0,0,14.47,14.66,28.83
$GC,3236,-0.82,-126.5,2675,2204,3402,3357,515.1,-15.3,387,3242,0.00,2.25,0.00,0.000,516,0.000,0.061,2675,816,3379,3402,3356,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3273,-0.82,-126.5,2675,816,3401,3357,521.3,-15.4,395,3278,0.00,2.22,0.00,0.000,1030,0.000,0.050,2667,2202,3379,3402,3357,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3596,-0.82,-126.5,2667,2202,3401,3353,569.8,-14.9,409,3602,0.00,2.28,0.00,0.000,516,0.000,0.061,2667,809,3376,3401,3352,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3626,-0.82,-126.5,2667,809,3400,3353,574.4,-14.9,415,3633,0.10,2.22,0.00,0.000,3078,0.275,0.050,2679,2200,3376,3401,3352,0,0,0,0,0,0,14.60,14.79,28.83
$GC,3956,-0.82,-126.5,2678,2201,3400,3351,618.9,-13.1,431,3957,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2200,3375,3400,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4257,-0.82,-126.5,2678,2201,3398,3349,657.0,-12.9,441,4262,0.00,2.22,0.00,0.000,516,0.000,0.063,2679,820,3373,3398,3348,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4316,-0.82,-126.5,2679,820,3397,3348,664.9,-12.8,453,4320,0.00,2.22,0.00,0.000,1030,0.000,0.052,2670,2198,3372,3397,3348,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4648,-0.82,-126.5,2671,2199,3396,3345,708.8,-13.3,469,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2199,3371,3396,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4948,-0.82,-126.5,2670,2200,3395,3344,748.4,-13.4,479,4954,0.00,2.28,0.00,0.000,516,0.000,0.067,2671,818,3369,3395,3344,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4986,-0.82,-126.5,2670,817,3395,3344,753.9,-13.8,487,4991,0.08,2.25,0.00,0.000,3078,0.306,0.053,2675,2210,3369,3395,3344,0,0,0,0,0,0,14.60,14.80,28.83
$GC,5308,-0.82,-126.5,2675,2210,3393,3342,795.7,-13.1,501,5310,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2210,3368,3393,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5608,-0.82,-126.5,2675,2210,3393,3341,834.7,-13.1,511,5614,0.00,2.30,0.00,0.000,516,0.000,0.067,2675,814,3366,3392,3341,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5661,-0.82,-126.5,2675,814,3392,3341,842.0,-13.4,522,5669,0.00,2.30,0.00,0.000,1030,0.000,0.053,2667,2197,3366,3392,3341,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5968,-0.82,-126.5,2667,2197,3391,3340,883.7,-13.8,533,5970,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2197,3365,3391,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6268,-0.82,-126.5,2668,2197,3389,3338,924.5,-13.6,543,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2197,3363,3389,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6568,-0.82,-126.5,2667,2197,3389,3337,965.1,-13.5,553,6574,0.00,2.25,0.00,0.000,516,0.000,0.067,2667,819,3363,3389,3337,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6600,-0.82,-126.5,2667,819,3389,3337,969.8,-13.1,560,6606,0.05,2.30,0.00,0.000,3078,0.243,0.054,2672,2207,3363,3389,3337,0,0,0,0,0,0,14.51,14.73,28.83
$STATE,6777,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6777,begin apogee
$GC,6781,-0.16,0.0,2672,2149,3388,3337,992.3,-12.8,570,6890,0.75,0.00,102.88,2.205,10246,0.232,0.000,2888,2149,2867,2913,2821,0,0,0,0,0,0,14.47,28.83,13.33
$STATE,6892,end apogee,CONTROL_FINISHED_OK
$STATE,6892,begin climb
$GC,6893,0.82,126.5,2888,2149,2910,2818,997.0,0.0,593,7008,1.02,2.47,108.15,2.148,10500,0.146,0.070,3205,3542,2349,2407,2292,0,0,0,0,0,0,14.07,13.95,13.23
$GC,7029,0.83,129.8,3205,3542,2403,2286,991.0,9.0,605,7033,0.00,2.38,0.00,0.000,1030,0.000,0.046,3214,2145,2344,2403,2286,0,0,0,0,0,0,28.83,14.11,28.83
$GC,7341,0.83,129.8,3214,2144,2402,2283,957.6,10.8,617,7347,0.00,2.38,0.00,0.000,516,0.000,0.077,3225,740,2342,2402,2283,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7515,0.83,129.8,3225,741,2402,2283,938.2,11.2,652,7524,0.00,2.35,0.00,0.000,1030,0.000,0.051,3225,2141,2342,2402,2283,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7823,0.83,129.8,3225,2141,2400,2282,905.1,10.7,663,7829,0.00,2.38,0.00,0.000,516,0.000,0.076,3235,730,2341,2400,2282,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7870,0.83,129.8,3236,730,2400,2282,899.6,11.2,673,7874,0.00,2.30,0.00,0.000,1030,0.000,0.050,3236,2142,2340,2399,2282,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8183,0.83,129.8,3236,2142,2398,2281,865.6,10.9,685,8189,0.00,2.38,0.00,0.000,516,0.000,0.074,3245,732,2339,2398,2281,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8251,0.83,129.8,3246,733,2398,2281,857.6,11.4,699,8255,0.00,2.30,0.00,0.000,1030,0.000,0.050,3245,2143,2339,2398,2281,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8573,0.83,129.8,3245,2143,2397,2281,821.1,11.3,713,8579,0.00,2.35,0.00,0.000,516,0.000,0.074,3255,736,2338,2396,2280,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8672,0.83,129.8,3256,736,2396,2281,809.2,11.6,733,8676,0.00,2.33,0.00,0.000,1030,0.000,0.050,3255,2141,2338,2396,2281,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8994,0.83,129.8,3255,2140,2396,2280,774.0,10.6,747,8998,0.00,2.35,0.00,0.000,516,0.000,0.073,3266,739,2337,2395,2280,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9034,0.83,129.8,3266,738,2396,2280,769.6,10.7,755,9039,0.10,2.28,0.00,0.000,5126,0.275,0.050,3246,2144,2338,2396,2280,0,0,0,0,0,0,14.51,14.73,28.83
$GC,9351,0.83,130.2,3246,2144,2395,2279,739.9,9.2,768,9352,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2144,2337,2395,2279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9650,0.83,130.2,3246,2143,2395,2279,711.5,9.6,778,9655,0.00,2.35,0.00,0.000,516,0.000,0.072,3255,729,2337,2395,2279,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9690,0.83,130.2,3254,729,2395,2279,707.3,10.5,786,9695,0.00,2.30,0.00,0.000,1030,0.000,0.050,3254,2146,2337,2395,2279,0,0,0,0,0,0,28.83,14.75,28.83
$GC,10008,0.83,130.2,3255,2147,2394,2278,672.7,11.4,799,10014,0.00,2.35,0.00,0.000,516,0.000,0.074,3265,734,2336,2394,2278,0,0,0,0,0,0,28.83,14.69,28.83
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$GC,15072,0.88,175.5,3264,2140,2245,2130,170.8,8.6,1259,15087,0.00,2.38,4.32,1.064,8708,0.000,0.070,3274,750,2165,2222,2108,0,0,0,0,0,0,28.83,14.56,13.97
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$STATE,17030,end climb,SURFACE_DEPTH_REACHED
$STATE,17030,begin surface coast
$FINISH,0.4,1.019634
$STATE,17058,end surface coast,CONTROL_FINISHED_OK
$STATE,17058,begin surface
$SM_CCo,17076,36.12,0.136,0,0,507,579.63
$SM_CCo,17115,-0.10,0.000,0,0,511,579.63
$SM_CCo,17118,0.38,0.342,0,0,507,579.63
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$IRIDIUM_FIX,1751.90,8930.52,260708,222211
$TT8_MAMPS,0.018725,0.018725
$HUMID,44.13
$INTERNAL_PRESSURE,6.65065
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,13.2,57.969
$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
$DEVICE_SECS,22.625,175.425,486.700,36.500,0.000,23.192,32.876,272.138,0.000,0.000,6.300,3379.175,10062.730,676.637,3259.597,169.591,0.000,2025.942,0.000,2394.566,0.000,0.553,0.000
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$SENSOR_SECS,911.151,609.106,1608.384,982.872,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322244
$DATA_FILE_SIZE,134151,1631
$CAP_FILE_SIZE,180698,0
$CFSIZE,2097086464,2071789568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.016,177.8,1
$GPS,300915,184722,1757.228,8930.754,37,0.8,37,-0.9