version: 66.11
glider: 615
mission: 5
dive: 160
start: 10 5 115 7 43 54
data:
$ID,615
$MISSION,5
$DIVE,160
$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,-19035.006
$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,50
$R_STBD_OVSHOOT,71
$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
$GPS1,051015,073533,1803.298,8924.536,50,1.0,50,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.7
$GPS2,051015,074328,1803.344,8924.488,5,0.8,5,-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,128.6,21800,-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,-126.5,169,2235,562,478,0.0,0.0,0,55,0.00,0.00,-38.17,0.000,16386,0.000,0.000,170,2235,1593,1597,1589,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.82,-126.5,168,2235,1597,1589,3.0,-6.8,6,117,10.82,2.35,-39.85,0.000,18948,0.352,0.067,2675,796,3388,3400,3377,0,0,0,0,0,0,14.23,14.53,14.76
$GC,149,-0.82,-126.5,2676,796,3401,3377,29.3,-36.6,21,156,0.00,2.20,0.00,0.000,1030,0.000,0.044,2668,2169,3389,3401,3377,0,0,0,0,0,0,28.83,14.56,28.83
$GC,339,-0.82,-126.5,2668,2170,3400,3377,84.2,-26.5,58,347,0.00,2.28,0.00,0.000,516,0.000,0.055,2667,802,3389,3401,3377,0,0,0,0,0,0,28.83,14.52,28.83
$GC,374,-0.82,-126.5,2668,802,3401,3377,91.5,-20.3,64,382,0.08,2.28,0.00,0.000,3078,0.252,0.039,2687,2207,3389,3401,3377,0,0,0,0,0,0,14.39,14.57,28.83
$GC,566,-0.82,-126.5,1696,2206,3386,3378,120.9,-14.2,101,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2208,3390,3401,3379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,754,-0.82,-126.5,1696,2206,3387,3378,149.5,-14.3,138,761,0.00,2.30,0.00,0.000,516,0.000,0.052,2687,811,3391,3401,3381,0,0,0,0,0,0,28.83,14.60,28.83
$GC,838,-0.82,-126.5,2687,811,3401,3381,161.2,-13.1,154,845,0.00,2.25,0.00,0.000,1030,0.000,0.037,2679,2209,3390,3400,3381,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1029,-0.82,-126.5,2679,2210,3401,3381,186.8,-14.1,191,1036,0.00,2.25,0.00,0.000,260,0.000,0.057,2668,3604,3391,3401,3381,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1064,-0.82,-126.5,2668,3604,3400,3381,191.7,-14.1,197,1070,0.00,2.20,0.00,0.000,1030,0.000,0.034,2668,2187,3391,3401,3381,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1254,-0.82,-126.5,2668,2186,3401,3381,219.8,-14.2,221,1264,0.00,2.20,0.00,0.000,516,0.000,0.053,2667,806,3391,3401,3381,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1309,-0.82,-126.5,2668,806,3401,3381,227.7,-12.9,232,1318,0.05,2.22,0.00,0.000,3078,0.248,0.039,2673,2192,3390,3401,3380,0,0,0,0,0,0,14.35,14.56,28.83
$GC,1617,-0.82,-126.5,2673,2191,3400,3377,269.7,-14.9,263,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2191,3389,3400,3378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1918,-0.82,-126.5,2673,2191,3400,3374,314.7,-14.8,293,1928,0.00,2.20,0.00,0.000,516,0.000,0.054,2673,817,3387,3401,3374,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1952,-0.82,-126.5,2673,817,3401,3374,320.4,-14.9,300,1961,0.00,2.22,0.00,0.000,1030,0.000,0.041,2665,2195,3386,3400,3373,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2261,-0.82,-126.5,2664,2196,3400,3370,366.3,-15.1,326,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2195,3385,3400,3370,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2560,-0.82,-126.5,2665,2196,3400,3365,411.1,-14.7,341,2567,0.08,2.22,0.00,0.000,2564,0.324,0.053,2678,818,3382,3400,3365,0,0,0,0,0,0,14.64,14.73,28.83
$GC,2622,-0.82,-126.5,2678,818,3399,3365,419.7,-13.7,353,2628,0.00,2.20,0.00,0.000,1030,0.000,0.044,2669,2207,3382,3400,3365,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2941,-0.82,-126.5,2669,2208,3399,3359,464.3,-13.9,372,2947,0.00,2.25,0.00,0.000,516,0.000,0.057,2669,812,3379,3400,3359,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2982,-0.82,-126.5,2669,811,3400,3359,470.0,-14.3,380,2988,0.10,2.20,0.00,0.000,3078,0.279,0.044,2681,2201,3379,3400,3359,0,0,0,0,0,0,14.55,14.77,28.83
$GC,3311,-0.82,-126.5,2682,2201,3400,3354,513.3,-12.9,398,3315,0.00,2.25,0.00,0.000,516,0.000,0.058,2681,817,3377,3400,3354,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3340,-0.82,-126.5,2681,817,3399,3354,517.5,-13.7,404,3345,0.00,2.25,0.00,0.000,1030,0.000,0.047,2674,2199,3377,3400,3354,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3668,-0.82,-126.5,2674,2200,3399,3351,561.6,-13.7,419,3674,0.00,2.25,0.00,0.000,516,0.000,0.061,2674,816,3375,3399,3351,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3721,-0.82,-126.5,2673,816,3398,3351,569.5,-14.2,430,3729,0.00,2.28,0.00,0.000,1030,0.000,0.050,2664,2194,3374,3398,3351,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4029,-0.82,-126.5,2664,2195,3397,3347,612.3,-14.1,441,4033,0.08,2.22,0.00,0.000,2564,0.313,0.057,2677,819,3372,3397,3347,0,0,0,0,0,0,14.67,14.70,28.83
$GC,4053,-0.82,-126.5,2677,819,3396,3347,616.2,-13.7,446,4062,0.00,2.30,0.00,0.000,1030,0.000,0.050,2669,2208,3371,3396,3347,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4361,-0.82,-126.5,2669,2208,3395,3345,657.3,-13.5,457,4367,0.00,2.28,0.00,0.000,516,0.000,0.062,2669,810,3370,3395,3345,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4422,-0.82,-126.5,2669,810,3395,3345,665.5,-13.4,469,4426,0.10,2.25,0.00,0.000,3078,0.275,0.050,2680,2203,3370,3395,3345,0,0,0,0,0,0,14.56,14.77,28.83
$GC,4754,-0.82,-126.5,2680,2204,3393,3342,706.8,-12.4,485,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2203,3368,3394,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5054,-0.82,-126.5,2681,2204,3393,3340,744.3,-12.7,495,5060,0.00,2.28,0.00,0.000,516,0.000,0.063,2680,817,3366,3393,3340,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5146,-0.82,-126.5,2680,818,3392,3340,756.3,-11.9,514,5151,0.00,2.28,0.00,0.000,1030,0.000,0.052,2672,2201,3366,3392,3340,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5474,-0.82,-126.5,2673,2202,3390,3338,798.4,-13.0,529,5480,0.00,2.25,0.00,0.000,516,0.000,0.063,2673,822,3364,3390,3338,0,0,0,0,0,0,28.83,14.72,28.83
$GC,5517,-0.82,-126.5,2673,822,3389,3338,804.4,-12.8,538,5522,0.08,2.22,0.00,0.000,3078,0.302,0.051,2676,2201,3364,3390,3338,0,0,0,0,0,0,14.56,14.76,28.83
$GC,5835,-0.82,-126.5,2676,2202,3389,3336,843.9,-12.4,551,5841,0.00,2.28,0.00,0.000,516,0.000,0.066,2676,815,3362,3389,3336,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5873,-0.82,-126.5,2677,815,3389,3337,849.2,-13.1,559,5877,0.00,2.25,0.00,0.000,1030,0.000,0.055,2668,2203,3363,3389,3337,0,0,0,0,0,0,28.83,14.75,28.83
$GC,6195,-0.82,-126.5,2668,2204,3389,3336,889.3,-12.4,573,6201,0.00,2.28,0.00,0.000,516,0.000,0.066,2668,822,3361,3388,3335,0,0,0,0,0,0,28.83,14.70,28.83
$GC,6228,-0.82,-126.5,2668,822,3387,3336,893.8,-12.8,580,6233,0.05,2.28,0.00,0.000,3078,0.245,0.053,2674,2203,3362,3388,3336,0,0,0,0,0,0,14.47,14.70,28.83
$GC,6556,-0.82,-126.5,2674,2203,3387,3334,933.0,-12.1,595,6562,0.00,2.30,0.00,0.000,516,0.000,0.066,2673,813,3360,3387,3334,0,0,0,0,0,0,28.83,14.70,28.83
$GC,6616,-0.82,-126.5,2674,813,3386,3334,940.4,-11.7,607,6622,0.00,2.25,0.00,0.000,1030,0.000,0.054,2666,2204,3360,3386,3334,0,0,0,0,0,0,28.83,14.75,28.83
$GC,6947,-0.82,-126.5,2665,2204,3383,3334,981.3,-12.6,623,6953,0.00,2.28,0.00,0.000,516,0.000,0.065,2665,822,3358,3383,3334,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6976,-0.82,-126.5,2666,822,3383,3334,985.2,-13.1,629,6983,0.10,2.22,0.00,0.000,3078,0.278,0.052,2676,2201,3358,3383,3334,0,0,0,0,0,0,14.53,14.74,28.83
$STATE,7034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7034,begin apogee
$GC,7038,-0.16,0.0,2676,2201,3383,3334,992.4,-12.0,636,7144,0.70,0.00,101.45,2.161,10246,0.211,0.000,2886,2201,2872,2920,2824,0,0,0,0,0,0,14.49,28.83,13.33
$STATE,7145,end apogee,CONTROL_FINISHED_OK
$STATE,7146,begin climb
$GC,7147,0.82,126.5,2886,2201,2913,2816,996.6,0.0,658,7259,1.00,0.00,108.35,2.127,10246,0.132,0.000,3204,2202,2356,2413,2299,0,0,0,0,0,0,14.07,28.83,13.21
$GC,7547,0.82,126.5,3204,2202,2402,2285,964.3,10.3,673,7553,0.00,2.42,0.00,0.000,516,0.000,0.074,3214,772,2343,2402,2285,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7638,0.82,126.5,3214,772,2402,2285,954.5,10.5,692,7643,0.00,2.30,0.00,0.000,1030,0.000,0.050,3214,2137,2343,2402,2285,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7967,0.82,126.5,3214,2138,2398,2284,921.3,10.0,707,7968,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2137,2341,2399,2284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8267,0.82,126.5,3213,2137,2397,2283,891.4,9.9,717,8273,0.00,2.33,0.00,0.000,516,0.000,0.076,3224,761,2340,2398,2283,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8350,0.82,126.5,3224,761,2397,2283,882.5,10.3,734,8357,0.00,2.33,0.00,0.000,1030,0.000,0.051,3224,2144,2340,2397,2284,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8657,0.82,126.5,3224,2144,2396,2283,850.2,10.5,745,8663,0.00,2.38,0.00,0.000,260,0.000,0.077,3224,3555,2339,2396,2283,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8679,0.82,126.5,3224,3555,2395,2282,847.5,11.0,750,8687,0.00,2.33,0.00,0.000,1030,0.000,0.047,3234,2161,2338,2395,2282,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8989,0.82,126.5,3234,2162,2395,2281,814.5,10.7,761,8995,0.00,2.38,0.00,0.000,516,0.000,0.077,3245,740,2338,2395,2282,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9085,0.82,126.5,3245,740,2395,2282,803.8,10.4,781,9089,0.00,2.30,0.00,0.000,1030,0.000,0.051,3245,2152,2338,2394,2282,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9408,0.82,126.5,3245,2152,2394,2282,769.4,10.6,795,9414,0.00,2.38,0.00,0.000,516,0.000,0.075,3255,739,2338,2394,2282,0,0,0,0,0,0,28.83,14.63,28.83
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$STATE,17646,end climb,SURFACE_DEPTH_REACHED
$STATE,17646,begin surface coast
$FINISH,0.2,1.008636
$STATE,17668,end surface coast,CONTROL_FINISHED_OK
$STATE,17668,begin surface
$SM_CCo,17684,1.33,0.197,0,0,508,579.63
$SM_CCo,17688,0.00,0.000,0,0,510,579.63
$SM_CCo,17691,0.35,0.357,0,0,508,579.63
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$IRIDIUM_FIX,1756.43,8923.72,310708,161656
$TT8_MAMPS,0.018725,0.018725
$HUMID,45.62
$INTERNAL_PRESSURE,6.67018
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,13.2,64.953
$10V_AH,12.9,0.000
$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
$DEVICE_SECS,22.925,183.625,500.875,1.675,0.000,25.903,20.973,307.797,0.000,0.000,5.927,3448.223,10417.137,668.352,3444.160,176.616,0.000,2102.855,0.000,2539.493,0.000,0.553,0.000
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$SENSOR_SECS,922.788,611.049,1649.230,1007.562,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322240
$DATA_FILE_SIZE,140957,1727
$CAP_FILE_SIZE,186633,0
$CFSIZE,2097086464,2068021248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.038,221.1,1
$GPS,051015,124027,1801.978,8925.720,64,0.8,64,-0.9