version: 66.11
glider: 615
mission: 5
dive: 205
start: 10 14 115 15 37 37
data:
$ID,615
$MISSION,5
$DIVE,205
$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,-19097.434
$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,46
$R_STBD_OVSHOOT,77
$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
$GPS1,141015,153021,1800.946,8927.590,57,0.7,57,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.7
$GPS2,141015,153710,1801.003,8927.563,4,0.8,5,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,SW
$TGT_LATLONG,1755.320,8921.600
$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,211.1,14873,-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,-126.5,163,2238,555,483,0.0,0.0,0,62,0.00,0.00,-45.00,0.000,16386,0.000,0.000,163,2239,1815,1820,1810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.82,-126.5,163,2239,1820,1810,3.6,-9.0,7,117,10.95,2.40,-31.23,0.000,18948,0.355,0.075,2672,807,3392,3406,3378,0,0,0,0,0,0,14.19,14.38,14.75
$GC,139,-0.82,-126.5,2672,806,3406,3378,29.2,-43.5,19,147,0.08,2.17,0.00,0.000,3078,0.337,0.044,2675,2161,3392,3406,3378,0,0,0,0,0,0,14.30,14.53,28.83
$GC,331,-0.82,-126.5,2675,2161,3406,3378,86.1,-24.9,56,338,0.00,2.25,0.00,0.000,516,0.000,0.048,2675,802,3392,3406,3378,0,0,0,0,0,0,28.83,14.47,28.83
$GC,351,-0.82,-126.5,2675,802,3406,3378,90.3,-21.8,59,357,0.00,2.25,0.00,0.000,1030,0.000,0.040,2666,2218,3392,3406,3378,0,0,0,0,0,0,28.83,14.60,28.83
$GC,541,-0.82,-126.5,1696,2216,3392,3378,127.2,-17.3,96,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2218,3392,3405,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,730,-0.82,-126.5,2666,2218,3407,3382,156.0,-14.3,133,738,0.00,2.28,0.00,0.000,516,0.000,0.050,2666,802,3394,3406,3382,0,0,0,0,0,0,28.83,14.61,28.83
$GC,785,-0.82,-126.5,2666,802,3406,3382,164.0,-14.6,143,793,0.10,2.22,0.00,0.000,3078,0.286,0.039,2676,2210,3394,3406,3382,0,0,0,0,0,0,14.41,14.66,28.83
$GC,976,-0.82,-126.5,1696,2209,3392,3381,190.2,-13.0,180,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2210,3394,3406,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1170,-0.82,-126.5,2676,2211,3406,3383,217.1,-14.4,206,1179,0.00,2.28,0.00,0.000,516,0.000,0.052,2677,798,3394,3406,3383,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1200,-0.82,-126.5,2677,797,3406,3383,221.7,-15.1,212,1205,0.00,2.22,0.00,0.000,1030,0.000,0.040,2668,2205,3394,3406,3383,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1506,-0.82,-126.5,2668,2205,3406,3381,267.5,-15.3,243,1516,0.00,2.28,0.00,0.000,260,0.000,0.061,2657,3604,3393,3406,3380,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1531,-0.82,-126.5,2657,3604,3406,3380,271.7,-15.6,248,1541,0.05,2.28,0.00,0.000,3078,0.225,0.037,2672,2184,3392,3406,3379,0,0,0,0,0,0,14.31,14.52,28.83
$GC,1839,-0.82,-126.5,2673,2183,3406,3377,317.4,-14.9,279,1849,0.00,2.20,0.00,0.000,516,0.000,0.054,2672,814,3391,3407,3376,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1904,-0.82,-126.5,2672,815,3406,3376,327.5,-14.4,292,1913,0.00,2.25,0.00,0.000,1030,0.000,0.043,2663,2191,3391,3406,3376,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2224,-0.82,-126.5,2664,2190,3406,3372,375.5,-15.4,316,2226,0.08,0.00,0.00,0.000,2054,0.311,0.000,2677,2191,3389,3406,3372,0,0,0,0,0,0,14.59,28.83,28.83
$GC,2523,-0.82,-126.5,2677,2191,3406,3369,418.6,-14.1,331,2529,0.00,2.22,0.00,0.000,516,0.000,0.057,2677,816,3387,3406,3369,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2565,-0.82,-126.5,2678,816,3406,3369,425.1,-14.1,340,2570,0.00,2.25,0.00,0.000,1030,0.000,0.047,2669,2193,3387,3406,3369,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2883,-0.82,-126.5,2669,2193,3405,3364,471.2,-14.6,358,2884,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2193,3385,3406,3364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3203,-0.82,-126.5,2669,2193,3405,3359,517.3,-14.2,372,3207,0.00,2.25,0.00,0.000,516,0.000,0.060,2669,813,3382,3405,3359,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3262,-0.82,-126.5,2669,813,3405,3359,525.6,-13.1,384,3267,0.05,2.28,0.00,0.000,3078,0.246,0.050,2674,2193,3381,3405,3358,0,0,0,0,0,0,14.42,14.64,28.83
$GC,3590,-0.82,-126.5,2674,2193,3405,3354,566.8,-12.6,399,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2194,3379,3405,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3890,-0.82,-126.5,2674,2194,3405,3352,605.2,-13.0,409,3894,0.00,2.28,0.00,0.000,516,0.000,0.062,2674,809,3378,3404,3352,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3939,-0.82,-126.5,2675,809,3404,3352,612.2,-13.4,419,3943,0.00,2.28,0.00,0.000,1030,0.000,0.050,2666,2215,3377,3403,3352,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4252,-0.82,-126.5,2666,2215,3402,3350,656.2,-14.3,431,4253,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2215,3376,3402,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4552,-0.82,-126.5,2666,2215,3401,3347,698.6,-13.9,441,4558,0.00,2.30,0.00,0.000,516,0.000,0.064,2666,814,3374,3401,3347,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4599,-0.82,-126.5,2666,814,3401,3347,705.7,-13.7,451,4604,0.10,2.25,0.00,0.000,3078,0.270,0.051,2677,2202,3373,3400,3347,0,0,0,0,0,0,14.48,14.71,28.83
$GC,4912,-0.82,-126.5,2677,2202,3400,3345,745.2,-12.8,463,4918,0.00,2.25,0.00,0.000,516,0.000,0.063,2677,823,3372,3400,3344,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4954,-0.82,-126.5,2677,822,3399,3345,751.2,-13.1,472,4958,0.00,2.22,0.00,0.000,1030,0.000,0.050,2669,2199,3372,3400,3345,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5272,-0.82,-126.5,2669,2200,3398,3343,793.2,-13.6,485,5278,0.00,2.25,0.00,0.000,516,0.000,0.064,2670,821,3370,3398,3343,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5302,-0.82,-126.5,2669,820,3398,3343,797.4,-14.6,491,5309,0.10,2.22,0.00,0.000,3078,0.275,0.052,2680,2199,3370,3398,3343,0,0,0,0,0,0,14.48,14.71,28.83
$GC,5632,-0.82,-126.5,2680,2199,3397,3342,838.8,-12.3,507,5633,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2199,3369,3397,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5932,-0.82,-126.5,2681,2200,3396,3340,874.9,-11.8,517,5933,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2200,3368,3396,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6232,-0.82,-126.5,2680,2200,3395,3338,911.1,-12.0,527,6238,0.00,2.25,0.00,0.000,516,0.000,0.067,2681,822,3366,3395,3338,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6292,-0.82,-126.5,2681,821,3394,3338,918.6,-12.1,539,6298,0.00,2.25,0.00,0.000,1030,0.000,0.054,2673,2201,3366,3394,3338,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6622,-0.82,-126.5,2673,2201,3394,3337,960.1,-12.6,555,6628,0.00,2.30,0.00,0.000,516,0.000,0.068,2673,813,3365,3394,3337,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6644,-0.82,-126.5,2672,813,3394,3337,963.4,-13.5,560,6653,0.05,2.33,0.00,0.000,3078,0.236,0.056,2677,2189,3365,3394,3337,0,0,0,0,0,0,14.31,14.52,28.83
$STATE,6890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6890,begin apogee
$GC,6894,-0.16,0.0,2677,2190,3393,3336,993.1,-12.1,569,7046,0.73,0.00,144.50,1.801,10246,0.204,0.000,2890,2190,2868,2918,2819,0,0,0,0,0,0,14.40,28.83,13.37
$STATE,7047,end apogee,CONTROL_FINISHED_OK
$STATE,7047,begin climb
$GC,7049,0.82,126.5,2890,2190,2916,2816,998.2,0.0,600,7162,1.00,0.00,109.62,2.172,10246,0.126,0.000,3209,2190,2356,2413,2299,0,0,0,0,0,0,14.05,28.83,13.12
$GC,7461,0.82,126.5,3209,2190,2402,2284,963.7,10.7,618,7467,0.00,2.40,0.00,0.000,516,0.000,0.076,3219,762,2343,2402,2285,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7499,0.82,126.5,3219,762,2401,2285,959.4,10.9,626,7503,0.00,2.30,0.00,0.000,1030,0.000,0.051,3219,2148,2343,2402,2284,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7821,0.82,126.5,3219,2148,2399,2283,925.0,10.7,640,7825,0.00,2.35,0.00,0.000,516,0.000,0.074,3229,762,2341,2399,2284,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7880,0.82,126.5,3229,762,2398,2284,918.7,11.1,651,7885,0.00,2.25,0.00,0.000,1030,0.000,0.050,3229,2146,2341,2398,2284,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8208,0.82,126.5,3229,2146,2397,2283,883.0,10.8,667,8214,0.00,2.35,0.00,0.000,516,0.000,0.074,3239,756,2340,2397,2283,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8286,0.82,126.5,3239,756,2397,2283,874.3,10.4,683,8291,0.00,2.28,0.00,0.000,1030,0.000,0.050,3239,2143,2339,2396,2283,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8599,0.82,126.5,3239,2143,2396,2282,840.8,10.6,695,8605,0.00,2.38,0.00,0.000,260,0.000,0.076,3239,3550,2338,2395,2282,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8621,0.82,126.5,3239,3550,2394,2282,838.1,11.0,700,8630,0.00,2.33,0.00,0.000,1030,0.000,0.047,3249,2156,2338,2394,2282,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8929,0.82,126.5,3249,2155,2395,2281,804.5,10.9,711,8935,0.00,2.38,0.00,0.000,516,0.000,0.073,3260,737,2337,2394,2281,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9027,0.82,126.5,3260,738,2394,2281,793.4,10.9,731,9032,0.10,2.30,0.00,0.000,5126,0.273,0.049,3240,2146,2338,2395,2281,0,0,0,0,0,0,14.40,14.66,28.83
$GC,9350,0.82,126.5,3240,2147,2395,2280,761.1,10.1,745,9352,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,2147,2337,2394,2280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9650,0.82,126.5,3240,2147,2394,2280,730.9,10.2,755,9656,0.00,2.35,0.00,0.000,516,0.000,0.072,3249,743,2337,2394,2280,0,0,0,0,0,0,28.83,14.58,28.83
$GC,9728,0.82,126.5,3249,743,2394,2280,722.8,10.4,771,9732,0.00,2.30,0.00,0.000,1030,0.000,0.052,3249,2145,2336,2394,2279,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10041,0.82,126.5,3249,2146,2393,2279,689.6,10.9,783,10047,0.00,2.38,0.00,0.000,260,0.000,0.079,3249,3549,2336,2393,2279,0,0,0,0,0,0,28.83,14.60,28.83
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$GC,15316,0.87,161.7,3263,2143,2257,2143,180.2,9.2,1226,15322,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,2143,2200,2257,2143,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17522,end climb,SURFACE_DEPTH_REACHED
$STATE,17522,begin surface coast
$FINISH,0.4,1.019278
$STATE,17556,end surface coast,CONTROL_FINISHED_OK
$STATE,17556,begin surface
$SM_CCo,17574,1.02,0.220,0,0,509,579.63
$SM_CCo,17577,-0.10,0.000,0,0,511,579.63
$SM_CCo,17580,0.43,0.311,0,0,509,579.63
$SM_GC,2.76,8.93,2.20,0.43,0.053,0.041,0.311,182,2212,509,-8.58,1.61,579.63,0,0,0,0,0,0,14.58,14.55,14.47
$IRIDIUM_FIX,1751.90,8930.52,100808,000003
$TT8_MAMPS,0.018725,0.018725
$HUMID,46.85
$INTERNAL_PRESSURE,6.66041
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,13.1,78.825
$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
$DEVICE_SECS,23.000,165.600,548.975,1.450,0.000,26.731,16.857,254.644,0.000,0.000,6.580,3402.220,10480.401,672.039,3233.826,194.358,0.000,2044.847,0.000,2413.189,0.000,0.553,0.000
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$SENSOR_SECS,925.317,611.031,1625.637,993.080,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322260
$DATA_FILE_SIZE,134091,1637
$CAP_FILE_SIZE,178299,0
$CFSIZE,2097086464,2060648448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.063,258.4,1
$GPS,141015,203151,1759.263,8925.965,35,0.9,35,-0.9