version: 66.11
glider: 615
mission: 5
dive: 213
start: 10 16 115 2 19 43
data:
$ID,615
$MISSION,5
$DIVE,213
$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,-19239.82
$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,39
$R_STBD_OVSHOOT,45
$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
$GPS1,161015,020827,1802.973,8921.252,37,0.9,37,-0.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-72.5
$GPS2,161015,021917,1802.924,8921.114,5,1.1,5,-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,29.6,6972,-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,-126.5,183,2216,555,482,0.0,0.0,0,63,0.00,0.00,-45.17,0.000,16386,0.000,0.000,183,2217,1801,1801,1802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.82,-126.5,183,2217,1801,1802,3.5,-8.1,7,117,10.95,2.33,-32.17,0.000,18692,0.359,0.080,2664,3603,3391,3406,3377,0,0,0,0,0,0,14.20,14.53,14.78
$GC,164,-0.82,-126.5,2664,3602,3406,3377,35.3,-30.7,24,171,0.00,2.33,0.00,0.000,1030,0.000,0.039,2664,2185,3391,3406,3377,0,0,0,0,0,0,28.83,14.52,28.83
$GC,354,-0.82,-126.5,2664,2182,3406,3377,86.7,-24.4,61,361,0.08,0.00,0.00,0.000,2054,0.324,0.000,2676,2182,3391,3406,3377,0,0,0,0,0,0,14.47,28.83,28.83
$GC,544,-0.82,-126.5,2676,2182,3406,3377,121.1,-16.9,98,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2182,3391,3405,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,736,-0.82,-126.5,2676,2182,3406,3379,149.9,-14.8,135,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2182,3392,3406,3379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,924,-0.82,-126.5,2676,2182,3406,3379,176.9,-13.9,172,931,0.00,2.28,0.00,0.000,516,0.000,0.057,2676,810,3392,3406,3379,0,0,0,0,0,0,28.83,14.56,28.83
$GC,964,-0.82,-126.5,1696,810,3392,3377,182.7,-14.2,179,970,0.00,2.20,0.00,0.000,1030,0.000,0.044,2668,2198,3393,3407,3379,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1158,-0.82,-126.5,2668,2199,3406,3379,210.5,-14.8,210,1167,0.00,2.25,0.00,0.000,516,0.000,0.056,2667,803,3392,3406,3379,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1189,-0.82,-126.5,2668,803,3406,3379,215.1,-14.8,216,1194,0.10,2.22,0.00,0.000,3078,0.276,0.045,2679,2203,3392,3406,3379,0,0,0,0,0,0,14.47,14.69,28.83
$GC,1495,-0.82,-126.5,2679,2204,3406,3377,257.9,-13.9,247,1504,0.00,2.28,0.00,0.000,516,0.000,0.057,2679,796,3391,3406,3377,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1527,-0.82,-126.5,2679,796,3407,3377,262.6,-14.7,253,1537,0.00,2.25,0.00,0.000,1030,0.000,0.046,2670,2208,3391,3406,3377,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1837,-0.82,-126.5,2670,2208,3406,3373,308.4,-14.7,285,1848,0.00,2.28,0.00,0.000,516,0.000,0.057,2670,803,3389,3406,3373,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1862,-0.82,-126.5,2670,802,3406,3373,312.7,-15.4,290,1871,0.05,2.30,0.00,0.000,3078,0.246,0.047,2676,2199,3389,3406,3372,0,0,0,0,0,0,14.33,14.49,28.83
$GC,2171,-0.82,-126.5,2675,2199,3406,3370,357.1,-14.7,319,2176,0.00,2.28,0.00,0.000,516,0.000,0.060,2675,799,3387,3405,3369,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2192,-0.82,-126.5,2675,799,3406,3370,360.7,-15.1,324,2197,0.00,2.30,0.00,0.000,1030,0.000,0.049,2667,2201,3387,3406,3369,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2511,-0.82,-126.5,2667,2202,3406,3364,408.2,-14.9,342,2517,0.00,2.28,0.00,0.000,516,0.000,0.062,2667,806,3385,3406,3364,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2543,-0.82,-126.5,2667,806,3406,3364,413.7,-14.9,349,2552,0.05,2.33,0.00,0.000,3078,0.245,0.053,2672,2202,3385,3406,3364,0,0,0,0,0,0,14.35,14.55,28.83
$GC,2852,-0.82,-126.5,2672,2202,3405,3359,458.6,-14.8,365,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2202,3382,3406,3359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3151,-0.82,-126.5,2672,2202,3405,3354,501.1,-14.2,380,3157,0.00,2.30,0.00,0.000,516,0.000,0.066,2672,807,3379,3405,3354,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3198,-0.82,-126.5,2673,807,3404,3354,508.2,-13.7,390,3203,0.08,2.28,0.00,0.000,3078,0.298,0.056,2678,2203,3379,3404,3354,0,0,0,0,0,0,14.52,14.71,28.83
$GC,3511,-0.82,-126.5,2678,2204,3402,3352,549.8,-13.5,402,3517,0.00,2.30,0.00,0.000,516,0.000,0.066,2678,807,3377,3404,3351,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3549,-0.82,-126.5,2678,807,3403,3351,555.4,-13.7,410,3553,0.00,2.28,0.00,0.000,1030,0.000,0.056,2671,2207,3377,3403,3351,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3866,-0.82,-126.5,2670,2208,3401,3348,598.0,-13.6,423,3872,0.00,2.33,0.00,0.000,516,0.000,0.067,2670,802,3374,3402,3347,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3889,-0.82,-126.5,2670,801,3401,3347,601.5,-13.9,428,3898,0.05,2.35,0.00,0.000,3078,0.245,0.056,2675,2198,3374,3401,3347,0,0,0,0,0,0,14.39,14.59,28.83
$GC,4196,-0.82,-126.5,2675,2198,3401,3345,641.2,-13.1,439,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2198,3372,3400,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4497,-0.82,-126.5,2675,2199,3399,3344,680.6,-13.1,449,4502,0.00,2.30,0.00,0.000,516,0.000,0.068,2675,805,3371,3399,3344,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4518,-0.82,-126.5,2675,804,3398,3344,684.1,-14.0,454,4526,0.00,2.35,0.00,0.000,1030,0.000,0.058,2667,2202,3371,3398,3344,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4826,-0.82,-126.5,2667,2202,3395,3342,726.9,-14.0,465,4832,0.00,2.35,0.00,0.000,260,0.000,0.079,2656,3604,3369,3397,3342,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4849,-0.82,-126.5,2656,3603,3397,3342,730.5,-14.6,470,4858,0.05,2.30,0.00,0.000,3078,0.222,0.044,2672,2208,3369,3397,3342,0,0,0,0,0,0,14.38,14.60,28.83
$GC,5156,-0.82,-126.5,2672,2208,3395,3340,772.1,-13.6,481,5162,0.00,2.35,0.00,0.000,516,0.000,0.074,2673,802,3367,3395,3340,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5229,-0.82,-126.5,2672,802,3395,3340,782.1,-12.3,496,5234,0.08,2.30,0.00,0.000,3078,0.302,0.061,2677,2199,3367,3395,3339,0,0,0,0,0,0,14.50,14.69,28.83
$GC,5547,-0.82,-126.5,2677,2200,3394,3337,822.8,-13.2,509,5548,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2199,3365,3394,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5847,-0.82,-126.5,2676,2199,3393,3336,860.9,-12.5,519,5851,0.00,2.33,0.00,0.000,516,0.000,0.072,2677,807,3365,3394,3336,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5896,-0.82,-126.5,2677,807,3393,3336,867.5,-12.4,529,5900,0.00,2.28,0.00,0.000,1030,0.000,0.057,2670,2204,3365,3393,3337,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6209,-0.82,-126.5,2670,2204,3391,3336,907.1,-12.8,541,6210,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2204,3364,3392,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6509,-0.82,-126.5,2669,2204,3391,3335,945.0,-12.6,551,6515,0.00,2.35,0.00,0.000,516,0.000,0.072,2670,802,3362,3391,3334,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6552,-0.82,-126.5,2670,802,3390,3334,950.9,-12.2,560,6556,0.10,2.30,0.00,0.000,3078,0.280,0.059,2680,2200,3362,3390,3334,0,0,0,0,0,0,14.45,14.68,28.83
$GC,6869,-0.82,-126.5,2680,2201,3389,3334,987.3,-11.6,573,6875,0.00,2.33,0.00,0.000,516,0.000,0.073,2680,807,3361,3389,3334,0,0,0,0,0,0,28.83,14.63,28.83
$STATE,6890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6890,begin apogee
$GC,6897,-0.16,0.0,2673,2143,3389,3334,990.2,-12.4,578,7006,0.77,0.00,104.93,2.339,10246,0.240,0.000,2886,2144,2873,2923,2823,0,0,0,0,0,0,14.26,28.83,13.21
$STATE,7007,end apogee,CONTROL_FINISHED_OK
$STATE,7008,begin climb
$GC,7010,0.82,126.5,2885,2144,2915,2814,994.2,0.0,601,7129,1.05,2.50,111.85,2.325,10756,0.164,0.078,3211,751,2349,2407,2292,0,0,0,0,0,0,14.01,13.85,13.05
$GC,7159,0.82,126.5,3211,751,2402,2288,986.8,9.5,621,7166,0.00,2.40,0.00,0.000,1030,0.000,0.054,3211,2146,2345,2402,2288,0,0,0,0,0,0,28.83,14.06,28.83
$GC,7466,0.82,126.5,3211,2146,2401,2285,954.1,10.8,632,7472,0.00,2.40,0.00,0.000,516,0.000,0.079,3220,750,2343,2401,2285,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7539,0.82,126.5,3221,749,2400,2285,945.8,11.1,647,7544,0.00,2.33,0.00,0.000,1030,0.000,0.054,3220,2150,2343,2401,2286,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7852,0.82,126.5,3220,2151,2398,2284,912.6,10.7,659,7856,0.00,2.40,0.00,0.000,516,0.000,0.080,3231,749,2341,2398,2284,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7901,0.82,126.5,3231,749,2398,2285,907.0,10.6,669,7905,0.00,2.30,0.00,0.000,1030,0.000,0.053,3231,2147,2341,2398,2284,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8214,0.82,126.5,3230,2147,2397,2284,874.8,10.4,681,8216,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,2147,2340,2396,2284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8514,0.82,126.5,3231,2147,2396,2283,844.1,10.3,691,8520,0.00,2.38,0.00,0.000,516,0.000,0.079,3240,749,2339,2396,2283,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8608,0.82,126.5,3240,749,2395,2283,834.2,10.5,710,8612,0.00,2.30,0.00,0.000,1030,0.000,0.054,3240,2147,2339,2395,2283,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8930,0.82,126.5,3240,2147,2394,2283,801.0,10.2,724,8936,0.00,2.38,0.00,0.000,516,0.000,0.077,3250,746,2338,2394,2283,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8977,0.82,126.5,3250,746,2394,2283,795.8,10.5,734,8981,0.00,2.30,0.00,0.000,1030,0.000,0.054,3251,2147,2338,2394,2283,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9289,0.82,126.5,3250,2148,2394,2283,762.4,10.8,746,9296,0.00,2.38,0.00,0.000,516,0.000,0.078,3261,746,2338,2394,2283,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9322,0.82,126.5,3261,746,2393,2282,758.7,11.1,753,9327,0.10,2.30,0.00,0.000,5126,0.278,0.054,3241,2151,2338,2394,2283,0,0,0,0,0,0,14.41,14.66,28.83
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$GC,16999,1.40,590.6,3343,2138,1093,981,20.5,2.2,1565,17083,0.12,2.40,77.03,0.190,10500,0.136,0.059,3404,3550,511,577,445,0,0,0,0,0,0,14.54,14.51,14.35
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$STATE,17174,end climb,SURFACE_DEPTH_REACHED
$STATE,17175,begin surface coast
$FINISH,0.3,1.018832
$STATE,17196,end surface coast,CONTROL_FINISHED_OK
$STATE,17197,begin surface
$SM_CCo,17213,0.93,0.198,0,0,508,579.63
$SM_CCo,17217,-0.03,0.000,0,0,511,579.63
$SM_CCo,17220,0.35,0.351,0,0,508,579.63
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$IRIDIUM_FIX,1751.90,8923.72,110808,151534
$TT8_MAMPS,0.018725,0.018725
$HUMID,46.65
$INTERNAL_PRESSURE,6.66041
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,13.1,81.306
$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
$DEVICE_SECS,23.125,181.900,519.800,1.275,0.000,45.513,60.960,327.879,0.000,0.000,5.878,3360.447,10301.879,656.914,3333.797,203.949,0.000,2015.801,0.000,2361.155,0.000,0.553,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,915.135,607.254,1586.951,969.288,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322276
$DATA_FILE_SIZE,130332,1599
$CAP_FILE_SIZE,181445,0
$CFSIZE,2097086464,2059468800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.048,288.9,1
$GPS,161015,070827,1804.608,8921.624,67,0.9,67,-0.9