version: 66.11
glider: 615
mission: 5
dive: 229
start: 10 19 115 10 9 45
data:
$ID,615
$MISSION,5
$DIVE,229
$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,-19263.053
$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,38
$R_STBD_OVSHOOT,46
$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
$GPS1,191015,100203,1759.248,8932.895,57,0.9,57,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.4
$GPS2,191015,100919,1759.216,8932.841,5,0.9,5,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,NE
$TGT_LATLONG,1806.660,8933.540
$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,27.4,13841,-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,-126.5,196,2209,563,475,0.0,0.0,0,63,0.00,0.00,-46.08,0.000,16386,0.000,0.000,196,2209,1850,1863,1837,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.82,-126.5,196,2209,1863,1838,3.7,-8.9,7,111,10.82,0.00,-30.77,0.000,18438,0.353,0.000,2672,2208,3391,3407,3376,0,0,0,0,0,0,14.16,28.83,14.76
$GC,296,-0.82,-126.5,2672,2208,3407,3377,76.3,-22.0,50,303,0.00,2.35,0.00,0.000,516,0.000,0.057,2672,790,3391,3407,3376,0,0,0,0,0,0,28.83,14.50,28.83
$GC,326,-0.82,-126.5,2672,790,3407,3377,82.7,-21.4,55,333,0.08,2.25,0.00,0.000,3078,0.318,0.045,2676,2195,3392,3407,3377,0,0,0,0,0,0,14.35,14.57,28.83
$GC,516,-0.82,-126.5,1696,2195,3392,3376,115.7,-17.0,92,523,0.00,2.35,0.00,0.000,260,0.000,0.060,2667,3613,3392,3407,3378,0,0,0,0,0,0,28.83,14.56,28.83
$GC,570,-0.82,-126.5,2667,3612,3407,3379,125.2,-17.4,102,578,0.00,2.33,0.00,0.000,1030,0.000,0.035,2667,2180,3393,3407,3379,0,0,0,0,0,0,28.83,14.58,28.83
$GC,762,-0.82,-126.5,1680,2177,3393,3378,154.6,-14.8,139,768,0.00,2.33,0.00,0.000,260,0.000,0.058,2656,3604,3393,3407,3380,0,0,0,0,0,0,28.83,14.61,28.83
$GC,800,-0.82,-126.5,2657,3604,3407,3381,160.7,-15.2,146,808,0.08,2.28,0.00,0.000,3078,0.225,0.036,2685,2195,3394,3407,3381,0,0,0,0,0,0,14.37,14.57,28.83
$GC,993,-0.82,-126.5,1696,2193,3393,3379,186.5,-13.5,183,999,0.00,2.22,0.00,0.000,516,0.000,0.056,2685,816,3394,3407,3381,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1088,-0.82,-126.5,2685,816,3407,3381,199.2,-12.7,201,1095,0.00,2.22,0.00,0.000,1030,0.000,0.044,2677,2213,3394,3408,3381,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1283,-0.82,-126.5,2677,2212,3408,3380,225.6,-13.4,221,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2212,3394,3408,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1584,-0.82,-126.5,2677,2212,3407,3378,269.3,-14.8,251,1588,0.00,2.28,0.00,0.000,516,0.000,0.057,2677,815,3393,3408,3378,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1628,-0.82,-126.5,2677,815,3407,3378,276.3,-14.6,260,1636,0.00,2.25,0.00,0.000,1030,0.000,0.044,2667,2190,3392,3407,3377,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1937,-0.82,-126.5,2667,2190,3407,3374,322.8,-15.3,291,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2189,3390,3407,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2236,-0.82,-126.5,2667,2190,3408,3371,368.5,-15.2,315,2240,0.00,2.22,0.00,0.000,516,0.000,0.060,2667,810,3389,3407,3371,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2260,-0.82,-126.5,2667,810,3407,3371,372.6,-15.4,320,2265,0.08,2.28,0.00,0.000,3078,0.217,0.047,2679,2195,3389,3407,3371,0,0,0,0,0,0,14.40,14.62,28.83
$GC,2578,-0.82,-126.5,2679,2197,3407,3367,418.0,-14.1,338,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2197,3387,3407,3367,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2879,-0.82,-126.5,2679,2197,3407,3362,460.6,-14.1,353,2884,0.00,2.25,0.00,0.000,516,0.000,0.066,2679,820,3384,3407,3362,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2931,-0.82,-126.5,2679,820,3407,3362,468.2,-13.6,364,2939,0.00,2.30,0.00,0.000,1030,0.000,0.054,2671,2193,3384,3407,3361,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3238,-0.82,-126.5,2671,2195,3407,3357,510.4,-13.8,379,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2194,3382,3407,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3538,-0.82,-126.5,2672,2194,3407,3353,552.3,-14.1,389,3542,0.00,2.30,0.00,0.000,516,0.000,0.069,2671,817,3380,3407,3353,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3593,-0.82,-126.5,2672,816,3406,3353,560.4,-13.8,400,3601,0.05,2.33,0.00,0.000,3078,0.243,0.056,2676,2202,3379,3406,3353,0,0,0,0,0,0,14.29,14.52,28.83
$GC,3901,-0.82,-126.5,2675,2202,3406,3352,602.7,-14.2,411,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2202,3379,3406,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4201,-0.82,-126.5,2675,2202,3404,3350,645.7,-14.0,421,4207,0.00,2.30,0.00,0.000,516,0.000,0.070,2676,820,3377,3404,3350,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4248,-0.82,-126.5,2676,821,3404,3350,652.7,-13.9,431,4252,0.00,2.25,0.00,0.000,1030,0.000,0.054,2668,2202,3376,3403,3350,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4561,-0.82,-126.5,2668,2203,3402,3348,695.5,-13.7,443,4567,0.00,2.35,0.00,0.000,260,0.000,0.076,2657,3601,3374,3402,3347,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4590,-0.82,-126.5,2657,3601,3402,3347,699.7,-14.2,449,4597,0.10,2.22,0.00,0.000,3078,0.265,0.044,2678,2213,3373,3402,3345,0,0,0,0,0,0,14.47,14.74,28.83
$GC,4921,-0.82,-126.5,2678,2212,3401,3345,740.7,-12.2,465,4927,0.00,2.35,0.00,0.000,516,0.000,0.070,2678,803,3373,3401,3345,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5019,-0.82,-126.5,2678,803,3401,3345,752.8,-11.5,485,5023,0.00,2.30,0.00,0.000,1030,0.000,0.054,2669,2209,3373,3401,3345,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5341,-0.82,-126.5,2670,2210,3399,3344,793.5,-13.0,499,5347,0.00,2.35,0.00,0.000,516,0.000,0.068,2670,802,3371,3399,3343,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5379,-0.82,-126.5,2670,801,3399,3344,799.0,-12.9,507,5384,0.10,2.30,0.00,0.000,3078,0.278,0.056,2679,2210,3371,3399,3344,0,0,0,0,0,0,14.43,14.68,28.83
$GC,5702,-0.82,-126.5,2679,2210,3398,3342,839.1,-12.5,521,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2210,3370,3398,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6002,-0.82,-126.5,2679,2210,3397,3341,876.4,-12.5,531,6008,0.00,2.35,0.00,0.000,516,0.000,0.072,2680,806,3368,3396,3341,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6064,-0.82,-126.5,2679,806,3396,3341,884.4,-12.3,544,6068,0.00,2.28,0.00,0.000,1030,0.000,0.054,2672,2200,3369,3397,3341,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6392,-0.82,-126.5,2672,2200,3396,3340,926.3,-12.9,559,6398,0.00,2.33,0.00,0.000,516,0.000,0.070,2671,804,3367,3396,3339,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6414,-0.82,-126.5,2672,805,3395,3340,929.6,-13.4,564,6423,0.05,2.35,0.00,0.000,3078,0.242,0.056,2675,2196,3367,3395,3339,0,0,0,0,0,0,14.28,14.50,28.83
$GC,6722,-0.82,-126.5,2676,2196,3393,3338,967.4,-12.3,575,6726,0.00,2.40,0.00,0.000,260,0.000,0.078,2667,3606,3366,3394,3338,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6754,-0.82,-126.5,2667,3606,3394,3338,971.2,-12.6,581,6760,0.00,2.28,0.00,0.000,1030,0.000,0.044,2667,2198,3366,3395,3338,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,6932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6932,begin apogee
$GC,6936,-0.16,0.0,2667,2137,3394,3337,993.7,-12.6,592,7048,0.82,0.00,106.57,2.346,10246,0.268,0.000,2886,2135,2872,2919,2825,0,0,0,0,0,0,14.28,28.83,13.23
$STATE,7049,end apogee,CONTROL_FINISHED_OK
$STATE,7049,begin climb
$GC,7051,0.82,126.5,2886,2135,2912,2817,997.8,0.0,615,7170,1.08,2.53,108.68,2.167,10500,0.184,0.068,3201,3544,2348,2407,2290,0,0,0,0,0,0,13.98,13.88,13.07
$GC,7217,0.82,126.5,3201,3544,2403,2286,988.2,10.2,648,7221,0.00,2.40,0.00,0.000,1030,0.000,0.047,3209,2148,2344,2403,2286,0,0,0,0,0,0,28.83,14.10,28.83
$GC,7534,0.82,126.5,3209,2148,2403,2283,954.5,10.6,661,7541,0.00,2.45,0.00,0.000,516,0.000,0.084,3218,736,2343,2403,2283,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7637,0.82,126.5,3219,736,2403,2284,943.3,10.2,682,7642,0.00,2.33,0.00,0.000,1030,0.000,0.051,3219,2145,2342,2402,2283,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7955,0.82,126.5,3218,2145,2402,2282,910.9,10.3,695,7961,0.00,2.35,0.00,0.000,260,0.000,0.071,3218,3544,2341,2400,2282,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7993,0.82,126.5,3218,3544,2401,2283,906.5,11.3,703,7997,0.00,2.33,0.00,0.000,1030,0.000,0.048,3227,2130,2342,2401,2283,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8309,0.82,126.5,3227,2130,2400,2282,874.0,10.3,716,8315,0.00,2.38,0.00,0.000,516,0.000,0.080,3238,735,2341,2400,2282,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8497,0.82,126.5,3238,735,2399,2282,853.9,10.9,754,8502,0.00,2.30,0.00,0.000,1030,0.000,0.052,3237,2139,2340,2398,2282,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8819,0.82,126.5,3237,2139,2398,2280,820.0,10.6,768,8825,0.00,2.40,0.00,0.000,516,0.000,0.080,3246,730,2339,2398,2281,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8917,0.82,126.5,3246,730,2399,2280,809.1,10.8,788,8922,0.00,2.33,0.00,0.000,1030,0.000,0.052,3245,2146,2338,2397,2280,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9240,0.82,126.5,3245,2146,2397,2279,774.4,10.8,802,9246,0.00,2.35,0.00,0.000,260,0.000,0.071,3245,3547,2338,2397,2280,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9299,0.82,126.5,3245,3547,2396,2280,767.4,11.6,814,9303,0.00,2.30,0.00,0.000,1030,0.000,0.047,3254,2138,2338,2396,2280,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9626,0.82,126.5,3254,2138,2396,2279,732.1,10.7,829,9632,0.00,2.38,0.00,0.000,516,0.000,0.080,3265,738,2338,2396,2280,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9794,0.82,126.5,3265,738,2395,2280,713.4,10.8,863,9799,0.10,2.30,0.00,0.000,5126,0.285,0.052,3244,2145,2338,2396,2280,0,0,0,0,0,0,14.36,14.64,28.83
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$STATE,17476,end climb,SURFACE_DEPTH_REACHED
$STATE,17476,begin surface coast
$FINISH,0.3,1.019543
$STATE,17498,end surface coast,CONTROL_FINISHED_OK
$STATE,17498,begin surface
$SM_CCo,17514,17.05,0.136,0,0,509,579.63
$SM_CCo,17534,-0.03,0.000,0,0,511,579.63
$SM_CCo,17537,0.35,0.355,0,0,509,579.63
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$IRIDIUM_FIX,1749.63,8937.34,140808,181833
$TT8_MAMPS,0.017976,0.017976
$HUMID,46.73
$INTERNAL_PRESSURE,6.65065
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,13.1,86.422
$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
$DEVICE_SECS,22.975,191.625,504.800,17.400,0.000,21.898,40.501,253.767,0.250,0.000,6.893,3441.679,10258.737,648.906,3412.802,201.870,0.000,2104.347,0.000,2546.946,0.000,0.552,0.000
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$SENSOR_SECS,914.943,609.155,1619.230,989.066,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322304
$DATA_FILE_SIZE,140685,1735
$CAP_FILE_SIZE,188440,0
$CFSIZE,2097086464,2056847360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.062,280.6,1
$GPS,191015,150321,1800.840,8933.022,42,0.8,42,-0.9