version: 66.11
glider: 615
mission: 5
dive: 243
start: 10 22 115 7 47 54
data:
$ID,615
$MISSION,5
$DIVE,243
$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,-19284.639
$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,38
$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
$GPS1,221015,074033,1800.989,8921.786,45,1.0,45,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.5
$GPS2,221015,074727,1800.915,8921.752,4,0.9,4,-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,10.4,10643,-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,-126.5,185,2182,563,479,0.0,0.0,0,63,0.00,0.00,-45.22,0.000,16386,0.000,0.000,185,2183,1814,1817,1812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.82,-126.5,185,2183,1817,1812,3.5,-8.2,7,117,11.38,2.40,-32.58,0.000,19204,0.376,0.076,2663,3616,3389,3405,3373,0,0,0,0,0,0,14.14,14.50,14.75
$GC,124,-0.82,-126.5,2663,3616,3404,3373,19.9,-32.8,16,132,0.08,2.35,0.00,0.000,3078,0.315,0.038,2673,2190,3389,3405,3373,0,0,0,0,0,0,14.29,14.47,28.83
$GC,317,-0.82,-126.5,2673,2188,3404,3372,78.4,-23.5,53,324,0.00,2.25,0.00,0.000,516,0.000,0.054,2673,799,3388,3405,3372,0,0,0,0,0,0,28.83,14.52,28.83
$GC,447,-0.82,-126.5,2673,799,3405,3373,105.0,-17.6,78,455,0.00,2.33,0.00,0.000,1030,0.000,0.044,2665,2207,3389,3405,3373,0,0,0,0,0,0,28.83,14.50,28.83
$GC,639,-0.82,-126.5,2665,2208,3405,3375,135.5,-17.6,115,645,0.00,2.28,0.00,0.000,260,0.000,0.060,2654,3603,3390,3405,3375,0,0,0,0,0,0,28.83,14.58,28.83
$GC,753,-0.82,-126.5,2654,3603,3405,3377,154.5,-14.4,137,761,0.10,2.22,0.00,0.000,3078,0.278,0.035,2674,2186,3390,3405,3376,0,0,0,0,0,0,14.38,14.67,28.83
$GC,946,-0.82,-126.5,2674,2186,3405,3377,182.7,-13.8,174,953,0.00,2.28,0.00,0.000,516,0.000,0.055,2674,817,3391,3406,3377,0,0,0,0,0,0,28.83,14.51,28.83
$GC,975,-0.82,-126.5,2674,817,3406,3376,187.0,-14.5,179,982,0.00,2.20,0.00,0.000,1030,0.000,0.043,2666,2203,3391,3406,3377,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1171,-0.82,-126.5,2666,2203,3406,3377,214.5,-14.2,207,1180,0.00,2.22,0.00,0.000,516,0.000,0.055,2666,819,3391,3406,3377,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1226,-0.82,-126.5,2666,819,3406,3377,223.0,-14.2,218,1235,0.08,2.25,0.00,0.000,3078,0.227,0.044,2677,2190,3391,3406,3377,0,0,0,0,0,0,14.25,14.41,28.83
$GC,1534,-0.82,-126.5,2677,2190,3406,3376,265.6,-14.3,249,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2190,3391,3406,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1835,-0.82,-126.5,2678,2190,3406,3372,307.7,-13.9,279,1845,0.00,2.22,0.00,0.000,516,0.000,0.058,2678,812,3389,3406,3372,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1869,-0.82,-126.5,2678,812,3405,3373,313.2,-14.1,286,1878,0.00,2.30,0.00,0.000,1030,0.000,0.046,2669,2206,3389,3406,3372,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2189,-0.82,-126.5,2669,2207,3405,3370,360.4,-15.6,315,2195,0.00,2.25,0.00,0.000,516,0.000,0.059,2669,812,3387,3405,3370,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2210,-0.82,-126.5,2670,812,3405,3370,364.4,-16.6,320,2216,0.05,2.28,0.00,0.000,3078,0.242,0.047,2674,2199,3387,3405,3369,0,0,0,0,0,0,14.37,14.61,28.83
$GC,2529,-0.82,-126.5,2674,2199,3405,3364,411.7,-14.7,338,2535,0.00,2.22,0.00,0.000,516,0.000,0.059,2674,823,3384,3405,3364,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2557,-0.82,-126.5,2675,822,3405,3364,416.2,-14.7,344,2562,0.00,2.22,0.00,0.000,1030,0.000,0.048,2666,2206,3384,3405,3364,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2864,-0.82,-126.5,2666,2207,3405,3359,459.1,-14.0,360,2870,0.00,2.28,0.00,0.000,260,0.000,0.067,2656,3597,3382,3405,3360,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2885,-0.82,-126.5,2656,3597,3405,3360,462.6,-14.0,365,2891,0.05,2.25,0.00,0.000,3078,0.226,0.038,2671,2200,3382,3405,3360,0,0,0,0,0,0,14.42,14.66,28.83
$GC,3214,-0.82,-126.5,2671,2199,3405,3355,506.4,-13.4,383,3218,0.00,2.30,0.00,0.000,516,0.000,0.060,2671,802,3380,3405,3355,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3283,-0.82,-126.5,2671,802,3404,3355,516.0,-12.7,397,3288,0.08,2.25,0.00,0.000,3078,0.304,0.050,2677,2198,3380,3405,3355,0,0,0,0,0,0,14.47,14.68,28.83
$GC,3605,-0.82,-126.5,2677,2198,3404,3352,557.9,-13.4,411,3610,0.00,2.35,0.00,0.000,260,0.000,0.073,2668,3601,3378,3404,3352,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3630,-0.82,-126.5,2668,3601,3404,3352,561.6,-13.4,416,3637,0.00,2.30,0.00,0.000,1030,0.000,0.041,2668,2207,3378,3404,3352,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3937,-0.82,-126.5,2667,2207,3405,3348,604.0,-14.0,427,3943,0.00,2.33,0.00,0.000,516,0.000,0.067,2667,802,3376,3404,3348,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3997,-0.82,-126.5,2667,803,3404,3348,612.6,-13.9,439,4004,0.10,2.28,0.00,0.000,3078,0.273,0.054,2679,2203,3376,3404,3348,0,0,0,0,0,0,14.45,14.68,28.83
$GC,4327,-0.82,-126.5,2679,2203,3403,3345,657.3,-13.4,455,4333,0.00,2.33,0.00,0.000,260,0.000,0.073,2670,3602,3373,3402,3345,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4365,-0.82,-126.5,2670,3601,3402,3345,662.6,-13.2,463,4369,0.00,2.25,0.00,0.000,1030,0.000,0.041,2670,2196,3373,3402,3345,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4687,-0.82,-126.5,2670,2195,3401,3343,707.2,-14.1,477,4693,0.00,2.30,0.00,0.000,516,0.000,0.065,2670,806,3372,3401,3343,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4778,-0.82,-126.5,2670,806,3401,3343,719.7,-13.1,495,4783,0.10,2.28,0.00,0.000,3078,0.275,0.054,2681,2198,3371,3400,3343,0,0,0,0,0,0,14.43,14.67,28.83
$GC,5111,-0.82,-126.5,2681,2198,3400,3341,762.5,-12.7,511,5117,0.00,2.30,0.00,0.000,516,0.000,0.067,2681,806,3370,3400,3341,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5133,-0.82,-126.5,2681,806,3400,3341,765.7,-13.1,516,5141,0.00,2.35,0.00,0.000,1030,0.000,0.057,2673,2198,3370,3400,3340,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5440,-0.82,-126.5,2673,2198,3398,3340,804.3,-12.6,527,5442,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2198,3368,3398,3339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5741,-0.82,-126.5,2673,2198,3397,3338,842.1,-12.5,537,5746,0.00,2.33,0.00,0.000,516,0.000,0.070,2673,806,3367,3397,3337,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5763,-0.82,-126.5,2673,806,3397,3338,845.4,-13.3,542,5771,0.05,2.35,0.00,0.000,3078,0.242,0.057,2677,2195,3367,3397,3337,0,0,0,0,0,0,14.25,14.47,28.83
$GC,6071,-0.82,-126.5,2677,2195,3396,3337,882.9,-12.3,553,6073,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2195,3366,3396,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6370,-0.82,-126.5,2677,2195,3395,3336,919.7,-12.3,563,6372,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2195,3365,3395,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6671,-0.82,-126.5,2677,2195,3394,3336,957.2,-12.5,573,6675,0.00,2.35,0.00,0.000,516,0.000,0.071,2677,802,3364,3394,3335,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6695,-0.82,-126.5,2677,802,3394,3335,960.8,-12.9,578,6703,0.00,2.38,0.00,0.000,1030,0.000,0.057,2669,2202,3364,3394,3335,0,0,0,0,0,0,28.83,14.46,28.83
$STATE,6941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6941,begin apogee
$GC,6946,-0.16,0.0,2669,2138,3393,3335,992.5,-13.1,587,7070,0.77,0.00,119.50,2.019,10246,0.232,0.000,2884,2138,2872,2920,2824,0,0,0,0,0,0,14.28,28.83,13.21
$STATE,7072,end apogee,CONTROL_FINISHED_OK
$STATE,7072,begin climb
$GC,7073,0.82,126.5,2883,2138,2913,2816,997.9,0.0,613,7187,1.05,0.00,108.60,2.170,10758,0.151,0.000,3205,2137,2356,2413,2299,0,0,0,0,0,0,14.02,28.83,13.07
$GC,7477,0.82,126.5,3205,2137,2402,2286,967.1,10.0,644,7483,0.00,2.40,0.00,0.000,516,0.000,0.081,3215,750,2344,2402,2286,0,0,0,0,0,0,28.83,14.34,28.83
$GC,7510,0.82,126.5,2368,748,2355,2280,963.6,10.6,651,7514,0.00,2.38,0.00,0.000,1030,0.000,0.055,3215,2141,2344,2402,2286,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7837,0.82,126.5,3215,2141,2401,2284,930.6,10.0,666,7843,0.00,2.38,0.00,0.000,516,0.000,0.078,3225,749,2343,2401,2285,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7875,0.82,126.5,3225,749,2400,2285,926.4,10.7,674,7879,0.00,2.30,0.00,0.000,1030,0.000,0.054,3225,2142,2342,2400,2284,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8197,0.82,126.5,3225,2143,2398,2283,892.8,10.3,688,8198,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2143,2340,2398,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8497,0.82,126.5,3223,2143,2397,2283,862.2,10.0,698,8503,0.00,2.38,0.00,0.000,516,0.000,0.077,3235,745,2340,2397,2283,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8550,0.82,126.5,3235,745,2397,2283,856.7,10.3,709,8557,0.00,2.30,0.00,0.000,1030,0.000,0.054,3235,2142,2340,2397,2283,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8857,0.82,126.5,3235,2142,2396,2283,825.4,10.4,720,8863,0.00,2.38,0.00,0.000,516,0.000,0.076,3245,742,2339,2396,2283,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8890,0.82,126.5,3245,742,2397,2283,821.9,10.6,727,8895,0.00,2.30,0.00,0.000,1030,0.000,0.053,3245,2143,2339,2397,2282,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9213,0.82,126.5,3245,2143,2395,2282,788.4,10.7,741,9219,0.00,2.38,0.00,0.000,516,0.000,0.076,3254,742,2338,2395,2282,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9260,0.82,126.5,3255,742,2395,2282,783.2,10.3,751,9264,0.00,2.30,0.00,0.000,1030,0.000,0.053,3255,2143,2338,2395,2282,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9573,0.82,126.5,3255,2143,2394,2283,751.1,10.6,763,9579,0.00,2.38,0.00,0.000,260,0.000,0.075,3255,3550,2338,2394,2282,0,0,0,0,0,0,28.83,14.57,28.83
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$STATE,17503,end climb,SURFACE_DEPTH_REACHED
$STATE,17503,begin surface coast
$FINISH,0.3,1.019592
$STATE,17521,end surface coast,CONTROL_FINISHED_OK
$STATE,17521,begin surface
$SM_CCo,17540,1.15,0.208,0,0,509,579.63
$SM_CCo,17544,0.00,0.000,0,0,510,579.63
$SM_CCo,17546,0.43,0.309,0,0,508,579.63
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$IRIDIUM_FIX,1751.90,8923.72,170808,161623
$TT8_MAMPS,0.017976,0.017976
$HUMID,47.63
$INTERNAL_PRESSURE,6.66041
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,13.1,90.872
$10V_AH,12.4,0.000
$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
$DEVICE_SECS,23.800,181.600,527.700,1.575,0.000,25.669,17.371,248.289,0.000,0.000,6.614,3368.865,10528.026,644.154,3208.436,202.448,0.000,2023.660,0.000,2387.701,0.000,0.552,0.000
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$SENSOR_SECS,912.505,602.589,1593.449,973.274,0.000,0.000,0.000,0.000,0.000,0.000
$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,134061,1622
$CAP_FILE_SIZE,179968,0
$CFSIZE,2097086464,2054553600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.065,312.5,1
$GPS,221015,124133,1803.112,8921.628,34,0.9,35,-0.9