version: 66.11
glider: 615
mission: 5
dive: 266
start: 10 27 115 3 13 7
data:
$ID,615
$MISSION,5
$DIVE,266
$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,-19317.006
$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,45
$R_STBD_OVSHOOT,33
$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
$GPS1,271015,030251,1805.591,8933.709,34,1.1,34,-0.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.0
$GPS2,271015,031240,1805.632,8933.715,5,1.1,5,-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,234.4,28644,-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,-126.5,172,2254,549,489,0.0,0.0,0,63,0.00,0.00,-45.90,0.000,16386,0.000,0.000,172,2254,1799,1801,1798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.82,-126.5,172,2254,1802,1799,3.0,-6.3,7,118,10.95,2.33,-34.50,0.000,18692,0.352,0.082,2666,3620,3390,3405,3376,0,0,0,0,0,0,14.15,14.53,14.76
$GC,215,-0.82,-126.5,2667,3620,3405,3376,50.7,-29.0,34,223,0.00,2.33,0.00,0.000,1030,0.000,0.037,2667,2197,3390,3405,3376,0,0,0,0,0,0,28.83,14.52,28.83
$GC,406,-0.82,-126.5,1680,2194,3392,3374,96.5,-20.3,71,411,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2196,3391,3405,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,594,-0.82,-126.5,2667,2196,3405,3377,126.5,-15.5,108,601,0.00,2.35,0.00,0.000,260,0.000,0.055,2656,3620,3391,3405,3378,0,0,0,0,0,0,28.83,14.58,28.83
$GC,664,-0.82,-126.5,2656,3620,3405,3379,137.2,-15.9,121,673,0.10,2.25,0.00,0.000,3078,0.268,0.035,2676,2182,3392,3406,3379,0,0,0,0,0,0,14.41,14.69,28.83
$GC,856,-0.82,-126.5,2676,2181,3406,3379,163.2,-13.3,158,863,0.00,2.25,0.00,0.000,516,0.000,0.055,2676,826,3392,3406,3379,0,0,0,0,0,0,28.83,14.52,28.83
$GC,971,-0.82,-126.5,2676,826,3406,3379,178.8,-13.5,180,978,0.00,2.25,0.00,0.000,1030,0.000,0.041,2668,2207,3392,3406,3379,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1167,-0.82,-126.5,2668,2207,3406,3379,205.7,-13.9,214,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2207,3392,3406,3379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1468,-0.82,-126.5,2668,2207,3406,3377,249.0,-15.5,244,1477,0.00,2.25,0.00,0.000,516,0.000,0.061,2668,816,3391,3406,3377,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1519,-0.82,-126.5,2668,816,3406,3376,257.1,-15.6,254,1524,0.10,2.22,0.00,0.000,3078,0.273,0.048,2678,2204,3391,3406,3376,0,0,0,0,0,0,14.45,14.68,28.83
$GC,1825,-0.82,-126.5,2679,2204,3406,3372,302.0,-14.0,285,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2204,3388,3405,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2125,-0.82,-126.5,2678,2204,3406,3369,344.3,-14.2,315,2129,0.00,2.30,0.00,0.000,516,0.000,0.063,2679,812,3387,3406,3369,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2188,-0.82,-126.5,2679,811,3405,3368,353.3,-14.0,327,2194,0.00,2.22,0.00,0.000,1030,0.000,0.049,2671,2200,3386,3405,3368,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2508,-0.82,-126.5,2671,2200,3406,3362,400.4,-15.0,346,2514,0.00,2.25,0.00,0.000,516,0.000,0.064,2671,821,3383,3405,3362,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2540,-0.82,-126.5,2671,820,3405,3362,405.7,-14.6,353,2548,0.05,2.30,0.00,0.000,3078,0.236,0.050,2676,2202,3383,3405,3361,0,0,0,0,0,0,14.31,14.52,28.83
$GC,2848,-0.82,-126.5,2676,2203,3405,3356,448.8,-13.6,369,2854,0.00,2.28,0.00,0.000,516,0.000,0.065,2676,816,3380,3405,3356,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2888,-0.82,-126.5,2676,816,3405,3356,454.4,-13.7,377,2894,0.00,2.25,0.00,0.000,1030,0.000,0.052,2668,2207,3380,3405,3356,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3208,-0.82,-126.5,2668,2208,3405,3352,499.0,-14.1,396,3214,0.00,2.30,0.00,0.000,516,0.000,0.067,2668,814,3378,3405,3352,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3256,-0.82,-126.5,2668,815,3404,3351,506.0,-13.7,406,3261,0.10,2.25,0.00,0.000,3078,0.274,0.053,2679,2199,3378,3404,3352,0,0,0,0,0,0,14.45,14.67,28.83
$GC,3568,-0.82,-126.5,2679,2200,3403,3348,547.2,-13.4,418,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2200,3376,3403,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3868,-0.82,-126.5,2679,2200,3402,3346,586.5,-13.0,428,3872,0.00,2.28,0.00,0.000,516,0.000,0.069,2679,822,3374,3402,3346,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3912,-0.82,-126.5,2679,822,3402,3346,592.7,-13.1,437,3916,0.00,2.25,0.00,0.000,1030,0.000,0.053,2671,2206,3373,3401,3346,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4225,-0.82,-126.5,2671,2206,3400,3344,633.7,-13.1,449,4226,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2206,3372,3401,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4525,-0.82,-126.5,2671,2205,3400,3343,672.6,-13.0,459,4526,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2205,3371,3400,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4825,-0.82,-126.5,2672,2206,3398,3342,712.3,-13.4,469,4826,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2206,3369,3398,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5125,-0.82,-126.5,2671,2206,3397,3340,753.4,-13.7,479,5131,0.00,2.28,0.00,0.000,516,0.000,0.070,2671,820,3368,3396,3340,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5192,-0.82,-126.5,2672,820,3396,3340,762.8,-13.2,493,5197,0.08,2.25,0.00,0.000,3078,0.308,0.055,2675,2200,3368,3396,3340,0,0,0,0,0,0,14.46,14.67,28.83
$GC,5515,-0.82,-126.5,2675,2200,3395,3338,804.1,-12.9,507,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2200,3366,3394,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5815,-0.82,-126.5,2675,2200,3394,3337,841.3,-12.4,517,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2200,3365,3394,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6115,-0.82,-126.5,2675,2200,3393,3336,878.3,-12.1,527,6121,0.00,2.38,0.00,0.000,260,0.000,0.078,2666,3608,3364,3393,3336,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6137,-0.82,-126.5,2666,3608,3393,3336,881.4,-12.3,532,6145,0.00,2.33,0.00,0.000,1030,0.000,0.045,2666,2216,3364,3393,3336,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6447,-0.82,-126.5,2666,2216,3392,3335,920.2,-13.0,543,6453,0.00,2.33,0.00,0.000,516,0.000,0.070,2666,807,3363,3391,3336,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6524,-0.82,-126.5,2666,807,3390,3336,931.3,-13.9,559,6529,0.10,2.28,0.00,0.000,3078,0.285,0.056,2677,2198,3362,3390,3335,0,0,0,0,0,0,14.38,14.64,28.83
$GC,6830,-0.82,-126.5,2677,2199,3390,3334,970.3,-12.9,570,6831,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2199,3362,3390,3334,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7008,begin apogee
$GC,7013,-0.16,0.0,2676,2140,3389,3334,993.3,-12.7,576,7124,0.80,0.00,106.65,2.391,10246,0.259,0.000,2888,2140,2872,2920,2824,0,0,0,0,0,0,14.14,28.83,13.08
$STATE,7126,end apogee,CONTROL_FINISHED_OK
$STATE,7126,begin climb
$GC,7127,0.82,126.5,2887,2140,2913,2816,997.8,0.0,599,7249,1.10,2.58,111.10,2.325,10500,0.193,0.070,3205,3546,2348,2407,2289,0,0,0,0,0,0,13.97,13.84,13.01
$GC,7275,0.82,126.5,3205,3546,2403,2285,991.1,9.7,628,7283,0.00,2.45,0.00,0.000,1030,0.000,0.050,3208,2154,2344,2403,2285,0,0,0,0,0,0,28.83,13.95,28.83
$GC,7583,0.82,126.5,3209,2154,2402,2283,959.0,10.9,639,7589,0.00,2.45,0.00,0.000,516,0.000,0.084,3218,735,2342,2403,2282,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7666,0.82,126.5,3218,735,2402,2283,949.3,11.5,656,7673,0.00,2.38,0.00,0.000,1030,0.000,0.053,3217,2130,2342,2402,2283,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7974,0.82,126.5,3217,2131,2402,2281,916.2,10.5,667,7980,0.00,2.38,0.00,0.000,516,0.000,0.082,3226,735,2341,2402,2281,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8051,0.82,126.5,3226,735,2402,2281,907.3,10.9,683,8055,0.00,2.33,0.00,0.000,1030,0.000,0.052,3222,2146,2341,2402,2281,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8364,0.82,126.5,3222,2147,2400,2280,874.4,10.2,695,8370,0.00,2.42,0.00,0.000,516,0.000,0.081,3231,726,2340,2400,2280,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8498,0.82,126.5,3232,726,2399,2281,860.4,10.3,722,8502,0.00,2.33,0.00,0.000,1030,0.000,0.053,3230,2144,2339,2399,2280,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8810,0.82,126.5,3231,2144,2397,2279,829.1,10.1,734,8816,0.00,2.35,0.00,0.000,260,0.000,0.072,3231,3545,2338,2397,2279,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8848,0.82,126.5,3230,3546,2397,2280,824.7,10.8,742,8852,0.00,2.33,0.00,0.000,1030,0.000,0.049,3238,2129,2338,2396,2280,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9170,0.82,126.5,3238,2128,2397,2279,790.5,10.7,756,9176,0.00,2.38,0.00,0.000,516,0.000,0.082,3247,734,2337,2396,2279,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9290,0.82,126.5,3248,733,2396,2279,777.7,10.4,780,9294,0.00,2.33,0.00,0.000,1030,0.000,0.052,3246,2147,2337,2396,2279,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9621,0.82,126.5,3246,2148,2395,2277,742.1,11.2,796,9627,0.00,2.35,0.00,0.000,260,0.000,0.071,3246,3549,2336,2395,2278,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9684,0.82,126.5,3246,3549,2395,2278,734.7,11.0,809,9688,0.00,2.33,0.00,0.000,1030,0.000,0.048,3255,2131,2336,2394,2278,0,0,0,0,0,0,28.83,14.65,28.83
$GC,10012,0.82,126.5,3255,2131,2394,2278,700.9,10.5,824,10018,0.00,2.38,0.00,0.000,516,0.000,0.080,3266,732,2336,2394,2278,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10064,0.82,126.5,3266,732,2395,2278,694.7,11.4,835,10072,0.12,2.30,0.00,0.000,5126,0.267,0.052,3238,2142,2336,2394,2278,0,0,0,0,0,0,14.35,14.65,28.83
$GC,10372,0.82,126.5,3239,2141,2394,2278,663.2,10.1,846,10378,0.00,2.35,0.00,0.000,260,0.000,0.072,3239,3544,2335,2394,2277,0,0,0,0,0,0,28.83,14.59,28.83
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$STATE,17489,end climb,SURFACE_DEPTH_REACHED
$STATE,17489,begin surface coast
$FINISH,0.7,1.019756
$STATE,17511,end surface coast,CONTROL_FINISHED_OK
$STATE,17511,begin surface
$SM_CCo,17527,30.05,0.136,0,0,509,579.63
$SM_CCo,17560,0.08,1.192,0,0,508,579.63
$SM_CCo,17564,-0.03,0.000,0,0,510,579.63
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$IRIDIUM_FIX,1756.43,8935.06,220808,161606
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.00
$INTERNAL_PRESSURE,6.66041
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,13.0,98.344
$10V_AH,11.7,0.000
$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
$DEVICE_SECS,22.925,177.750,487.150,30.125,0.000,49.820,37.916,303.878,0.000,0.000,6.656,3435.088,10431.689,640.079,3426.304,208.860,0.000,2054.284,0.000,2492.841,0.000,0.552,0.000
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$SENSOR_SECS,918.302,612.124,1584.819,968.308,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322256
$DATA_FILE_SIZE,137797,1700
$CAP_FILE_SIZE,185655,0
$CFSIZE,2097086464,2050785280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.069,215.0,1
$GPS,271015,080703,1804.014,8931.747,35,1.2,35,-0.9