version: 66.11
glider: 615
mission: 5
dive: 268
start: 10 27 115 13 28 14
data:
$ID,615
$MISSION,5
$DIVE,268
$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,-19320.229
$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,48
$R_STBD_OVSHOOT,64
$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
$GPS1,271015,132021,1803.114,8929.979,38,0.9,38,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.2
$GPS2,271015,132747,1803.113,8929.919,6,0.8,6,-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,215.3,20572,-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,14,begin dive
$GC,15,-0.82,-126.5,164,2230,540,491,0.0,0.0,0,68,0.00,0.00,-50.08,0.000,16386,0.000,0.000,163,2231,1925,1923,1927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.82,-126.5,163,2231,1923,1928,3.5,-7.5,8,123,11.00,2.38,-31.08,0.000,18948,0.352,0.075,2675,807,3390,3404,3377,0,0,0,0,0,0,14.14,14.42,14.76
$GC,206,-0.82,-126.5,2675,806,3404,3376,48.5,-32.2,32,213,0.00,2.28,0.00,0.000,1030,0.000,0.049,2667,2169,3390,3404,3376,0,0,0,0,0,0,28.83,14.44,28.83
$GC,398,-0.82,-126.5,2667,2169,3404,3376,99.1,-18.6,69,405,0.00,2.20,0.00,0.000,516,0.000,0.053,2667,806,3390,3404,3376,0,0,0,0,0,0,28.83,14.55,28.83
$GC,453,-0.82,-126.5,1680,805,3391,3375,110.5,-19.1,79,460,0.10,2.25,0.00,0.000,3078,0.293,0.046,2677,2210,3390,3404,3377,0,0,0,0,0,0,14.35,14.60,28.83
$GC,643,-0.82,-126.5,2677,2210,3405,3379,139.9,-13.4,116,650,0.00,2.35,0.00,0.000,260,0.000,0.062,2668,3622,3391,3404,3378,0,0,0,0,0,0,28.83,14.56,28.83
$GC,667,-0.82,-126.5,2668,3622,3405,3379,143.2,-13.7,120,674,0.00,2.33,0.00,0.000,1030,0.000,0.036,2667,2189,3392,3405,3379,0,0,0,0,0,0,28.83,14.58,28.83
$GC,858,-0.82,-126.5,2667,2188,3405,3380,168.8,-12.7,157,866,0.00,2.33,0.00,0.000,260,0.000,0.060,2657,3608,3392,3405,3380,0,0,0,0,0,0,28.83,14.61,28.83
$GC,927,-0.82,-126.5,2657,3608,3404,3380,179.1,-14.8,170,936,0.05,2.28,0.00,0.000,3078,0.234,0.037,2672,2209,3392,3405,3380,0,0,0,0,0,0,14.35,14.57,28.83
$GC,1124,-0.82,-126.5,2673,2208,3405,3380,206.2,-14.3,204,1128,0.00,2.28,0.00,0.000,516,0.000,0.058,2672,805,3392,3405,3380,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1182,-0.82,-126.5,2672,805,3405,3380,214.6,-14.3,215,1193,0.08,2.22,0.00,0.000,3078,0.306,0.047,2677,2200,3392,3405,3380,0,0,0,0,0,0,14.44,14.65,28.83
$GC,1492,-0.82,-126.5,2677,2200,3405,3377,259.8,-15.0,247,1501,0.00,2.30,0.00,0.000,260,0.000,0.065,2668,3603,3390,3404,3377,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1517,-0.82,-126.5,2668,3602,3405,3377,263.9,-15.0,252,1525,0.00,2.28,0.00,0.000,1030,0.000,0.038,2668,2204,3391,3405,3377,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1825,-0.82,-126.5,2668,2203,3404,3373,308.7,-14.4,283,1835,0.00,2.28,0.00,0.000,516,0.000,0.060,2668,803,3389,3405,3373,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1879,-0.82,-126.5,2668,804,3405,3372,316.7,-14.5,293,1890,0.05,2.22,0.00,0.000,3078,0.236,0.050,2673,2199,3389,3405,3373,0,0,0,0,0,0,14.26,14.61,28.83
$GC,2199,-0.82,-126.5,2673,2199,3404,3370,362.8,-14.4,322,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2199,3387,3404,3370,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2498,-0.82,-126.5,2673,2198,3404,3364,404.4,-13.9,337,2505,0.00,2.30,0.00,0.000,516,0.000,0.063,2674,797,3384,3404,3364,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2547,-0.82,-126.5,2674,797,3404,3364,411.5,-12.9,347,2551,0.00,2.28,0.00,0.000,1030,0.000,0.052,2665,2202,3384,3404,3364,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2859,-0.82,-126.5,2665,2202,3404,3359,455.6,-14.6,364,2865,0.00,2.30,0.00,0.000,516,0.000,0.067,2665,804,3381,3404,3359,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2900,-0.82,-126.5,2665,804,3404,3359,461.5,-14.2,372,2906,0.10,2.28,0.00,0.000,3078,0.269,0.054,2677,2207,3381,3404,3358,0,0,0,0,0,0,14.46,14.68,28.83
$GC,3209,-0.82,-126.5,2677,2207,3403,3354,504.7,-14.0,390,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2207,3378,3404,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3510,-0.82,-126.5,2677,2207,3403,3351,545.9,-13.5,400,3514,0.00,2.33,0.00,0.000,516,0.000,0.065,2677,800,3377,3404,3351,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3549,-0.82,-126.5,2677,800,3403,3351,551.6,-13.7,408,3553,0.00,2.28,0.00,0.000,1030,0.000,0.053,2669,2200,3376,3402,3351,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3871,-0.82,-126.5,2669,2201,3402,3348,595.9,-13.7,422,3877,0.00,2.33,0.00,0.000,516,0.000,0.067,2669,799,3374,3402,3347,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3924,-0.82,-126.5,2669,799,3401,3348,603.7,-13.6,433,3931,0.10,2.30,0.00,0.000,3078,0.274,0.054,2679,2210,3374,3401,3347,0,0,0,0,0,0,14.45,14.68,28.83
$GC,4231,-0.82,-126.5,2679,2210,3401,3345,643.3,-13.1,444,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2210,3373,3401,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4531,-0.82,-126.5,2680,2210,3400,3344,682.2,-13.2,454,4535,0.00,2.35,0.00,0.000,516,0.000,0.071,2679,806,3371,3400,3343,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4570,-0.82,-126.5,2680,806,3399,3344,687.9,-13.6,462,4574,0.00,2.28,0.00,0.000,1030,0.000,0.056,2672,2199,3371,3399,3343,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4892,-0.82,-126.5,2672,2199,3398,3342,731.5,-13.8,476,4898,0.00,2.33,0.00,0.000,516,0.000,0.073,2672,807,3370,3398,3342,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4940,-0.82,-126.5,2672,807,3397,3342,738.6,-14.0,486,4944,0.08,2.28,0.00,0.000,3078,0.303,0.058,2675,2200,3369,3397,3342,0,0,0,0,0,0,14.46,14.66,28.83
$GC,5252,-0.82,-126.5,2675,2200,3396,3340,779.2,-12.9,498,5258,0.00,2.33,0.00,0.000,516,0.000,0.070,2675,802,3368,3396,3340,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5275,-0.82,-126.5,2675,802,3396,3340,782.7,-13.7,503,5282,0.00,2.30,0.00,0.000,1030,0.000,0.054,2667,2210,3368,3396,3340,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5582,-0.82,-126.5,2667,2210,3394,3339,822.8,-13.2,514,5588,0.00,2.35,0.00,0.000,260,0.000,0.076,2657,3608,3366,3395,3338,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5605,-0.82,-126.5,2657,3609,3394,3338,826.0,-12.8,519,5612,0.10,2.28,0.00,0.000,3078,0.256,0.044,2678,2197,3366,3394,3338,0,0,0,0,0,0,14.46,14.72,28.83
$GC,5912,-0.82,-126.5,2678,2197,3394,3337,863.2,-12.0,530,5918,0.00,2.30,0.00,0.000,516,0.000,0.070,2678,807,3365,3394,3337,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6020,-0.82,-126.5,2678,807,3393,3337,876.6,-12.1,552,6024,0.00,2.28,0.00,0.000,1030,0.000,0.054,2670,2202,3365,3394,3337,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6332,-0.82,-126.5,2670,2203,3393,3336,916.1,-13.2,564,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2202,3364,3393,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6632,-0.82,-126.5,2670,2203,3392,3336,956.2,-13.5,574,6633,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2203,3364,3392,3336,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6901,begin apogee
$GC,6906,-0.16,0.0,2670,2143,3389,3335,991.9,-13.2,583,7061,0.80,0.00,149.52,2.007,10246,0.256,0.000,2884,2143,2873,2922,2824,0,0,0,0,0,0,14.15,28.83,13.23
$STATE,7062,end apogee,CONTROL_FINISHED_OK
$STATE,7062,begin climb
$GC,7064,0.82,126.5,2884,2142,2916,2817,998.7,0.0,615,7185,1.10,2.58,110.90,2.246,10500,0.184,0.072,3203,3541,2348,2408,2288,0,0,0,0,0,0,13.95,13.83,12.98
$GC,7260,0.82,126.5,2336,3540,2353,2279,988.7,10.1,655,7265,0.00,2.38,0.00,0.000,1030,0.000,0.048,3209,2144,2343,2402,2285,0,0,0,0,0,0,28.83,14.14,28.83
$GC,7588,0.82,126.5,3209,2145,2402,2283,956.3,10.0,670,7594,0.00,2.42,0.00,0.000,516,0.000,0.083,3218,736,2342,2402,2282,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7756,0.82,126.5,3218,736,2402,2283,938.7,10.0,704,7760,0.00,2.33,0.00,0.000,1030,0.000,0.052,3217,2145,2342,2401,2283,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8068,0.82,126.5,3217,2145,2401,2281,907.1,10.0,716,8074,0.00,2.35,0.00,0.000,260,0.000,0.073,3217,3546,2340,2400,2281,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8091,0.82,126.5,3217,3546,2399,2282,904.4,10.4,721,8097,0.00,2.33,0.00,0.000,1030,0.000,0.048,3225,2130,2340,2398,2282,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8398,0.82,126.5,3225,2130,2398,2281,873.2,10.0,732,8404,0.00,2.38,0.00,0.000,516,0.000,0.080,3236,732,2339,2398,2281,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8601,0.82,126.5,3236,732,2397,2281,852.5,10.2,773,8607,0.00,2.30,0.00,0.000,1030,0.000,0.052,3235,2140,2339,2397,2281,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8908,0.82,126.5,3235,2140,2396,2280,822.1,10.0,784,8912,0.00,2.40,0.00,0.000,516,0.000,0.080,3243,737,2338,2397,2280,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8972,0.82,126.5,3243,737,2396,2280,815.4,10.0,797,8976,0.00,2.30,0.00,0.000,1030,0.000,0.051,3243,2145,2338,2396,2280,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9299,0.82,126.5,3243,2146,2396,2279,783.7,10.0,812,9305,0.00,2.40,0.00,0.000,516,0.000,0.078,3253,733,2337,2396,2279,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9329,0.82,126.5,3253,733,2396,2279,780.7,10.1,818,9333,0.00,2.30,0.00,0.000,1030,0.000,0.052,3253,2142,2337,2395,2279,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9656,0.82,126.5,3253,2142,2395,2278,747.4,10.4,833,9662,0.00,2.35,0.00,0.000,260,0.000,0.073,3253,3543,2336,2394,2278,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9760,0.82,126.5,3253,3543,2394,2279,736.4,9.7,854,9765,0.10,2.30,0.00,0.000,5126,0.288,0.047,3244,2133,2336,2394,2279,0,0,0,0,0,0,14.36,14.66,28.83
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$GC,12832,0.85,148.9,3253,2145,2392,2278,441.2,8.5,1077,12855,0.00,2.42,17.40,1.553,8708,0.000,0.077,3263,741,2258,2318,2198,0,0,0,0,0,0,28.83,14.59,13.78
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$STATE,17434,end climb,SURFACE_DEPTH_REACHED
$STATE,17434,begin surface coast
$FINISH,0.3,1.010433
$STATE,17467,end surface coast,CONTROL_FINISHED_OK
$STATE,17468,begin surface
$SM_CCo,17484,48.12,0.133,0,0,509,579.63
$SM_CCo,17535,-0.10,0.000,0,0,511,579.63
$SM_CCo,17538,0.22,0.483,0,0,509,579.63
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$IRIDIUM_FIX,1758.70,8932.79,220808,212122
$TT8_MAMPS,0.018725,0.018725
$HUMID,45.74
$INTERNAL_PRESSURE,6.63111
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,13.0,99.047
$10V_AH,11.8,0.000
$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
$DEVICE_SECS,23.275,196.125,508.475,48.350,0.000,25.533,34.650,266.130,0.000,0.000,7.468,3419.623,10235.550,695.545,3405.742,215.980,0.000,2157.091,0.000,2567.085,0.000,0.551,0.000
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$SENSOR_SECS,907.681,598.237,1550.527,947.101,0.000,0.000,0.000,0.000,0.000,0.000
$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,140574,1750
$CAP_FILE_SIZE,187382,0
$CFSIZE,2097086464,2050457600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.054,288.2,1
$GPS,271015,182133,1801.849,8928.423,23,1.3,23,-0.9