version: 66.11
glider: 615
mission: 5
dive: 284
start: 10 30 115 23 27 35
data:
$ID,615
$MISSION,5
$DIVE,284
$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,-19340.299
$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,35
$R_STBD_OVSHOOT,48
$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,10.5
$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
$GPS1,301015,231733,1759.720,8928.273,31,1.0,31,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-64.4
$GPS2,301015,232708,1759.759,8928.107,4,0.9,4,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,SE
$TGT_LATLONG,1755.320,8933.540
$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,145.1,12618,-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,-126.5,146,2224,557,478,0.0,0.0,0,69,0.00,0.00,-51.55,0.000,16386,0.000,0.000,144,2225,1951,1953,1950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.82,-126.5,145,2226,1953,1951,3.5,-8.1,8,119,10.85,2.45,-30.40,0.000,18948,0.342,0.083,2676,790,3390,3407,3374,0,0,0,0,0,0,14.12,14.47,14.75
$GC,163,-0.82,-126.5,2675,790,3407,3374,31.2,-40.0,23,170,0.00,2.25,0.00,0.000,1030,0.000,0.043,2667,2192,3390,3407,3374,0,0,0,0,0,0,28.83,14.52,28.83
$GC,359,-0.82,-126.5,2667,2193,3407,3375,86.9,-20.0,60,366,0.00,2.35,0.00,0.000,260,0.000,0.064,2657,3602,3391,3407,3375,0,0,0,0,0,0,28.83,14.52,28.83
$GC,404,-0.82,-126.5,2657,3603,3407,3375,96.2,-20.5,68,412,0.05,2.33,0.00,0.000,3078,0.209,0.037,2680,2180,3391,3408,3375,0,0,0,0,0,0,14.31,14.54,28.83
$GC,600,-0.82,-126.5,2680,2180,3407,3377,127.6,-13.8,105,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2180,3392,3407,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,794,-0.82,-126.5,2680,2179,3407,3378,155.6,-15.3,142,803,0.00,2.38,0.00,0.000,260,0.000,0.061,2671,3607,3392,3407,3378,0,0,0,0,0,0,28.83,14.57,28.83
$GC,898,-0.82,-126.5,2671,3606,3407,3379,171.8,-15.7,161,905,0.00,2.22,0.00,0.000,1030,0.000,0.037,2671,2199,3392,3407,3378,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1098,-0.82,-126.5,2671,2197,3407,3378,201.8,-15.9,198,1102,0.00,2.28,0.00,0.000,516,0.000,0.058,2671,807,3392,3406,3378,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1159,-0.82,-126.5,2671,807,3407,3378,210.9,-14.9,210,1168,0.08,2.22,0.00,0.000,3078,0.308,0.045,2674,2203,3392,3407,3378,0,0,0,0,0,0,14.44,14.66,28.83
$GC,1470,-0.82,-126.5,2675,2204,3407,3376,258.5,-15.5,242,1478,0.00,2.28,0.00,0.000,516,0.000,0.063,2675,810,3391,3407,3376,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1523,-0.82,-126.5,2675,810,3406,3376,267.2,-15.1,253,1530,0.00,2.25,0.00,0.000,1030,0.000,0.048,2666,2207,3391,3407,3375,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1831,-0.82,-126.5,2667,2207,3406,3372,314.6,-15.6,284,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2207,3389,3407,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2142,-0.82,-126.5,2667,2207,3406,3369,362.4,-15.5,311,2146,0.00,2.30,0.00,0.000,516,0.000,0.066,2667,810,3387,3407,3368,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2184,-0.82,-126.5,2667,810,3407,3369,369.2,-16.1,319,2191,0.10,2.25,0.00,0.000,3078,0.293,0.056,2676,2196,3387,3406,3368,0,0,0,0,0,0,14.41,14.66,28.83
$GC,2504,-0.82,-126.5,2676,2197,3407,3363,417.3,-14.9,338,2510,0.00,2.28,0.00,0.000,516,0.000,0.066,2677,813,3385,3407,3363,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2524,-0.82,-126.5,2677,812,3406,3363,420.4,-15.7,342,2530,0.00,2.25,0.00,0.000,1030,0.000,0.050,2668,2206,3384,3406,3363,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2844,-0.82,-126.5,2668,2206,3406,3358,471.0,-16.0,361,2850,0.00,2.30,0.00,0.000,516,0.000,0.065,2668,808,3381,3406,3357,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2885,-0.82,-126.5,2668,807,3406,3357,477.3,-15.9,369,2892,0.05,2.22,0.00,0.000,3078,0.248,0.050,2673,2195,3381,3406,3357,0,0,0,0,0,0,14.38,14.66,28.83
$GC,3194,-0.82,-126.5,2673,2196,3406,3353,524.1,-15.2,385,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2196,3379,3406,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3494,-0.82,-126.5,2673,2196,3405,3352,567.8,-14.4,395,3500,0.00,2.30,0.00,0.000,516,0.000,0.067,2673,809,3378,3405,3351,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3542,-0.82,-126.5,2673,809,3405,3351,575.1,-13.7,405,3547,0.00,2.25,0.00,0.000,1030,0.000,0.053,2665,2198,3378,3405,3352,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3855,-0.82,-126.5,2665,2199,3402,3348,619.9,-14.5,417,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2199,3376,3403,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4155,-0.82,-126.5,2665,2199,3401,3346,663.4,-14.4,427,4161,0.00,2.30,0.00,0.000,516,0.000,0.067,2665,812,3373,3401,3346,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4202,-0.82,-126.5,2665,812,3401,3346,670.8,-14.3,437,4207,0.10,2.28,0.00,0.000,3078,0.285,0.054,2675,2208,3374,3402,3346,0,0,0,0,0,0,14.42,14.68,28.83
$GC,4515,-0.82,-126.5,2675,2209,3401,3344,712.3,-13.1,449,4519,0.00,2.30,0.00,0.000,516,0.000,0.068,2675,817,3372,3400,3344,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4559,-0.82,-126.5,2675,817,3400,3344,718.4,-12.9,458,4563,0.00,2.25,0.00,0.000,1030,0.000,0.054,2667,2200,3372,3401,3344,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4877,-0.82,-126.5,2667,2201,3399,3343,759.5,-13.2,471,4883,0.00,2.30,0.00,0.000,516,0.000,0.068,2667,812,3371,3399,3343,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4907,-0.82,-126.5,2668,812,3399,3343,763.6,-14.0,477,4914,0.10,2.28,0.00,0.000,3078,0.294,0.055,2677,2208,3371,3399,3343,0,0,0,0,0,0,14.39,14.66,28.83
$GC,5237,-0.82,-126.5,2677,2208,3398,3341,804.5,-11.8,493,5241,0.00,2.35,0.00,0.000,516,0.000,0.070,2677,805,3369,3398,3341,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5261,-0.82,-126.5,2677,805,3397,3341,807.9,-12.3,498,5269,0.00,2.35,0.00,0.000,1030,0.000,0.054,2669,2195,3368,3397,3340,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5570,-0.82,-126.5,2670,2195,3396,3340,847.2,-13.2,509,5575,0.00,2.35,0.00,0.000,260,0.000,0.076,2660,3602,3368,3396,3340,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5601,-0.82,-126.5,2660,3602,3396,3340,851.7,-13.2,516,5605,0.00,2.30,0.00,0.000,1030,0.000,0.044,2660,2204,3368,3396,3340,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5930,-0.82,-126.5,2660,2204,3395,3338,896.2,-14.1,531,5936,0.10,2.33,0.00,0.000,2564,0.295,0.069,2679,809,3366,3395,3338,0,0,0,0,0,0,14.49,14.50,28.83
$GC,6057,-0.82,-126.5,2679,809,3394,3338,912.9,-12.1,557,6061,0.00,2.30,0.00,0.000,1030,0.000,0.055,2672,2210,3366,3394,3338,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6380,-0.82,-126.5,2671,2210,3393,3337,954.7,-13.1,571,6386,0.00,2.35,0.00,0.000,516,0.000,0.070,2672,804,3365,3393,3337,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6448,-0.82,-126.5,2672,804,3393,3337,963.8,-12.6,585,6452,0.00,2.30,0.00,0.000,1030,0.000,0.057,2669,2203,3365,3393,3337,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,6678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6678,begin apogee
$GC,6683,-0.16,0.0,2670,2135,3392,3335,992.6,-12.5,596,6800,0.88,0.00,108.05,2.424,10246,0.308,0.000,2884,2135,2865,2914,2817,0,0,0,0,0,0,14.04,28.83,13.03
$STATE,6802,end apogee,CONTROL_FINISHED_OK
$STATE,6802,begin climb
$GC,6804,0.82,126.5,2884,2135,2914,2816,996.9,0.0,620,6925,1.17,2.53,111.68,2.327,10500,0.233,0.070,3171,3544,2350,2412,2289,0,0,0,0,0,0,13.95,13.83,12.95
$GC,6952,0.84,137.3,3171,3543,2404,2285,990.4,8.6,650,6969,0.12,2.38,9.65,1.932,11270,0.158,0.043,3223,2140,2310,2372,2248,0,0,0,0,0,0,13.99,14.03,13.03
$GC,7283,0.84,137.3,3223,2139,2364,2241,950.5,12.3,666,7289,0.00,2.38,0.00,0.000,516,0.000,0.070,3234,736,2302,2364,2241,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7390,0.84,137.3,3234,736,2363,2241,937.0,12.3,688,7394,0.00,2.30,0.00,0.000,1030,0.000,0.049,3234,2138,2302,2364,2241,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7702,0.84,137.3,3234,2138,2362,2240,897.6,12.9,700,7708,0.00,2.35,0.00,0.000,516,0.000,0.070,3244,740,2301,2362,2240,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7734,0.84,137.3,2400,740,2316,2235,893.2,13.1,707,7739,0.00,2.33,0.00,0.000,1030,0.000,0.050,3243,2133,2301,2363,2240,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8062,0.84,137.3,3244,2133,2361,2238,852.9,12.1,722,8068,0.00,2.33,0.00,0.000,516,0.000,0.070,3254,745,2299,2360,2239,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8110,0.84,137.3,3254,745,2361,2239,846.7,12.4,732,8114,0.00,2.28,0.00,0.000,1030,0.000,0.050,3254,2142,2300,2361,2239,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8422,0.84,137.3,3254,2142,2360,2238,809.0,12.2,744,8428,0.00,2.35,0.00,0.000,260,0.000,0.070,3254,3545,2299,2360,2238,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8490,0.84,137.3,3255,3546,2360,2239,799.9,12.9,758,8495,0.05,2.25,0.00,0.000,5126,0.304,0.044,3251,2143,2299,2359,2239,0,0,0,0,0,0,14.30,14.63,28.83
$GC,8812,0.84,137.3,3252,2142,2359,2238,760.9,11.8,772,8818,0.00,2.35,0.00,0.000,516,0.000,0.069,3260,736,2298,2358,2238,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8872,0.84,137.3,3261,736,2358,2238,753.7,12.1,784,8879,0.08,2.30,0.00,0.000,5126,0.297,0.050,3248,2149,2298,2358,2238,0,0,0,0,0,0,14.44,14.65,28.83
$GC,9202,0.84,137.3,3248,2149,2358,2238,715.3,12.0,800,9208,0.00,2.35,0.00,0.000,260,0.000,0.070,3248,3550,2298,2358,2238,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9331,0.84,137.3,3248,3550,2356,2238,699.3,11.6,826,9335,0.00,2.30,0.00,0.000,1030,0.000,0.045,3257,2132,2297,2357,2238,0,0,0,0,0,0,28.83,14.68,28.83
$GC,9648,0.84,137.3,3257,2131,2356,2237,664.2,11.0,839,9654,0.00,2.30,0.00,0.000,516,0.000,0.069,3268,742,2296,2355,2238,0,0,0,0,0,0,28.83,14.52,28.83
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$STATE,16565,end climb,SURFACE_DEPTH_REACHED
$STATE,16565,begin surface coast
$FINISH,0.3,1.020110
$STATE,16591,end surface coast,CONTROL_FINISHED_OK
$STATE,16591,begin surface
$SM_CCo,16610,48.03,0.131,0,0,509,579.63
$SM_CCo,16661,0.08,1.191,0,0,508,579.63
$SM_CCo,16664,-0.05,0.000,0,0,511,579.63
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$IRIDIUM_FIX,1751.90,8928.25,260808,070728
$TT8_MAMPS,0.018725,0.018725
$HUMID,45.62
$INTERNAL_PRESSURE,6.67018
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,12.8,104.499
$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
$DEVICE_SECS,22.925,195.325,473.200,48.100,0.000,27.033,44.102,378.167,0.000,0.000,5.908,3317.255,9652.290,658.466,3380.723,218.994,0.000,2048.292,0.000,2428.760,0.000,0.553,0.000
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$SENSOR_SECS,880.532,595.202,1503.113,918.625,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322244
$DATA_FILE_SIZE,134181,1660
$CAP_FILE_SIZE,182330,0
$CFSIZE,2097086464,2047803392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.064, 39.9,1
$GPS,311015,040633,1758.830,8929.528,36,1.3,36,-0.9