version: 66.11
glider: 615
mission: 5
dive: 327
start: 11 8 115 23 35 17
data:
$ID,615
$MISSION,5
$DIVE,327
$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,-19724.82
$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,36
$R_STBD_OVSHOOT,76
$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
$GPS1,081115,231452,1758.756,8933.522,80,1.3,80,-0.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-69.3
$GPS2,081115,233451,1758.805,8933.497,5,0.9,5,-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,357.7,14548,-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,-126.5,147,2238,559,486,0.0,0.0,0,56,0.00,0.00,-38.20,0.000,16386,0.000,0.000,145,2237,1590,1591,1590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.82,-126.5,146,2236,1590,1591,3.2,-7.2,6,112,10.88,2.25,-36.88,0.000,18692,0.342,0.081,2663,3568,3390,3402,3378,0,0,0,0,0,0,14.14,14.54,14.79
$GC,187,-0.82,-126.5,2663,3571,3402,3378,45.0,-30.5,28,196,0.05,2.28,0.00,0.000,3078,0.249,0.041,2676,2189,3389,3401,3378,0,0,0,0,0,0,14.29,14.50,28.83
$GC,385,-0.82,-126.5,2676,2187,3401,3378,94.9,-16.5,65,392,0.00,2.25,0.00,0.000,516,0.000,0.058,2676,799,3390,3402,3378,0,0,0,0,0,0,28.83,14.59,28.83
$GC,560,-0.82,-126.5,2676,799,3401,3379,123.6,-16.9,98,568,0.00,2.22,0.00,0.000,1030,0.000,0.043,2668,2160,3390,3402,3379,0,0,0,0,0,0,28.83,14.54,28.83
$GC,757,-0.82,-126.5,2668,2160,3402,3379,151.5,-14.4,135,764,0.00,2.35,0.00,0.000,260,0.000,0.062,2657,3603,3390,3402,3379,0,0,0,0,0,0,28.83,14.64,28.83
$GC,802,-0.82,-126.5,2657,3603,3402,3379,158.2,-15.1,143,810,0.10,2.22,0.00,0.000,3078,0.281,0.035,2677,2178,3390,3402,3379,0,0,0,0,0,0,14.44,14.72,28.83
$GC,997,-0.82,-126.5,2677,2178,3402,3378,184.9,-14.2,180,1005,0.00,2.28,0.00,0.000,516,0.000,0.059,2676,813,3390,3401,3379,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1095,-0.82,-126.5,2677,813,3401,3379,199.1,-14.4,198,1102,0.00,2.28,0.00,0.000,1030,0.000,0.044,2669,2202,3390,3402,3378,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1289,-0.82,-126.5,2668,2203,3401,3377,228.1,-15.0,218,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2203,3389,3401,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1590,-0.82,-126.5,2668,2203,3401,3373,272.3,-14.7,248,1599,0.00,2.25,0.00,0.000,516,0.000,0.060,2668,816,3387,3401,3373,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1642,-0.82,-126.5,2668,815,3401,3373,280.1,-14.5,258,1652,0.08,2.22,0.00,0.000,3078,0.312,0.047,2674,2213,3386,3401,3372,0,0,0,0,0,0,14.50,14.72,28.83
$GC,1952,-0.82,-126.5,2675,2213,3401,3369,323.2,-13.8,290,1961,0.00,2.28,0.00,0.000,516,0.000,0.063,2675,817,3385,3401,3369,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1993,-0.82,-126.5,2675,817,3400,3369,329.0,-13.8,298,1997,0.00,2.20,0.00,0.000,1030,0.000,0.048,2669,2197,3384,3401,3368,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2310,-0.82,-126.5,2668,2197,3401,3362,373.5,-14.2,322,2316,0.00,2.30,0.00,0.000,260,0.000,0.068,2658,3596,3381,3401,3362,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2341,-0.82,-126.5,2659,3595,3401,3362,378.4,-14.1,329,2351,0.05,2.25,0.00,0.000,3078,0.238,0.039,2672,2215,3381,3401,3361,0,0,0,0,0,0,14.33,14.57,28.83
$GC,2649,-0.82,-126.5,2673,2215,3401,3355,420.3,-13.6,345,2655,0.00,2.30,0.00,0.000,516,0.000,0.065,2672,807,3378,3401,3356,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2771,-0.82,-126.5,2673,807,3401,3355,436.8,-13.2,369,2777,0.00,2.25,0.00,0.000,1030,0.000,0.050,2667,2205,3377,3400,3354,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3091,-0.82,-126.5,2667,2205,3400,3351,481.1,-14.2,388,3098,0.00,2.30,0.00,0.000,516,0.000,0.065,2667,806,3375,3400,3351,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3139,-0.82,-126.5,2667,806,3399,3351,488.5,-14.8,398,3144,0.10,2.25,0.00,0.000,3078,0.294,0.051,2678,2201,3375,3399,3351,0,0,0,0,0,0,14.44,14.70,28.83
$GC,3467,-0.82,-126.5,2678,2202,3397,3346,533.8,-13.8,411,3473,0.00,2.30,0.00,0.000,516,0.000,0.068,2678,808,3371,3397,3346,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3527,-0.82,-126.5,2678,808,3396,3346,542.2,-13.4,423,3533,0.00,2.25,0.00,0.000,1030,0.000,0.052,2672,2200,3371,3397,3346,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3858,-0.82,-126.5,2672,2200,3395,3344,588.5,-14.1,439,3864,0.00,2.28,0.00,0.000,516,0.000,0.066,2672,806,3369,3395,3343,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3900,-0.82,-126.5,2672,806,3395,3344,595.1,-14.5,448,3904,0.00,2.25,0.00,0.000,1030,0.000,0.052,2671,2199,3369,3395,3344,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4212,-0.82,-126.5,2671,2199,3393,3341,639.3,-14.3,460,4218,0.00,2.30,0.00,0.000,516,0.000,0.068,2671,806,3367,3393,3342,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4272,-0.82,-126.5,2671,806,3392,3341,647.9,-13.9,472,4276,0.00,2.25,0.00,0.000,1030,0.000,0.053,2671,2199,3366,3392,3341,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4599,-0.82,-126.5,2671,2199,3390,3340,693.2,-14.1,487,4603,0.00,2.33,0.00,0.000,516,0.000,0.068,2671,803,3365,3390,3340,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4668,-0.82,-126.5,2671,802,3390,3340,703.3,-13.6,501,4672,0.00,2.28,0.00,0.000,1030,0.000,0.054,2671,2199,3364,3389,3340,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4985,-0.82,-126.5,2671,2199,3389,3337,746.2,-13.8,514,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2199,3363,3389,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5286,-0.82,-126.5,2671,2199,3388,3336,786.3,-13.2,524,5292,0.00,2.30,0.00,0.000,516,0.000,0.069,2671,811,3362,3388,3336,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5345,-0.82,-126.5,2671,812,3387,3335,794.3,-13.2,536,5349,0.00,2.25,0.00,0.000,1030,0.000,0.054,2671,2200,3362,3388,3336,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5676,-0.82,-126.5,2671,2201,3386,3334,837.6,-13.1,552,5682,0.00,2.33,0.00,0.000,516,0.000,0.070,2671,803,3360,3386,3334,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5719,-0.82,-126.5,2671,803,3386,3334,843.7,-13.5,561,5723,0.00,2.30,0.00,0.000,1030,0.000,0.056,2670,2204,3359,3385,3334,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6032,-0.82,-126.5,2671,2205,3384,3333,883.6,-12.8,573,6038,0.00,2.33,0.00,0.000,516,0.000,0.072,2671,811,3358,3384,3333,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6062,-0.82,-126.5,2671,810,3384,3333,887.6,-13.1,579,6066,0.00,2.25,0.00,0.000,1030,0.000,0.056,2671,2194,3358,3384,3333,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6394,-0.82,-126.5,2671,2194,3383,3331,930.7,-12.9,595,6400,0.00,2.33,0.00,0.000,516,0.000,0.072,2671,810,3357,3383,3331,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6461,-0.82,-126.5,2671,809,3382,3331,939.6,-12.2,609,6465,0.00,2.30,0.00,0.000,1030,0.000,0.057,2671,2206,3357,3382,3332,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6778,-0.82,-126.5,2671,2207,3380,3329,979.2,-12.5,622,6782,0.00,2.33,0.00,0.000,516,0.000,0.073,2671,819,3355,3380,3330,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6809,-0.82,-126.5,2671,818,3379,3329,983.2,-13.1,628,6815,0.00,2.28,0.00,0.000,1030,0.000,0.057,2671,2202,3355,3380,3330,0,0,0,0,0,0,28.83,14.63,28.83
$STATE,6868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6868,begin apogee
$GC,6873,-0.16,0.0,2671,2140,3379,3329,990.5,-12.1,635,6984,0.93,0.00,105.90,2.367,10246,0.330,0.000,2872,2138,2871,2917,2826,0,0,0,0,0,0,13.85,28.83,13.03
$STATE,6986,end apogee,CONTROL_FINISHED_OK
$STATE,6986,begin climb
$GC,6988,0.82,126.5,2872,2138,2912,2818,994.8,0.0,658,7107,1.10,0.00,115.57,2.494,10246,0.132,0.000,3212,2138,2356,2415,2298,0,0,0,0,0,0,14.05,28.83,12.83
$GC,7404,0.82,126.5,3212,2137,2404,2284,961.5,9.9,672,7410,0.00,2.35,0.00,0.000,516,0.000,0.071,3223,746,2343,2403,2284,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7452,0.82,126.5,3223,746,2403,2285,956.6,9.9,682,7456,0.00,2.30,0.00,0.000,1030,0.000,0.050,3223,2143,2344,2404,2284,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7760,0.82,126.5,3223,2143,2403,2283,926.8,9.7,693,7766,0.00,2.35,0.00,0.000,516,0.000,0.070,3233,743,2343,2403,2283,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7797,0.82,126.5,3233,743,2403,2283,922.9,10.0,701,7802,0.00,2.28,0.00,0.000,1030,0.000,0.050,3233,2142,2342,2403,2282,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8114,0.82,126.5,3233,2142,2402,2282,892.4,9.7,714,8120,0.00,2.35,0.00,0.000,516,0.000,0.070,3243,740,2342,2402,2282,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8183,0.82,126.5,3243,740,2402,2282,885.6,9.6,728,8187,0.00,2.28,0.00,0.000,1030,0.000,0.050,3243,2141,2342,2402,2282,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8500,0.82,126.5,3244,2140,2401,2281,853.3,10.3,741,8506,0.00,2.33,0.00,0.000,260,0.000,0.072,3243,3542,2341,2401,2281,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8547,0.82,126.5,3243,3543,2399,2281,847.8,10.9,751,8552,0.00,2.28,0.00,0.000,1030,0.000,0.044,3253,2139,2340,2399,2281,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8854,0.82,126.5,3254,2138,2399,2280,815.0,10.9,762,8860,0.00,2.35,0.00,0.000,516,0.000,0.070,3264,733,2339,2399,2280,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8947,0.82,126.5,2400,733,2351,2275,804.2,11.6,781,8952,0.10,2.30,0.00,0.000,5126,0.279,0.049,3244,2146,2339,2399,2280,0,0,0,0,0,0,14.41,14.67,28.83
$GC,9274,0.82,126.5,3244,2146,2398,2279,767.9,11.4,796,9280,0.00,2.33,0.00,0.000,260,0.000,0.071,3244,3570,2338,2398,2279,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9297,0.82,126.5,3244,3570,2397,2279,765.0,11.6,801,9305,0.00,2.33,0.00,0.000,1030,0.000,0.042,3253,2135,2338,2397,2279,0,0,0,0,0,0,28.83,14.71,28.83
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$STATE,17581,end climb,SURFACE_DEPTH_REACHED
$STATE,17581,begin surface coast
$FINISH,0.3,1.018549
$STATE,17598,end surface coast,CONTROL_FINISHED_OK
$STATE,17598,begin surface
$SM_CCo,17615,0.85,0.204,0,0,508,579.63
$SM_CCo,17619,0.28,0.412,0,0,507,579.63
$SM_CCo,17623,0.00,0.000,0,0,509,579.63
$SM_GC,3.21,9.30,0.10,0.00,0.076,0.153,0.000,189,2233,509,-8.56,-0.96,579.63,0,0,0,0,0,0,14.62,14.60,28.83
$IRIDIUM_FIX,1749.63,8935.07,040908,121215
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.04
$INTERNAL_PRESSURE,6.71901
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,12.8,119.516
$10V_AH,10.9,0.000
$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,23.450,198.550,540.200,1.125,0.000,45.622,101.656,790.975,0.000,0.000,6.515,3484.982,10338.184,684.847,4005.204,297.998,0.000,2118.179,0.000,2527.554,0.000,0.555,0.000
$DEVICE_MAMPS,341.955,173.655,2493.900,411.570,0.000,29.840,160.000,223.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,931.464,625.348,1571.890,960.504,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322384
$DATA_FILE_SIZE,140624,1723
$CAP_FILE_SIZE,194714,0
$CFSIZE,2097086464,2040856576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.075, 96.1,1
$GPS,091115,043006,1800.434,8934.064,28,1.7,28,-0.9