version: 66.11
glider: 615
mission: 5
dive: 330
start: 11 9 115 15 16 4
data:
$ID,615
$MISSION,5
$DIVE,330
$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,-19728.588
$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,39
$R_STBD_OVSHOOT,39
$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
$GPS1,091115,145504,1803.470,8933.894,75,1.3,75,-0.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-70.4
$GPS2,091115,151536,1803.556,8934.008,6,0.8,6,-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,329.4,5807,-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,-126.5,148,2213,560,484,0.0,0.0,0,55,0.00,0.00,-38.00,0.000,16386,0.000,0.000,147,2215,1580,1582,1578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.82,-126.5,147,2215,1582,1579,3.0,-6.5,6,117,10.88,2.30,-38.78,0.000,18692,0.340,0.068,2666,3611,3389,3404,3374,0,0,0,0,0,0,14.14,14.54,14.81
$GC,130,-0.82,-126.5,2666,3611,3404,3374,21.1,-32.0,17,137,0.00,2.25,0.00,0.000,1030,0.000,0.037,2666,2187,3389,3404,3374,0,0,0,0,0,0,28.83,14.61,28.83
$GC,326,-0.82,-126.5,2666,2185,3404,3374,80.2,-21.1,54,333,0.00,2.30,0.00,0.000,516,0.000,0.057,2666,806,3388,3403,3374,0,0,0,0,0,0,28.83,14.49,28.83
$GC,444,-0.82,-126.5,2667,806,3404,3374,104.3,-19.4,76,453,0.08,2.28,0.00,0.000,3078,0.253,0.044,2684,2197,3389,3404,3374,0,0,0,0,0,0,14.33,14.56,28.83
$GC,641,-0.82,-126.5,2683,2197,3404,3374,135.0,-15.2,113,647,0.00,2.25,0.00,0.000,516,0.000,0.057,2684,806,3389,3403,3375,0,0,0,0,0,0,28.83,14.62,28.83
$GC,661,-0.82,-126.5,1672,806,3390,3373,138.0,-15.5,116,669,0.00,2.28,0.00,0.000,1030,0.000,0.044,2677,2196,3389,3404,3375,0,0,0,0,0,0,28.83,14.57,28.83
$GC,858,-0.82,-126.5,2676,2197,3404,3375,166.7,-14.9,153,864,0.00,2.30,0.00,0.000,260,0.000,0.063,2666,3606,3389,3404,3375,0,0,0,0,0,0,28.83,14.64,28.83
$GC,955,-0.82,-126.5,2666,3606,3404,3375,180.8,-14.1,171,962,0.00,2.20,0.00,0.000,1030,0.000,0.035,2666,2200,3389,3404,3375,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1153,-0.82,-126.5,2665,2199,3404,3375,210.6,-14.8,202,1162,0.00,2.25,0.00,0.000,516,0.000,0.059,2665,812,3389,3404,3375,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1206,-0.82,-126.5,1744,811,3392,3373,219.1,-15.1,213,1214,0.10,2.25,0.00,0.000,3078,0.283,0.044,2675,2226,3389,3404,3374,0,0,0,0,0,0,14.45,14.66,28.83
$GC,1514,-0.82,-126.5,2675,2227,3404,3372,263.1,-14.1,244,1518,0.00,2.33,0.00,0.000,516,0.000,0.061,2675,803,3388,3404,3372,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1558,-0.82,-126.5,2675,803,3404,3372,270.0,-15.0,253,1565,0.00,2.22,0.00,0.000,1030,0.000,0.047,2667,2199,3387,3404,3371,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1865,-0.82,-126.5,2668,2199,3404,3368,316.0,-15.1,284,1874,0.00,2.25,0.00,0.000,516,0.000,0.061,2668,813,3386,3404,3368,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1909,-0.82,-126.5,1768,813,3392,3366,323.1,-15.5,293,1917,0.10,2.25,0.00,0.000,3078,0.282,0.047,2678,2213,3386,3405,3367,0,0,0,0,0,0,14.47,14.68,28.83
$GC,2227,-0.82,-126.5,2678,2215,3403,3360,368.0,-14.1,319,2233,0.00,2.30,0.00,0.000,516,0.000,0.063,2678,806,3381,3403,3360,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2259,-0.82,-126.5,2678,806,3404,3360,373.1,-14.6,326,2268,0.00,2.30,0.00,0.000,1030,0.000,0.048,2671,2196,3381,3403,3360,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2567,-0.82,-126.5,2671,2196,3403,3355,417.1,-14.2,342,2573,0.00,2.28,0.00,0.000,516,0.000,0.063,2671,804,3379,3404,3354,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2600,-0.82,-126.5,2671,804,3403,3354,422.2,-14.7,349,2608,0.05,2.33,0.00,0.000,3078,0.250,0.050,2676,2203,3378,3403,3354,0,0,0,0,0,0,14.31,14.53,28.83
$GC,2908,-0.82,-126.5,2676,2204,3403,3350,463.5,-13.7,365,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2204,3376,3403,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3217,-0.82,-126.5,2676,2204,3401,3346,505.0,-13.4,380,3223,0.00,2.30,0.00,0.000,516,0.000,0.067,2676,813,3373,3401,3346,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3295,-0.82,-126.5,2676,813,3400,3346,515.9,-13.2,396,3299,0.00,2.25,0.00,0.000,1030,0.000,0.051,2669,2206,3373,3401,3346,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3603,-0.82,-126.5,2670,2206,3398,3344,557.4,-13.9,407,3604,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2206,3371,3398,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3903,-0.82,-126.5,2670,2207,3396,3343,599.5,-14.0,417,3907,0.00,2.30,0.00,0.000,516,0.000,0.067,2669,814,3369,3397,3342,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3943,-0.82,-126.5,2669,815,3396,3342,605.5,-13.7,425,3948,0.00,2.25,0.00,0.000,1030,0.000,0.053,2665,2203,3369,3396,3342,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4260,-0.82,-126.5,2666,2204,3394,3340,649.4,-13.8,438,4264,0.00,2.33,0.00,0.000,516,0.000,0.067,2665,809,3366,3394,3339,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4304,-0.82,-126.5,2666,809,3394,3339,655.9,-13.8,447,4308,0.00,2.28,0.00,0.000,1030,0.000,0.054,2665,2202,3366,3394,3339,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4621,-0.82,-126.5,2666,2203,3392,3337,698.2,-13.4,460,4625,0.00,2.33,0.00,0.000,516,0.000,0.068,2665,806,3364,3391,3337,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4660,-0.82,-126.5,2666,806,3392,3337,703.8,-13.5,468,4664,0.00,2.28,0.00,0.000,1030,0.000,0.053,2665,2202,3364,3392,3337,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4978,-0.82,-126.5,2665,2202,3391,3336,745.6,-13.2,481,4984,0.00,2.30,0.00,0.000,516,0.000,0.069,2666,816,3363,3391,3336,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5020,-0.82,-126.5,2665,816,3390,3336,751.6,-13.1,490,5024,0.00,2.28,0.00,0.000,1030,0.000,0.054,2665,2209,3363,3390,3336,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5332,-0.82,-126.5,2665,2210,3390,3334,792.9,-13.3,502,5338,0.00,2.33,0.00,0.000,516,0.000,0.069,2665,808,3361,3389,3334,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5362,-0.82,-126.5,2665,807,3389,3334,797.0,-13.8,508,5368,0.00,2.28,0.00,0.000,1030,0.000,0.054,2665,2205,3362,3390,3334,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5692,-0.82,-126.5,2664,2205,3388,3333,841.1,-13.4,524,5698,0.00,2.30,0.00,0.000,516,0.000,0.069,2665,816,3360,3388,3333,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5722,-0.82,-126.5,2666,816,3388,3333,845.2,-13.8,530,5728,0.00,2.25,0.00,0.000,1030,0.000,0.054,2665,2200,3360,3387,3333,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6052,-0.82,-126.5,2665,2201,3387,3331,888.2,-12.9,546,6058,0.00,2.30,0.00,0.000,516,0.000,0.071,2665,816,3359,3387,3331,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6095,-0.82,-126.5,2665,816,3385,3331,894.0,-12.8,555,6099,0.00,2.28,0.00,0.000,1030,0.000,0.056,2665,2206,3358,3386,3331,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6408,-0.82,-126.5,2666,2207,3384,3329,932.7,-12.5,567,6414,0.00,2.35,0.00,0.000,516,0.000,0.072,2665,807,3356,3384,3329,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6440,-0.82,-126.5,2666,808,3384,3330,937.0,-12.6,574,6444,0.00,2.30,0.00,0.000,1030,0.000,0.056,2666,2207,3356,3383,3329,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6768,-0.82,-126.5,2666,2207,3383,3328,977.8,-12.7,589,6774,0.00,2.35,0.00,0.000,516,0.000,0.072,2666,808,3355,3383,3327,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6815,-0.82,-126.5,2665,809,3382,3328,984.4,-12.8,599,6819,0.00,2.30,0.00,0.000,1030,0.000,0.057,2665,2205,3355,3382,3328,0,0,0,0,0,0,28.83,14.63,28.83
$STATE,6881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6881,begin apogee
$GC,6886,-0.16,0.0,2665,2141,3382,3328,992.8,-12.9,602,7002,0.93,0.00,106.38,2.358,10246,0.318,0.000,2886,2139,2865,2911,2819,0,0,0,0,0,0,13.88,28.83,13.03
$STATE,7004,end apogee,CONTROL_FINISHED_OK
$STATE,7004,begin climb
$GC,7006,0.82,126.5,2886,2139,2911,2818,998.0,0.0,626,7131,1.05,2.47,114.12,2.510,10500,0.157,0.069,3206,3540,2349,2408,2290,0,0,0,0,0,0,14.07,13.83,12.80
$GC,7142,0.86,156.4,3206,3540,2404,2286,993.3,7.7,654,7177,0.00,2.38,28.62,2.534,9222,0.000,0.041,3217,2143,2235,2297,2174,0,0,0,0,0,0,28.83,13.99,12.78
$GC,7484,0.86,156.4,3217,2143,2284,2163,953.0,12.3,672,7490,0.00,2.33,0.00,0.000,516,0.000,0.068,3228,726,2224,2284,2164,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7613,0.86,156.4,3228,726,2284,2163,936.9,12.2,698,7617,0.00,2.33,0.00,0.000,1030,0.000,0.050,3228,2145,2223,2283,2163,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7930,0.86,156.4,3228,2146,2282,2161,896.3,12.9,711,7936,0.00,2.35,0.00,0.000,516,0.000,0.069,3238,742,2222,2282,2162,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7973,0.86,156.4,3238,742,2282,2162,890.3,12.9,720,7977,0.00,2.28,0.00,0.000,1030,0.000,0.050,3238,2140,2222,2282,2162,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8285,0.86,156.4,3238,2140,2281,2161,849.8,13.0,732,8291,0.00,2.35,0.00,0.000,516,0.000,0.068,3248,735,2221,2281,2161,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8323,0.86,156.4,3248,735,2281,2161,844.4,13.8,740,8327,0.00,2.30,0.00,0.000,1030,0.000,0.049,3248,2150,2221,2281,2161,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8641,0.86,156.4,3248,2150,2280,2160,802.7,13.1,753,8647,0.00,2.35,0.00,0.000,516,0.000,0.068,3259,740,2220,2280,2160,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8689,0.86,156.4,3258,741,2280,2160,796.1,13.4,763,8693,0.00,2.28,0.00,0.000,1030,0.000,0.049,3258,2143,2220,2280,2160,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8995,0.86,156.4,3258,2143,2279,2159,756.5,12.6,774,9001,0.00,2.35,0.00,0.000,516,0.000,0.067,3268,736,2219,2279,2160,0,0,0,0,0,0,28.83,14.60,28.83
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$STATE,16311,end climb,SURFACE_DEPTH_REACHED
$STATE,16311,begin surface coast
$FINISH,0.3,1.018580
$STATE,16402,end surface coast,CONTROL_FINISHED_OK
$STATE,16402,begin surface
$SM_CCo,16420,20.30,0.134,0,0,510,579.63
$SM_CCo,16443,0.00,0.000,0,0,510,579.63
$SM_CCo,16446,0.22,0.490,0,0,509,579.63
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$IRIDIUM_FIX,1756.43,8937.32,050908,040402
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.16
$INTERNAL_PRESSURE,6.68971
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,12.8,120.619
$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
$DEVICE_SECS,23.050,184.750,513.225,20.525,0.000,77.652,123.370,712.400,0.000,0.000,7.542,3299.403,9664.977,652.994,3755.714,293.676,0.000,2007.553,0.000,2339.344,0.000,0.555,0.000
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$SENSOR_SECS,891.153,606.329,1458.046,891.346,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322308
$DATA_FILE_SIZE,130889,1601
$CAP_FILE_SIZE,184168,0
$CFSIZE,2097086464,2040397824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.059,134.5,1
$GPS,091115,195151,1804.694,8933.330,63,1.6,63,-0.9