version: 66.11
glider: 615
mission: 5
dive: 15
start: 9 4 115 17 4 56
data:
$ID,615
$MISSION,5
$DIVE,15
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,970
$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,400
$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,150
$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,709.94379
$N_FILEKB,8
$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,-5829.1172
$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,2990
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$PITCH_GAIN,27
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,510
$VBD_MAX,3960
$C_VBD,3200
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00050000002
$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
$GPS1,040915,165856,1746.973,8937.705,96,1.0,96,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-73.0
$GPS2,040915,170430,1746.999,8937.745,4,0.9,4,-0.9
$SPEED_LIMITS,0.156,0.199
$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,4.9,17100,-19.4,-8.981,-24.24,2355
$D_GRID,970
$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,14,-0.79,-146.0,186,2189,568,487,0.0,0.0,0,49,0.00,0.00,-33.03,0.000,16386,0.000,0.000,186,2187,1474,1489,1459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,51,-0.79,-146.0,186,2186,1489,1459,3.1,-6.8,5,117,10.93,2.40,-46.60,0.000,19204,0.365,0.082,2705,3617,3797,3838,3757,0,0,0,0,0,0,14.36,14.58,14.76
$GC,276,-0.79,-146.0,2704,3617,3843,3751,80.0,-24.4,45,282,0.00,2.22,0.00,0.000,1030,0.000,0.041,2705,2199,3796,3843,3749,0,0,0,0,0,0,28.83,14.67,28.83
$GC,468,-0.79,-146.0,2705,2196,3845,3750,122.9,-20.4,82,477,0.05,2.25,0.00,0.000,2564,0.364,0.054,2714,804,3797,3845,3750,0,0,0,0,0,0,14.60,14.67,28.83
$GC,593,-0.79,-146.0,2714,805,3846,3750,147.2,-17.9,105,599,0.00,2.22,0.00,0.000,1030,0.000,0.045,2705,2218,3798,3847,3750,0,0,0,0,0,0,28.83,14.72,28.83
$GC,785,-0.79,-146.0,2705,2218,3847,3750,183.2,-20.1,142,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2218,3798,3847,3750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,977,-0.79,-146.0,2705,2218,3847,3750,219.5,-18.4,169,986,0.00,2.25,0.00,0.000,516,0.000,0.058,2705,807,3798,3847,3749,0,0,0,0,0,0,28.83,14.75,28.83
$GC,999,-0.79,-146.0,2705,806,3847,3750,223.8,-19.7,173,1009,0.10,2.20,0.00,0.000,3078,0.291,0.047,2716,2206,3797,3846,3749,0,0,0,0,0,0,14.64,14.77,28.83
$GC,1308,-0.79,-146.0,2716,2206,3847,3746,277.1,-16.2,205,1319,0.00,2.22,0.00,0.000,516,0.000,0.060,2716,810,3796,3847,3746,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1341,-0.79,-146.0,2716,810,3847,3746,282.6,-16.7,211,1351,0.00,2.20,0.00,0.000,1030,0.000,0.048,2707,2209,3796,3847,3746,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1651,-0.79,-146.0,2707,2209,3848,3744,335.8,-17.1,243,1661,0.00,2.25,0.00,0.000,260,0.000,0.070,2697,3602,3795,3847,3744,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1674,-0.79,-146.0,2696,3602,3847,3744,339.6,-17.5,247,1685,0.10,2.17,0.00,0.000,3078,0.266,0.043,2719,2199,3795,3847,3744,0,0,0,0,0,0,14.71,14.83,28.83
$GC,1983,-0.79,-146.0,2719,2197,3846,3740,389.1,-15.7,267,1989,0.00,2.22,0.00,0.000,516,0.000,0.063,2719,811,3792,3846,3739,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2024,-0.79,-146.0,2719,810,3846,3740,395.1,-14.3,275,2030,0.00,2.20,0.00,0.000,1030,0.000,0.051,2711,2203,3792,3845,3739,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2344,-0.79,-146.0,2711,2204,3843,3737,445.5,-15.8,294,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2204,3791,3844,3738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2643,-0.79,-146.0,2711,2204,3841,3735,492.4,-15.6,309,2645,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2204,3788,3841,3735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2943,-0.79,-146.0,2711,2204,3838,3732,538.1,-15.1,320,2947,0.00,2.25,0.00,0.000,516,0.000,0.066,2711,807,3785,3838,3732,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2971,-0.79,-146.0,2711,807,3838,3732,542.5,-14.5,326,2977,0.05,2.25,0.00,0.000,3078,0.250,0.054,2718,2196,3785,3838,3732,0,0,0,0,0,0,14.73,14.83,28.83
$GC,3299,-0.79,-146.0,2718,2197,3837,3730,587.8,-13.9,341,3305,0.00,2.30,0.00,0.000,260,0.000,0.076,2708,3607,3783,3837,3729,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3321,-0.79,-146.0,2708,3607,3836,3730,591.3,-13.9,346,3330,0.00,2.25,0.00,0.000,1030,0.000,0.047,2708,2206,3782,3836,3729,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3629,-0.79,-146.0,2709,2204,3834,3727,634.2,-14.1,357,3635,0.00,2.25,0.00,0.000,516,0.000,0.067,2708,806,3780,3834,3727,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3689,-0.79,-146.0,2708,806,3833,3728,642.3,-12.7,369,3694,0.10,2.22,0.00,0.000,3078,0.287,0.054,2721,2205,3780,3833,3727,0,0,0,0,0,0,14.77,14.90,28.83
$GC,4021,-0.79,-146.0,2721,2205,3831,3725,686.7,-13.4,385,4027,0.00,2.28,0.00,0.000,260,0.000,0.076,2712,3602,3778,3831,3725,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4051,-0.79,-146.0,2712,3602,3831,3725,690.7,-13.4,391,4057,0.00,2.20,0.00,0.000,1030,0.000,0.048,2712,2198,3778,3831,3725,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4381,-0.79,-146.0,2711,2196,3830,3724,737.5,-14.2,407,4387,0.00,2.25,0.00,0.000,516,0.000,0.067,2712,802,3776,3830,3723,0,0,0,0,0,0,28.83,14.89,28.83
$GC,4442,-0.79,-146.0,2711,802,3829,3723,745.6,-12.6,419,4449,0.03,2.22,0.00,0.000,3078,0.309,0.057,2711,2212,3776,3830,3723,0,0,0,0,0,0,14.73,14.88,28.83
$GC,4771,-0.79,-146.0,2711,2212,3828,3722,790.0,-13.4,435,4777,0.00,2.28,0.00,0.000,260,0.000,0.078,2701,3609,3775,3828,3722,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4809,-0.79,-146.0,2701,3609,3828,3722,795.3,-12.9,443,4814,0.05,2.25,0.00,0.000,3078,0.228,0.048,2732,2205,3775,3828,3722,0,0,0,0,0,0,14.78,14.89,28.83
$GC,5132,-0.79,-146.0,2733,2203,3827,3719,833.2,-12.0,457,5138,0.00,2.28,0.00,0.000,516,0.000,0.069,2733,799,3773,3827,3719,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5170,-0.79,-146.0,2733,799,3826,3719,838.1,-11.1,465,5174,0.00,2.28,0.00,0.000,1030,0.000,0.057,2724,2195,3772,3826,3719,0,0,0,0,0,0,28.83,14.87,28.83
$GC,5493,-0.79,-146.0,2724,2195,3825,3717,877.7,-12.4,479,5499,0.00,2.33,0.00,0.000,260,0.000,0.080,2714,3610,3771,3825,3717,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5536,-0.79,-146.0,2714,3610,3824,3717,883.4,-11.7,488,5540,0.00,2.22,0.00,0.000,1030,0.000,0.050,2714,2200,3770,3824,3717,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5855,-0.79,-146.0,2714,2197,3823,3715,924.2,-13.1,501,5861,0.00,2.22,0.00,0.000,516,0.000,0.070,2714,809,3769,3823,3715,0,0,0,0,0,0,28.83,14.87,28.83
$GC,5901,-0.79,-146.0,2714,809,3822,3715,930.6,-11.6,511,5906,0.00,2.28,0.00,0.000,1030,0.000,0.058,2703,2201,3769,3823,3715,0,0,0,0,0,0,28.83,14.87,28.83
$STATE,6213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6213,begin apogee
$GC,6216,-0.19,0.0,2704,2201,3822,3714,972.7,-13.8,523,6398,0.70,0.00,175.02,1.960,10246,0.226,0.000,2908,2201,3196,3249,3144,0,0,0,0,0,0,14.73,28.83,13.29
$STATE,6399,end apogee,CONTROL_FINISHED_OK
$STATE,6399,begin climb
$GC,6401,0.79,146.0,2909,2201,3245,3139,981.0,0.0,560,6538,0.98,2.50,129.85,2.384,11012,0.099,0.078,3232,3603,2599,2642,2556,0,0,0,0,0,0,13.98,13.85,13.03
$GC,6766,0.81,178.2,3232,3604,2633,2544,973.3,7.6,628,6801,0.00,2.30,30.17,2.368,9222,0.000,0.049,3243,2199,2472,2517,2428,0,0,0,0,0,0,28.83,14.46,13.37
$GC,7108,0.81,178.2,3243,2199,2499,2405,938.4,10.8,646,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2199,2452,2500,2405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7408,0.81,178.2,3243,2199,2499,2405,906.9,10.3,656,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2199,2451,2499,2404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7708,0.81,178.2,3243,2198,2498,2403,876.8,10.0,666,7715,0.00,2.30,0.00,0.000,516,0.000,0.076,3254,804,2450,2498,2403,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7781,0.81,178.2,3253,804,2497,2403,869.6,9.3,681,7785,0.00,2.30,0.00,0.000,1030,0.000,0.059,3254,2197,2450,2498,2403,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8098,0.81,178.2,3253,2198,2497,2402,839.7,9.7,694,8102,0.00,2.35,0.00,0.000,260,0.000,0.081,3253,3612,2449,2497,2402,0,0,0,0,0,0,28.83,14.77,28.83
$GC,8185,0.81,178.2,3254,3611,2495,2402,830.7,10.5,711,8189,0.00,2.25,0.00,0.000,1030,0.000,0.053,3264,2199,2449,2496,2402,0,0,0,0,0,0,28.83,14.80,28.83
$GC,8516,0.81,178.2,3264,2198,2496,2401,797.1,10.5,727,8522,0.00,2.30,0.00,0.000,516,0.000,0.076,3275,800,2449,2496,2402,0,0,0,0,0,0,28.83,14.79,28.83
$GC,8610,0.81,178.2,3275,800,2495,2401,787.2,10.3,746,8614,0.00,2.28,0.00,0.000,1030,0.000,0.060,3274,2212,2448,2495,2402,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8931,0.81,178.2,3274,2213,2494,2400,754.8,9.6,760,8935,0.00,2.33,0.00,0.000,516,0.000,0.076,3285,800,2448,2495,2401,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8995,0.81,178.2,3284,800,2494,2401,748.3,9.6,773,9000,0.10,2.30,0.00,0.000,5126,0.306,0.059,3266,2201,2447,2494,2401,0,0,0,0,0,0,14.69,14.84,28.83
$GC,9318,0.81,178.2,3265,2201,2494,2401,718.0,9.7,787,9323,0.00,2.33,0.00,0.000,260,0.000,0.080,3265,3609,2446,2493,2400,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9408,0.81,178.2,3265,3609,2493,2400,708.7,10.1,805,9412,0.00,2.25,0.00,0.000,1030,0.000,0.053,3275,2196,2446,2493,2400,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9740,0.81,178.2,3275,2194,2493,2400,678.0,9.2,821,9746,0.00,2.28,0.00,0.000,516,0.000,0.076,3285,804,2446,2493,2400,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9777,0.81,178.2,3285,804,2493,2400,674.3,9.2,829,9782,0.05,2.28,0.00,0.000,5126,0.296,0.057,3265,2199,2446,2493,2400,0,0,0,0,0,0,14.69,14.83,28.83
$GC,10100,0.81,187.0,3265,2199,2493,2400,646.1,8.6,843,10107,0.00,2.28,1.38,0.185,8452,0.000,0.076,3265,3593,2439,2486,2393,0,0,0,0,0,0,28.83,14.81,14.79
$GC,10220,0.81,187.0,3265,3593,2491,2400,635.1,9.1,867,10226,0.00,2.22,0.00,0.000,1030,0.000,0.052,3274,2191,2445,2491,2400,0,0,0,0,0,0,28.83,14.87,28.83
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$GC,16664,1.06,682.9,3329,804,1032,925,27.0,3.2,1641,16734,0.00,2.22,64.28,0.214,9222,0.000,0.044,3329,2214,508,575,442,0,0,0,0,0,0,28.83,14.65,14.46
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$STATE,16961,end climb,SURFACE_DEPTH_REACHED
$STATE,16961,begin surface coast
$FINISH,0.4,1.018393
$STATE,16998,end surface coast,CONTROL_FINISHED_OK
$STATE,16999,begin surface
$SM_CCo,17016,2.47,0.147,0,0,508,659.85
$SM_CCo,17020,-0.03,0.000,0,0,512,659.85
$SM_CCo,17023,0.35,0.363,0,0,509,659.85
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$IRIDIUM_FIX,1736.05,8939.63,010708,010127
$TT8_MAMPS,0.017976,0.017976
$HUMID,43.30
$INTERNAL_PRESSURE,6.67994
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,13.0,17.159
$10V_AH,13.1,0.000
$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
$DEVICE_SECS,22.250,177.500,670.875,2.825,0.000,26.647,17.218,192.301,0.000,0.000,5.532,3271.458,9955.004,739.368,3267.497,116.864,0.000,2190.010,0.000,2501.118,0.000,0.553,0.000
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$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322324
$DATA_FILE_SIZE,137306,1703
$CAP_FILE_SIZE,179323,0
$CFSIZE,2097086464,2091778048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.099,249.7,1
$GPS,040915,215033,1748.392,8936.996,78,0.8,78,-0.9