version: 66.11
glider: 615
mission: 5
dive: 36
start: 9 9 115 2 26 26
data:
$ID,615
$MISSION,5
$DIVE,36
$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,450
$T_MISSION,470
$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,120
$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,650
$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,-6462.4844
$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,51
$R_STBD_OVSHOOT,59
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,510
$VBD_MAX,3960
$C_VBD,2950
$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
$GPS1,080915,202303,1755.342,8921.452,301,99.0,301,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-74.8
$GPS2,090915,022557,1756.098,8921.686,72,1.1,72,-0.9
$SPEED_LIMITS,0.127,0.167
$TGT_NAME,NW
$TGT_LATLONG,1806.660,8921.600
$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,315.5,19562,-25.6,-7.333,-30.00,1273
$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,14,-0.88,-63.0,193,2220,556,491,0.0,0.0,0,50,0.00,0.00,-33.72,0.000,16386,0.000,0.000,193,2221,1519,1529,1509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,52,-0.90,-82.0,193,2221,1529,1509,3.5,-5.8,5,111,10.68,2.25,-37.83,0.000,19204,0.369,0.081,2637,3587,3286,3306,3267,0,0,0,0,0,0,14.42,14.62,14.84
$GC,209,-0.90,-82.0,2638,3587,3306,3266,50.2,-30.1,33,217,0.08,2.17,0.00,0.000,3078,0.340,0.037,2649,2172,3286,3306,3266,0,0,0,0,0,0,14.52,14.71,28.83
$GC,401,-0.90,-82.0,2648,2170,3306,3266,87.3,-11.2,70,408,0.00,2.17,0.00,0.000,516,0.000,0.053,2649,826,3286,3306,3266,0,0,0,0,0,0,28.83,14.68,28.83
$GC,636,-0.90,-82.0,2649,826,3306,3266,115.0,-11.5,116,643,0.00,2.15,0.00,0.000,1030,0.000,0.040,2641,2187,3286,3306,3266,0,0,0,0,0,0,28.83,14.72,28.83
$GC,827,-0.90,-82.0,2641,2187,3306,3266,140.6,-15.9,153,834,0.00,2.15,0.00,0.000,516,0.000,0.053,2640,822,3286,3306,3266,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1063,-0.90,-82.0,2641,821,3306,3266,177.2,-14.4,199,1070,0.10,2.12,0.00,0.000,3078,0.308,0.042,2650,2199,3285,3306,3265,0,0,0,0,0,0,14.66,14.81,28.83
$GC,1253,-0.90,-82.0,2650,2199,3306,3264,203.0,-14.1,234,1257,0.00,2.15,0.00,0.000,516,0.000,0.054,2651,827,3285,3306,3264,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1303,-0.90,-82.0,2651,827,3306,3263,210.0,-13.6,244,1307,0.00,2.12,0.00,0.000,1030,0.000,0.042,2642,2197,3284,3306,3263,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1614,-0.90,-82.0,2642,2198,3306,3259,255.4,-14.2,276,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2197,3282,3306,3259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1914,-0.90,-82.0,2642,2197,3306,3255,297.6,-13.8,306,1918,0.00,2.17,0.00,0.000,516,0.000,0.057,2642,822,3280,3306,3255,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1953,-0.90,-82.0,2642,823,3306,3255,303.4,-14.2,314,1962,0.05,2.20,0.00,0.000,3078,0.277,0.045,2647,2199,3280,3306,3255,0,0,0,0,0,0,14.63,14.78,28.83
$GC,2261,-0.90,-82.0,2647,2199,3305,3250,345.3,-13.4,345,2271,0.00,2.25,0.00,0.000,260,0.000,0.067,2637,3602,3277,3305,3250,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2296,-0.90,-82.0,2637,3602,3305,3250,350.6,-13.9,352,2306,0.05,2.20,0.00,0.000,3078,0.252,0.041,2652,2210,3277,3305,3249,0,0,0,0,0,0,14.64,14.81,28.83
$GC,2604,-0.90,-82.0,2652,2209,3303,3246,391.0,-13.0,368,2610,0.00,2.22,0.00,0.000,516,0.000,0.060,2652,810,3273,3301,3246,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2687,-0.90,-82.0,2652,809,3302,3246,402.4,-13.1,385,2692,0.00,2.22,0.00,0.000,1030,0.000,0.047,2643,2198,3274,3302,3246,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3005,-0.90,-82.0,2643,2198,3300,3242,444.9,-13.5,403,3011,0.00,2.28,0.00,0.000,260,0.000,0.069,2632,3609,3271,3300,3242,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3048,-0.90,-82.0,2632,3609,3301,3241,451.1,-13.4,412,3053,0.05,2.22,0.00,0.000,3078,0.244,0.044,2647,2204,3271,3300,3242,0,0,0,0,0,0,14.72,14.88,28.83
$GC,3366,-0.90,-82.0,2648,2202,3297,3239,494.1,-13.6,430,3372,0.00,2.22,0.00,0.000,516,0.000,0.062,2648,807,3268,3297,3239,0,0,0,0,0,0,28.83,14.86,28.83
$GC,3418,-0.90,-82.0,2648,807,3296,3239,501.5,-13.0,441,3428,0.00,2.25,0.00,0.000,1030,0.000,0.049,2639,2201,3267,3296,3239,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3725,-0.90,-82.0,2639,2201,3294,3237,543.5,-13.9,452,3727,0.05,0.00,0.00,0.000,2054,0.384,0.000,2649,2200,3265,3294,3237,0,0,0,0,0,0,14.79,28.83,28.83
$GC,4026,-0.90,-82.0,2649,2201,3291,3234,582.6,-12.8,462,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2201,3262,3291,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4325,-0.90,-82.0,2649,2202,3290,3233,621.3,-12.9,472,4329,0.00,2.25,0.00,0.000,516,0.000,0.063,2649,805,3261,3290,3233,0,0,0,0,0,0,28.83,14.89,28.83
$GC,4390,-0.90,-82.0,2649,805,3289,3233,629.9,-12.8,485,4395,0.00,2.25,0.00,0.000,1030,0.000,0.051,2640,2197,3261,3289,3233,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4713,-0.90,-82.0,2640,2198,3287,3230,672.5,-13.6,499,4719,0.00,2.28,0.00,0.000,260,0.000,0.073,2628,3602,3258,3286,3230,0,0,0,0,0,0,28.83,14.89,28.83
$GC,4761,-0.90,-82.0,2628,3602,3286,3230,679.3,-13.3,509,4766,0.05,2.22,0.00,0.000,3078,0.242,0.046,2652,2207,3258,3286,3230,0,0,0,0,0,0,14.76,14.90,28.83
$GC,5074,-0.90,-82.0,2652,2206,3285,3228,718.9,-12.7,521,5080,0.00,2.22,0.00,0.000,516,0.000,0.065,2652,813,3256,3284,3228,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5187,-0.90,-82.0,2652,813,3283,3229,733.7,-12.1,544,5195,0.00,2.25,0.00,0.000,1030,0.000,0.051,2643,2199,3255,3283,3228,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5494,-0.90,-82.0,2644,2199,3283,3226,773.2,-13.0,555,5500,0.00,2.22,0.00,0.000,516,0.000,0.065,2643,813,3254,3282,3226,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5524,-0.90,-82.0,2644,813,3282,3226,777.3,-13.8,561,5531,0.10,2.20,0.00,0.000,3078,0.308,0.052,2653,2204,3254,3282,3226,0,0,0,0,0,0,14.73,14.90,28.83
$GC,5854,-0.90,-82.0,2654,2205,3281,3224,818.1,-12.3,577,5860,0.00,2.28,0.00,0.000,260,0.000,0.075,2644,3602,3251,3280,3223,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5902,-0.90,-82.0,2644,3603,3281,3224,824.3,-12.2,587,5906,0.00,2.25,0.00,0.000,1030,0.000,0.047,2644,2204,3252,3281,3223,0,0,0,0,0,0,28.83,14.89,28.83
$GC,6215,-0.90,-82.0,2644,2203,3279,3222,862.9,-12.5,599,6220,0.00,2.25,0.00,0.000,516,0.000,0.066,2644,805,3250,3278,3222,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6252,-0.90,-82.0,2644,805,3277,3222,868.0,-12.7,607,6257,0.10,2.25,0.00,0.000,3078,0.299,0.052,2654,2220,3250,3278,3222,0,0,0,0,0,0,14.73,14.89,28.83
$GC,6575,-0.90,-82.0,2653,2221,3276,3221,906.3,-11.9,621,6576,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2221,3249,3277,3221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6874,-0.90,-82.0,2654,2221,3276,3220,940.7,-11.3,631,6880,0.00,2.30,0.00,0.000,516,0.000,0.067,2654,806,3247,3275,3219,0,0,0,0,0,0,28.83,14.87,28.83
$GC,6922,-0.90,-82.0,2654,806,3276,3220,946.7,-12.0,641,6927,0.00,2.22,0.00,0.000,1030,0.000,0.054,2645,2203,3248,3277,3220,0,0,0,0,0,0,28.83,14.89,28.83
$GC,7236,-0.90,-82.0,2645,2204,3275,3218,983.1,-11.8,653,7237,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2203,3246,3275,3218,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7294,begin apogee
$GC,7297,-0.16,0.0,2646,2139,3275,3218,990.2,-11.9,655,7367,0.82,0.00,65.30,2.469,10246,0.223,0.000,2890,2139,2947,2988,2906,0,0,0,0,0,0,14.73,28.83,13.33
$STATE,7368,end apogee,CONTROL_FINISHED_OK
$STATE,7368,begin climb
$GC,7370,0.90,82.0,2890,2139,2983,2901,993.2,0.0,670,7451,1.05,0.00,77.40,2.817,10502,0.122,0.000,3232,2138,2614,2656,2572,0,0,0,0,0,0,14.19,28.83,13.16
$GC,7745,0.92,99.5,3233,2139,2643,2562,975.5,5.9,690,7768,0.00,2.42,15.93,2.190,8708,0.000,0.078,3243,753,2536,2577,2496,0,0,0,0,0,0,28.83,14.37,13.64
$GC,7817,0.92,99.5,3243,753,2574,2492,970.3,7.5,705,7822,0.00,2.33,0.00,0.000,1030,0.000,0.057,3242,2130,2532,2574,2491,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8134,0.92,99.5,3243,2131,2573,2490,946.0,7.8,718,8136,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2130,2531,2573,2490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8434,0.92,99.5,3243,2131,2572,2489,922.6,7.7,728,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2130,2530,2572,2489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8735,0.92,100.2,3243,2131,2571,2488,900.3,7.3,738,8739,0.00,2.33,0.00,0.000,516,0.000,0.080,3252,749,2530,2571,2489,0,0,0,0,0,0,28.83,14.74,28.83
$GC,8828,0.92,100.2,2440,748,2525,2483,892.9,7.8,757,8833,0.00,2.30,0.00,0.000,1030,0.000,0.057,3253,2139,2530,2571,2489,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9156,0.93,102.9,3253,2138,2570,2488,869.2,7.1,772,9160,0.00,2.30,0.00,0.000,516,0.000,0.078,3262,746,2529,2571,2488,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9200,0.93,102.9,3263,746,2571,2488,865.8,7.7,781,9205,0.00,2.30,0.00,0.000,1030,0.000,0.056,3263,2170,2529,2571,2488,0,0,0,0,0,0,28.83,14.80,28.83
$GC,9513,0.93,102.9,3262,2170,2570,2487,842.7,7.4,793,9519,0.00,2.28,0.00,0.000,260,0.000,0.080,3262,3551,2529,2570,2488,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9535,0.93,102.9,3263,3552,2570,2488,840.8,7.9,798,9545,0.00,2.30,0.00,0.000,1030,0.000,0.050,3273,2153,2529,2570,2488,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9843,0.93,102.9,3273,2153,2570,2487,817.3,7.8,809,9844,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2153,2528,2570,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10144,0.93,102.9,3273,2153,2570,2487,794.1,7.5,819,10150,0.00,2.30,0.00,0.000,260,0.000,0.077,3272,3548,2528,2569,2487,0,0,0,0,0,0,28.83,14.83,28.83
$GC,10250,0.93,102.9,3273,3548,2568,2487,785.2,8.1,841,10255,0.00,2.33,0.00,0.000,1030,0.000,0.052,3284,2102,2527,2568,2486,0,0,0,0,0,0,28.83,14.83,28.83
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$STATE,20979,end climb,NO_VERTICAL_VELOCITY
$STATE,20979,begin surface
$SM_CCo,21235,1.10,0.181,0,0,510,598.52
$SM_CCo,21238,-0.03,0.000,0,0,510,598.52
$SM_CCo,21241,0.43,0.317,0,0,507,598.52
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$IRIDIUM_FIX,1747.37,8926.01,050708,090906
$TT8_MAMPS,0.018725,0.018725
$HUMID,42.24
$INTERNAL_PRESSURE,6.74831
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,13.2,24.617
$10V_AH,13.1,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_SECS,1143.176,773.482,1997.193,1220.320,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322236
$DATA_FILE_SIZE,167633,2051
$CAP_FILE_SIZE,218709,0
$CFSIZE,2097086464,2088271872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,65.005,308.4,1
$GPS,090915,022557,1756.098,8921.686,301,99.0,301,-0.9