version: 66.11
glider: 615
mission: 5
dive: 64
start: 9 15 115 10 40 19
data:
$ID,615
$MISSION,5
$DIVE,64
$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,-18895.713
$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,48
$R_STBD_OVSHOOT,41
$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,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
$GPS1,150915,103227,1817.516,8929.139,82,1.0,82,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-63.6
$GPS2,150915,103953,1817.492,8929.287,5,1.0,5,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,ES
$TGT_LATLONG,1525.000,8900.000
$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,187.0,323706,-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,-126.5,149,2185,561,482,0.0,0.0,0,55,0.00,0.00,-37.50,0.000,16386,0.000,0.000,147,2185,1583,1583,1583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,57,-0.82,-126.5,147,2185,1588,1579,3.5,-9.0,6,110,10.80,2.40,-36.30,0.000,18692,0.355,0.083,2665,3608,3391,3404,3378,0,0,0,0,0,0,14.33,14.58,14.79
$GC,222,-0.82,-126.5,2664,3609,3404,3378,52.3,-31.5,35,229,0.00,2.22,0.00,0.000,1030,0.000,0.039,2664,2197,3391,3404,3378,0,0,0,0,0,0,28.83,14.66,28.83
$GC,416,-0.82,-126.5,2664,2195,3404,3378,98.2,-19.8,72,425,0.00,2.28,0.00,0.000,516,0.000,0.055,2664,806,3391,3404,3378,0,0,0,0,0,0,28.83,14.62,28.83
$GC,556,-0.82,-126.5,2665,806,3404,3379,122.0,-16.9,98,564,0.08,2.25,0.00,0.000,3078,0.259,0.041,2675,2204,3391,3404,3379,0,0,0,0,0,0,14.50,14.66,28.83
$GC,754,-0.82,-126.5,2675,2205,3404,3380,152.6,-14.5,135,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2205,3392,3404,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,948,-0.82,-126.5,2675,2205,3404,3379,180.8,-14.2,172,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2205,3392,3404,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1146,-0.82,-126.5,2675,2205,3405,3379,208.4,-13.3,204,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2204,3391,3404,3379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1448,-0.82,-126.5,2675,2205,3404,3377,249.7,-14.7,234,1452,0.00,2.22,0.00,0.000,516,0.000,0.057,2675,803,3390,3404,3377,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1511,-0.82,-126.5,1792,801,3392,3374,259.4,-14.2,247,1520,0.00,2.25,0.00,0.000,1030,0.000,0.044,2666,2205,3390,3404,3377,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1819,-0.82,-126.5,2666,2204,3404,3373,305.3,-15.1,278,1827,0.00,2.25,0.00,0.000,260,0.000,0.066,2656,3602,3388,3404,3372,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1862,-0.82,-126.5,1760,3601,3392,3370,312.3,-15.3,287,1870,0.05,2.25,0.00,0.000,3078,0.238,0.038,2671,2185,3388,3404,3372,0,0,0,0,0,0,14.62,14.81,28.83
$GC,2180,-0.82,-126.5,2671,2183,3403,3369,356.2,-13.6,317,2184,0.00,2.20,0.00,0.000,516,0.000,0.058,2671,807,3386,3404,3369,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2234,-0.82,-126.5,2671,807,3403,3368,364.1,-13.3,328,2243,0.05,2.25,0.00,0.000,3078,0.259,0.044,2677,2199,3385,3403,3368,0,0,0,0,0,0,14.57,14.74,28.83
$GC,2542,-0.82,-126.5,2677,2199,3403,3363,405.0,-13.7,344,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2199,3382,3403,3362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2842,-0.82,-126.5,2677,2199,3404,3357,446.4,-14.0,359,2848,0.00,2.22,0.00,0.000,516,0.000,0.062,2677,815,3380,3403,3357,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2905,-0.82,-126.5,2677,814,3403,3357,455.6,-13.5,372,2910,0.00,2.25,0.00,0.000,1030,0.000,0.049,2669,2199,3380,3403,3357,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3224,-0.82,-126.5,2669,2201,3403,3352,500.1,-14.1,390,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2201,3377,3402,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3522,-0.82,-126.5,2669,2201,3401,3351,541.1,-13.3,400,3526,0.00,2.25,0.00,0.000,516,0.000,0.065,2669,808,3376,3401,3351,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3556,-0.82,-126.5,2669,807,3400,3351,546.0,-13.0,407,3561,0.10,2.22,0.00,0.000,3078,0.293,0.050,2679,2201,3375,3400,3351,0,0,0,0,0,0,14.66,14.85,28.83
$GC,3879,-0.82,-126.5,2679,2202,3397,3348,586.0,-12.7,421,3885,0.00,2.25,0.00,0.000,516,0.000,0.066,2679,816,3372,3397,3347,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3909,-0.82,-126.5,2679,816,3397,3347,589.9,-13.0,427,3915,0.00,2.22,0.00,0.000,1030,0.000,0.052,2671,2210,3372,3397,3348,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4239,-0.82,-126.5,2672,2211,3396,3345,633.3,-13.3,443,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2211,3370,3396,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4540,-0.82,-126.5,2671,2211,3394,3344,672.6,-13.1,453,4546,0.00,2.28,0.00,0.000,516,0.000,0.069,2671,810,3368,3393,3344,0,0,0,0,0,0,28.83,14.82,28.83
$GC,4576,-0.82,-126.5,2671,810,3393,3344,678.0,-13.5,461,4581,0.08,2.22,0.00,0.000,3078,0.308,0.053,2675,2200,3368,3393,3344,0,0,0,0,0,0,14.68,14.85,28.83
$GC,4900,-0.82,-126.5,2675,2201,3392,3342,719.3,-12.9,475,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2201,3367,3392,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5199,-0.82,-126.5,2675,2201,3390,3340,757.9,-12.7,485,5205,0.00,2.25,0.00,0.000,516,0.000,0.069,2675,817,3365,3390,3340,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5251,-0.82,-126.5,2675,817,3390,3341,765.0,-12.3,496,5260,0.00,2.28,0.00,0.000,1030,0.000,0.054,2668,2198,3364,3389,3340,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5559,-0.82,-126.5,2668,2198,3389,3338,803.2,-12.5,507,5565,0.00,2.33,0.00,0.000,260,0.000,0.078,2657,3611,3363,3389,3338,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5602,-0.82,-126.5,2657,3611,3388,3338,808.8,-12.5,516,5607,0.10,2.22,0.00,0.000,3078,0.269,0.045,2677,2200,3363,3389,3338,0,0,0,0,0,0,14.66,14.88,28.83
$GC,5919,-0.82,-126.5,2677,2199,3388,3337,845.5,-11.7,529,5926,0.00,2.25,0.00,0.000,516,0.000,0.068,2677,809,3362,3387,3337,0,0,0,0,0,0,28.83,14.80,28.83
$GC,6022,-0.82,-126.5,2677,809,3387,3337,858.2,-11.8,550,6027,0.00,2.25,0.00,0.000,1030,0.000,0.053,2669,2209,3362,3387,3337,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6340,-0.82,-126.5,2669,2211,3385,3336,896.6,-12.2,563,6346,0.00,2.28,0.00,0.000,516,0.000,0.067,2669,809,3360,3385,3336,0,0,0,0,0,0,28.83,14.80,28.83
$GC,6387,-0.82,-126.5,2669,809,3385,3336,902.8,-12.0,573,6392,0.10,2.25,0.00,0.000,3078,0.314,0.053,2678,2209,3360,3385,3336,0,0,0,0,0,0,14.60,14.83,28.83
$GC,6700,-0.82,-126.5,2678,2211,3384,3335,938.5,-11.4,585,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2211,3359,3384,3335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7000,-0.82,-126.5,2678,2211,3382,3334,972.2,-11.3,595,7006,0.00,2.30,0.00,0.000,516,0.000,0.070,2677,805,3358,3382,3334,0,0,0,0,0,0,28.83,14.79,28.83
$GC,7047,-0.82,-126.5,2678,804,3382,3334,978.1,-11.7,605,7052,0.00,2.25,0.00,0.000,1030,0.000,0.054,2670,2201,3358,3382,3334,0,0,0,0,0,0,28.83,14.83,28.83
$STATE,7180,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7180,begin apogee
$GC,7184,-0.16,0.0,2670,2137,3381,3334,993.1,-11.6,611,7338,0.77,0.00,146.70,2.058,10246,0.259,0.000,2884,2136,2868,2913,2824,0,0,0,0,0,0,14.52,28.83,13.43
$STATE,7339,end apogee,CONTROL_FINISHED_OK
$STATE,7339,begin climb
$GC,7340,0.82,126.5,2884,2135,2910,2820,997.9,0.0,643,7458,1.08,2.55,108.85,2.176,10500,0.174,0.076,3203,3544,2347,2402,2292,0,0,0,0,0,0,14.02,13.93,13.25
$GC,7488,0.82,126.5,3203,3544,2396,2284,989.6,10.9,673,7493,0.00,2.35,0.00,0.000,1030,0.000,0.049,3211,2153,2339,2395,2284,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7811,0.82,126.5,3211,2153,2394,2281,953.2,11.4,687,7815,0.00,2.42,0.00,0.000,516,0.000,0.077,3223,729,2338,2395,2281,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7935,0.82,126.5,3222,729,2394,2281,938.7,11.5,712,7940,0.00,2.35,0.00,0.000,1030,0.000,0.053,3223,2134,2337,2394,2281,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8264,0.82,126.5,3222,2135,2394,2279,902.0,11.3,727,8270,0.00,2.35,0.00,0.000,516,0.000,0.078,3232,727,2336,2394,2279,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8293,0.82,126.5,3233,728,2393,2279,898.5,11.7,733,8299,0.00,2.30,0.00,0.000,1030,0.000,0.053,3232,2140,2336,2393,2280,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8624,0.82,126.5,3232,2140,2392,2279,861.3,11.2,749,8630,0.00,2.35,0.00,0.000,516,0.000,0.078,3242,736,2335,2392,2278,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8721,0.82,126.5,3242,736,2392,2279,849.8,11.6,769,8725,0.00,2.30,0.00,0.000,1030,0.000,0.053,3242,2147,2335,2392,2279,0,0,0,0,0,0,28.83,14.74,28.83
$GC,9043,0.82,126.5,3242,2148,2391,2278,813.6,11.3,783,9049,0.00,2.38,0.00,0.000,516,0.000,0.078,3253,726,2334,2391,2278,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9091,0.82,126.5,3253,726,2391,2278,807.7,11.9,793,9095,0.00,2.30,0.00,0.000,1030,0.000,0.053,3253,2144,2334,2391,2278,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9403,0.82,126.5,3253,2144,2391,2277,771.1,11.8,805,9409,0.00,2.35,0.00,0.000,516,0.000,0.076,3263,733,2334,2391,2277,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9456,0.82,126.5,3263,733,2391,2277,764.4,12.5,816,9465,0.08,2.35,0.00,0.000,5126,0.264,0.053,3242,2145,2334,2391,2277,0,0,0,0,0,0,14.50,14.69,28.83
$GC,9763,0.82,126.5,3242,2144,2391,2277,729.2,11.6,827,9769,0.00,2.33,0.00,0.000,260,0.000,0.076,3242,3546,2333,2390,2277,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9786,0.82,126.5,3242,3547,2389,2277,726.2,12.4,832,9794,0.00,2.33,0.00,0.000,1030,0.000,0.048,3251,2138,2333,2389,2277,0,0,0,0,0,0,28.83,14.72,28.83
$GC,10093,0.82,126.5,3251,2138,2389,2277,690.2,11.9,843,10099,0.00,2.33,0.00,0.000,516,0.000,0.075,3262,732,2333,2389,2277,0,0,0,0,0,0,28.83,14.75,28.83
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$GC,14239,0.84,140.0,3251,2137,2388,2277,272.3,8.5,1144,14250,0.00,0.00,9.23,1.216,8198,0.000,0.000,3251,2137,2301,2357,2245,0,0,0,0,0,0,28.83,28.83,14.16
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$STATE,17574,end climb,SURFACE_DEPTH_REACHED
$STATE,17575,begin surface coast
$FINISH,0.3,1.018268
$STATE,17602,end surface coast,CONTROL_FINISHED_OK
$STATE,17602,begin surface
$SM_CCo,17617,1.48,0.164,0,0,509,579.63
$SM_CCo,17621,0.00,0.000,0,0,510,579.63
$SM_CCo,17624,0.30,0.398,0,0,508,579.63
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$IRIDIUM_FIX,1812.31,8748.19,110708,181844
$TT8_MAMPS,0.018725,0.018725
$HUMID,44.60
$INTERNAL_PRESSURE,6.69948
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,13.2,34.429
$10V_AH,12.9,0.000
$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
$DEVICE_SECS,22.875,161.350,544.400,1.775,0.000,25.156,43.960,262.952,0.000,0.000,6.496,3516.674,10313.378,645.490,3423.975,161.234,0.000,2076.518,0.000,2537.815,0.000,0.553,0.000
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$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322100
$DATA_FILE_SIZE,140663,1725
$CAP_FILE_SIZE,180561,0
$CFSIZE,2097086464,2083749888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.019,191.8,1
$GPS,150915,153551,1815.546,8929.037,72,1.1,72,-0.9