version: 66.11
glider: 615
mission: 5
dive: 73
start: 9 17 115 8 7 14
data:
$ID,615
$MISSION,5
$DIVE,73
$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,-18908.01
$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,45
$R_STBD_OVSHOOT,51
$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
$GPS1,170915,075933,1806.333,8921.297,60,0.8,60,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-74.2
$GPS2,170915,080647,1806.332,8921.307,19,0.9,19,-0.9
$SPEED_LIMITS,0.159,0.189
$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,122.9,29675,-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,-126.5,184,2183,554,480,0.0,0.0,0,56,0.00,0.00,-38.95,0.000,16386,0.000,0.000,184,2183,1629,1632,1626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.82,-126.5,184,2184,1633,1626,3.5,-7.6,6,111,10.77,2.40,-36.33,0.000,18692,0.361,0.086,2664,3595,3391,3403,3380,0,0,0,0,0,0,14.33,14.57,14.78
$GC,227,-0.82,-126.5,2664,3596,3403,3380,58.1,-29.7,36,236,0.03,2.25,0.00,0.000,3078,0.303,0.037,2669,2194,3391,3403,3379,0,0,0,0,0,0,14.45,14.62,28.83
$GC,424,-0.82,-126.5,2669,2191,3403,3379,100.0,-16.7,73,431,0.00,2.22,0.00,0.000,516,0.000,0.054,2670,800,3391,3403,3380,0,0,0,0,0,0,28.83,14.66,28.83
$GC,473,-0.82,-126.5,2669,800,3403,3380,109.1,-17.7,82,481,0.05,2.25,0.00,0.000,3078,0.289,0.041,2674,2195,3391,3403,3380,0,0,0,0,0,0,14.47,14.65,28.83
$GC,670,-0.82,-126.5,2674,2195,3404,3381,136.6,-14.3,119,677,0.00,2.28,0.00,0.000,260,0.000,0.060,2665,3607,3391,3403,3380,0,0,0,0,0,0,28.83,14.71,28.83
$GC,715,-0.82,-126.5,2664,3607,3403,3381,143.4,-15.3,127,723,0.08,2.20,0.00,0.000,3078,0.312,0.037,2677,2186,3392,3404,3381,0,0,0,0,0,0,14.56,14.76,28.83
$GC,910,-0.82,-126.5,2677,2185,3404,3382,170.6,-14.4,164,918,0.00,2.22,0.00,0.000,516,0.000,0.054,2676,821,3392,3404,3381,0,0,0,0,0,0,28.83,14.66,28.83
$GC,941,-0.82,-126.5,2677,820,3404,3381,174.8,-14.0,169,948,0.00,2.17,0.00,0.000,1030,0.000,0.041,2669,2209,3392,3404,3381,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1139,-0.82,-126.5,2669,2209,3404,3381,205.1,-15.7,204,1144,0.00,2.25,0.00,0.000,260,0.000,0.062,2658,3605,3392,3404,3381,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1168,-0.82,-126.5,2658,3605,3404,3381,210.1,-16.7,210,1178,0.08,2.22,0.00,0.000,3078,0.240,0.034,2679,2201,3392,3404,3381,0,0,0,0,0,0,14.52,14.68,28.83
$GC,1477,-0.82,-126.5,2679,2200,3404,3378,253.8,-14.3,241,1487,0.00,2.20,0.00,0.000,516,0.000,0.057,2679,809,3391,3404,3378,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1552,-0.82,-126.5,2679,810,3404,3378,265.3,-14.4,256,1562,0.00,2.22,0.00,0.000,1030,0.000,0.043,2671,2192,3391,3405,3377,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1861,-0.82,-126.5,2671,2192,3404,3374,309.4,-14.2,287,1870,0.00,2.20,0.00,0.000,516,0.000,0.059,2671,819,3388,3404,3373,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1895,-0.82,-126.5,2671,819,3404,3373,314.9,-14.6,294,1905,0.05,2.22,0.00,0.000,3078,0.268,0.045,2676,2192,3387,3403,3372,0,0,0,0,0,0,14.51,14.69,28.83
$GC,2214,-0.82,-126.5,2675,2193,3404,3370,359.0,-14.3,323,2220,0.00,2.20,0.00,0.000,516,0.000,0.060,2675,820,3386,3403,3369,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2246,-0.82,-126.5,2675,820,3403,3369,364.1,-14.3,330,2255,0.00,2.22,0.00,0.000,1030,0.000,0.046,2667,2192,3386,3403,3369,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2553,-0.82,-126.5,2667,2192,3403,3364,407.3,-14.4,346,2559,0.00,2.20,0.00,0.000,516,0.000,0.060,2668,820,3383,3403,3364,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2581,-0.82,-126.5,2667,820,3403,3364,411.7,-14.7,352,2586,0.10,2.20,0.00,0.000,3078,0.295,0.047,2677,2212,3383,3403,3364,0,0,0,0,0,0,14.64,14.83,28.83
$GC,2895,-0.82,-126.5,2677,2213,3403,3358,454.0,-13.6,369,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2213,3380,3403,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3194,-0.82,-126.5,2677,2213,3403,3354,494.7,-13.5,384,3200,0.00,2.25,0.00,0.000,516,0.000,0.062,2677,818,3378,3403,3354,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3262,-0.82,-126.5,2678,818,3401,3354,504.4,-13.1,398,3267,0.00,2.20,0.00,0.000,1030,0.000,0.050,2670,2198,3378,3402,3354,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3584,-0.82,-126.5,2670,2200,3401,3352,548.5,-13.9,412,3588,0.00,2.25,0.00,0.000,516,0.000,0.066,2669,820,3376,3401,3352,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3618,-0.82,-126.5,2670,820,3400,3352,553.6,-14.3,419,3623,0.10,2.20,0.00,0.000,3078,0.292,0.050,2680,2201,3376,3400,3352,0,0,0,0,0,0,14.65,14.84,28.83
$GC,3941,-0.82,-126.5,2680,2201,3399,3349,595.2,-12.9,433,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2201,3374,3399,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4241,-0.82,-126.5,2680,2201,3397,3346,633.3,-12.6,443,4247,0.00,2.25,0.00,0.000,516,0.000,0.065,2679,813,3371,3397,3346,0,0,0,0,0,0,28.83,14.82,28.83
$GC,4301,-0.82,-126.5,2679,813,3396,3346,640.9,-12.2,455,4305,0.00,2.22,0.00,0.000,1030,0.000,0.050,2672,2205,3371,3396,3346,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4633,-0.82,-126.5,2672,2205,3395,3345,683.7,-12.9,471,4634,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2205,3370,3395,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4933,-0.82,-126.5,2672,2205,3394,3344,722.3,-12.7,481,4937,0.00,2.25,0.00,0.000,516,0.000,0.065,2672,818,3369,3394,3344,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4988,-0.82,-126.5,2672,818,3394,3344,729.7,-13.2,492,4997,0.05,2.28,0.00,0.000,3078,0.283,0.053,2676,2203,3368,3393,3344,0,0,0,0,0,0,14.59,14.79,28.83
$GC,5294,-0.82,-126.5,2676,2203,3392,3342,768.1,-12.6,503,5298,0.00,2.25,0.00,0.000,516,0.000,0.066,2676,822,3367,3392,3342,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5326,-0.82,-126.5,2676,821,3392,3342,772.1,-12.7,509,5332,0.00,2.20,0.00,0.000,1030,0.000,0.052,2668,2202,3367,3393,3342,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5656,-0.82,-126.5,2668,2202,3390,3340,815.1,-13.0,525,5657,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2202,3365,3391,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5956,-0.82,-126.5,2668,2202,3390,3338,853.7,-12.7,535,5962,0.00,2.25,0.00,0.000,516,0.000,0.067,2669,820,3363,3389,3338,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5987,-0.82,-126.5,2669,820,3389,3338,858.3,-13.4,542,5993,0.05,2.25,0.00,0.000,3078,0.283,0.054,2673,2195,3363,3389,3338,0,0,0,0,0,0,14.57,14.79,28.83
$GC,6316,-0.82,-126.5,2673,2197,3388,3337,898.4,-12.3,557,6322,0.00,2.33,0.00,0.000,260,0.000,0.077,2664,3607,3363,3389,3337,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6333,-0.82,-126.5,2665,3607,3388,3337,900.9,-12.4,561,6338,0.08,2.20,0.00,0.000,3078,0.317,0.045,2675,2217,3362,3388,3337,0,0,0,0,0,0,14.64,14.87,28.83
$GC,6646,-0.82,-126.5,2675,2216,3387,3336,937.9,-12.1,573,6652,0.00,2.30,0.00,0.000,516,0.000,0.069,2676,806,3361,3387,3336,0,0,0,0,0,0,28.83,14.79,28.83
$GC,6749,-0.82,-126.5,2676,806,3387,3336,951.0,-12.0,594,6754,0.00,2.25,0.00,0.000,1030,0.000,0.053,2667,2211,3361,3386,3336,0,0,0,0,0,0,28.83,14.83,28.83
$STATE,7066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7066,begin apogee
$GC,7070,-0.16,0.0,2668,2129,3384,3334,990.6,-12.8,607,7188,0.80,0.00,113.03,2.291,10246,0.273,0.000,2884,2126,2870,2915,2825,0,0,0,0,0,0,14.49,28.83,13.24
$STATE,7190,end apogee,CONTROL_FINISHED_OK
$STATE,7190,begin climb
$GC,7191,0.82,126.5,2884,2126,2911,2819,995.5,0.0,631,7312,1.08,2.58,111.15,2.368,10500,0.190,0.074,3198,3547,2347,2403,2291,0,0,0,0,0,0,13.98,13.90,13.24
$GC,7342,0.82,126.5,3198,3547,2398,2286,987.9,10.1,662,7347,0.00,2.40,0.00,0.000,1030,0.000,0.047,3208,2158,2342,2398,2286,0,0,0,0,0,0,28.83,14.13,28.83
$GC,7670,0.82,126.5,3208,2157,2397,2283,953.6,10.5,677,7674,0.00,2.42,0.00,0.000,516,0.000,0.080,3214,738,2340,2398,2283,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7800,0.82,126.5,3214,738,2397,2283,939.6,10.1,703,7804,0.00,2.30,0.00,0.000,1030,0.000,0.050,3214,2145,2340,2397,2283,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8117,0.82,126.5,3214,2145,2396,2282,906.8,10.5,716,8123,0.00,2.38,0.00,0.000,516,0.000,0.077,3224,734,2338,2395,2282,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8199,0.82,126.5,3224,733,2395,2282,897.8,11.0,733,8207,0.00,2.28,0.00,0.000,1030,0.000,0.050,3223,2143,2338,2395,2282,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8506,0.82,126.5,3223,2142,2394,2282,865.6,10.6,744,8508,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2142,2337,2394,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8806,0.82,126.5,3223,2142,2394,2282,833.2,10.9,754,8811,0.00,2.35,0.00,0.000,516,0.000,0.076,3232,736,2337,2394,2281,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8851,0.82,126.5,3232,736,2394,2280,828.0,10.9,763,8855,0.00,2.28,0.00,0.000,1030,0.000,0.051,3232,2148,2337,2394,2281,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9164,0.82,126.5,3232,2148,2393,2280,792.4,11.6,775,9165,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2148,2336,2393,2280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9464,0.82,126.5,3232,2147,2392,2280,758.6,11.2,785,9468,0.00,2.38,0.00,0.000,516,0.000,0.077,3241,735,2336,2393,2279,0,0,0,0,0,0,28.83,14.74,28.83
$GC,9594,0.82,126.5,3242,735,2392,2279,743.6,11.3,811,9598,0.00,2.28,0.00,0.000,1030,0.000,0.051,3241,2145,2335,2392,2279,0,0,0,0,0,0,28.83,14.80,28.83
$GC,9911,0.82,126.5,3241,2145,2391,2280,710.2,10.6,824,9917,0.00,2.35,0.00,0.000,516,0.000,0.076,3251,734,2336,2392,2280,0,0,0,0,0,0,28.83,14.75,28.83
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$STATE,17529,end climb,SURFACE_DEPTH_REACHED
$STATE,17529,begin surface coast
$FINISH,0.5,1.017877
$STATE,17551,end surface coast,CONTROL_FINISHED_OK
$STATE,17551,begin surface
$SM_CCo,17569,1.02,0.222,0,0,509,579.63
$SM_CCo,17572,-0.05,0.000,0,0,511,579.63
$SM_CCo,17575,0.28,0.424,0,0,508,579.63
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$IRIDIUM_FIX,1756.43,8923.72,130708,161655
$TT8_MAMPS,0.018725,0.018725
$HUMID,43.93
$INTERNAL_PRESSURE,6.68971
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,13.2,37.319
$10V_AH,12.8,0.000
$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
$DEVICE_SECS,23.025,192.375,523.225,1.300,0.000,25.136,18.002,260.069,0.000,0.000,20.481,3491.978,10294.779,647.009,3389.813,173.825,0.000,2084.531,0.000,2524.829,0.000,0.551,0.000
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$SENSOR_SECS,938.703,627.902,1636.341,999.786,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322244
$DATA_FILE_SIZE,140738,1719
$CAP_FILE_SIZE,189560,0
$CFSIZE,2097086464,2082275328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.065,218.9,1
$GPS,170915,130203,1804.862,8922.462,77,0.9,77,-0.9