version: 66.11
glider: 615
mission: 5
dive: 74
start: 9 17 115 13 9 22
data:
$ID,615
$MISSION,5
$DIVE,74
$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,-18909.266
$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,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
$GPS1,170915,130203,1804.862,8922.462,77,0.9,77,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-70.7
$GPS2,170915,130856,1804.817,8922.494,5,0.9,5,-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,113.0,26233,-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,-126.5,179,2215,559,481,0.0,0.0,0,57,0.00,0.00,-39.85,0.000,16386,0.000,0.000,178,2215,1666,1669,1664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.82,-126.5,179,2216,1670,1664,3.3,-6.7,6,112,10.82,2.33,-34.78,0.000,18692,0.361,0.077,2666,3603,3390,3402,3379,0,0,0,0,0,0,14.31,14.57,14.78
$GC,203,-0.82,-126.5,2666,3603,3402,3379,53.8,-32.7,32,211,0.00,2.28,0.00,0.000,1030,0.000,0.041,2666,2208,3390,3402,3379,0,0,0,0,0,0,28.83,14.57,28.83
$GC,395,-0.82,-126.5,2666,2206,3402,3379,101.0,-17.8,69,402,0.00,2.25,0.00,0.000,516,0.000,0.056,2666,806,3390,3402,3379,0,0,0,0,0,0,28.83,14.64,28.83
$GC,524,-0.82,-126.5,2666,806,3402,3380,123.9,-15.7,94,532,0.08,2.25,0.00,0.000,3078,0.265,0.041,2676,2201,3390,3401,3380,0,0,0,0,0,0,14.47,14.65,28.83
$GC,716,-0.82,-126.5,2676,2201,3402,3382,150.1,-13.7,131,722,0.00,2.22,0.00,0.000,516,0.000,0.054,2677,812,3392,3403,3382,0,0,0,0,0,0,28.83,14.69,28.83
$GC,810,-0.82,-126.5,2676,810,3402,3382,162.6,-13.5,149,818,0.00,2.17,0.00,0.000,1030,0.000,0.041,2668,2204,3392,3402,3382,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1001,-0.82,-126.5,2668,2203,3402,3382,188.4,-14.5,186,1008,0.00,2.30,0.00,0.000,260,0.000,0.061,2656,3594,3392,3402,3382,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1081,-0.82,-126.5,2657,3594,3402,3382,200.4,-15.1,201,1089,0.10,2.17,0.00,0.000,3078,0.274,0.037,2677,2192,3392,3402,3382,0,0,0,0,0,0,14.58,14.77,28.83
$GC,1386,-0.82,-126.5,2677,2192,3402,3380,242.7,-13.8,232,1390,0.00,2.20,0.00,0.000,516,0.000,0.055,2677,812,3391,3402,3380,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1485,-0.82,-126.5,2677,810,3402,3379,256.4,-13.5,251,1496,0.00,2.17,0.00,0.000,1030,0.000,0.041,2669,2198,3390,3402,3379,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1796,-0.82,-126.5,2669,2198,3402,3376,300.7,-13.9,283,1805,0.00,2.28,0.00,0.000,260,0.000,0.065,2659,3605,3388,3402,3375,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1820,-0.82,-126.5,2659,3605,3402,3375,304.6,-13.8,288,1829,0.05,2.22,0.00,0.000,3078,0.241,0.037,2673,2203,3388,3402,3375,0,0,0,0,0,0,14.53,14.71,28.83
$GC,2129,-0.82,-126.5,2673,2202,3402,3372,346.0,-13.6,319,2139,0.00,2.22,0.00,0.000,516,0.000,0.059,2673,815,3387,3402,3372,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2220,-0.82,-126.5,2673,815,3402,3371,358.6,-13.2,337,2225,0.00,2.20,0.00,0.000,1030,0.000,0.046,2665,2206,3386,3401,3371,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2533,-0.82,-126.5,2665,2206,3402,3367,403.8,-14.7,354,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2207,3384,3402,3367,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2833,-0.82,-126.5,2664,2206,3402,3362,446.9,-14.4,369,2839,0.00,2.25,0.00,0.000,516,0.000,0.060,2665,810,3382,3402,3362,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2901,-0.82,-126.5,2665,810,3402,3361,457.1,-13.5,383,2906,0.10,2.20,0.00,0.000,3078,0.293,0.047,2675,2199,3381,3402,3361,0,0,0,0,0,0,14.64,14.82,28.83
$GC,3214,-0.82,-126.5,2675,2200,3402,3356,499.5,-14.0,400,3218,0.00,2.22,0.00,0.000,516,0.000,0.062,2675,816,3378,3401,3356,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3258,-0.82,-126.5,2675,816,3401,3356,506.2,-13.6,409,3262,0.00,2.20,0.00,0.000,1030,0.000,0.047,2667,2199,3378,3401,3356,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3576,-0.82,-126.5,2667,2199,3401,3352,550.6,-14.5,422,3582,0.00,2.25,0.00,0.000,516,0.000,0.063,2667,807,3376,3401,3352,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3605,-0.82,-126.5,2667,807,3401,3352,555.0,-15.0,428,3610,0.10,2.22,0.00,0.000,3078,0.293,0.048,2677,2207,3376,3401,3352,0,0,0,0,0,0,14.65,14.84,28.83
$GC,3933,-0.82,-126.5,2677,2208,3400,3349,599.6,-13.6,443,3934,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2208,3374,3400,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4232,-0.82,-126.5,2677,2208,3399,3347,639.1,-13.0,453,4236,0.00,2.28,0.00,0.000,516,0.000,0.066,2677,819,3372,3398,3346,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4256,-0.82,-126.5,2677,819,3397,3347,642.7,-13.4,458,4264,0.00,2.25,0.00,0.000,1030,0.000,0.050,2669,2194,3372,3397,3347,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4564,-0.82,-126.5,2669,2193,3396,3345,684.2,-13.5,469,4565,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2194,3370,3396,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4864,-0.82,-126.5,2669,2194,3395,3344,724.7,-13.5,479,4868,0.00,2.25,0.00,0.000,516,0.000,0.067,2669,815,3369,3395,3344,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4904,-0.82,-126.5,2669,814,3394,3344,730.6,-13.3,487,4909,0.10,2.22,0.00,0.000,3078,0.295,0.053,2679,2203,3368,3393,3344,0,0,0,0,0,0,14.64,14.85,28.83
$GC,5226,-0.82,-126.5,2679,2203,3393,3343,770.9,-12.3,501,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2204,3368,3393,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5526,-0.82,-126.5,2679,2204,3392,3342,808.4,-12.5,511,5532,0.00,2.25,0.00,0.000,516,0.000,0.068,2679,820,3366,3392,3341,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5569,-0.82,-126.5,2679,819,3391,3342,814.2,-12.7,520,5573,0.00,2.22,0.00,0.000,1030,0.000,0.052,2671,2205,3366,3390,3342,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5886,-0.82,-126.5,2670,2205,3390,3340,854.8,-12.9,533,5892,0.00,2.28,0.00,0.000,516,0.000,0.067,2671,809,3365,3390,3340,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5934,-0.82,-126.5,2671,809,3389,3339,861.3,-13.1,543,5939,0.08,2.22,0.00,0.000,3078,0.328,0.053,2674,2200,3364,3389,3340,0,0,0,0,0,0,14.63,14.83,28.83
$GC,6246,-0.82,-126.5,2674,2199,3389,3338,899.5,-12.3,555,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2199,3363,3389,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6547,-0.82,-126.5,2674,2200,3388,3338,935.3,-11.8,565,6552,0.00,2.28,0.00,0.000,516,0.000,0.070,2674,810,3362,3388,3337,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6584,-0.82,-126.5,2674,810,3388,3337,940.1,-11.3,573,6589,0.00,2.25,0.00,0.000,1030,0.000,0.053,2667,2206,3362,3387,3337,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6907,-0.82,-126.5,2666,2206,3387,3336,977.8,-11.7,587,6908,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2206,3362,3387,3337,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7026,begin apogee
$GC,7030,-0.16,0.0,2666,2152,3386,3336,991.8,-11.7,591,7161,0.82,0.00,126.40,2.044,10246,0.272,0.000,2886,2150,2871,2916,2827,0,0,0,0,0,0,14.49,28.83,13.28
$STATE,7163,end apogee,CONTROL_FINISHED_OK
$STATE,7163,begin climb
$GC,7164,0.82,126.5,2886,2150,2910,2820,995.6,0.0,618,7286,1.08,2.47,113.07,2.507,10500,0.190,0.074,3197,3540,2348,2403,2294,0,0,0,0,0,0,13.99,13.90,13.19
$GC,7319,0.82,126.5,3197,3540,2398,2286,986.3,11.1,649,7325,0.00,2.33,0.00,0.000,1030,0.000,0.048,3207,2153,2342,2398,2286,0,0,0,0,0,0,28.83,14.13,28.83
$GC,7648,0.82,126.5,3207,2153,2397,2283,947.9,11.6,665,7652,0.00,2.42,0.00,0.000,516,0.000,0.078,3215,733,2340,2397,2283,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7784,0.82,126.5,3216,733,2397,2283,932.1,11.2,692,7788,0.00,2.30,0.00,0.000,1030,0.000,0.051,3216,2140,2339,2396,2283,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8095,0.82,126.5,3216,2140,2395,2282,896.6,11.5,704,8099,0.00,2.38,0.00,0.000,516,0.000,0.078,3225,732,2338,2395,2282,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8129,0.82,126.5,3225,732,2395,2282,892.5,11.8,711,8133,0.00,2.30,0.00,0.000,1030,0.000,0.052,3225,2145,2338,2394,2282,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8452,0.82,126.5,3225,2145,2394,2281,856.0,11.2,725,8458,0.00,2.38,0.00,0.000,516,0.000,0.078,3235,731,2337,2394,2280,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8482,0.82,126.5,3235,731,2394,2281,852.6,11.3,731,8488,0.00,2.30,0.00,0.000,1030,0.000,0.052,3235,2149,2337,2394,2281,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8812,0.82,126.5,3235,2149,2394,2280,813.9,11.7,747,8818,0.00,2.38,0.00,0.000,516,0.000,0.078,3245,734,2337,2394,2280,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8910,0.82,126.5,3245,733,2394,2281,802.0,11.6,767,8914,0.00,2.33,0.00,0.000,1030,0.000,0.053,3245,2140,2336,2393,2280,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9233,0.82,126.5,3245,2140,2393,2280,764.4,11.7,781,9237,0.00,2.38,0.00,0.000,516,0.000,0.079,3255,729,2336,2392,2280,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9296,0.82,126.5,3255,729,2392,2280,756.5,11.7,794,9302,0.05,2.33,0.00,0.000,5126,0.277,0.051,3242,2140,2336,2393,2280,0,0,0,0,0,0,14.54,14.75,28.83
$GC,9625,0.82,126.5,3242,2140,2392,2279,720.4,10.9,809,9629,0.00,2.35,0.00,0.000,260,0.000,0.074,3242,3551,2335,2392,2279,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9656,0.82,126.5,3242,3551,2391,2280,716.8,11.7,815,9663,0.00,2.28,0.00,0.000,1030,0.000,0.047,3251,2133,2335,2391,2280,0,0,0,0,0,0,28.83,14.79,28.83
$GC,9986,0.82,126.5,3251,2133,2391,2279,680.9,10.8,831,9992,0.00,2.33,0.00,0.000,516,0.000,0.076,3262,733,2335,2392,2279,0,0,0,0,0,0,28.83,14.74,28.83
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$STATE,17254,end climb,SURFACE_DEPTH_REACHED
$STATE,17254,begin surface coast
$FINISH,0.2,1.018086
$STATE,17282,end surface coast,CONTROL_FINISHED_OK
$STATE,17282,begin surface
$SM_CCo,17298,1.73,0.161,0,0,508,579.63
$SM_CCo,17302,0.00,0.000,0,0,511,579.63
$SM_CCo,17304,0.35,0.360,0,0,507,579.63
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$IRIDIUM_FIX,1758.70,8923.70,130708,212140
$TT8_MAMPS,0.018725,0.018725
$HUMID,44.84
$INTERNAL_PRESSURE,6.67018
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,13.2,37.642
$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
$DEVICE_SECS,22.825,178.825,530.125,2.075,0.000,20.505,16.204,251.280,0.000,0.000,6.475,3429.040,10134.453,629.345,3341.722,171.389,0.000,2048.385,0.000,2495.951,0.000,0.553,0.000
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$SENSOR_SECS,923.358,620.953,1640.620,1002.452,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322240
$DATA_FILE_SIZE,137467,1699
$CAP_FILE_SIZE,181262,0
$CFSIZE,2097086464,2082111488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.019,276.3,1
$GPS,170915,180133,1804.188,8923.997,190,0.8,190,-0.9