version: 66.11
glider: 615
mission: 5
dive: 77
start: 9 18 115 3 47 43
data:
$ID,615
$MISSION,5
$DIVE,77
$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,-18913.932
$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,54
$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,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
$GPS1,180915,034027,1802.103,8926.510,102,1.0,102,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-73.0
$GPS2,180915,034716,1802.186,8926.515,5,1.2,5,-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,137.4,17747,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.82,-126.5,191,2221,558,480,0.0,0.0,0,49,0.00,0.00,-32.67,0.000,16386,0.000,0.000,191,2221,1457,1465,1449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,51,-0.82,-126.5,191,2222,1465,1450,3.0,-4.9,5,110,10.70,2.20,-40.17,0.000,18692,0.358,0.070,2665,3591,3389,3401,3378,0,0,0,0,0,0,14.32,14.58,14.78
$GC,193,-0.82,-126.5,2665,3591,3401,3378,50.3,-38.2,30,202,0.00,2.25,0.00,0.000,1030,0.000,0.039,2665,2202,3389,3401,3377,0,0,0,0,0,0,28.83,14.58,28.83
$GC,391,-0.82,-126.5,2666,2199,3402,3377,98.5,-17.7,67,398,0.00,2.22,0.00,0.000,516,0.000,0.054,2665,803,3389,3401,3378,0,0,0,0,0,0,28.83,14.65,28.83
$GC,430,-0.82,-126.5,2666,803,3401,3378,104.8,-15.4,74,439,0.08,2.22,0.00,0.000,3078,0.264,0.039,2676,2186,3389,3401,3378,0,0,0,0,0,0,14.45,14.62,28.83
$GC,628,-0.82,-126.5,2675,2186,3401,3380,132.9,-13.9,111,634,0.00,2.20,0.00,0.000,516,0.000,0.053,2676,803,3390,3401,3380,0,0,0,0,0,0,28.83,14.69,28.83
$GC,656,-0.82,-126.5,2676,802,3401,3380,137.1,-13.6,116,664,0.00,2.25,0.00,0.000,1030,0.000,0.043,2667,2196,3390,3401,3380,0,0,0,0,0,0,28.83,14.64,28.83
$GC,853,-0.82,-126.5,2667,2196,3402,3380,165.6,-14.7,153,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2196,3391,3402,3381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1045,-0.82,-126.5,2667,2196,3401,3380,195.3,-15.2,190,1053,0.00,2.30,0.00,0.000,516,0.000,0.057,2667,799,3390,3401,3380,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1083,-0.82,-126.5,2667,799,3401,3380,201.7,-15.3,197,1091,0.10,2.20,0.00,0.000,3078,0.292,0.044,2677,2200,3390,3401,3380,0,0,0,0,0,0,14.57,14.75,28.83
$GC,1392,-0.82,-126.5,2678,2201,3401,3378,243.8,-13.8,228,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2201,3390,3401,3379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1691,-0.82,-126.5,2677,2201,3401,3376,286.3,-14.1,258,1700,0.00,2.25,0.00,0.000,516,0.000,0.060,2677,801,3388,3401,3376,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1715,-0.82,-126.5,1736,801,3388,3373,289.9,-14.1,263,1722,0.00,2.22,0.00,0.000,1030,0.000,0.047,2669,2204,3388,3401,3375,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2021,-0.82,-126.5,2669,2204,3401,3372,333.4,-14.0,294,2025,0.00,2.25,0.00,0.000,516,0.000,0.061,2669,807,3386,3401,3372,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2059,-0.82,-126.5,2669,806,3401,3372,338.7,-14.3,301,2069,0.10,2.22,0.00,0.000,3078,0.296,0.049,2679,2209,3386,3401,3372,0,0,0,0,0,0,14.62,14.81,28.83
$GC,2369,-0.82,-126.5,2679,2209,3401,3368,379.3,-13.0,322,2375,0.00,2.28,0.00,0.000,260,0.000,0.070,2670,3607,3384,3401,3367,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2389,-0.82,-126.5,2671,3607,3401,3367,381.9,-12.9,326,2395,0.00,2.20,0.00,0.000,1030,0.000,0.041,2670,2198,3384,3401,3367,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2709,-0.82,-126.5,2670,2197,3401,3362,425.2,-13.9,345,2715,0.00,2.25,0.00,0.000,516,0.000,0.062,2670,801,3381,3401,3362,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2789,-0.82,-126.5,2670,801,3401,3361,436.2,-13.1,361,2796,0.08,2.22,0.00,0.000,3078,0.316,0.050,2675,2199,3381,3401,3361,0,0,0,0,0,0,14.64,14.81,28.83
$GC,3110,-0.82,-126.5,2675,2199,3401,3356,478.8,-13.5,380,3116,0.00,2.28,0.00,0.000,516,0.000,0.064,2675,805,3378,3400,3356,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3142,-0.82,-126.5,2675,804,3400,3356,483.8,-14.6,387,3150,0.00,2.28,0.00,0.000,1030,0.000,0.051,2667,2192,3378,3401,3355,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3449,-0.82,-126.5,2667,2192,3400,3352,526.1,-13.7,400,3453,0.00,2.28,0.00,0.000,516,0.000,0.067,2667,803,3376,3401,3352,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3473,-0.82,-126.5,2667,802,3400,3352,529.8,-14.2,405,3481,0.10,2.25,0.00,0.000,3078,0.294,0.050,2677,2207,3376,3400,3352,0,0,0,0,0,0,14.64,14.83,28.83
$GC,3781,-0.82,-126.5,2677,2206,3400,3349,569.7,-13.1,416,3782,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2207,3374,3400,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4080,-0.82,-126.5,2677,2207,3398,3346,608.7,-13.1,426,4084,0.00,2.28,0.00,0.000,516,0.000,0.067,2677,810,3372,3398,3346,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4144,-0.82,-126.5,1808,810,3385,3344,617.4,-12.3,439,4148,0.00,2.28,0.00,0.000,1030,0.000,0.051,2669,2201,3371,3397,3346,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4471,-0.82,-126.5,2669,2202,3396,3344,661.2,-13.5,454,4475,0.00,2.28,0.00,0.000,516,0.000,0.067,2669,803,3370,3396,3344,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4498,-0.82,-126.5,2669,803,3396,3344,664.7,-14.4,459,4505,0.10,2.25,0.00,0.000,3078,0.295,0.052,2679,2210,3369,3395,3344,0,0,0,0,0,0,14.64,14.84,28.83
$GC,4828,-0.82,-126.5,2679,2211,3395,3343,706.2,-12.3,475,4834,0.00,2.28,0.00,0.000,516,0.000,0.067,2679,812,3368,3394,3342,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4866,-0.82,-126.5,2679,811,3394,3342,711.2,-12.1,483,4870,0.00,2.22,0.00,0.000,1030,0.000,0.050,2671,2201,3368,3394,3342,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5188,-0.82,-126.5,2671,2202,3393,3340,750.9,-12.4,497,5192,0.00,2.33,0.00,0.000,260,0.000,0.078,2660,3608,3366,3393,3340,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5207,-0.82,-126.5,2660,3608,3392,3339,753.7,-13.0,501,5212,0.10,2.22,0.00,0.000,3078,0.282,0.043,2680,2203,3365,3392,3339,0,0,0,0,0,0,14.64,14.87,28.83
$GC,5520,-0.82,-126.5,2680,2202,3391,3338,790.5,-11.9,513,5526,0.00,2.28,0.00,0.000,516,0.000,0.069,2680,806,3363,3390,3337,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5581,-0.82,-126.5,2680,806,3390,3338,797.7,-11.7,525,5586,0.00,2.22,0.00,0.000,1030,0.000,0.052,2672,2206,3364,3390,3338,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5910,-0.82,-126.5,2672,2206,3389,3338,838.3,-12.6,541,5916,0.00,2.28,0.00,0.000,516,0.000,0.068,2672,808,3363,3389,3337,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5963,-0.82,-126.5,2672,807,3386,3337,845.6,-12.4,552,5972,0.05,2.30,0.00,0.000,3078,0.255,0.052,2676,2204,3362,3388,3337,0,0,0,0,0,0,14.51,14.71,28.83
$GC,6270,-0.82,-126.5,2676,2204,3387,3336,882.7,-12.2,563,6276,0.00,2.30,0.00,0.000,516,0.000,0.069,2676,806,3361,3387,3336,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6301,-0.82,-126.5,2676,805,3387,3337,886.5,-12.7,569,6307,0.00,2.25,0.00,0.000,1030,0.000,0.054,2668,2205,3361,3386,3336,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6630,-0.82,-126.5,2668,2205,3385,3336,927.9,-12.6,585,6632,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2205,3361,3386,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6930,-0.82,-126.5,2668,2206,3384,3335,965.9,-12.5,595,6936,0.00,2.30,0.00,0.000,516,0.000,0.070,2668,802,3359,3384,3334,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6993,-0.82,-126.5,2668,802,3384,3335,974.2,-12.1,608,6998,0.08,2.30,0.00,0.000,3078,0.269,0.054,2678,2201,3359,3383,3335,0,0,0,0,0,0,14.52,14.76,28.83
$STATE,7140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7140,begin apogee
$GC,7144,-0.16,0.0,2678,2144,3383,3334,991.5,-12.0,617,7262,0.75,0.00,108.43,2.421,10246,0.258,0.000,2887,2144,2867,2912,2822,0,0,0,0,0,0,14.50,28.83,13.24
$STATE,7264,end apogee,CONTROL_FINISHED_OK
$STATE,7264,begin climb
$GC,7265,0.82,126.5,2887,2144,2911,2821,996.1,0.0,641,7383,1.08,0.00,110.55,2.261,10246,0.171,0.000,3204,2143,2348,2403,2293,0,0,0,0,0,0,14.04,28.83,13.24
$GC,7681,0.82,126.5,3204,2143,2397,2286,962.0,10.4,655,7685,0.00,2.38,0.00,0.000,516,0.000,0.081,3214,742,2341,2397,2286,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7765,0.82,126.5,3214,742,2397,2286,952.8,10.5,672,7773,0.00,2.35,0.00,0.000,1030,0.000,0.051,3214,2137,2341,2397,2286,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8073,0.82,126.5,3214,2137,2395,2284,920.9,10.5,683,8079,0.00,2.35,0.00,0.000,516,0.000,0.078,3223,745,2340,2396,2284,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8134,0.82,126.5,3224,745,2395,2284,914.2,11.3,695,8140,0.00,2.28,0.00,0.000,1030,0.000,0.051,3223,2140,2340,2395,2285,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8464,0.82,126.5,3224,2141,2394,2284,878.0,11.0,711,8470,0.00,2.33,0.00,0.000,516,0.000,0.077,3234,746,2338,2393,2283,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8516,0.82,126.5,3234,746,2394,2284,871.7,12.0,722,8524,0.00,2.33,0.00,0.000,1030,0.000,0.052,3234,2143,2339,2394,2284,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8824,0.82,126.5,3234,2143,2393,2283,837.4,11.1,733,8825,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2143,2338,2393,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9124,0.82,126.5,3234,2144,2392,2283,804.4,11.0,743,9130,0.00,2.35,0.00,0.000,516,0.000,0.078,3244,739,2338,2393,2283,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9252,0.82,126.5,3244,739,2393,2283,789.8,11.2,769,9256,0.00,2.28,0.00,0.000,1030,0.000,0.052,3244,2145,2338,2393,2283,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9569,0.82,126.5,3244,2145,2391,2282,754.5,11.2,782,9570,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2145,2336,2391,2282,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,16093,0.96,235.3,3269,2130,2019,1894,112.1,8.4,1400,16115,0.00,2.38,12.18,1.154,8708,0.000,0.069,3280,744,1900,1962,1839,0,0,0,0,0,0,28.83,14.46,14.01
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$STATE,17482,end climb,SURFACE_DEPTH_REACHED
$STATE,17483,begin surface coast
$FINISH,1.0,1.017657
$STATE,17509,end surface coast,CONTROL_FINISHED_OK
$STATE,17509,begin surface
$SM_CCo,17527,1.12,0.181,0,0,510,579.63
$SM_CCo,17530,0.00,0.000,0,0,510,579.63
$SM_CCo,17532,0.17,0.599,0,0,508,579.63
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$IRIDIUM_FIX,1754.17,8925.99,140708,121246
$TT8_MAMPS,0.018725,0.018725
$HUMID,45.51
$INTERNAL_PRESSURE,6.66041
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,13.2,38.617
$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
$DEVICE_SECS,23.200,183.450,512.175,1.300,0.000,23.233,23.787,246.969,0.000,0.000,6.925,3403.459,10418.717,667.747,3281.610,161.005,0.000,2050.963,0.000,2438.597,0.000,0.552,0.000
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$SENSOR_SECS,912.352,607.912,1627.735,994.341,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322284
$DATA_FILE_SIZE,137356,1658
$CAP_FILE_SIZE,182126,0
$CFSIZE,2097086464,2081619968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.016,196.9,1
$GPS,180915,084233,1800.746,8927.689,121,0.8,121,-0.9