version: 66.11
glider: 615
mission: 5
dive: 88
start: 9 20 115 10 34 48
data:
$ID,615
$MISSION,5
$DIVE,88
$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,-18930.543
$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,40
$R_STBD_OVSHOOT,35
$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
$GPS1,200915,102533,1806.179,8933.375,81,0.8,81,-0.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-66.5
$GPS2,200915,103421,1806.179,8933.473,5,0.8,5,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,SW
$TGT_LATLONG,1755.320,8921.600
$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,227.2,29020,-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,-126.5,157,2189,555,485,0.0,0.0,0,67,0.00,0.00,-50.40,0.000,16386,0.000,0.000,155,2189,1942,1946,1938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.82,-126.5,155,2192,1948,1938,3.4,-4.9,8,117,10.75,2.28,-29.10,0.000,18948,0.355,0.072,2674,793,3389,3402,3377,0,0,0,0,0,0,14.32,14.56,14.76
$GC,123,-0.82,-126.5,2674,793,3402,3377,20.0,-33.0,16,130,0.00,2.35,0.00,0.000,1030,0.000,0.056,2665,2197,3390,3403,3377,0,0,0,0,0,0,28.83,14.54,28.83
$GC,315,-0.82,-126.5,2665,2199,3403,3377,76.2,-21.4,53,322,0.00,2.30,0.00,0.000,260,0.000,0.063,2655,3611,3390,3403,3377,0,0,0,0,0,0,28.83,14.62,28.83
$GC,364,-0.82,-126.5,2654,3611,3403,3377,86.6,-21.1,62,372,0.05,2.30,0.00,0.000,3078,0.262,0.037,2678,2177,3389,3402,3377,0,0,0,0,0,0,14.47,14.64,28.83
$GC,555,-0.82,-126.5,2678,2176,3403,3378,116.8,-15.4,99,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2177,3390,3403,3378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,745,-0.82,-126.5,1696,2174,3389,3377,145.4,-15.4,136,752,0.00,2.35,0.00,0.000,260,0.000,0.061,2669,3611,3391,3403,3379,0,0,0,0,0,0,28.83,14.69,28.83
$GC,788,-0.82,-126.5,2669,3611,3402,3379,152.0,-15.1,144,795,0.00,2.25,0.00,0.000,1030,0.000,0.037,2669,2206,3391,3403,3380,0,0,0,0,0,0,28.83,14.68,28.83
$GC,980,-0.82,-126.5,2669,2204,3403,3380,179.2,-13.6,181,987,0.00,2.25,0.00,0.000,516,0.000,0.057,2669,801,3391,3403,3380,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1035,-0.82,-126.5,2669,802,3403,3380,186.7,-13.4,191,1043,0.10,2.25,0.00,0.000,3078,0.291,0.044,2679,2212,3391,3403,3380,0,0,0,0,0,0,14.56,14.73,28.83
$GC,1226,-0.82,-126.5,2679,2213,3403,3380,213.0,-14.1,219,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2212,3391,3403,3379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1526,-0.82,-126.5,2680,2213,3403,3377,254.3,-14.4,249,1537,0.00,2.25,0.00,0.000,516,0.000,0.058,2680,808,3389,3402,3377,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1541,-0.82,-126.5,2679,808,3402,3376,257.0,-14.7,252,1549,0.00,2.25,0.00,0.000,1030,0.000,0.045,2671,2199,3389,3402,3376,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1849,-0.82,-126.5,2671,2199,3402,3372,300.6,-14.1,283,1860,0.00,2.28,0.00,0.000,260,0.000,0.067,2661,3600,3387,3402,3372,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1874,-0.82,-126.5,2661,3599,3402,3372,304.4,-13.8,288,1883,0.05,2.25,0.00,0.000,3078,0.228,0.039,2676,2192,3387,3403,3372,0,0,0,0,0,0,14.52,14.69,28.83
$GC,2183,-0.82,-126.5,2676,2190,3402,3370,345.7,-13.3,319,2192,0.00,2.22,0.00,0.000,516,0.000,0.060,2676,806,3385,3402,3369,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2267,-0.82,-126.5,2676,806,3402,3368,357.6,-13.0,336,2272,0.00,2.25,0.00,0.000,1030,0.000,0.046,2667,2194,3385,3402,3368,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2586,-0.82,-126.5,2668,2195,3402,3363,400.4,-13.7,354,2592,0.00,2.30,0.00,0.000,260,0.000,0.069,2657,3606,3382,3402,3362,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2627,-0.82,-126.5,2657,3605,3402,3362,406.1,-14.5,362,2633,0.05,2.20,0.00,0.000,3078,0.221,0.041,2673,2200,3382,3402,3362,0,0,0,0,0,0,14.63,14.83,28.83
$GC,2947,-0.82,-126.5,2672,2199,3402,3357,449.9,-13.9,381,2952,0.00,2.25,0.00,0.000,516,0.000,0.064,2672,807,3379,3402,3357,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3029,-0.82,-126.5,2672,806,3401,3357,462.0,-13.5,398,3035,0.03,2.25,0.00,0.000,3078,0.301,0.050,2672,2191,3379,3401,3357,0,0,0,0,0,0,14.59,14.76,28.83
$GC,3357,-0.82,-126.5,2672,2191,3401,3352,506.2,-13.3,416,3363,0.00,2.25,0.00,0.000,516,0.000,0.063,2672,810,3376,3400,3353,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3390,-0.82,-126.5,2672,810,3400,3353,510.9,-13.3,423,3395,0.08,2.22,0.00,0.000,3078,0.314,0.049,2677,2202,3376,3400,3353,0,0,0,0,0,0,14.63,14.81,28.83
$GC,3717,-0.82,-126.5,2678,2202,3399,3351,551.9,-12.6,438,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2202,3375,3399,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4017,-0.82,-126.5,2677,2203,3397,3349,589.5,-12.6,448,4021,0.00,2.28,0.00,0.000,516,0.000,0.066,2677,803,3373,3397,3349,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4086,-0.82,-126.5,2677,803,3396,3349,598.7,-13.3,462,4091,0.00,2.28,0.00,0.000,1030,0.000,0.051,2669,2197,3372,3396,3349,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4404,-0.82,-126.5,2669,2197,3394,3346,640.2,-13.1,475,4405,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2197,3370,3394,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4704,-0.82,-126.5,2669,2198,3393,3345,679.2,-12.9,485,4710,0.00,2.25,0.00,0.000,516,0.000,0.065,2669,811,3369,3393,3345,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4741,-0.82,-126.5,2669,812,3393,3345,684.3,-12.6,493,4746,0.10,2.22,0.00,0.000,3078,0.290,0.051,2679,2202,3369,3393,3345,0,0,0,0,0,0,14.64,14.83,28.83
$GC,5064,-0.82,-126.5,2680,2202,3391,3344,722.1,-11.9,507,5070,0.00,2.33,0.00,0.000,260,0.000,0.077,2672,3604,3367,3391,3343,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5081,-0.82,-126.5,2671,3604,3391,3343,724.4,-11.8,511,5086,0.00,2.22,0.00,0.000,1030,0.000,0.044,2671,2197,3367,3391,3343,0,0,0,0,0,0,28.83,14.86,28.83
$GC,5396,-0.82,-126.5,2672,2196,3390,3341,762.6,-12.5,523,5402,0.00,2.25,0.00,0.000,516,0.000,0.067,2672,812,3365,3390,3340,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5485,-0.82,-126.5,2672,812,3389,3341,774.0,-12.3,541,5491,0.08,2.22,0.00,0.000,3078,0.324,0.050,2674,2204,3365,3389,3341,0,0,0,0,0,0,14.62,14.82,28.83
$GC,5815,-0.82,-126.5,2674,2204,3389,3340,814.5,-12.5,557,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2204,3364,3389,3339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6115,-0.82,-126.5,2674,2202,3388,3338,851.9,-12.6,567,6121,0.00,2.30,0.00,0.000,516,0.000,0.068,2674,806,3363,3388,3338,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6158,-0.82,-126.5,2674,806,3387,3339,857.8,-13.1,576,6162,0.00,2.25,0.00,0.000,1030,0.000,0.052,2666,2202,3362,3387,3338,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6476,-0.82,-126.5,2666,2203,3386,3337,899.0,-13.0,589,6482,0.00,2.28,0.00,0.000,516,0.000,0.067,2666,807,3362,3387,3337,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6513,-0.82,-126.5,2666,807,3385,3337,904.4,-13.3,597,6518,0.10,2.25,0.00,0.000,3078,0.292,0.052,2676,2204,3361,3385,3337,0,0,0,0,0,0,14.59,14.81,28.83
$GC,6836,-0.82,-126.5,2676,2204,3385,3336,944.7,-12.4,611,6842,0.00,2.30,0.00,0.000,516,0.000,0.069,2675,800,3360,3385,3336,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6865,-0.82,-126.5,2676,800,3384,3336,948.5,-13.0,617,6871,0.00,2.25,0.00,0.000,1030,0.000,0.053,2669,2197,3360,3384,3336,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,7195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7195,begin apogee
$GC,7199,-0.16,0.0,2669,2128,3383,3336,991.0,-12.8,633,7353,0.80,0.00,146.23,2.023,10246,0.259,0.000,2889,2126,2868,2913,2823,0,0,0,0,0,0,14.48,28.83,13.43
$STATE,7354,end apogee,CONTROL_FINISHED_OK
$STATE,7354,begin climb
$GC,7355,0.82,126.5,2889,2126,2912,2821,997.0,0.0,665,7469,1.05,0.00,108.90,2.197,10502,0.174,0.000,3201,2125,2356,2412,2300,0,0,0,0,0,0,14.02,28.83,13.23
$GC,7765,0.82,126.5,3201,2126,2401,2284,962.5,11.0,697,7771,0.00,2.35,0.00,0.000,516,0.000,0.080,3209,751,2343,2401,2285,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7858,0.82,126.5,3209,750,2400,2285,951.6,11.6,716,7863,0.00,2.33,0.00,0.000,1030,0.000,0.050,3209,2134,2342,2399,2285,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8186,0.82,126.5,3209,2135,2397,2283,914.5,11.2,731,8190,0.00,2.35,0.00,0.000,516,0.000,0.078,3218,752,2340,2398,2283,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8235,0.82,126.5,3218,751,2397,2282,908.5,11.6,741,8240,0.00,2.28,0.00,0.000,1030,0.000,0.052,3218,2145,2340,2397,2283,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8548,0.82,126.5,3218,2145,2396,2282,872.4,11.5,753,8554,0.00,2.35,0.00,0.000,516,0.000,0.078,3229,748,2339,2396,2282,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8651,0.82,126.5,3229,748,2396,2282,860.3,11.0,774,8656,0.00,2.30,0.00,0.000,1030,0.000,0.052,3229,2136,2339,2396,2283,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8969,0.82,126.5,3229,2135,2395,2282,824.2,11.2,787,8970,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2136,2338,2395,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9269,0.82,126.5,3229,2136,2394,2282,791.1,11.1,797,9275,0.00,2.33,0.00,0.000,516,0.000,0.079,3239,749,2338,2394,2282,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9432,0.82,126.5,3238,749,2394,2282,772.4,11.1,830,9437,0.00,2.25,0.00,0.000,1030,0.000,0.051,3238,2140,2338,2394,2282,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9750,0.82,126.5,3238,2141,2394,2281,737.2,10.9,843,9756,0.00,2.33,0.00,0.000,516,0.000,0.077,3248,750,2337,2394,2281,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9802,0.82,126.5,3249,750,2394,2281,730.8,12.3,854,9811,0.00,2.30,0.00,0.000,1030,0.000,0.052,3248,2132,2337,2394,2281,0,0,0,0,0,0,28.83,14.67,28.83
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$STATE,17493,end climb,SURFACE_DEPTH_REACHED
$STATE,17494,begin surface coast
$FINISH,0.2,1.018939
$STATE,17517,end surface coast,CONTROL_FINISHED_OK
$STATE,17517,begin surface
$SM_CCo,17533,1.02,0.220,0,0,509,579.63
$SM_CCo,17536,-0.03,0.000,0,0,510,579.63
$SM_CCo,17539,0.32,0.373,0,0,508,579.63
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$IRIDIUM_FIX,1758.70,8935.06,160708,232334
$TT8_MAMPS,0.018725,0.018725
$HUMID,45.15
$INTERNAL_PRESSURE,6.67018
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,13.2,42.201
$10V_AH,12.7,0.000
$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
$DEVICE_SECS,22.900,188.350,546.350,1.350,0.000,47.717,52.174,253.450,0.000,0.000,6.532,3482.085,10320.986,647.440,3441.807,166.298,0.000,2099.906,0.000,2524.792,0.000,0.552,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,929.112,623.454,1636.333,999.763,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322268
$DATA_FILE_SIZE,140629,1723
$CAP_FILE_SIZE,189294,0
$CFSIZE,2097086464,2079817728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.053,253.0,1
$GPS,200915,152833,1804.809,8931.589,49,0.9,49,-0.9