version: 66.11
glider: 615
mission: 5
dive: 96
start: 9 22 115 2 27 51
data:
$ID,615
$MISSION,5
$DIVE,96
$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,-18941.607
$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,49
$R_STBD_OVSHOOT,85
$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
$GPS1,220915,022003,1755.264,8921.275,62,0.8,62,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-69.2
$GPS2,220915,022725,1755.230,8921.311,6,0.9,6,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,NW
$TGT_LATLONG,1806.660,8921.600
$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,15.8,21175,-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,-126.5,151,2248,559,480,0.0,0.0,0,63,0.00,0.00,-46.33,0.000,16386,0.000,0.000,150,2248,1823,1823,1823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.82,-126.5,150,2249,1825,1821,3.6,-8.7,7,118,10.85,2.40,-31.05,0.000,18948,0.354,0.072,2674,800,3390,3403,3378,0,0,0,0,0,0,14.30,14.45,14.77
$GC,175,-0.82,-126.5,2674,800,3403,3378,42.2,-36.9,26,183,0.00,2.22,0.00,0.000,1030,0.000,0.050,2667,2141,3390,3403,3378,0,0,0,0,0,0,28.83,14.52,28.83
$GC,367,-0.82,-126.5,2667,2141,3403,3379,92.5,-18.7,63,373,0.00,2.15,0.00,0.000,516,0.000,0.056,2667,806,3391,3403,3379,0,0,0,0,0,0,28.83,14.62,28.83
$GC,415,-0.82,-126.5,2667,806,3401,3379,101.9,-20.7,72,423,0.05,2.20,0.00,0.000,3078,0.262,0.044,2671,2149,3391,3403,3379,0,0,0,0,0,0,14.43,14.58,28.83
$GC,606,-0.82,-126.5,2671,2149,3403,3381,132.0,-12.7,109,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2150,3392,3403,3381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,796,-0.82,-126.5,2671,2150,3403,3383,157.9,-13.2,146,803,0.00,2.33,0.00,0.000,260,0.000,0.063,2662,3551,3393,3403,3383,0,0,0,0,0,0,28.83,14.65,28.83
$GC,836,-0.82,-126.5,2662,3551,3403,3383,163.6,-14.7,153,844,0.08,2.12,0.00,0.000,3078,0.291,0.037,2675,2185,3393,3403,3383,0,0,0,0,0,0,14.55,14.74,28.83
$GC,1026,-0.82,-126.5,2675,2185,3402,3383,190.7,-14.1,190,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2185,3393,3403,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1216,-0.82,-126.5,2675,2185,3403,3382,217.2,-13.9,215,1226,0.00,2.20,0.00,0.000,516,0.000,0.058,2675,811,3393,3403,3383,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1249,-0.82,-126.5,2675,812,3403,3383,222.0,-14.7,221,1259,0.00,2.12,0.00,0.000,1030,0.000,0.045,2667,2151,3393,3403,3383,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1559,-0.82,-126.5,2667,2152,3403,3380,268.3,-15.2,253,1569,0.00,2.38,0.00,0.000,260,0.000,0.067,2656,3611,3391,3403,3380,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1592,-0.82,-126.5,2656,3612,3402,3379,273.4,-15.2,259,1603,0.10,2.20,0.00,0.000,3078,0.256,0.038,2677,2203,3390,3402,3379,0,0,0,0,0,0,14.61,14.80,28.83
$GC,1902,-0.82,-126.5,2677,2203,3403,3376,317.2,-13.8,291,1912,0.00,2.25,0.00,0.000,516,0.000,0.060,2677,804,3389,3403,3376,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1987,-0.82,-126.5,2677,805,3403,3375,329.0,-12.9,308,1996,0.00,2.28,0.00,0.000,1030,0.000,0.047,2669,2203,3389,3403,3375,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2306,-0.82,-126.5,2669,2204,3402,3371,372.9,-14.1,332,2312,0.00,2.25,0.00,0.000,516,0.000,0.060,2669,812,3386,3402,3371,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2348,-0.82,-126.5,2669,812,3403,3371,379.5,-14.4,341,2353,0.05,2.25,0.00,0.000,3078,0.254,0.047,2674,2199,3386,3402,3371,0,0,0,0,0,0,14.59,14.75,28.83
$GC,2666,-0.82,-126.5,2674,2200,3402,3367,422.6,-13.4,359,2672,0.00,2.25,0.00,0.000,516,0.000,0.063,2674,812,3384,3402,3367,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2694,-0.82,-126.5,2674,812,3402,3367,426.7,-13.9,365,2698,0.00,2.22,0.00,0.000,1030,0.000,0.050,2665,2201,3384,3402,3367,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3007,-0.82,-126.5,2666,2202,3402,3362,469.7,-14.4,382,3013,0.00,2.25,0.00,0.000,516,0.000,0.064,2665,814,3382,3402,3362,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3028,-0.82,-126.5,2666,814,3402,3362,473.4,-14.6,387,3033,0.08,2.25,0.00,0.000,3078,0.232,0.049,2678,2199,3382,3402,3362,0,0,0,0,0,0,14.59,14.76,28.83
$GC,3348,-0.82,-126.5,2678,2199,3402,3357,516.6,-13.6,403,3354,0.00,2.25,0.00,0.000,516,0.000,0.064,2678,813,3379,3402,3357,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3369,-0.82,-126.5,2678,813,3402,3357,520.0,-14.0,408,3378,0.00,2.28,0.00,0.000,1030,0.000,0.050,2671,2200,3379,3402,3357,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3676,-0.82,-126.5,2671,2201,3401,3353,562.2,-13.9,419,3682,0.00,2.28,0.00,0.000,516,0.000,0.064,2671,806,3377,3402,3353,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3708,-0.82,-126.5,2671,806,3401,3353,567.0,-13.7,426,3713,0.05,2.28,0.00,0.000,3078,0.251,0.050,2675,2199,3377,3401,3353,0,0,0,0,0,0,14.58,14.77,28.83
$GC,4037,-0.82,-126.5,2676,2201,3401,3352,610.2,-13.3,441,4043,0.00,2.25,0.00,0.000,516,0.000,0.065,2676,813,3376,3400,3352,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4066,-0.82,-126.5,2675,813,3400,3352,614.4,-13.8,447,4072,0.00,2.22,0.00,0.000,1030,0.000,0.050,2667,2204,3376,3400,3352,0,0,0,0,0,0,28.83,14.82,28.83
$GC,4396,-0.82,-126.5,2668,2205,3399,3350,658.3,-13.1,463,4402,0.00,2.28,0.00,0.000,516,0.000,0.064,2667,810,3374,3398,3350,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4434,-0.82,-126.5,2667,810,3398,3350,663.7,-13.3,471,4439,0.10,2.22,0.00,0.000,3078,0.285,0.051,2678,2201,3374,3398,3350,0,0,0,0,0,0,14.63,14.82,28.83
$GC,4756,-0.82,-126.5,2678,2202,3397,3347,703.1,-12.1,485,4760,0.00,2.28,0.00,0.000,516,0.000,0.067,2679,814,3372,3397,3347,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4797,-0.82,-126.5,2679,814,3397,3347,708.2,-12.4,493,4801,0.00,2.22,0.00,0.000,1030,0.000,0.052,2671,2201,3372,3397,3347,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5113,-0.82,-126.5,2671,2201,3396,3345,747.8,-12.5,506,5119,0.00,2.28,0.00,0.000,516,0.000,0.066,2671,813,3370,3396,3345,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5156,-0.82,-126.5,2671,812,3396,3345,753.8,-13.2,515,5161,0.08,2.25,0.00,0.000,3078,0.326,0.052,2675,2209,3370,3396,3345,0,0,0,0,0,0,14.62,14.82,28.83
$GC,5473,-0.82,-126.5,2674,2210,3395,3343,792.9,-12.7,528,5477,0.00,2.28,0.00,0.000,516,0.000,0.067,2675,814,3369,3395,3343,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5501,-0.82,-126.5,2675,815,3395,3343,796.9,-13.2,534,5506,0.00,2.28,0.00,0.000,1030,0.000,0.052,2667,2199,3369,3395,3343,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5829,-0.82,-126.5,2667,2199,3393,3343,840.0,-13.2,549,5835,0.00,2.28,0.00,0.000,516,0.000,0.067,2667,815,3367,3393,3342,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5859,-0.82,-126.5,2667,814,3393,3342,844.1,-14.2,555,5866,0.10,2.22,0.00,0.000,3078,0.291,0.054,2677,2201,3367,3393,3342,0,0,0,0,0,0,14.60,14.81,28.83
$GC,6190,-0.82,-126.5,2677,2202,3392,3340,884.6,-12.1,571,6195,0.00,2.28,0.00,0.000,516,0.000,0.069,2677,816,3366,3392,3340,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6221,-0.82,-126.5,2677,816,3392,3340,888.8,-11.9,578,6226,0.00,2.28,0.00,0.000,1030,0.000,0.053,2669,2201,3366,3392,3340,0,0,0,0,0,0,28.83,14.75,28.83
$GC,6550,-0.82,-126.5,2669,2201,3391,3339,928.7,-12.5,593,6556,0.00,2.28,0.00,0.000,516,0.000,0.069,2669,815,3364,3391,3338,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6597,-0.82,-126.5,2669,816,3391,3338,935.2,-13.2,603,6602,0.10,2.25,0.00,0.000,3078,0.308,0.054,2679,2211,3364,3391,3338,0,0,0,0,0,0,14.57,14.81,28.83
$GC,6904,-0.82,-126.5,2680,2211,3390,3338,971.8,-12.0,614,6908,0.00,2.30,0.00,0.000,516,0.000,0.069,2679,808,3364,3390,3338,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6932,-0.82,-126.5,2680,808,3389,3338,975.7,-12.5,620,6937,0.00,2.30,0.00,0.000,1030,0.000,0.053,2673,2202,3363,3389,3338,0,0,0,0,0,0,28.83,14.74,28.83
$STATE,7049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7049,begin apogee
$GC,7052,-0.16,0.0,2673,2202,3389,3337,990.0,-12.5,628,7209,0.80,0.03,148.95,2.072,10246,0.265,0.134,2890,2166,2869,2916,2823,0,0,0,0,0,0,14.46,13.93,13.39
$STATE,7210,end apogee,CONTROL_FINISHED_OK
$STATE,7210,begin climb
$GC,7212,0.82,126.5,2890,2166,2914,2819,995.5,0.0,660,7328,1.08,2.45,108.75,2.167,10500,0.182,0.073,3205,3544,2348,2405,2292,0,0,0,0,0,0,14.00,13.92,13.22
$GC,7353,0.82,126.5,3205,3544,2401,2287,988.8,10.0,689,7358,0.00,2.42,0.00,0.000,1030,0.000,0.047,3213,2145,2343,2401,2286,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7681,0.82,126.5,3214,2144,2398,2283,952.5,11.5,704,7685,0.00,2.40,0.00,0.000,516,0.000,0.080,3224,736,2340,2398,2283,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7836,0.82,126.5,3225,736,2397,2283,934.4,11.3,735,7841,0.00,2.33,0.00,0.000,1030,0.000,0.052,3225,2147,2340,2397,2283,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8159,0.82,126.5,3225,2147,2396,2282,898.1,11.4,749,8165,0.00,2.40,0.00,0.000,516,0.000,0.079,3235,729,2339,2396,2282,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8267,0.82,126.5,3235,729,2396,2282,884.8,11.8,771,8271,0.00,2.33,0.00,0.000,1030,0.000,0.053,3235,2149,2339,2396,2282,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8580,0.82,126.5,3235,2149,2395,2281,848.8,11.6,783,8584,0.00,2.40,0.00,0.000,516,0.000,0.078,3245,734,2338,2395,2281,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8624,0.82,126.5,3245,733,2394,2282,843.6,11.3,792,8628,0.00,2.30,0.00,0.000,1030,0.000,0.052,3245,2146,2337,2394,2281,0,0,0,0,0,0,28.83,14.72,28.83
$GC,8941,0.82,126.5,3245,2146,2394,2280,807.9,11.2,805,8947,0.00,2.38,0.00,0.000,516,0.000,0.078,3255,733,2337,2393,2281,0,0,0,0,0,0,28.83,14.69,28.83
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$GC,15288,0.89,178.2,2336,2130,2247,2186,173.3,8.1,1368,15321,0.00,2.42,22.83,1.265,8452,0.000,0.070,3260,3542,2131,2190,2073,0,0,0,0,0,0,28.83,14.52,14.03
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$STATE,17283,end climb,SURFACE_DEPTH_REACHED
$STATE,17283,begin surface coast
$FINISH,0.2,1.019033
$STATE,17305,end surface coast,CONTROL_FINISHED_OK
$STATE,17305,begin surface
$SM_CCo,17321,1.27,0.200,0,0,508,579.63
$SM_CCo,17325,-0.03,0.000,0,0,511,579.63
$SM_CCo,17327,0.43,0.314,0,0,508,579.63
$SM_GC,3.51,9.05,0.08,0.43,0.058,0.169,0.314,190,2229,508,-8.57,-1.07,579.63,0,0,0,0,0,0,14.62,14.62,14.54
$IRIDIUM_FIX,1749.63,8923.74,180708,101023
$TT8_MAMPS,0.018725,0.018725
$HUMID,44.92
$INTERNAL_PRESSURE,6.67018
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,13.2,44.820
$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
$DEVICE_SECS,23.450,207.075,558.425,1.700,0.000,24.212,24.670,274.927,0.000,0.000,6.506,3436.574,10008.934,693.578,3449.852,170.044,0.000,2184.620,0.000,2563.851,0.000,0.552,0.000
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$SENSOR_SECS,918.310,614.399,1651.371,1008.773,0.000,0.000,0.000,0.000,0.000,0.000
$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,140740,1745
$CAP_FILE_SIZE,191564,0
$CFSIZE,2097086464,2078507008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.025,255.9,1
$GPS,220915,071851,1756.869,8921.651,95,0.7,95,-0.9