version: 66.11
glider: 615
mission: 5
dive: 98
start: 9 22 115 12 24 28
data:
$ID,615
$MISSION,5
$DIVE,98
$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,-18944.119
$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,47
$R_STBD_OVSHOOT,66
$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
$GPS1,220915,121703,1758.459,8921.707,54,0.8,54,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.2
$GPS2,220915,122402,1758.421,8921.698,5,0.9,5,-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,5.9,15260,-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,14,-0.82,-126.5,176,2237,560,480,0.0,0.0,0,61,0.00,0.00,-44.50,0.000,16386,0.000,0.000,175,2236,1784,1788,1780,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.82,-126.5,175,2236,1788,1780,3.4,-8.3,7,116,10.73,2.40,-32.42,0.000,18948,0.354,0.079,2672,806,3391,3402,3380,0,0,0,0,0,0,14.30,14.47,14.77
$GC,183,-0.82,-126.5,2672,805,3402,3380,44.8,-32.8,28,190,0.00,2.28,0.00,0.000,1030,0.000,0.051,2664,2174,3391,3402,3380,0,0,0,0,0,0,28.83,14.54,28.83
$GC,374,-0.82,-126.5,2664,2174,3402,3380,93.7,-19.1,65,382,0.08,2.35,0.00,0.000,2308,0.337,0.058,2666,3613,3390,3401,3380,0,0,0,0,0,0,14.50,14.63,28.83
$GC,395,-0.82,-126.5,1672,3612,3388,3378,97.5,-19.0,68,402,0.00,2.28,0.00,0.000,1030,0.000,0.035,2666,2193,3391,3402,3380,0,0,0,0,0,0,28.83,14.62,28.83
$GC,585,-0.82,-126.5,2666,2191,3402,3383,128.6,-15.1,105,592,0.00,2.20,0.00,0.000,516,0.000,0.054,2666,813,3392,3402,3383,0,0,0,0,0,0,28.83,14.66,28.83
$GC,646,-0.82,-126.5,1664,813,3387,3380,137.0,-13.8,116,654,0.05,2.25,0.00,0.000,3078,0.265,0.042,2670,2204,3392,3402,3383,0,0,0,0,0,0,14.46,14.66,28.83
$GC,837,-0.82,-126.5,2670,2204,3402,3384,164.4,-15.2,153,844,0.00,2.25,0.00,0.000,516,0.000,0.056,2670,805,3393,3402,3384,0,0,0,0,0,0,28.83,14.69,28.83
$GC,911,-0.82,-126.5,1696,804,3388,3381,175.4,-14.1,167,919,0.08,2.22,0.00,0.000,3078,0.317,0.044,2674,2209,3393,3402,3384,0,0,0,0,0,0,14.54,14.72,28.83
$GC,1107,-0.82,-126.5,2675,2209,3402,3384,201.9,-13.3,204,1111,0.00,2.25,0.00,0.000,260,0.000,0.063,2666,3598,3393,3402,3384,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1136,-0.82,-126.5,2666,3597,3402,3384,206.2,-14.8,210,1145,0.00,2.22,0.00,0.000,1030,0.000,0.036,2666,2202,3393,3402,3384,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1444,-0.82,-126.5,2665,2202,3402,3383,251.5,-14.6,241,1448,0.00,2.22,0.00,0.000,516,0.000,0.058,2666,812,3392,3402,3382,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1496,-0.82,-126.5,2665,811,3402,3382,259.1,-14.9,251,1501,0.10,2.22,0.00,0.000,3078,0.283,0.045,2676,2204,3392,3402,3382,0,0,0,0,0,0,14.58,14.76,28.83
$GC,1809,-0.82,-126.5,2676,2205,3401,3378,303.6,-14.5,283,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2205,3390,3402,3378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2109,-0.82,-126.5,2676,2205,3402,3374,346.6,-13.8,313,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2205,3388,3402,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2419,-0.82,-126.5,2676,2205,3402,3370,389.6,-14.0,330,2425,0.00,2.25,0.00,0.000,516,0.000,0.062,2677,813,3385,3401,3370,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2461,-0.82,-126.5,2677,813,3401,3370,396.1,-14.2,339,2466,0.00,2.25,0.00,0.000,1030,0.000,0.049,2668,2192,3385,3401,3370,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2780,-0.82,-126.5,2668,2191,3401,3365,442.2,-14.6,357,2784,0.00,2.25,0.00,0.000,516,0.000,0.064,2668,814,3382,3401,3364,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2809,-0.82,-126.5,2668,813,3401,3365,447.0,-14.8,363,2814,0.10,2.22,0.00,0.000,3078,0.281,0.050,2679,2202,3383,3401,3365,0,0,0,0,0,0,14.62,14.81,28.83
$GC,3122,-0.82,-126.5,2679,2202,3401,3360,488.9,-13.5,380,3128,0.00,2.28,0.00,0.000,516,0.000,0.067,2679,814,3380,3401,3360,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3162,-0.82,-126.5,2680,814,3401,3360,494.4,-13.6,388,3168,0.00,2.22,0.00,0.000,1030,0.000,0.050,2672,2203,3380,3401,3360,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3492,-0.82,-126.5,2672,2203,3401,3356,540.8,-14.1,403,3498,0.00,2.30,0.00,0.000,260,0.000,0.076,2662,3600,3378,3401,3356,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3509,-0.82,-126.5,2661,3599,3401,3356,543.8,-14.6,407,3514,0.08,2.22,0.00,0.000,3078,0.281,0.044,2676,2202,3378,3401,3355,0,0,0,0,0,0,14.66,14.83,28.83
$GC,3822,-0.82,-126.5,2676,2201,3400,3352,586.5,-13.8,419,3828,0.00,2.28,0.00,0.000,516,0.000,0.070,2676,804,3376,3400,3352,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3931,-0.82,-126.5,2675,802,3400,3353,601.5,-13.0,441,3936,0.00,2.25,0.00,0.000,1030,0.000,0.051,2669,2206,3376,3400,3352,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4237,-0.82,-126.5,2669,2206,3399,3351,643.4,-13.8,452,4241,0.00,2.30,0.00,0.000,516,0.000,0.064,2669,801,3375,3399,3351,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4271,-0.82,-126.5,2669,800,3398,3351,648.6,-14.4,459,4276,0.10,2.25,0.00,0.000,3078,0.279,0.051,2681,2200,3374,3398,3351,0,0,0,0,0,0,14.63,14.81,28.83
$GC,4594,-0.82,-126.5,2681,2201,3396,3348,689.5,-12.7,473,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2201,3373,3397,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4894,-0.82,-126.5,2681,2201,3396,3347,726.6,-12.3,483,4900,0.00,2.30,0.00,0.000,516,0.000,0.069,2681,796,3371,3396,3346,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4931,-0.82,-126.5,2681,796,3396,3346,731.6,-12.1,491,4936,0.00,2.25,0.00,0.000,1030,0.000,0.052,2673,2199,3371,3396,3346,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5254,-0.82,-126.5,2673,2200,3395,3344,772.6,-12.9,505,5260,0.00,2.28,0.00,0.000,516,0.000,0.067,2673,804,3370,3395,3345,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5284,-0.82,-126.5,2673,803,3395,3344,776.6,-13.7,511,5290,0.00,2.25,0.00,0.000,1030,0.000,0.054,2664,2202,3369,3395,3344,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5614,-0.82,-126.5,2664,2202,3393,3343,819.7,-13.0,527,5621,0.08,2.33,0.00,0.000,2308,0.341,0.074,2668,3601,3368,3393,3343,0,0,0,0,0,0,14.67,14.78,28.83
$GC,5636,-0.82,-126.5,2668,3601,3393,3343,822.9,-13.0,532,5644,0.00,2.30,0.00,0.000,1030,0.000,0.044,2668,2195,3368,3393,3343,0,0,0,0,0,0,28.83,14.72,28.83
$GC,5944,-0.82,-126.5,2668,2194,3392,3342,861.6,-12.9,543,5950,0.00,2.28,0.00,0.000,516,0.000,0.067,2668,804,3367,3392,3342,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6026,-0.82,-126.5,2668,805,3390,3342,872.3,-11.8,560,6035,0.05,2.33,0.00,0.000,3078,0.265,0.054,2672,2205,3366,3391,3342,0,0,0,0,0,0,14.48,14.71,28.83
$GC,6334,-0.82,-126.5,2672,2205,3391,3340,909.7,-12.3,571,6340,0.00,2.33,0.00,0.000,516,0.000,0.068,2671,795,3365,3391,3340,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6382,-0.82,-126.5,2672,796,3390,3340,916.1,-12.4,581,6386,0.00,2.28,0.00,0.000,1030,0.000,0.054,2670,2204,3365,3390,3340,0,0,0,0,0,0,28.83,14.80,28.83
$GC,6694,-0.82,-126.5,2670,2205,3389,3338,955.1,-12.6,593,6700,0.00,2.33,0.00,0.000,516,0.000,0.069,2669,798,3364,3390,3338,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6732,-0.82,-126.5,2669,797,3389,3338,960.3,-13.0,601,6736,0.08,2.28,0.00,0.000,3078,0.345,0.054,2674,2203,3363,3389,3338,0,0,0,0,0,0,14.57,14.80,28.83
$STATE,6993,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6993,begin apogee
$GC,6997,-0.16,0.0,2673,2134,3389,3338,991.8,-12.1,613,7126,0.80,0.00,121.90,2.332,10246,0.282,0.000,2887,2132,2867,2914,2820,0,0,0,0,0,0,14.39,28.83,13.22
$STATE,7127,end apogee,CONTROL_FINISHED_OK
$STATE,7127,begin climb
$GC,7129,0.82,126.5,2887,2132,2912,2816,996.5,0.0,640,7247,1.12,2.55,109.60,2.258,10500,0.210,0.074,3202,3535,2348,2406,2291,0,0,0,0,0,0,13.97,13.90,13.20
$GC,7268,0.82,126.5,3202,3535,2402,2289,989.5,9.3,668,7273,0.00,2.40,0.00,0.000,1030,0.000,0.050,3209,2161,2345,2402,2288,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7596,0.82,126.5,3209,2161,2400,2284,953.5,11.2,683,7602,0.00,2.45,0.00,0.000,516,0.000,0.083,3219,731,2343,2401,2285,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7741,0.82,126.5,3219,731,2399,2285,936.9,11.2,712,7749,0.00,2.38,0.00,0.000,1030,0.000,0.054,3219,2157,2342,2399,2285,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8047,0.82,126.5,3219,2157,2398,2283,902.6,11.3,723,8051,0.00,2.42,0.00,0.000,516,0.000,0.083,3229,732,2340,2397,2284,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8110,0.82,126.5,3230,732,2397,2284,894.9,12.0,736,8115,0.00,2.35,0.00,0.000,1030,0.000,0.053,3229,2137,2340,2397,2284,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8439,0.82,126.5,3229,2138,2396,2283,857.0,11.8,751,8443,0.00,2.40,0.00,0.000,516,0.000,0.081,3239,728,2339,2396,2283,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8513,0.82,126.5,3239,728,2396,2284,847.7,11.7,766,8518,0.00,2.33,0.00,0.000,1030,0.000,0.054,3239,2152,2338,2394,2283,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8831,0.82,126.5,3239,2152,2394,2282,810.3,11.9,779,8837,0.00,2.40,0.00,0.000,516,0.000,0.080,3249,730,2338,2395,2282,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8893,0.82,126.5,3249,729,2394,2282,802.4,11.9,792,8898,0.00,2.35,0.00,0.000,1030,0.000,0.053,3249,2147,2338,2395,2282,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9221,0.82,126.5,3249,2147,2394,2281,764.2,11.8,807,9227,0.00,2.38,0.00,0.000,516,0.000,0.079,3258,731,2338,2394,2282,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9294,0.82,126.5,3258,730,2394,2281,755.3,11.2,822,9299,0.10,2.30,0.00,0.000,5126,0.296,0.053,3238,2146,2338,2395,2281,0,0,0,0,0,0,14.54,14.76,28.83
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$STATE,17299,end climb,SURFACE_DEPTH_REACHED
$STATE,17299,begin surface coast
$FINISH,0.5,1.019220
$STATE,17317,end surface coast,CONTROL_FINISHED_OK
$STATE,17317,begin surface
$SM_CCo,17333,1.17,0.207,0,0,509,579.63
$SM_CCo,17336,-0.10,0.000,0,0,511,579.63
$SM_CCo,17339,0.40,0.413,0,0,508,579.63
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$IRIDIUM_FIX,1749.63,8923.74,180708,202055
$TT8_MAMPS,0.018725,0.018725
$HUMID,45.11
$INTERNAL_PRESSURE,6.66041
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,13.2,45.464
$10V_AH,12.7,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322292
$DATA_FILE_SIZE,140551,1745
$CAP_FILE_SIZE,191022,0
$CFSIZE,2097086464,2078179328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.026,281.9,1
$GPS,220915,171503,1800.192,8921.604,58,0.7,58,-0.9