version: 66.11
glider: 615
mission: 5
dive: 101
start: 9 23 115 3 21 45
data:
$ID,615
$MISSION,5
$DIVE,101
$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,-18948.357
$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,35
$R_STBD_OVSHOOT,43
$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
$GPS1,230915,031428,1803.682,8921.682,65,0.9,65,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-69.1
$GPS2,230915,032119,1803.694,8921.728,5,1.1,5,-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,360.0,5497,-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,-126.5,165,2212,562,477,0.0,0.0,0,63,0.00,0.00,-46.30,0.000,16386,0.000,0.000,164,2213,1818,1828,1809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.82,-126.5,164,2216,1827,1809,3.3,-7.8,7,118,10.73,2.35,-32.90,0.000,18948,0.352,0.074,2672,792,3389,3401,3377,0,0,0,0,0,0,14.31,14.54,14.78
$GC,207,-0.82,-126.5,2672,791,3401,3377,51.6,-34.5,32,215,0.00,2.30,0.00,0.000,1030,0.000,0.045,2663,2194,3389,3402,3377,0,0,0,0,0,0,28.83,14.56,28.83
$GC,404,-0.82,-126.5,2663,2195,3402,3378,98.4,-15.6,69,410,0.08,0.00,0.00,0.000,2054,0.332,0.000,2675,2195,3389,3401,3378,0,0,0,0,0,0,14.51,28.83,28.83
$GC,596,-0.82,-126.5,2675,2195,3402,3380,129.0,-15.2,106,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2195,3390,3402,3379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,791,-0.82,-126.5,2675,2196,3401,3381,156.6,-12.7,143,797,0.00,2.28,0.00,0.000,260,0.000,0.063,2666,3600,3391,3402,3381,0,0,0,0,0,0,28.83,14.69,28.83
$GC,825,-0.82,-126.5,2666,3600,3401,3381,161.4,-14.0,149,832,0.00,2.22,0.00,0.000,1030,0.000,0.037,2666,2176,3391,3402,3381,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1019,-0.82,-126.5,2666,2174,3402,3381,189.6,-14.0,186,1027,0.00,2.25,0.00,0.000,516,0.000,0.057,2666,809,3391,3402,3381,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1071,-0.82,-126.5,2666,809,3401,3381,196.8,-14.3,195,1078,0.10,2.20,0.00,0.000,3078,0.287,0.044,2676,2204,3391,3402,3381,0,0,0,0,0,0,14.54,14.73,28.83
$GC,1265,-0.82,-126.5,2676,2204,3401,3380,223.3,-13.9,216,1275,0.00,2.28,0.00,0.000,260,0.000,0.064,2667,3606,3390,3401,3380,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1296,-0.82,-126.5,2667,3606,3402,3380,228.0,-15.3,222,1301,0.00,2.20,0.00,0.000,1030,0.000,0.038,2667,2197,3391,3402,3380,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1603,-0.82,-126.5,2667,2196,3401,3377,274.7,-15.1,253,1613,0.00,2.22,0.00,0.000,516,0.000,0.058,2667,802,3389,3401,3377,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1741,-0.82,-126.5,2667,802,3401,3376,296.0,-14.5,280,1749,0.05,2.25,0.00,0.000,3078,0.254,0.045,2672,2187,3388,3401,3375,0,0,0,0,0,0,14.49,14.67,28.83
$GC,2049,-0.82,-126.5,2672,2188,3401,3372,341.5,-14.6,311,2059,0.00,2.22,0.00,0.000,516,0.000,0.061,2673,812,3386,3401,3372,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2081,-0.82,-126.5,2673,812,3401,3372,346.4,-14.9,317,2092,0.00,2.22,0.00,0.000,1030,0.000,0.048,2664,2207,3386,3401,3371,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2392,-0.82,-126.5,2664,2207,3401,3368,391.9,-14.7,335,2399,0.05,2.28,0.00,0.000,2564,0.371,0.060,2674,805,3384,3401,3368,0,0,0,0,0,0,14.69,14.73,28.83
$GC,2451,-0.82,-126.5,2675,803,3401,3368,400.6,-13.6,347,2457,0.00,2.22,0.00,0.000,1030,0.000,0.048,2666,2201,3384,3401,3368,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2772,-0.82,-126.5,2666,2201,3401,3362,447.1,-14.8,366,2778,0.00,2.25,0.00,0.000,516,0.000,0.064,2666,813,3381,3401,3362,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2812,-0.82,-126.5,2666,813,3401,3362,453.2,-15.5,374,2819,0.10,2.22,0.00,0.000,3078,0.281,0.050,2676,2206,3381,3401,3362,0,0,0,0,0,0,14.61,14.79,28.83
$GC,3132,-0.82,-126.5,2677,2207,3401,3357,498.1,-13.9,393,3138,0.00,2.28,0.00,0.000,516,0.000,0.064,2676,806,3379,3401,3357,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3154,-0.82,-126.5,2677,806,3401,3357,501.6,-14.5,398,3163,0.00,2.28,0.00,0.000,1030,0.000,0.049,2669,2195,3379,3401,3357,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3462,-0.82,-126.5,2669,2195,3401,3353,544.9,-14.2,409,3468,0.00,2.25,0.00,0.000,516,0.000,0.065,2669,809,3377,3401,3353,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3495,-0.82,-126.5,2669,809,3400,3353,549.9,-14.6,416,3500,0.05,2.28,0.00,0.000,3078,0.256,0.051,2675,2199,3376,3400,3353,0,0,0,0,0,0,14.56,14.76,28.83
$GC,3823,-0.82,-126.5,2675,2200,3399,3351,593.5,-13.2,431,3829,0.00,2.25,0.00,0.000,516,0.000,0.066,2675,813,3375,3399,3352,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3853,-0.82,-126.5,2675,813,3399,3352,597.6,-13.7,437,3859,0.00,2.22,0.00,0.000,1030,0.000,0.051,2667,2201,3375,3399,3352,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4183,-0.82,-126.5,2667,2202,3397,3349,642.9,-13.7,453,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2202,3373,3397,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4483,-0.82,-126.5,2667,2202,3396,3346,684.3,-13.9,463,4489,0.00,2.28,0.00,0.000,516,0.000,0.067,2667,806,3371,3396,3346,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4513,-0.82,-126.5,2667,806,3396,3346,688.5,-14.1,469,4520,0.10,2.25,0.00,0.000,3078,0.291,0.053,2678,2208,3370,3395,3346,0,0,0,0,0,0,14.61,14.82,28.83
$GC,4843,-0.82,-126.5,2678,2209,3395,3344,731.6,-12.9,485,4849,0.00,2.28,0.00,0.000,516,0.000,0.068,2678,814,3369,3394,3345,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4896,-0.82,-126.5,2678,815,3394,3344,738.8,-13.0,496,4904,0.00,2.28,0.00,0.000,1030,0.000,0.054,2671,2192,3369,3394,3344,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5203,-0.82,-126.5,2671,2193,3393,3343,779.5,-13.5,507,5209,0.00,2.25,0.00,0.000,516,0.000,0.067,2671,813,3368,3393,3343,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5236,-0.82,-126.5,2671,813,3393,3343,784.2,-13.3,514,5241,0.05,2.28,0.00,0.000,3078,0.261,0.053,2675,2202,3367,3392,3343,0,0,0,0,0,0,14.54,14.76,28.83
$GC,5564,-0.82,-126.5,2675,2202,3392,3341,824.4,-12.1,529,5570,0.00,2.33,0.00,0.000,260,0.000,0.076,2666,3602,3366,3392,3341,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5594,-0.82,-126.5,2667,3603,3391,3341,828.1,-12.5,535,5600,0.00,2.22,0.00,0.000,1030,0.000,0.045,2666,2202,3366,3391,3341,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5924,-0.82,-126.5,2666,2200,3391,3338,869.9,-12.6,551,5930,0.00,2.28,0.00,0.000,516,0.000,0.068,2666,806,3364,3390,3338,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5997,-0.82,-126.5,2666,806,3389,3338,879.7,-12.5,566,6002,0.10,2.25,0.00,0.000,3078,0.295,0.053,2676,2205,3363,3389,3338,0,0,0,0,0,0,14.58,14.80,28.83
$GC,6315,-0.82,-126.5,2676,2205,3389,3337,918.3,-12.5,579,6321,0.00,2.30,0.00,0.000,516,0.000,0.070,2676,793,3363,3389,3338,0,0,0,0,0,0,28.83,14.74,28.83
$GC,6375,-0.82,-126.5,2676,793,3388,3337,925.9,-12.2,591,6381,0.00,2.28,0.00,0.000,1030,0.000,0.054,2669,2202,3362,3388,3337,0,0,0,0,0,0,28.83,14.79,28.83
$GC,6705,-0.82,-126.5,2669,2203,3388,3337,968.6,-12.9,607,6711,0.00,2.30,0.00,0.000,516,0.000,0.070,2669,808,3362,3388,3336,0,0,0,0,0,0,28.83,14.75,28.83
$GC,6772,-0.82,-126.5,2669,807,3387,3336,977.7,-12.8,621,6777,0.00,2.28,0.00,0.000,1030,0.000,0.055,2665,2209,3362,3387,3337,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,6883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6883,begin apogee
$GC,6887,-0.16,0.0,2665,2127,3386,3336,991.5,-12.6,628,7042,0.82,0.00,147.77,2.007,10246,0.277,0.000,2885,2126,2868,2915,2822,0,0,0,0,0,0,14.42,28.83,13.41
$STATE,7043,end apogee,CONTROL_FINISHED_OK
$STATE,7043,begin climb
$GC,7045,0.82,126.5,2885,2126,2913,2819,997.0,0.0,660,7163,1.12,2.53,108.10,2.170,10500,0.207,0.073,3204,3546,2347,2403,2292,0,0,0,0,0,0,14.00,13.92,13.20
$GC,7174,0.84,136.0,3204,3545,2402,2290,991.1,8.7,686,7186,0.00,2.38,4.05,1.330,9222,0.000,0.050,3210,2159,2319,2377,2262,0,0,0,0,0,0,28.83,14.05,13.28
$GC,7485,0.84,136.0,3211,2159,2389,2274,955.6,11.6,698,7493,0.00,2.50,1.77,0.176,8708,0.000,0.083,3214,736,2319,2377,2262,0,0,0,0,0,0,28.83,14.42,14.40
$GC,7643,0.84,136.0,3214,736,2386,2274,937.0,11.3,730,7650,0.00,2.30,1.67,0.180,9222,0.000,0.053,3214,2137,2317,2373,2261,0,0,0,0,0,0,28.83,14.57,14.47
$GC,7962,0.84,136.0,3214,2138,2385,2273,900.8,11.4,743,7970,0.00,2.42,1.48,0.184,8708,0.000,0.081,3221,739,2318,2375,2261,0,0,0,0,0,0,28.83,14.57,14.55
$GC,8091,0.84,136.0,3221,739,2384,2273,885.8,11.2,769,8097,0.00,2.30,1.38,0.191,9222,0.000,0.053,3221,2146,2317,2373,2261,0,0,0,0,0,0,28.83,14.66,14.57
$GC,8408,0.84,136.0,3220,2146,2384,2272,850.2,11.2,782,8416,0.00,2.38,1.23,0.195,8708,0.000,0.079,3229,735,2318,2375,2262,0,0,0,0,0,0,28.83,14.65,14.57
$GC,8502,0.84,136.0,3229,735,2382,2272,839.5,11.4,801,8508,0.00,2.30,1.20,0.200,9222,0.000,0.054,3229,2146,2316,2372,2261,0,0,0,0,0,0,28.83,14.71,14.62
$GC,8826,0.84,136.0,3229,2147,2382,2271,804.1,11.0,815,8832,0.00,2.38,0.00,0.000,516,0.000,0.080,3239,732,2326,2382,2271,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8878,0.84,136.0,3239,732,2382,2271,797.9,11.6,826,8886,0.00,2.35,1.05,0.181,9222,0.000,0.054,3238,2138,2316,2372,2261,0,0,0,0,0,0,28.83,14.63,14.64
$GC,9186,0.84,136.0,3239,2139,2381,2270,764.4,10.9,837,9190,0.00,2.35,0.00,0.000,516,0.000,0.080,3248,730,2325,2381,2270,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9260,0.84,136.0,3248,729,2382,2270,755.8,10.8,852,9264,0.00,2.30,0.00,0.000,1030,0.000,0.052,3248,2148,2325,2381,2270,0,0,0,0,0,0,28.83,14.75,28.83
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$GC,16542,1.26,484.4,3377,3554,957,854,40.0,11.3,1643,16550,0.00,2.30,0.00,0.000,1030,0.000,0.044,3387,2136,906,959,854,0,0,0,0,0,0,28.83,14.56,28.83
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$STATE,16922,end climb,SURFACE_DEPTH_REACHED
$STATE,16922,begin surface coast
$FINISH,0.3,0.997223
$STATE,16959,end surface coast,CONTROL_FINISHED_OK
$STATE,16959,begin surface
$SM_CCo,16977,31.52,0.135,0,0,510,579.63
$SM_CCo,17011,0.00,0.000,0,0,510,579.63
$SM_CCo,17013,0.22,0.496,0,0,509,579.63
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$IRIDIUM_FIX,1754.17,8923.72,190708,111131
$TT8_MAMPS,0.018725,0.018725
$HUMID,44.09
$INTERNAL_PRESSURE,6.66041
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,13.2,46.444
$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
$DEVICE_SECS,22.650,194.350,542.925,31.750,0.000,26.451,17.372,256.557,0.000,0.000,6.506,3365.562,9790.820,719.989,3366.011,170.944,0.000,2178.158,0.000,2533.296,0.000,0.553,0.000
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$SENSOR_SECS,898.251,599.671,1597.724,976.081,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322272
$DATA_FILE_SIZE,140758,1723
$CAP_FILE_SIZE,187886,0
$CFSIZE,2097086464,2077687808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.030,160.7,1
$GPS,230915,080633,1805.147,8921.863,38,0.8,38,-0.9