version: 66.11
glider: 615
mission: 5
dive: 103
start: 9 23 115 13 14 1
data:
$ID,615
$MISSION,5
$DIVE,103
$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,-18950.863
$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,43
$R_STBD_OVSHOOT,52
$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
$GPS1,230915,130621,1803.858,8923.321,37,0.8,37,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-71.9
$GPS2,230915,131335,1803.831,8923.368,5,1.2,5,-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,122.7,23869,-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,-126.5,165,2218,560,479,0.0,0.0,0,63,0.00,0.00,-45.55,0.000,16386,0.000,0.000,163,2217,1805,1810,1800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.82,-126.5,164,2217,1810,1800,3.4,-8.3,7,117,10.75,2.33,-32.30,0.000,18692,0.352,0.083,2667,3591,3390,3402,3378,0,0,0,0,0,0,14.30,14.50,14.77
$GC,195,-0.82,-126.5,2667,3591,3402,3379,46.4,-31.0,30,202,0.00,2.28,0.00,0.000,1030,0.000,0.039,2667,2196,3390,3402,3378,0,0,0,0,0,0,28.83,14.57,28.83
$GC,386,-0.82,-126.5,1696,2190,3388,3376,96.8,-21.7,67,392,0.00,2.25,0.00,0.000,516,0.000,0.055,2667,795,3390,3402,3378,0,0,0,0,0,0,28.83,14.63,28.83
$GC,460,-0.82,-126.5,2667,795,3402,3379,110.5,-17.6,81,468,0.10,2.22,0.00,0.000,3078,0.299,0.044,2676,2200,3390,3402,3379,0,0,0,0,0,0,14.47,14.66,28.83
$GC,652,-0.82,-126.5,2676,2201,3402,3380,141.9,-15.4,118,659,0.00,2.33,0.00,0.000,260,0.000,0.062,2667,3598,3391,3402,3380,0,0,0,0,0,0,28.83,14.64,28.83
$GC,702,-0.82,-126.5,2668,3598,3402,3381,149.5,-15.2,127,709,0.00,2.20,0.00,0.000,1030,0.000,0.037,2668,2193,3391,3402,3381,0,0,0,0,0,0,28.83,14.73,28.83
$GC,891,-0.82,-126.5,1696,2190,3388,3379,174.4,-13.6,164,898,0.00,2.28,0.00,0.000,516,0.000,0.057,2667,810,3392,3402,3382,0,0,0,0,0,0,28.83,14.64,28.83
$GC,945,-0.82,-126.5,2667,810,3402,3382,181.9,-13.9,174,953,0.05,2.25,0.00,0.000,3078,0.259,0.044,2672,2197,3392,3403,3382,0,0,0,0,0,0,14.50,14.69,28.83
$GC,1142,-0.82,-126.5,2672,2197,3402,3382,209.3,-14.1,206,1151,0.00,2.28,0.00,0.000,260,0.000,0.063,2664,3601,3392,3402,3382,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1204,-0.82,-126.5,2663,3601,3402,3382,218.3,-14.4,218,1213,0.08,2.20,0.00,0.000,3078,0.278,0.037,2677,2190,3392,3403,3382,0,0,0,0,0,0,14.59,14.78,28.83
$GC,1512,-0.82,-126.5,2677,2189,3403,3380,262.4,-14.2,250,1516,0.00,2.20,0.00,0.000,516,0.000,0.057,2677,814,3390,3402,3379,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1622,-0.82,-126.5,2677,813,3402,3379,278.3,-14.2,272,1632,0.00,2.25,0.00,0.000,1030,0.000,0.046,2669,2199,3390,3402,3378,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1931,-0.82,-126.5,2669,2199,3402,3375,322.7,-14.5,303,1940,0.00,2.22,0.00,0.000,516,0.000,0.059,2669,816,3388,3402,3375,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1986,-0.82,-126.5,2669,815,3402,3374,331.1,-14.3,314,1996,0.05,2.25,0.00,0.000,3078,0.255,0.047,2674,2198,3387,3402,3373,0,0,0,0,0,0,14.47,14.64,28.83
$GC,2295,-0.82,-126.5,2674,2198,3402,3371,373.8,-14.1,337,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2198,3386,3402,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2594,-0.82,-126.5,2674,2198,3402,3367,415.5,-13.8,352,2600,0.00,2.25,0.00,0.000,516,0.000,0.062,2674,809,3384,3402,3367,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2643,-0.82,-126.5,2674,808,3402,3367,422.4,-13.4,362,2647,0.00,2.22,0.00,0.000,1030,0.000,0.050,2665,2199,3384,3402,3367,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2949,-0.82,-126.5,2666,2200,3402,3362,463.8,-13.6,378,2955,0.00,2.25,0.00,0.000,516,0.000,0.066,2665,817,3382,3402,3362,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2971,-0.82,-126.5,2666,817,3402,3362,467.2,-13.8,383,2976,0.08,2.25,0.00,0.000,3078,0.229,0.050,2678,2198,3381,3401,3362,0,0,0,0,0,0,14.58,14.76,28.83
$GC,3278,-0.82,-126.5,2678,2198,3402,3357,505.8,-12.7,400,3283,0.00,2.25,0.00,0.000,516,0.000,0.064,2679,813,3379,3402,3357,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3338,-0.82,-126.5,2679,813,3402,3357,513.7,-12.7,412,3343,0.00,2.25,0.00,0.000,1030,0.000,0.050,2671,2194,3379,3402,3357,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3666,-0.82,-126.5,2671,2194,3401,3353,557.5,-13.5,427,3672,0.00,2.25,0.00,0.000,516,0.000,0.065,2671,817,3377,3402,3353,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3688,-0.82,-126.5,2671,817,3402,3353,560.9,-13.8,432,3698,0.05,2.28,0.00,0.000,3078,0.248,0.051,2676,2198,3377,3401,3353,0,0,0,0,0,0,14.52,14.71,28.83
$GC,3996,-0.82,-126.5,2676,2198,3401,3351,601.2,-13.3,443,4000,0.00,2.28,0.00,0.000,516,0.000,0.066,2676,812,3376,3401,3351,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4029,-0.82,-126.5,2676,812,3400,3351,606.1,-13.8,450,4034,0.00,2.28,0.00,0.000,1030,0.000,0.052,2669,2203,3375,3400,3351,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4358,-0.82,-126.5,2668,2204,3399,3349,651.3,-13.9,465,4364,0.00,2.28,0.00,0.000,516,0.000,0.066,2669,816,3373,3399,3348,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4389,-0.82,-126.5,2668,815,3399,3348,656.2,-14.2,472,4395,0.05,2.28,0.00,0.000,3078,0.249,0.052,2673,2201,3374,3399,3349,0,0,0,0,0,0,14.59,14.78,28.83
$GC,4718,-0.82,-126.5,2673,2201,3398,3346,699.8,-13.3,487,4719,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2201,3372,3398,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5018,-0.82,-126.5,2673,2200,3396,3344,738.8,-12.9,497,5022,0.00,2.28,0.00,0.000,516,0.000,0.068,2673,810,3370,3396,3344,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5059,-0.82,-126.5,2673,810,3396,3345,744.3,-12.9,505,5063,0.00,2.25,0.00,0.000,1030,0.000,0.053,2665,2208,3370,3396,3344,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5375,-0.82,-126.5,2665,2208,3395,3343,785.8,-13.1,518,5379,0.00,2.30,0.00,0.000,516,0.000,0.067,2665,810,3369,3395,3343,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5429,-0.82,-126.5,2665,810,3395,3343,793.4,-13.1,529,5436,0.10,2.25,0.00,0.000,3078,0.291,0.053,2676,2205,3368,3394,3343,0,0,0,0,0,0,14.62,14.81,28.83
$GC,5736,-0.82,-126.5,2676,2205,3393,3341,830.9,-12.4,540,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2205,3367,3394,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6036,-0.82,-126.5,2676,2205,3393,3340,868.1,-12.2,550,6040,0.00,2.28,0.00,0.000,516,0.000,0.070,2677,817,3366,3392,3340,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6085,-0.82,-126.5,2677,817,3392,3341,874.5,-12.4,560,6093,0.00,2.28,0.00,0.000,1030,0.000,0.054,2669,2194,3365,3391,3340,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6392,-0.82,-126.5,2668,2195,3390,3339,912.5,-12.7,571,6398,0.00,2.25,0.00,0.000,516,0.000,0.068,2669,819,3364,3390,3339,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6424,-0.82,-126.5,2669,819,3390,3339,917.0,-12.8,578,6429,0.05,2.28,0.00,0.000,3078,0.265,0.054,2673,2201,3364,3390,3339,0,0,0,0,0,0,14.54,14.75,28.83
$GC,6752,-0.82,-126.5,2673,2201,3389,3337,957.0,-12.3,593,6758,0.00,2.28,0.00,0.000,516,0.000,0.070,2673,816,3363,3389,3337,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6775,-0.82,-126.5,2673,816,3389,3338,960.2,-13.2,598,6783,0.00,2.30,0.00,0.000,1030,0.000,0.054,2665,2197,3363,3389,3338,0,0,0,0,0,0,28.83,14.68,28.83
$STATE,7021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7021,begin apogee
$GC,7025,-0.16,0.0,2666,2198,3388,3338,991.0,-12.6,607,7177,0.82,0.00,147.32,2.020,10246,0.262,0.000,2887,2199,2873,2919,2827,0,0,0,0,0,0,14.46,28.83,13.43
$STATE,7178,end apogee,CONTROL_FINISHED_OK
$STATE,7178,begin climb
$GC,7180,0.82,126.5,2887,2199,2913,2821,995.9,0.0,638,7296,1.08,2.47,108.43,2.165,10500,0.184,0.074,3203,3551,2349,2407,2292,0,0,0,0,0,0,14.00,13.92,13.22
$GC,7331,0.82,126.5,3203,3551,2402,2286,987.6,10.4,668,7336,0.00,2.42,0.00,0.000,1030,0.000,0.050,3210,2156,2343,2402,2285,0,0,0,0,0,0,28.83,14.13,28.83
$GC,7660,0.82,126.5,3210,2155,2402,2283,951.3,11.1,683,7664,0.00,2.42,0.00,0.000,516,0.000,0.080,3220,738,2342,2401,2283,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7831,0.82,126.5,3219,738,2401,2282,931.5,11.0,717,7835,0.00,2.33,0.00,0.000,1030,0.000,0.051,3220,2153,2342,2401,2283,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8136,0.82,126.5,3220,2153,2398,2282,897.0,11.2,728,8140,0.00,2.40,0.00,0.000,516,0.000,0.080,3229,736,2340,2398,2282,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8224,0.82,126.5,3229,736,2397,2282,886.9,11.8,745,8228,0.00,2.30,0.00,0.000,1030,0.000,0.052,3229,2141,2339,2397,2282,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8555,0.82,126.5,3229,2140,2397,2281,849.7,11.1,761,8561,0.00,2.38,0.00,0.000,516,0.000,0.079,3239,733,2339,2397,2281,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8597,0.82,126.5,3238,733,2397,2281,844.5,11.4,770,8602,0.00,2.30,0.00,0.000,1030,0.000,0.052,3239,2143,2339,2397,2281,0,0,0,0,0,0,28.83,14.72,28.83
$GC,8915,0.82,126.5,3239,2143,2395,2280,809.0,11.3,783,8921,0.00,2.38,0.00,0.000,516,0.000,0.079,3248,731,2337,2394,2280,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8983,0.82,126.5,3248,731,2395,2280,800.7,11.2,797,8987,0.00,2.30,0.00,0.000,1030,0.000,0.052,3249,2145,2337,2395,2280,0,0,0,0,0,0,28.83,14.74,28.83
$GC,9306,0.82,126.5,3249,2145,2394,2280,764.9,10.9,811,9312,0.00,2.38,0.00,0.000,516,0.000,0.077,3258,729,2337,2394,2280,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9384,0.82,126.5,3259,729,2394,2280,755.9,11.6,827,9389,0.10,2.30,0.00,0.000,5126,0.291,0.052,3238,2146,2337,2394,2280,0,0,0,0,0,0,14.55,14.76,28.83
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$STATE,17474,end climb,SURFACE_DEPTH_REACHED
$STATE,17474,begin surface coast
$FINISH,0.2,1.019378
$STATE,17505,end surface coast,CONTROL_FINISHED_OK
$STATE,17505,begin surface
$SM_CCo,17521,34.08,0.136,0,0,507,579.63
$SM_CCo,17557,-0.10,0.000,0,0,511,579.63
$SM_CCo,17560,0.38,0.347,0,0,507,579.63
$SM_GC,1.41,8.82,0.00,0.38,0.060,0.000,0.347,183,2146,507,-8.59,-1.55,579.63,0,0,0,0,0,0,14.66,28.83,14.56
$IRIDIUM_FIX,1756.43,8921.45,190708,212137
$TT8_MAMPS,0.018725,0.018725
$HUMID,43.66
$INTERNAL_PRESSURE,6.67994
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,13.2,47.111
$10V_AH,12.6,0.000
$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
$DEVICE_SECS,22.700,193.825,539.075,34.450,0.000,22.783,39.987,254.558,0.000,0.000,6.532,3543.226,10103.225,694.973,3478.434,162.988,0.000,2168.805,0.000,2587.134,0.000,0.553,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,945.812,642.917,1698.613,1037.527,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322240
$DATA_FILE_SIZE,144053,1760
$CAP_FILE_SIZE,192010,0
$CFSIZE,2097086464,2077360128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.028,261.9,1
$GPS,230915,180758,1802.792,8924.649,40,0.8,40,-0.9