version: 66.11
glider: 615
mission: 5
dive: 116
start: 9 26 115 6 5 4
data:
$ID,615
$MISSION,5
$DIVE,116
$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,-18969.451
$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,48
$R_STBD_OVSHOOT,44
$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
$GPS1,260915,055734,1804.745,8933.417,41,0.9,42,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-69.0
$GPS2,260915,060438,1804.722,8933.484,5,0.7,5,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,NE
$TGT_LATLONG,1806.660,8933.540
$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,3.7,3590,-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,-126.5,184,2217,543,489,0.0,0.0,0,64,0.00,0.00,-46.72,0.000,16386,0.000,0.000,183,2217,1821,1827,1815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.82,-126.5,183,2215,1827,1815,3.1,-7.0,7,119,10.68,2.38,-35.85,0.000,18948,0.351,0.074,2674,797,3389,3401,3377,0,0,0,0,0,0,14.29,14.54,14.76
$GC,201,-0.82,-126.5,1696,797,3388,3376,51.5,-40.6,31,207,0.00,2.25,0.00,0.000,1030,0.000,0.042,2665,2207,3390,3402,3378,0,0,0,0,0,0,28.83,14.59,28.83
$GC,390,-0.82,-126.5,2665,2208,3401,3379,100.3,-19.3,68,397,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2208,3390,3401,3379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,580,-0.82,-126.5,2665,2208,3402,3380,134.0,-16.2,105,588,0.00,2.25,0.00,0.000,516,0.000,0.054,2664,805,3390,3401,3380,0,0,0,0,0,0,28.83,14.65,28.83
$GC,595,-0.82,-126.5,2665,805,3401,3381,136.2,-15.9,107,602,0.10,2.22,0.00,0.000,3078,0.296,0.043,2674,2208,3390,3401,3380,0,0,0,0,0,0,14.49,14.69,28.83
$GC,785,-0.82,-126.5,1696,2206,3388,3381,162.8,-14.0,144,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2208,3392,3402,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,974,-0.82,-126.5,2674,2208,3401,3383,190.6,-15.1,181,981,0.00,2.25,0.00,0.000,516,0.000,0.056,2674,806,3392,3402,3383,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1012,-0.82,-126.5,1696,804,3388,3381,196.5,-13.8,188,1020,0.00,2.28,0.00,0.000,1030,0.000,0.044,2666,2202,3392,3402,3383,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1203,-0.82,-126.5,2666,2202,3402,3383,223.9,-14.3,209,1213,0.00,2.28,0.00,0.000,260,0.000,0.065,2655,3604,3392,3402,3383,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1256,-0.82,-126.5,2656,3604,3401,3383,231.8,-15.1,219,1266,0.10,2.20,0.00,0.000,3078,0.263,0.037,2676,2196,3392,3401,3383,0,0,0,0,0,0,14.57,14.77,28.83
$GC,1565,-0.82,-126.5,2677,2196,3401,3380,274.2,-13.6,251,1576,0.00,2.22,0.00,0.000,516,0.000,0.058,2677,809,3390,3401,3380,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1662,-0.82,-126.5,2677,809,3401,3379,287.5,-13.3,270,1670,0.00,2.25,0.00,0.000,1030,0.000,0.047,2668,2191,3390,3401,3379,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1970,-0.82,-126.5,2668,2191,3401,3376,329.6,-13.9,301,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2191,3388,3401,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2280,-0.82,-126.5,2669,2191,3401,3372,373.7,-14.1,324,2286,0.00,2.25,0.00,0.000,516,0.000,0.062,2668,803,3386,3401,3372,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2307,-0.82,-126.5,2669,803,3401,3372,378.1,-14.9,330,2312,0.10,2.25,0.00,0.000,3078,0.282,0.049,2679,2209,3386,3401,3371,0,0,0,0,0,0,14.59,14.78,28.83
$GC,2620,-0.82,-126.5,2679,2209,3402,3368,420.9,-14.2,347,2626,0.00,2.28,0.00,0.000,516,0.000,0.062,2679,807,3384,3401,3367,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2668,-0.82,-126.5,2680,806,3401,3367,428.2,-14.6,357,2673,0.00,2.22,0.00,0.000,1030,0.000,0.050,2671,2199,3384,3401,3367,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2981,-0.82,-126.5,2671,2200,3401,3362,473.1,-14.5,374,2987,0.00,2.25,0.00,0.000,516,0.000,0.063,2672,813,3381,3401,3362,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3021,-0.82,-126.5,2672,813,3401,3362,479.1,-15.0,382,3028,0.08,2.22,0.00,0.000,3078,0.306,0.050,2675,2202,3381,3401,3361,0,0,0,0,0,0,14.61,14.78,28.83
$GC,3331,-0.82,-126.5,2675,2202,3401,3357,522.8,-14.2,398,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2202,3379,3401,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3630,-0.82,-126.5,2675,2202,3400,3353,564.1,-13.6,408,3634,0.00,2.28,0.00,0.000,516,0.000,0.063,2675,810,3376,3400,3353,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3664,-0.82,-126.5,2675,810,3400,3353,569.0,-13.4,415,3669,0.00,2.25,0.00,0.000,1030,0.000,0.050,2668,2208,3376,3400,3353,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3987,-0.82,-126.5,2667,2207,3398,3352,613.2,-13.8,429,3993,0.00,2.30,0.00,0.000,516,0.000,0.066,2667,805,3374,3398,3351,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4029,-0.82,-126.5,2667,806,3398,3352,619.7,-14.3,438,4034,0.10,2.25,0.00,0.000,3078,0.281,0.053,2679,2201,3374,3398,3351,0,0,0,0,0,0,14.62,14.80,28.83
$GC,4347,-0.82,-126.5,2679,2201,3397,3349,662.3,-13.5,451,4353,0.00,2.28,0.00,0.000,516,0.000,0.067,2678,814,3373,3397,3349,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4384,-0.82,-126.5,2679,815,3396,3349,667.8,-13.5,459,4389,0.00,2.25,0.00,0.000,1030,0.000,0.052,2671,2209,3372,3396,3349,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4707,-0.82,-126.5,2671,2209,3395,3346,711.9,-14.0,473,4713,0.00,2.30,0.00,0.000,516,0.000,0.065,2671,808,3370,3395,3346,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4744,-0.82,-126.5,2671,807,3395,3346,717.5,-13.4,481,4750,0.05,2.30,0.00,0.000,3078,0.237,0.052,2676,2204,3370,3395,3346,0,0,0,0,0,0,14.57,14.78,28.83
$GC,5067,-0.82,-126.5,2677,2205,3394,3344,759.3,-12.9,495,5071,0.00,2.30,0.00,0.000,516,0.000,0.066,2676,806,3369,3394,3344,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5091,-0.82,-126.5,2677,806,3394,3345,762.9,-13.2,500,5099,0.00,2.30,0.00,0.000,1030,0.000,0.051,2669,2199,3369,3394,3344,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5399,-0.82,-126.5,2669,2199,3393,3343,802.6,-12.8,511,5405,0.00,2.28,0.00,0.000,516,0.000,0.066,2669,807,3368,3393,3343,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5429,-0.82,-126.5,2669,806,3393,3343,806.5,-13.1,517,5436,0.10,2.25,0.00,0.000,3078,0.284,0.052,2680,2205,3367,3392,3343,0,0,0,0,0,0,14.59,14.81,28.83
$GC,5759,-0.82,-126.5,2680,2206,3391,3341,845.5,-11.6,533,5765,0.00,2.33,0.00,0.000,260,0.000,0.078,2671,3608,3365,3391,3340,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5796,-0.82,-126.5,2671,3608,3390,3341,850.1,-11.5,541,5801,0.00,2.22,0.00,0.000,1030,0.000,0.042,2672,2207,3365,3390,3341,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6119,-0.82,-126.5,2671,2205,3390,3339,887.5,-11.7,555,6125,0.00,2.30,0.00,0.000,516,0.000,0.068,2671,806,3363,3389,3338,0,0,0,0,0,0,28.83,14.74,28.83
$GC,6211,-0.82,-126.5,2671,806,3389,3339,898.7,-11.6,574,6217,0.05,2.30,0.00,0.000,3078,0.260,0.054,2675,2200,3364,3389,3339,0,0,0,0,0,0,14.54,14.73,28.83
$GC,6540,-0.82,-126.5,2675,2200,3389,3338,937.4,-12.2,589,6546,0.00,2.30,0.00,0.000,516,0.000,0.069,2675,802,3363,3388,3338,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6572,-0.82,-126.5,2675,802,3388,3338,941.8,-12.5,596,6577,0.00,2.30,0.00,0.000,1030,0.000,0.054,2667,2195,3363,3389,3337,0,0,0,0,0,0,28.83,14.72,28.83
$GC,6900,-0.82,-126.5,2667,2195,3387,3337,981.6,-12.3,611,6906,0.00,2.30,0.00,0.000,516,0.000,0.068,2667,805,3362,3387,3337,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6933,-0.82,-126.5,2667,805,3387,3336,986.1,-12.1,618,6938,0.08,2.33,0.00,0.000,3078,0.238,0.054,2678,2208,3361,3387,3336,0,0,0,0,0,0,14.50,14.71,28.83
$STATE,6989,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6989,begin apogee
$GC,6993,-0.16,0.0,2678,2132,3386,3336,992.5,-11.7,624,7118,0.75,0.00,120.57,2.331,10246,0.237,0.000,2890,2132,2871,2917,2826,0,0,0,0,0,0,14.48,28.83,13.28
$STATE,7120,end apogee,CONTROL_FINISHED_OK
$STATE,7120,begin climb
$GC,7121,0.82,126.5,2889,2132,2912,2818,996.9,0.0,650,7235,1.02,0.00,109.53,2.215,10246,0.155,0.000,3202,2131,2356,2413,2300,0,0,0,0,0,0,13.99,28.83,13.21
$GC,7531,0.82,126.5,3202,2131,2402,2285,962.8,10.4,667,7537,0.00,2.38,0.00,0.000,516,0.000,0.079,3210,743,2343,2402,2285,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7604,0.82,126.5,3211,743,2402,2285,954.7,11.0,682,7608,0.00,2.30,0.00,0.000,1030,0.000,0.050,3211,2139,2343,2402,2285,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7921,0.82,126.5,3210,2140,2401,2284,921.8,10.4,695,7927,0.00,2.35,0.00,0.000,516,0.000,0.076,3220,747,2342,2400,2284,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7939,0.82,126.5,3220,748,2400,2284,919.8,10.2,699,7943,0.00,2.28,0.00,0.000,1030,0.000,0.050,3220,2143,2342,2400,2284,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8252,0.82,126.5,3219,2143,2398,2284,886.5,10.6,711,8256,0.00,2.38,0.00,0.000,516,0.000,0.076,3230,740,2340,2398,2283,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8283,0.82,126.5,3229,740,2398,2284,883.0,11.3,717,8290,0.00,2.28,0.00,0.000,1030,0.000,0.050,3230,2141,2340,2397,2283,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8614,0.82,126.5,3230,2141,2396,2283,848.0,10.6,733,8620,0.00,2.33,0.00,0.000,516,0.000,0.076,3240,742,2339,2396,2283,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8661,0.82,126.5,3240,742,2397,2283,842.5,11.5,743,8665,0.00,2.28,0.00,0.000,1030,0.000,0.050,3240,2141,2340,2397,2283,0,0,0,0,0,0,28.83,14.72,28.83
$GC,8974,0.82,126.5,3240,2141,2396,2283,809.1,10.8,755,8980,0.00,2.33,0.00,0.000,260,0.000,0.075,3240,3548,2338,2394,2282,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9005,0.82,126.5,3240,3548,2394,2282,805.1,11.7,762,9010,0.00,2.30,0.00,0.000,1030,0.000,0.046,3248,2152,2338,2394,2282,0,0,0,0,0,0,28.83,14.71,28.83
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$STATE,17355,end climb,SURFACE_DEPTH_REACHED
$STATE,17356,begin surface coast
$FINISH,0.3,1.019600
$STATE,17382,end surface coast,CONTROL_FINISHED_OK
$STATE,17382,begin surface
$SM_CCo,17398,46.10,0.135,0,0,508,579.63
$SM_CCo,17446,-0.08,0.000,0,0,511,579.63
$SM_CCo,17449,0.40,0.328,0,0,507,579.63
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$IRIDIUM_FIX,1756.43,8937.32,220708,141438
$TT8_MAMPS,0.018725,0.018725
$HUMID,43.58
$INTERNAL_PRESSURE,6.65065
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,13.2,51.256
$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,22.700,193.225,475.000,46.500,0.000,26.342,39.535,244.215,0.000,0.000,6.529,3423.706,10196.475,697.538,3374.088,170.351,0.000,2121.891,0.000,2510.095,0.000,0.552,0.000
$DEVICE_MAMPS,351.135,139.995,2330.955,328.185,0.000,29.840,160.000,223.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
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$SENSOR_SECS,912.368,606.636,1629.934,995.900,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322292
$DATA_FILE_SIZE,141140,1712
$CAP_FILE_SIZE,186796,0
$CFSIZE,2097086464,2075230208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.023,163.0,1
$GPS,260915,105703,1806.263,8933.709,33,0.7,33,-0.9