version: 66.11
glider: 615
mission: 5
dive: 134
start: 9 29 115 23 1 49
data:
$ID,615
$MISSION,5
$DIVE,134
$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,-18996.9
$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,40
$R_STBD_OVSHOOT,50
$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
$GPS1,290915,225451,1801.885,8925.174,37,0.8,37,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-72.0
$GPS2,290915,230122,1801.885,8925.161,5,1.0,5,-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,115.8,19127,-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,-126.5,176,2156,558,480,0.0,0.0,0,62,0.00,0.00,-45.25,0.000,16386,0.000,0.000,175,2158,1812,1814,1810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.82,-126.5,175,2158,1814,1810,3.6,-8.6,7,117,10.75,2.28,-31.27,0.000,18948,0.353,0.073,2672,793,3389,3402,3377,0,0,0,0,0,0,14.26,14.42,14.77
$GC,280,-0.82,-126.5,2673,792,3402,3377,74.9,-24.5,47,286,0.00,2.22,0.00,0.000,1030,0.000,0.040,2665,2198,3389,3402,3377,0,0,0,0,0,0,28.83,14.62,28.83
$GC,468,-0.82,-126.5,2664,2198,3402,3379,114.5,-16.2,84,475,0.00,2.30,0.00,0.000,260,0.000,0.057,2654,3604,3390,3402,3378,0,0,0,0,0,0,28.83,14.63,28.83
$GC,702,-0.82,-126.5,2654,3604,3402,3381,152.3,-14.5,130,710,0.08,2.28,0.00,0.000,3078,0.230,0.036,2683,2179,3391,3402,3381,0,0,0,0,0,0,14.48,14.66,28.83
$GC,895,-0.82,-126.5,2683,2178,3401,3383,178.6,-13.0,167,901,0.00,2.20,0.00,0.000,516,0.000,0.056,2683,809,3392,3402,3383,0,0,0,0,0,0,28.83,14.66,28.83
$GC,949,-0.82,-126.5,2683,809,3402,3383,185.9,-13.0,177,956,0.00,2.20,0.00,0.000,1030,0.000,0.042,2675,2201,3392,3402,3383,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1139,-0.82,-126.5,2675,2201,3402,3383,212.1,-14.5,206,1148,0.00,2.28,0.00,0.000,260,0.000,0.063,2665,3601,3392,3402,3383,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1173,-0.82,-126.5,2664,3601,3402,3383,217.5,-14.8,213,1181,0.00,2.20,0.00,0.000,1030,0.000,0.037,2664,2196,3392,3402,3383,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1480,-0.82,-126.5,2664,2196,3402,3381,262.4,-14.2,244,1484,0.00,2.22,0.00,0.000,516,0.000,0.057,2664,810,3391,3402,3380,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1537,-0.82,-126.5,2664,809,3402,3379,270.5,-14.1,255,1549,0.10,2.20,0.00,0.000,3078,0.277,0.044,2675,2201,3391,3402,3380,0,0,0,0,0,0,14.56,14.75,28.83
$GC,1847,-0.82,-126.5,2675,2201,3402,3377,312.2,-14.0,287,1856,0.00,2.25,0.00,0.000,516,0.000,0.059,2676,808,3389,3402,3377,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1879,-0.82,-126.5,2676,808,3402,3376,316.8,-14.2,293,1890,0.00,2.20,0.00,0.000,1030,0.000,0.045,2667,2198,3389,3402,3376,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2191,-0.82,-126.5,2667,2198,3402,3372,362.0,-14.6,321,2195,0.00,2.33,0.00,0.000,260,0.000,0.069,2657,3607,3387,3402,3372,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2219,-0.82,-126.5,2657,3607,3401,3372,366.9,-15.6,327,2225,0.10,2.20,0.00,0.000,3078,0.252,0.038,2679,2205,3387,3402,3372,0,0,0,0,0,0,14.60,14.81,28.83
$GC,2532,-0.82,-126.5,2678,2204,3402,3369,410.5,-14.1,344,2538,0.00,2.25,0.00,0.000,516,0.000,0.062,2678,812,3385,3402,3369,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2621,-0.82,-126.5,2679,812,3401,3368,423.5,-14.0,362,2626,0.00,2.22,0.00,0.000,1030,0.000,0.050,2670,2195,3385,3402,3368,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2934,-0.82,-126.5,2671,2196,3401,3363,467.3,-14.0,379,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2196,3382,3401,3363,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3234,-0.82,-126.5,2671,2196,3401,3359,508.0,-13.1,393,3240,0.00,2.25,0.00,0.000,516,0.000,0.063,2671,813,3380,3402,3359,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3277,-0.82,-126.5,2671,813,3401,3359,514.1,-13.1,402,3282,0.08,2.22,0.00,0.000,3078,0.313,0.049,2674,2204,3379,3401,3358,0,0,0,0,0,0,14.59,14.78,28.83
$GC,3595,-0.82,-126.5,2675,2204,3401,3355,555.5,-13.2,415,3596,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2204,3377,3401,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3895,-0.82,-126.5,2675,2204,3401,3352,595.7,-13.4,425,3901,0.00,2.28,0.00,0.000,516,0.000,0.064,2675,809,3376,3400,3352,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3937,-0.82,-126.5,2675,809,3401,3352,601.8,-13.3,434,3941,0.00,2.22,0.00,0.000,1030,0.000,0.050,2667,2198,3375,3400,3351,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4255,-0.82,-126.5,2667,2198,3400,3352,644.9,-13.6,447,4256,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2198,3375,3400,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4555,-0.82,-126.5,2667,2198,3398,3348,685.5,-13.7,457,4559,0.00,2.28,0.00,0.000,516,0.000,0.064,2667,813,3373,3398,3348,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4589,-0.82,-126.5,2667,812,3397,3348,690.6,-14.1,464,4594,0.05,2.28,0.00,0.000,3078,0.241,0.050,2671,2201,3373,3398,3348,0,0,0,0,0,0,14.54,14.74,28.83
$GC,4917,-0.82,-126.5,2671,2201,3397,3346,733.0,-13.1,479,4923,0.00,2.28,0.00,0.000,516,0.000,0.066,2672,810,3371,3397,3345,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4977,-0.82,-126.5,2671,810,3396,3346,741.0,-12.8,491,4982,0.08,2.25,0.00,0.000,3078,0.327,0.051,2677,2204,3371,3396,3346,0,0,0,0,0,0,14.58,14.79,28.83
$GC,5310,-0.82,-126.5,2676,2204,3395,3344,782.2,-12.4,507,5311,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2204,3369,3395,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5610,-0.82,-126.5,2677,2204,3394,3343,819.5,-12.6,517,5616,0.00,2.28,0.00,0.000,516,0.000,0.067,2677,815,3368,3394,3343,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5652,-0.82,-126.5,2677,815,3394,3343,825.5,-13.0,526,5657,0.00,2.22,0.00,0.000,1030,0.000,0.052,2669,2198,3368,3394,3343,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5970,-0.82,-126.5,2669,2198,3392,3342,866.4,-12.9,539,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2198,3367,3392,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6270,-0.82,-126.5,2669,2198,3391,3340,905.3,-12.9,549,6276,0.00,2.28,0.00,0.000,516,0.000,0.067,2669,812,3366,3392,3340,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6300,-0.82,-126.5,2669,812,3391,3340,909.2,-13.4,555,6307,0.08,2.25,0.00,0.000,3078,0.330,0.053,2674,2205,3365,3391,3340,0,0,0,0,0,0,14.56,14.78,28.83
$GC,6630,-0.82,-126.5,2674,2207,3390,3338,949.1,-12.0,571,6636,0.00,2.30,0.00,0.000,516,0.000,0.068,2674,807,3363,3389,3338,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6682,-0.82,-126.5,2673,807,3390,3338,956.0,-12.6,582,6690,0.00,2.33,0.00,0.000,1030,0.000,0.053,2665,2202,3364,3390,3338,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,6958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6958,begin apogee
$GC,6962,-0.16,0.0,2667,2144,3389,3337,991.1,-12.9,592,7072,0.82,0.00,105.43,2.396,10246,0.278,0.000,2885,2144,2872,2918,2826,0,0,0,0,0,0,14.40,28.83,13.21
$STATE,7074,end apogee,CONTROL_FINISHED_OK
$STATE,7074,begin climb
$GC,7075,0.82,126.5,2885,2144,2912,2818,995.8,0.0,615,7200,1.10,2.55,111.80,2.449,10500,0.205,0.071,3198,3539,2345,2404,2287,0,0,0,0,0,0,13.98,13.90,13.14
$GC,7220,0.82,126.5,3198,3539,2402,2286,989.0,9.4,644,7225,0.00,2.38,0.00,0.000,1030,0.000,0.047,3206,2150,2343,2402,2285,0,0,0,0,0,0,28.83,14.08,28.83
$GC,7532,0.82,126.5,3206,2149,2400,2282,957.2,10.3,656,7536,0.00,2.42,0.00,0.000,516,0.000,0.082,3208,737,2342,2402,2283,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7651,0.82,126.5,3208,736,2402,2283,945.4,10.0,679,7657,0.00,2.28,0.00,0.000,1030,0.000,0.049,3207,2132,2342,2401,2283,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7980,0.82,126.5,3207,2132,2401,2281,911.9,10.3,695,7986,0.00,2.38,0.00,0.000,516,0.000,0.080,3214,736,2341,2401,2281,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8042,0.82,126.5,3214,736,2400,2281,905.2,10.4,708,8047,0.00,2.35,0.00,0.000,1030,0.000,0.050,3214,2142,2340,2400,2281,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8370,0.82,126.5,3214,2142,2398,2280,870.6,10.8,723,8376,0.00,2.40,0.00,0.000,516,0.000,0.080,3221,729,2339,2398,2280,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8408,0.82,126.5,3221,729,2398,2280,866.2,11.3,731,8412,0.00,2.30,0.00,0.000,1030,0.000,0.050,3222,2140,2339,2398,2280,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8730,0.82,126.5,3222,2140,2396,2279,830.2,11.2,745,8736,0.00,2.35,0.00,0.000,516,0.000,0.079,3231,719,2338,2397,2279,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8821,0.82,126.5,3231,719,2395,2280,820.0,11.2,763,8827,0.00,2.30,0.00,0.000,1030,0.000,0.049,3231,2141,2337,2396,2279,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9152,0.82,126.5,3231,2141,2395,2278,782.4,11.3,779,9158,0.00,2.35,0.00,0.000,516,0.000,0.076,3240,735,2337,2395,2279,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9183,0.82,126.5,3240,735,2395,2279,778.3,11.9,786,9188,0.00,2.33,0.00,0.000,1030,0.000,0.050,3240,2138,2337,2395,2279,0,0,0,0,0,0,28.83,14.68,28.83
$GC,9511,0.82,126.5,3240,2138,2394,2278,741.7,11.1,801,9517,0.00,2.35,0.00,0.000,516,0.000,0.077,3248,733,2336,2395,2278,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9583,0.82,126.5,3248,734,2394,2278,733.5,10.9,816,9588,0.00,2.30,0.00,0.000,1030,0.000,0.050,3248,2150,2336,2394,2278,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9901,0.82,126.5,3248,2151,2393,2278,700.2,10.7,829,9907,0.00,2.38,0.00,0.000,516,0.000,0.076,3257,735,2336,2394,2278,0,0,0,0,0,0,28.83,14.67,28.83
$GC,10054,0.82,126.5,3258,735,2394,2278,683.6,10.7,860,10059,0.05,2.33,0.00,0.000,5126,0.243,0.050,3243,2139,2336,2394,2278,0,0,0,0,0,0,14.47,14.69,28.83
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$STATE,17371,end climb,SURFACE_DEPTH_REACHED
$STATE,17371,begin surface coast
$FINISH,0.3,1.019447
$STATE,17390,end surface coast,CONTROL_FINISHED_OK
$STATE,17390,begin surface
$SM_CCo,17406,1.15,0.182,0,0,509,579.63
$SM_CCo,17409,-0.08,0.000,0,0,512,579.63
$SM_CCo,17412,0.43,0.391,0,0,509,579.63
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$IRIDIUM_FIX,1754.17,8921.45,260708,070745
$TT8_MAMPS,0.018725,0.018725
$HUMID,46.06
$INTERNAL_PRESSURE,6.67018
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,13.1,57.009
$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
$DEVICE_SECS,22.800,175.375,510.100,1.575,0.000,22.814,15.148,238.563,0.000,0.000,6.827,3408.793,10283.899,629.734,3310.082,160.953,0.000,2043.890,0.000,2494.806,0.000,0.553,0.000
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$SENSOR_SECS,911.283,608.720,1586.945,969.961,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322248
$DATA_FILE_SIZE,137369,1705
$CAP_FILE_SIZE,182307,0
$CFSIZE,2097086464,2072281088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.019, 50.4,1
$GPS,300915,035303,1801.199,8926.831,25,0.9,25,-0.9