version: 66.11
glider: 615
mission: 5
dive: 142
start: 10 1 115 13 54 33
data:
$ID,615
$MISSION,5
$DIVE,142
$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,-19008.916
$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,79
$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
$GPS1,011015,134651,1800.833,8933.065,38,0.8,38,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-72.0
$GPS2,011015,135407,1800.838,8933.060,3,0.9,4,-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,5.7,10816,-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,-126.5,194,2242,547,491,0.0,0.0,0,62,0.00,0.00,-44.85,0.000,16386,0.000,0.000,193,2241,1783,1785,1782,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.82,-126.5,193,2243,1787,1782,3.2,-7.1,7,117,10.62,2.22,-35.08,0.000,18692,0.350,0.074,2663,3574,3390,3402,3379,0,0,0,0,0,0,14.26,14.56,14.75
$GC,180,-0.82,-126.5,2663,3574,3402,3379,39.1,-29.6,27,187,0.08,2.17,0.00,0.000,3078,0.296,0.036,2676,2194,3390,3402,3379,0,0,0,0,0,0,14.40,14.62,28.83
$GC,370,-0.82,-126.5,1688,2189,3388,3376,91.1,-20.7,64,377,0.00,2.25,0.00,0.000,516,0.000,0.051,2675,803,3390,3402,3379,0,0,0,0,0,0,28.83,14.59,28.83
$GC,500,-0.82,-126.5,2676,803,3402,3380,115.8,-14.6,89,507,0.00,2.15,0.00,0.000,1030,0.000,0.038,2667,2172,3391,3402,3380,0,0,0,0,0,0,28.83,14.68,28.83
$GC,690,-0.82,-126.5,2668,2172,3402,3382,143.3,-14.4,126,698,0.00,2.35,0.00,0.000,260,0.000,0.057,2656,3594,3392,3402,3382,0,0,0,0,0,0,28.83,14.62,28.83
$GC,751,-0.82,-126.5,2657,3594,3402,3383,153.3,-16.5,137,759,0.10,2.17,0.00,0.000,3078,0.268,0.034,2677,2187,3392,3402,3382,0,0,0,0,0,0,14.50,14.73,28.83
$GC,942,-0.82,-126.5,2677,2186,3402,3382,181.1,-14.5,174,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2186,3392,3402,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1131,-0.82,-126.5,2677,2186,3402,3383,207.4,-14.3,206,1140,0.00,2.17,0.00,0.000,516,0.000,0.053,2677,822,3392,3402,3383,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1165,-0.82,-126.5,2678,822,3402,3383,212.6,-13.8,213,1173,0.00,2.17,0.00,0.000,1030,0.000,0.041,2669,2202,3393,3403,3383,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1472,-0.82,-126.5,2669,2202,3402,3380,256.0,-13.9,244,1476,0.00,2.25,0.00,0.000,260,0.000,0.063,2658,3597,3391,3402,3380,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1511,-0.82,-126.5,2658,3597,3402,3380,262.0,-14.6,252,1520,0.05,2.22,0.00,0.000,3078,0.223,0.037,2674,2205,3390,3402,3379,0,0,0,0,0,0,14.47,14.63,28.83
$GC,1820,-0.82,-126.5,2674,2204,3402,3376,303.2,-13.6,283,1829,0.00,2.22,0.00,0.000,516,0.000,0.057,2674,815,3389,3402,3376,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1884,-0.82,-126.5,2674,814,3402,3376,312.2,-13.6,295,1894,0.00,2.20,0.00,0.000,1030,0.000,0.045,2666,2201,3388,3402,3375,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2193,-0.82,-126.5,2666,2202,3402,3372,356.4,-14.4,325,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2202,3387,3402,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2493,-0.82,-126.5,2665,2202,3402,3368,401.0,-15.0,340,2499,0.00,2.25,0.00,0.000,516,0.000,0.060,2665,812,3385,3402,3368,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2525,-0.82,-126.5,2666,812,3402,3368,406.4,-15.2,347,2535,0.08,2.28,0.00,0.000,3078,0.226,0.047,2678,2196,3384,3402,3367,0,0,0,0,0,0,14.47,14.66,28.83
$GC,2833,-0.82,-126.5,2678,2196,3402,3362,449.7,-14.0,363,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2196,3382,3402,3362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3133,-0.82,-126.5,2678,2196,3401,3356,490.1,-13.6,378,3139,0.00,2.25,0.00,0.000,516,0.000,0.061,2678,816,3379,3402,3357,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3155,-0.82,-126.5,2678,816,3401,3357,493.5,-14.2,383,3159,0.00,2.28,0.00,0.000,1030,0.000,0.049,2670,2205,3378,3401,3356,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3483,-0.82,-126.5,2670,2205,3401,3352,538.9,-13.9,397,3489,0.00,2.28,0.00,0.000,516,0.000,0.063,2670,812,3376,3401,3352,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3513,-0.82,-126.5,2670,812,3401,3352,543.2,-14.4,403,3520,0.10,2.22,0.00,0.000,3078,0.276,0.049,2681,2204,3376,3401,3352,0,0,0,0,0,0,14.59,14.79,28.83
$GC,3843,-0.82,-126.5,2681,2203,3401,3350,587.1,-13.4,419,3849,0.00,2.30,0.00,0.000,260,0.000,0.071,2673,3601,3375,3401,3350,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3873,-0.82,-126.5,2673,3601,3400,3350,591.1,-13.4,425,3879,0.00,2.20,0.00,0.000,1030,0.000,0.042,2673,2209,3375,3400,3350,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4203,-0.82,-126.5,2673,2208,3399,3346,636.5,-13.8,441,4209,0.00,2.30,0.00,0.000,516,0.000,0.063,2673,800,3372,3399,3346,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4276,-0.82,-126.5,2673,800,3398,3346,647.1,-13.7,456,4281,0.08,2.25,0.00,0.000,3078,0.304,0.050,2676,2199,3372,3398,3346,0,0,0,0,0,0,14.59,14.78,28.83
$GC,4594,-0.82,-126.5,2676,2199,3397,3344,687.6,-12.8,469,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2199,3370,3396,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4893,-0.82,-126.5,2676,2200,3395,3343,726.3,-13.0,479,4898,0.00,2.30,0.00,0.000,516,0.000,0.063,2677,804,3369,3395,3343,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4938,-0.82,-126.5,2676,804,3395,3343,732.4,-12.8,488,4942,0.00,2.25,0.00,0.000,1030,0.000,0.052,2669,2201,3368,3395,3342,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5255,-0.82,-126.5,2668,2201,3393,3341,773.8,-13.2,501,5256,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2202,3367,3393,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5556,-0.82,-126.5,2669,2202,3392,3339,812.6,-12.8,511,5561,0.00,2.30,0.00,0.000,516,0.000,0.065,2669,803,3365,3392,3339,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5585,-0.82,-126.5,2669,803,3391,3339,816.5,-13.5,517,5592,0.10,2.25,0.00,0.000,3078,0.278,0.052,2680,2200,3366,3392,3340,0,0,0,0,0,0,14.59,14.79,28.83
$GC,5916,-0.82,-126.5,2680,2200,3390,3337,856.6,-12.3,533,5917,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2200,3363,3390,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6215,-0.82,-126.5,2680,2199,3389,3337,893.3,-12.3,543,6221,0.00,2.30,0.00,0.000,516,0.000,0.068,2680,802,3362,3389,3336,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6257,-0.82,-126.5,2680,802,3389,3336,898.9,-12.2,552,6262,0.00,2.28,0.00,0.000,1030,0.000,0.057,2672,2198,3363,3389,3337,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6575,-0.82,-126.5,2672,2200,3388,3335,938.3,-12.5,565,6581,0.00,2.30,0.00,0.000,516,0.000,0.069,2672,803,3362,3389,3335,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6605,-0.82,-126.5,2672,803,3388,3336,942.1,-13.3,571,6612,0.08,2.28,0.00,0.000,3078,0.314,0.054,2675,2210,3361,3388,3335,0,0,0,0,0,0,14.57,14.77,28.83
$GC,6935,-0.82,-126.5,2675,2210,3387,3334,981.7,-11.9,587,6941,0.00,2.33,0.00,0.000,516,0.000,0.067,2675,805,3361,3387,3335,0,0,0,0,0,0,28.83,14.72,28.83
$GC,6965,-0.82,-126.5,2676,805,3387,3334,985.3,-12.6,593,6971,0.00,2.25,0.00,0.000,1030,0.000,0.053,2667,2200,3361,3387,3335,0,0,0,0,0,0,28.83,14.76,28.83
$STATE,7023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7023,begin apogee
$GC,7027,-0.16,0.0,2668,2133,3386,3335,992.5,-12.0,600,7134,0.75,0.00,102.00,2.176,10246,0.220,0.000,2886,2132,2871,2917,2826,0,0,0,0,0,0,14.52,28.83,13.33
$STATE,7135,end apogee,CONTROL_FINISHED_OK
$STATE,7135,begin climb
$GC,7137,0.82,126.5,2886,2132,2911,2818,996.5,0.0,622,7249,1.02,0.00,107.68,2.133,10758,0.138,0.000,3207,2132,2355,2412,2299,0,0,0,0,0,0,14.03,28.83,13.19
$GC,7530,0.82,126.5,3207,2132,2402,2284,962.7,10.9,646,7536,0.00,2.35,0.00,0.000,516,0.000,0.076,3215,753,2343,2402,2284,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7603,0.82,126.5,3215,752,2402,2285,954.5,10.8,661,7607,0.00,2.30,0.00,0.000,1030,0.000,0.050,3214,2142,2343,2401,2285,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7919,0.82,126.5,3215,2144,2399,2283,919.8,10.9,674,7923,0.00,2.38,0.00,0.000,516,0.000,0.075,3225,745,2341,2399,2283,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7998,0.82,126.5,3225,745,2399,2283,910.8,11.1,690,8003,0.00,2.30,0.00,0.000,1030,0.000,0.051,3225,2145,2341,2399,2283,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8311,0.82,126.5,3225,2145,2397,2283,876.7,10.9,702,8317,0.00,2.35,0.00,0.000,516,0.000,0.075,3235,750,2339,2397,2282,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8370,0.82,126.5,3234,750,2397,2283,870.1,11.2,714,8374,0.00,2.28,0.00,0.000,1030,0.000,0.050,3235,2145,2340,2397,2283,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8697,0.82,126.5,3236,2145,2396,2282,835.1,10.8,729,8701,0.00,2.35,0.00,0.000,516,0.000,0.074,3245,752,2338,2396,2281,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8741,0.82,126.5,3245,752,2396,2282,829.9,11.1,738,8745,0.00,2.28,0.00,0.000,1030,0.000,0.051,3245,2146,2339,2396,2282,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9058,0.82,126.5,3245,2147,2395,2282,795.0,11.0,751,9064,0.00,2.35,0.00,0.000,516,0.000,0.074,3255,743,2338,2395,2282,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9118,0.82,126.5,3255,744,2395,2281,788.2,11.5,763,9122,0.00,2.30,0.00,0.000,1030,0.000,0.051,3254,2151,2338,2395,2282,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9450,0.82,126.5,3254,2151,2394,2281,751.6,11.1,779,9451,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2150,2337,2394,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9750,0.82,126.5,3255,2150,2394,2280,719.4,10.6,789,9757,0.00,2.35,0.00,0.000,516,0.000,0.073,3264,747,2337,2394,2281,0,0,0,0,0,0,28.83,14.66,28.83
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$STATE,17506,end climb,SURFACE_DEPTH_REACHED
$STATE,17506,begin surface coast
$FINISH,0.2,1.009734
$STATE,17528,end surface coast,CONTROL_FINISHED_OK
$STATE,17528,begin surface
$SM_CCo,17546,24.85,0.138,0,0,509,579.63
$SM_CCo,17574,-0.10,0.000,0,0,511,579.63
$SM_CCo,17576,0.30,0.401,0,0,509,579.63
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$IRIDIUM_FIX,1749.63,8935.07,270708,222237
$TT8_MAMPS,0.018725,0.018725
$HUMID,44.48
$INTERNAL_PRESSURE,6.65065
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,13.2,59.474
$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,22.625,169.950,473.175,25.150,0.000,23.414,25.478,268.394,0.000,0.000,5.118,3420.169,10461.079,638.523,3317.109,165.036,0.000,2029.698,0.000,2465.182,0.000,0.553,0.000
$DEVICE_MAMPS,350.370,166.770,2175.660,400.860,0.000,29.840,160.000,223.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
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$SENSOR_SECS,924.711,616.536,1627.765,996.607,0.000,0.000,0.000,0.000,0.000,0.000
$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,137445,1674
$CAP_FILE_SIZE,179031,0
$CFSIZE,2097086464,2070970368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.028,209.8,1
$GPS,011015,184833,1802.383,8933.296,26,0.9,26,-0.9