version: 66.11
glider: 615
mission: 5
dive: 181
start: 10 9 115 16 0 25
data:
$ID,615
$MISSION,5
$DIVE,181
$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,-19063.588
$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,55
$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
$GPS1,091015,155303,1758.374,8921.721,38,0.7,38,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.5
$GPS2,091015,155958,1758.369,8921.688,4,0.7,4,-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,10.7,15355,-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,-126.5,168,2216,561,479,0.0,0.0,0,61,0.00,0.00,-44.58,0.000,16386,0.000,0.000,166,2215,1776,1776,1776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.82,-126.5,166,2215,1776,1776,3.1,-7.2,7,116,10.88,2.33,-34.47,0.000,18948,0.352,0.068,2676,795,3389,3401,3377,0,0,0,0,0,0,14.20,14.51,14.73
$GC,174,-0.82,-126.5,2676,795,3401,3377,40.0,-29.3,26,181,0.00,2.33,0.00,0.000,1030,0.000,0.048,2667,2187,3389,3401,3377,0,0,0,0,0,0,28.83,14.47,28.83
$GC,365,-0.82,-126.5,1696,2185,3387,3375,91.0,-21.6,63,371,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2188,3389,3401,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,554,-0.82,-126.5,2668,2187,3401,3379,125.6,-18.0,100,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2188,3389,3400,3379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,744,-0.82,-126.5,2668,2188,3401,3381,155.3,-13.4,137,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2188,3391,3401,3381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,933,-0.82,-126.5,1680,2186,3386,3380,181.8,-13.7,174,940,0.00,2.35,0.00,0.000,260,0.000,0.061,2657,3610,3392,3402,3382,0,0,0,0,0,0,28.83,14.62,28.83
$GC,973,-0.82,-126.5,2657,3610,3400,3383,188.1,-15.7,181,981,0.10,2.22,0.00,0.000,3078,0.271,0.036,2677,2189,3391,3401,3382,0,0,0,0,0,0,14.46,14.71,28.83
$GC,1168,-0.82,-126.5,2677,2188,3401,3382,215.5,-13.7,208,1173,0.00,2.22,0.00,0.000,516,0.000,0.056,2678,808,3390,3399,3382,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1238,-0.82,-126.5,2677,807,3401,3382,225.9,-14.6,222,1247,0.00,2.28,0.00,0.000,1030,0.000,0.042,2669,2204,3391,3401,3382,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1546,-0.82,-126.5,2668,2204,3401,3380,269.1,-13.7,253,1557,0.00,2.25,0.00,0.000,516,0.000,0.057,2668,812,3390,3401,3379,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1600,-0.82,-126.5,2668,811,3401,3379,276.5,-13.5,263,1610,0.10,2.22,0.00,0.000,3078,0.279,0.044,2679,2211,3390,3401,3379,0,0,0,0,0,0,14.49,14.71,28.83
$GC,1909,-0.82,-126.5,2679,2210,3401,3376,318.2,-13.6,295,1920,0.00,2.28,0.00,0.000,260,0.000,0.066,2670,3600,3388,3401,3376,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1934,-0.82,-126.5,2671,3599,3401,3376,322.1,-14.3,300,1943,0.00,2.25,0.00,0.000,1030,0.000,0.038,2670,2205,3388,3401,3375,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2243,-0.82,-126.5,2672,2205,3401,3372,364.0,-13.6,326,2249,0.00,2.25,0.00,0.000,516,0.000,0.059,2671,804,3386,3401,3372,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2325,-0.82,-126.5,2670,803,3401,3372,375.6,-13.2,343,2331,0.05,2.28,0.00,0.000,3078,0.249,0.047,2675,2192,3386,3401,3371,0,0,0,0,0,0,14.44,14.66,28.83
$GC,2644,-0.82,-126.5,2676,2193,3400,3368,417.1,-13.2,361,2649,0.00,2.25,0.00,0.000,516,0.000,0.060,2675,807,3384,3401,3367,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2676,-0.82,-126.5,2676,807,3400,3367,422.0,-14.1,368,2684,0.00,2.30,0.00,0.000,1030,0.000,0.048,2668,2201,3383,3400,3367,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2984,-0.82,-126.5,2667,2201,3400,3362,463.8,-13.6,384,2990,0.00,2.28,0.00,0.000,516,0.000,0.062,2667,807,3381,3401,3362,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3016,-0.82,-126.5,2667,806,3400,3362,468.8,-14.2,391,3025,0.05,2.30,0.00,0.000,3078,0.243,0.048,2673,2199,3381,3400,3362,0,0,0,0,0,0,14.39,14.58,28.83
$GC,3324,-0.82,-126.5,2673,2199,3400,3357,509.9,-13.5,406,3328,0.00,2.25,0.00,0.000,516,0.000,0.060,2673,812,3378,3400,3357,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3348,-0.82,-126.5,2673,812,3400,3357,513.5,-13.7,411,3355,0.00,2.25,0.00,0.000,1030,0.000,0.049,2665,2204,3379,3401,3357,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3655,-0.82,-126.5,2665,2205,3400,3353,555.6,-13.9,422,3659,0.00,2.30,0.00,0.000,516,0.000,0.062,2665,805,3376,3400,3353,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3694,-0.82,-126.5,2665,805,3400,3353,561.5,-14.7,430,3699,0.10,2.25,0.00,0.000,3078,0.278,0.050,2676,2202,3376,3400,3353,0,0,0,0,0,0,14.52,14.73,28.83
$GC,4012,-0.82,-126.5,2676,2203,3399,3351,603.7,-13.3,443,4018,0.00,2.30,0.00,0.000,516,0.000,0.062,2676,803,3375,3400,3351,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4042,-0.82,-126.5,2676,803,3399,3351,607.9,-14.5,449,4046,0.00,2.22,0.00,0.000,1030,0.000,0.050,2668,2195,3375,3399,3351,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4374,-0.82,-126.5,2668,2196,3398,3348,652.9,-13.6,465,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2196,3373,3398,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4674,-0.82,-126.5,2668,2196,3397,3345,693.1,-13.1,475,4680,0.00,2.30,0.00,0.000,516,0.000,0.064,2668,801,3371,3397,3345,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4706,-0.82,-126.5,2668,801,3396,3345,697.7,-13.1,482,4711,0.05,2.30,0.00,0.000,3078,0.243,0.052,2673,2198,3371,3397,3345,0,0,0,0,0,0,14.46,14.67,28.83
$GC,5034,-0.82,-126.5,2673,2198,3395,3344,738.6,-12.4,497,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2199,3369,3395,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5334,-0.82,-126.5,2673,2198,3395,3343,775.5,-12.2,507,5335,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2198,3368,3395,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5634,-0.82,-126.5,2673,2199,3393,3341,811.3,-11.6,517,5640,0.00,2.30,0.00,0.000,516,0.000,0.066,2673,807,3367,3393,3341,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5664,-0.82,-126.5,2673,807,3392,3341,814.8,-12.4,523,5670,0.00,2.25,0.00,0.000,1030,0.000,0.052,2665,2200,3366,3392,3341,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5994,-0.82,-126.5,2665,2201,3390,3339,854.7,-12.3,539,6000,0.00,2.35,0.00,0.000,260,0.000,0.076,2654,3607,3365,3392,3339,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6011,-0.82,-126.5,2654,3607,3391,3339,857.2,-12.4,543,6016,0.10,2.25,0.00,0.000,3078,0.252,0.044,2676,2204,3364,3390,3339,0,0,0,0,0,0,14.54,14.78,28.83
$GC,6325,-0.82,-126.5,2676,2202,3391,3337,893.7,-11.7,555,6331,0.00,2.30,0.00,0.000,516,0.000,0.070,2676,810,3364,3391,3337,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6407,-0.82,-126.5,2676,810,3390,3337,904.1,-11.8,572,6414,0.00,2.33,0.00,0.000,1030,0.000,0.056,2668,2190,3363,3390,3337,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6714,-0.82,-126.5,2668,2190,3389,3336,941.3,-12.3,583,6718,0.00,2.33,0.00,0.000,516,0.000,0.068,2668,800,3363,3390,3336,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6746,-0.82,-126.5,2668,801,3389,3337,945.3,-12.8,589,6753,0.10,2.28,0.00,0.000,3078,0.288,0.054,2679,2204,3362,3389,3336,0,0,0,0,0,0,14.48,14.72,28.83
$GC,7076,-0.82,-126.5,2679,2204,3389,3336,983.7,-11.7,605,7082,0.00,2.33,0.00,0.000,516,0.000,0.068,2679,806,3362,3389,3336,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7093,-0.82,-126.5,2679,806,3387,3336,986.1,-12.3,609,7097,0.00,2.28,0.00,0.000,1030,0.000,0.053,2671,2208,3362,3389,3336,0,0,0,0,0,0,28.83,14.72,28.83
$STATE,7133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7134,begin apogee
$GC,7138,-0.16,0.0,2671,2122,3389,3336,990.9,-12.0,612,7256,0.75,0.00,108.45,2.126,10246,0.225,0.000,2886,2122,2865,2914,2816,0,0,0,0,0,0,14.44,28.83,13.28
$STATE,7257,end apogee,CONTROL_FINISHED_OK
$STATE,7257,begin climb
$GC,7259,0.82,126.5,2887,2122,2913,2814,995.2,0.0,636,7376,1.02,0.00,109.00,2.176,10246,0.137,0.000,3205,2122,2349,2407,2292,0,0,0,0,0,0,14.08,28.83,13.14
$GC,7675,0.82,126.5,3205,2122,2403,2287,959.4,10.8,650,7681,0.00,2.35,0.00,0.000,516,0.000,0.076,3214,749,2344,2402,2287,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7758,0.82,126.5,3214,749,2402,2287,949.9,11.3,667,7765,0.00,2.30,0.00,0.000,1030,0.000,0.050,3214,2137,2344,2402,2287,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8065,0.82,126.5,3215,2137,2402,2286,916.5,10.6,678,8069,0.00,2.35,0.00,0.000,516,0.000,0.075,3225,753,2343,2401,2286,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8109,0.82,126.5,3225,753,2402,2286,911.5,10.8,687,8113,0.00,2.28,0.00,0.000,1030,0.000,0.050,3225,2143,2344,2402,2286,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8422,0.82,126.5,3225,2142,2400,2285,878.4,10.4,699,8428,0.00,2.35,0.00,0.000,516,0.000,0.073,3235,752,2342,2400,2285,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8474,0.82,126.5,3235,752,2399,2285,872.3,11.6,710,8482,0.00,2.33,0.00,0.000,1030,0.000,0.050,3235,2137,2342,2399,2285,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8782,0.82,126.5,3235,2137,2398,2284,839.5,10.7,721,8788,0.00,2.33,0.00,0.000,516,0.000,0.074,3245,756,2341,2398,2284,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8850,0.82,126.5,3245,757,2398,2284,831.8,10.4,735,8854,0.00,2.28,0.00,0.000,1030,0.000,0.050,3245,2145,2341,2398,2284,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9172,0.82,126.5,3245,2146,2397,2283,798.0,10.4,749,9178,0.00,2.35,0.00,0.000,516,0.000,0.073,3255,750,2340,2397,2284,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9220,0.82,126.5,3254,750,2397,2284,792.6,10.8,759,9224,0.00,2.28,0.00,0.000,1030,0.000,0.050,3255,2146,2340,2397,2284,0,0,0,0,0,0,28.83,14.67,28.83
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$STATE,17470,end climb,SURFACE_DEPTH_REACHED
$STATE,17470,begin surface coast
$FINISH,0.2,1.008425
$STATE,17485,end surface coast,CONTROL_FINISHED_OK
$STATE,17485,begin surface
$SM_CCo,17501,1.15,0.211,0,0,509,579.63
$SM_CCo,17505,0.00,0.000,0,0,510,579.63
$SM_CCo,17507,0.38,0.338,0,0,508,579.63
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$IRIDIUM_FIX,1749.63,8921.48,050808,000005
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.59
$INTERNAL_PRESSURE,6.64088
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,13.1,71.406
$10V_AH,12.9,0.000
$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
$DEVICE_SECS,22.950,184.625,502.325,1.525,0.000,23.664,39.701,240.856,0.250,0.000,5.960,3386.213,10378.901,676.037,3283.832,189.739,0.000,2068.091,0.000,2443.031,0.000,0.553,0.000
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$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322260
$DATA_FILE_SIZE,134150,1664
$CAP_FILE_SIZE,181693,0
$CFSIZE,2097086464,2064580608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.024,276.0,1
$GPS,091015,205327,1800.108,8921.792,37,0.8,37,-0.9