version: 66.11
glider: 615
mission: 5
dive: 186
start: 10 10 115 17 4 49
data:
$ID,615
$MISSION,5
$DIVE,186
$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,-19070.533
$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,37
$R_STBD_OVSHOOT,45
$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
$GPS1,101015,165533,1806.452,8921.316,32,0.8,32,-0.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.1
$GPS2,101015,170422,1806.424,8921.272,5,0.7,5,-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,123.6,29836,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.82,-126.5,165,2192,544,485,0.0,0.0,0,62,0.00,0.00,-45.12,0.000,16386,0.000,0.000,163,2191,1780,1776,1784,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.82,-126.5,163,2191,1776,1784,3.1,-7.0,7,117,11.02,2.40,-35.15,0.000,18692,0.360,0.083,2666,3600,3389,3401,3377,0,0,0,0,0,0,14.20,14.52,14.74
$GC,260,-0.82,-126.5,1696,3599,3387,3375,65.5,-25.6,43,267,0.00,2.25,0.00,0.000,1030,0.000,0.036,2666,2181,3389,3401,3377,0,0,0,0,0,0,28.83,14.62,28.83
$GC,449,-0.82,-126.5,2666,2179,3401,3378,104.1,-18.3,80,456,0.00,2.28,0.00,0.000,516,0.000,0.055,2666,807,3389,3401,3378,0,0,0,0,0,0,28.83,14.52,28.83
$GC,473,-0.82,-126.5,1680,806,3388,3376,108.4,-18.0,84,480,0.08,2.28,0.00,0.000,3078,0.251,0.040,2684,2205,3390,3402,3378,0,0,0,0,0,0,14.37,14.56,28.83
$GC,665,-0.82,-126.5,2684,2206,3401,3380,137.2,-14.1,121,672,0.00,2.25,0.00,0.000,516,0.000,0.054,2684,808,3390,3402,3379,0,0,0,0,0,0,28.83,14.62,28.83
$GC,679,-0.82,-126.5,2684,808,3402,3380,139.1,-13.6,123,686,0.00,2.20,0.00,0.000,1030,0.000,0.040,2676,2203,3390,3402,3379,0,0,0,0,0,0,28.83,14.66,28.83
$GC,869,-0.82,-126.5,2676,2203,3402,3380,166.4,-14.6,160,876,0.00,2.33,0.00,0.000,516,0.000,0.055,2676,805,3391,3402,3380,0,0,0,0,0,0,28.83,14.56,28.83
$GC,928,-0.82,-126.5,1696,803,3388,3378,175.2,-15.2,171,935,0.00,2.20,0.00,0.000,1030,0.000,0.041,2666,2199,3390,3401,3380,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1124,-0.82,-126.5,2666,2199,3402,3380,203.6,-14.9,207,1134,0.00,2.28,0.00,0.000,260,0.000,0.062,2655,3597,3391,3402,3380,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1220,-0.82,-126.5,2655,3597,3402,3380,218.0,-15.1,225,1230,0.08,2.20,0.00,0.000,3078,0.216,0.036,2677,2191,3391,3402,3380,0,0,0,0,0,0,14.33,14.73,28.83
$GC,1528,-0.82,-126.5,2677,2189,3402,3377,262.2,-13.8,257,1538,0.00,2.22,0.00,0.000,516,0.000,0.057,2677,811,3389,3402,3377,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1612,-0.82,-126.5,2677,811,3401,3377,274.0,-13.5,273,1622,0.00,2.20,0.00,0.000,1030,0.000,0.043,2669,2198,3388,3401,3376,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1923,-0.82,-126.5,2669,2198,3401,3373,317.6,-13.9,305,1932,0.00,2.25,0.00,0.000,516,0.000,0.058,2669,810,3387,3401,3373,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1957,-0.82,-126.5,2669,810,3401,3372,322.9,-14.1,312,1967,0.05,2.28,0.00,0.000,3078,0.244,0.044,2673,2199,3386,3401,3372,0,0,0,0,0,0,14.32,14.54,28.83
$GC,2265,-0.82,-126.5,2674,2199,3401,3369,365.0,-14.0,338,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2199,3385,3401,3369,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2565,-0.82,-126.5,2674,2199,3401,3364,408.0,-14.4,353,2571,0.00,2.25,0.00,0.000,516,0.000,0.060,2674,805,3382,3401,3364,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2605,-0.82,-126.5,2674,804,3401,3364,413.7,-14.2,361,2611,0.00,2.25,0.00,0.000,1030,0.000,0.047,2665,2210,3382,3400,3364,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2925,-0.82,-126.5,2665,2210,3401,3359,459.3,-14.2,380,2926,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2210,3380,3401,3359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3225,-0.82,-126.5,2666,2210,3401,3355,501.1,-13.9,395,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2210,3378,3401,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3525,-0.82,-126.5,2663,2210,3401,3352,542.7,-13.9,405,3529,0.00,2.30,0.00,0.000,516,0.000,0.062,2665,809,3376,3401,3352,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3575,-0.82,-126.5,2665,809,3401,3352,550.1,-13.7,415,3579,0.10,2.25,0.00,0.000,3078,0.278,0.048,2677,2210,3375,3400,3351,0,0,0,0,0,0,14.52,14.75,28.83
$GC,3888,-0.82,-126.5,2677,2210,3400,3348,590.9,-13.1,427,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2210,3373,3400,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4187,-0.82,-126.5,2677,2211,3398,3345,629.4,-12.8,437,4193,0.00,2.30,0.00,0.000,516,0.000,0.062,2677,809,3371,3398,3345,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4255,-0.82,-126.5,2677,809,3397,3345,638.1,-12.2,451,4259,0.00,2.25,0.00,0.000,1030,0.000,0.048,2669,2206,3371,3397,3345,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4577,-0.82,-126.5,2669,2207,3396,3343,679.1,-12.9,465,4583,0.00,2.30,0.00,0.000,516,0.000,0.063,2669,810,3369,3395,3343,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4609,-0.82,-126.5,2669,810,3396,3343,683.7,-13.5,472,4614,0.05,2.28,0.00,0.000,3078,0.249,0.047,2674,2198,3369,3396,3343,0,0,0,0,0,0,14.45,14.67,28.83
$GC,4937,-0.82,-126.5,2674,2198,3394,3341,723.9,-12.1,487,4939,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2199,3368,3395,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5238,-0.82,-126.5,2674,2199,3393,3339,760.5,-12.3,497,5242,0.00,2.30,0.00,0.000,516,0.000,0.066,2674,818,3366,3394,3339,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5301,-0.82,-126.5,2674,818,3393,3339,768.9,-12.1,510,5306,0.00,2.28,0.00,0.000,1030,0.000,0.051,2666,2194,3366,3393,3339,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5630,-0.82,-126.5,2666,2195,3392,3338,810.8,-13.1,525,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2195,3365,3393,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5930,-0.82,-126.5,2666,2195,3391,3336,850.1,-13.2,535,5936,0.00,2.28,0.00,0.000,516,0.000,0.065,2666,819,3363,3391,3336,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5973,-0.82,-126.5,2666,819,3390,3337,856.2,-13.2,544,5978,0.10,2.25,0.00,0.000,3078,0.284,0.050,2676,2206,3363,3391,3336,0,0,0,0,0,0,14.48,14.73,28.83
$GC,6290,-0.82,-126.5,2676,2206,3389,3336,894.8,-12.2,557,6296,0.00,2.30,0.00,0.000,516,0.000,0.066,2676,818,3363,3390,3336,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6321,-0.82,-126.5,2677,817,3389,3336,898.5,-12.3,563,6327,0.00,2.22,0.00,0.000,1030,0.000,0.050,2669,2200,3363,3390,3336,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6650,-0.82,-126.5,2669,2200,3389,3334,938.9,-12.3,579,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2200,3361,3389,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6950,-0.82,-126.5,2669,2200,3388,3334,976.3,-12.6,589,6956,0.00,2.28,0.00,0.000,516,0.000,0.067,2668,819,3361,3388,3334,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7003,-0.82,-126.5,2669,819,3388,3334,983.5,-12.5,600,7011,0.00,2.30,0.00,0.000,1030,0.000,0.051,2659,2194,3360,3388,3333,0,0,0,0,0,0,28.83,14.55,28.83
$STATE,7069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7069,begin apogee
$GC,7073,-0.16,0.0,2659,2194,3387,3334,991.7,-12.7,603,7182,0.82,0.00,102.62,2.200,10246,0.236,0.000,2888,2196,2867,2916,2818,0,0,0,0,0,0,14.39,28.83,13.29
$STATE,7183,end apogee,CONTROL_FINISHED_OK
$STATE,7183,begin climb
$GC,7185,0.82,126.5,2888,2196,2914,2815,996.4,0.0,626,7298,1.05,0.00,108.62,2.173,10502,0.158,0.000,3205,2197,2355,2413,2298,0,0,0,0,0,0,14.01,28.83,13.15
$GC,7580,0.82,126.5,3206,2198,2403,2285,966.2,9.7,650,7586,0.00,2.47,0.00,0.000,516,0.000,0.076,3215,755,2344,2403,2285,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7693,0.82,126.5,3215,755,2402,2285,954.6,10.2,673,7701,0.00,2.30,0.00,0.000,1030,0.000,0.049,3215,2150,2343,2402,2285,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8000,0.82,126.5,3216,2149,2401,2283,923.1,10.3,684,8001,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2149,2343,2402,2284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8300,0.82,126.5,3215,2150,2400,2284,892.2,10.3,694,8304,0.00,2.38,0.00,0.000,516,0.000,0.074,3225,756,2341,2400,2283,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8339,0.82,126.5,3226,756,2400,2283,887.9,10.5,702,8344,0.00,2.30,0.00,0.000,1030,0.000,0.048,3226,2141,2341,2400,2283,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8662,0.82,126.5,3226,2141,2398,2283,853.7,10.6,716,8666,0.00,2.35,0.00,0.000,516,0.000,0.073,3235,750,2340,2398,2283,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8731,0.82,126.5,3236,750,2398,2283,845.9,11.1,730,8735,0.00,2.25,0.00,0.000,1030,0.000,0.047,3236,2142,2340,2398,2283,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9053,0.82,126.5,3236,2142,2397,2282,811.2,10.7,744,9054,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,2143,2339,2397,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9353,0.82,126.5,3236,2142,2397,2282,779.0,10.5,754,9357,0.00,2.35,0.00,0.000,516,0.000,0.073,3245,753,2339,2397,2282,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9447,0.82,126.5,3245,752,2396,2282,768.9,10.2,773,9451,0.00,2.25,0.00,0.000,1030,0.000,0.047,3245,2139,2339,2397,2282,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9774,0.82,126.5,3245,2140,2395,2282,735.4,10.3,788,9778,0.00,2.33,0.00,0.000,516,0.000,0.073,3255,756,2338,2395,2282,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9861,0.82,126.5,3255,756,2395,2282,726.3,10.7,805,9868,0.08,2.25,0.00,0.000,5126,0.294,0.047,3243,2145,2338,2395,2282,0,0,0,0,0,0,14.49,14.69,28.83
$GC,10190,0.82,126.5,3242,2145,2395,2281,693.1,9.9,821,10192,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2145,2338,2395,2281,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17507,end climb,SURFACE_DEPTH_REACHED
$STATE,17507,begin surface coast
$FINISH,0.3,1.019746
$STATE,17529,end surface coast,CONTROL_FINISHED_OK
$STATE,17529,begin surface
$SM_CCo,17545,23.08,0.137,0,0,510,579.63
$SM_CCo,17570,-0.03,0.000,0,0,510,579.63
$SM_CCo,17573,0.28,0.424,0,0,509,579.63
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$IRIDIUM_FIX,1800.97,8928.23,060808,060640
$TT8_MAMPS,0.018725,0.018725
$HUMID,45.35
$INTERNAL_PRESSURE,6.65065
$TCM_TEMP,24.10
$XPDR_PINGS,4
$24V_AH,13.2,72.930
$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
$DEVICE_SECS,22.750,156.150,482.375,23.350,0.000,48.171,57.090,245.873,1.000,0.000,5.936,3384.265,10598.717,631.125,3308.633,171.013,0.000,1987.849,0.000,2421.769,0.000,0.551,0.000
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$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322264
$DATA_FILE_SIZE,134575,1646
$CAP_FILE_SIZE,175851,0
$CFSIZE,2097086464,2063761408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.042,225.9,1
$GPS,101015,215857,1805.166,8922.411,38,0.8,38,-0.9