version: 66.11
glider: 615
mission: 5
dive: 187
start: 10 10 115 22 7 35
data:
$ID,615
$MISSION,5
$DIVE,187
$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,-19071.789
$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,47
$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
$GPS1,101015,215857,1805.166,8922.411,38,0.8,38,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-71.1
$GPS2,101015,220709,1805.127,8922.323,5,0.7,5,-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,120.8,26843,-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,-126.5,152,2150,545,488,0.0,0.0,0,63,0.00,0.00,-46.00,0.000,16386,0.000,0.000,151,2147,1802,1803,1801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.82,-126.5,151,2150,1804,1801,3.1,-6.4,7,118,10.93,2.42,-34.30,0.000,18692,0.352,0.078,2663,3601,3389,3402,3376,0,0,0,0,0,0,14.20,14.51,14.74
$GC,225,-0.82,-126.5,2663,3601,3402,3377,57.4,-28.2,36,234,0.05,2.30,0.00,0.000,3078,0.246,0.039,2686,2194,3389,3402,3376,0,0,0,0,0,0,14.33,14.52,28.83
$GC,417,-0.82,-126.5,2686,2191,3402,3377,102.5,-19.9,73,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2191,3389,3402,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,607,-0.82,-126.5,2686,2191,3402,3378,132.2,-13.2,110,615,0.00,2.30,0.00,0.000,516,0.000,0.055,2686,806,3390,3402,3378,0,0,0,0,0,0,28.83,14.54,28.83
$GC,759,-0.82,-126.5,2686,806,3402,3379,153.4,-13.5,139,765,0.00,2.20,0.00,0.000,1030,0.000,0.039,2678,2203,3390,3402,3379,0,0,0,0,0,0,28.83,14.66,28.83
$GC,949,-0.82,-126.5,2677,2203,3402,3380,179.8,-14.8,176,956,0.00,2.33,0.00,0.000,260,0.000,0.062,2667,3593,3390,3402,3379,0,0,0,0,0,0,28.83,14.57,28.83
$GC,993,-0.82,-126.5,1696,3592,3389,3377,186.6,-16.0,184,1000,0.00,2.25,0.00,0.000,1030,0.000,0.036,2667,2195,3390,3402,3379,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1184,-0.82,-126.5,2667,2194,3402,3379,215.0,-15.0,211,1193,0.00,2.22,0.00,0.000,516,0.000,0.055,2667,802,3390,3402,3379,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1218,-0.82,-126.5,2667,802,3402,3379,220.7,-14.7,218,1227,0.08,2.28,0.00,0.000,3078,0.233,0.041,2679,2201,3390,3402,3379,0,0,0,0,0,0,14.29,14.51,28.83
$GC,1526,-0.82,-126.5,2678,2200,3402,3377,263.1,-14.2,249,1536,0.00,2.25,0.00,0.000,516,0.000,0.057,2679,809,3389,3402,3377,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1571,-0.82,-126.5,2679,809,3402,3377,269.2,-13.6,257,1581,0.00,2.22,0.00,0.000,1030,0.000,0.043,2670,2221,3389,3402,3377,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1879,-0.82,-126.5,2670,2222,3402,3373,312.8,-14.2,289,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2221,3387,3402,3373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2180,-0.82,-126.5,2670,2221,3402,3370,356.2,-14.9,317,2184,0.00,2.28,0.00,0.000,516,0.000,0.060,2669,810,3386,3402,3370,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2230,-0.82,-126.5,2670,809,3403,3370,364.2,-15.1,327,2234,0.08,2.22,0.00,0.000,3078,0.301,0.046,2675,2203,3386,3402,3370,0,0,0,0,0,0,14.52,14.72,28.83
$GC,2543,-0.82,-126.5,2675,2203,3402,3365,408.0,-14.1,344,2549,0.00,2.25,0.00,0.000,516,0.000,0.060,2675,813,3383,3402,3365,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2570,-0.82,-126.5,2675,813,3402,3365,412.5,-14.8,350,2574,0.00,2.22,0.00,0.000,1030,0.000,0.046,2667,2201,3383,3402,3364,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2882,-0.82,-126.5,2667,2201,3402,3360,457.8,-14.4,367,2888,0.00,2.28,0.00,0.000,516,0.000,0.062,2667,807,3380,3402,3359,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2935,-0.82,-126.5,2667,807,3402,3359,465.9,-14.4,378,2945,0.05,2.30,0.00,0.000,3078,0.240,0.047,2671,2196,3380,3402,3359,0,0,0,0,0,0,14.38,14.58,28.83
$GC,3242,-0.82,-126.5,2672,2197,3401,3354,508.3,-13.8,393,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2197,3378,3402,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3543,-0.82,-126.5,2671,2197,3401,3352,550.3,-13.9,403,3547,0.00,2.28,0.00,0.000,516,0.000,0.063,2671,815,3376,3401,3352,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3597,-0.82,-126.5,2672,814,3401,3352,558.4,-13.7,414,3605,0.00,2.30,0.00,0.000,1030,0.000,0.049,2664,2203,3376,3401,3351,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3905,-0.82,-126.5,2663,2203,3401,3347,601.2,-13.9,425,3912,0.08,2.28,0.00,0.000,2564,0.308,0.059,2677,814,3374,3401,3347,0,0,0,0,0,0,14.66,14.69,28.83
$GC,3935,-0.82,-126.5,2677,814,3401,3347,605.4,-13.9,431,3941,0.00,2.22,0.00,0.000,1030,0.000,0.049,2669,2202,3373,3400,3347,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4265,-0.82,-126.5,2669,2202,3399,3345,648.2,-12.8,447,4271,0.00,2.28,0.00,0.000,516,0.000,0.063,2669,812,3372,3399,3345,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4302,-0.82,-126.5,2669,812,3398,3345,653.7,-13.4,455,4307,0.10,2.22,0.00,0.000,3078,0.271,0.049,2680,2200,3372,3399,3345,0,0,0,0,0,0,14.52,14.73,28.83
$GC,4625,-0.82,-126.5,2681,2201,3397,3343,693.6,-12.5,469,4631,0.00,2.28,0.00,0.000,516,0.000,0.067,2681,816,3370,3397,3343,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4657,-0.82,-126.5,2680,815,3397,3343,698.0,-13.0,476,4661,0.00,2.28,0.00,0.000,1030,0.000,0.050,2673,2203,3369,3396,3343,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4985,-0.82,-126.5,2673,2203,3396,3341,740.1,-13.0,491,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2203,3368,3396,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5285,-0.82,-126.5,2673,2203,3395,3339,778.7,-12.8,501,5291,0.00,2.28,0.00,0.000,516,0.000,0.067,2673,816,3366,3394,3339,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5347,-0.82,-126.5,2673,816,3394,3339,787.0,-12.5,514,5353,0.08,2.28,0.00,0.000,3078,0.312,0.053,2676,2221,3367,3395,3339,0,0,0,0,0,0,14.52,14.71,28.83
$GC,5676,-0.82,-126.5,2676,2222,3392,3337,826.5,-12.1,529,5680,0.00,2.30,0.00,0.000,260,0.000,0.079,2667,3595,3364,3392,3337,0,0,0,0,0,0,28.83,14.63,28.83
$GC,5699,-0.82,-126.5,2667,3595,3392,3337,829.9,-13.1,534,5708,0.00,2.28,0.00,0.000,1030,0.000,0.044,2667,2218,3364,3392,3337,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6009,-0.82,-126.5,2667,2217,3392,3336,867.4,-12.2,545,6015,0.00,2.30,0.00,0.000,516,0.000,0.068,2667,808,3364,3392,3336,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6129,-0.82,-126.5,2667,808,3391,3336,882.0,-11.8,569,6136,0.05,2.22,0.00,0.000,3078,0.249,0.050,2672,2198,3363,3391,3336,0,0,0,0,0,0,14.41,14.70,28.83
$GC,6459,-0.82,-126.5,2672,2198,3390,3335,920.1,-11.6,585,6464,0.00,2.33,0.00,0.000,516,0.000,0.067,2672,799,3362,3389,3335,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6488,-0.82,-126.5,2672,799,3390,3335,923.7,-12.7,591,6495,0.08,2.28,0.00,0.000,3078,0.314,0.051,2677,2204,3362,3390,3335,0,0,0,0,0,0,14.50,14.72,28.83
$GC,6819,-0.82,-126.5,2676,2205,3389,3334,961.5,-11.5,607,6824,0.00,2.35,0.00,0.000,516,0.000,0.067,2677,795,3361,3389,3334,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6841,-0.82,-126.5,2677,795,3389,3334,964.5,-12.8,612,6849,0.03,2.35,0.00,0.000,3078,0.302,0.051,2675,2202,3361,3389,3334,0,0,0,0,0,0,14.39,14.57,28.83
$STATE,7087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7087,begin apogee
$GC,7091,-0.16,0.0,2675,2138,3389,3334,993.2,-11.7,621,7200,0.75,0.00,102.78,2.208,10246,0.230,0.000,2886,2138,2867,2915,2819,0,0,0,0,0,0,14.40,28.83,13.27
$STATE,7202,end apogee,CONTROL_FINISHED_OK
$STATE,7202,begin climb
$GC,7203,0.82,126.5,2886,2138,2913,2816,996.9,0.0,644,7321,1.05,2.55,108.07,2.177,10500,0.155,0.073,3206,3540,2349,2407,2291,0,0,0,0,0,0,14.00,13.90,13.14
$GC,7342,0.82,126.5,3206,3540,2403,2286,989.9,9.2,672,7346,0.00,2.38,0.00,0.000,1030,0.000,0.046,3215,2144,2344,2403,2286,0,0,0,0,0,0,28.83,14.08,28.83
$GC,7660,0.82,126.5,3215,2144,2402,2284,955.2,11.1,685,7666,0.00,2.40,0.00,0.000,516,0.000,0.075,3226,736,2343,2402,2284,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7794,0.82,126.5,3226,736,2402,2282,939.7,11.2,712,7798,0.00,2.30,0.00,0.000,1030,0.000,0.047,3226,2140,2342,2401,2283,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8105,0.82,126.5,3226,2140,2401,2282,904.5,11.2,724,8111,0.00,2.38,0.00,0.000,516,0.000,0.074,3236,738,2341,2400,2283,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8158,0.82,126.5,3236,738,2400,2283,898.1,11.8,735,8165,0.00,2.30,0.00,0.000,1030,0.000,0.047,3236,2145,2342,2401,2283,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8465,0.82,126.5,3236,2146,2398,2282,862.4,11.8,746,8471,0.00,2.35,0.00,0.000,260,0.000,0.073,3236,3545,2340,2398,2282,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8483,0.82,126.5,3236,3546,2397,2282,860.0,11.9,750,8487,0.00,2.30,0.00,0.000,1030,0.000,0.047,3242,2136,2340,2397,2283,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8791,0.82,126.5,3242,2135,2397,2281,825.0,11.3,761,8797,0.00,2.35,0.00,0.000,516,0.000,0.075,3253,738,2339,2397,2281,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8914,0.82,126.5,3253,738,2397,2281,810.9,10.9,786,8918,0.00,2.28,0.00,0.000,1030,0.000,0.047,3253,2140,2338,2396,2281,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9241,0.82,126.5,3253,2141,2396,2280,774.8,11.0,801,9245,0.00,2.35,0.00,0.000,260,0.000,0.072,3253,3544,2338,2396,2280,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9305,0.82,126.5,3253,3544,2394,2281,767.1,11.9,814,9310,0.08,2.33,0.00,0.000,5126,0.256,0.047,3243,2143,2338,2395,2281,0,0,0,0,0,0,14.32,14.62,28.83
$GC,9633,0.82,126.5,3243,2142,2395,2280,733.3,10.4,829,9637,0.00,2.38,0.00,0.000,516,0.000,0.074,3253,736,2337,2395,2280,0,0,0,0,0,0,28.83,14.60,28.83
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$STATE,17405,end climb,SURFACE_DEPTH_REACHED
$STATE,17405,begin surface coast
$FINISH,0.2,1.002615
$STATE,17420,end surface coast,CONTROL_FINISHED_OK
$STATE,17421,begin surface
$SM_CCo,17437,14.43,0.136,0,0,508,579.63
$SM_CCo,17454,-0.08,0.000,0,0,510,579.63
$SM_CCo,17457,0.30,0.402,0,0,508,579.63
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$IRIDIUM_FIX,1756.43,8905.54,060808,060645
$TT8_MAMPS,0.018725,0.018725
$HUMID,45.86
$INTERNAL_PRESSURE,6.65065
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,13.1,73.241
$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
$DEVICE_SECS,22.775,180.425,489.850,14.725,0.000,26.632,17.665,330.488,0.000,0.000,5.973,3410.435,10270.010,643.437,3409.810,206.399,0.000,2073.477,0.000,2513.040,0.000,0.552,0.000
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$SENSOR_SECS,917.422,607.565,1582.620,966.921,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322260
$DATA_FILE_SIZE,137362,1714
$CAP_FILE_SIZE,184748,0
$CFSIZE,2097086464,2063597568
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.023,239.7,1
$GPS,111015,025933,1804.089,8923.652,23,1.0,23,-0.9