version: 66.11
glider: 615
mission: 5
dive: 188
start: 10 11 115 3 9 26
data:
$ID,615
$MISSION,5
$DIVE,188
$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,-19073.041
$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,46
$R_STBD_OVSHOOT,52
$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
$GPS1,111015,025933,1804.089,8923.652,23,1.0,23,-0.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-71.8
$GPS2,111015,030900,1804.118,8923.539,4,1.0,5,-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,126.8,24001,-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,-126.5,156,2211,547,493,0.0,0.0,0,67,0.00,0.00,-49.97,0.000,16386,0.000,0.000,155,2210,1931,1932,1930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.82,-126.5,155,2210,1932,1930,3.4,-6.9,8,117,10.88,2.38,-30.67,0.000,18948,0.350,0.075,2674,796,3391,3404,3378,0,0,0,0,0,0,14.21,14.51,14.75
$GC,154,-0.82,-126.5,2674,795,3404,3379,30.3,-34.1,22,163,0.00,2.30,0.00,0.000,1030,0.000,0.047,2666,2178,3391,3404,3379,0,0,0,0,0,0,28.83,14.47,28.83
$GC,352,-0.82,-126.5,2666,2180,3404,3379,87.0,-21.7,59,359,0.00,2.35,0.00,0.000,260,0.000,0.060,2654,3614,3391,3404,3379,0,0,0,0,0,0,28.83,14.57,28.83
$GC,408,-0.82,-126.5,2655,3614,3404,3380,97.9,-17.7,69,415,0.10,2.25,0.00,0.000,3078,0.273,0.036,2675,2187,3391,3404,3379,0,0,0,0,0,0,14.39,14.64,28.83
$GC,603,-0.82,-126.5,2675,2185,3404,3381,129.3,-13.8,106,611,0.00,2.28,0.00,0.000,516,0.000,0.054,2675,812,3392,3404,3381,0,0,0,0,0,0,28.83,14.52,28.83
$GC,669,-0.82,-126.5,2675,812,3404,3382,139.1,-15.5,118,677,0.00,2.28,0.00,0.000,1030,0.000,0.041,2666,2208,3393,3404,3382,0,0,0,0,0,0,28.83,14.59,28.83
$GC,866,-0.82,-126.5,2666,2209,3404,3383,168.1,-14.1,155,872,0.00,2.28,0.00,0.000,260,0.000,0.061,2655,3604,3393,3404,3383,0,0,0,0,0,0,28.83,14.64,28.83
$GC,915,-0.82,-126.5,2656,3604,3404,3383,176.1,-16.8,164,923,0.08,2.28,0.00,0.000,3078,0.226,0.036,2686,2194,3393,3404,3383,0,0,0,0,0,0,14.42,14.62,28.83
$GC,1116,-0.82,-126.5,2686,2193,3404,3383,206.3,-14.9,198,1120,0.00,2.22,0.00,0.000,516,0.000,0.054,2686,809,3393,3404,3383,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1185,-0.82,-126.5,2686,809,3404,3383,216.5,-14.0,212,1194,0.00,2.28,0.00,0.000,1030,0.000,0.042,2678,2208,3393,3404,3383,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1494,-0.82,-126.5,2678,2209,3404,3380,259.7,-13.7,243,1504,0.00,2.25,0.00,0.000,516,0.000,0.057,2678,813,3392,3404,3380,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1526,-0.82,-126.5,2678,813,3404,3380,264.4,-14.4,249,1537,0.00,2.22,0.00,0.000,1030,0.000,0.046,2668,2209,3391,3404,3379,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1836,-0.82,-126.5,2668,2209,3404,3376,309.7,-14.8,281,1846,0.00,2.28,0.00,0.000,516,0.000,0.058,2668,805,3390,3404,3376,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1880,-0.82,-126.5,2668,805,3404,3376,316.3,-15.2,289,1891,0.08,2.22,0.00,0.000,3078,0.230,0.046,2680,2209,3389,3404,3375,0,0,0,0,0,0,14.32,14.64,28.83
$GC,2199,-0.82,-126.5,2680,2209,3404,3372,362.5,-14.3,318,2205,0.00,2.28,0.00,0.000,516,0.000,0.058,2680,807,3387,3404,3371,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2247,-0.82,-126.5,2680,806,3404,3371,369.9,-13.8,328,2252,0.00,2.22,0.00,0.000,1030,0.000,0.047,2671,2199,3387,3404,3371,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2561,-0.82,-126.5,2672,2199,3404,3367,414.6,-14.4,345,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2199,3385,3404,3367,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2860,-0.82,-126.5,2672,2199,3403,3361,457.2,-14.0,360,2866,0.00,2.25,0.00,0.000,516,0.000,0.060,2672,814,3382,3403,3361,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2923,-0.82,-126.5,2671,814,3403,3361,466.6,-14.3,373,2928,0.05,2.28,0.00,0.000,3078,0.243,0.048,2677,2198,3382,3403,3361,0,0,0,0,0,0,14.43,14.66,28.83
$GC,3240,-0.82,-126.5,2677,2200,3403,3356,509.7,-13.6,390,3245,0.00,2.28,0.00,0.000,516,0.000,0.062,2677,805,3379,3403,3356,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3275,-0.82,-126.5,2677,805,3403,3356,514.6,-13.8,397,3279,0.00,2.25,0.00,0.000,1030,0.000,0.048,2669,2204,3379,3402,3356,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3597,-0.82,-126.5,2669,2205,3403,3352,557.9,-13.5,411,3601,0.00,2.28,0.00,0.000,516,0.000,0.062,2669,815,3377,3402,3352,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3642,-0.82,-126.5,2669,815,3402,3352,564.5,-14.0,420,3646,0.10,2.25,0.00,0.000,3078,0.271,0.050,2681,2209,3377,3402,3352,0,0,0,0,0,0,14.52,14.73,28.83
$GC,3953,-0.82,-126.5,2680,2210,3401,3349,605.2,-13.2,432,3957,0.00,2.30,0.00,0.000,516,0.000,0.061,2680,807,3375,3401,3349,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3997,-0.82,-126.5,2681,806,3401,3349,611.4,-13.3,441,4002,0.00,2.28,0.00,0.000,1030,0.000,0.050,2672,2212,3375,3401,3349,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4314,-0.82,-126.5,2672,2212,3399,3346,653.0,-13.1,454,4318,0.00,2.33,0.00,0.000,260,0.000,0.072,2661,3610,3372,3399,3346,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4338,-0.82,-126.5,2661,3610,3399,3346,656.6,-14.3,459,4346,0.08,2.25,0.00,0.000,3078,0.278,0.041,2676,2198,3372,3399,3346,0,0,0,0,0,0,14.57,14.79,28.83
$GC,4646,-0.82,-126.5,2676,2198,3397,3344,695.5,-12.7,470,4651,0.00,2.28,0.00,0.000,516,0.000,0.063,2676,803,3371,3398,3344,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4713,-0.82,-126.5,2676,803,3397,3344,704.4,-12.5,484,4717,0.00,2.25,0.00,0.000,1030,0.000,0.050,2668,2199,3370,3397,3344,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5035,-0.82,-126.5,2668,2199,3396,3343,746.8,-13.5,498,5039,0.00,2.30,0.00,0.000,516,0.000,0.067,2668,802,3369,3396,3342,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5074,-0.82,-126.5,2668,802,3395,3343,752.5,-13.3,506,5079,0.10,2.28,0.00,0.000,3078,0.275,0.051,2679,2204,3369,3395,3343,0,0,0,0,0,0,14.50,14.73,28.83
$GC,5392,-0.82,-126.5,2678,2204,3394,3340,793.3,-12.9,519,5398,0.00,2.33,0.00,0.000,516,0.000,0.070,2679,806,3367,3395,3340,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5434,-0.82,-126.5,2679,806,3394,3341,799.2,-13.0,528,5439,0.00,2.25,0.00,0.000,1030,0.000,0.051,2671,2198,3367,3394,3340,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5752,-0.82,-126.5,2671,2199,3393,3338,840.4,-13.0,541,5758,0.00,2.35,0.00,0.000,260,0.000,0.078,2660,3601,3365,3393,3338,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5782,-0.82,-126.5,2660,3601,3393,3338,844.3,-13.1,547,5789,0.10,2.22,0.00,0.000,3078,0.249,0.041,2682,2202,3365,3393,3338,0,0,0,0,0,0,14.54,14.78,28.83
$GC,6112,-0.82,-126.5,2682,2201,3393,3337,884.6,-12.0,563,6116,0.00,2.33,0.00,0.000,516,0.000,0.067,2682,799,3363,3391,3336,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6196,-0.82,-126.5,2682,799,3392,3337,895.2,-12.3,580,6205,0.00,2.33,0.00,0.000,1030,0.000,0.050,2674,2194,3364,3392,3337,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6504,-0.82,-126.5,2675,2195,3390,3336,932.5,-12.1,591,6505,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2195,3363,3390,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6804,-0.82,-126.5,2674,2195,3389,3336,967.6,-11.6,601,6810,0.00,2.28,0.00,0.000,516,0.000,0.066,2674,807,3362,3389,3336,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6841,-0.82,-126.5,2674,807,3389,3336,972.4,-11.7,609,6845,0.00,2.28,0.00,0.000,1030,0.000,0.050,2665,2206,3362,3389,3336,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,7012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7012,begin apogee
$GC,7016,-0.16,0.0,2665,2135,3389,3335,992.7,-12.0,618,7125,0.77,0.00,102.85,2.194,10246,0.226,0.000,2885,2134,2866,2916,2817,0,0,0,0,0,0,14.40,28.83,13.28
$STATE,7127,end apogee,CONTROL_FINISHED_OK
$STATE,7127,begin climb
$GC,7128,0.82,126.5,2887,2134,2914,2814,996.2,0.0,641,7241,1.02,0.00,108.95,2.173,10246,0.150,0.000,3203,2134,2355,2413,2298,0,0,0,0,0,0,14.05,28.83,13.16
$GC,7524,0.82,126.5,3203,2134,2402,2285,961.2,10.9,655,7530,0.00,2.35,0.00,0.000,516,0.000,0.076,3212,756,2343,2402,2285,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7576,0.82,126.5,3212,756,2402,2285,955.2,11.2,666,7584,0.00,2.33,0.00,0.000,1030,0.000,0.048,3211,2131,2343,2402,2285,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7884,0.82,126.5,3212,2131,2401,2284,922.4,10.6,677,7890,0.00,2.33,0.00,0.000,516,0.000,0.075,3221,752,2342,2401,2284,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7944,0.82,126.5,3222,752,2401,2284,916.0,10.8,689,7950,0.00,2.28,0.00,0.000,1030,0.000,0.048,3221,2147,2342,2401,2284,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8274,0.82,126.5,3221,2147,2398,2283,881.9,10.3,705,8280,0.00,2.35,0.00,0.000,516,0.000,0.073,3232,755,2340,2398,2283,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8326,0.82,126.5,3232,755,2398,2283,876.1,10.9,716,8334,0.00,2.33,0.00,0.000,1030,0.000,0.047,3232,2141,2340,2398,2283,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8634,0.82,126.5,3232,2141,2397,2283,843.9,10.5,727,8640,0.00,2.35,0.00,0.000,516,0.000,0.073,3242,745,2340,2397,2283,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8686,0.82,126.5,3242,745,2397,2282,838.0,10.6,738,8694,0.00,2.33,0.00,0.000,1030,0.000,0.047,3242,2136,2340,2397,2283,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8994,0.82,126.5,3241,2136,2396,2282,804.9,10.6,749,8998,0.00,2.38,0.00,0.000,260,0.000,0.073,3241,3545,2339,2396,2283,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9026,0.82,126.5,3242,3545,2394,2282,801.3,12.0,755,9032,0.00,2.25,0.00,0.000,1030,0.000,0.045,3250,2152,2338,2395,2282,0,0,0,0,0,0,28.83,14.69,28.83
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$STATE,17317,end climb,SURFACE_DEPTH_REACHED
$STATE,17318,begin surface coast
$FINISH,0.2,1.007906
$STATE,17334,end surface coast,CONTROL_FINISHED_OK
$STATE,17335,begin surface
$SM_CCo,17353,3.12,0.147,0,0,509,579.63
$SM_CCo,17358,-0.05,0.000,0,0,510,579.63
$SM_CCo,17361,0.35,0.360,0,0,509,579.63
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$IRIDIUM_FIX,1756.43,8804.24,060808,161657
$TT8_MAMPS,0.018725,0.018725
$HUMID,46.41
$INTERNAL_PRESSURE,6.65065
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,12.1,73.546
$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
$DEVICE_SECS,22.800,194.100,505.475,3.475,0.000,46.899,82.977,259.021,0.000,0.000,5.899,3391.121,10286.179,677.715,3363.714,199.460,0.000,2068.343,0.000,2449.266,0.000,0.552,0.000
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$SENSOR_SECS,920.246,603.867,1591.250,972.165,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322288
$DATA_FILE_SIZE,137427,1668
$CAP_FILE_SIZE,185311,0
$CFSIZE,2097086464,2063433728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.052,240.0,1
$GPS,111015,080003,1802.807,8924.546,37,0.8,37,-0.9