version: 66.11
glider: 615
mission: 5
dive: 221
start: 10 17 115 17 37 7
data:
$ID,615
$MISSION,5
$DIVE,221
$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,-19251.754
$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,48
$R_STBD_OVSHOOT,66
$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
$GPS1,171015,172927,1801.248,8927.418,60,0.8,60,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.6
$GPS2,171015,173640,1801.289,8927.355,4,0.8,4,-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,134.0,15523,-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,-126.5,178,2230,562,479,0.0,0.0,0,55,0.00,0.00,-38.40,0.000,16386,0.000,0.000,178,2230,1606,1607,1605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.82,-126.5,178,2230,1606,1605,3.1,-6.6,6,117,10.88,2.40,-38.83,0.000,18948,0.354,0.076,2672,809,3390,3404,3376,0,0,0,0,0,0,14.16,14.38,14.75
$GC,150,-0.82,-126.5,2672,809,3405,3377,30.7,-37.7,21,157,0.08,2.22,0.00,0.000,3078,0.325,0.050,2675,2180,3391,3405,3377,0,0,0,0,0,0,14.31,14.51,28.83
$GC,341,-0.82,-126.5,2675,2180,3404,3377,82.7,-22.5,58,347,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2180,3391,3405,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,530,-0.82,-126.5,2676,2180,3405,3379,118.6,-16.6,95,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2180,3391,3405,3378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,720,-0.82,-126.5,2675,2180,3405,3380,147.9,-14.4,132,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2180,3392,3405,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,909,-0.82,-126.5,1664,2178,3391,3379,175.7,-14.4,169,915,0.00,2.22,0.00,0.000,516,0.000,0.055,2676,803,3392,3404,3381,0,0,0,0,0,0,28.83,14.60,28.83
$GC,927,-0.82,-126.5,2675,803,3405,3381,178.5,-14.1,172,935,0.00,2.30,0.00,0.000,1030,0.000,0.044,2667,2206,3393,3405,3381,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1118,-0.82,-126.5,2667,2206,3404,3381,206.4,-14.9,205,1127,0.00,2.28,0.00,0.000,260,0.000,0.062,2657,3601,3393,3405,3381,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1193,-0.82,-126.5,2657,3601,3405,3381,217.5,-15.0,219,1203,0.05,2.20,0.00,0.000,3078,0.223,0.037,2672,2193,3393,3405,3381,0,0,0,0,0,0,14.31,14.70,28.83
$GC,1501,-0.82,-126.5,2671,2192,3405,3379,263.1,-14.5,251,1512,0.00,2.22,0.00,0.000,516,0.000,0.057,2672,812,3392,3405,3379,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1598,-0.82,-126.5,2672,812,3405,3379,277.2,-13.7,270,1606,0.00,2.28,0.00,0.000,1030,0.000,0.044,2664,2198,3391,3405,3378,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1906,-0.82,-126.5,2663,2198,3405,3375,323.8,-15.7,301,1907,0.08,0.00,0.00,0.000,2054,0.309,0.000,2676,2198,3390,3405,3375,0,0,0,0,0,0,14.59,28.83,28.83
$GC,2206,-0.82,-126.5,2676,2199,3404,3372,367.6,-14.6,325,2212,0.00,2.22,0.00,0.000,516,0.000,0.057,2677,814,3387,3404,3371,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2248,-0.82,-126.5,2677,815,3404,3371,374.3,-14.1,334,2253,0.00,2.25,0.00,0.000,1030,0.000,0.047,2669,2192,3387,3404,3371,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2567,-0.82,-126.5,2669,2193,3404,3368,419.7,-14.3,352,2573,0.00,2.25,0.00,0.000,516,0.000,0.059,2669,809,3386,3404,3368,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2586,-0.82,-126.5,2669,808,3404,3367,422.6,-15.0,356,2593,0.10,2.25,0.00,0.000,3078,0.272,0.047,2680,2212,3386,3404,3368,0,0,0,0,0,0,14.47,14.71,28.83
$GC,2907,-0.82,-126.5,2680,2213,3404,3362,465.9,-13.1,375,2913,0.00,2.28,0.00,0.000,516,0.000,0.059,2680,815,3383,3404,3362,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2949,-0.82,-126.5,2680,814,3404,3362,472.1,-13.5,384,2954,0.00,2.28,0.00,0.000,1030,0.000,0.047,2672,2200,3383,3404,3362,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3257,-0.82,-126.5,2672,2200,3404,3357,513.8,-13.6,400,3261,0.00,2.28,0.00,0.000,516,0.000,0.061,2672,806,3380,3404,3356,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3291,-0.82,-126.5,2672,806,3403,3357,518.9,-13.9,407,3296,0.08,2.25,0.00,0.000,3078,0.299,0.050,2676,2202,3380,3404,3357,0,0,0,0,0,0,14.49,14.69,28.83
$GC,3614,-0.82,-126.5,2676,2203,3404,3353,562.1,-13.6,421,3620,0.00,2.28,0.00,0.000,516,0.000,0.065,2676,816,3378,3403,3353,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3656,-0.82,-126.5,2676,816,3404,3353,568.4,-13.8,430,3660,0.00,2.25,0.00,0.000,1030,0.000,0.053,2668,2204,3378,3403,3353,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3974,-0.82,-126.5,2668,2205,3403,3351,613.2,-14.4,443,3980,0.00,2.30,0.00,0.000,516,0.000,0.066,2668,814,3376,3403,3350,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4011,-0.82,-126.5,2668,814,3402,3351,619.0,-13.5,451,4016,0.10,2.25,0.00,0.000,3078,0.272,0.054,2679,2199,3376,3402,3351,0,0,0,0,0,0,14.47,14.69,28.83
$GC,4334,-0.82,-126.5,2679,2199,3401,3348,661.1,-13.0,465,4340,0.00,2.28,0.00,0.000,516,0.000,0.068,2679,819,3374,3401,3348,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4365,-0.82,-126.5,2679,819,3401,3348,665.8,-13.5,472,4370,0.00,2.30,0.00,0.000,1030,0.000,0.056,2671,2198,3374,3401,3348,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4694,-0.82,-126.5,2671,2198,3400,3346,709.4,-13.4,487,4700,0.00,2.30,0.00,0.000,516,0.000,0.067,2671,813,3373,3400,3346,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4724,-0.82,-126.5,2672,812,3400,3346,713.6,-13.9,493,4730,0.08,2.28,0.00,0.000,3078,0.313,0.059,2675,2202,3373,3400,3346,0,0,0,0,0,0,14.48,14.69,28.83
$GC,5054,-0.82,-126.5,2675,2202,3398,3344,757.5,-13.4,509,5058,0.00,2.33,0.00,0.000,516,0.000,0.075,2675,816,3371,3398,3344,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5085,-0.82,-126.5,2675,816,3398,3344,761.9,-14.1,515,5092,0.00,2.28,0.00,0.000,1030,0.000,0.056,2667,2211,3371,3398,3344,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5415,-0.82,-126.5,2667,2211,3397,3343,806.4,-13.4,531,5421,0.00,2.33,0.00,0.000,516,0.000,0.069,2667,816,3370,3397,3344,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5453,-0.82,-126.5,2668,815,3397,3343,811.9,-13.5,539,5458,0.10,2.28,0.00,0.000,3078,0.272,0.056,2679,2210,3370,3397,3343,0,0,0,0,0,0,14.47,14.68,28.83
$GC,5775,-0.82,-126.5,2679,2211,3396,3341,852.8,-12.7,553,5777,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2210,3368,3396,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6076,-0.82,-126.5,2679,2210,3395,3340,890.9,-12.8,563,6082,0.00,2.30,0.00,0.000,516,0.000,0.070,2679,814,3367,3395,3340,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6138,-0.82,-126.5,2679,814,3395,3340,899.5,-12.4,576,6142,0.00,2.28,0.00,0.000,1030,0.000,0.055,2671,2209,3367,3395,3340,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6466,-0.82,-126.5,2671,2210,3394,3338,943.2,-13.6,591,6472,0.00,2.33,0.00,0.000,516,0.000,0.069,2671,810,3366,3394,3338,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6497,-0.82,-126.5,2672,810,3393,3338,948.0,-13.3,598,6503,0.05,2.33,0.00,0.000,3078,0.249,0.055,2676,2202,3366,3394,3338,0,0,0,0,0,0,14.35,14.59,28.83
$STATE,6824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6824,begin apogee
$GC,6828,-0.16,0.0,2676,2202,3393,3337,990.5,-13.0,613,6958,0.77,0.00,124.88,2.134,10246,0.262,0.000,2885,2203,2872,2922,2823,0,0,0,0,0,0,14.26,28.83,13.22
$STATE,6959,end apogee,CONTROL_FINISHED_OK
$STATE,6960,begin climb
$GC,6961,0.82,126.5,2885,2203,2915,2815,996.5,0.0,640,7078,1.10,2.40,109.18,2.219,10500,0.193,0.073,3201,3549,2351,2410,2292,0,0,0,0,0,0,13.96,13.86,13.07
$GC,7129,0.82,126.5,3202,3548,2403,2288,988.6,9.8,674,7134,0.00,2.40,0.00,0.000,1030,0.000,0.046,3211,2164,2345,2403,2288,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7457,0.82,126.5,3211,2164,2400,2285,955.1,10.5,689,7463,0.00,2.45,0.00,0.000,516,0.000,0.083,3221,739,2343,2402,2285,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7676,0.82,126.5,3221,739,2402,2285,930.9,10.9,733,7680,0.00,2.33,0.00,0.000,1030,0.000,0.054,3221,2143,2343,2401,2285,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7999,0.82,126.5,3221,2143,2401,2284,896.9,10.3,747,8005,0.00,2.38,0.00,0.000,516,0.000,0.081,3230,742,2342,2400,2284,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8061,0.82,126.5,3230,742,2399,2284,890.3,10.4,760,8065,0.00,2.35,0.00,0.000,1030,0.000,0.054,3230,2141,2342,2400,2284,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8389,0.82,126.5,3230,2142,2397,2283,855.6,10.7,775,8395,0.00,2.40,0.00,0.000,516,0.000,0.079,3239,731,2340,2398,2283,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8482,0.82,126.5,3239,730,2397,2283,845.3,10.9,794,8486,0.00,2.35,0.00,0.000,1030,0.000,0.054,3239,2134,2340,2397,2283,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8810,0.82,126.5,3239,2135,2396,2282,810.2,10.7,809,8811,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2135,2339,2396,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9110,0.82,126.5,3239,2134,2396,2282,778.4,10.4,819,9116,0.00,2.38,0.00,0.000,516,0.000,0.080,3249,736,2339,2396,2282,0,0,0,0,0,0,28.83,14.55,28.83
$GC,9239,0.82,126.5,3249,736,2395,2282,764.2,10.3,845,9243,0.00,2.30,0.00,0.000,1030,0.000,0.053,3249,2143,2338,2395,2282,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9556,0.82,126.5,3249,2143,2394,2282,731.9,10.3,858,9557,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2143,2337,2394,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9855,0.82,126.5,3249,2143,2394,2281,701.0,10.2,868,9861,0.00,2.40,0.00,0.000,516,0.000,0.079,3259,729,2337,2394,2281,0,0,0,0,0,0,28.83,14.56,28.83
$GC,9908,0.82,126.5,3259,729,2394,2281,695.1,10.5,879,9917,0.10,2.30,0.00,0.000,5126,0.284,0.052,3239,2140,2337,2394,2281,0,0,0,0,0,0,14.39,14.66,28.83
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$GC,17129,1.41,604.0,3318,2136,1211,1104,27.1,-0.1,1703,17229,0.20,2.38,90.18,0.219,10500,0.104,0.057,3409,3547,513,577,449,0,0,0,0,0,0,14.46,14.48,14.19
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$STATE,17353,end climb,SURFACE_DEPTH_REACHED
$STATE,17353,begin surface coast
$FINISH,0.3,1.019365
$STATE,17372,end surface coast,CONTROL_FINISHED_OK
$STATE,17372,begin surface
$SM_CCo,17389,0.80,0.250,0,0,507,579.63
$SM_CCo,17392,0.00,0.000,0,0,511,579.63
$SM_CCo,17395,0.30,0.389,0,0,508,579.63
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$IRIDIUM_FIX,1754.17,8928.25,130808,020231
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.83
$INTERNAL_PRESSURE,6.64088
$TCM_TEMP,23.70
$XPDR_PINGS,1
$24V_AH,13.1,83.850
$10V_AH,12.7,0.000
$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
$DEVICE_SECS,23.075,186.200,528.950,1.100,0.000,28.702,20.635,265.771,0.250,0.000,6.549,3426.624,10126.742,645.753,3427.016,193.043,0.000,2113.051,0.000,2569.305,0.000,0.553,0.000
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$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322280
$DATA_FILE_SIZE,140919,1745
$CAP_FILE_SIZE,187395,0
$CFSIZE,2097086464,2058158080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.064,280.7,1
$GPS,171015,222833,1800.134,8928.077,54,0.9,54,-0.9