version: 66.11
glider: 615
mission: 5
dive: 245
start: 10 22 115 17 53 18
data:
$ID,615
$MISSION,5
$DIVE,245
$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,-19287.846
$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,42
$R_STBD_OVSHOOT,62
$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
$GPS1,221015,174207,1805.192,8921.521,33,1.2,33,-0.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.0
$GPS2,221015,175250,1805.110,8921.487,5,1.2,5,-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,132.3,27925,-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,-126.5,180,2226,549,489,0.0,0.0,0,63,0.00,0.00,-46.05,0.000,16386,0.000,0.000,180,2226,1817,1817,1818,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.82,-126.5,180,2226,1817,1818,3.3,-7.5,7,118,11.15,2.35,-33.33,0.000,18948,0.365,0.073,2672,800,3389,3406,3373,0,0,0,0,0,0,14.15,14.50,14.76
$GC,224,-0.82,-126.5,2672,800,3406,3373,54.0,-27.3,36,232,0.00,2.28,0.00,0.000,1030,0.000,0.045,2664,2174,3389,3407,3372,0,0,0,0,0,0,28.83,14.47,28.83
$GC,416,-0.82,-126.5,2664,2175,3406,3373,100.3,-19.6,73,424,0.08,2.25,0.00,0.000,2564,0.327,0.054,2676,796,3389,3406,3373,0,0,0,0,0,0,14.46,14.57,28.83
$GC,462,-0.82,-126.5,2676,796,3406,3374,107.8,-15.0,81,470,0.00,2.25,0.00,0.000,1030,0.000,0.041,2668,2213,3390,3406,3374,0,0,0,0,0,0,28.83,14.62,28.83
$GC,653,-0.82,-126.5,2668,2213,3406,3376,137.5,-15.7,118,660,0.00,2.33,0.00,0.000,260,0.000,0.059,2657,3603,3391,3406,3376,0,0,0,0,0,0,28.83,14.54,28.83
$GC,788,-0.82,-126.5,2657,3602,3406,3377,158.8,-15.1,144,796,0.05,2.28,0.00,0.000,3078,0.246,0.035,2671,2186,3392,3407,3377,0,0,0,0,0,0,14.35,14.59,28.83
$GC,980,-0.82,-126.5,2671,2185,3406,3377,187.8,-15.4,181,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2185,3391,3407,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1169,-0.82,-126.5,2670,2185,3406,3376,214.1,-13.3,208,1173,0.00,2.20,0.00,0.000,516,0.000,0.056,2671,817,3391,3406,3376,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1198,-0.82,-126.5,2671,817,3406,3377,218.3,-13.7,214,1208,0.03,2.25,0.00,0.000,3078,0.295,0.043,2670,2192,3391,3406,3376,0,0,0,0,0,0,14.32,14.45,28.83
$GC,1507,-0.82,-126.5,2670,2191,3406,3374,261.6,-14.9,245,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2192,3390,3406,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1807,-0.82,-126.5,2670,2192,3406,3371,307.4,-15.7,275,1817,0.00,2.22,0.00,0.000,516,0.000,0.057,2670,809,3388,3406,3371,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1852,-0.82,-126.5,2670,809,3406,3371,314.5,-16.2,283,1862,0.05,2.22,0.00,0.000,3078,0.236,0.045,2676,2212,3388,3406,3370,0,0,0,0,0,0,14.28,14.63,28.83
$GC,2161,-0.82,-126.5,2676,2212,3406,3366,363.0,-15.6,311,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2212,3386,3406,3366,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2461,-0.82,-126.5,2676,2212,3405,3361,408.3,-14.6,326,2467,0.00,2.28,0.00,0.000,516,0.000,0.060,2677,813,3383,3406,3361,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2514,-0.82,-126.5,2677,813,3406,3360,416.4,-13.5,337,2521,0.00,2.30,0.00,0.000,1030,0.000,0.048,2668,2199,3383,3406,3360,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2821,-0.82,-126.5,2668,2199,3405,3355,459.6,-14.1,353,2823,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2199,3380,3405,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3122,-0.82,-126.5,2668,2199,3405,3352,501.7,-14.0,368,3128,0.00,2.25,0.00,0.000,516,0.000,0.065,2668,822,3378,3405,3352,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3151,-0.82,-126.5,2668,822,3405,3352,505.9,-14.1,374,3155,0.10,2.22,0.00,0.000,3078,0.275,0.053,2679,2200,3378,3405,3352,0,0,0,0,0,0,14.46,14.69,28.83
$GC,3479,-0.82,-126.5,2679,2200,3404,3347,550.0,-13.6,389,3485,0.00,2.25,0.00,0.000,516,0.000,0.065,2679,820,3375,3404,3347,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3522,-0.82,-126.5,2680,819,3403,3347,556.1,-13.6,398,3526,0.00,2.25,0.00,0.000,1030,0.000,0.054,2671,2205,3375,3403,3347,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3833,-0.82,-126.5,2672,2205,3402,3344,599.5,-14.2,410,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2206,3373,3402,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4133,-0.82,-126.5,2672,2205,3401,3343,642.1,-14.3,420,4137,0.00,2.30,0.00,0.000,516,0.000,0.066,2671,816,3371,3401,3342,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4160,-0.82,-126.5,2671,816,3400,3342,645.9,-15.3,425,4167,0.08,2.25,0.00,0.000,3078,0.301,0.054,2675,2201,3371,3400,3343,0,0,0,0,0,0,14.50,14.69,28.83
$GC,4490,-0.82,-126.5,2675,2201,3399,3341,690.2,-13.1,441,4496,0.00,2.35,0.00,0.000,260,0.000,0.075,2666,3608,3369,3399,3340,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4512,-0.82,-126.5,2666,3608,3398,3341,693.4,-13.2,446,4520,0.00,2.30,0.00,0.000,1030,0.000,0.043,2666,2219,3369,3398,3341,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4820,-0.82,-126.5,2666,2219,3397,3338,733.8,-13.4,457,4826,0.00,2.35,0.00,0.000,516,0.000,0.067,2666,797,3367,3397,3338,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4867,-0.82,-126.5,2666,797,3396,3338,740.5,-13.2,467,4872,0.10,2.30,0.00,0.000,3078,0.272,0.057,2677,2203,3367,3397,3338,0,0,0,0,0,0,14.45,14.68,28.83
$GC,5180,-0.82,-126.5,2677,2204,3394,3337,779.4,-12.3,479,5186,0.00,2.35,0.00,0.000,516,0.000,0.072,2677,801,3366,3395,3337,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5212,-0.82,-126.5,2677,801,3395,3337,783.9,-12.5,486,5216,0.00,2.35,0.00,0.000,1030,0.000,0.058,2669,2201,3366,3395,3337,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5540,-0.82,-126.5,2669,2202,3394,3335,827.6,-13.6,501,5541,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2202,3365,3394,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5840,-0.82,-126.5,2669,2202,3394,3334,866.7,-13.0,511,5846,0.00,2.35,0.00,0.000,516,0.000,0.072,2669,801,3364,3394,3334,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5871,-0.82,-126.5,2669,801,3393,3334,870.6,-13.6,517,5877,0.05,2.28,0.00,0.000,3078,0.252,0.056,2673,2204,3363,3393,3334,0,0,0,0,0,0,14.37,14.62,28.83
$GC,6200,-0.82,-126.5,2673,2205,3392,3333,910.4,-11.8,533,6206,0.00,2.30,0.00,0.000,516,0.000,0.071,2674,810,3362,3392,3333,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6231,-0.82,-126.5,2673,810,3392,3333,914.0,-12.3,539,6236,0.00,2.25,0.00,0.000,1030,0.000,0.055,2666,2196,3362,3392,3333,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6560,-0.82,-126.5,2666,2197,3390,3332,954.6,-12.6,555,6561,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2197,3361,3390,3333,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6859,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6859,begin apogee
$GC,6863,-0.16,0.0,2666,2133,3389,3331,993.6,-13.0,565,7014,0.80,0.00,144.82,1.821,10246,0.246,0.000,2885,2132,2871,2920,2822,0,0,0,0,0,0,14.24,28.83,13.35
$STATE,7015,end apogee,CONTROL_FINISHED_OK
$STATE,7016,begin climb
$GC,7017,0.82,126.5,2885,2132,2915,2816,999.7,0.0,596,7134,1.05,2.58,108.85,2.167,10500,0.156,0.074,3204,3541,2349,2408,2291,0,0,0,0,0,0,14.02,13.86,13.07
$GC,7171,0.84,136.1,3204,3541,2402,2285,993.4,8.7,627,7181,0.00,2.38,3.70,1.245,9222,0.000,0.048,3212,2151,2318,2378,2259,0,0,0,0,0,0,28.83,14.08,13.07
$GC,7493,0.84,136.1,3212,2151,2392,2273,961.4,10.1,641,7500,0.00,2.45,1.95,0.173,8708,0.000,0.081,3223,736,2319,2379,2259,0,0,0,0,0,0,28.83,14.40,14.32
$GC,7597,0.84,136.1,3223,736,2390,2274,950.4,10.2,662,7606,0.00,2.33,1.88,0.176,9222,0.000,0.053,3224,2140,2318,2377,2260,0,0,0,0,0,0,28.83,14.50,14.36
$GC,7915,0.84,136.1,3223,2141,2390,2273,917.4,10.4,675,7921,0.00,2.42,1.70,0.179,8708,0.000,0.080,3233,736,2318,2378,2259,0,0,0,0,0,0,28.83,14.50,14.41
$GC,7966,0.84,136.1,3233,736,2387,2272,911.4,11.5,686,7975,0.00,2.38,1.67,0.168,9222,0.000,0.054,3233,2138,2317,2376,2259,0,0,0,0,0,0,28.83,14.44,14.42
$GC,8275,0.84,136.1,3234,2138,2388,2272,878.7,10.7,697,8278,0.00,0.00,1.48,0.188,8198,0.000,0.000,3233,2138,2317,2376,2259,0,0,0,0,0,0,28.83,28.83,14.46
$GC,8574,0.84,136.1,3234,2139,2387,2271,845.2,11.4,707,8581,0.00,2.40,1.50,0.185,8708,0.000,0.078,3243,733,2318,2377,2259,0,0,0,0,0,0,28.83,14.47,14.40
$GC,8678,0.84,136.1,3243,733,2384,2271,833.1,11.7,728,8686,0.00,2.33,1.38,0.192,9222,0.000,0.054,3243,2149,2318,2376,2260,0,0,0,0,0,0,28.83,14.63,14.47
$GC,8995,0.84,136.1,3243,2148,2386,2270,798.0,11.0,741,9002,0.00,2.35,1.20,0.196,8452,0.000,0.072,3243,3548,2319,2377,2261,0,0,0,0,0,0,28.83,14.52,14.42
$GC,9032,0.84,136.1,3243,3549,2383,2272,793.4,11.8,749,9038,0.00,2.33,1.15,0.205,9222,0.000,0.050,3252,2130,2317,2375,2259,0,0,0,0,0,0,28.83,14.64,14.50
$GC,9351,0.84,136.1,3253,2130,2385,2269,759.1,10.9,762,9358,0.00,2.33,1.17,0.199,8708,0.000,0.076,3264,745,2318,2377,2260,0,0,0,0,0,0,28.83,14.48,14.42
$GC,9489,0.84,136.1,3264,745,2384,2270,744.3,10.1,790,9496,0.10,2.30,1.23,0.195,13318,0.277,0.053,3244,2147,2316,2373,2260,0,0,0,0,0,0,14.38,14.64,14.50
$GC,9797,0.84,136.1,3244,2147,2385,2269,712.7,10.3,801,9803,0.00,2.35,0.00,0.000,260,0.000,0.073,3244,3550,2326,2384,2268,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9839,0.84,136.1,3244,3550,2384,2269,707.8,11.1,810,9843,0.00,2.30,0.00,0.000,1030,0.000,0.047,3253,2137,2326,2383,2269,0,0,0,0,0,0,28.83,14.65,28.83
$GC,10157,0.84,136.1,3253,2137,2383,2269,674.8,10.6,823,10163,0.00,2.35,0.00,0.000,516,0.000,0.076,3264,739,2326,2384,2269,0,0,0,0,0,0,28.83,14.54,28.83
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$STATE,17251,end climb,SURFACE_DEPTH_REACHED
$STATE,17251,begin surface coast
$FINISH,0.2,1.010880
$STATE,17284,end surface coast,CONTROL_FINISHED_OK
$STATE,17284,begin surface
$SM_CCo,17301,36.42,0.137,0,0,508,579.63
$SM_CCo,17340,-0.10,0.000,0,0,511,579.63
$SM_CCo,17343,0.35,0.361,0,0,508,579.63
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$IRIDIUM_FIX,1758.70,8921.45,180808,070718
$TT8_MAMPS,0.018725,0.018725
$HUMID,45.43
$INTERNAL_PRESSURE,6.66041
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,13.1,91.507
$10V_AH,12.2,0.000
$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
$DEVICE_SECS,23.350,176.925,529.375,36.775,0.000,47.483,59.747,321.949,0.250,0.000,7.423,3406.847,10212.311,653.318,3490.023,214.899,0.000,2081.115,0.000,2505.612,0.000,0.553,0.000
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$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322236
$DATA_FILE_SIZE,137613,1709
$CAP_FILE_SIZE,187649,0
$CFSIZE,2097086464,2054225920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.064,331.6,1
$GPS,221015,224333,1804.393,8922.544,35,1.0,35,-0.9