version: 66.11
glider: 615
mission: 5
dive: 287
start: 10 31 115 14 19 53
data:
$ID,615
$MISSION,5
$DIVE,287
$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,-19344.064
$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,55
$R_STBD_OVSHOOT,44
$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,10.5
$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
$GPS1,311015,135933,1756.646,8931.849,29,1.1,29,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-69.6
$GPS2,311015,141918,1756.820,8932.198,4,1.1,4,-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,146.0,3649,-24.2,-9.167,-28.32,1623
$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,15,-0.88,-100.5,135,2170,553,491,0.0,0.0,0,67,0.00,0.00,-50.08,0.000,16386,0.000,0.000,135,2169,1914,1915,1913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.91,-126.5,135,2170,1915,1913,3.5,-7.5,8,122,10.62,2.42,-31.10,0.000,18692,0.334,0.080,2636,3601,3390,3407,3374,0,0,0,0,0,0,14.14,14.52,14.78
$GC,214,-0.91,-126.5,2637,3601,3407,3374,51.4,-30.8,34,222,0.00,2.28,0.00,0.000,1030,0.000,0.035,2637,2199,3390,3407,3374,0,0,0,0,0,0,28.83,14.51,28.83
$GC,405,-0.91,-126.5,1664,2196,3392,3372,100.4,-24.3,71,411,0.00,2.25,0.00,0.000,516,0.000,0.058,2637,810,3390,3407,3374,0,0,0,0,0,0,28.83,14.57,28.83
$GC,513,-0.91,-126.5,2637,810,3407,3374,122.2,-20.4,92,521,0.08,2.28,0.00,0.000,3078,0.262,0.042,2655,2203,3390,3407,3374,0,0,0,0,0,0,14.31,14.52,28.83
$GC,705,-0.91,-126.5,2656,2203,3407,3375,153.2,-15.9,129,713,0.00,2.25,0.00,0.000,516,0.000,0.054,2656,807,3391,3407,3375,0,0,0,0,0,0,28.83,14.62,28.83
$GC,731,-0.91,-126.5,2656,807,3407,3375,157.3,-16.1,133,738,0.00,2.20,0.00,0.000,1030,0.000,0.042,2647,2203,3391,3407,3375,0,0,0,0,0,0,28.83,14.66,28.83
$GC,921,-0.91,-126.5,2647,2203,3407,3375,185.4,-14.7,170,928,0.00,2.33,0.00,0.000,516,0.000,0.055,2647,805,3391,3407,3375,0,0,0,0,0,0,28.83,14.54,28.83
$GC,941,-0.91,-126.5,2647,805,3407,3375,188.2,-13.7,173,949,0.00,2.22,0.00,0.000,1030,0.000,0.043,2637,2209,3391,3407,3375,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1133,-0.91,-126.5,2637,2209,3407,3374,217.4,-15.2,199,1142,0.00,2.25,0.00,0.000,516,0.000,0.056,2637,810,3390,3407,3374,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1198,-0.91,-126.5,2637,810,3407,3373,228.1,-14.7,212,1208,0.05,2.25,0.00,0.000,3078,0.265,0.044,2642,2190,3390,3407,3373,0,0,0,0,0,0,14.27,14.52,28.83
$GC,1506,-0.91,-126.5,2642,2190,3407,3370,275.8,-16.0,243,1516,0.00,2.22,0.00,0.000,516,0.000,0.056,2642,810,3388,3407,3369,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1541,-0.91,-126.5,2642,810,3407,3370,281.9,-16.2,250,1550,0.05,2.28,0.00,0.000,3078,0.259,0.044,2647,2198,3388,3406,3370,0,0,0,0,0,0,14.28,14.54,28.83
$GC,1850,-0.91,-126.5,2647,2199,3407,3364,330.5,-16.1,281,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2198,3385,3407,3364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2149,-0.91,-126.5,2647,2198,3406,3358,379.4,-16.2,302,2155,0.00,2.25,0.00,0.000,516,0.000,0.061,2647,814,3382,3407,3358,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2189,-0.91,-126.5,2647,815,3406,3357,385.8,-15.9,310,2196,0.00,2.22,0.00,0.000,1030,0.000,0.049,2639,2198,3381,3406,3357,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2510,-0.91,-126.5,2638,2199,3406,3352,436.8,-16.0,329,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2198,3379,3406,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2809,-0.91,-126.5,2639,2199,3404,3349,483.6,-15.8,344,2815,0.00,2.28,0.00,0.000,516,0.000,0.064,2638,814,3376,3404,3348,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2872,-0.91,-126.5,2639,814,3403,3349,493.8,-15.1,357,2877,0.08,2.28,0.00,0.000,3078,0.241,0.051,2658,2198,3375,3403,3348,0,0,0,0,0,0,14.38,14.62,28.83
$GC,3200,-0.91,-126.5,2658,2199,3401,3345,542.0,-14.7,371,3204,0.00,2.30,0.00,0.000,516,0.000,0.064,2658,810,3373,3401,3345,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3224,-0.91,-126.5,2658,810,3401,3345,546.0,-14.6,376,3232,0.00,2.33,0.00,0.000,1030,0.000,0.051,2649,2203,3372,3401,3344,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3532,-0.91,-126.5,2649,2204,3399,3343,591.1,-14.6,387,3538,0.00,2.28,0.00,0.000,516,0.000,0.064,2649,817,3370,3398,3342,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3569,-0.91,-126.5,2649,818,3398,3342,597.0,-14.7,395,3573,0.00,2.25,0.00,0.000,1030,0.000,0.052,2639,2207,3369,3397,3342,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3892,-0.91,-126.5,2639,2208,3396,3339,644.6,-14.9,409,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2207,3368,3396,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4192,-0.91,-126.5,2639,2208,3394,3337,688.3,-14.4,419,4198,0.00,2.30,0.00,0.000,516,0.000,0.066,2639,815,3365,3394,3337,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4239,-0.91,-126.5,2639,814,3394,3337,695.7,-14.9,429,4244,0.10,2.25,0.00,0.000,3078,0.285,0.054,2650,2200,3365,3394,3337,0,0,0,0,0,0,14.44,14.69,28.83
$GC,4546,-0.91,-126.5,2650,2201,3392,3336,739.8,-14.7,440,4552,0.00,2.35,0.00,0.000,260,0.000,0.075,2641,3606,3364,3392,3336,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4589,-0.91,-126.5,2641,3605,3392,3336,746.6,-14.9,449,4593,0.00,2.25,0.00,0.000,1030,0.000,0.041,2641,2201,3364,3392,3336,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4906,-0.91,-126.5,2641,2200,3390,3334,794.5,-15.5,462,4912,0.00,2.30,0.00,0.000,516,0.000,0.067,2641,804,3362,3390,3334,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5004,-0.91,-126.5,2641,804,3389,3334,810.0,-14.8,482,5009,0.10,2.28,0.00,0.000,3078,0.302,0.053,2650,2205,3361,3389,3334,0,0,0,0,0,0,14.38,14.68,28.83
$GC,5322,-0.91,-126.5,2650,2205,3389,3333,855.2,-14.2,495,5328,0.00,2.35,0.00,0.000,516,0.000,0.070,2650,800,3360,3389,3332,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5375,-0.91,-126.5,2650,801,3389,3333,863.0,-13.5,506,5383,0.00,2.35,0.00,0.000,1030,0.000,0.054,2641,2195,3360,3388,3333,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5683,-0.91,-126.5,2642,2195,3386,3331,905.9,-13.9,517,5684,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2195,3359,3387,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5983,-0.91,-126.5,2642,2196,3385,3329,947.0,-13.6,527,5989,0.00,2.33,0.00,0.000,516,0.000,0.068,2642,803,3356,3385,3328,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6025,-0.91,-126.5,2642,803,3384,3328,953.3,-13.9,536,6030,0.10,2.30,0.00,0.000,3078,0.298,0.055,2651,2210,3356,3385,3328,0,0,0,0,0,0,14.36,14.66,28.83
$STATE,6306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6307,begin apogee
$GC,6311,-0.16,0.0,2651,2133,3383,3328,990.8,-13.4,547,6421,0.93,0.00,104.97,2.309,10246,0.288,0.000,2887,2133,2872,2920,2825,0,0,0,0,0,0,14.08,28.83,13.12
$STATE,6423,end apogee,CONTROL_FINISHED_OK
$STATE,6423,begin climb
$GC,6424,0.91,126.5,2887,2133,2913,2817,995.3,0.0,570,6547,1.23,2.58,112.38,2.428,10500,0.213,0.070,3228,3549,2350,2411,2290,0,0,0,0,0,0,13.97,13.85,12.98
$GC,6582,0.91,126.5,3228,3549,2403,2285,987.1,10.2,602,6587,0.00,2.40,0.00,0.000,1030,0.000,0.047,3235,2150,2344,2403,2285,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6900,0.91,126.5,3235,2150,2403,2282,953.3,10.5,615,6906,0.00,2.45,0.00,0.000,516,0.000,0.083,3243,727,2342,2402,2282,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7051,0.91,126.5,3243,726,2403,2283,936.8,10.6,645,7057,0.00,2.30,0.00,0.000,1030,0.000,0.052,3240,2137,2342,2403,2282,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7381,0.91,126.5,3241,2137,2402,2280,903.1,10.2,661,7387,0.00,2.40,0.00,0.000,516,0.000,0.081,3249,733,2341,2402,2280,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7484,0.91,126.5,3249,733,2402,2280,892.1,10.2,682,7488,0.00,2.33,0.00,0.000,1030,0.000,0.052,3245,2149,2341,2402,2280,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7801,0.91,126.5,3244,2150,2401,2279,859.7,10.2,695,7807,0.00,2.35,0.00,0.000,260,0.000,0.072,3244,3551,2340,2401,2279,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7844,0.91,126.5,3245,3551,2398,2279,854.9,10.8,704,7848,0.00,2.33,0.00,0.000,1030,0.000,0.048,3253,2136,2338,2398,2279,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8156,0.91,126.5,3253,2136,2398,2278,822.7,10.3,716,8162,0.00,2.38,0.00,0.000,516,0.000,0.080,3263,735,2338,2398,2278,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8308,0.91,126.5,2432,734,2350,2273,806.2,10.8,747,8313,0.00,2.35,0.00,0.000,1030,0.000,0.051,3260,2144,2337,2397,2278,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8636,0.91,126.5,3260,2145,2397,2277,772.5,10.6,762,8642,0.00,2.40,0.00,0.000,516,0.000,0.079,3269,732,2337,2397,2277,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8696,0.91,126.5,3269,732,2397,2277,765.8,11.1,774,8700,0.00,2.30,0.00,0.000,1030,0.000,0.051,3266,2144,2336,2396,2277,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9023,0.91,126.5,3266,2145,2396,2276,731.8,10.4,789,9027,0.00,2.40,0.00,0.000,516,0.000,0.078,3274,732,2336,2397,2276,0,0,0,0,0,0,28.83,14.56,28.83
$GC,9098,0.91,126.5,3274,732,2396,2276,723.5,10.4,804,9102,0.00,2.30,0.00,0.000,1030,0.000,0.051,3272,2142,2336,2396,2277,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9410,0.91,126.5,3272,2142,2395,2276,691.0,10.7,816,9416,0.00,2.40,0.00,0.000,516,0.000,0.076,3281,729,2335,2395,2276,0,0,0,0,0,0,28.83,14.55,28.83
$GC,9483,0.91,126.5,3281,729,2395,2276,682.5,11.4,831,9487,0.00,2.30,0.00,0.000,1030,0.000,0.053,3281,2139,2335,2395,2276,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9800,0.91,126.5,3281,2139,2395,2275,649.5,10.3,844,9806,0.00,2.38,0.00,0.000,516,0.000,0.077,3290,736,2335,2395,2275,0,0,0,0,0,0,28.83,14.54,28.83
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$GC,16264,1.31,447.4,2432,3551,1336,1256,40.3,5.3,1618,16311,0.00,2.38,36.70,0.260,9222,0.000,0.040,3357,2108,1051,1107,996,0,0,0,0,0,0,28.83,14.52,14.12
$GC,16495,1.41,532.0,2432,2105,1101,1000,27.3,3.8,1661,16553,0.12,2.40,50.45,0.215,10500,0.138,0.057,3416,3555,708,768,648,0,0,0,0,0,0,14.53,14.51,14.24
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$STATE,16763,end climb,SURFACE_DEPTH_REACHED
$STATE,16763,begin surface coast
$FINISH,0.4,1.019472
$STATE,16784,end surface coast,CONTROL_FINISHED_OK
$STATE,16784,begin surface
$SM_CCo,16801,28.75,0.133,0,0,509,579.63
$SM_CCo,16833,-0.08,0.000,0,0,512,579.63
$SM_CCo,16836,0.45,0.303,0,0,508,579.63
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$IRIDIUM_FIX,1749.63,8932.81,270808,030342
$TT8_MAMPS,0.018725,0.018725
$HUMID,46.73
$INTERNAL_PRESSURE,6.68971
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,13.0,105.523
$10V_AH,11.5,0.000
$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
$DEVICE_SECS,23.075,190.975,493.900,29.200,0.000,127.943,153.468,454.498,0.000,0.000,5.909,3391.716,9912.855,662.590,3812.533,240.416,0.000,2091.088,0.000,2515.713,0.000,0.553,0.000
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$SENSOR_SECS,904.104,603.135,1500.958,917.180,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322268
$DATA_FILE_SIZE,137181,1714
$CAP_FILE_SIZE,190570,0
$CFSIZE,2097086464,2047311872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.026,111.7,1
$GPS,311015,190134,1755.399,8933.405,26,1.5,27,-0.9