version: 66.11
glider: 615
mission: 5
dive: 315
start: 11 6 115 9 21 2
data:
$ID,615
$MISSION,5
$DIVE,315
$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,-19708.91
$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,38
$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,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
$GPS1,061115,090151,1800.815,8922.595,76,1.6,76,-0.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.6
$GPS2,061115,092035,1801.004,8922.360,23,0.9,23,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,NW
$TGT_LATLONG,1806.660,8921.600
$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,337.8,10561,-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,-126.5,186,2214,557,491,0.0,0.0,0,63,0.00,0.00,-45.78,0.000,16386,0.000,0.000,186,2215,1820,1819,1821,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.82,-126.5,185,2214,1819,1821,3.7,-8.3,7,118,10.88,2.35,-31.75,0.000,18692,0.349,0.080,2667,3601,3390,3403,3377,0,0,0,0,0,0,14.13,14.43,14.80
$GC,265,-0.82,-126.5,2667,3601,3403,3377,69.0,-24.5,44,273,0.00,2.30,0.00,0.000,1030,0.000,0.037,2667,2187,3389,3403,3376,0,0,0,0,0,0,28.83,14.52,28.83
$GC,456,-0.82,-126.5,2667,2186,3403,3377,105.0,-16.3,81,464,0.00,2.22,0.00,0.000,516,0.000,0.054,2667,801,3390,3403,3377,0,0,0,0,0,0,28.83,14.59,28.83
$GC,630,-0.82,-126.5,2667,802,3403,3377,133.3,-17.1,114,638,0.05,2.28,0.00,0.000,3078,0.256,0.040,2671,2200,3390,3403,3377,0,0,0,0,0,0,14.33,14.55,28.83
$GC,822,-0.82,-126.5,2671,2200,3403,3377,161.0,-12.4,151,829,0.00,2.28,0.00,0.000,260,0.000,0.060,2662,3600,3390,3403,3378,0,0,0,0,0,0,28.83,14.63,28.83
$GC,907,-0.82,-126.5,2662,3600,3403,3378,172.4,-12.5,167,914,0.08,2.20,0.00,0.000,3078,0.278,0.035,2675,2190,3390,3403,3377,0,0,0,0,0,0,14.49,14.71,28.83
$GC,1097,-0.82,-126.5,2675,2188,3403,3377,198.9,-13.8,204,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2188,3388,3400,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1291,-0.82,-126.5,2676,2188,3403,3376,226.5,-14.4,224,1300,0.00,2.22,0.00,0.000,516,0.000,0.060,2675,815,3389,3403,3376,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1374,-0.82,-126.5,1764,814,3391,3373,239.2,-15.1,241,1382,0.00,2.25,0.00,0.000,1030,0.000,0.047,2667,2193,3389,3402,3376,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1682,-0.82,-126.5,2667,2193,3403,3372,284.0,-14.4,272,1690,0.00,2.33,0.00,0.000,260,0.000,0.067,2657,3607,3387,3402,3372,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1722,-0.82,-126.5,2657,3607,3403,3371,290.1,-15.1,280,1732,0.10,2.20,0.00,0.000,3078,0.261,0.038,2677,2206,3387,3403,3371,0,0,0,0,0,0,14.49,14.74,28.83
$GC,2035,-0.82,-126.5,2677,2206,3402,3367,333.4,-14.1,312,2043,0.00,2.25,0.00,0.000,516,0.000,0.063,2677,814,3384,3402,3367,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2108,-0.82,-126.5,2677,814,3402,3366,344.5,-13.7,327,2117,0.00,2.25,0.00,0.000,1030,0.000,0.048,2669,2209,3383,3402,3365,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2416,-0.82,-126.5,2670,2209,3402,3360,389.2,-14.7,345,2420,0.00,2.30,0.00,0.000,516,0.000,0.061,2669,805,3380,3402,3359,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2450,-0.82,-126.5,2669,805,3402,3359,394.8,-15.1,352,2459,0.05,2.33,0.00,0.000,3078,0.236,0.050,2674,2202,3380,3402,3359,0,0,0,0,0,0,14.31,14.50,28.83
$GC,2758,-0.82,-126.5,2674,2202,3402,3353,439.6,-14.8,368,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2201,3377,3402,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3058,-0.82,-126.5,2674,2202,3400,3352,482.5,-14.1,383,3064,0.00,2.28,0.00,0.000,516,0.000,0.065,2674,814,3376,3401,3351,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3126,-0.82,-126.5,2674,815,3400,3352,492.5,-14.3,397,3130,0.00,2.25,0.00,0.000,1030,0.000,0.051,2666,2207,3375,3400,3351,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3439,-0.82,-126.5,2666,2207,3398,3347,537.6,-14.8,410,3443,0.00,2.30,0.00,0.000,516,0.000,0.064,2666,813,3372,3398,3347,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3502,-0.82,-126.5,1768,813,3385,3344,547.5,-14.9,423,3507,0.10,2.30,0.00,0.000,3078,0.277,0.053,2677,2227,3372,3397,3347,0,0,0,0,0,0,14.45,14.64,28.83
$GC,3830,-0.82,-126.5,2677,2228,3396,3344,594.4,-14.6,438,3836,0.00,2.33,0.00,0.000,516,0.000,0.067,2676,816,3370,3396,3344,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3890,-0.82,-126.5,2677,816,3395,3344,603.0,-13.5,450,3894,0.00,2.25,0.00,0.000,1030,0.000,0.052,2669,2205,3369,3395,3344,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4217,-0.82,-126.5,2669,2205,3393,3342,649.9,-14.0,465,4221,0.00,2.30,0.00,0.000,516,0.000,0.065,2669,815,3367,3393,3342,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4261,-0.82,-126.5,2669,814,3393,3342,656.5,-13.6,474,4265,0.00,2.25,0.00,0.000,1030,0.000,0.054,2665,2200,3367,3392,3342,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4573,-0.82,-126.5,2665,2200,3391,3339,698.5,-13.5,486,4577,0.00,2.35,0.00,0.000,260,0.000,0.076,2658,3601,3365,3391,3339,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4597,-0.82,-126.5,2658,3601,3390,3339,702.1,-14.2,491,4605,0.10,2.25,0.00,0.000,3078,0.259,0.043,2678,2201,3364,3391,3338,0,0,0,0,0,0,14.47,14.73,28.83
$GC,4904,-0.82,-126.5,2677,2200,3389,3337,740.1,-12.5,502,4910,0.00,2.30,0.00,0.000,516,0.000,0.069,2678,807,3363,3389,3337,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4996,-0.82,-126.5,1800,807,3378,3335,752.0,-12.0,521,5001,0.00,2.30,0.00,0.000,1030,0.000,0.052,2669,2218,3363,3389,3337,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5324,-0.82,-126.5,2670,2219,3388,3336,795.2,-13.5,536,5330,0.00,2.35,0.00,0.000,516,0.000,0.067,2670,801,3362,3388,3336,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5362,-0.82,-126.5,2671,800,3388,3336,800.7,-13.9,544,5367,0.08,2.28,0.00,0.000,3078,0.337,0.054,2674,2201,3362,3388,3336,0,0,0,0,0,0,14.41,14.66,28.83
$GC,5680,-0.82,-126.5,2675,2202,3386,3334,841.2,-12.8,557,5686,0.00,2.33,0.00,0.000,516,0.000,0.068,2674,806,3360,3387,3334,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5702,-0.82,-126.5,2674,806,3384,3335,844.6,-14.0,562,5710,0.00,2.35,0.00,0.000,1030,0.000,0.053,2668,2199,3359,3384,3335,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6010,-0.82,-126.5,2668,2199,3384,3333,883.5,-12.7,573,6016,0.00,2.33,0.00,0.000,516,0.000,0.067,2668,805,3359,3385,3334,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6041,-0.82,-126.5,2668,806,3384,3334,887.9,-12.5,580,6046,0.00,2.33,0.00,0.000,1030,0.000,0.054,2668,2223,3358,3384,3333,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6370,-0.82,-126.5,2668,2224,3383,3332,929.1,-12.6,595,6376,0.00,2.38,0.00,0.000,516,0.000,0.070,2668,800,3357,3383,3332,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6438,-0.82,-126.5,2668,800,3382,3332,938.2,-12.7,609,6442,0.00,2.30,0.00,0.000,1030,0.000,0.055,2668,2202,3357,3383,3332,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6755,-0.82,-126.5,2668,2203,3382,3330,978.1,-12.7,622,6761,0.00,2.35,0.00,0.000,516,0.000,0.071,2667,806,3356,3382,3330,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6785,-0.82,-126.5,2667,806,3381,3329,982.1,-13.5,628,6791,0.00,2.30,0.00,0.000,1030,0.000,0.055,2667,2209,3355,3381,3330,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,6873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6873,begin apogee
$GC,6878,-0.16,0.0,2668,2128,3380,3330,993.4,-12.6,636,7033,0.90,0.00,147.38,1.932,10246,0.298,0.000,2886,2128,2868,2918,2819,0,0,0,0,0,0,13.95,28.83,13.21
$STATE,7034,end apogee,CONTROL_FINISHED_OK
$STATE,7034,begin climb
$GC,7036,0.82,126.5,2887,2128,2915,2816,999.3,0.0,668,7158,1.05,2.60,111.10,2.287,10500,0.151,0.072,3210,3544,2348,2405,2291,0,0,0,0,0,0,14.04,13.86,12.95
$GC,7205,0.82,126.5,3209,3544,2402,2285,990.8,10.3,702,7212,0.00,2.35,0.00,0.000,1030,0.000,0.044,3219,2152,2343,2402,2285,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7536,0.82,126.5,3220,2152,2401,2283,954.6,11.2,718,7542,0.00,2.35,0.00,0.000,516,0.000,0.069,3231,723,2342,2401,2283,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7685,0.82,126.5,3231,723,2401,2283,937.4,11.4,748,7691,0.00,2.33,0.00,0.000,1030,0.000,0.049,3231,2146,2342,2401,2283,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8015,0.82,126.5,3231,2146,2397,2282,899.3,11.7,764,8021,0.00,2.33,0.00,0.000,516,0.000,0.068,3241,729,2340,2398,2282,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8094,0.82,126.5,3241,729,2397,2283,889.9,11.9,780,8098,0.00,2.30,0.00,0.000,1030,0.000,0.050,3241,2140,2339,2397,2282,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8401,0.82,126.5,3241,2140,2396,2281,854.5,11.5,791,8402,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2140,2338,2396,2280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8701,0.82,126.5,3241,2140,2395,2281,821.4,10.9,801,8707,0.00,2.35,0.00,0.000,516,0.000,0.069,3251,736,2338,2395,2281,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8769,0.82,126.5,3251,736,2395,2281,813.8,10.7,815,8773,0.00,2.30,0.00,0.000,1030,0.000,0.050,3251,2148,2338,2395,2281,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9086,0.82,126.5,3251,2148,2395,2280,779.7,10.7,828,9087,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,2148,2337,2394,2280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9386,0.82,126.5,3251,2148,2394,2279,747.1,10.8,838,9392,0.00,2.38,0.00,0.000,516,0.000,0.069,3262,729,2336,2394,2279,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9451,0.82,126.5,3261,729,2394,2279,739.8,11.4,851,9458,0.10,2.30,0.00,0.000,5126,0.274,0.050,3241,2140,2337,2394,2280,0,0,0,0,0,0,14.40,14.66,28.83
$GC,9776,0.82,126.5,3242,2140,2393,2279,705.6,10.5,866,9777,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2140,2336,2393,2279,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17322,end climb,SURFACE_DEPTH_REACHED
$STATE,17323,begin surface coast
$FINISH,0.3,1.018897
$STATE,17360,end surface coast,CONTROL_FINISHED_OK
$STATE,17360,begin surface
$SM_CCo,17379,30.35,0.135,0,0,509,579.63
$SM_CCo,17412,0.20,0.536,0,0,508,579.63
$SM_CCo,17415,0.00,0.000,0,0,511,579.63
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$IRIDIUM_FIX,1754.17,8923.72,010908,222230
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.08
$INTERNAL_PRESSURE,6.68971
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,12.9,115.325
$10V_AH,11.2,0.000
$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
$DEVICE_SECS,22.975,190.375,533.000,30.550,0.000,74.374,121.195,614.270,0.250,0.000,23.828,3423.917,10243.987,706.706,3890.807,262.259,0.000,2157.588,0.000,2541.299,0.000,0.554,0.000
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$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322200
$DATA_FILE_SIZE,140765,1734
$CAP_FILE_SIZE,190799,0
$CFSIZE,2097086464,2042822656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.050, 87.3,1
$GPS,061115,141313,1802.525,8922.228,58,34.2,78,-0.9