version: 66.11
glider: 615
mission: 5
dive: 317
start: 11 6 115 19 40 32
data:
$ID,615
$MISSION,5
$DIVE,317
$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,-19711.422
$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,39
$R_STBD_OVSHOOT,50
$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
$GPS1,061115,192233,1803.912,8921.932,51,1.2,51,-0.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-69.3
$GPS2,061115,194004,1803.963,8921.796,4,1.9,4,-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,343.8,5007,-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,-126.5,186,2211,550,493,0.0,0.0,0,62,0.00,0.00,-45.00,0.000,16386,0.000,0.000,186,2210,1792,1792,1793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.82,-126.5,186,2210,1793,1793,3.5,-7.7,7,117,10.88,2.33,-32.50,0.000,18692,0.350,0.076,2664,3596,3386,3401,3372,0,0,0,0,0,0,14.14,14.52,14.81
$GC,175,-0.82,-126.5,2664,3597,3400,3372,39.8,-39.3,26,182,0.00,2.30,0.00,0.000,1030,0.000,0.037,2664,2192,3386,3400,3372,0,0,0,0,0,0,28.83,14.51,28.83
$GC,367,-0.82,-126.5,2664,2190,3400,3372,91.2,-20.3,63,373,0.08,0.00,0.00,0.000,2054,0.318,0.000,2676,2189,3386,3400,3372,0,0,0,0,0,0,14.49,28.83,28.83
$GC,557,-0.82,-126.5,2676,2190,3400,3372,122.5,-14.3,100,564,0.00,2.35,0.00,0.000,260,0.000,0.058,2667,3611,3386,3400,3373,0,0,0,0,0,0,28.83,14.58,28.83
$GC,637,-0.82,-126.5,2667,3611,3400,3373,134.7,-15.0,115,644,0.00,2.22,0.00,0.000,1030,0.000,0.033,2667,2185,3386,3400,3373,0,0,0,0,0,0,28.83,14.71,28.83
$GC,827,-0.82,-126.5,1680,2183,3386,3370,162.8,-14.5,152,834,0.00,2.35,0.00,0.000,260,0.000,0.057,2656,3607,3386,3400,3373,0,0,0,0,0,0,28.83,14.60,28.83
$GC,871,-0.82,-126.5,2657,3607,3400,3373,168.7,-13.2,160,879,0.08,2.28,0.00,0.000,3078,0.213,0.035,2678,2193,3387,3401,3373,0,0,0,0,0,0,14.36,14.59,28.83
$GC,1064,-0.82,-126.5,2678,2192,3400,3373,195.4,-14.0,197,1072,0.00,2.22,0.00,0.000,516,0.000,0.058,2678,817,3386,3400,3373,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1140,-0.82,-126.5,2678,817,3400,3373,206.2,-13.5,211,1150,0.00,2.20,0.00,0.000,1030,0.000,0.047,2670,2197,3386,3400,3372,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1451,-0.82,-126.5,2670,2197,3400,3371,250.2,-14.8,243,1460,0.00,2.28,0.00,0.000,260,0.000,0.066,2659,3595,3385,3400,3371,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1496,-0.82,-126.5,2659,3596,3401,3370,257.2,-13.8,252,1505,0.05,2.25,0.00,0.000,3078,0.221,0.039,2674,2209,3385,3400,3370,0,0,0,0,0,0,14.33,14.54,28.83
$GC,1804,-0.82,-126.5,2674,2208,3401,3367,299.5,-13.7,283,1815,0.00,2.28,0.00,0.000,516,0.000,0.062,2674,808,3383,3400,3366,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1911,-0.82,-126.5,2674,808,3400,3365,314.5,-13.8,303,1920,0.00,2.22,0.00,0.000,1030,0.000,0.048,2666,2206,3382,3400,3364,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2229,-0.82,-126.5,2666,2206,3400,3359,359.6,-14.2,333,2235,0.00,2.28,0.00,0.000,516,0.000,0.062,2666,807,3379,3400,3358,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2262,-0.82,-126.5,2666,807,3400,3358,364.8,-15.1,340,2271,0.05,2.30,0.00,0.000,3078,0.234,0.050,2671,2191,3378,3399,3357,0,0,0,0,0,0,14.31,14.50,28.83
$GC,2569,-0.82,-126.5,2671,2191,3400,3352,408.5,-14.5,356,2576,0.00,2.28,0.00,0.000,516,0.000,0.063,2671,800,3375,3399,3352,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2597,-0.82,-126.5,2671,801,3399,3352,413.0,-14.9,362,2602,0.08,2.25,0.00,0.000,3078,0.309,0.050,2676,2201,3376,3400,3352,0,0,0,0,0,0,14.48,14.69,28.83
$GC,2905,-0.82,-126.5,2676,2201,3399,3348,457.3,-14.6,378,2911,0.00,2.35,0.00,0.000,260,0.000,0.072,2668,3608,3373,3399,3348,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2933,-0.82,-126.5,2667,3608,3399,3347,461.8,-14.6,384,2937,0.00,2.25,0.00,0.000,1030,0.000,0.041,2667,2198,3373,3399,3347,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3267,-0.82,-126.5,2667,2197,3397,3344,510.2,-14.9,401,3273,0.00,2.25,0.00,0.000,516,0.000,0.064,2668,809,3370,3397,3344,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3368,-0.82,-126.5,2667,809,3396,3344,525.5,-14.3,422,3373,0.10,2.25,0.00,0.000,3078,0.280,0.052,2678,2200,3370,3396,3344,0,0,0,0,0,0,14.45,14.69,28.83
$GC,3680,-0.82,-126.5,2678,2200,3395,3341,568.4,-13.8,434,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2200,3368,3395,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3981,-0.82,-126.5,2678,2200,3393,3338,609.2,-13.6,444,3985,0.00,2.33,0.00,0.000,516,0.000,0.068,2678,802,3365,3393,3337,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4020,-0.82,-126.5,2678,801,3393,3337,615.0,-13.7,452,4024,0.00,2.28,0.00,0.000,1030,0.000,0.052,2670,2204,3365,3393,3338,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4338,-0.82,-126.5,2671,2204,3391,3336,659.4,-14.0,465,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2204,3364,3392,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4638,-0.82,-126.5,2671,2204,3389,3335,701.7,-14.1,475,4644,0.00,2.33,0.00,0.000,516,0.000,0.068,2670,800,3362,3389,3335,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4716,-0.82,-126.5,2671,800,3389,3334,713.2,-13.7,491,4721,0.08,2.28,0.00,0.000,3078,0.315,0.054,2675,2200,3362,3390,3334,0,0,0,0,0,0,14.45,14.67,28.83
$GC,5023,-0.82,-126.5,2675,2200,3388,3333,754.3,-13.6,502,5029,0.00,2.35,0.00,0.000,260,0.000,0.075,2667,3602,3360,3387,3334,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5053,-0.82,-126.5,2667,3602,3387,3332,758.5,-13.9,508,5057,0.00,2.25,0.00,0.000,1030,0.000,0.044,2667,2203,3360,3387,3333,0,0,0,0,0,0,28.83,14.72,28.83
$GC,5384,-0.82,-126.5,2667,2202,3387,3331,803.5,-13.5,524,5390,0.00,2.33,0.00,0.000,516,0.000,0.069,2667,800,3359,3387,3331,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5482,-0.82,-126.5,2667,800,3386,3331,816.9,-13.0,544,5487,0.10,2.30,0.00,0.000,3078,0.288,0.055,2677,2207,3358,3386,3331,0,0,0,0,0,0,14.40,14.66,28.83
$GC,5801,-0.82,-126.5,2677,2207,3384,3328,856.7,-12.6,557,5806,0.00,2.33,0.00,0.000,516,0.000,0.070,2677,800,3356,3384,3328,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5818,-0.82,-126.5,2677,800,3383,3329,859.3,-13.2,561,5822,0.00,2.30,0.00,0.000,1030,0.000,0.054,2671,2208,3356,3385,3328,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6124,-0.82,-126.5,2671,2208,3383,3327,898.1,-12.6,572,6131,0.00,2.35,0.00,0.000,516,0.000,0.068,2671,796,3355,3383,3327,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6157,-0.82,-126.5,2671,796,3383,3327,902.7,-12.9,579,6162,0.00,2.30,0.00,0.000,1030,0.000,0.054,2669,2199,3355,3383,3327,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6480,-0.82,-126.5,2669,2200,3381,3326,943.0,-12.6,593,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2200,3353,3381,3326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6781,-0.82,-126.5,2669,2200,3380,3325,980.8,-12.6,603,6785,0.00,2.35,0.00,0.000,516,0.000,0.071,2670,803,3352,3381,3324,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6835,-0.82,-126.5,2669,803,3380,3325,988.1,-12.2,614,6843,0.00,2.38,0.00,0.000,1030,0.000,0.056,2669,2199,3352,3380,3325,0,0,0,0,0,0,28.83,14.40,28.83
$STATE,6870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6870,begin apogee
$GC,6875,-0.16,0.0,2670,2138,3380,3325,992.3,-12.1,616,6984,0.88,0.00,104.03,2.277,10246,0.301,0.000,2885,2138,2871,2920,2822,0,0,0,0,0,0,13.95,28.83,13.12
$STATE,6986,end apogee,CONTROL_FINISHED_OK
$STATE,6986,begin climb
$GC,6988,0.82,126.5,2885,2137,2914,2816,996.9,0.0,639,7107,1.08,2.50,111.50,2.272,10500,0.171,0.070,3206,3546,2351,2411,2291,0,0,0,0,0,0,14.07,13.88,12.95
$GC,7140,0.82,126.5,3206,3546,2403,2285,990.0,9.6,654,7146,0.00,2.38,0.00,0.000,1030,0.000,0.043,3217,2142,2344,2403,2285,0,0,0,0,0,0,28.83,14.11,28.83
$GC,7469,0.82,126.5,3216,2142,2403,2283,955.3,10.5,670,7475,0.00,2.38,0.00,0.000,516,0.000,0.069,3227,732,2343,2403,2283,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7622,0.82,126.5,3228,732,2402,2282,939.4,10.2,701,7626,0.00,2.33,0.00,0.000,1030,0.000,0.050,3228,2147,2342,2402,2283,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7949,0.82,126.5,3227,2148,2401,2282,907.2,9.8,716,7950,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2148,2341,2401,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8249,0.82,126.5,3227,2148,2401,2281,878.5,9.6,726,8256,0.00,2.38,0.00,0.000,516,0.000,0.070,3238,730,2340,2400,2281,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8309,0.82,126.5,3238,730,2399,2281,872.7,10.1,738,8315,0.00,2.30,0.00,0.000,1030,0.000,0.050,3238,2142,2340,2399,2281,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8639,0.82,126.5,3238,2142,2398,2280,840.2,9.8,754,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2142,2339,2398,2280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8939,0.82,126.5,3238,2142,2397,2279,811.1,9.6,764,8945,0.00,2.35,0.00,0.000,516,0.000,0.070,3248,736,2338,2397,2279,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9002,0.82,126.5,3249,736,2397,2279,804.4,10.4,777,9007,0.00,2.30,0.00,0.000,1030,0.000,0.050,3248,2148,2338,2397,2279,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9325,0.82,126.5,3248,2147,2397,2279,771.8,10.2,791,9331,0.00,2.35,0.00,0.000,516,0.000,0.069,3258,734,2337,2396,2279,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9397,0.82,126.5,3258,735,2396,2279,763.9,10.4,806,9402,0.10,2.30,0.00,0.000,5126,0.271,0.050,3238,2147,2337,2396,2279,0,0,0,0,0,0,14.40,14.66,28.83
$GC,9710,0.82,126.5,3238,2147,2396,2278,732.6,10.2,818,9716,0.00,2.35,0.00,0.000,260,0.000,0.070,3238,3551,2336,2395,2278,0,0,0,0,0,0,28.83,14.61,28.83
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$STATE,17586,end climb,SURFACE_DEPTH_REACHED
$STATE,17586,begin surface coast
$FINISH,0.5,1.019060
$STATE,17615,end surface coast,CONTROL_FINISHED_OK
$STATE,17615,begin surface
$SM_CCo,17635,12.15,0.133,0,0,508,579.63
$SM_CCo,17650,0.00,0.000,0,0,511,579.63
$SM_CCo,17653,0.38,0.337,0,0,508,579.63
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$IRIDIUM_FIX,1756.43,8921.45,020908,090926
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.99
$INTERNAL_PRESSURE,6.67994
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,12.9,115.995
$10V_AH,11.1,0.000
$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
$DEVICE_SECS,23.375,176.200,512.425,12.525,0.000,99.925,178.193,392.897,0.000,0.000,5.614,3439.882,10594.775,664.963,3761.705,231.736,0.000,2066.524,0.000,2501.506,0.000,0.554,0.000
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$SENSOR_SECS,920.359,612.277,1546.145,944.888,0.000,0.000,0.000,0.000,0.000,0.000
$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,137446,1711
$CAP_FILE_SIZE,186320,0
$CFSIZE,2097086464,2042494976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.039, 95.8,1
$GPS,071115,003604,1805.498,8921.740,40,1.6,40,-0.9