version: 66.11
glider: 615
mission: 5
dive: 322
start: 11 7 115 21 20 29
data:
$ID,615
$MISSION,5
$DIVE,322
$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,-19717.691
$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,41
$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
$GPS1,071115,210208,1759.767,8928.346,64,1.4,64,-0.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-71.2
$GPS2,071115,212002,1759.884,8928.419,4,1.0,5,-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,143.5,12364,-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,-126.5,143,2152,551,493,0.0,0.0,0,55,0.00,0.00,-38.28,0.000,16386,0.000,0.000,142,2153,1595,1596,1594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.82,-126.5,142,2153,1596,1595,3.2,-7.4,6,117,11.10,2.30,-37.35,0.000,18948,0.351,0.085,2672,801,3390,3402,3378,0,0,0,0,0,0,14.12,14.32,14.79
$GC,225,-0.82,-126.5,2672,802,3403,3379,54.4,-29.8,35,233,0.08,2.25,0.00,0.000,3078,0.329,0.049,2676,2196,3390,3403,3378,0,0,0,0,0,0,14.35,14.57,28.83
$GC,421,-0.82,-126.5,2675,2196,3402,3379,100.5,-17.7,72,429,0.00,2.35,0.00,0.000,260,0.000,0.060,2666,3614,3390,3403,3378,0,0,0,0,0,0,28.83,14.57,28.83
$GC,446,-0.82,-126.5,2666,3615,3402,3379,104.7,-17.1,76,455,0.00,2.30,0.00,0.000,1030,0.000,0.034,2666,2188,3390,3402,3378,0,0,0,0,0,0,28.83,14.59,28.83
$GC,643,-0.82,-126.5,2666,2187,3403,3379,137.6,-17.4,113,649,0.00,2.33,0.00,0.000,260,0.000,0.060,2655,3611,3391,3403,3379,0,0,0,0,0,0,28.83,14.63,28.83
$GC,699,-0.82,-126.5,2655,3611,3402,3379,147.1,-16.8,123,706,0.10,2.22,0.00,0.000,3078,0.264,0.035,2676,2193,3391,3403,3379,0,0,0,0,0,0,14.45,14.71,28.83
$GC,893,-0.82,-126.5,2676,2193,3403,3379,174.6,-13.5,160,902,0.00,2.30,0.00,0.000,516,0.000,0.057,2676,808,3391,3403,3379,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1019,-0.82,-126.5,2676,808,3402,3380,191.0,-12.2,183,1026,0.00,2.22,0.00,0.000,1030,0.000,0.044,2667,2216,3391,3403,3379,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1210,-0.82,-126.5,2667,2217,3402,3378,217.5,-13.6,208,1220,0.00,2.25,0.00,0.000,260,0.000,0.063,2657,3599,3390,3402,3378,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1245,-0.82,-126.5,2657,3599,3402,3378,222.7,-13.9,215,1253,0.10,2.20,0.00,0.000,3078,0.252,0.036,2678,2192,3390,3403,3378,0,0,0,0,0,0,14.50,14.73,28.83
$GC,1552,-0.82,-126.5,2678,2191,3402,3374,263.9,-13.3,246,1556,0.00,2.25,0.00,0.000,516,0.000,0.062,2678,811,3388,3402,3374,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1633,-0.82,-126.5,2678,812,3402,3374,275.1,-13.4,262,1637,0.00,2.22,0.00,0.000,1030,0.000,0.049,2670,2204,3388,3402,3374,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1939,-0.82,-126.5,2670,2206,3402,3370,318.8,-14.5,293,1949,0.00,2.25,0.00,0.000,516,0.000,0.062,2670,813,3386,3402,3370,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1993,-0.82,-126.5,2670,813,3402,3370,326.7,-14.5,303,2003,0.05,2.22,0.00,0.000,3078,0.239,0.049,2675,2213,3385,3402,3369,0,0,0,0,0,0,14.29,14.65,28.83
$GC,2314,-0.82,-126.5,2675,2213,3402,3364,374.0,-14.9,328,2320,0.00,2.25,0.00,0.000,516,0.000,0.062,2675,820,3383,3402,3364,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2345,-0.82,-126.5,2675,820,3401,3364,379.3,-15.0,335,2353,0.00,2.30,0.00,0.000,1030,0.000,0.050,2667,2201,3382,3402,3363,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2653,-0.82,-126.5,2667,2202,3402,3357,424.1,-14.4,351,2654,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2201,3379,3402,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2954,-0.82,-126.5,2667,2201,3402,3352,465.8,-13.5,366,2960,0.00,2.25,0.00,0.000,516,0.000,0.064,2667,819,3376,3401,3352,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3006,-0.82,-126.5,2667,819,3401,3352,473.4,-13.9,377,3014,0.08,2.30,0.00,0.000,3078,0.220,0.052,2680,2197,3376,3401,3352,0,0,0,0,0,0,14.30,14.51,28.83
$GC,3333,-0.82,-126.5,2680,2197,3400,3349,515.9,-13.2,392,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2197,3374,3400,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3633,-0.82,-126.5,2680,2197,3397,3346,556.1,-13.5,402,3639,0.00,2.30,0.00,0.000,516,0.000,0.067,2679,809,3372,3398,3346,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3676,-0.82,-126.5,2680,809,3397,3346,562.3,-13.7,411,3680,0.00,2.25,0.00,0.000,1030,0.000,0.053,2673,2200,3371,3397,3346,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3993,-0.82,-126.5,2672,2200,3396,3344,606.3,-14.2,424,3999,0.00,2.28,0.00,0.000,516,0.000,0.066,2673,816,3369,3395,3344,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4023,-0.82,-126.5,2672,816,3395,3344,610.6,-14.5,430,4030,0.08,2.25,0.00,0.000,3078,0.317,0.054,2676,2204,3369,3395,3344,0,0,0,0,0,0,14.47,14.70,28.83
$GC,4353,-0.82,-126.5,2676,2204,3393,3342,657.1,-14.2,446,4354,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2205,3367,3393,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4653,-0.82,-126.5,2676,2204,3392,3340,697.8,-13.2,456,4659,0.00,2.30,0.00,0.000,516,0.000,0.069,2676,815,3365,3392,3339,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4715,-0.82,-126.5,1792,814,3379,3337,706.4,-12.8,469,4720,0.00,2.28,0.00,0.000,1030,0.000,0.055,2669,2212,3365,3391,3339,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5043,-0.82,-126.5,2669,2212,3390,3337,749.7,-13.2,484,5049,0.00,2.30,0.00,0.000,516,0.000,0.067,2670,819,3363,3389,3337,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5073,-0.82,-126.5,2669,819,3387,3337,753.7,-13.8,490,5079,0.00,2.25,0.00,0.000,1030,0.000,0.055,2666,2198,3363,3389,3337,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5403,-0.82,-126.5,2666,2198,3389,3336,796.9,-13.0,506,5409,0.00,2.30,0.00,0.000,516,0.000,0.068,2666,819,3362,3389,3336,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5433,-0.82,-126.5,2666,819,3389,3336,800.8,-13.3,512,5440,0.10,2.25,0.00,0.000,3078,0.288,0.055,2678,2202,3361,3387,3336,0,0,0,0,0,0,14.41,14.67,28.83
$GC,5763,-0.82,-126.5,2678,2203,3387,3335,842.0,-12.6,528,5769,0.00,2.33,0.00,0.000,516,0.000,0.070,2678,811,3361,3387,3335,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5801,-0.82,-126.5,2678,812,3387,3335,846.9,-12.3,536,5805,0.00,2.28,0.00,0.000,1030,0.000,0.054,2671,2206,3361,3387,3335,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6118,-0.82,-126.5,2672,2207,3385,3333,887.4,-13.0,549,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2207,3359,3385,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6419,-0.82,-126.5,2672,2207,3384,3333,925.9,-12.7,559,6423,0.00,2.33,0.00,0.000,516,0.000,0.070,2671,817,3358,3384,3333,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6468,-0.82,-126.5,2672,817,3383,3332,932.9,-13.1,569,6473,0.00,2.28,0.00,0.000,1030,0.000,0.057,2671,2203,3358,3384,3333,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6775,-0.82,-126.5,2671,2204,3382,3332,972.2,-12.9,580,6779,0.00,2.33,0.00,0.000,516,0.000,0.070,2670,820,3357,3382,3332,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6799,-0.82,-126.5,2671,820,3382,3332,975.7,-13.0,585,6807,0.00,2.28,0.00,0.000,1030,0.000,0.056,2671,2201,3357,3382,3332,0,0,0,0,0,0,28.83,14.63,28.83
$STATE,6925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6925,begin apogee
$GC,6929,-0.16,0.0,2671,2202,3381,3331,991.5,-12.7,590,7040,0.88,0.00,105.93,2.324,10246,0.298,0.000,2887,2203,2872,2919,2825,0,0,0,0,0,0,13.97,28.83,13.07
$STATE,7042,end apogee,CONTROL_FINISHED_OK
$STATE,7042,begin climb
$GC,7044,0.82,126.5,2887,2203,2912,2818,996.0,0.0,613,7162,1.15,0.00,113.12,2.403,10502,0.231,0.000,3192,2203,2354,2416,2292,0,0,0,0,0,0,13.97,28.83,12.88
$GC,7461,0.82,126.5,3192,2203,2406,2282,965.0,9.6,642,7467,0.00,2.47,0.00,0.000,516,0.000,0.082,3192,765,2343,2405,2282,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7544,0.82,126.5,3191,765,2405,2282,957.0,9.4,659,7553,0.08,2.28,0.00,0.000,3078,0.303,0.052,3202,2143,2343,2404,2282,0,0,0,0,0,0,14.35,14.54,28.83
$GC,7851,0.82,126.5,3202,2143,2403,2280,927.7,9.6,670,7857,0.00,2.35,0.00,0.000,516,0.000,0.074,3212,752,2341,2403,2280,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7925,0.82,126.5,3212,752,2403,2280,920.4,9.7,685,7929,0.00,2.28,0.00,0.000,1030,0.000,0.053,3208,2140,2341,2403,2280,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8237,0.82,126.5,3208,2140,2403,2279,890.8,9.5,697,8243,0.00,2.33,0.00,0.000,516,0.000,0.073,3216,759,2341,2403,2279,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8328,0.82,126.5,3216,759,2403,2279,882.2,9.5,715,8332,0.00,2.28,0.00,0.000,1030,0.000,0.052,3210,2148,2341,2403,2279,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8660,0.82,126.5,3210,2147,2402,2278,851.4,9.4,731,8666,0.00,2.35,0.00,0.000,516,0.000,0.079,3213,763,2340,2402,2278,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8707,0.82,126.5,3212,763,2402,2278,846.4,10.1,741,8711,0.00,2.25,0.00,0.000,1030,0.000,0.052,3213,2141,2340,2402,2278,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9020,0.82,126.5,3213,2142,2401,2277,816.4,9.4,753,9026,0.00,2.33,0.00,0.000,516,0.000,0.080,3214,741,2340,2402,2278,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9087,0.82,126.5,3214,741,2401,2277,809.7,10.0,767,9092,0.00,2.30,0.00,0.000,1030,0.000,0.052,3214,2146,2339,2401,2277,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9404,0.82,126.5,3214,2146,2400,2276,780.3,9.3,780,9410,0.00,2.35,0.00,0.000,516,0.000,0.079,3218,763,2338,2400,2276,0,0,0,0,0,0,28.83,14.55,28.83
$GC,9477,0.82,126.5,3218,763,2400,2276,773.2,9.4,795,9482,0.00,2.25,0.00,0.000,1030,0.000,0.052,3217,2142,2338,2400,2276,0,0,0,0,0,0,28.83,14.66,28.83
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$STATE,17770,end climb,SURFACE_DEPTH_REACHED
$STATE,17770,begin surface coast
$FINISH,0.3,1.007570
$STATE,17863,end surface coast,CONTROL_FINISHED_OK
$STATE,17863,begin surface
$SM_CCo,17883,0.80,0.249,0,0,507,579.63
$SM_CCo,17887,-0.10,0.000,0,0,512,579.63
$SM_CCo,17890,0.47,0.288,0,0,508,579.63
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$IRIDIUM_FIX,1751.90,8930.54,030908,101023
$TT8_MAMPS,0.018725,0.018725
$HUMID,46.45
$INTERNAL_PRESSURE,6.71901
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,12.9,117.708
$10V_AH,10.9,0.000
$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
$DEVICE_SECS,23.475,203.575,525.225,1.275,0.000,82.107,48.498,639.785,0.000,0.000,6.508,3535.127,10552.260,686.497,3902.217,275.789,0.000,2169.111,0.000,2589.544,0.000,0.555,0.000
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$SENSOR_SECS,945.055,629.080,1541.783,942.280,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322180
$DATA_FILE_SIZE,144105,1771
$CAP_FILE_SIZE,198184,0
$CFSIZE,2097086464,2041643008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.088, 87.6,1
$GPS,081115,022033,1758.443,8930.387,75,1.0,76,-0.9