version: 66.11
glider: 615
mission: 5
dive: 349
start: 11 13 115 19 39 7
data:
$ID,615
$MISSION,5
$DIVE,349
$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,-19755.318
$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,36
$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
$GPS1,131115,192603,1805.383,8921.548,62,1.1,62,-0.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.4
$GPS2,131115,193839,1805.384,8921.516,4,1.1,5,-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,127.1,28219,-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,-126.5,154,2159,558,482,0.0,0.0,0,63,0.00,0.00,-45.65,0.000,16386,0.000,0.000,154,2161,1812,1812,1813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.82,-126.5,154,2160,1812,1813,3.5,-7.9,7,118,10.88,2.30,-30.80,0.000,18948,0.341,0.080,2672,799,3391,3407,3375,0,0,0,0,0,0,14.11,14.31,14.80
$GC,201,-0.82,-126.5,2672,798,3408,3376,51.5,-32.0,31,208,0.08,2.25,0.00,0.000,3078,0.328,0.046,2675,2200,3390,3406,3375,0,0,0,0,0,0,14.33,14.57,28.83
$GC,392,-0.82,-126.5,1680,2199,3392,3373,95.3,-17.6,68,400,0.00,2.38,0.00,0.000,260,0.000,0.063,2666,3604,3391,3407,3376,0,0,0,0,0,0,28.83,14.49,28.83
$GC,493,-0.82,-126.5,1680,3603,3392,3374,114.4,-17.3,87,500,0.00,2.25,0.00,0.000,1030,0.000,0.037,2666,2185,3391,3407,3376,0,0,0,0,0,0,28.83,14.66,28.83
$GC,683,-0.82,-126.5,2666,2184,3406,3377,144.8,-16.9,124,690,0.00,2.30,0.00,0.000,516,0.000,0.057,2666,805,3392,3407,3377,0,0,0,0,0,0,28.83,14.50,28.83
$GC,718,-0.82,-126.5,2666,805,3406,3377,150.2,-15.9,130,726,0.08,2.28,0.00,0.000,3078,0.240,0.043,2686,2193,3392,3407,3377,0,0,0,0,0,0,14.34,14.53,28.83
$GC,910,-0.82,-126.5,2686,2193,3407,3377,176.7,-14.6,167,917,0.00,2.30,0.00,0.000,260,0.000,0.062,2677,3604,3392,3407,3377,0,0,0,0,0,0,28.83,14.62,28.83
$GC,949,-0.82,-126.5,2677,3604,3406,3377,182.4,-13.9,174,956,0.00,2.28,0.00,0.000,1030,0.000,0.037,2677,2196,3392,3407,3377,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1145,-0.82,-126.5,2677,2197,3407,3376,210.7,-14.4,205,1156,0.00,2.25,0.00,0.000,516,0.000,0.057,2677,804,3392,3407,3377,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1262,-0.82,-126.5,2677,804,3406,3376,227.6,-13.6,228,1270,0.00,2.30,0.00,0.000,1030,0.000,0.045,2667,2202,3391,3406,3376,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1570,-0.82,-126.5,2667,2202,3407,3373,271.1,-13.7,259,1580,0.00,2.25,0.00,0.000,516,0.000,0.063,2667,811,3389,3406,3373,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1606,-0.82,-126.5,2667,811,3406,3373,276.5,-13.9,266,1614,0.08,2.30,0.00,0.000,3078,0.230,0.050,2678,2198,3390,3407,3373,0,0,0,0,0,0,14.26,14.50,28.83
$GC,1914,-0.82,-126.5,2678,2198,3406,3370,318.8,-14.2,297,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2198,3387,3405,3369,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2214,-0.82,-126.5,2678,2199,3406,3366,363.1,-15.2,323,2218,0.00,2.28,0.00,0.000,516,0.000,0.065,2678,816,3385,3406,3365,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2256,-0.82,-126.5,2678,816,3406,3365,369.5,-15.0,331,2262,0.00,2.25,0.00,0.000,1030,0.000,0.050,2670,2212,3384,3406,3363,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2576,-0.82,-126.5,2670,2211,3406,3359,417.6,-14.7,350,2582,0.00,2.30,0.00,0.000,516,0.000,0.064,2670,810,3382,3406,3359,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2619,-0.82,-126.5,2670,810,3406,3359,424.4,-14.9,359,2624,0.05,2.30,0.00,0.000,3078,0.243,0.053,2675,2203,3382,3406,3358,0,0,0,0,0,0,14.40,14.62,28.83
$GC,2937,-0.82,-126.5,2675,2203,3406,3353,468.0,-13.6,377,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2203,3379,3406,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3257,-0.82,-126.5,2675,2203,3405,3351,510.1,-13.0,392,3263,0.00,2.30,0.00,0.000,516,0.000,0.067,2675,809,3378,3405,3351,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3324,-0.82,-126.5,2675,809,3404,3351,519.0,-12.2,406,3329,0.00,2.28,0.00,0.000,1030,0.000,0.053,2667,2197,3378,3404,3352,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3646,-0.82,-126.5,2667,2199,3402,3347,561.9,-13.7,420,3650,0.00,2.28,0.00,0.000,516,0.000,0.067,2667,817,3374,3402,3347,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3671,-0.82,-126.5,2667,817,3401,3347,565.6,-13.7,425,3678,0.10,2.25,0.00,0.000,3078,0.272,0.054,2678,2201,3374,3402,3347,0,0,0,0,0,0,14.45,14.68,28.83
$GC,3978,-0.82,-126.5,2679,2202,3401,3345,605.2,-13.1,436,3984,0.00,2.35,0.00,0.000,260,0.000,0.075,2670,3603,3372,3401,3344,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4001,-0.82,-126.5,2670,3602,3400,3345,608.5,-13.1,441,4007,0.00,2.25,0.00,0.000,1030,0.000,0.044,2669,2206,3372,3400,3344,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4307,-0.82,-126.5,2670,2206,3399,3342,650.0,-13.8,452,4311,0.00,2.35,0.00,0.000,516,0.000,0.070,2670,801,3371,3399,3343,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4417,-0.82,-126.5,2670,801,3398,3343,665.0,-13.0,474,4422,0.10,2.30,0.00,0.000,3078,0.285,0.054,2680,2210,3370,3398,3343,0,0,0,0,0,0,14.42,14.67,28.83
$GC,4725,-0.82,-126.5,2680,2211,3397,3341,704.2,-12.8,485,4729,0.00,2.38,0.00,0.000,516,0.000,0.070,2680,797,3368,3397,3340,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4757,-0.82,-126.5,2680,797,3396,3340,708.5,-13.0,491,4763,0.00,2.30,0.00,0.000,1030,0.000,0.054,2672,2209,3368,3396,3340,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5087,-0.82,-126.5,2673,2209,3396,3338,752.7,-13.3,507,5089,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2209,3366,3395,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5387,-0.82,-126.5,2673,2209,3394,3336,792.2,-13.2,517,5393,0.00,2.35,0.00,0.000,516,0.000,0.070,2673,800,3365,3394,3336,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5460,-0.82,-126.5,2673,799,3394,3336,802.1,-13.2,532,5464,0.00,2.30,0.00,0.000,1030,0.000,0.055,2665,2204,3365,3394,3336,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5772,-0.82,-126.5,2665,2204,3392,3337,844.4,-13.8,544,5773,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2204,3364,3392,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6072,-0.82,-126.5,2665,2205,3391,3335,885.5,-13.6,554,6076,0.00,2.35,0.00,0.000,516,0.000,0.070,2664,805,3363,3391,3335,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6111,-0.82,-126.5,2665,805,3391,3335,891.2,-13.8,562,6116,0.00,2.30,0.00,0.000,1030,0.000,0.057,2665,2204,3363,3391,3335,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6429,-0.82,-126.5,2665,2204,3389,3334,932.6,-13.1,575,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2205,3361,3389,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6729,-0.82,-126.5,2665,2204,3389,3333,971.1,-12.8,585,6735,0.00,2.35,0.00,0.000,516,0.000,0.072,2665,800,3361,3389,3333,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6760,-0.82,-126.5,2665,800,3389,3333,975.0,-12.7,591,6765,0.00,2.28,0.00,0.000,1030,0.000,0.057,2665,2195,3361,3389,3333,0,0,0,0,0,0,28.83,14.57,28.83
$STATE,6877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6877,begin apogee
$GC,6882,-0.16,0.0,2665,2131,3389,3332,990.0,-12.6,600,7039,0.88,0.00,150.12,1.940,10246,0.286,0.000,2882,2131,2872,2922,2823,0,0,0,0,0,0,13.94,28.83,13.14
$STATE,7040,end apogee,CONTROL_FINISHED_OK
$STATE,7040,begin climb
$GC,7041,0.82,126.5,2882,2131,2916,2817,996.0,0.0,632,7168,1.15,2.58,115.38,2.455,10500,0.226,0.072,3197,3541,2348,2411,2286,0,0,0,0,0,0,13.94,13.80,12.79
$GC,7178,0.88,175.0,2304,3540,2353,2278,991.4,6.7,660,7229,0.10,2.42,44.83,2.323,11270,0.252,0.051,3222,2148,2158,2224,2092,0,0,0,0,0,0,13.83,13.93,12.83
$GC,7530,0.88,175.0,3222,2149,2208,2076,945.9,13.7,680,7536,0.00,2.45,0.00,0.000,516,0.000,0.089,3228,732,2142,2208,2076,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7693,0.88,175.0,3228,733,2208,2076,923.1,13.6,713,7697,0.00,2.33,0.00,0.000,1030,0.000,0.055,3221,2146,2142,2208,2076,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8006,0.88,175.0,3221,2146,2207,2075,881.6,13.4,725,8012,0.00,2.40,0.00,0.000,516,0.000,0.083,3228,733,2141,2207,2075,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8053,0.88,175.0,3228,733,2207,2075,874.9,13.7,735,8057,0.00,2.30,0.00,0.000,1030,0.000,0.054,3222,2142,2141,2207,2075,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8360,0.88,175.0,3221,2142,2206,2074,835.2,12.8,746,8366,0.00,2.40,0.00,0.000,516,0.000,0.082,3229,736,2140,2206,2074,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8393,0.88,175.0,3229,735,2206,2074,830.7,13.2,753,8397,0.00,2.30,0.00,0.000,1030,0.000,0.054,3224,2144,2139,2206,2073,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8716,0.88,175.0,3224,2144,2206,2073,789.8,12.7,767,8717,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2144,2139,2205,2073,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9016,0.88,175.0,3224,2145,2205,2072,751.5,12.8,777,9020,0.00,2.40,0.00,0.000,516,0.000,0.081,3233,736,2138,2205,2072,0,0,0,0,0,0,28.83,14.55,28.83
$GC,9138,0.88,175.0,3233,735,2204,2072,735.2,13.4,801,9143,0.00,2.30,0.00,0.000,1030,0.000,0.054,3231,2138,2138,2205,2072,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9470,0.88,175.0,3231,2138,2203,2071,692.1,13.0,817,9476,0.00,2.40,0.00,0.000,516,0.000,0.083,3239,725,2137,2203,2071,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9548,0.88,175.0,3239,725,2203,2071,681.4,13.1,833,9552,0.00,2.33,0.00,0.000,1030,0.000,0.053,3234,2146,2137,2203,2071,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9855,0.88,175.0,3234,2146,2202,2071,642.2,12.9,844,9861,0.00,2.40,0.00,0.000,516,0.000,0.080,3242,735,2136,2202,2071,0,0,0,0,0,0,28.83,14.54,28.83
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$STATE,15746,end climb,SURFACE_DEPTH_REACHED
$STATE,15746,begin surface coast
$FINISH,0.3,1.018846
$STATE,15779,end surface coast,CONTROL_FINISHED_OK
$STATE,15779,begin surface
$SM_CCo,15799,1.08,0.210,0,0,509,579.63
$SM_CCo,15803,-0.03,0.000,0,0,510,579.63
$SM_CCo,15806,0.22,0.478,0,0,508,579.63
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$IRIDIUM_FIX,1758.70,8921.45,090908,080826
$TT8_MAMPS,0.018725,0.018725
$HUMID,48.62
$INTERNAL_PRESSURE,6.68971
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,12.8,127.553
$10V_AH,10.8,0.000
$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
$DEVICE_SECS,23.025,172.925,575.750,1.300,0.000,51.403,66.474,413.925,0.000,0.000,6.582,3176.400,9090.396,672.836,3374.390,238.727,0.000,2024.696,0.000,2341.793,0.000,0.553,0.000
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$SENSOR_SECS,857.107,578.934,1436.597,877.654,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322236
$DATA_FILE_SIZE,130645,1594
$CAP_FILE_SIZE,173428,0
$CFSIZE,2097086464,2037284864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.061,140.1,1
$GPS,141115,000410,1803.872,8923.324,52,0.8,58,-0.9