version: 66.11
glider: 615
mission: 5
dive: 351
start: 11 14 115 5 38 35
data:
$ID,615
$MISSION,5
$DIVE,351
$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,579.63446
$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,-19757.83
$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,34
$R_STBD_OVSHOOT,47
$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,48
$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
$GPS1,141115,051803,1802.351,8925.397,68,1.1,68,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-72.0
$GPS2,141115,053808,1802.345,8925.470,5,0.9,5,-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,136.3,19275,-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,-126.5,151,2207,552,494,0.0,0.0,0,62,0.00,0.00,-44.62,0.000,16386,0.000,0.000,152,2206,1766,1766,1767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.82,-126.5,151,2206,1766,1767,3.3,-7.9,7,117,10.85,2.40,-32.17,0.000,18948,0.340,0.080,2673,790,3390,3406,3375,0,0,0,0,0,0,14.14,14.47,14.84
$GC,191,-0.82,-126.5,2673,790,3406,3375,47.5,-33.9,29,199,0.00,2.25,0.00,0.000,1030,0.000,0.048,2664,2190,3391,3407,3375,0,0,0,0,0,0,28.83,14.59,28.83
$GC,384,-0.82,-126.5,2664,2191,3406,3375,94.7,-20.6,66,391,0.08,2.38,0.00,0.000,2308,0.327,0.059,2667,3614,3390,3406,3375,0,0,0,0,0,0,14.51,14.59,28.83
$GC,418,-0.82,-126.5,1680,3613,3392,3372,102.2,-20.8,72,426,0.00,2.33,0.00,0.000,1030,0.000,0.034,2667,2179,3390,3406,3374,0,0,0,0,0,0,28.83,14.59,28.83
$GC,610,-0.82,-126.5,2667,2178,3406,3376,134.9,-15.6,109,617,0.00,2.35,0.00,0.000,260,0.000,0.065,2657,3605,3391,3406,3376,0,0,0,0,0,0,28.83,14.62,28.83
$GC,645,-0.82,-126.5,2657,3606,3406,3376,140.2,-14.5,115,652,0.10,2.22,0.00,0.000,3078,0.259,0.037,2678,2197,3391,3406,3376,0,0,0,0,0,0,14.45,14.69,28.83
$GC,835,-0.82,-126.5,1696,2194,3392,3374,164.9,-12.6,152,843,0.00,2.33,0.00,0.000,516,0.000,0.062,2678,807,3391,3406,3376,0,0,0,0,0,0,28.83,14.52,28.83
$GC,916,-0.82,-126.5,2678,807,3406,3376,176.4,-15.3,167,923,0.00,2.22,0.00,0.000,1030,0.000,0.045,2669,2207,3391,3406,3376,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1107,-0.82,-126.5,2669,2207,3405,3375,203.8,-14.7,202,1115,0.00,2.30,0.00,0.000,260,0.000,0.067,2659,3609,3390,3406,3375,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1140,-0.82,-126.5,1744,3608,3394,3373,208.7,-13.7,209,1149,0.05,2.28,0.00,0.000,3078,0.212,0.037,2674,2197,3390,3406,3374,0,0,0,0,0,0,14.45,14.67,28.83
$GC,1448,-0.82,-126.5,2674,2197,3404,3372,250.2,-14.3,240,1456,0.00,2.25,0.00,0.000,516,0.000,0.062,2673,810,3389,3406,3372,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1560,-0.82,-126.5,2674,810,3406,3372,266.9,-14.4,262,1569,0.00,2.22,0.00,0.000,1030,0.000,0.047,2666,2220,3388,3405,3371,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1869,-0.82,-126.5,2666,2219,3406,3368,312.4,-14.5,294,1878,0.00,2.28,0.00,0.000,260,0.000,0.070,2655,3602,3385,3405,3366,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1890,-0.82,-126.5,2654,3602,3405,3366,315.5,-14.6,298,1899,0.10,2.22,0.00,0.000,3078,0.262,0.039,2677,2193,3385,3405,3365,0,0,0,0,0,0,14.50,14.74,28.83
$GC,2211,-0.82,-126.5,2677,2193,3405,3361,359.2,-13.3,328,2217,0.00,2.28,0.00,0.000,516,0.000,0.065,2677,800,3382,3405,3360,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2341,-0.82,-126.5,2677,800,3405,3358,377.2,-12.7,354,2346,0.00,2.25,0.00,0.000,1030,0.000,0.049,2668,2202,3381,3405,3358,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2649,-0.82,-126.5,2668,2203,3405,3353,419.6,-14.0,370,2655,0.00,2.28,0.00,0.000,516,0.000,0.065,2668,807,3378,3405,3352,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2688,-0.82,-126.5,2668,807,3404,3353,425.5,-14.7,378,2695,0.10,2.25,0.00,0.000,3078,0.266,0.050,2679,2206,3378,3404,3352,0,0,0,0,0,0,14.47,14.70,28.83
$GC,3008,-0.82,-126.5,2679,2206,3403,3349,467.9,-13.1,397,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2206,3375,3403,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3327,-0.82,-126.5,2680,2206,3401,3345,509.3,-12.7,412,3333,0.00,2.30,0.00,0.000,516,0.000,0.069,2680,810,3373,3402,3345,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3425,-0.82,-126.5,2680,810,3402,3345,521.9,-12.2,432,3430,0.00,2.25,0.00,0.000,1030,0.000,0.052,2672,2202,3372,3400,3345,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3743,-0.82,-126.5,2671,2203,3399,3343,562.6,-12.9,445,3749,0.00,2.30,0.00,0.000,516,0.000,0.067,2671,809,3371,3399,3343,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3781,-0.82,-126.5,2672,809,3398,3343,567.9,-13.2,453,3786,0.08,2.25,0.00,0.000,3078,0.314,0.053,2675,2199,3370,3398,3343,0,0,0,0,0,0,14.47,14.69,28.83
$GC,4098,-0.82,-126.5,2675,2200,3397,3340,607.6,-12.8,466,4099,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2200,3368,3397,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4398,-0.82,-126.5,2675,2200,3395,3337,646.2,-13.0,476,4404,0.00,2.30,0.00,0.000,516,0.000,0.070,2675,809,3366,3395,3337,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4451,-0.82,-126.5,2675,809,3395,3337,653.5,-13.1,487,4458,0.00,2.28,0.00,0.000,1030,0.000,0.054,2668,2208,3366,3395,3337,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4758,-0.82,-126.5,2668,2208,3392,3335,695.0,-13.8,498,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2207,3364,3393,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5058,-0.82,-126.5,2668,2208,3392,3335,734.9,-13.2,508,5064,0.00,2.33,0.00,0.000,516,0.000,0.069,2668,805,3363,3391,3335,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5141,-0.82,-126.5,2668,805,3392,3335,746.0,-13.0,525,5148,0.08,2.28,0.00,0.000,3078,0.324,0.055,2675,2199,3362,3390,3335,0,0,0,0,0,0,14.43,14.66,28.83
$GC,5449,-0.82,-126.5,2675,2200,3390,3333,783.1,-12.1,536,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2199,3361,3389,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5748,-0.82,-126.5,2675,2200,3388,3332,819.3,-12.0,546,5754,0.00,2.33,0.00,0.000,516,0.000,0.071,2675,803,3360,3389,3332,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5811,-0.82,-126.5,1792,802,3377,3330,827.1,-12.0,559,5815,0.00,2.33,0.00,0.000,1030,0.000,0.056,2670,2194,3360,3388,3332,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6138,-0.82,-126.5,2670,2193,3387,3330,867.5,-12.6,574,6144,0.00,2.33,0.00,0.000,516,0.000,0.070,2670,804,3359,3387,3331,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6176,-0.82,-126.5,2670,804,3387,3330,872.6,-12.8,582,6180,0.00,2.30,0.00,0.000,1030,0.000,0.056,2670,2208,3358,3386,3330,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6494,-0.82,-126.5,2671,2208,3385,3328,911.6,-12.4,595,6500,0.00,2.33,0.00,0.000,516,0.000,0.070,2670,812,3356,3385,3328,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6547,-0.82,-126.5,2670,812,3385,3328,918.6,-12.3,606,6554,0.00,2.35,0.00,0.000,1030,0.000,0.056,2670,2194,3356,3385,3328,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6854,-0.82,-126.5,2670,2195,3384,3327,956.8,-12.6,617,6855,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2194,3355,3384,3327,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7122,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7122,begin apogee
$GC,7127,-0.16,0.0,2670,2195,3383,3326,991.3,-12.8,626,7284,0.88,0.05,150.18,2.009,10246,0.293,0.227,2884,2157,2872,2921,2824,0,0,0,0,0,0,13.93,13.96,13.05
$STATE,7285,end apogee,CONTROL_FINISHED_OK
$STATE,7285,begin climb
$GC,7287,0.82,126.5,2885,2157,2915,2818,997.8,0.0,658,7413,1.17,2.50,116.88,2.547,10500,0.244,0.073,3196,3546,2350,2412,2289,0,0,0,0,0,0,13.92,13.79,12.78
$GC,7464,0.84,138.0,3196,3546,2404,2284,990.7,8.6,694,7481,0.08,2.40,10.80,2.023,11270,0.269,0.049,3208,2139,2310,2373,2247,0,0,0,0,0,0,13.98,14.11,12.97
$GC,7805,0.84,138.0,3208,2139,2363,2236,957.0,10.3,711,7811,0.00,2.45,0.00,0.000,516,0.000,0.089,3207,730,2298,2361,2236,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7985,0.84,138.0,3208,730,2362,2236,938.5,10.1,747,7991,0.00,2.30,0.00,0.000,1030,0.000,0.056,3204,2136,2299,2362,2236,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8315,0.84,138.0,3204,2136,2361,2234,906.0,9.8,763,8321,0.00,2.40,0.00,0.000,516,0.000,0.086,3207,738,2297,2360,2234,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8362,0.84,138.0,3207,737,2361,2234,901.0,9.8,773,8367,0.00,2.33,0.00,0.000,1030,0.000,0.055,3203,2155,2296,2360,2233,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8669,0.84,138.0,3204,2155,2359,2233,872.0,9.4,784,8675,0.00,2.42,0.00,0.000,516,0.000,0.085,3207,738,2296,2360,2233,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8804,0.84,138.5,3207,738,2359,2232,859.3,9.1,811,8808,0.00,2.30,0.00,0.000,1030,0.000,0.054,3204,2142,2295,2359,2232,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9116,0.84,139.8,3204,2143,2359,2232,831.4,9.1,823,9122,0.00,2.38,0.00,0.000,516,0.000,0.084,3208,742,2295,2358,2232,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9178,0.84,139.8,3209,741,2358,2232,825.5,9.4,836,9182,0.00,2.30,0.00,0.000,1030,0.000,0.053,3204,2146,2295,2358,2232,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9506,0.85,145.4,3204,2147,2358,2231,796.5,8.9,851,9513,0.00,2.42,1.90,0.173,8708,0.000,0.083,3208,736,2281,2344,2218,0,0,0,0,0,0,28.83,14.52,14.42
$GC,9639,0.86,154.3,3208,737,2354,2233,784.4,8.7,878,9659,0.00,2.30,14.68,1.922,9222,0.000,0.052,3205,2143,2242,2305,2180,0,0,0,0,0,0,28.83,14.65,13.51
$GC,9977,0.86,154.3,3205,2144,2293,2168,751.1,10.3,895,9978,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2144,2230,2293,2168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10277,0.86,154.3,3205,2143,2293,2168,720.4,10.4,905,10283,0.00,2.38,0.00,0.000,516,0.000,0.083,3211,743,2229,2292,2167,0,0,0,0,0,0,28.83,14.47,28.83
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$STATE,17754,end climb,SURFACE_DEPTH_REACHED
$STATE,17754,begin surface coast
$FINISH,0.3,1.000547
$STATE,17793,end surface coast,CONTROL_FINISHED_OK
$STATE,17793,begin surface
$SM_CCo,17811,14.38,0.134,0,0,508,579.63
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$IRIDIUM_FIX,1751.90,8925.99,090908,191912
$TT8_MAMPS,0.018725,0.018725
$HUMID,48.38
$INTERNAL_PRESSURE,6.67018
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,12.8,128.299
$10V_AH,10.7,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322216
$DATA_FILE_SIZE,147326,1817
$CAP_FILE_SIZE,195628,0
$CFSIZE,2097086464,2036695040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.065,153.4,1
$GPS,141115,103733,1800.505,8927.015,74,0.9,74,-0.9