version: 66.11
glider: 615
mission: 5
dive: 352
start: 11 14 115 11 2 8
data:
$ID,615
$MISSION,5
$DIVE,352
$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,-19759.086
$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,29
$R_STBD_OVSHOOT,68
$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
$GPS1,141115,103733,1800.505,8927.015,74,0.9,74,-0.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.0
$GPS2,141115,110142,1800.461,8927.098,5,0.9,5,-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,123.2,14816,-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,14,begin dive
$GC,16,-0.82,-126.5,157,2232,553,496,0.0,0.0,0,64,0.00,0.00,-45.60,0.000,16386,0.000,0.000,158,2231,1809,1808,1811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.82,-126.5,157,2231,1809,1812,3.5,-7.9,7,118,10.93,2.45,-30.98,0.000,18948,0.345,0.079,2676,784,3390,3405,3376,0,0,0,0,0,0,14.12,14.36,14.81
$GC,186,-0.82,-126.5,1664,784,3391,3374,45.1,-31.3,28,193,0.00,2.30,0.00,0.000,1030,0.000,0.047,2668,2175,3390,3405,3376,0,0,0,0,0,0,28.83,14.49,28.83
$GC,377,-0.82,-126.5,2668,2176,3405,3376,91.6,-18.9,65,384,0.00,2.33,0.00,0.000,260,0.000,0.060,2657,3606,3391,3406,3376,0,0,0,0,0,0,28.83,14.60,28.83
$GC,406,-0.82,-126.5,2657,3606,3405,3376,97.1,-18.3,70,414,0.05,2.33,0.00,0.000,3078,0.204,0.035,2681,2171,3390,3405,3375,0,0,0,0,0,0,14.37,14.58,28.83
$GC,598,-0.82,-126.5,2680,2172,3405,3375,129.0,-14.9,107,604,0.00,2.20,0.00,0.000,516,0.000,0.060,2681,815,3390,3405,3376,0,0,0,0,0,0,28.83,14.59,28.83
$GC,697,-0.82,-126.5,2681,815,3405,3376,143.5,-13.6,126,705,0.00,2.28,0.00,0.000,1030,0.000,0.046,2673,2203,3390,3405,3376,0,0,0,0,0,0,28.83,14.55,28.83
$GC,890,-0.82,-126.5,2672,2203,3405,3377,171.9,-14.5,163,897,0.00,2.30,0.00,0.000,260,0.000,0.066,2661,3603,3390,3405,3376,0,0,0,0,0,0,28.83,14.63,28.83
$GC,915,-0.82,-126.5,2662,3604,3405,3376,175.7,-15.3,167,922,0.08,2.20,0.00,0.000,3078,0.276,0.037,2675,2204,3390,3405,3376,0,0,0,0,0,0,14.50,14.71,28.83
$GC,1106,-0.82,-126.5,2675,2203,3405,3376,203.0,-14.3,202,1115,0.00,2.25,0.00,0.000,516,0.000,0.060,2676,809,3390,3405,3376,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1177,-0.82,-126.5,2675,809,3405,3375,212.5,-12.8,216,1186,0.00,2.22,0.00,0.000,1030,0.000,0.045,2667,2210,3390,3405,3375,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1487,-0.82,-126.5,2667,2210,3405,3372,256.0,-14.4,248,1496,0.00,2.28,0.00,0.000,260,0.000,0.067,2657,3600,3388,3405,3372,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1511,-0.82,-126.5,2656,3600,3405,3372,259.8,-14.5,253,1519,0.10,2.22,0.00,0.000,3078,0.256,0.038,2677,2196,3388,3405,3371,0,0,0,0,0,0,14.50,14.73,28.83
$GC,1818,-0.82,-126.5,2678,2196,3405,3368,302.4,-14.3,284,1827,0.00,2.25,0.00,0.000,516,0.000,0.064,2677,810,3387,3406,3368,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1960,-0.82,-126.5,2677,810,3405,3366,322.9,-13.6,312,1969,0.00,2.22,0.00,0.000,1030,0.000,0.047,2669,2204,3384,3404,3365,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2271,-0.82,-126.5,2669,2204,3404,3360,367.9,-14.6,338,2277,0.00,2.28,0.00,0.000,516,0.000,0.065,2669,806,3382,3405,3360,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2333,-0.82,-126.5,2669,806,3404,3359,377.6,-13.9,351,2338,0.10,2.25,0.00,0.000,3078,0.275,0.049,2680,2210,3381,3404,3358,0,0,0,0,0,0,14.47,14.67,28.83
$GC,2651,-0.82,-126.5,2680,2210,3404,3353,421.5,-13.9,369,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2210,3378,3404,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2952,-0.82,-126.5,2680,2210,3402,3350,461.9,-13.3,384,2957,0.00,2.30,0.00,0.000,516,0.000,0.067,2680,806,3375,3402,3349,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3012,-0.82,-126.5,2680,806,3401,3350,469.7,-12.9,396,3018,0.00,2.25,0.00,0.000,1030,0.000,0.051,2673,2209,3376,3402,3350,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3341,-0.82,-126.5,2673,2209,3400,3346,512.6,-12.9,414,3346,0.00,2.30,0.00,0.000,516,0.000,0.066,2673,812,3373,3400,3346,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3370,-0.82,-126.5,2672,810,3399,3346,516.7,-13.7,420,3377,0.00,2.25,0.00,0.000,1030,0.000,0.052,2665,2206,3372,3399,3346,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3701,-0.82,-126.5,2665,2206,3398,3343,562.4,-14.0,436,3706,0.00,2.30,0.00,0.000,516,0.000,0.067,2666,812,3370,3397,3343,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3739,-0.82,-126.5,2665,811,3397,3343,568.1,-13.9,444,3743,0.00,2.28,0.00,0.000,1030,0.000,0.054,2665,2209,3370,3397,3343,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4056,-0.82,-126.5,2666,2209,3395,3341,613.3,-14.5,457,4062,0.00,2.30,0.00,0.000,516,0.000,0.068,2665,811,3368,3395,3341,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4099,-0.82,-126.5,2666,811,3395,3341,619.9,-14.7,466,4103,0.00,2.25,0.00,0.000,1030,0.000,0.054,2665,2199,3368,3395,3341,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4411,-0.82,-126.5,2665,2199,3393,3338,663.9,-14.0,478,4417,0.00,2.30,0.00,0.000,516,0.000,0.069,2665,807,3366,3394,3338,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4434,-0.82,-126.5,2665,807,3394,3338,667.4,-15.0,483,4440,0.00,2.28,0.00,0.000,1030,0.000,0.054,2665,2202,3365,3393,3338,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4741,-0.82,-126.5,2665,2202,3391,3336,707.0,-12.7,494,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2202,3363,3391,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5041,-0.82,-126.5,2666,2202,3390,3336,744.1,-12.4,504,5047,0.00,2.33,0.00,0.000,516,0.000,0.070,2666,809,3362,3390,3335,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5094,-0.82,-126.5,2666,809,3389,3335,751.3,-13.2,515,5100,0.00,2.28,0.00,0.000,1030,0.000,0.055,2666,2199,3362,3389,3336,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5401,-0.82,-126.5,2666,2199,3388,3334,790.8,-13.1,526,5407,0.00,2.38,0.00,0.000,260,0.000,0.077,2666,3602,3361,3389,3334,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5419,-0.82,-126.5,2666,3603,3389,3333,793.4,-13.6,530,5423,0.00,2.25,0.00,0.000,1030,0.000,0.044,2665,2208,3361,3388,3334,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5726,-0.82,-126.5,2665,2207,3388,3333,834.1,-13.4,541,5732,0.00,2.35,0.00,0.000,516,0.000,0.073,2666,804,3360,3387,3333,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5819,-0.82,-126.5,2665,804,3387,3333,847.2,-13.3,560,5823,0.00,2.33,0.00,0.000,1030,0.000,0.056,2666,2194,3360,3387,3333,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6147,-0.82,-126.5,2666,2195,3384,3331,892.3,-13.9,575,6148,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2194,3358,3385,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6447,-0.82,-126.5,2665,2195,3384,3329,932.6,-13.2,585,6453,0.00,2.33,0.00,0.000,516,0.000,0.073,2666,806,3356,3383,3329,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6489,-0.82,-126.5,2666,806,3383,3329,938.6,-13.4,594,6494,0.00,2.30,0.00,0.000,1030,0.000,0.057,2665,2205,3356,3383,3329,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6801,-0.82,-126.5,2666,2205,3383,3328,978.4,-12.7,606,6803,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2205,3354,3382,3327,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6920,begin apogee
$GC,6924,-0.16,0.0,2665,2139,3382,3327,993.5,-12.5,610,7059,0.90,0.00,128.32,2.126,10246,0.287,0.000,2890,2138,2867,2916,2819,0,0,0,0,0,0,14.19,28.83,12.95
$STATE,7061,end apogee,CONTROL_FINISHED_OK
$STATE,7061,begin climb
$GC,7063,0.82,126.5,2890,2138,2913,2815,998.1,0.0,638,7183,1.00,0.00,116.82,2.544,10246,0.125,0.000,3208,2138,2356,2415,2297,0,0,0,0,0,0,14.03,28.83,12.81
$GC,7462,0.82,126.5,3208,2138,2404,2283,968.1,10.0,653,7468,0.00,2.38,0.00,0.000,516,0.000,0.073,3217,739,2343,2404,2283,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7493,0.82,126.5,3219,739,2404,2284,965.1,10.2,659,7499,0.00,2.28,0.00,0.000,1030,0.000,0.050,3218,2135,2343,2403,2283,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7822,0.82,126.5,3218,2135,2403,2282,932.7,9.6,675,7823,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2135,2342,2403,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8122,0.82,126.5,3218,2135,2402,2282,903.1,9.9,685,8128,0.00,2.35,0.00,0.000,516,0.000,0.073,3229,737,2342,2403,2281,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8170,0.82,126.5,3229,737,2402,2282,898.0,10.6,695,8174,0.00,2.30,0.00,0.000,1030,0.000,0.052,3229,2144,2342,2402,2282,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8477,0.82,126.5,3229,2144,2402,2280,866.1,10.6,706,8483,0.00,2.35,0.00,0.000,516,0.000,0.071,3239,740,2341,2401,2281,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8539,0.82,126.5,3239,740,2402,2281,859.2,10.8,719,8544,0.00,2.30,0.00,0.000,1030,0.000,0.051,3239,2150,2341,2402,2281,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8862,0.82,126.5,3239,2151,2400,2280,823.3,11.3,733,8866,0.00,2.38,0.00,0.000,516,0.000,0.071,3249,739,2340,2401,2280,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8917,0.82,126.5,3249,739,2400,2280,816.9,11.7,744,8924,0.00,2.35,0.00,0.000,1030,0.000,0.051,3249,2137,2340,2400,2280,0,0,0,0,0,0,28.83,14.51,28.83
$GC,9224,0.82,126.5,3249,2137,2399,2279,782.8,11.0,755,9230,0.00,2.35,0.00,0.000,516,0.000,0.071,3260,735,2339,2399,2279,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9284,0.82,126.5,3259,735,2399,2279,776.3,10.9,767,9289,0.10,2.30,0.00,0.000,5126,0.276,0.051,3240,2142,2338,2398,2279,0,0,0,0,0,0,14.40,14.66,28.83
$GC,9617,0.82,126.5,3240,2142,2398,2278,744.4,9.3,783,9623,0.00,2.33,0.00,0.000,260,0.000,0.072,3239,3546,2337,2397,2277,0,0,0,0,0,0,28.83,14.56,28.83
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$STATE,17766,end climb,SURFACE_DEPTH_REACHED
$STATE,17766,begin surface coast
$FINISH,0.2,1.008803
$STATE,17789,end surface coast,CONTROL_FINISHED_OK
$STATE,17789,begin surface
$SM_CCo,17807,0.90,0.230,0,0,509,579.63
$SM_CCo,17811,0.00,0.000,0,0,511,579.63
$SM_CCo,17814,0.28,0.413,0,0,508,579.63
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$IRIDIUM_FIX,1754.17,8928.25,100908,000024
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.95
$INTERNAL_PRESSURE,6.69948
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,11.9,128.695
$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
$DEVICE_SECS,22.775,194.625,581.250,1.175,0.000,105.320,160.019,805.066,0.000,0.000,6.480,3479.028,10626.703,718.446,4151.185,273.663,0.000,2155.565,0.000,2520.067,0.000,0.556,0.000
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$SENSOR_SECS,926.808,617.332,1578.397,964.435,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322212
$DATA_FILE_SIZE,141156,1721
$CAP_FILE_SIZE,197537,0
$CFSIZE,2097086464,2036727808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.072,115.3,1
$GPS,141115,160034,1759.268,8929.394,52,1.2,52,-0.9