version: 66.11
glider: 615
mission: 5
dive: 29
start: 9 7 115 12 14 46
data:
$ID,615
$MISSION,5
$DIVE,29
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,970
$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,400
$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,150
$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,709.94379
$N_FILEKB,8
$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,-5846.6821
$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,46
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,510
$VBD_MAX,3960
$C_VBD,3000
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00050000002
$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,11.5
$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
$GPS1,070915,120803,1805.659,8933.753,78,0.8,78,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-73.0
$GPS2,070915,121420,1805.606,8933.659,5,0.8,5,-0.9
$SPEED_LIMITS,0.156,0.199
$TGT_NAME,SW
$TGT_LATLONG,1755.320,8921.600
$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,232.5,28539,-19.4,-8.981,-24.24,2355
$D_GRID,970
$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,14,-0.68,-146.0,186,2212,567,484,0.0,0.0,0,57,0.00,0.00,-40.30,0.000,16386,0.000,0.000,186,2213,1703,1720,1687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.68,-146.0,186,2212,1720,1686,3.7,-8.2,6,118,10.77,2.30,-41.08,0.000,19204,0.356,0.073,2718,793,3598,3586,3610,0,0,0,0,0,0,14.38,14.60,14.79
$GC,195,-0.68,-146.0,2718,793,3585,3609,44.3,-29.4,30,202,0.00,2.28,0.00,0.000,1030,0.000,0.050,2709,2182,3597,3586,3609,0,0,0,0,0,0,28.83,14.61,28.83
$GC,386,-0.68,-146.0,2709,2183,3585,3609,91.3,-17.2,67,393,0.08,2.22,0.00,0.000,2564,0.343,0.052,2721,794,3597,3586,3609,0,0,0,0,0,0,14.57,14.69,28.83
$GC,501,-0.68,-146.0,2721,795,3586,3610,111.4,-17.3,89,509,0.00,2.22,0.00,0.000,1030,0.000,0.042,2712,2217,3597,3585,3610,0,0,0,0,0,0,28.83,14.72,28.83
$GC,692,-0.68,-146.0,2712,2217,3585,3611,142.0,-17.0,126,699,0.00,2.30,0.00,0.000,516,0.000,0.054,2712,803,3598,3586,3611,0,0,0,0,0,0,28.83,14.70,28.83
$GC,786,-0.68,-146.0,2712,803,3586,3612,158.4,-17.0,144,794,0.05,2.25,0.00,0.000,3078,0.269,0.044,2717,2204,3598,3585,3611,0,0,0,0,0,0,14.59,14.72,28.83
$GC,977,-0.68,-146.0,2717,2204,3586,3612,189.0,-15.7,181,984,0.00,2.25,0.00,0.000,260,0.000,0.064,2708,3605,3598,3585,3611,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1031,-0.68,-146.0,1728,3604,3579,3610,197.6,-15.6,191,1039,0.08,2.20,0.00,0.000,3078,0.290,0.039,2722,2182,3598,3586,3611,0,0,0,0,0,0,14.65,14.79,28.83
$GC,1221,-0.68,-146.0,2722,2181,3585,3611,225.5,-14.8,211,1231,0.00,2.17,0.00,0.000,516,0.000,0.058,2722,809,3598,3586,3610,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1276,-0.68,-146.0,2721,809,3585,3610,233.9,-14.0,222,1285,0.00,2.22,0.00,0.000,1030,0.000,0.044,2713,2198,3597,3585,3610,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1584,-0.68,-146.0,2713,2198,3585,3606,277.1,-14.2,253,1594,0.00,2.20,0.00,0.000,516,0.000,0.057,2713,814,3596,3586,3606,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1618,-0.68,-146.0,2713,813,3586,3606,282.5,-14.5,260,1628,0.08,2.22,0.00,0.000,3078,0.228,0.047,2726,2200,3595,3585,3605,0,0,0,0,0,0,14.63,14.75,28.83
$GC,1926,-0.68,-146.0,2727,2200,3585,3603,323.3,-13.8,291,1937,0.00,2.28,0.00,0.000,260,0.000,0.068,2717,3601,3593,3585,3602,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1971,-0.68,-146.0,2717,3601,3585,3602,329.1,-13.6,299,1981,0.00,2.17,0.00,0.000,1030,0.000,0.041,2717,2199,3593,3585,3602,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2290,-0.68,-146.0,2717,2199,3585,3598,373.2,-13.7,324,2296,0.00,2.22,0.00,0.000,516,0.000,0.060,2717,803,3591,3585,3597,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2337,-0.68,-146.0,2717,802,3585,3597,380.1,-12.9,334,2342,0.08,2.25,0.00,0.000,3078,0.311,0.048,2721,2229,3591,3585,3597,0,0,0,0,0,0,14.71,14.85,28.83
$GC,2650,-0.68,-146.0,2721,2230,3585,3593,421.5,-13.3,351,2656,0.00,2.28,0.00,0.000,516,0.000,0.060,2721,807,3589,3585,3593,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2677,-0.68,-146.0,2722,808,3585,3593,425.6,-13.7,357,2682,0.00,2.25,0.00,0.000,1030,0.000,0.049,2713,2199,3589,3585,3593,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2990,-0.68,-146.0,2713,2201,3585,3588,466.7,-13.0,374,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2201,3586,3585,3588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3312,-0.68,-146.0,2712,2201,3585,3582,509.0,-13.1,389,3317,0.00,2.28,0.00,0.000,260,0.000,0.071,2701,3607,3583,3585,3582,0,0,0,0,0,0,28.83,14.84,28.83
$GC,3327,-0.68,-146.0,2702,3607,3585,3582,511.7,-13.4,393,3333,0.10,2.25,0.00,0.000,3078,0.257,0.044,2725,2172,3583,3584,3582,0,0,0,0,0,0,14.76,14.90,28.83
$GC,3640,-0.68,-146.0,2725,2170,3585,3579,550.0,-12.2,405,3646,0.00,2.20,0.00,0.000,516,0.000,0.064,2725,804,3581,3584,3579,0,0,0,0,0,0,28.83,14.86,28.83
$GC,3692,-0.68,-146.0,2725,805,3581,3580,556.7,-11.1,416,3700,0.00,2.28,0.00,0.000,1030,0.000,0.051,2716,2207,3581,3582,3580,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4000,-0.68,-146.0,2716,2207,3581,3577,595.5,-13.1,427,4007,0.00,2.28,0.00,0.000,260,0.000,0.073,2706,3611,3579,3581,3577,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4032,-0.68,-146.0,2706,3611,3580,3577,600.2,-13.4,434,4037,0.05,2.25,0.00,0.000,3078,0.220,0.044,2722,2196,3579,3581,3577,0,0,0,0,0,0,14.74,14.89,28.83
$GC,4360,-0.68,-146.0,2722,2194,3580,3573,641.4,-12.5,449,4367,0.00,2.22,0.00,0.000,516,0.000,0.064,2722,804,3577,3579,3575,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4408,-0.68,-146.0,2723,805,3578,3575,647.5,-11.5,459,4412,0.00,2.22,0.00,0.000,1030,0.000,0.052,2714,2208,3576,3578,3575,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4720,-0.68,-146.0,2714,2208,3578,3571,686.3,-12.5,471,4727,0.00,2.28,0.00,0.000,260,0.000,0.075,2703,3608,3574,3577,3571,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4742,-0.68,-146.0,2703,3608,3577,3572,689.4,-12.4,476,4751,0.05,2.25,0.00,0.000,3078,0.217,0.044,2720,2199,3574,3577,3571,0,0,0,0,0,0,14.71,14.86,28.83
$GC,5050,-0.68,-146.0,2720,2198,3577,3570,724.9,-11.5,487,5056,0.00,2.22,0.00,0.000,516,0.000,0.063,2721,809,3573,3576,3570,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5093,-0.68,-146.0,2720,809,3575,3570,730.1,-11.4,496,5097,0.00,2.25,0.00,0.000,1030,0.000,0.052,2711,2199,3572,3575,3570,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5411,-0.68,-146.0,2712,2199,3574,3568,768.0,-12.3,509,5417,0.00,2.30,0.00,0.000,260,0.000,0.076,2701,3611,3571,3574,3568,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5449,-0.68,-146.0,2701,3610,3573,3568,773.0,-11.8,517,5454,0.05,2.25,0.00,0.000,3078,0.220,0.045,2726,2203,3571,3574,3569,0,0,0,0,0,0,14.77,14.90,28.83
$GC,5771,-0.68,-146.0,2726,2200,3573,3565,809.4,-11.4,531,5778,0.00,2.25,0.00,0.000,516,0.000,0.066,2726,802,3569,3573,3565,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5820,-0.68,-146.0,2726,802,3572,3565,815.1,-10.7,541,5824,0.00,2.22,0.00,0.000,1030,0.000,0.053,2718,2204,3568,3572,3565,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6132,-0.68,-146.0,2718,2204,3572,3564,852.3,-12.2,553,6136,0.00,2.30,0.00,0.000,260,0.000,0.077,2707,3604,3568,3572,3564,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6166,-0.68,-146.0,2707,3604,3571,3564,856.8,-12.2,560,6172,0.05,2.25,0.00,0.000,3078,0.220,0.046,2723,2197,3566,3570,3563,0,0,0,0,0,0,14.73,14.89,28.83
$GC,6494,-0.68,-146.0,2724,2196,3571,3561,895.3,-11.9,575,6500,0.00,2.22,0.00,0.000,516,0.000,0.066,2724,810,3565,3570,3561,0,0,0,0,0,0,28.83,14.87,28.83
$GC,6532,-0.68,-146.0,2724,810,3570,3562,900.3,-11.7,583,6537,0.00,2.25,0.00,0.000,1030,0.000,0.054,2715,2197,3566,3570,3562,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6855,-0.68,-146.0,2715,2198,3570,3560,939.2,-12.3,597,6861,0.00,2.30,0.00,0.000,260,0.000,0.077,2705,3604,3565,3570,3560,0,0,0,0,0,0,28.83,14.87,28.83
$GC,6893,-0.68,-146.0,2705,3604,3569,3560,944.2,-12.4,605,6898,0.05,2.25,0.00,0.000,3078,0.221,0.047,2729,2201,3564,3569,3560,0,0,0,0,0,0,14.76,14.88,28.83
$STATE,7124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7124,begin apogee
$GC,7128,-0.16,0.0,2729,2142,3569,3559,970.5,-11.5,616,7306,0.52,0.00,168.48,1.857,10246,0.198,0.000,2894,2142,2993,3033,2954,0,0,0,0,0,0,14.75,28.83,13.43
$STATE,7307,end apogee,CONTROL_FINISHED_OK
$STATE,7307,begin climb
$GC,7308,0.68,146.0,2893,2142,3031,2951,977.7,0.0,652,7488,0.82,0.00,169.90,1.763,10502,0.117,0.000,3167,2142,2397,2450,2344,0,0,0,0,0,0,14.07,28.83,13.36
$GC,7786,0.68,153.6,3166,2142,2446,2337,953.0,8.6,693,7791,0.00,0.00,3.88,1.195,8198,0.000,0.000,3166,2142,2372,2426,2318,0,0,0,0,0,0,28.83,28.83,13.74
$GC,8086,0.68,155.6,3166,2142,2435,2326,926.3,8.9,703,8091,0.00,0.00,2.60,0.727,8198,0.000,0.000,3166,2142,2363,2418,2309,0,0,0,0,0,0,28.83,28.83,13.79
$GC,8386,0.69,156.6,3166,2142,2431,2321,899.3,8.9,713,8390,0.00,0.00,2.25,0.467,8198,0.000,0.000,3166,2142,2360,2415,2306,0,0,0,0,0,0,28.83,28.83,13.76
$GC,8686,0.69,162.5,3167,2142,2429,2318,873.0,8.7,723,8703,0.00,2.35,11.65,1.844,8708,0.000,0.080,3177,749,2330,2385,2276,0,0,0,0,0,0,28.83,14.63,13.94
$GC,8728,0.69,162.5,3177,748,2377,2270,869.0,9.6,732,8732,0.00,2.30,0.00,0.000,1030,0.000,0.057,3175,2134,2323,2377,2269,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9046,0.69,162.5,3177,2135,2375,2268,839.1,9.3,745,9052,0.00,2.35,0.00,0.000,260,0.000,0.081,3177,3546,2321,2375,2268,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9093,0.69,162.5,3176,3545,2374,2268,834.1,10.0,755,9097,0.00,2.30,0.00,0.000,1030,0.000,0.053,3186,2151,2320,2373,2268,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9406,0.69,162.5,3187,2151,2374,2267,805.2,9.3,767,9412,0.00,2.35,0.00,0.000,516,0.000,0.080,3197,737,2320,2374,2267,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9508,0.69,162.5,3198,736,2374,2267,795.3,9.5,788,9512,0.00,2.30,0.00,0.000,1030,0.000,0.057,3197,2161,2320,2374,2267,0,0,0,0,0,0,28.83,14.78,28.83
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$STATE,18189,end climb,SURFACE_DEPTH_REACHED
$STATE,18189,begin surface coast
$FINISH,0.2,0.998858
$STATE,18231,end surface coast,CONTROL_FINISHED_OK
$STATE,18231,begin surface
$SM_CCo,18246,2.03,0.156,0,0,509,610.79
$SM_CCo,18250,0.00,0.000,0,0,512,610.79
$SM_CCo,18252,0.52,0.281,0,0,509,610.79
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$IRIDIUM_FIX,1754.17,8935.06,030708,202031
$TT8_MAMPS,0.018725,0.018725
$HUMID,43.89
$INTERNAL_PRESSURE,6.66041
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,13.4,22.201
$10V_AH,13.1,0.000
$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
$DEVICE_SECS,21.725,186.500,666.425,2.550,0.000,25.974,46.917,199.421,0.250,0.000,6.306,3538.737,10803.728,780.114,3359.990,138.342,0.000,2249.951,0.000,2520.756,0.000,0.553,0.000
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$SENSOR_SECS,956.394,634.218,1696.447,1036.364,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322304
$DATA_FILE_SIZE,141006,1711
$CAP_FILE_SIZE,189132,0
$CFSIZE,2097086464,2089484288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.059,200.5,1
$GPS,070915,172034,1803.821,8931.827,59,1.0,59,-0.9