version: 66.11
glider: 615
mission: 5
dive: 92
start: 9 21 115 6 35 17
data:
$ID,615
$MISSION,5
$DIVE,92
$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,-18935.561
$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,40
$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,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
$GPS1,210915,062804,1800.603,8927.524,48,0.7,48,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-69.3
$GPS2,210915,063450,1800.630,8927.554,6,0.7,6,-0.9
$SPEED_LIMITS,0.159,0.189
$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,231.4,14381,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.82,-126.5,165,2173,551,488,0.0,0.0,0,61,0.00,0.00,-44.65,0.000,16386,0.000,0.000,162,2173,1779,1778,1781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.82,-126.5,162,2175,1780,1781,3.0,-5.3,7,115,10.75,0.00,-34.80,0.000,19206,0.353,0.000,2673,2173,3389,3401,3377,0,0,0,0,0,0,14.31,28.83,14.76
$GC,304,-0.82,-126.5,2673,2174,3402,3377,80.7,-22.1,51,310,0.00,2.33,0.00,0.000,260,0.000,0.062,2664,3602,3389,3402,3376,0,0,0,0,0,0,28.83,14.62,28.83
$GC,359,-0.82,-126.5,2664,3603,3402,3377,93.1,-20.9,61,366,0.08,2.22,0.00,0.000,3078,0.298,0.037,2676,2180,3389,3402,3377,0,0,0,0,0,0,14.49,14.66,28.83
$GC,555,-0.82,-126.5,2676,2178,3402,3379,125.9,-16.2,98,562,0.00,2.25,0.00,0.000,516,0.000,0.054,2676,809,3390,3402,3379,0,0,0,0,0,0,28.83,14.62,28.83
$GC,627,-0.82,-126.5,2676,809,3402,3380,137.1,-15.4,111,633,0.00,2.20,0.00,0.000,1030,0.000,0.041,2668,2211,3390,3402,3379,0,0,0,0,0,0,28.83,14.70,28.83
$GC,821,-0.82,-126.5,2668,2211,3402,3380,165.7,-14.7,148,829,0.00,2.30,0.00,0.000,516,0.000,0.054,2668,809,3391,3402,3380,0,0,0,0,0,0,28.83,14.66,28.83
$GC,873,-0.82,-126.5,2668,809,3402,3381,174.0,-16.6,157,880,0.10,2.17,0.00,0.000,3078,0.292,0.041,2678,2199,3391,3402,3380,0,0,0,0,0,0,14.54,14.73,28.83
$GC,1074,-0.82,-126.5,2678,2199,3402,3380,203.2,-14.5,193,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2200,3391,3402,3381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1374,-0.82,-126.5,2678,2200,3402,3380,245.6,-14.2,223,1378,0.00,2.25,0.00,0.000,516,0.000,0.057,2678,809,3390,3402,3379,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1467,-0.82,-126.5,2678,808,3401,3379,258.7,-13.3,241,1478,0.00,2.20,0.00,0.000,1030,0.000,0.044,2670,2204,3390,3402,3378,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1777,-0.82,-126.5,2669,2204,3402,3376,302.8,-14.2,273,1781,0.00,2.22,0.00,0.000,516,0.000,0.058,2670,812,3389,3402,3376,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1820,-0.82,-126.5,2670,812,3402,3376,308.9,-14.7,281,1830,0.10,2.20,0.00,0.000,3078,0.284,0.045,2681,2206,3388,3402,3375,0,0,0,0,0,0,14.60,14.78,28.83
$GC,2130,-0.82,-126.5,2681,2206,3402,3371,351.3,-13.7,313,2131,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2206,3387,3402,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2430,-0.82,-126.5,2681,2206,3402,3368,391.0,-13.3,328,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2206,3385,3402,3368,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2730,-0.82,-126.5,2681,2206,3401,3363,431.7,-13.7,343,2736,0.00,2.25,0.00,0.000,516,0.000,0.061,2681,810,3381,3401,3362,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2792,-0.82,-126.5,2681,810,3401,3362,441.0,-13.7,356,2797,0.00,2.25,0.00,0.000,1030,0.000,0.048,2673,2198,3381,3401,3362,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3110,-0.82,-126.5,2673,2198,3401,3357,486.4,-14.4,374,3116,0.00,2.22,0.00,0.000,516,0.000,0.062,2673,817,3379,3401,3357,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3151,-0.82,-126.5,2673,818,3401,3357,492.1,-14.2,382,3158,0.08,2.22,0.00,0.000,3078,0.311,0.051,2676,2210,3379,3401,3357,0,0,0,0,0,0,14.63,14.81,28.83
$GC,3481,-0.82,-126.5,2676,2211,3401,3352,537.4,-13.7,397,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2211,3376,3401,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3780,-0.82,-126.5,2676,2211,3400,3351,577.9,-13.3,407,3784,0.00,2.28,0.00,0.000,516,0.000,0.063,2676,818,3375,3400,3351,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3804,-0.82,-126.5,2676,817,3399,3352,581.6,-14.2,412,3812,0.00,2.28,0.00,0.000,1030,0.000,0.050,2669,2204,3375,3399,3352,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4112,-0.82,-126.5,2669,2204,3398,3349,622.7,-13.4,423,4118,0.00,2.30,0.00,0.000,260,0.000,0.076,2658,3602,3373,3398,3348,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4134,-0.82,-126.5,2658,3602,3397,3349,626.2,-14.1,428,4143,0.05,2.25,0.00,0.000,3078,0.229,0.043,2673,2212,3372,3397,3348,0,0,0,0,0,0,14.55,14.76,28.83
$GC,4444,-0.82,-126.5,2673,2211,3396,3346,665.6,-13.0,439,4450,0.00,2.25,0.00,0.000,516,0.000,0.065,2673,810,3370,3396,3345,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4534,-0.82,-126.5,2673,810,3396,3346,678.1,-12.5,458,4539,0.00,2.25,0.00,0.000,1030,0.000,0.050,2664,2191,3370,3395,3346,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4863,-0.82,-126.5,2664,2191,3394,3344,722.6,-13.7,473,4869,0.00,2.25,0.00,0.000,516,0.000,0.064,2664,806,3369,3395,3344,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4900,-0.82,-126.5,2664,806,3394,3344,728.1,-13.3,481,4905,0.10,2.25,0.00,0.000,3078,0.294,0.050,2674,2210,3369,3394,3344,0,0,0,0,0,0,14.62,14.82,28.83
$GC,5223,-0.82,-126.5,2674,2209,3393,3342,768.2,-12.5,495,5224,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2209,3367,3393,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5523,-0.82,-126.5,2674,2211,3392,3341,805.4,-12.4,505,5529,0.00,2.30,0.00,0.000,516,0.000,0.067,2674,800,3366,3392,3341,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5570,-0.82,-126.5,2674,800,3391,3341,811.6,-12.6,515,5575,0.00,2.25,0.00,0.000,1030,0.000,0.053,2666,2201,3366,3391,3341,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5883,-0.82,-126.5,2666,2202,3390,3339,850.6,-12.8,527,5889,0.00,2.33,0.00,0.000,260,0.000,0.077,2656,3614,3364,3390,3338,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5905,-0.82,-126.5,2656,3614,3390,3338,853.9,-13.3,532,5914,0.08,2.30,0.00,0.000,3078,0.227,0.042,2676,2201,3364,3390,3338,0,0,0,0,0,0,14.51,14.76,28.83
$GC,6213,-0.82,-126.5,2676,2200,3390,3337,890.5,-11.9,543,6219,0.00,2.28,0.00,0.000,516,0.000,0.068,2676,806,3363,3389,3337,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6303,-0.82,-126.5,2676,806,3389,3337,901.4,-11.6,561,6309,0.00,2.25,0.00,0.000,1030,0.000,0.050,2668,2209,3363,3389,3337,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6633,-0.82,-126.5,2668,2211,3388,3336,942.9,-12.7,577,6635,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2211,3362,3388,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6934,-0.82,-126.5,2668,2211,3387,3336,981.2,-12.5,587,6939,0.00,2.30,0.00,0.000,516,0.000,0.067,2668,803,3361,3387,3336,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6996,-0.82,-126.5,2668,802,3387,3336,989.6,-12.2,600,7001,0.05,2.30,0.00,0.000,3078,0.278,0.052,2671,2200,3361,3386,3336,0,0,0,0,0,0,14.52,14.74,28.83
$STATE,7005,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7005,begin apogee
$GC,7009,-0.16,0.0,2671,2133,3386,3336,990.8,-12.0,602,7166,0.77,0.00,149.38,2.082,10246,0.259,0.000,2885,2133,2869,2915,2823,0,0,0,0,0,0,14.47,28.83,13.39
$STATE,7167,end apogee,CONTROL_FINISHED_OK
$STATE,7167,begin climb
$GC,7169,0.82,126.5,2885,2133,2913,2820,996.0,0.0,634,7282,1.08,0.00,109.78,2.169,10246,0.170,0.000,3205,2134,2356,2413,2300,0,0,0,0,0,0,13.98,28.83,13.22
$GC,7564,0.82,126.5,3205,2134,2401,2285,961.8,11.1,648,7570,0.00,2.38,0.00,0.000,516,0.000,0.078,3214,742,2343,2401,2285,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7684,0.82,126.5,3214,742,2400,2285,948.2,11.0,672,7691,0.00,2.30,0.00,0.000,1030,0.000,0.050,3214,2144,2342,2399,2285,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8014,0.82,126.5,3214,2144,2398,2283,910.4,11.5,688,8018,0.00,2.35,0.00,0.000,516,0.000,0.077,3224,750,2340,2398,2283,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8063,0.82,126.5,3224,750,2398,2283,904.5,11.6,698,8067,0.00,2.28,0.00,0.000,1030,0.000,0.050,3224,2148,2340,2398,2283,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8370,0.82,126.5,3224,2149,2396,2282,869.4,11.2,709,8376,0.00,2.35,0.00,0.000,516,0.000,0.076,3234,748,2339,2396,2282,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8473,0.82,126.5,3234,748,2396,2283,857.2,11.4,730,8477,0.00,2.28,0.00,0.000,1030,0.000,0.050,3234,2150,2339,2396,2283,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8791,0.82,126.5,3234,2149,2395,2282,822.5,10.7,743,8797,0.00,2.33,0.00,0.000,516,0.000,0.076,3243,749,2338,2395,2282,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8863,0.82,126.5,3243,749,2395,2282,814.3,11.1,758,8868,0.00,2.25,0.00,0.000,1030,0.000,0.050,3243,2143,2338,2395,2282,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9181,0.82,126.5,3244,2144,2394,2282,780.0,11.0,771,9187,0.00,2.33,0.00,0.000,516,0.000,0.076,3253,750,2338,2394,2282,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9213,0.82,126.5,3253,750,2393,2280,776.2,10.8,778,9218,0.00,2.28,0.00,0.000,1030,0.000,0.050,3253,2135,2338,2394,2282,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9541,0.82,126.5,3253,2135,2394,2281,739.7,11.3,793,9547,0.00,2.33,0.00,0.000,516,0.000,0.076,3263,741,2337,2394,2281,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9662,0.82,126.5,3263,740,2394,2281,726.0,11.3,817,9668,0.10,2.25,0.00,0.000,5126,0.305,0.050,3243,2141,2337,2393,2281,0,0,0,0,0,0,14.54,14.77,28.83
$GC,9992,0.82,126.5,3244,2142,2393,2280,690.5,10.7,833,9996,0.00,2.33,0.00,0.000,516,0.000,0.072,3253,743,2337,2394,2280,0,0,0,0,0,0,28.83,14.72,28.83
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$STATE,17270,end climb,SURFACE_DEPTH_REACHED
$STATE,17270,begin surface coast
$FINISH,0.2,1.019046
$STATE,17291,end surface coast,CONTROL_FINISHED_OK
$STATE,17291,begin surface
$SM_CCo,17307,1.33,0.197,0,0,508,579.63
$SM_CCo,17311,-0.03,0.000,0,0,511,579.63
$SM_CCo,17314,0.43,0.388,0,0,509,579.63
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$IRIDIUM_FIX,1754.17,8930.52,170708,141432
$TT8_MAMPS,0.018725,0.018725
$HUMID,45.15
$INTERNAL_PRESSURE,6.66041
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,13.2,43.538
$10V_AH,13.2,0.000
$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
$DEVICE_SECS,22.875,174.175,553.475,1.750,0.000,23.840,17.490,254.035,0.000,0.000,7.538,3430.286,10106.571,671.354,3330.508,171.618,0.000,2087.478,0.000,2499.552,0.000,0.552,0.000
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$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322292
$DATA_FILE_SIZE,137611,1700
$CAP_FILE_SIZE,182378,0
$CFSIZE,2097086464,2079162368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.034,209.9,1
$GPS,210915,112527,1759.244,8925.936,58,0.8,58,-0.9