version: 66.11
glider: 615
mission: 5
dive: 95
start: 9 21 115 21 25 40
data:
$ID,615
$MISSION,5
$DIVE,95
$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,-18940.352
$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,59
$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
$GPS1,210915,211822,1756.500,8922.803,37,1.1,37,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-69.6
$GPS2,210915,212511,1756.522,8922.898,5,1.2,5,-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,228.1,3193,-26.1,-9.167,-30.00,1414
$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,13,begin dive
$GC,14,-0.92,-87.0,157,2218,560,480,0.0,0.0,0,62,0.00,0.00,-45.28,0.000,16386,0.000,0.000,155,2218,1789,1792,1786,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.94,-102.1,155,2220,1792,1786,3.3,-8.1,7,117,10.62,2.30,-31.73,0.000,18692,0.352,0.083,2628,3584,3292,3310,3274,0,0,0,0,0,0,14.28,14.45,14.77
$GC,139,-0.94,-102.1,2628,3584,3310,3274,26.9,-41.3,19,146,0.00,2.22,0.00,0.000,1030,0.000,0.039,2628,2188,3292,3310,3274,0,0,0,0,0,0,28.83,14.59,28.83
$GC,329,-0.94,-102.1,2628,2184,3310,3274,85.9,-18.7,56,336,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2184,3292,3310,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,519,-0.94,-102.1,2628,2184,3310,3276,115.5,-14.1,93,527,0.00,2.28,0.00,0.000,260,0.000,0.060,2617,3589,3292,3310,3275,0,0,0,0,0,0,28.83,14.66,28.83
$GC,548,-0.94,-102.1,2617,3588,3310,3276,120.3,-16.3,98,557,0.08,2.25,0.00,0.000,3078,0.253,0.036,2638,2185,3293,3310,3276,0,0,0,0,0,0,14.44,14.64,28.83
$GC,742,-0.94,-102.1,2638,2184,3310,3277,146.5,-12.8,135,748,0.00,2.28,0.00,0.000,260,0.000,0.060,2629,3590,3293,3310,3277,0,0,0,0,0,0,28.83,14.69,28.83
$GC,789,-0.94,-102.1,2629,3590,3310,3278,153.2,-13.4,144,796,0.00,2.22,0.00,0.000,1030,0.000,0.036,2629,2203,3293,3309,3278,0,0,0,0,0,0,28.83,14.64,28.83
$GC,981,-0.94,-102.1,2629,2203,3310,3278,179.7,-13.8,181,988,0.00,2.25,0.00,0.000,516,0.000,0.057,2629,800,3294,3310,3278,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1039,-0.94,-102.1,2629,800,3310,3278,188.3,-15.0,192,1047,0.05,2.25,0.00,0.000,3078,0.265,0.044,2634,2187,3294,3311,3278,0,0,0,0,0,0,14.49,14.66,28.83
$GC,1235,-0.94,-102.1,2634,2187,3310,3277,214.6,-13.7,219,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2187,3294,3310,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1536,-0.94,-102.1,2634,2187,3310,3276,255.9,-14.1,249,1546,0.00,2.22,0.00,0.000,516,0.000,0.059,2634,806,3292,3310,3275,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1611,-0.94,-102.1,2635,806,3310,3275,266.3,-13.6,263,1621,0.03,2.20,0.00,0.000,3078,0.309,0.044,2633,2201,3292,3310,3275,0,0,0,0,0,0,14.51,14.77,28.83
$GC,1919,-0.94,-102.1,2633,2201,3310,3272,309.9,-14.2,295,1929,0.00,2.25,0.00,0.000,516,0.000,0.060,2633,806,3291,3310,3272,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1954,-0.94,-102.1,2633,806,3310,3271,314.7,-14.9,301,1964,0.05,2.22,0.00,0.000,3078,0.269,0.046,2638,2218,3290,3310,3271,0,0,0,0,0,0,14.46,14.73,28.83
$GC,2262,-0.94,-102.1,2638,2218,3310,3267,359.1,-14.5,330,2268,0.00,2.28,0.00,0.000,516,0.000,0.060,2639,810,3288,3310,3267,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2304,-0.94,-102.1,2638,810,3310,3267,366.0,-15.0,339,2309,0.00,2.25,0.00,0.000,1030,0.000,0.047,2629,2199,3288,3310,3266,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2622,-0.94,-102.1,2629,2201,3310,3262,412.9,-14.9,357,2629,0.00,2.25,0.00,0.000,516,0.000,0.063,2629,812,3286,3310,3262,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2685,-0.94,-102.1,2629,812,3310,3262,422.7,-14.6,370,2690,0.05,2.25,0.00,0.000,3078,0.262,0.048,2635,2196,3286,3310,3262,0,0,0,0,0,0,14.55,14.76,28.83
$GC,3003,-0.94,-102.1,2635,2196,3310,3257,467.7,-14.0,388,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2196,3283,3309,3257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3302,-0.94,-102.1,2635,2197,3310,3254,510.5,-14.3,402,3307,0.00,2.22,0.00,0.000,516,0.000,0.063,2635,817,3282,3310,3254,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3363,-0.94,-102.1,2635,817,3309,3254,519.4,-14.6,414,3368,0.08,2.20,0.00,0.000,3078,0.330,0.049,2639,2200,3281,3309,3254,0,0,0,0,0,0,14.60,14.81,28.83
$GC,3691,-0.94,-102.1,2639,2201,3308,3251,565.5,-14.3,429,3697,0.00,2.28,0.00,0.000,516,0.000,0.066,2638,812,3279,3308,3251,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3728,-0.94,-102.1,2639,812,3308,3251,571.3,-14.2,437,3732,0.00,2.22,0.00,0.000,1030,0.000,0.050,2630,2203,3278,3305,3251,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4051,-0.94,-102.1,2629,2203,3306,3248,618.7,-15.0,451,4057,0.00,2.25,0.00,0.000,516,0.000,0.065,2629,807,3277,3306,3248,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4088,-0.94,-102.1,2629,806,3305,3248,624.9,-15.1,459,4093,0.05,2.28,0.00,0.000,3078,0.274,0.050,2634,2198,3277,3306,3248,0,0,0,0,0,0,14.57,14.80,28.83
$GC,4411,-0.94,-102.1,2634,2199,3304,3246,671.3,-14.3,473,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2199,3275,3304,3246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4711,-0.94,-102.1,2634,2199,3303,3245,713.3,-13.8,483,4717,0.00,2.28,0.00,0.000,516,0.000,0.067,2634,813,3274,3303,3246,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4759,-0.94,-102.1,2634,813,3303,3245,720.4,-13.5,493,4764,0.08,2.22,0.00,0.000,3078,0.344,0.051,2638,2202,3274,3303,3245,0,0,0,0,0,0,14.59,14.82,28.83
$GC,5071,-0.94,-102.1,2638,2202,3302,3243,761.3,-13.3,505,5077,0.00,2.28,0.00,0.000,516,0.000,0.068,2638,813,3272,3302,3242,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5139,-0.94,-102.1,2637,813,3301,3243,770.8,-13.4,519,5144,0.00,2.22,0.00,0.000,1030,0.000,0.051,2629,2199,3272,3301,3243,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5462,-0.94,-102.1,2629,2199,3300,3241,813.7,-13.3,533,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2199,3270,3300,3241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5762,-0.94,-102.1,2629,2199,3299,3240,852.6,-12.9,543,5766,0.00,2.28,0.00,0.000,516,0.000,0.068,2629,812,3269,3299,3240,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5825,-0.94,-102.1,2629,811,3299,3240,861.4,-12.7,556,5831,0.05,2.28,0.00,0.000,3078,0.282,0.052,2633,2195,3269,3298,3240,0,0,0,0,0,0,14.52,14.76,28.83
$GC,6154,-0.94,-102.1,2634,2195,3297,3238,902.4,-12.5,571,6155,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2195,3268,3298,3239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6454,-0.94,-102.1,2634,2196,3296,3238,940.5,-12.7,581,6455,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2196,3267,3296,3238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6754,-0.94,-102.1,2634,2196,3295,3237,978.9,-12.9,591,6758,0.00,2.28,0.00,0.000,516,0.000,0.070,2633,814,3266,3295,3237,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6818,-0.94,-102.1,2634,813,3295,3237,987.8,-13.0,604,6823,0.05,2.30,0.00,0.000,3078,0.302,0.054,2637,2206,3265,3295,3236,0,0,0,0,0,0,14.49,14.74,28.83
$STATE,6837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6837,begin apogee
$GC,6841,-0.16,0.0,2637,2144,3294,3237,990.4,-13.4,608,6937,0.93,0.00,85.68,2.486,10246,0.276,0.000,2884,2143,2864,2909,2820,0,0,0,0,0,0,14.37,28.83,13.21
$STATE,6938,end apogee,CONTROL_FINISHED_OK
$STATE,6938,begin climb
$GC,6940,0.94,102.1,2884,2143,2908,2820,994.1,0.0,627,7036,1.23,0.00,92.20,2.458,10246,0.183,0.000,3241,2143,2455,2502,2408,0,0,0,0,0,0,14.07,28.83,13.23
$GC,7325,0.94,102.1,3241,2143,2491,2393,963.3,10.0,640,7329,0.00,2.40,0.00,0.000,516,0.000,0.080,3251,742,2441,2491,2392,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7435,0.94,102.1,3251,742,2491,2393,951.7,10.5,662,7443,0.00,2.35,0.00,0.000,1030,0.000,0.052,3251,2132,2441,2491,2392,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7743,0.94,102.1,3251,2132,2490,2391,919.9,10.5,673,7747,0.00,2.35,0.00,0.000,516,0.000,0.079,3260,745,2440,2490,2391,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7788,0.94,102.1,3260,745,2489,2391,914.9,10.4,682,7792,0.00,2.30,0.00,0.000,1030,0.000,0.052,3260,2151,2439,2489,2390,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8105,0.94,102.1,3261,2152,2488,2390,882.7,10.4,695,8106,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2152,2439,2488,2390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8405,0.94,102.1,3260,2152,2487,2389,852.4,10.0,705,8411,0.00,2.35,0.00,0.000,516,0.000,0.077,3270,748,2438,2487,2389,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8513,0.94,102.1,3270,748,2487,2389,840.8,10.8,727,8517,0.00,2.28,0.00,0.000,1030,0.000,0.053,3270,2148,2438,2487,2389,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8826,0.94,102.1,3270,2149,2487,2388,809.8,9.9,739,8832,0.00,2.35,0.00,0.000,516,0.000,0.078,3279,748,2437,2487,2388,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8939,0.94,102.1,3278,748,2486,2388,798.3,9.8,762,8947,0.00,2.33,0.00,0.000,1030,0.000,0.053,3279,2142,2437,2486,2388,0,0,0,0,0,0,28.83,14.68,28.83
$GC,9247,0.94,102.1,3279,2143,2484,2387,768.8,9.5,773,9251,0.00,2.35,0.00,0.000,516,0.000,0.077,3288,741,2436,2485,2387,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9286,0.94,102.1,3288,741,2485,2388,764.8,10.1,781,9290,0.00,2.28,0.00,0.000,1030,0.000,0.051,3288,2146,2436,2485,2387,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9608,0.94,102.1,3288,2146,2484,2386,733.0,9.9,795,9614,0.00,2.35,0.00,0.000,516,0.000,0.077,3298,742,2435,2484,2387,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9731,0.94,102.1,3299,742,2484,2386,720.6,10.0,820,9736,0.10,2.28,0.00,0.000,5126,0.321,0.051,3280,2150,2435,2484,2386,0,0,0,0,0,0,14.52,14.77,28.83
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$STATE,17519,end climb,SURFACE_DEPTH_REACHED
$STATE,17519,begin surface coast
$FINISH,0.3,1.019158
$STATE,17541,end surface coast,CONTROL_FINISHED_OK
$STATE,17541,begin surface
$SM_CCo,17558,2.92,0.148,0,0,508,579.63
$SM_CCo,17563,0.00,0.000,0,0,510,579.63
$SM_CCo,17565,0.00,0.000,0,0,511,579.63
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$IRIDIUM_FIX,1749.63,8923.74,180708,050556
$TT8_MAMPS,0.018725,0.018725
$HUMID,45.35
$INTERNAL_PRESSURE,6.65065
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,13.2,44.487
$10V_AH,13.4,0.000
$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
$DEVICE_SECS,23.125,179.200,486.525,2.925,0.000,22.826,20.882,252.930,0.250,0.000,7.043,3516.130,10220.643,648.273,3413.102,169.437,0.000,2079.711,0.000,2563.906,0.000,0.552,0.000
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$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322272
$DATA_FILE_SIZE,140575,1745
$CAP_FILE_SIZE,187025,0
$CFSIZE,2097086464,2078670848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.046,253.7,1
$GPS,220915,022003,1755.264,8921.275,62,0.8,62,-0.9