version: 66.11
glider: 615
mission: 5
dive: 118
start: 9 26 115 16 4 43
data:
$ID,615
$MISSION,5
$DIVE,118
$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,-18971.961
$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,44
$R_STBD_OVSHOOT,37
$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
$GPS1,260915,155404,1804.962,8932.346,24,0.9,24,-0.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-73.0
$GPS2,260915,160417,1804.942,8932.487,6,0.7,6,-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,234.3,26185,-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,-126.5,190,2196,556,482,0.0,0.0,0,63,0.00,0.00,-45.97,0.000,16386,0.000,0.000,189,2195,1814,1817,1812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.82,-126.5,189,2194,1816,1813,3.2,-6.6,7,118,10.60,2.40,-34.88,0.000,18692,0.349,0.082,2666,3612,3389,3401,3378,0,0,0,0,0,0,14.29,14.56,14.76
$GC,164,-0.82,-126.5,2666,3612,3401,3378,34.6,-36.4,24,172,0.00,2.30,0.00,0.000,1030,0.000,0.037,2666,2195,3390,3402,3378,0,0,0,0,0,0,28.83,14.57,28.83
$GC,355,-0.82,-126.5,2666,2191,3401,3378,88.7,-21.5,61,362,0.00,2.22,0.00,0.000,516,0.000,0.055,2666,806,3390,3402,3378,0,0,0,0,0,0,28.83,14.62,28.83
$GC,425,-0.82,-126.5,2666,806,3402,3379,102.3,-17.1,74,433,0.08,2.28,0.00,0.000,3078,0.246,0.043,2685,2204,3390,3402,3379,0,0,0,0,0,0,14.45,14.61,28.83
$GC,615,-0.82,-126.5,1696,2202,3388,3378,129.9,-13.6,111,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2204,3390,3401,3379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,803,-0.82,-126.5,2685,2204,3402,3381,157.3,-14.1,148,811,0.00,2.30,0.00,0.000,516,0.000,0.055,2685,809,3391,3402,3381,0,0,0,0,0,0,28.83,14.63,28.83
$GC,827,-0.82,-126.5,1696,808,3388,3379,160.7,-14.6,152,834,0.00,2.28,0.00,0.000,1030,0.000,0.044,2677,2208,3392,3402,3382,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1018,-0.82,-126.5,2677,2208,3402,3382,189.3,-14.4,189,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2208,3392,3402,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1208,-0.82,-126.5,2677,2208,3402,3382,215.7,-14.4,215,1218,0.00,2.25,0.00,0.000,516,0.000,0.057,2677,807,3392,3402,3382,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1251,-0.82,-126.5,2677,807,3402,3381,222.1,-14.8,223,1261,0.00,2.20,0.00,0.000,1030,0.000,0.044,2667,2202,3391,3402,3381,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1562,-0.82,-126.5,2667,2202,3401,3378,267.7,-14.9,255,1571,0.00,2.25,0.00,0.000,516,0.000,0.058,2667,804,3389,3401,3378,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1606,-0.82,-126.5,2667,804,3402,3378,274.1,-15.1,263,1616,0.05,2.22,0.00,0.000,3078,0.241,0.046,2672,2208,3389,3401,3378,0,0,0,0,0,0,14.43,14.76,28.83
$GC,1914,-0.82,-126.5,2672,2209,3402,3374,318.2,-14.2,295,1925,0.00,2.25,0.00,0.000,516,0.000,0.059,2672,807,3388,3402,3374,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1937,-0.82,-126.5,2672,807,3401,3374,321.5,-14.7,299,1948,0.08,2.22,0.00,0.000,3078,0.305,0.047,2678,2208,3387,3401,3374,0,0,0,0,0,0,14.59,14.77,28.83
$GC,2249,-0.82,-126.5,2678,2208,3401,3371,363.6,-13.4,326,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2208,3386,3401,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2547,-0.82,-126.5,2678,2208,3401,3367,404.0,-13.7,341,2553,0.00,2.28,0.00,0.000,516,0.000,0.062,2678,804,3383,3401,3366,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2648,-0.82,-126.5,2678,804,3401,3365,417.4,-12.6,361,2652,0.00,2.22,0.00,0.000,1030,0.000,0.049,2670,2193,3382,3401,3364,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2969,-0.82,-126.5,2670,2194,3401,3360,461.8,-14.2,380,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2194,3381,3402,3360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3279,-0.82,-126.5,2670,2194,3401,3355,506.0,-14.4,395,3285,0.00,2.25,0.00,0.000,516,0.000,0.063,2670,807,3378,3401,3355,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3327,-0.82,-126.5,2670,807,3401,3355,513.3,-14.8,405,3332,0.10,2.22,0.00,0.000,3078,0.282,0.050,2681,2201,3378,3402,3355,0,0,0,0,0,0,14.60,14.79,28.83
$GC,3640,-0.82,-126.5,2681,2201,3401,3352,555.8,-13.7,417,3646,0.00,2.28,0.00,0.000,516,0.000,0.064,2681,802,3376,3400,3352,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3671,-0.82,-126.5,2681,802,3400,3352,560.7,-13.7,424,3676,0.00,2.30,0.00,0.000,1030,0.000,0.052,2674,2204,3376,3400,3352,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4000,-0.82,-126.5,2673,2204,3399,3349,607.0,-14.3,439,4006,0.00,2.28,0.00,0.000,516,0.000,0.064,2674,810,3374,3399,3349,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4022,-0.82,-126.5,2673,810,3398,3348,610.7,-15.3,444,4030,0.05,2.30,0.00,0.000,3078,0.249,0.052,2678,2204,3373,3398,3349,0,0,0,0,0,0,14.50,14.69,28.83
$GC,4330,-0.82,-126.5,2678,2204,3397,3346,651.4,-13.2,455,4336,0.00,2.28,0.00,0.000,516,0.000,0.064,2679,810,3371,3396,3346,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4372,-0.82,-126.5,2679,811,3396,3347,657.3,-12.9,464,4376,0.00,2.22,0.00,0.000,1030,0.000,0.051,2670,2199,3371,3396,3347,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4690,-0.82,-126.5,2670,2199,3395,3344,698.1,-12.8,477,4691,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2200,3369,3395,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4990,-0.82,-126.5,2670,2199,3394,3343,736.4,-12.8,487,4994,0.00,2.28,0.00,0.000,516,0.000,0.065,2670,810,3368,3394,3343,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5035,-0.82,-126.5,2671,810,3394,3343,742.5,-12.4,496,5039,0.10,2.25,0.00,0.000,3078,0.279,0.053,2682,2208,3368,3393,3343,0,0,0,0,0,0,14.61,14.81,28.83
$GC,5346,-0.82,-126.5,2680,2208,3392,3341,779.6,-11.9,508,5350,0.00,2.30,0.00,0.000,516,0.000,0.067,2682,811,3366,3392,3341,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5380,-0.82,-126.5,1824,810,3380,3339,783.9,-12.3,515,5384,0.00,2.28,0.00,0.000,1030,0.000,0.054,2674,2191,3366,3391,3341,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5707,-0.82,-126.5,2674,2192,3390,3339,824.2,-12.3,530,5708,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2192,3365,3391,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6007,-0.82,-126.5,2675,2192,3389,3337,861.6,-12.5,540,6011,0.00,2.28,0.00,0.000,516,0.000,0.069,2674,806,3363,3389,3337,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6083,-0.82,-126.5,2674,806,3389,3337,871.2,-12.3,555,6088,0.08,2.25,0.00,0.000,3078,0.309,0.054,2677,2203,3363,3389,3338,0,0,0,0,0,0,14.60,14.79,28.83
$GC,6388,-0.82,-126.5,2677,2204,3388,3337,907.9,-12.0,566,6392,0.00,2.30,0.00,0.000,516,0.000,0.069,2678,809,3362,3388,3337,0,0,0,0,0,0,28.83,14.75,28.83
$GC,6432,-0.82,-126.5,2677,809,3389,3336,913.5,-12.2,575,6436,0.00,2.25,0.00,0.000,1030,0.000,0.054,2669,2201,3362,3388,3337,0,0,0,0,0,0,28.83,14.79,28.83
$GC,6745,-0.82,-126.5,2669,2201,3387,3336,950.7,-12.1,587,6751,0.00,2.33,0.00,0.000,260,0.000,0.079,2658,3599,3361,3387,3336,0,0,0,0,0,0,28.83,14.75,28.83
$GC,6775,-0.82,-126.5,2658,3600,3386,3336,954.3,-12.8,593,6781,0.10,2.22,0.00,0.000,3078,0.259,0.046,2680,2207,3361,3386,3336,0,0,0,0,0,0,14.61,14.83,28.83
$STATE,7103,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7104,begin apogee
$GC,7108,-0.16,0.0,2680,2139,3386,3335,992.1,-11.5,609,7262,0.73,0.00,147.82,2.043,10246,0.232,0.000,2886,2139,2869,2914,2824,0,0,0,0,0,0,14.50,28.83,13.41
$STATE,7263,end apogee,CONTROL_FINISHED_OK
$STATE,7264,begin climb
$GC,7265,0.82,126.5,2886,2139,2911,2820,997.1,0.0,641,7382,1.02,2.53,108.65,2.180,10500,0.143,0.074,3205,3532,2348,2405,2291,0,0,0,0,0,0,14.02,13.90,13.19
$GC,7489,0.82,126.5,3204,3532,2401,2284,981.0,11.7,686,7497,0.00,2.38,0.00,0.000,1030,0.000,0.049,3214,2150,2342,2401,2284,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7797,0.82,126.5,3213,2151,2401,2281,947.0,11.0,697,7803,0.00,2.40,0.00,0.000,516,0.000,0.078,3225,738,2341,2401,2282,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7909,0.82,126.5,3225,738,2399,2282,934.3,11.1,720,7918,0.00,2.35,0.00,0.000,1030,0.000,0.050,3224,2136,2340,2399,2282,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8217,0.82,126.5,3225,2136,2397,2281,900.6,11.0,731,8221,0.00,2.38,0.00,0.000,260,0.000,0.076,3224,3544,2339,2397,2281,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8248,0.82,126.5,3224,3543,2397,2282,897.0,11.6,737,8255,0.00,2.30,0.00,0.000,1030,0.000,0.049,3235,2131,2339,2397,2282,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8578,0.82,126.5,3235,2131,2396,2280,860.5,11.0,753,8584,0.00,2.33,0.00,0.000,516,0.000,0.078,3245,740,2339,2397,2281,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8707,0.82,126.5,3245,740,2396,2280,845.9,11.0,779,8711,0.00,2.28,0.00,0.000,1030,0.000,0.051,3246,2140,2338,2396,2280,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9023,0.82,126.5,3245,2140,2394,2280,811.0,11.0,792,9027,0.00,2.35,0.00,0.000,516,0.000,0.076,3255,739,2337,2395,2280,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9123,0.82,126.5,3255,739,2396,2280,799.5,11.8,812,9128,0.03,2.33,0.00,0.000,5126,0.274,0.051,3247,2139,2337,2395,2280,0,0,0,0,0,0,14.53,14.71,28.83
$GC,9440,0.82,126.5,3248,2140,2394,2279,765.7,10.7,825,9445,0.00,2.35,0.00,0.000,516,0.000,0.075,3256,739,2336,2394,2279,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9485,0.82,126.5,3256,739,2395,2279,760.5,11.6,834,9490,0.08,2.28,0.00,0.000,5126,0.302,0.050,3243,2145,2337,2395,2279,0,0,0,0,0,0,14.56,14.75,28.83
$GC,9803,0.82,126.5,3243,2145,2394,2278,727.8,10.3,847,9809,0.00,2.35,0.00,0.000,516,0.000,0.073,3252,736,2336,2394,2278,0,0,0,0,0,0,28.83,14.69,28.83
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$STATE,17475,end climb,SURFACE_DEPTH_REACHED
$STATE,17475,begin surface coast
$FINISH,0.2,1.019430
$STATE,17503,end surface coast,CONTROL_FINISHED_OK
$STATE,17503,begin surface
$SM_CCo,17519,28.30,0.138,0,0,509,579.63
$SM_CCo,17549,0.15,0.680,0,0,507,579.63
$SM_CCo,17552,-0.05,0.000,0,0,510,579.63
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$IRIDIUM_FIX,1756.43,8935.06,230708,000013
$TT8_MAMPS,0.018725,0.018725
$HUMID,44.36
$INTERNAL_PRESSURE,6.65065
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,13.2,51.891
$10V_AH,12.7,0.000
$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
$DEVICE_SECS,22.250,170.875,524.500,28.450,0.000,90.065,37.745,247.117,0.000,0.000,7.537,3441.919,10475.764,669.594,3406.640,161.204,0.000,2088.539,0.000,2485.240,0.000,0.553,0.000
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$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322260
$DATA_FILE_SIZE,137307,1687
$CAP_FILE_SIZE,183701,0
$CFSIZE,2097086464,2074902528
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.071,216.3,1
$GPS,260915,205834,1803.314,8930.603,41,0.9,41,-0.9