version: 66.11
glider: 615
mission: 5
dive: 121
start: 9 27 115 6 57 36
data:
$ID,615
$MISSION,5
$DIVE,121
$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,-18977.252
$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,65
$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
$GPS1,270915,065021,1800.399,8927.564,42,0.8,42,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-72.3
$GPS2,270915,065709,1800.390,8927.530,5,0.9,5,-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,237.8,14049,-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,-126.5,182,2224,541,494,0.0,0.0,0,64,0.00,0.00,-46.85,0.000,16386,0.000,0.000,181,2224,1852,1853,1851,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.82,-126.5,181,2224,1854,1851,3.5,-8.3,7,118,10.62,2.28,-31.42,0.000,18692,0.348,0.080,2666,3582,3390,3401,3379,0,0,0,0,0,0,14.26,14.43,14.77
$GC,185,-0.82,-126.5,1680,3581,3386,3377,47.0,-37.4,28,192,0.00,2.28,0.00,0.000,1030,0.000,0.041,2667,2195,3390,3401,3379,0,0,0,0,0,0,28.83,14.54,28.83
$GC,375,-0.82,-126.5,2667,2191,3401,3380,98.1,-19.0,65,382,0.00,2.25,0.00,0.000,260,0.000,0.057,2657,3582,3390,3401,3380,0,0,0,0,0,0,28.83,14.62,28.83
$GC,409,-0.82,-126.5,1672,3581,3386,3377,104.7,-19.3,71,417,0.10,2.17,0.00,0.000,3078,0.275,0.035,2676,2176,3390,3401,3380,0,0,0,0,0,0,14.45,14.68,28.83
$GC,600,-0.82,-126.5,1696,2173,3387,3380,136.0,-15.0,108,607,0.00,2.22,0.00,0.000,516,0.000,0.052,2676,820,3392,3402,3382,0,0,0,0,0,0,28.83,14.58,28.83
$GC,690,-0.82,-126.5,2676,820,3402,3383,149.4,-14.0,125,698,0.00,2.15,0.00,0.000,1030,0.000,0.041,2668,2185,3392,3402,3382,0,0,0,0,0,0,28.83,14.69,28.83
$GC,881,-0.82,-126.5,2668,2186,3401,3384,177.3,-13.9,162,888,0.00,2.35,0.00,0.000,260,0.000,0.061,2657,3619,3392,3401,3383,0,0,0,0,0,0,28.83,14.66,28.83
$GC,911,-0.82,-126.5,2657,3619,3401,3383,181.3,-13.3,167,918,0.10,2.20,0.00,0.000,3078,0.267,0.036,2677,2205,3392,3401,3383,0,0,0,0,0,0,14.52,14.73,28.83
$GC,1107,-0.82,-126.5,2677,2203,3402,3383,209.1,-15.1,199,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2203,3391,3401,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1407,-0.82,-126.5,2677,2203,3401,3382,252.5,-14.5,229,1417,0.00,2.22,0.00,0.000,516,0.000,0.057,2677,817,3391,3401,3382,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1513,-0.82,-126.5,2677,817,3402,3381,268.0,-14.6,249,1522,0.00,2.20,0.00,0.000,1030,0.000,0.044,2669,2208,3390,3401,3380,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1822,-0.82,-126.5,2669,2208,3401,3378,314.5,-14.9,281,1832,0.00,2.25,0.00,0.000,516,0.000,0.058,2669,812,3389,3402,3377,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1865,-0.82,-126.5,2668,811,3401,3377,321.1,-15.4,289,1875,0.10,2.20,0.00,0.000,3078,0.281,0.046,2680,2200,3389,3401,3377,0,0,0,0,0,0,14.57,14.76,28.83
$GC,2175,-0.82,-126.5,2680,2200,3401,3373,365.2,-14.3,316,2180,0.00,2.22,0.00,0.000,516,0.000,0.059,2680,820,3386,3401,3372,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2207,-0.82,-126.5,2680,820,3401,3373,370.4,-14.7,323,2216,0.00,2.25,0.00,0.000,1030,0.000,0.047,2672,2190,3386,3401,3372,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2515,-0.82,-126.5,2672,2190,3401,3370,415.0,-14.7,339,2520,0.00,2.22,0.00,0.000,516,0.000,0.060,2672,812,3385,3401,3370,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2557,-0.82,-126.5,2672,812,3401,3369,421.6,-14.5,348,2563,0.05,2.28,0.00,0.000,3078,0.245,0.048,2677,2205,3385,3401,3369,0,0,0,0,0,0,14.54,14.73,28.83
$GC,2875,-0.82,-126.5,2677,2205,3400,3364,465.3,-13.8,366,2877,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2205,3382,3401,3364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3196,-0.82,-126.5,2677,2206,3401,3360,509.0,-13.6,381,3202,0.00,2.28,0.00,0.000,516,0.000,0.061,2677,810,3380,3401,3359,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3293,-0.82,-126.5,2678,810,3401,3359,522.2,-12.0,401,3297,0.00,2.22,0.00,0.000,1030,0.000,0.050,2669,2199,3380,3401,3359,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3615,-0.82,-126.5,2669,2200,3401,3354,565.8,-13.7,415,3619,0.00,2.25,0.00,0.000,516,0.000,0.062,2669,820,3377,3401,3354,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3679,-0.82,-126.5,2669,820,3400,3354,574.8,-13.3,428,3685,0.05,2.25,0.00,0.000,3078,0.250,0.051,2674,2189,3377,3401,3354,0,0,0,0,0,0,14.54,14.73,28.83
$GC,4007,-0.82,-126.5,2674,2189,3399,3352,616.6,-12.6,443,4013,0.00,2.22,0.00,0.000,516,0.000,0.062,2674,817,3376,3400,3352,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4055,-0.82,-126.5,2675,817,3399,3352,623.1,-12.6,453,4060,0.00,2.22,0.00,0.000,1030,0.000,0.051,2666,2202,3375,3399,3351,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4368,-0.82,-126.5,2667,2203,3397,3349,663.0,-13.0,465,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2202,3373,3397,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4668,-0.82,-126.5,2666,2203,3396,3347,703.2,-13.5,475,4674,0.00,2.25,0.00,0.000,516,0.000,0.065,2666,820,3371,3396,3347,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4715,-0.82,-126.5,2666,820,3396,3347,710.0,-13.5,485,4720,0.10,2.22,0.00,0.000,3078,0.272,0.052,2678,2200,3371,3395,3347,0,0,0,0,0,0,14.61,14.80,28.83
$GC,5028,-0.82,-126.5,2678,2201,3395,3345,750.8,-13.4,497,5034,0.00,2.25,0.00,0.000,516,0.000,0.066,2677,820,3369,3394,3345,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5088,-0.82,-126.5,2678,820,3394,3345,759.1,-13.4,509,5094,0.00,2.22,0.00,0.000,1030,0.000,0.054,2670,2200,3369,3394,3344,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5418,-0.82,-126.5,2670,2201,3393,3343,804.4,-13.8,525,5424,0.00,2.25,0.00,0.000,516,0.000,0.067,2670,822,3368,3393,3343,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5466,-0.82,-126.5,2670,822,3393,3343,811.6,-13.6,535,5471,0.10,2.22,0.00,0.000,3078,0.288,0.055,2682,2201,3367,3393,3342,0,0,0,0,0,0,14.58,14.78,28.83
$GC,5778,-0.82,-126.5,2682,2201,3392,3342,851.3,-12.7,547,5784,0.00,2.28,0.00,0.000,516,0.000,0.067,2681,820,3367,3392,3342,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5808,-0.82,-126.5,2680,820,3391,3342,855.2,-12.8,553,5814,0.00,2.22,0.00,0.000,1030,0.000,0.053,2673,2201,3366,3391,3342,0,0,0,0,0,0,28.83,14.79,28.83
$GC,6138,-0.82,-126.5,2673,2202,3390,3340,897.2,-12.7,569,6140,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2202,3365,3390,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6439,-0.82,-126.5,2673,2202,3389,3339,935.4,-12.7,579,6445,0.00,2.28,0.00,0.000,516,0.000,0.068,2673,822,3363,3389,3338,0,0,0,0,0,0,28.83,14.74,28.83
$GC,6506,-0.82,-126.5,2673,822,3389,3339,944.3,-12.7,593,6511,0.08,2.22,0.00,0.000,3078,0.325,0.054,2676,2202,3364,3389,3339,0,0,0,0,0,0,14.57,14.78,28.83
$GC,6829,-0.82,-126.5,2676,2202,3388,3338,983.1,-12.2,607,6835,0.00,2.28,0.00,0.000,516,0.000,0.068,2676,822,3363,3389,3337,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6871,-0.82,-126.5,2676,823,3388,3338,988.7,-12.3,616,6876,0.00,2.22,0.00,0.000,1030,0.000,0.054,2669,2200,3363,3388,3338,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,6887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6888,begin apogee
$GC,6891,-0.16,0.0,2668,2200,3389,3337,990.5,-12.2,619,7016,0.75,0.00,118.90,2.340,10246,0.228,0.000,2885,2201,2868,2913,2823,0,0,0,0,0,0,14.50,28.83,13.23
$STATE,7018,end apogee,CONTROL_FINISHED_OK
$STATE,7018,begin climb
$GC,7019,0.82,126.5,2886,2201,2910,2820,995.4,0.0,645,7137,1.02,2.38,110.22,2.251,10500,0.145,0.075,3202,3540,2350,2409,2292,0,0,0,0,0,0,14.00,13.90,13.17
$GC,7161,0.83,129.1,3203,3540,2403,2287,989.2,9.0,663,7167,0.00,2.30,0.00,0.000,1030,0.000,0.047,3211,2170,2344,2403,2286,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7489,0.83,129.1,3211,2170,2403,2284,954.3,10.8,679,7496,0.00,2.42,0.00,0.000,516,0.000,0.076,3222,739,2343,2402,2284,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7642,0.83,129.1,3222,739,2402,2284,936.8,11.1,710,7647,0.00,2.33,0.00,0.000,1030,0.000,0.050,3222,2130,2343,2402,2284,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7971,0.83,129.1,3222,2131,2402,2283,900.9,11.1,725,7975,0.00,2.38,0.00,0.000,516,0.000,0.076,3233,732,2342,2401,2283,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8015,0.83,129.1,3233,732,2401,2283,895.6,11.9,734,8019,0.00,2.30,0.00,0.000,1030,0.000,0.051,3232,2141,2342,2401,2283,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8333,0.83,129.1,3232,2142,2400,2282,858.8,11.8,747,8339,0.00,2.35,0.00,0.000,516,0.000,0.076,3242,737,2341,2400,2282,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8381,0.83,129.1,3242,738,2399,2282,852.7,11.9,757,8385,0.00,2.28,0.00,0.000,1030,0.000,0.051,3242,2141,2340,2399,2282,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8693,0.83,129.1,3242,2141,2397,2281,815.9,11.7,769,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2141,2339,2398,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8993,0.83,129.1,3242,2141,2397,2280,782.3,11.2,779,8998,0.00,2.38,0.00,0.000,516,0.000,0.076,3252,734,2338,2397,2280,0,0,0,0,0,0,28.83,14.68,28.83
$GC,9093,0.83,129.1,3252,734,2397,2281,771.3,10.1,799,9098,0.00,2.28,0.00,0.000,1030,0.000,0.051,3252,2142,2339,2397,2281,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9416,0.83,129.1,3252,2142,2396,2280,739.1,9.9,813,9422,0.00,2.35,0.00,0.000,516,0.000,0.076,3262,736,2338,2396,2280,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9494,0.83,129.1,3263,736,2396,2280,730.9,10.2,829,9499,0.10,2.28,0.00,0.000,5126,0.277,0.051,3242,2142,2338,2396,2280,0,0,0,0,0,0,14.54,14.74,28.83
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$STATE,17158,end climb,SURFACE_DEPTH_REACHED
$STATE,17158,begin surface coast
$FINISH,0.2,0.996485
$STATE,17181,end surface coast,CONTROL_FINISHED_OK
$STATE,17181,begin surface
$SM_CCo,17197,5.68,0.141,0,0,508,579.63
$SM_CCo,17205,-0.08,0.000,0,0,511,579.63
$SM_CCo,17208,0.35,0.363,0,0,508,579.63
$SM_GC,3.63,8.95,0.05,0.35,0.058,0.228,0.363,191,2220,508,-8.58,-1.41,579.63,0,0,0,0,0,0,14.59,14.60,14.50
$IRIDIUM_FIX,1756.43,8930.52,230708,151535
$TT8_MAMPS,0.018725,0.018725
$HUMID,45.66
$INTERNAL_PRESSURE,6.65065
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,13.2,52.855
$10V_AH,12.9,0.000
$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,22.850,187.850,524.275,6.025,0.000,25.630,16.652,250.078,0.000,0.000,7.025,3395.889,10062.445,662.735,3323.327,163.251,0.000,2082.615,0.000,2482.295,0.000,0.554,0.000
$DEVICE_MAMPS,348.075,227.970,2340.135,362.610,0.000,29.840,160.000,223.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,902.068,600.271,1610.567,983.966,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322240
$DATA_FILE_SIZE,137577,1691
$CAP_FILE_SIZE,185957,0
$CFSIZE,2097086464,2074411008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.007,261.5,1
$GPS,270915,114557,1759.446,8925.892,56,0.8,56,-0.9