version: 66.11
glider: 615
mission: 5
dive: 122
start: 9 27 115 11 54 8
data:
$ID,615
$MISSION,5
$DIVE,122
$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,-18978.51
$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,43
$R_STBD_OVSHOOT,62
$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
$GPS1,270915,114557,1759.446,8925.892,56,0.8,56,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.8
$GPS2,270915,115341,1759.515,8925.892,18,0.8,18,-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,223.9,10842,-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,14,-0.82,-126.5,188,2223,553,486,0.0,0.0,0,63,0.00,0.00,-46.55,0.000,16386,0.000,0.000,188,2221,1848,1847,1849,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.82,-126.5,188,2221,1848,1849,3.5,-7.6,7,118,10.62,2.28,-31.45,0.000,18692,0.350,0.074,2664,3590,3391,3401,3381,0,0,0,0,0,0,14.26,14.45,14.77
$GC,171,-0.82,-126.5,2664,3590,3401,3381,40.4,-38.3,25,179,0.08,2.22,0.00,0.000,3078,0.308,0.037,2676,2181,3390,3401,3380,0,0,0,0,0,0,14.40,14.60,28.83
$GC,361,-0.82,-126.5,2676,2178,3401,3381,93.8,-19.8,62,368,0.00,2.25,0.00,0.000,516,0.000,0.052,2676,808,3391,3401,3381,0,0,0,0,0,0,28.83,14.55,28.83
$GC,414,-0.82,-126.5,2676,809,3402,3381,103.5,-17.6,72,422,0.00,2.22,0.00,0.000,1030,0.000,0.041,2667,2178,3391,3402,3381,0,0,0,0,0,0,28.83,14.57,28.83
$GC,605,-0.82,-126.5,2668,2178,3401,3384,135.5,-15.9,109,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2178,3393,3402,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,795,-0.82,-126.5,2668,2178,3401,3385,163.0,-14.6,146,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2178,3393,3402,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,983,-0.82,-126.5,1664,2176,3387,3382,188.6,-13.1,183,990,0.00,2.20,0.00,0.000,516,0.000,0.054,2668,806,3393,3401,3385,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1028,-0.82,-126.5,2668,806,3402,3385,194.8,-14.2,191,1035,0.10,2.22,0.00,0.000,3078,0.279,0.043,2679,2213,3393,3402,3385,0,0,0,0,0,0,14.52,14.71,28.83
$GC,1218,-0.82,-126.5,2678,2213,3402,3384,221.3,-14.0,213,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2213,3394,3403,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1518,-0.82,-126.5,2679,2214,3402,3383,264.3,-14.4,243,1522,0.00,2.28,0.00,0.000,516,0.000,0.057,2678,807,3392,3402,3383,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1573,-0.82,-126.5,2679,808,3402,3383,272.6,-14.5,254,1581,0.00,2.28,0.00,0.000,1030,0.000,0.047,2670,2200,3392,3402,3382,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1880,-0.82,-126.5,2670,2200,3402,3378,316.9,-14.5,285,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2200,3390,3403,3378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2181,-0.82,-126.5,2670,2201,3401,3374,360.0,-14.4,312,2187,0.00,2.22,0.00,0.000,516,0.000,0.061,2670,816,3388,3402,3374,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2233,-0.82,-126.5,2670,815,3402,3373,368.1,-14.2,323,2241,0.05,2.28,0.00,0.000,3078,0.247,0.049,2675,2198,3386,3401,3372,0,0,0,0,0,0,14.47,14.66,28.83
$GC,2540,-0.82,-126.5,2675,2199,3402,3370,410.4,-14.1,339,2546,0.00,2.25,0.00,0.000,516,0.000,0.060,2675,806,3386,3402,3370,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2593,-0.82,-126.5,2676,805,3402,3370,418.3,-14.1,350,2602,0.00,2.30,0.00,0.000,1030,0.000,0.048,2667,2207,3385,3402,3369,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2902,-0.82,-126.5,2667,2207,3402,3365,461.4,-14.3,366,2908,0.00,2.25,0.00,0.000,516,0.000,0.060,2667,813,3383,3402,3364,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2943,-0.82,-126.5,2667,813,3402,3364,468.0,-14.5,375,2949,0.05,2.25,0.00,0.000,3078,0.252,0.049,2673,2194,3383,3402,3364,0,0,0,0,0,0,14.53,14.73,28.83
$GC,3271,-0.82,-126.5,2673,2194,3402,3360,513.8,-14.3,392,3272,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2194,3380,3402,3359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3571,-0.82,-126.5,2673,2194,3401,3356,556.3,-14.3,402,3575,0.00,2.25,0.00,0.000,516,0.000,0.062,2673,813,3378,3402,3355,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3628,-0.82,-126.5,2673,813,3401,3355,564.2,-13.3,413,3634,0.00,2.22,0.00,0.000,1030,0.000,0.050,2664,2204,3378,3401,3355,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3959,-0.82,-126.5,2665,2204,3400,3352,612.1,-14.7,429,3961,0.08,0.00,0.00,0.000,2054,0.324,0.000,2677,2204,3376,3400,3352,0,0,0,0,0,0,14.68,28.83,28.83
$GC,4258,-0.82,-126.5,2677,2204,3399,3351,654.0,-13.9,439,4264,0.00,2.28,0.00,0.000,516,0.000,0.067,2678,810,3375,3399,3351,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4310,-0.82,-126.5,2678,810,3398,3351,661.8,-14.3,450,4320,0.00,2.30,0.00,0.000,1030,0.000,0.053,2670,2200,3374,3398,3351,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4618,-0.82,-126.5,2669,2200,3397,3347,705.6,-14.3,461,4624,0.00,2.28,0.00,0.000,516,0.000,0.067,2669,809,3372,3397,3348,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4660,-0.82,-126.5,2670,809,3397,3348,712.0,-14.2,470,4666,0.10,2.25,0.00,0.000,3078,0.285,0.052,2681,2204,3372,3396,3348,0,0,0,0,0,0,14.59,14.80,28.83
$GC,4978,-0.82,-126.5,2681,2204,3396,3346,753.6,-13.1,483,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2204,3371,3396,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5279,-0.82,-126.5,2680,2202,3395,3345,791.5,-12.2,493,5285,0.00,2.28,0.00,0.000,516,0.000,0.068,2681,814,3369,3395,3344,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5338,-0.82,-126.5,2681,814,3394,3345,798.8,-11.6,505,5342,0.00,2.25,0.00,0.000,1030,0.000,0.053,2673,2204,3369,3394,3344,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5670,-0.82,-126.5,2673,2204,3393,3344,840.1,-12.7,521,5676,0.00,2.28,0.00,0.000,516,0.000,0.067,2673,813,3368,3393,3343,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5712,-0.82,-126.5,2673,813,3393,3343,845.9,-12.7,530,5717,0.08,2.22,0.00,0.000,3078,0.309,0.053,2677,2199,3368,3393,3343,0,0,0,0,0,0,14.59,14.79,28.83
$GC,6030,-0.82,-126.5,2677,2200,3392,3343,885.0,-12.5,543,6031,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2200,3367,3392,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6330,-0.82,-126.5,2677,2200,3390,3340,921.4,-12.1,553,6334,0.00,2.28,0.00,0.000,516,0.000,0.069,2677,814,3366,3391,3341,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6379,-0.82,-126.5,2677,814,3390,3340,927.8,-11.7,563,6384,0.00,2.25,0.00,0.000,1030,0.000,0.054,2669,2201,3366,3391,3341,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6692,-0.82,-126.5,2670,2202,3389,3339,965.0,-11.9,575,6693,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2202,3364,3389,3339,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6931,begin apogee
$GC,6934,-0.16,0.0,2669,2202,3389,3338,993.5,-12.1,583,7076,0.77,0.05,134.82,2.197,10246,0.249,0.226,2886,2162,2870,2915,2826,0,0,0,0,0,0,14.47,13.95,13.24
$STATE,7077,end apogee,CONTROL_FINISHED_OK
$STATE,7077,begin climb
$GC,7078,0.82,126.5,2886,2162,2910,2819,997.8,0.0,612,7196,1.08,2.45,109.28,2.238,10500,0.158,0.072,3210,3541,2350,2408,2292,0,0,0,0,0,0,13.95,13.90,13.17
$GC,7276,0.82,126.5,3210,3541,2403,2286,983.7,11.7,652,7281,0.00,2.38,0.00,0.000,1030,0.000,0.048,3220,2134,2343,2402,2285,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7588,0.82,126.5,3220,2133,2402,2282,947.8,11.7,664,7592,0.00,2.38,0.00,0.000,516,0.000,0.079,3231,739,2343,2402,2284,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7724,0.82,126.5,3231,738,2402,2284,931.6,11.1,691,7728,0.00,2.30,0.00,0.000,1030,0.000,0.051,3231,2139,2343,2402,2284,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8030,0.82,126.5,3231,2140,2401,2282,896.4,11.4,702,8034,0.00,2.38,0.00,0.000,516,0.000,0.077,3241,737,2341,2401,2282,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8079,0.82,126.5,3241,736,2401,2283,890.4,11.8,712,8087,0.00,2.35,0.00,0.000,1030,0.000,0.052,3241,2135,2342,2401,2283,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8387,0.82,126.5,3241,2135,2399,2282,854.9,11.4,723,8388,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2135,2340,2399,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8687,0.82,126.5,3241,2135,2398,2281,821.2,11.0,733,8691,0.00,2.38,0.00,0.000,516,0.000,0.079,3251,734,2339,2398,2281,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8767,0.82,126.5,3251,733,2398,2281,812.1,11.2,749,8771,0.00,2.33,0.00,0.000,1030,0.000,0.052,3251,2136,2339,2398,2281,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9080,0.82,126.5,3251,2137,2396,2280,777.2,11.1,761,9084,0.00,2.38,0.00,0.000,260,0.000,0.076,3251,3551,2338,2396,2281,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9134,0.82,126.5,3252,3551,2396,2281,770.2,12.7,772,9142,0.05,2.35,0.00,0.000,5126,0.260,0.048,3247,2136,2338,2396,2281,0,0,0,0,0,0,14.42,14.62,28.83
$GC,9442,0.82,126.5,3247,2136,2396,2280,737.4,10.7,783,9448,0.00,2.33,0.00,0.000,516,0.000,0.078,3256,735,2337,2395,2280,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9524,0.82,126.5,3256,735,2395,2280,728.3,10.5,800,9532,0.05,2.33,0.00,0.000,5126,0.274,0.051,3243,2136,2338,2395,2281,0,0,0,0,0,0,14.41,14.63,28.83
$GC,9831,0.82,126.5,3243,2136,2395,2280,697.2,10.2,811,9832,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2136,2337,2395,2280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10131,0.82,126.5,3243,2136,2395,2280,666.2,10.4,821,10135,0.00,2.35,0.00,0.000,516,0.000,0.076,3252,739,2337,2395,2280,0,0,0,0,0,0,28.83,14.69,28.83
$GC,10201,0.82,126.5,3252,738,2395,2280,658.3,11.2,835,10205,0.00,2.28,0.00,0.000,1030,0.000,0.050,3251,2142,2337,2395,2279,0,0,0,0,0,0,28.83,14.76,28.83
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$GC,13732,0.84,141.1,3248,2142,2343,2231,309.6,9.7,1088,13737,0.00,2.35,0.00,0.000,516,0.000,0.072,3257,736,2287,2343,2231,0,0,0,0,0,0,28.83,14.62,28.83
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$STATE,17264,end climb,SURFACE_DEPTH_REACHED
$STATE,17264,begin surface coast
$FINISH,0.3,1.019022
$STATE,17308,end surface coast,CONTROL_FINISHED_OK
$STATE,17308,begin surface
$SM_CCo,17324,45.90,0.138,0,0,509,579.63
$SM_CCo,17372,-0.10,0.000,0,0,512,579.39
$SM_CCo,17375,0.40,0.335,0,0,508,579.63
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$IRIDIUM_FIX,1751.90,8930.52,230708,202025
$TT8_MAMPS,0.018725,0.018725
$HUMID,44.25
$INTERNAL_PRESSURE,6.67018
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,13.2,53.183
$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
$DEVICE_SECS,22.475,156.650,492.925,46.300,0.000,24.749,42.217,268.820,0.000,0.000,19.418,3421.235,10250.621,642.778,3350.709,164.085,0.000,2020.807,0.000,2459.396,0.000,0.553,0.000
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$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322292
$DATA_FILE_SIZE,137456,1673
$CAP_FILE_SIZE,177852,0
$CFSIZE,2097086464,2074247168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.036,171.0,1
$GPS,270915,164457,1757.870,8924.724,37,0.7,37,-0.9