version: 66.11
glider: 615
mission: 5
dive: 239
start: 10 21 115 11 44 3
data:
$ID,615
$MISSION,5
$DIVE,239
$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,-19277.609
$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,49
$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
$GPS1,211015,113621,1756.964,8923.223,37,0.9,37,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-72.3
$GPS2,211015,114330,1756.896,8923.225,5,0.8,5,-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,208.8,4089,-24.8,-9.167,-28.86,1551
$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,-0.89,-95.8,189,2208,563,480,0.0,0.0,0,63,0.00,0.00,-46.17,0.000,16386,0.000,0.000,189,2208,1828,1831,1825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.92,-118.7,189,2208,1831,1825,3.4,-7.7,7,118,10.60,2.33,-32.65,0.000,19204,0.347,0.070,2641,795,3355,3371,3340,0,0,0,0,0,0,14.15,14.49,14.75
$GC,345,-0.92,-118.7,1664,794,3356,3337,88.1,-22.4,60,353,0.05,2.30,0.00,0.000,3078,0.278,0.045,2655,2185,3355,3371,3340,0,0,0,0,0,0,14.26,14.49,28.83
$GC,537,-0.92,-118.7,2655,2186,3371,3341,122.4,-15.5,97,544,0.00,2.33,0.00,0.000,260,0.000,0.058,2646,3613,3356,3371,3342,0,0,0,0,0,0,28.83,14.58,28.83
$GC,562,-0.92,-118.7,2646,3613,3372,3342,126.2,-15.5,101,569,0.00,2.25,0.00,0.000,1030,0.000,0.035,2645,2180,3357,3372,3342,0,0,0,0,0,0,28.83,14.65,28.83
$GC,753,-0.92,-118.7,2645,2181,3372,3343,157.2,-14.8,138,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2181,3357,3372,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,942,-0.92,-118.7,1664,2178,3357,3341,185.5,-15.3,175,948,0.00,2.33,0.00,0.000,260,0.000,0.059,2634,3607,3358,3372,3344,0,0,0,0,0,0,28.83,14.61,28.83
$GC,996,-0.92,-118.7,2635,3607,3372,3344,194.6,-16.6,185,1003,0.00,2.22,0.00,0.000,1030,0.000,0.036,2635,2189,3358,3372,3344,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1191,-0.92,-118.7,2635,2188,3372,3344,223.6,-15.5,207,1201,0.00,2.22,0.00,0.000,516,0.000,0.055,2635,809,3357,3372,3343,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1254,-0.92,-118.7,2635,808,3372,3344,233.1,-14.4,219,1266,0.10,2.22,0.00,0.000,3078,0.292,0.044,2645,2207,3357,3372,3343,0,0,0,0,0,0,14.40,14.66,28.83
$GC,1564,-0.92,-118.7,2645,2207,3372,3342,278.8,-15.6,251,1574,0.00,2.28,0.00,0.000,260,0.000,0.062,2636,3602,3356,3371,3341,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1599,-0.92,-118.7,2636,3602,3372,3341,284.8,-15.8,258,1607,0.00,2.25,0.00,0.000,1030,0.000,0.037,2636,2210,3356,3372,3341,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1907,-0.92,-118.7,2636,2210,3371,3337,335.7,-17.3,289,1917,0.00,2.25,0.00,0.000,516,0.000,0.058,2635,807,3354,3371,3337,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1982,-0.92,-118.7,2636,807,3372,3337,349.1,-17.2,304,1992,0.05,2.28,0.00,0.000,3078,0.258,0.045,2640,2191,3354,3371,3337,0,0,0,0,0,0,14.28,14.51,28.83
$GC,2301,-0.92,-118.7,2640,2190,3371,3334,402.0,-16.6,321,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2190,3352,3371,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2600,-0.92,-118.7,2640,2191,3371,3329,450.3,-15.6,336,2607,0.00,2.25,0.00,0.000,516,0.000,0.060,2640,809,3349,3371,3328,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2654,-0.92,-118.7,2640,809,3370,3328,458.9,-15.5,347,2662,0.05,2.30,0.00,0.000,3078,0.256,0.047,2645,2197,3349,3371,3328,0,0,0,0,0,0,14.26,14.52,28.83
$GC,2971,-0.92,-118.7,2646,2197,3371,3324,505.4,-14.5,363,2977,0.00,2.28,0.00,0.000,516,0.000,0.059,2646,803,3347,3371,3324,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3001,-0.92,-118.7,2645,803,3371,3324,509.7,-14.8,369,3007,0.00,2.25,0.00,0.000,1030,0.000,0.047,2636,2202,3347,3371,3323,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3331,-0.92,-118.7,2636,2202,3370,3319,557.2,-14.3,385,3337,0.00,2.30,0.00,0.000,516,0.000,0.060,2637,803,3345,3371,3319,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3393,-0.92,-118.7,2637,803,3370,3319,566.6,-14.1,398,3398,0.05,2.30,0.00,0.000,3078,0.258,0.049,2641,2198,3344,3370,3319,0,0,0,0,0,0,14.35,14.62,28.83
$GC,3721,-0.92,-118.7,2641,2198,3371,3316,613.4,-14.6,413,3727,0.00,2.30,0.00,0.000,516,0.000,0.063,2641,806,3343,3370,3316,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3764,-0.92,-118.7,2642,806,3370,3316,620.0,-14.7,422,3768,0.08,2.28,0.00,0.000,3078,0.311,0.052,2646,2208,3342,3370,3315,0,0,0,0,0,0,14.47,14.69,28.83
$GC,4081,-0.92,-118.7,2646,2208,3369,3313,665.0,-14.3,435,4087,0.00,2.30,0.00,0.000,516,0.000,0.063,2646,808,3340,3368,3312,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4119,-0.92,-118.7,2646,807,3368,3313,670.8,-14.1,443,4123,0.00,2.28,0.00,0.000,1030,0.000,0.052,2637,2207,3340,3368,3312,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4441,-0.92,-118.7,2637,2206,3367,3310,715.8,-13.9,457,4445,0.00,2.30,0.00,0.000,516,0.000,0.063,2637,815,3338,3367,3310,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4473,-0.92,-118.7,2637,814,3367,3310,720.3,-13.8,463,4480,0.10,2.25,0.00,0.000,3078,0.288,0.054,2648,2199,3338,3367,3310,0,0,0,0,0,0,14.43,14.68,28.83
$GC,4803,-0.92,-118.7,2648,2200,3366,3308,765.1,-13.7,479,4809,0.00,2.30,0.00,0.000,516,0.000,0.069,2648,812,3337,3366,3308,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4841,-0.92,-118.7,2648,812,3366,3308,771.0,-14.7,487,4845,0.00,2.28,0.00,0.000,1030,0.000,0.055,2639,2201,3337,3366,3308,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5163,-0.92,-118.7,2639,2202,3365,3306,817.4,-14.8,501,5169,0.00,2.33,0.00,0.000,516,0.000,0.069,2639,809,3335,3365,3306,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5206,-0.92,-118.7,2640,808,3365,3306,824.1,-14.7,510,5210,0.08,2.28,0.00,0.000,3078,0.324,0.054,2643,2205,3335,3364,3306,0,0,0,0,0,0,14.43,14.67,28.83
$GC,5523,-0.92,-118.7,2643,2205,3365,3303,867.9,-13.8,523,5529,0.00,2.33,0.00,0.000,516,0.000,0.069,2643,806,3334,3364,3304,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5584,-0.92,-118.7,2643,806,3363,3304,876.3,-13.5,535,5590,0.00,2.28,0.00,0.000,1030,0.000,0.055,2635,2199,3334,3364,3304,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5913,-0.92,-118.7,2634,2199,3363,3302,922.3,-14.1,551,5914,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2199,3333,3363,3303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6213,-0.92,-118.7,2634,2199,3362,3302,964.4,-14.0,561,6217,0.00,2.33,0.00,0.000,516,0.000,0.068,2634,815,3331,3362,3301,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6254,-0.92,-118.7,2634,815,3362,3301,970.3,-14.1,569,6259,0.10,2.28,0.00,0.000,3078,0.296,0.056,2645,2204,3331,3362,3301,0,0,0,0,0,0,14.38,14.66,28.83
$STATE,6421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6421,begin apogee
$GC,6425,-0.16,0.0,2645,2148,3361,3300,992.9,-13.6,577,6573,0.88,0.00,138.12,1.952,10246,0.239,0.000,2889,2147,2870,2919,2821,0,0,0,0,0,0,14.28,28.83,13.23
$STATE,6574,end apogee,CONTROL_FINISHED_OK
$STATE,6574,begin climb
$GC,6576,0.92,118.7,2889,2147,2917,2819,998.5,0.0,607,6692,1.15,2.50,106.22,2.379,10500,0.149,0.073,3238,3541,2379,2435,2324,0,0,0,0,0,0,14.04,13.83,13.02
$GC,6718,0.92,118.7,3238,3541,2431,2319,992.7,9.6,631,6725,0.00,2.40,0.00,0.000,1030,0.000,0.046,3241,2141,2375,2432,2319,0,0,0,0,0,0,28.83,14.02,28.83
$GC,7025,0.92,118.7,3242,2141,2430,2315,959.8,11.0,642,7031,0.00,2.40,0.00,0.000,516,0.000,0.080,3251,741,2373,2431,2315,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7198,0.92,118.7,3251,741,2429,2316,940.6,10.8,677,7204,0.00,2.33,0.00,0.000,1030,0.000,0.052,3251,2144,2372,2429,2315,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7505,0.92,118.7,3251,2145,2429,2314,906.7,11.3,688,7506,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,2145,2371,2428,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7805,0.92,118.7,3251,2145,2427,2313,872.3,11.7,698,7809,0.00,2.40,0.00,0.000,516,0.000,0.077,3261,739,2371,2428,2314,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7844,0.92,118.7,3261,739,2427,2314,867.6,11.7,706,7848,0.00,2.30,0.00,0.000,1030,0.000,0.051,3260,2143,2370,2427,2314,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8166,0.92,118.7,3261,2143,2426,2313,831.7,11.3,720,8169,0.00,2.40,0.00,0.000,516,0.000,0.076,3270,735,2369,2426,2313,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8256,0.92,118.7,3271,735,2426,2313,821.5,11.5,738,8260,0.00,2.30,0.00,0.000,1030,0.000,0.052,3271,2141,2369,2426,2313,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8584,0.92,118.7,3270,2142,2425,2312,785.5,11.0,753,8588,0.00,2.40,0.00,0.000,516,0.000,0.076,3281,733,2368,2425,2312,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8683,0.92,118.7,3281,733,2424,2312,773.9,11.5,773,8687,0.00,2.30,0.00,0.000,1030,0.000,0.052,3281,2140,2368,2425,2312,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9005,0.92,118.7,3280,2140,2424,2311,738.6,10.9,787,9011,0.00,2.38,0.00,0.000,516,0.000,0.076,3290,739,2367,2424,2311,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9084,0.92,118.7,3290,739,2424,2311,729.5,11.2,803,9089,0.10,2.30,0.00,0.000,5126,0.292,0.052,3272,2146,2368,2425,2312,0,0,0,0,0,0,14.35,14.64,28.83
$GC,9396,0.92,118.7,3272,2146,2423,2311,697.9,9.9,815,9402,0.00,2.38,0.00,0.000,516,0.000,0.073,3281,738,2367,2424,2311,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9439,0.92,118.7,3281,738,2424,2311,693.4,9.6,824,9443,0.00,2.30,0.00,0.000,1030,0.000,0.053,3280,2143,2367,2424,2311,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9757,0.92,118.7,3281,2143,2423,2310,663.3,9.5,837,9758,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,2143,2367,2423,2311,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,16859,1.49,577.2,3378,2150,1050,941,17.9,1.6,1641,16936,0.12,2.38,67.00,0.184,10500,0.143,0.060,3439,3542,521,584,459,0,0,0,0,0,0,14.52,14.38,14.33
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$STATE,17002,end climb,SURFACE_DEPTH_REACHED
$STATE,17002,begin surface coast
$FINISH,0.3,1.019646
$STATE,17018,end surface coast,CONTROL_FINISHED_OK
$STATE,17018,begin surface
$SM_CCo,17035,2.55,0.161,0,0,508,579.63
$SM_CCo,17040,0.00,0.000,0,0,511,579.63
$SM_CCo,17042,0.30,0.393,0,0,508,579.63
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$IRIDIUM_FIX,1749.63,8926.01,160808,202046
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.20
$INTERNAL_PRESSURE,6.66041
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,13.0,89.589
$10V_AH,12.5,0.000
$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
$DEVICE_SECS,23.075,171.800,543.900,2.850,0.000,25.073,33.307,254.263,0.250,0.000,6.588,3367.139,9955.540,663.343,3289.592,191.310,0.000,2053.413,0.000,2448.804,0.000,0.552,0.000
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$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322224
$DATA_FILE_SIZE,134010,1668
$CAP_FILE_SIZE,177935,0
$CFSIZE,2097086464,2055208960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.034,267.9,1
$GPS,211015,162921,1755.432,8922.066,38,1.1,38,-0.9