version: 66.11
glider: 615
mission: 5
dive: 269
start: 10 27 115 18 32 26
data:
$ID,615
$MISSION,5
$DIVE,269
$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,-19321.484
$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,41
$R_STBD_OVSHOOT,53
$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
$GPS1,271015,182133,1801.849,8928.423,23,1.3,23,-0.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.5
$GPS2,271015,183200,1801.885,8928.322,5,1.4,6,-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,210.4,16975,-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,-126.5,183,2212,546,490,0.0,0.0,0,69,0.00,0.00,-51.30,0.000,16386,0.000,0.000,183,2212,1952,1956,1949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.82,-126.5,183,2212,1956,1950,3.7,-8.5,8,119,10.95,2.40,-29.55,0.000,19204,0.353,0.078,2675,793,3391,3407,3376,0,0,0,0,0,0,14.13,14.48,14.74
$GC,194,-0.82,-126.5,2675,793,3408,3376,42.1,-26.0,29,201,0.00,2.25,0.00,0.000,1030,0.000,0.047,2667,2184,3391,3407,3376,0,0,0,0,0,0,28.83,14.53,28.83
$GC,390,-0.82,-126.5,2667,2186,3407,3376,90.7,-20.3,66,397,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2186,3391,3407,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,586,-0.82,-126.5,2667,2186,3407,3378,122.0,-15.8,103,593,0.00,2.25,0.00,0.000,516,0.000,0.054,2667,795,3392,3407,3378,0,0,0,0,0,0,28.83,14.58,28.83
$GC,718,-0.82,-126.5,2667,795,3408,3379,140.7,-11.8,128,727,0.05,2.30,0.00,0.000,3078,0.252,0.042,2671,2201,3393,3407,3379,0,0,0,0,0,0,14.30,14.53,28.83
$GC,917,-0.82,-126.5,2671,2202,3407,3379,167.5,-13.4,165,924,0.00,2.28,0.00,0.000,260,0.000,0.059,2662,3602,3393,3407,3379,0,0,0,0,0,0,28.83,14.62,28.83
$GC,987,-0.82,-126.5,2662,3601,3407,3380,177.3,-13.4,178,996,0.05,2.30,0.00,0.000,3078,0.225,0.037,2687,2176,3392,3406,3379,0,0,0,0,0,0,14.38,14.58,28.83
$GC,1188,-0.82,-126.5,2687,2175,3407,3379,203.2,-13.2,214,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2174,3393,3407,3379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1489,-0.82,-126.5,2687,2175,3407,3377,242.6,-13.4,244,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2175,3392,3407,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1790,-0.82,-126.5,2688,2175,3407,3373,283.4,-13.7,274,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2175,3390,3407,3373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2089,-0.82,-126.5,2687,2175,3407,3370,325.0,-13.9,304,2098,0.00,2.20,0.00,0.000,516,0.000,0.058,2687,818,3388,3407,3370,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2143,-0.82,-126.5,2687,817,3407,3370,332.8,-13.2,315,2150,0.00,2.22,0.00,0.000,1030,0.000,0.046,2679,2203,3388,3407,3369,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2461,-0.82,-126.5,2679,2203,3407,3364,375.9,-13.6,338,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2203,3385,3407,3364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2762,-0.82,-126.5,2679,2204,3406,3359,415.1,-13.0,353,2767,0.00,2.22,0.00,0.000,516,0.000,0.060,2679,827,3382,3406,3359,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2844,-0.82,-126.5,2679,827,3406,3359,426.2,-12.2,370,2848,0.00,2.25,0.00,0.000,1030,0.000,0.049,2669,2196,3382,3407,3358,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3162,-0.82,-126.5,2670,2197,3406,3353,469.6,-14.0,388,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2197,3379,3406,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3471,-0.82,-126.5,2669,2197,3405,3352,514.5,-14.6,402,3477,0.00,2.28,0.00,0.000,516,0.000,0.063,2670,819,3378,3405,3352,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3509,-0.82,-126.5,2670,819,3404,3352,520.3,-14.4,410,3514,0.10,2.25,0.00,0.000,3078,0.278,0.052,2681,2208,3378,3404,3352,0,0,0,0,0,0,14.43,14.67,28.83
$GC,3827,-0.82,-126.5,2681,2209,3403,3348,563.5,-13.6,423,3833,0.00,2.30,0.00,0.000,516,0.000,0.066,2681,822,3376,3404,3348,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3879,-0.82,-126.5,2681,822,3402,3348,571.1,-13.7,434,3888,0.00,2.30,0.00,0.000,1030,0.000,0.054,2673,2190,3375,3403,3348,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4187,-0.82,-126.5,2673,2190,3401,3346,613.8,-14.2,445,4191,0.00,2.30,0.00,0.000,516,0.000,0.068,2673,814,3373,3401,3346,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4211,-0.82,-126.5,2673,814,3401,3346,617.7,-15.0,450,4219,0.03,2.33,0.00,0.000,3078,0.288,0.055,2670,2193,3374,3402,3346,0,0,0,0,0,0,14.29,14.47,28.83
$GC,4519,-0.82,-126.5,2671,2193,3400,3344,660.4,-14.2,461,4525,0.00,2.28,0.00,0.000,516,0.000,0.070,2670,820,3372,3400,3344,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4541,-0.82,-126.5,2671,820,3400,3344,664.1,-14.9,466,4549,0.05,2.33,0.00,0.000,3078,0.238,0.054,2677,2200,3372,3401,3344,0,0,0,0,0,0,14.24,14.47,28.83
$GC,4850,-0.82,-126.5,2677,2200,3399,3343,707.3,-14.2,477,4851,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2200,3371,3399,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5149,-0.82,-126.5,2677,2200,3398,3342,746.9,-13.1,487,5155,0.00,2.30,0.00,0.000,516,0.000,0.070,2677,815,3369,3398,3341,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5227,-0.82,-126.5,2677,815,3397,3341,756.6,-11.4,503,5232,0.00,2.28,0.00,0.000,1030,0.000,0.055,2669,2206,3369,3397,3341,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5540,-0.82,-126.5,2669,2206,3396,3340,794.6,-12.4,515,5546,0.00,2.35,0.00,0.000,260,0.000,0.077,2659,3603,3368,3396,3340,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5578,-0.82,-126.5,2659,3603,3396,3340,799.7,-12.4,523,5583,0.10,2.22,0.00,0.000,3078,0.262,0.044,2679,2217,3368,3396,3340,0,0,0,0,0,0,14.44,14.71,28.83
$GC,5900,-0.82,-126.5,2679,2218,3395,3338,836.4,-11.3,537,5907,0.00,2.35,0.00,0.000,516,0.000,0.070,2679,803,3366,3395,3338,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6013,-0.82,-126.5,2679,803,3394,3337,849.3,-10.9,560,6021,0.00,2.35,0.00,0.000,1030,0.000,0.054,2671,2195,3366,3395,3338,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6321,-0.82,-126.5,2672,2196,3394,3337,886.4,-12.5,571,6327,0.00,2.33,0.00,0.000,516,0.000,0.069,2672,800,3365,3394,3337,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6358,-0.82,-126.5,2672,800,3394,3336,891.6,-12.7,579,6363,0.08,2.30,0.00,0.000,3078,0.305,0.056,2675,2203,3365,3394,3337,0,0,0,0,0,0,14.43,14.64,28.83
$GC,6681,-0.82,-126.5,2675,2203,3393,3336,931.2,-12.4,593,6687,0.00,2.38,0.00,0.000,260,0.000,0.080,2666,3603,3364,3393,3336,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6704,-0.82,-126.5,2666,3603,3392,3336,934.4,-12.6,598,6711,0.00,2.35,0.00,0.000,1030,0.000,0.044,2666,2200,3363,3392,3335,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7012,-0.82,-126.5,2666,2199,3391,3334,974.1,-13.1,609,7018,0.00,2.33,0.00,0.000,516,0.000,0.070,2666,803,3363,3391,3335,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7079,-0.82,-126.5,2666,803,3391,3335,983.3,-12.7,623,7084,0.10,2.30,0.00,0.000,3078,0.288,0.056,2675,2207,3363,3391,3335,0,0,0,0,0,0,14.35,14.62,28.83
$STATE,7154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7154,begin apogee
$GC,7159,-0.16,0.0,2676,2128,3391,3334,992.5,-12.2,628,7275,0.77,0.00,107.47,2.391,10246,0.247,0.000,2885,2128,2865,2915,2816,0,0,0,0,0,0,14.19,28.83,13.04
$STATE,7277,end apogee,CONTROL_FINISHED_OK
$STATE,7277,begin climb
$GC,7279,0.82,126.5,2885,2128,2914,2815,997.4,0.0,652,7400,1.05,2.53,111.60,2.329,10756,0.171,0.082,3208,759,2350,2410,2291,0,0,0,0,0,0,13.98,13.78,12.97
$GC,7430,0.84,135.9,2336,759,2354,2282,991.3,8.7,683,7440,0.00,2.35,4.03,1.367,9222,0.000,0.051,3208,2139,2319,2378,2260,0,0,0,0,0,0,28.83,14.02,13.00
$GC,7757,0.84,135.9,3208,2139,2390,2272,958.3,10.3,698,7765,0.00,2.45,1.62,0.178,8708,0.000,0.080,3217,752,2321,2382,2261,0,0,0,0,0,0,28.83,14.34,14.34
$GC,7790,0.84,135.9,2344,752,2343,2266,954.7,10.6,705,7797,0.00,2.33,1.55,0.163,9222,0.000,0.054,3217,2131,2318,2377,2259,0,0,0,0,0,0,28.83,14.43,14.34
$GC,8114,0.84,135.9,3217,2131,2391,2270,921.3,10.3,719,8118,0.00,0.00,1.58,0.181,8198,0.000,0.000,3217,2131,2318,2377,2259,0,0,0,0,0,0,28.83,28.83,14.42
$GC,8414,0.84,135.9,3217,2131,2390,2269,891.4,9.7,729,8421,0.00,2.45,1.48,0.184,8452,0.000,0.074,3216,3547,2319,2379,2260,0,0,0,0,0,0,28.83,14.49,14.42
$GC,8437,0.84,135.9,3217,3547,2386,2270,888.9,9.9,734,8446,0.00,2.35,0.00,0.000,1030,0.000,0.048,3226,2155,2328,2387,2270,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8744,0.84,135.9,3226,2155,2388,2269,858.5,10.0,745,8751,0.00,2.38,1.27,0.190,8708,0.000,0.076,3237,744,2321,2381,2261,0,0,0,0,0,0,28.83,14.45,14.40
$GC,8913,0.84,135.9,3236,744,2387,2268,841.1,10.5,779,8917,0.00,2.30,0.00,0.000,1030,0.000,0.053,3237,2145,2327,2387,2268,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9226,0.84,135.9,3237,2145,2386,2268,809.4,10.2,791,9232,0.00,2.38,0.00,0.000,516,0.000,0.078,3246,740,2327,2387,2268,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9365,0.84,135.9,3246,740,2386,2268,795.5,9.6,819,9369,0.00,2.30,0.00,0.000,1030,0.000,0.052,3246,2143,2327,2386,2268,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9677,0.84,135.9,3246,2144,2385,2268,763.0,10.5,831,9681,0.00,2.38,0.00,0.000,516,0.000,0.077,3257,739,2326,2385,2268,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9717,0.84,135.9,3256,739,2385,2268,758.6,10.8,839,9722,0.00,2.28,0.98,0.183,9222,0.000,0.052,3256,2140,2318,2377,2260,0,0,0,0,0,0,28.83,14.60,14.49
$GC,10035,0.84,135.9,3257,2140,2385,2267,724.4,10.9,852,10041,0.00,2.35,0.00,0.000,260,0.000,0.073,3257,3544,2325,2384,2267,0,0,0,0,0,0,28.83,14.57,28.83
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$STATE,17556,end climb,SURFACE_DEPTH_REACHED
$STATE,17556,begin surface coast
$FINISH,0.2,1.019889
$STATE,17577,end surface coast,CONTROL_FINISHED_OK
$STATE,17577,begin surface
$SM_CCo,17594,25.45,0.135,0,0,509,579.63
$SM_CCo,17622,0.15,0.671,0,0,508,579.63
$SM_CCo,17626,-0.08,0.000,0,0,511,579.63
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$IRIDIUM_FIX,1756.43,8925.99,230808,070752
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.44
$INTERNAL_PRESSURE,6.65065
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,13.0,99.385
$10V_AH,11.9,0.000
$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
$DEVICE_SECS,23.025,182.325,511.425,25.600,0.000,51.305,89.285,297.425,0.000,0.000,6.740,3463.366,10389.536,652.124,3517.783,218.065,0.000,2084.351,0.000,2543.813,0.000,0.552,0.000
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$SENSOR_SECS,924.353,614.564,1576.181,963.315,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322244
$DATA_FILE_SIZE,140514,1740
$CAP_FILE_SIZE,188402,0
$CFSIZE,2097086464,2050293760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.071,291.5,1
$GPS,271015,232727,1800.636,8926.825,36,1.1,36,-0.9