version: 66.11
glider: 615
mission: 5
dive: 273
start: 10 28 115 14 47 42
data:
$ID,615
$MISSION,5
$DIVE,273
$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,-19326.506
$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,42
$R_STBD_OVSHOOT,63
$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,10.5
$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
$GPS1,281015,143028,1757.308,8923.753,40,0.9,40,-0.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-68.8
$GPS2,281015,144715,1757.347,8923.658,5,1.1,5,-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,212.6,5221,-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,-126.5,183,2230,552,490,0.0,0.0,0,69,0.00,0.00,-51.15,0.000,16386,0.000,0.000,182,2232,1924,1928,1920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.82,-126.5,182,2231,1928,1920,3.2,-7.1,8,124,10.80,2.35,-32.95,0.000,18948,0.347,0.076,2674,796,3389,3406,3373,0,0,0,0,0,0,14.15,14.52,14.78
$GC,183,-0.82,-126.5,2674,796,3407,3373,35.4,-34.1,27,189,0.00,2.22,0.00,0.000,1030,0.000,0.046,2665,2179,3389,3406,3373,0,0,0,0,0,0,28.83,14.56,28.83
$GC,372,-0.82,-126.5,2666,2179,3406,3373,91.6,-24.4,64,380,0.00,2.35,0.00,0.000,260,0.000,0.057,2654,3606,3389,3406,3373,0,0,0,0,0,0,28.83,14.55,28.83
$GC,387,-0.82,-126.5,2654,3606,3406,3374,94.6,-23.5,66,395,0.05,2.30,0.00,0.000,3078,0.258,0.035,2678,2182,3390,3407,3373,0,0,0,0,0,0,14.33,14.57,28.83
$GC,578,-0.82,-126.5,2678,2181,3406,3374,126.9,-13.9,103,584,0.00,2.33,0.00,0.000,260,0.000,0.059,2669,3607,3390,3406,3375,0,0,0,0,0,0,28.83,14.61,28.83
$GC,616,-0.82,-126.5,2669,3607,3406,3375,132.1,-13.2,110,624,0.00,2.28,0.00,0.000,1030,0.000,0.036,2669,2202,3391,3407,3375,0,0,0,0,0,0,28.83,14.57,28.83
$GC,809,-0.82,-126.5,1680,2199,3393,3373,158.7,-12.6,147,815,0.00,2.25,0.00,0.000,516,0.000,0.056,2669,807,3391,3407,3375,0,0,0,0,0,0,28.83,14.61,28.83
$GC,897,-0.82,-126.5,2669,807,3406,3376,171.3,-14.5,164,905,0.05,2.28,0.00,0.000,3078,0.258,0.044,2674,2197,3390,3406,3375,0,0,0,0,0,0,14.35,14.56,28.83
$GC,1089,-0.82,-126.5,2674,2197,3406,3375,197.1,-13.7,201,1096,0.00,2.30,0.00,0.000,260,0.000,0.063,2664,3606,3390,3406,3375,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1197,-0.82,-126.5,2664,3605,3406,3374,213.3,-14.4,222,1206,0.00,2.28,0.00,0.000,1030,0.000,0.037,2664,2199,3390,3406,3374,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1506,-0.82,-126.5,2664,2199,3406,3371,258.9,-15.5,253,1516,0.08,2.25,0.00,0.000,2564,0.303,0.057,2678,806,3388,3406,3371,0,0,0,0,0,0,14.60,14.56,28.83
$GC,1540,-0.82,-126.5,2678,806,3406,3371,264.2,-15.5,259,1549,0.00,2.22,0.00,0.000,1030,0.000,0.047,2670,2202,3388,3406,3371,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1850,-0.82,-126.5,2671,2202,3406,3366,309.5,-14.4,291,1860,0.00,2.25,0.00,0.000,516,0.000,0.062,2670,813,3386,3406,3366,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1895,-0.82,-126.5,2670,813,3406,3366,316.7,-14.7,300,1904,0.05,2.28,0.00,0.000,3078,0.245,0.048,2675,2192,3385,3406,3365,0,0,0,0,0,0,14.30,14.50,28.83
$GC,2204,-0.82,-126.5,2675,2192,3406,3360,359.3,-13.8,328,2210,0.00,2.22,0.00,0.000,516,0.000,0.060,2675,812,3382,3406,3359,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2236,-0.82,-126.5,2676,812,3406,3359,364.2,-13.7,335,2244,0.00,2.30,0.00,0.000,1030,0.000,0.050,2667,2194,3382,3406,3359,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2544,-0.82,-126.5,2667,2194,3406,3353,407.8,-14.4,351,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2194,3379,3406,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2844,-0.82,-126.5,2667,2194,3405,3349,450.7,-14.1,366,2850,0.00,2.25,0.00,0.000,516,0.000,0.061,2667,811,3376,3404,3349,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2884,-0.82,-126.5,2667,812,3404,3349,456.4,-14.5,374,2891,0.10,2.25,0.00,0.000,3078,0.270,0.050,2678,2208,3376,3404,3349,0,0,0,0,0,0,14.47,14.70,28.83
$GC,3204,-0.82,-126.5,2678,2208,3402,3345,498.0,-13.2,393,3210,0.00,2.30,0.00,0.000,516,0.000,0.063,2678,803,3373,3402,3345,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3235,-0.82,-126.5,2678,803,3401,3345,502.0,-13.2,399,3240,0.00,2.22,0.00,0.000,1030,0.000,0.050,2671,2192,3373,3402,3345,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3564,-0.82,-126.5,2670,2193,3400,3343,546.9,-13.7,415,3570,0.00,2.28,0.00,0.000,516,0.000,0.063,2670,804,3371,3400,3343,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3617,-0.82,-126.5,2670,804,3399,3343,554.7,-13.7,426,3625,0.05,2.33,0.00,0.000,3078,0.237,0.052,2675,2194,3370,3398,3343,0,0,0,0,0,0,14.29,14.50,28.83
$GC,3925,-0.82,-126.5,2675,2194,3397,3340,595.4,-13.5,437,3929,0.00,2.28,0.00,0.000,516,0.000,0.063,2675,811,3368,3397,3340,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3980,-0.82,-126.5,2676,812,3397,3340,603.3,-13.1,448,3987,0.00,2.33,0.00,0.000,1030,0.000,0.052,2667,2200,3368,3397,3340,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4287,-0.82,-126.5,2667,2200,3395,3337,645.7,-13.8,459,4293,0.00,2.30,0.00,0.000,516,0.000,0.067,2667,806,3366,3395,3337,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4309,-0.82,-126.5,2667,806,3395,3337,649.4,-14.3,464,4319,0.05,2.33,0.00,0.000,3078,0.245,0.054,2672,2191,3366,3395,3337,0,0,0,0,0,0,14.27,14.50,28.83
$GC,4617,-0.82,-126.5,2672,2191,3394,3336,690.9,-13.5,475,4621,0.00,2.30,0.00,0.000,516,0.000,0.068,2673,808,3365,3394,3336,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4651,-0.82,-126.5,2672,809,3394,3336,695.9,-13.1,482,4656,0.00,2.33,0.00,0.000,1030,0.000,0.055,2664,2202,3364,3393,3336,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4979,-0.82,-126.5,2664,2202,3392,3334,741.6,-14.1,497,4985,0.00,2.30,0.00,0.000,516,0.000,0.071,2665,813,3363,3392,3334,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5026,-0.82,-126.5,2665,813,3392,3334,748.8,-14.3,507,5031,0.10,2.28,0.00,0.000,3078,0.284,0.060,2674,2198,3362,3391,3334,0,0,0,0,0,0,14.42,14.66,28.83
$GC,5339,-0.82,-126.5,2674,2198,3390,3333,790.3,-13.3,519,5340,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2199,3361,3389,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5640,-0.82,-126.5,2674,2198,3389,3331,829.9,-13.0,529,5646,0.00,2.30,0.00,0.000,516,0.000,0.070,2674,810,3360,3389,3331,0,0,0,0,0,0,28.83,14.55,28.83
$GC,5681,-0.82,-126.5,2674,810,3389,3332,835.9,-12.6,538,5686,0.00,2.28,0.00,0.000,1030,0.000,0.054,2666,2202,3360,3389,3331,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6000,-0.82,-126.5,2666,2203,3388,3329,878.4,-13.3,551,6005,0.00,2.35,0.00,0.000,260,0.000,0.076,2656,3605,3357,3387,3328,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6042,-0.82,-126.5,2656,3605,3387,3329,884.3,-13.0,560,6047,0.10,2.25,0.00,0.000,3078,0.259,0.045,2677,2209,3357,3387,3328,0,0,0,0,0,0,14.44,14.71,28.83
$GC,6354,-0.82,-126.5,2676,2208,3386,3327,922.8,-12.3,572,6358,0.00,2.33,0.00,0.000,516,0.000,0.072,2677,807,3356,3386,3327,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6468,-0.82,-126.5,2677,807,3385,3327,937.3,-12.0,595,6476,0.00,2.28,0.00,0.000,1030,0.000,0.054,2668,2201,3356,3385,3327,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6775,-0.82,-126.5,2668,2201,3384,3326,976.1,-12.9,606,6781,0.00,2.33,0.00,0.000,516,0.000,0.071,2668,806,3355,3384,3326,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6808,-0.82,-126.5,2668,806,3384,3326,980.8,-13.1,613,6813,0.10,2.28,0.00,0.000,3078,0.296,0.056,2678,2200,3355,3384,3326,0,0,0,0,0,0,14.36,14.64,28.83
$STATE,6894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6894,begin apogee
$GC,6898,-0.16,0.0,2677,2145,3383,3326,991.2,-12.1,620,7047,0.77,0.00,138.82,2.107,10246,0.252,0.000,2889,2144,2868,2917,2819,0,0,0,0,0,0,14.20,28.83,13.20
$STATE,7048,end apogee,CONTROL_FINISHED_OK
$STATE,7048,begin climb
$GC,7049,0.82,126.5,2889,2144,2915,2817,996.5,0.0,650,7166,1.05,0.00,110.95,2.272,10502,0.174,0.000,3201,2145,2352,2412,2293,0,0,0,0,0,0,13.97,28.83,12.98
$GC,7465,0.82,126.5,3201,2145,2403,2283,965.2,9.7,684,7471,0.00,2.42,0.00,0.000,516,0.000,0.082,3211,739,2343,2403,2283,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7548,0.82,126.5,3211,739,2402,2283,956.9,9.5,701,7556,0.00,2.33,0.00,0.000,1030,0.000,0.051,3209,2145,2343,2403,2283,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7855,0.82,126.5,3209,2145,2402,2282,926.3,9.9,712,7861,0.00,2.40,0.00,0.000,516,0.000,0.079,3217,738,2342,2402,2282,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7908,0.82,126.5,3217,738,2402,2282,920.9,10.1,723,7916,0.00,2.30,0.00,0.000,1030,0.000,0.051,3216,2139,2342,2402,2282,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8215,0.82,126.5,3217,2139,2401,2282,890.6,9.8,734,8221,0.00,2.38,0.00,0.000,516,0.000,0.080,3226,742,2341,2401,2281,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8249,0.82,126.5,3225,741,2401,2282,887.1,10.4,741,8253,0.00,2.30,0.00,0.000,1030,0.000,0.051,3224,2148,2340,2400,2281,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8571,0.82,126.5,3224,2148,2399,2280,856.3,9.5,755,8577,0.00,2.35,0.00,0.000,260,0.000,0.073,3224,3547,2338,2398,2279,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8632,0.82,126.5,3225,3547,2397,2280,850.1,10.5,767,8636,0.00,2.30,0.00,0.000,1030,0.000,0.047,3233,2138,2338,2397,2280,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8964,0.82,126.5,3233,2137,2397,2279,817.6,9.9,783,8970,0.00,2.38,0.00,0.000,516,0.000,0.079,3244,736,2338,2397,2279,0,0,0,0,0,0,28.83,14.55,28.83
$GC,9067,0.82,126.5,3244,736,2397,2280,806.9,10.4,804,9071,0.00,2.30,0.00,0.000,1030,0.000,0.052,3244,2140,2338,2397,2279,0,0,0,0,0,0,28.83,14.65,28.83
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$STATE,17254,end climb,SURFACE_DEPTH_REACHED
$STATE,17254,begin surface coast
$FINISH,0.3,1.020184
$STATE,17272,end surface coast,CONTROL_FINISHED_OK
$STATE,17272,begin surface
$SM_CCo,17289,17.90,0.136,0,0,507,579.63
$SM_CCo,17310,-0.10,0.000,0,0,511,579.39
$SM_CCo,17313,0.22,0.487,0,0,509,579.63
$SM_GC,2.52,8.98,0.08,0.22,0.056,0.175,0.487,180,2215,509,-8.59,-1.19,579.63,0,0,0,0,0,0,14.57,14.57,14.42
$IRIDIUM_FIX,1751.90,8923.74,240808,040412
$TT8_MAMPS,0.018725,0.018725
$HUMID,48.42
$INTERNAL_PRESSURE,6.64088
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,13.0,100.732
$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
$DEVICE_SECS,23.125,199.825,529.375,18.125,0.000,73.753,59.006,590.014,0.000,0.000,6.730,3385.634,10218.733,691.719,3778.755,233.647,0.000,2139.378,0.000,2510.461,0.000,0.552,0.000
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$SENSOR_SECS,901.206,592.081,1531.129,935.694,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322272
$DATA_FILE_SIZE,137411,1715
$CAP_FILE_SIZE,193151,0
$CFSIZE,2097086464,2049605632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.060,300.8,1
$GPS,281015,193733,1756.078,8922.095,39,0.9,40,-0.9