version: 66.11
glider: 615
mission: 5
dive: 274
start: 10 28 115 19 54 21
data:
$ID,615
$MISSION,5
$DIVE,274
$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,-19327.76
$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,38
$R_STBD_OVSHOOT,52
$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
$GPS1,281015,193733,1756.078,8922.095,39,0.9,40,-0.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.9
$GPS2,281015,195354,1756.138,8922.066,5,0.8,6,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,NW
$TGT_LATLONG,1806.660,8921.600
$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,13.8,19504,-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,-126.5,167,2215,551,494,0.0,0.0,0,69,0.00,0.00,-51.67,0.000,16386,0.000,0.000,166,2216,1938,1940,1936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.82,-126.5,166,2216,1940,1936,3.3,-7.2,8,124,10.82,2.33,-31.73,0.000,18692,0.347,0.083,2667,3589,3389,3406,3372,0,0,0,0,0,0,14.14,14.46,14.78
$GC,182,-0.82,-126.5,1664,3589,3392,3370,37.1,-36.5,27,189,0.00,2.22,0.00,0.000,1030,0.000,0.038,2667,2192,3390,3407,3373,0,0,0,0,0,0,28.83,14.58,28.83
$GC,373,-0.82,-126.5,2667,2189,3407,3373,85.9,-21.5,64,380,0.00,2.33,0.00,0.000,516,0.000,0.057,2667,801,3390,3407,3373,0,0,0,0,0,0,28.83,14.47,28.83
$GC,448,-0.82,-126.5,2667,801,3406,3372,100.6,-18.5,78,456,0.05,2.28,0.00,0.000,3078,0.266,0.042,2671,2187,3390,3407,3373,0,0,0,0,0,0,14.28,14.51,28.83
$GC,640,-0.82,-126.5,1684,2185,3391,3371,131.0,-15.4,115,646,0.00,2.25,0.00,0.000,516,0.000,0.056,2671,800,3390,3407,3374,0,0,0,0,0,0,28.83,14.59,28.83
$GC,688,-0.82,-126.5,1696,800,3393,3371,138.0,-14.1,124,696,0.05,2.30,0.00,0.000,3078,0.254,0.044,2686,2199,3390,3407,3374,0,0,0,0,0,0,14.35,14.54,28.83
$GC,880,-0.82,-126.5,2687,2199,3406,3374,164.7,-13.1,161,887,0.00,2.30,0.00,0.000,260,0.000,0.062,2678,3605,3390,3407,3374,0,0,0,0,0,0,28.83,14.62,28.83
$GC,909,-0.82,-126.5,2678,3605,3406,3374,168.6,-13.1,166,917,0.00,2.28,0.00,0.000,1030,0.000,0.037,2678,2202,3390,3407,3374,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1101,-0.82,-126.5,2678,2201,3407,3373,193.3,-13.6,203,1108,0.00,2.25,0.00,0.000,516,0.000,0.057,2677,809,3389,3406,3373,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1140,-0.82,-126.5,2678,809,3407,3374,198.8,-13.7,210,1147,0.00,2.30,0.00,0.000,1030,0.000,0.047,2668,2204,3390,3407,3373,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1335,-0.82,-126.5,2667,2204,3406,3372,226.9,-14.4,230,1343,0.00,2.28,0.00,0.000,516,0.000,0.059,2668,805,3389,3406,3372,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1385,-0.82,-126.5,2668,805,3406,3372,234.7,-15.5,240,1390,0.05,2.20,0.00,0.000,3078,0.249,0.047,2674,2193,3389,3407,3372,0,0,0,0,0,0,14.40,14.64,28.83
$GC,1697,-0.82,-126.5,2673,2193,3407,3369,280.7,-14.7,272,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2193,3387,3406,3369,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1998,-0.82,-126.5,2673,2194,3407,3364,324.1,-14.8,302,2006,0.00,2.28,0.00,0.000,516,0.000,0.061,2673,800,3385,3406,3364,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2059,-0.82,-126.5,2673,800,3406,3363,333.1,-14.4,314,2068,0.00,2.25,0.00,0.000,1030,0.000,0.050,2665,2198,3384,3406,3363,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2379,-0.82,-126.5,2665,2199,3406,3356,381.3,-15.2,337,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2199,3381,3406,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2679,-0.82,-126.5,2665,2199,3406,3352,426.2,-14.6,352,2685,0.00,2.28,0.00,0.000,516,0.000,0.062,2665,809,3379,3406,3352,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2728,-0.82,-126.5,2665,808,3405,3352,433.5,-14.4,362,2733,0.10,2.25,0.00,0.000,3078,0.265,0.052,2677,2200,3378,3405,3352,0,0,0,0,0,0,14.47,14.69,28.83
$GC,3034,-0.82,-126.5,2677,2201,3404,3347,475.2,-13.7,378,3035,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2201,3375,3404,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3334,-0.82,-126.5,2676,2201,3402,3344,516.8,-13.8,391,3340,0.00,2.30,0.00,0.000,516,0.000,0.063,2677,806,3373,3402,3344,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3377,-0.82,-126.5,2677,806,3402,3344,523.2,-14.1,400,3381,0.00,2.28,0.00,0.000,1030,0.000,0.053,2669,2209,3373,3402,3344,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3695,-0.82,-126.5,2669,2210,3400,3342,567.9,-14.3,413,3701,0.00,2.30,0.00,0.000,516,0.000,0.063,2669,810,3371,3400,3342,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3717,-0.82,-126.5,2669,810,3400,3342,571.6,-15.4,418,3726,0.05,2.33,0.00,0.000,3078,0.241,0.053,2674,2197,3371,3400,3342,0,0,0,0,0,0,14.28,14.50,28.83
$GC,4025,-0.82,-126.5,2674,2198,3398,3339,613.1,-13.5,429,4026,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2197,3368,3398,3339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4325,-0.82,-126.5,2674,2197,3396,3338,652.2,-13.0,439,4331,0.00,2.28,0.00,0.000,516,0.000,0.064,2674,810,3366,3396,3337,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4377,-0.82,-126.5,2674,810,3396,3337,659.5,-12.6,450,4385,0.00,2.35,0.00,0.000,1030,0.000,0.054,2666,2207,3366,3396,3337,0,0,0,0,0,0,28.83,14.48,28.83
$GC,4685,-0.82,-126.5,2666,2208,3394,3336,700.2,-13.6,461,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2207,3365,3394,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4985,-0.82,-126.5,2666,2207,3393,3334,741.2,-13.7,471,4991,0.00,2.33,0.00,0.000,516,0.000,0.069,2665,813,3363,3393,3334,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5047,-0.82,-126.5,2666,813,3392,3334,750.2,-13.7,484,5053,0.05,2.33,0.00,0.000,3078,0.243,0.056,2671,2203,3363,3393,3334,0,0,0,0,0,0,14.34,14.59,28.83
$GC,5376,-0.82,-126.5,2671,2203,3391,3333,792.8,-13.0,499,5382,0.00,2.33,0.00,0.000,516,0.000,0.069,2671,812,3362,3391,3333,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5414,-0.82,-126.5,2671,812,3390,3333,798.3,-13.1,507,5418,0.08,2.28,0.00,0.000,3078,0.316,0.054,2676,2206,3361,3390,3333,0,0,0,0,0,0,14.44,14.66,28.83
$GC,5736,-0.82,-126.5,2675,2206,3389,3332,838.3,-12.4,521,5742,0.00,2.33,0.00,0.000,516,0.000,0.070,2675,813,3360,3389,3332,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5774,-0.82,-126.5,2675,813,3389,3332,843.4,-12.8,529,5778,0.00,2.28,0.00,0.000,1030,0.000,0.055,2667,2201,3360,3389,3332,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6097,-0.82,-126.5,2667,2201,3389,3330,883.7,-12.6,543,6103,0.00,2.33,0.00,0.000,516,0.000,0.069,2667,812,3359,3389,3329,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6129,-0.82,-126.5,2667,811,3389,3329,888.2,-13.0,550,6134,0.05,2.33,0.00,0.000,3078,0.242,0.056,2673,2204,3358,3388,3329,0,0,0,0,0,0,14.32,14.56,28.83
$GC,6457,-0.82,-126.5,2672,2205,3387,3327,928.8,-12.5,565,6461,0.00,2.38,0.00,0.000,260,0.000,0.078,2664,3605,3357,3387,3327,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6489,-0.82,-126.5,2664,3605,3386,3327,932.7,-12.3,571,6496,0.03,2.22,0.00,0.000,3078,0.265,0.044,2672,2210,3357,3387,3327,0,0,0,0,0,0,14.45,14.66,28.83
$GC,6819,-0.82,-126.5,2672,2209,3385,3326,973.1,-12.1,587,6825,0.00,2.35,0.00,0.000,516,0.000,0.070,2672,805,3355,3385,3326,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6922,-0.82,-126.5,2672,804,3385,3326,985.9,-11.6,608,6927,0.08,2.30,0.00,0.000,3078,0.321,0.056,2676,2206,3355,3385,3326,0,0,0,0,0,0,14.40,14.63,28.83
$STATE,6964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6964,begin apogee
$GC,6969,-0.16,0.0,2677,2129,3384,3326,990.4,-11.3,611,7086,0.75,0.00,106.32,2.406,10246,0.239,0.000,2886,2129,2865,2914,2816,0,0,0,0,0,0,14.21,28.83,13.12
$STATE,7087,end apogee,CONTROL_FINISHED_OK
$STATE,7088,begin climb
$GC,7089,0.82,126.5,2886,2129,2913,2815,995.0,0.0,635,7206,1.05,0.00,110.53,2.215,10758,0.165,0.000,3203,2129,2351,2411,2292,0,0,0,0,0,0,14.00,28.83,13.03
$GC,7504,0.82,126.5,3204,2129,2403,2283,963.1,9.7,654,7510,0.00,2.38,0.00,0.000,516,0.000,0.080,3213,748,2343,2403,2284,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7567,0.82,126.5,2368,747,2355,2278,956.5,10.7,667,7572,0.00,2.35,0.00,0.000,1030,0.000,0.053,3213,2137,2343,2403,2284,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7894,0.82,126.5,3213,2138,2402,2282,923.9,10.0,682,7895,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2137,2342,2402,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8194,0.82,126.5,3213,2138,2402,2281,893.8,10.1,692,8195,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2137,2342,2403,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8494,0.82,126.5,3213,2138,2401,2281,863.4,10.0,702,8500,0.00,2.38,0.00,0.000,516,0.000,0.080,3223,743,2341,2401,2281,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8614,0.82,126.5,3223,743,2400,2281,851.3,10.2,726,8619,0.00,2.30,0.00,0.000,1030,0.000,0.053,3220,2147,2341,2401,2281,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8941,0.82,126.5,3221,2148,2399,2280,820.2,9.5,741,8948,0.00,2.35,0.00,0.000,260,0.000,0.074,3221,3546,2339,2398,2280,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8971,0.82,126.5,3221,3546,2397,2279,817.2,10.2,747,8978,0.00,2.28,0.00,0.000,1030,0.000,0.047,3229,2147,2338,2397,2280,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9301,0.82,126.5,3229,2146,2397,2279,784.5,10.1,763,9307,0.00,2.38,0.00,0.000,516,0.000,0.078,3241,743,2338,2397,2279,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9505,0.82,126.5,3241,743,2397,2279,763.6,10.4,804,9512,0.00,2.35,0.00,0.000,1030,0.000,0.052,3240,2135,2337,2396,2279,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9812,0.82,126.5,3240,2135,2396,2278,733.1,10.0,815,9817,0.00,2.38,0.00,0.000,516,0.000,0.076,3251,743,2337,2396,2278,0,0,0,0,0,0,28.83,14.53,28.83
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$STATE,17589,end climb,SURFACE_DEPTH_REACHED
$STATE,17590,begin surface coast
$FINISH,0.3,1.000806
$STATE,17605,end surface coast,CONTROL_FINISHED_OK
$STATE,17605,begin surface
$SM_CCo,17622,34.83,0.130,0,0,508,579.63
$SM_CCo,17660,-0.12,0.000,0,0,512,579.63
$SM_CCo,17663,0.38,0.337,0,0,508,579.63
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$IRIDIUM_FIX,1749.63,8923.74,240808,090901
$TT8_MAMPS,0.018725,0.018725
$HUMID,46.22
$INTERNAL_PRESSURE,6.67994
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,13.0,101.067
$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
$DEVICE_SECS,22.475,171.875,484.500,35.200,0.000,98.406,145.360,376.701,0.000,0.000,6.765,3430.980,10672.917,672.168,3633.697,223.279,0.000,2046.661,0.000,2438.805,0.000,0.553,0.000
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$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322272
$DATA_FILE_SIZE,134077,1662
$CAP_FILE_SIZE,185045,0
$CFSIZE,2097086464,2049441792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.054,325.7,1
$GPS,291015,005003,1758.311,8922.219,40,1.1,40,-0.9