version: 66.11
glider: 615
mission: 5
dive: 299
start: 11 3 115 3 27 26
data:
$ID,615
$MISSION,5
$DIVE,299
$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,-19359.926
$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,40
$R_STBD_OVSHOOT,70
$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
$GPS1,031115,031721,1803.420,8932.092,38,1.0,38,-0.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.0
$GPS2,031115,032659,1803.377,8931.968,5,1.5,5,-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,255.1,23589,-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,-126.5,169,2242,553,486,0.0,0.0,0,64,0.00,0.00,-46.15,0.000,16386,0.000,0.000,168,2240,1808,1810,1807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.82,-126.5,168,2240,1810,1807,3.0,-6.4,7,119,10.85,2.45,-35.03,0.000,18948,0.346,0.076,2671,790,3390,3404,3377,0,0,0,0,0,0,14.13,14.50,14.75
$GC,276,-0.82,-126.5,2672,790,3404,3377,71.4,-28.1,46,285,0.03,2.30,0.00,0.000,3078,0.311,0.047,2670,2169,3390,3404,3377,0,0,0,0,0,0,14.28,14.47,28.83
$GC,469,-0.82,-126.5,1680,2167,3391,3376,111.9,-17.8,83,475,0.00,2.38,0.00,0.000,260,0.000,0.062,2661,3609,3390,3403,3378,0,0,0,0,0,0,28.83,14.57,28.83
$GC,533,-0.82,-126.5,1672,3608,3391,3377,123.5,-18.7,95,540,0.08,2.25,0.00,0.000,3078,0.295,0.036,2674,2187,3391,3404,3379,0,0,0,0,0,0,14.40,14.65,28.83
$GC,723,-0.82,-126.5,2674,2187,3405,3380,154.0,-14.3,132,730,0.00,2.30,0.00,0.000,516,0.000,0.057,2674,808,3392,3405,3380,0,0,0,0,0,0,28.83,14.49,28.83
$GC,808,-0.82,-126.5,2674,808,3405,3381,166.5,-15.1,148,815,0.00,2.30,0.00,0.000,1030,0.000,0.044,2666,2206,3393,3405,3381,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1000,-0.82,-126.5,2666,2206,3405,3382,194.6,-14.9,185,1008,0.00,2.30,0.00,0.000,260,0.000,0.062,2655,3604,3392,3404,3381,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1138,-0.82,-126.5,2655,3604,3405,3381,214.6,-13.8,211,1149,0.08,2.22,0.00,0.000,3078,0.214,0.037,2677,2174,3392,3404,3381,0,0,0,0,0,0,14.25,14.65,28.83
$GC,1447,-0.82,-126.5,2677,2174,3404,3378,257.6,-13.8,243,1457,0.00,2.20,0.00,0.000,516,0.000,0.058,2677,812,3392,3405,3379,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1482,-0.82,-126.5,2677,812,3404,3379,262.9,-14.2,250,1490,0.00,2.28,0.00,0.000,1030,0.000,0.045,2669,2198,3391,3404,3378,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1790,-0.82,-126.5,2669,2199,3404,3375,307.4,-14.9,281,1800,0.00,2.33,0.00,0.000,260,0.000,0.067,2658,3605,3389,3404,3375,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1815,-0.82,-126.5,2658,3606,3404,3374,311.5,-15.1,286,1824,0.05,2.28,0.00,0.000,3078,0.217,0.038,2673,2203,3389,3405,3374,0,0,0,0,0,0,14.31,14.54,28.83
$GC,2133,-0.82,-126.5,2674,2204,3404,3371,356.3,-14.2,316,2139,0.00,2.25,0.00,0.000,516,0.000,0.062,2673,813,3387,3404,3371,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2206,-0.82,-126.5,2674,813,3404,3371,367.2,-14.7,331,2213,0.00,2.30,0.00,0.000,1030,0.000,0.050,2666,2190,3387,3404,3370,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2514,-0.82,-126.5,2666,2191,3404,3365,411.0,-14.3,347,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2191,3384,3404,3365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2814,-0.82,-126.5,2666,2191,3404,3361,454.2,-14.2,362,2820,0.00,2.30,0.00,0.000,516,0.000,0.071,2665,805,3382,3404,3361,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2867,-0.82,-126.5,2665,806,3403,3361,462.3,-14.5,373,2875,0.05,2.35,0.00,0.000,3078,0.223,0.053,2671,2207,3382,3404,3360,0,0,0,0,0,0,14.28,14.48,28.83
$GC,3184,-0.82,-126.5,2671,2207,3404,3356,506.1,-13.8,389,3186,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2207,3380,3404,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3485,-0.82,-126.5,2672,2207,3403,3352,547.2,-13.6,399,3489,0.00,2.33,0.00,0.000,516,0.000,0.067,2672,810,3377,3403,3352,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3519,-0.82,-126.5,2672,810,3403,3352,552.3,-13.5,406,3524,0.00,2.30,0.00,0.000,1030,0.000,0.054,2665,2200,3377,3403,3352,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3847,-0.82,-126.5,2665,2200,3403,3349,597.0,-13.6,421,3853,0.00,2.30,0.00,0.000,516,0.000,0.067,2665,806,3375,3403,3348,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3885,-0.82,-126.5,2666,806,3402,3349,602.7,-14.2,429,3890,0.10,2.28,0.00,0.000,3078,0.271,0.054,2676,2203,3376,3403,3349,0,0,0,0,0,0,14.45,14.67,28.83
$GC,4202,-0.82,-126.5,2676,2205,3401,3346,644.9,-13.5,442,4208,0.00,2.33,0.00,0.000,516,0.000,0.068,2677,806,3373,3401,3346,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4240,-0.82,-126.5,2676,806,3401,3346,650.3,-13.3,450,4244,0.00,2.28,0.00,0.000,1030,0.000,0.054,2669,2200,3373,3401,3346,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4562,-0.82,-126.5,2669,2200,3400,3345,693.0,-13.4,464,4568,0.00,2.30,0.00,0.000,516,0.000,0.068,2669,810,3372,3399,3345,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4605,-0.82,-126.5,2669,810,3399,3345,699.1,-13.4,473,4609,0.00,2.28,0.00,0.000,1030,0.000,0.056,2665,2202,3372,3399,3345,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4922,-0.82,-126.5,2666,2203,3398,3343,741.1,-13.3,486,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2203,3370,3398,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5222,-0.82,-126.5,2665,2203,3396,3342,781.3,-13.2,496,5226,0.00,2.33,0.00,0.000,516,0.000,0.070,2665,812,3369,3397,3342,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5261,-0.82,-126.5,2665,812,3396,3342,786.7,-13.1,504,5265,0.00,2.28,0.00,0.000,1030,0.000,0.057,2665,2201,3369,3396,3342,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5583,-0.82,-126.5,2665,2201,3395,3341,827.1,-12.6,518,5589,0.00,2.33,0.00,0.000,516,0.000,0.070,2665,809,3367,3395,3340,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5601,-0.82,-126.5,2665,809,3395,3340,829.7,-13.1,522,5606,0.10,2.30,0.00,0.000,3078,0.285,0.057,2677,2210,3367,3395,3340,0,0,0,0,0,0,14.39,14.65,28.83
$GC,5909,-0.82,-126.5,2677,2210,3394,3338,864.6,-11.4,533,5913,0.00,2.35,0.00,0.000,516,0.000,0.071,2677,806,3366,3394,3338,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5949,-0.82,-126.5,2677,806,3394,3338,869.7,-11.7,541,5953,0.00,2.30,0.00,0.000,1030,0.000,0.056,2671,2209,3366,3394,3338,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6267,-0.82,-126.5,2671,2211,3394,3337,907.6,-12.2,554,6268,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2210,3365,3394,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6566,-0.82,-126.5,2671,2211,3393,3336,943.9,-12.1,564,6572,0.00,2.33,0.00,0.000,516,0.000,0.070,2671,814,3364,3393,3336,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6609,-0.82,-126.5,2671,814,3392,3336,949.3,-11.7,573,6613,0.00,2.28,0.00,0.000,1030,0.000,0.058,2669,2199,3364,3392,3336,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6926,-0.82,-126.5,2669,2200,3392,3336,986.9,-12.0,586,6927,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2200,3363,3391,3336,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6955,begin apogee
$GC,6959,-0.16,0.0,2670,2148,3391,3335,990.5,-12.0,587,7076,0.88,0.00,106.65,2.275,10246,0.297,0.000,2884,2148,2865,2914,2816,0,0,0,0,0,0,14.02,28.83,13.11
$STATE,7078,end apogee,CONTROL_FINISHED_OK
$STATE,7078,begin climb
$GC,7080,0.82,126.5,2884,2148,2913,2815,994.7,0.0,611,7202,1.17,2.50,112.32,2.378,10500,0.246,0.071,3178,3544,2351,2412,2290,0,0,0,0,0,0,13.93,13.83,12.86
$GC,7230,0.83,130.5,3178,3544,2405,2286,988.4,9.0,641,7237,0.10,2.38,0.00,0.000,3078,0.259,0.045,3207,2146,2345,2405,2285,0,0,0,0,0,0,13.88,14.04,28.83
$GC,7559,0.83,130.5,3207,2146,2404,2283,955.2,10.1,657,7563,0.00,2.42,0.00,0.000,516,0.000,0.084,3208,745,2343,2404,2283,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7751,0.83,130.5,3208,745,2403,2283,935.6,9.5,695,7755,0.00,2.30,0.00,0.000,1030,0.000,0.054,3201,2139,2343,2403,2283,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8073,0.83,130.5,3201,2139,2403,2281,905.7,9.3,709,8079,0.00,2.38,0.00,0.000,516,0.000,0.075,3209,739,2341,2403,2280,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8126,0.83,130.5,3209,739,2403,2280,900.4,9.6,720,8134,0.00,2.38,0.00,0.000,1030,0.000,0.054,3201,2139,2342,2403,2281,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8434,0.83,130.5,3200,2139,2403,2279,872.0,9.3,731,8438,0.00,2.38,0.00,0.000,516,0.000,0.073,3208,734,2340,2402,2279,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8526,0.83,130.5,3209,733,2403,2279,863.0,9.6,749,8532,0.00,2.30,0.00,0.000,1030,0.000,0.053,3201,2142,2340,2402,2279,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8856,0.83,130.5,3200,2142,2402,2278,830.8,10.1,765,8862,0.00,2.35,0.00,0.000,516,0.000,0.070,3208,742,2340,2402,2278,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8959,0.83,130.5,3209,742,2402,2278,819.8,10.1,786,8963,0.00,2.30,0.00,0.000,1030,0.000,0.052,3200,2146,2340,2402,2278,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9277,0.83,130.5,3200,2146,2401,2278,788.5,9.8,799,9283,0.00,2.35,0.00,0.000,260,0.000,0.071,3190,3549,2339,2401,2278,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9309,0.83,130.5,3188,3550,2399,2278,785.0,10.3,806,9314,0.00,2.33,0.00,0.000,1030,0.000,0.045,3198,2141,2338,2399,2277,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9638,0.84,139.7,3198,2140,2397,2277,755.1,8.7,821,9655,0.00,2.38,10.50,1.975,8708,0.000,0.071,3208,742,2298,2359,2237,0,0,0,0,0,0,28.83,14.63,13.56
$GC,9813,0.85,147.4,3208,741,2355,2235,738.8,8.8,856,9822,0.08,2.35,3.25,1.154,11270,0.282,0.050,3214,2140,2271,2332,2211,0,0,0,0,0,0,14.45,14.57,13.32
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$STATE,17598,end climb,SURFACE_DEPTH_REACHED
$STATE,17598,begin surface coast
$FINISH,0.4,1.019887
$STATE,17620,end surface coast,CONTROL_FINISHED_OK
$STATE,17620,begin surface
$SM_CCo,17637,33.42,0.133,0,0,508,579.63
$SM_CCo,17673,0.00,0.000,0,0,510,579.63
$SM_CCo,17676,0.15,0.669,0,0,508,579.63
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$IRIDIUM_FIX,1754.17,8932.79,290808,121250
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.48
$INTERNAL_PRESSURE,6.67994
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,12.9,109.746
$10V_AH,11.5,0.000
$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
$DEVICE_SECS,22.825,176.925,516.875,33.575,0.000,56.138,57.684,278.955,0.000,0.000,6.722,3451.851,10433.271,658.910,3477.367,224.484,0.000,2098.307,0.000,2546.137,0.000,0.553,0.000
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$SENSOR_SECS,914.457,605.917,1591.203,972.233,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322256
$DATA_FILE_SIZE,140571,1738
$CAP_FILE_SIZE,188496,0
$CFSIZE,2097086464,2045345792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.105, 92.9,1
$GPS,031115,082322,1802.902,8931.259,42,1.0,42,-0.9