version: 66.11
glider: 615
mission: 5
dive: 300
start: 11 3 115 8 34 36
data:
$ID,615
$MISSION,5
$DIVE,300
$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,-19361.176
$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,37
$R_STBD_OVSHOOT,61
$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
$GPS1,031115,082322,1802.902,8931.259,42,1.0,42,-0.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.5
$GPS2,031115,083409,1802.958,8931.210,6,1.0,6,-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,253.1,22066,-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,-126.5,178,2230,540,494,0.0,0.0,0,69,0.00,0.00,-51.28,0.000,16386,0.000,0.000,177,2232,1937,1936,1938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.82,-126.5,177,2231,1936,1938,3.7,-8.8,8,119,10.82,2.30,-30.00,0.000,19204,0.347,0.079,2662,3589,3389,3402,3377,0,0,0,0,0,0,14.12,14.51,14.76
$GC,217,-0.82,-126.5,2662,3589,3402,3377,52.4,-31.9,34,226,0.05,2.30,0.00,0.000,3078,0.254,0.037,2675,2178,3389,3402,3377,0,0,0,0,0,0,14.26,14.50,28.83
$GC,410,-0.82,-126.5,2675,2176,3402,3377,95.5,-18.8,71,415,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2176,3389,3402,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,598,-0.82,-126.5,2675,2176,3402,3379,128.0,-15.4,108,605,0.00,2.35,0.00,0.000,260,0.000,0.057,2666,3597,3390,3402,3379,0,0,0,0,0,0,28.83,14.56,28.83
$GC,642,-0.82,-126.5,1680,3596,3388,3377,134.4,-15.3,116,650,0.00,2.25,0.00,0.000,1030,0.000,0.036,2666,2204,3390,3402,3379,0,0,0,0,0,0,28.83,14.54,28.83
$GC,835,-0.82,-126.5,2666,2203,3402,3380,162.1,-13.7,153,843,0.00,2.25,0.00,0.000,260,0.000,0.059,2656,3586,3390,3402,3379,0,0,0,0,0,0,28.83,14.62,28.83
$GC,890,-0.82,-126.5,1672,3585,3388,3378,170.4,-15.9,163,897,0.10,2.17,0.00,0.000,3078,0.258,0.036,2677,2194,3391,3402,3380,0,0,0,0,0,0,14.43,14.69,28.83
$GC,1080,-0.82,-126.5,2677,2193,3402,3380,197.9,-15.0,200,1087,0.00,2.33,0.00,0.000,516,0.000,0.059,2676,804,3391,3402,3380,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1154,-0.82,-126.5,2677,805,3401,3380,208.8,-13.9,214,1158,0.00,2.17,0.00,0.000,1030,0.000,0.044,2669,2179,3390,3402,3379,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1460,-0.82,-126.5,2669,2179,3402,3377,254.1,-14.8,245,1470,0.00,2.30,0.00,0.000,260,0.000,0.063,2658,3598,3389,3402,3377,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1475,-0.82,-126.5,2658,3598,3403,3377,256.6,-15.0,248,1483,0.05,2.25,0.00,0.000,3078,0.218,0.037,2673,2199,3389,3402,3377,0,0,0,0,0,0,14.32,14.54,28.83
$GC,1783,-0.82,-126.5,2673,2199,3402,3373,300.0,-13.6,279,1793,0.00,2.22,0.00,0.000,516,0.000,0.059,2673,817,3387,3402,3372,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1848,-0.82,-126.5,2673,817,3402,3372,309.6,-13.5,292,1856,0.00,2.28,0.00,0.000,1030,0.000,0.047,2665,2198,3387,3402,3372,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2158,-0.82,-126.5,2665,2198,3402,3369,353.4,-14.9,322,2164,0.00,2.22,0.00,0.000,516,0.000,0.063,2664,824,3385,3402,3369,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2179,-0.82,-126.5,2665,824,3402,3369,357.3,-15.2,327,2184,0.08,2.25,0.00,0.000,3078,0.216,0.050,2677,2192,3385,3402,3369,0,0,0,0,0,0,14.38,14.59,28.83
$GC,2497,-0.82,-126.5,2677,2192,3402,3363,402.1,-14.1,345,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2192,3382,3402,3363,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2798,-0.82,-126.5,2677,2192,3402,3358,443.9,-13.8,360,2803,0.00,2.25,0.00,0.000,516,0.000,0.067,2677,814,3380,3402,3358,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2857,-0.82,-126.5,2677,814,3401,3358,452.2,-13.6,372,2863,0.00,2.25,0.00,0.000,1030,0.000,0.054,2669,2203,3379,3402,3357,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3177,-0.82,-126.5,2669,2203,3402,3353,498.0,-14.2,391,3183,0.00,2.28,0.00,0.000,516,0.000,0.066,2670,817,3376,3401,3352,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3215,-0.82,-126.5,2670,817,3402,3353,503.8,-14.7,399,3220,0.08,2.25,0.00,0.000,3078,0.304,0.054,2675,2207,3377,3402,3353,0,0,0,0,0,0,14.47,14.68,28.83
$GC,3533,-0.82,-126.5,2675,2207,3402,3350,547.1,-13.6,412,3539,0.00,2.30,0.00,0.000,516,0.000,0.067,2675,819,3375,3402,3349,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3580,-0.82,-126.5,2675,819,3401,3349,553.9,-13.4,422,3584,0.00,2.25,0.00,0.000,1030,0.000,0.054,2668,2202,3375,3401,3349,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3893,-0.82,-126.5,2668,2202,3400,3346,595.7,-13.3,434,3899,0.00,2.28,0.00,0.000,516,0.000,0.067,2668,819,3373,3401,3346,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3940,-0.82,-126.5,2668,819,3400,3346,602.3,-13.0,444,3945,0.10,2.25,0.00,0.000,3078,0.280,0.055,2678,2204,3373,3400,3346,0,0,0,0,0,0,14.44,14.68,28.83
$GC,4253,-0.82,-126.5,2679,2205,3398,3344,640.3,-12.4,456,4259,0.00,2.30,0.00,0.000,516,0.000,0.069,2679,819,3370,3397,3344,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4301,-0.82,-126.5,2678,819,3396,3345,646.5,-12.6,466,4304,0.00,2.25,0.00,0.000,1030,0.000,0.054,2672,2202,3370,3397,3344,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4613,-0.82,-126.5,2672,2202,3396,3343,686.4,-12.8,478,4614,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2202,3370,3397,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4912,-0.82,-126.5,2671,2202,3395,3341,726.5,-13.6,488,4918,0.00,2.30,0.00,0.000,516,0.000,0.069,2671,813,3368,3395,3341,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4966,-0.82,-126.5,2671,814,3395,3341,734.0,-13.3,499,4973,0.00,2.28,0.00,0.000,1030,0.000,0.056,2665,2202,3368,3395,3341,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5272,-0.82,-126.5,2665,2202,3394,3339,775.4,-13.4,510,5278,0.00,2.30,0.00,0.000,516,0.000,0.070,2665,815,3367,3395,3339,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5321,-0.82,-126.5,2665,815,3394,3339,782.2,-13.1,520,5325,0.10,2.28,0.00,0.000,3078,0.282,0.057,2677,2206,3366,3393,3339,0,0,0,0,0,0,14.41,14.66,28.83
$GC,5628,-0.82,-126.5,2677,2207,3392,3337,820.7,-12.6,531,5632,0.00,2.33,0.00,0.000,516,0.000,0.071,2677,817,3364,3392,3337,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5668,-0.82,-126.5,2677,817,3392,3337,826.3,-13.0,539,5672,0.00,2.28,0.00,0.000,1030,0.000,0.057,2670,2205,3364,3392,3337,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5986,-0.82,-126.5,2670,2205,3391,3336,866.5,-12.8,552,5987,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2205,3363,3391,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6285,-0.82,-126.5,2670,2205,3390,3336,904.3,-12.5,562,6291,0.00,2.33,0.00,0.000,516,0.000,0.071,2670,819,3363,3390,3336,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6363,-0.82,-126.5,2670,819,3390,3336,914.3,-12.1,578,6367,0.00,2.28,0.00,0.000,1030,0.000,0.057,2665,2205,3362,3389,3336,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6670,-0.82,-126.5,2666,2205,3389,3335,952.6,-12.6,589,6674,0.00,2.33,0.00,0.000,516,0.000,0.071,2665,819,3362,3389,3335,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6725,-0.82,-126.5,2665,819,3388,3335,960.1,-12.5,600,6733,0.00,2.35,0.00,0.000,1030,0.000,0.057,2665,2199,3361,3389,3334,0,0,0,0,0,0,28.83,14.40,28.83
$STATE,6971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6971,begin apogee
$GC,6975,-0.16,0.0,2665,2199,3388,3333,990.1,-12.3,609,7092,0.88,0.00,106.88,2.351,10246,0.298,0.000,2883,2201,2865,2914,2816,0,0,0,0,0,0,13.99,28.83,13.04
$STATE,7094,end apogee,CONTROL_FINISHED_OK
$STATE,7094,begin climb
$GC,7096,0.82,126.5,2883,2201,2914,2815,994.2,0.0,633,7221,1.17,2.47,114.88,2.536,10500,0.239,0.071,3177,3546,2349,2411,2287,0,0,0,0,0,0,13.95,13.77,12.86
$GC,7297,0.82,126.5,3177,3546,2403,2285,982.8,9.7,674,7306,0.05,2.40,0.00,0.000,3078,0.224,0.046,3200,2157,2344,2404,2285,0,0,0,0,0,0,13.93,14.09,28.83
$GC,7605,0.82,126.5,3200,2157,2403,2283,952.8,9.9,685,7611,0.00,2.42,0.00,0.000,516,0.000,0.082,3203,741,2343,2403,2283,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7834,0.83,128.4,3203,741,2402,2283,930.4,9.1,731,7838,0.00,2.30,0.00,0.000,1030,0.000,0.054,3195,2140,2343,2403,2283,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8141,0.83,128.4,3195,2141,2402,2281,902.3,9.3,742,8147,0.00,2.38,0.00,0.000,516,0.000,0.073,3202,733,2341,2402,2281,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8239,0.83,130.1,3203,733,2402,2281,892.9,9.1,762,8243,0.00,2.30,0.00,0.000,1030,0.000,0.053,3194,2142,2341,2402,2281,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8556,0.83,130.1,3195,2142,2401,2280,863.2,9.5,775,8562,0.00,2.35,0.00,0.000,516,0.000,0.071,3202,739,2341,2402,2280,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8670,0.83,130.1,3202,739,2402,2280,852.0,9.4,798,8677,0.00,2.35,0.00,0.000,1030,0.000,0.052,3194,2131,2340,2401,2280,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8977,0.83,130.1,3194,2132,2401,2278,823.3,9.5,809,8983,0.00,2.33,0.00,0.000,516,0.000,0.071,3202,739,2339,2401,2278,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9038,0.83,130.1,3202,739,2401,2279,817.5,9.6,821,9042,0.00,2.30,0.00,0.000,1030,0.000,0.052,3194,2142,2340,2401,2279,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9371,0.84,139.0,3194,2141,2399,2278,788.4,8.7,837,9387,0.08,2.40,9.55,1.812,10756,0.284,0.073,3225,737,2300,2361,2239,0,0,0,0,0,0,14.62,14.64,13.60
$GC,9418,0.84,139.0,3225,738,2358,2238,783.4,10.4,847,9422,0.00,2.30,0.00,0.000,1030,0.000,0.051,3225,2143,2298,2358,2238,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9731,0.84,139.0,3225,2143,2357,2237,749.9,11.2,859,9737,0.00,2.35,0.00,0.000,516,0.000,0.071,3236,734,2297,2357,2237,0,0,0,0,0,0,28.83,14.54,28.83
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$STATE,17578,end climb,SURFACE_DEPTH_REACHED
$STATE,17579,begin surface coast
$FINISH,0.9,1.019812
$STATE,17590,end surface coast,CONTROL_FINISHED_OK
$STATE,17590,begin surface
$SM_CCo,17609,39.85,0.132,0,0,509,579.63
$SM_CCo,17652,-0.03,0.000,0,0,510,579.63
$SM_CCo,17655,0.20,0.529,0,0,508,579.63
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$IRIDIUM_FIX,1756.43,8932.79,290808,161617
$TT8_MAMPS,0.018725,0.018725
$HUMID,46.73
$INTERNAL_PRESSURE,6.67018
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,12.9,110.092
$10V_AH,11.4,0.000
$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
$DEVICE_SECS,23.075,199.075,484.400,40.050,0.000,65.657,68.398,308.997,0.000,0.000,6.719,3457.262,10331.695,664.443,3609.093,228.821,0.000,2151.185,0.000,2609.223,0.000,0.553,0.000
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$SENSOR_SECS,910.796,606.401,1595.508,974.553,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322292
$DATA_FILE_SIZE,144141,1779
$CAP_FILE_SIZE,191168,0
$CFSIZE,2097086464,2045181952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.062, 64.6,1
$GPS,031115,133003,1802.746,8930.048,32,1.0,32,-0.9