version: 66.11
glider: 615
mission: 5
dive: 306
start: 11 4 115 15 1 36
data:
$ID,615
$MISSION,5
$DIVE,306
$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,-19368.707
$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,65
$R_STBD_OVSHOOT,76
$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
$GPS1,041115,145257,1759.213,8925.660,81,1.1,82,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-72.8
$GPS2,041115,150108,1759.207,8925.602,5,1.0,5,-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,224.1,10077,-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,-126.5,172,2169,558,485,0.0,0.0,0,56,0.00,0.00,-38.83,0.000,16386,0.000,0.000,172,2169,1634,1630,1638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.82,-126.5,172,2169,1630,1638,3.3,-7.9,6,111,10.90,2.30,-34.92,0.000,18948,0.350,0.083,2672,816,3390,3403,3378,0,0,0,0,0,0,14.10,14.49,14.76
$GC,261,-0.82,-126.5,1680,814,3389,3376,69.1,-26.1,43,268,0.08,2.17,0.00,0.000,3078,0.327,0.046,2675,2166,3390,3403,3378,0,0,0,0,0,0,14.33,14.57,28.83
$GC,452,-0.82,-126.5,2675,2166,3403,3379,105.7,-18.0,80,459,0.00,2.25,0.00,0.000,516,0.000,0.054,2675,820,3391,3403,3379,0,0,0,0,0,0,28.83,14.45,28.83
$GC,496,-0.82,-126.5,1696,820,3389,3377,113.2,-16.0,88,503,0.00,2.28,0.00,0.000,1030,0.000,0.044,2667,2200,3391,3403,3379,0,0,0,0,0,0,28.83,14.50,28.83
$GC,688,-0.82,-126.5,2667,2200,3403,3381,142.7,-15.6,125,695,0.00,2.25,0.00,0.000,516,0.000,0.057,2667,814,3392,3403,3381,0,0,0,0,0,0,28.83,14.58,28.83
$GC,703,-0.82,-126.5,2667,814,3403,3381,145.0,-15.4,127,710,0.10,2.22,0.00,0.000,3078,0.289,0.044,2677,2207,3392,3403,3382,0,0,0,0,0,0,14.38,14.63,28.83
$GC,892,-0.82,-126.5,2677,2207,3402,3383,172.5,-14.4,164,899,0.00,2.35,0.00,0.000,260,0.000,0.065,2669,3607,3393,3403,3383,0,0,0,0,0,0,28.83,14.55,28.83
$GC,996,-0.82,-126.5,1696,3606,3389,3381,188.9,-16.2,184,1003,0.00,2.28,0.00,0.000,1030,0.000,0.040,2668,2220,3393,3403,3383,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1193,-0.82,-126.5,2668,2220,3403,3383,218.4,-15.2,210,1201,0.00,2.28,0.00,0.000,516,0.000,0.059,2667,806,3393,3403,3383,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1236,-0.82,-126.5,1792,805,3391,3381,225.4,-14.5,219,1244,0.05,2.28,0.00,0.000,3078,0.239,0.047,2681,2199,3393,3403,3383,0,0,0,0,0,0,14.38,14.59,28.83
$GC,1545,-0.82,-126.5,2681,2199,3403,3381,267.9,-13.9,250,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2199,3392,3403,3381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1844,-0.82,-126.5,2681,2198,3403,3378,309.9,-14.4,280,1853,0.00,2.28,0.00,0.000,516,0.000,0.062,2681,804,3390,3403,3377,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1868,-0.82,-126.5,2681,804,3403,3377,313.8,-14.9,285,1876,0.00,2.25,0.00,0.000,1030,0.000,0.049,2673,2200,3390,3403,3377,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2177,-0.82,-126.5,2673,2200,3404,3373,359.9,-15.3,313,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2200,3388,3403,3373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2476,-0.82,-126.5,2674,2200,3403,3371,403.8,-14.3,328,2477,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2200,3387,3403,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2776,-0.82,-126.5,2673,2200,3403,3367,445.2,-13.7,343,2782,0.00,2.30,0.00,0.000,516,0.000,0.065,2673,803,3385,3403,3367,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2816,-0.82,-126.5,2674,803,3402,3366,450.8,-13.8,351,2822,0.08,2.28,0.00,0.000,3078,0.319,0.053,2677,2208,3384,3402,3366,0,0,0,0,0,0,14.45,14.68,28.83
$GC,3136,-0.82,-126.5,2677,2209,3403,3362,493.2,-13.3,370,3140,0.00,2.35,0.00,0.000,516,0.000,0.067,2677,799,3382,3403,3362,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3166,-0.82,-126.5,2677,799,3402,3362,497.8,-14.3,376,3169,0.00,2.28,0.00,0.000,1030,0.000,0.053,2671,2199,3382,3402,3362,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3499,-0.82,-126.5,2671,2200,3402,3357,544.7,-14.3,389,3500,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2200,3379,3402,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3798,-0.82,-126.5,2671,2200,3402,3354,587.0,-14.1,399,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2200,3377,3402,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4099,-0.82,-126.5,2671,2200,3402,3352,628.5,-13.7,409,4103,0.00,2.33,0.00,0.000,516,0.000,0.068,2671,806,3377,3402,3352,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4144,-0.82,-126.5,2671,806,3402,3352,635.0,-13.8,418,4148,0.00,2.28,0.00,0.000,1030,0.000,0.054,2665,2203,3377,3402,3352,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4456,-0.82,-126.5,2665,2203,3401,3349,677.6,-13.9,430,4457,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2203,3375,3401,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4755,-0.82,-126.5,2665,2203,3399,3348,718.8,-13.6,440,4761,0.00,2.33,0.00,0.000,516,0.000,0.070,2665,803,3373,3399,3348,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4788,-0.82,-126.5,2665,803,3399,3349,723.7,-13.6,447,4792,0.00,2.28,0.00,0.000,1030,0.000,0.056,2665,2198,3374,3399,3349,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5115,-0.82,-126.5,2665,2199,3398,3346,767.2,-13.5,462,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2199,3372,3398,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5416,-0.82,-126.5,2665,2199,3397,3345,807.4,-13.6,472,5420,0.00,2.35,0.00,0.000,516,0.000,0.071,2665,804,3370,3397,3344,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5465,-0.82,-126.5,2665,803,3397,3345,814.3,-13.1,482,5469,0.00,2.30,0.00,0.000,1030,0.000,0.056,2665,2208,3370,3396,3344,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5773,-0.82,-126.5,2665,2208,3397,3343,854.2,-13.3,493,5779,0.00,2.35,0.00,0.000,516,0.000,0.071,2665,800,3369,3396,3343,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5805,-0.82,-126.5,2665,800,3396,3344,859.0,-13.2,500,5810,0.00,2.35,0.00,0.000,1030,0.000,0.056,2665,2201,3369,3396,3343,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6133,-0.82,-126.5,2665,2202,3395,3342,902.0,-13.0,515,6139,0.00,2.40,0.00,0.000,260,0.000,0.078,2665,3609,3368,3394,3342,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6156,-0.82,-126.5,2665,3609,3394,3342,905.3,-13.8,520,6165,0.03,2.35,0.00,0.000,3078,0.307,0.045,2671,2207,3368,3395,3342,0,0,0,0,0,0,14.24,14.45,28.83
$GC,6463,-0.82,-126.5,2671,2207,3394,3341,943.6,-12.5,531,6469,0.00,2.35,0.00,0.000,516,0.000,0.073,2670,805,3367,3394,3340,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6536,-0.82,-126.5,2671,805,3393,3340,953.1,-12.6,546,6541,0.00,2.30,0.00,0.000,1030,0.000,0.057,2670,2204,3367,3394,3341,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,6847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6847,begin apogee
$GC,6852,-0.16,0.0,2671,2123,3393,3340,991.5,-12.4,558,6969,0.88,0.00,107.60,2.333,10246,0.320,0.000,2882,2122,2865,2915,2816,0,0,0,0,0,0,13.93,28.83,13.03
$STATE,6971,end apogee,CONTROL_FINISHED_OK
$STATE,6971,begin climb
$GC,6972,0.82,126.5,2882,2122,2914,2814,996.3,0.0,582,7091,1.05,0.00,114.30,2.479,10502,0.154,0.000,3208,2121,2355,2413,2298,0,0,0,0,0,0,14.04,28.83,12.88
$GC,7389,0.82,126.5,3208,2120,2403,2285,963.0,10.1,611,7395,0.00,2.33,0.00,0.000,516,0.000,0.070,3219,749,2344,2403,2285,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7419,0.82,126.5,3219,749,2403,2285,960.0,10.5,617,7425,0.00,2.30,0.00,0.000,1030,0.000,0.051,3219,2142,2343,2402,2284,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7749,0.82,126.5,3219,2142,2402,2283,925.6,10.4,633,7755,0.00,2.38,0.00,0.000,260,0.000,0.071,3219,3550,2342,2401,2283,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7779,0.82,126.5,3218,3550,2400,2283,922.4,11.1,639,7785,0.00,2.28,0.00,0.000,1030,0.000,0.045,3230,2149,2341,2400,2283,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8109,0.82,126.5,3230,2149,2398,2282,888.2,10.4,655,8115,0.00,2.35,0.00,0.000,516,0.000,0.070,3240,740,2341,2399,2283,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8249,0.82,126.5,3240,741,2398,2282,873.1,10.5,683,8253,0.00,2.30,0.00,0.000,1030,0.000,0.050,3240,2146,2340,2398,2282,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8554,0.82,126.5,3240,2146,2397,2282,840.9,10.6,694,8561,0.00,2.35,0.00,0.000,260,0.000,0.070,3240,3548,2339,2397,2282,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8602,0.82,126.5,3240,3548,2396,2281,835.2,11.6,704,8607,0.00,2.33,0.00,0.000,1030,0.000,0.046,3251,2126,2338,2396,2281,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8914,0.82,126.5,3251,2126,2396,2281,800.4,11.3,716,8920,0.00,2.30,0.00,0.000,516,0.000,0.069,3261,745,2338,2396,2281,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9017,0.82,126.5,3261,744,2397,2280,788.7,11.1,737,9023,0.10,2.28,0.00,0.000,5126,0.275,0.050,3241,2144,2338,2396,2281,0,0,0,0,0,0,14.39,14.65,28.83
$GC,9330,0.82,126.5,3241,2144,2395,2281,754.7,11.0,749,9336,0.00,2.35,0.00,0.000,260,0.000,0.070,3241,3545,2338,2395,2281,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9362,0.82,126.5,3241,3545,2394,2280,750.6,12.4,756,9367,0.00,2.33,0.00,0.000,1030,0.000,0.046,3250,2141,2337,2394,2280,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9691,0.82,126.5,3250,2140,2394,2279,716.7,10.2,771,9697,0.00,2.35,0.00,0.000,260,0.000,0.070,3250,3545,2336,2394,2279,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9758,0.82,126.5,3250,3545,2394,2279,709.0,11.1,785,9763,0.10,2.30,0.00,0.000,5126,0.315,0.045,3242,2127,2336,2394,2279,0,0,0,0,0,0,14.33,14.66,28.83
$GC,10075,0.82,126.5,3242,2128,2394,2279,679.2,9.2,798,10081,0.00,2.33,0.00,0.000,516,0.000,0.069,3252,735,2336,2394,2279,0,0,0,0,0,0,28.83,14.56,28.83
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$STATE,17301,end climb,SURFACE_DEPTH_REACHED
$STATE,17301,begin surface coast
$FINISH,0.3,1.018779
$STATE,17329,end surface coast,CONTROL_FINISHED_OK
$STATE,17329,begin surface
$SM_CCo,17347,13.35,0.135,0,0,509,579.63
$SM_CCo,17363,0.00,0.000,0,0,509,579.63
$SM_CCo,17365,0.17,0.588,0,0,508,579.63
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$IRIDIUM_FIX,1751.90,8928.25,300808,232334
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.36
$INTERNAL_PRESSURE,6.67994
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,12.9,112.164
$10V_AH,11.2,0.000
$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,23.100,167.225,514.300,13.525,0.000,23.955,40.616,303.957,0.250,0.000,5.739,3382.915,10296.707,633.247,3306.035,228.702,0.000,2009.428,0.000,2441.893,0.000,0.551,0.000
$DEVICE_MAMPS,349.605,225.675,2479.365,587.520,0.000,29.840,160.000,223.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
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$SENSOR_SECS,906.141,602.731,1494.599,913.492,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322248
$DATA_FILE_SIZE,134073,1669
$CAP_FILE_SIZE,179262,0
$CFSIZE,2097086464,2044198912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.065, 68.3,1
$GPS,041115,195321,1758.190,8924.937,100,1.5,100,-0.9