version: 66.11
glider: 615
mission: 5
dive: 334
start: 11 10 115 12 6 35
data:
$ID,615
$MISSION,5
$DIVE,334
$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,579.63446
$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,-19733.604
$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,50
$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,48
$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
$GPS1,101115,114626,1803.965,8930.970,68,1.0,72,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.4
$GPS2,101115,120608,1803.982,8930.892,4,1.4,4,-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,236.7,22923,-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,-126.5,146,2155,556,487,0.0,0.0,0,62,0.00,0.00,-44.67,0.000,16386,0.000,0.000,145,2152,1788,1785,1791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.82,-126.5,145,2152,1786,1791,3.8,-9.5,7,117,10.75,2.25,-30.45,0.000,19204,0.336,0.075,2674,794,3390,3403,3378,0,0,0,0,0,0,14.16,14.38,14.86
$GC,345,-0.82,-126.5,2673,794,3403,3378,90.5,-21.9,60,352,0.00,2.28,0.00,0.000,1030,0.000,0.045,2665,2180,3390,3403,3377,0,0,0,0,0,0,28.83,14.54,28.83
$GC,536,-0.82,-126.5,2665,2181,3403,3377,124.9,-18.7,97,543,0.00,2.25,0.00,0.000,516,0.000,0.059,2665,793,3390,3403,3378,0,0,0,0,0,0,28.83,14.62,28.83
$GC,626,-0.82,-126.5,2665,794,3403,3378,138.8,-15.1,114,634,0.05,2.30,0.00,0.000,3078,0.257,0.044,2678,2202,3390,3403,3378,0,0,0,0,0,0,14.37,14.59,28.83
$GC,819,-0.82,-126.5,1664,2200,3389,3377,166.4,-14.0,151,826,0.00,2.28,0.00,0.000,260,0.000,0.062,2670,3598,3391,3403,3379,0,0,0,0,0,0,28.83,14.65,28.83
$GC,839,-0.82,-126.5,2670,3598,3403,3379,169.5,-14.5,154,846,0.00,2.28,0.00,0.000,1030,0.000,0.036,2669,2187,3391,3403,3379,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1032,-0.82,-126.5,2670,2187,3403,3379,198.6,-14.0,191,1039,0.00,2.33,0.00,0.000,260,0.000,0.063,2660,3607,3390,3402,3378,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1078,-0.82,-126.5,2659,3607,3402,3378,205.0,-14.3,199,1088,0.05,2.20,0.00,0.000,3078,0.228,0.037,2674,2198,3390,3403,3378,0,0,0,0,0,0,14.35,14.73,28.83
$GC,1388,-0.82,-126.5,2675,2197,3403,3376,249.4,-14.6,231,1397,0.00,2.25,0.00,0.000,516,0.000,0.060,2675,806,3389,3403,3376,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1451,-0.82,-126.5,2675,806,3403,3376,258.6,-13.9,243,1462,0.00,2.22,0.00,0.000,1030,0.000,0.046,2668,2206,3389,3403,3375,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1762,-0.82,-126.5,2668,2207,3403,3371,304.6,-15.4,275,1771,0.00,2.25,0.00,0.000,516,0.000,0.061,2668,814,3386,3402,3371,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1797,-0.82,-126.5,2668,814,3402,3371,310.5,-15.9,282,1806,0.05,2.28,0.00,0.000,3078,0.232,0.047,2674,2199,3386,3402,3371,0,0,0,0,0,0,14.34,14.54,28.83
$GC,2116,-0.82,-126.5,2674,2199,3402,3365,355.6,-13.6,312,2121,0.00,2.22,0.00,0.000,516,0.000,0.063,2674,820,3383,3402,3365,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2158,-0.82,-126.5,2674,820,3402,3365,361.9,-13.6,321,2162,0.00,2.25,0.00,0.000,1030,0.000,0.048,2667,2196,3383,3402,3365,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2476,-0.82,-126.5,2667,2197,3402,3358,406.0,-13.8,339,2477,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2197,3380,3402,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2776,-0.82,-126.5,2668,2197,3402,3353,448.9,-14.5,354,2782,0.00,2.25,0.00,0.000,516,0.000,0.064,2668,816,3377,3402,3353,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2829,-0.82,-126.5,2667,816,3402,3353,457.4,-15.1,365,2837,0.08,2.30,0.00,0.000,3078,0.233,0.051,2679,2199,3376,3401,3352,0,0,0,0,0,0,14.33,14.53,28.83
$GC,3136,-0.82,-126.5,2680,2199,3400,3350,500.7,-13.8,381,3143,0.00,2.35,0.00,0.000,260,0.000,0.071,2672,3609,3375,3400,3350,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3166,-0.82,-126.5,2672,3609,3400,3350,504.9,-14.5,387,3172,0.00,2.22,0.00,0.000,1030,0.000,0.041,2672,2209,3375,3400,3350,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3497,-0.82,-126.5,2672,2209,3397,3346,550.5,-13.8,403,3501,0.00,2.30,0.00,0.000,516,0.000,0.066,2672,806,3371,3397,3346,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3589,-0.82,-126.5,2672,806,3397,3346,563.0,-12.7,421,3595,0.00,2.28,0.00,0.000,1030,0.000,0.051,2669,2214,3371,3397,3346,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3920,-0.82,-126.5,2670,2214,3395,3343,607.2,-13.4,437,3926,0.00,2.30,0.00,0.000,516,0.000,0.065,2669,811,3369,3395,3343,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3962,-0.82,-126.5,2669,810,3394,3343,613.3,-13.5,446,3966,0.00,2.25,0.00,0.000,1030,0.000,0.051,2669,2203,3369,3395,3344,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4274,-0.82,-126.5,2670,2203,3393,3341,655.0,-13.5,458,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2203,3367,3393,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4574,-0.82,-126.5,2670,2203,3391,3339,695.5,-13.6,468,4580,0.00,2.33,0.00,0.000,516,0.000,0.068,2669,798,3364,3391,3338,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4612,-0.82,-126.5,2670,798,3390,3338,701.0,-13.4,476,4616,0.00,2.28,0.00,0.000,1030,0.000,0.054,2670,2199,3364,3390,3338,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4930,-0.82,-126.5,2669,2200,3389,3337,743.4,-13.7,489,4936,0.00,2.28,0.00,0.000,516,0.000,0.067,2669,813,3362,3389,3336,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4990,-0.82,-126.5,2670,812,3389,3337,751.8,-13.2,501,4994,0.00,2.28,0.00,0.000,1030,0.000,0.054,2670,2206,3362,3389,3336,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5322,-0.82,-126.5,2669,2207,3388,3335,796.3,-13.2,517,5323,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2207,3362,3388,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5622,-0.82,-126.5,2669,2207,3386,3334,835.5,-13.0,527,5628,0.00,2.33,0.00,0.000,516,0.000,0.070,2669,808,3360,3386,3334,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5652,-0.82,-126.5,2670,807,3386,3334,839.4,-13.4,533,5658,0.00,2.28,0.00,0.000,1030,0.000,0.054,2669,2202,3360,3386,3334,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5982,-0.82,-126.5,2669,2203,3384,3333,881.9,-12.9,549,5988,0.00,2.33,0.00,0.000,516,0.000,0.071,2670,806,3358,3384,3333,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6024,-0.82,-126.5,2670,806,3384,3333,887.8,-13.0,558,6029,0.00,2.28,0.00,0.000,1030,0.000,0.055,2669,2199,3358,3383,3333,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6336,-0.82,-126.5,2669,2200,3382,3332,926.9,-12.6,570,6337,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2200,3357,3383,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6636,-0.82,-126.5,2669,2200,3381,3330,964.7,-12.6,580,6642,0.00,2.33,0.00,0.000,516,0.000,0.071,2669,807,3355,3381,3330,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6714,-0.82,-126.5,2669,807,3380,3330,975.0,-12.6,596,6718,0.00,2.30,0.00,0.000,1030,0.000,0.057,2669,2205,3355,3380,3330,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,6840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6840,begin apogee
$GC,6845,-0.16,0.0,2668,2138,3380,3329,990.4,-12.4,601,6955,0.90,0.00,105.30,2.307,10246,0.307,0.000,2885,2138,2872,2919,2825,0,0,0,0,0,0,13.92,28.83,13.05
$STATE,6957,end apogee,CONTROL_FINISHED_OK
$STATE,6957,begin climb
$GC,6959,0.82,126.5,2885,2138,2912,2817,995.2,0.0,624,7078,1.12,0.00,114.45,2.463,10246,0.194,0.000,3209,2137,2352,2411,2293,0,0,0,0,0,0,14.08,28.83,12.83
$GC,7376,0.82,126.5,3209,2136,2403,2284,962.0,10.0,638,7382,0.00,2.35,0.00,0.000,516,0.000,0.070,3220,746,2343,2403,2284,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7424,0.82,126.5,3219,746,2403,2284,957.0,9.9,648,7429,0.00,2.30,0.00,0.000,1030,0.000,0.050,3219,2145,2343,2403,2284,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7732,0.82,126.5,3219,2146,2402,2283,926.4,10.1,659,7738,0.00,2.35,0.00,0.000,516,0.000,0.069,3229,743,2342,2402,2283,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7800,0.82,126.5,3230,743,2402,2283,919.1,10.6,673,7804,0.00,2.30,0.00,0.000,1030,0.000,0.049,3230,2150,2342,2402,2282,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8117,0.82,126.5,3230,2150,2401,2282,886.8,10.3,686,8123,0.00,2.35,0.00,0.000,516,0.000,0.069,3240,743,2341,2401,2282,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8151,0.82,126.5,2320,743,2349,2276,883.2,10.6,693,8155,0.00,2.28,0.00,0.000,1030,0.000,0.050,3240,2143,2341,2401,2282,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8473,0.82,126.5,3240,2143,2399,2282,849.0,10.7,707,8479,0.00,2.33,0.00,0.000,516,0.000,0.068,3250,747,2340,2399,2282,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8533,0.82,126.5,3250,746,2398,2281,842.3,11.3,719,8537,0.00,2.28,0.00,0.000,1030,0.000,0.050,3250,2140,2340,2399,2282,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8865,0.82,126.5,3250,2141,2397,2281,806.2,10.8,735,8871,0.00,2.33,0.00,0.000,516,0.000,0.069,3260,747,2339,2398,2280,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8897,0.82,126.5,3260,747,2398,2281,802.4,11.0,742,8903,0.10,2.30,0.00,0.000,5126,0.270,0.050,3240,2163,2339,2397,2281,0,0,0,0,0,0,14.42,14.63,28.83
$GC,9226,0.82,126.5,3240,2164,2397,2279,768.4,10.4,757,9232,0.00,2.33,0.00,0.000,260,0.000,0.072,3240,3553,2338,2397,2279,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9264,0.82,126.5,3240,3553,2396,2278,764.0,11.4,765,9268,0.00,2.28,0.00,0.000,1030,0.000,0.043,3248,2141,2337,2397,2278,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9581,0.82,126.5,3249,2141,2396,2278,731.6,10.4,778,9587,0.00,2.35,0.00,0.000,516,0.000,0.070,3260,735,2337,2396,2278,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9641,0.82,126.5,3260,734,2396,2277,725.6,10.1,790,9648,0.10,2.28,0.00,0.000,5126,0.272,0.048,3240,2141,2337,2396,2278,0,0,0,0,0,0,14.40,14.67,28.83
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$STATE,17575,end climb,SURFACE_DEPTH_REACHED
$STATE,17576,begin surface coast
$FINISH,0.3,1.007220
$STATE,17609,end surface coast,CONTROL_FINISHED_OK
$STATE,17609,begin surface
$SM_CCo,17628,0.82,0.245,0,0,508,579.63
$SM_GC,1.77,8.93,2.45,0.82,0.055,0.056,0.245,162,2204,508,-8.59,-1.10,579.63,0,0,0,0,0,0,14.64,14.54,14.45
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$TT8_MAMPS,0.018725,0.018725
$HUMID,47.83
$INTERNAL_PRESSURE,6.68971
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,12.8,122.040
$10V_AH,10.9,0.000
$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
$DEVICE_SECS,22.700,189.300,536.950,0.825,0.000,133.668,192.375,367.095,0.000,0.000,5.524,3444.372,10595.265,672.421,3817.186,268.997,0.000,2096.455,0.000,2516.833,0.000,0.554,0.000
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$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322096
$DATA_FILE_SIZE,137379,1713
$CAP_FILE_SIZE,189398,0
$CFSIZE,2097086464,2039087104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.060,126.7,1
$GPS,101115,170238,1802.641,8929.866,93,0.8,96,-0.9