version: 66.11
glider: 615
mission: 5
dive: 35
start: 9 8 115 20 23 31
data:
$ID,615
$MISSION,5
$DIVE,35
$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,450
$T_MISSION,470
$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,120
$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,650
$N_FILEKB,8
$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,-6157.873
$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,43
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,510
$VBD_MAX,3960
$C_VBD,2950
$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,11.5
$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
$GPS1,080915,144603,1757.398,8923.825,301,99.0,301,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-74.3
$GPS2,080915,202303,1755.342,8921.452,71,1.5,71,-0.9
$SPEED_LIMITS,0.127,0.167
$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,46.6,20963,-25.6,-7.333,-30.00,1273
$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,-0.88,-63.0,192,2180,562,486,0.0,0.0,0,49,0.00,0.00,-31.90,0.000,16386,0.000,0.000,192,2178,1460,1474,1447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,51,-0.91,-85.6,192,2178,1474,1447,3.3,-5.5,5,109,10.57,2.40,-41.28,0.000,19204,0.365,0.081,2637,3616,3301,3319,3283,0,0,0,0,0,0,14.41,14.64,14.83
$GC,167,-0.91,-85.6,2637,3617,3318,3283,36.5,-41.6,25,174,0.08,2.22,0.00,0.000,3078,0.334,0.037,2648,2184,3301,3319,3283,0,0,0,0,0,0,14.52,14.70,28.83
$GC,356,-0.91,-85.6,2648,2180,3319,3283,83.0,-17.8,62,364,0.00,2.22,0.00,0.000,516,0.000,0.053,2648,812,3301,3319,3283,0,0,0,0,0,0,28.83,14.66,28.83
$GC,591,-0.91,-85.6,2647,812,3319,3283,114.8,-12.0,108,599,0.00,2.22,0.00,0.000,1030,0.000,0.040,2639,2215,3301,3319,3283,0,0,0,0,0,0,28.83,14.72,28.83
$GC,782,-0.91,-85.6,2639,2216,3319,3283,140.8,-14.9,145,789,0.00,2.22,0.00,0.000,516,0.000,0.052,2639,804,3301,3319,3283,0,0,0,0,0,0,28.83,14.77,28.83
$GC,906,-0.91,-85.6,1664,803,3301,3280,160.0,-14.9,169,914,0.10,2.17,0.00,0.000,3078,0.310,0.041,2649,2210,3300,3319,3282,0,0,0,0,0,0,14.64,14.81,28.83
$GC,1096,-0.91,-85.6,2649,2211,3319,3281,185.8,-13.7,206,1104,0.00,2.25,0.00,0.000,516,0.000,0.054,2649,819,3300,3319,3281,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1116,-0.91,-85.6,1664,818,3300,3278,188.4,-14.4,209,1122,0.00,2.15,0.00,0.000,1030,0.000,0.041,2640,2203,3300,3319,3281,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1310,-0.91,-85.6,2640,2203,3319,3279,216.0,-14.2,236,1319,0.00,2.22,0.00,0.000,260,0.000,0.062,2629,3600,3299,3319,3279,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1384,-0.91,-85.6,2629,3599,3319,3278,227.2,-14.3,251,1392,0.05,2.20,0.00,0.000,3078,0.247,0.037,2644,2190,3298,3319,3277,0,0,0,0,0,0,14.67,14.83,28.83
$GC,1691,-0.91,-85.6,2644,2189,3319,3274,269.8,-14.2,282,1695,0.00,2.17,0.00,0.000,516,0.000,0.056,2645,812,3296,3319,3274,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1768,-0.91,-85.6,2644,812,3319,3274,281.1,-14.5,297,1778,0.08,2.17,0.00,0.000,3078,0.329,0.044,2649,2211,3295,3318,3273,0,0,0,0,0,0,14.70,14.85,28.83
$GC,2079,-0.91,-85.6,2648,2211,3319,3269,324.1,-14.2,329,2088,0.00,2.20,0.00,0.000,516,0.000,0.057,2649,821,3294,3319,3269,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2121,-0.91,-85.6,2649,821,3318,3267,330.3,-14.4,337,2125,0.00,2.17,0.00,0.000,1030,0.000,0.044,2641,2206,3293,3318,3268,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2442,-0.91,-85.6,2640,2206,3318,3262,376.8,-14.4,361,2448,0.00,2.20,0.00,0.000,516,0.000,0.057,2640,822,3290,3318,3262,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2503,-0.91,-85.6,2640,821,3316,3262,385.8,-14.2,373,2509,0.10,2.15,0.00,0.000,3078,0.301,0.045,2651,2198,3288,3315,3262,0,0,0,0,0,0,14.73,14.88,28.83
$GC,2823,-0.91,-85.6,2651,2199,3314,3258,429.8,-13.5,392,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2199,3286,3314,3258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3123,-0.91,-85.6,2651,2199,3312,3255,470.1,-13.3,407,3129,0.00,2.20,0.00,0.000,516,0.000,0.060,2651,818,3283,3312,3255,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3155,-0.91,-85.6,2651,818,3311,3255,474.9,-13.4,414,3163,0.00,2.22,0.00,0.000,1030,0.000,0.047,2642,2195,3282,3309,3255,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3483,-0.91,-85.6,2643,2195,3309,3253,518.3,-13.4,429,3489,0.00,2.28,0.00,0.000,260,0.000,0.070,2631,3606,3281,3310,3253,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3513,-0.91,-85.6,2631,3606,3309,3253,522.5,-14.1,435,3519,0.10,2.17,0.00,0.000,3078,0.269,0.044,2653,2203,3281,3309,3253,0,0,0,0,0,0,14.76,14.92,28.83
$GC,3843,-0.91,-85.6,2654,2202,3306,3250,565.9,-12.9,451,3849,0.00,2.22,0.00,0.000,516,0.000,0.062,2654,813,3278,3306,3250,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3925,-0.91,-85.6,2654,813,3305,3251,577.1,-12.6,468,3935,0.00,2.25,0.00,0.000,1030,0.000,0.049,2644,2206,3277,3305,3250,0,0,0,0,0,0,28.83,14.84,28.83
$GC,4233,-0.91,-85.6,2645,2206,3303,3247,617.0,-13.4,479,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2206,3275,3303,3247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4533,-0.91,-85.6,2645,2206,3302,3246,657.5,-13.4,489,4539,0.00,2.25,0.00,0.000,516,0.000,0.063,2645,810,3274,3302,3246,0,0,0,0,0,0,28.83,14.89,28.83
$GC,4610,-0.91,-85.6,2645,810,3301,3246,668.3,-13.3,505,4615,0.08,2.25,0.00,0.000,3078,0.328,0.050,2649,2204,3273,3301,3246,0,0,0,0,0,0,14.75,14.88,28.83
$GC,4923,-0.91,-85.6,2649,2204,3299,3244,707.9,-12.9,517,4929,0.00,2.22,0.00,0.000,516,0.000,0.063,2649,814,3272,3300,3244,0,0,0,0,0,0,28.83,14.89,28.83
$GC,4945,-0.91,-85.6,2649,815,3300,3244,711.2,-12.8,522,4953,0.00,2.25,0.00,0.000,1030,0.000,0.050,2640,2199,3272,3300,3244,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5253,-0.91,-85.6,2640,2199,3298,3242,751.4,-13.2,533,5260,0.00,2.28,0.00,0.000,260,0.000,0.073,2629,3602,3270,3298,3242,0,0,0,0,0,0,28.83,14.89,28.83
$GC,5313,-0.91,-85.6,2629,3602,3297,3242,759.6,-13.5,545,5320,0.10,2.17,0.00,0.000,3078,0.264,0.046,2651,2204,3270,3298,3242,0,0,0,0,0,0,14.76,14.93,28.83
$GC,5643,-0.91,-85.6,2651,2202,3296,3240,800.8,-12.3,561,5649,0.00,2.25,0.00,0.000,516,0.000,0.064,2651,807,3268,3296,3240,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5734,-0.91,-85.6,2651,806,3295,3240,811.9,-11.8,579,5740,0.00,2.20,0.00,0.000,1030,0.000,0.051,2642,2201,3267,3295,3240,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6063,-0.91,-85.6,2642,2201,3294,3238,852.6,-12.4,595,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2201,3266,3294,3238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6363,-0.91,-85.6,2642,2201,3293,3237,889.4,-12.3,605,6369,0.00,2.25,0.00,0.000,516,0.000,0.066,2642,805,3264,3292,3237,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6395,-0.91,-85.6,2642,805,3292,3237,893.7,-12.5,612,6401,0.05,2.28,0.00,0.000,3078,0.272,0.053,2647,2204,3264,3292,3237,0,0,0,0,0,0,14.70,14.87,28.83
$GC,6723,-0.91,-85.6,2648,2204,3291,3234,931.8,-11.8,627,6724,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2204,3262,3290,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7023,-0.91,-85.6,2647,2204,3290,3234,967.4,-11.9,637,7029,0.00,2.25,0.00,0.000,516,0.000,0.067,2647,809,3262,3290,3234,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7054,-0.91,-85.6,2647,809,3290,3234,971.0,-12.2,643,7060,0.05,2.22,0.00,0.000,3078,0.383,0.054,2649,2205,3262,3290,3234,0,0,0,0,0,0,14.73,14.90,28.83
$STATE,7231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7231,begin apogee
$GC,7235,-0.16,0.0,2649,2138,3289,3233,991.8,-11.6,654,7336,0.80,0.00,96.20,2.293,10246,0.215,0.000,2890,2138,2950,2991,2910,0,0,0,0,0,0,14.71,28.83,13.31
$STATE,7337,end apogee,CONTROL_FINISHED_OK
$STATE,7337,begin climb
$GC,7339,0.91,85.6,2890,2138,2985,2904,995.1,0.0,675,7422,1.05,0.00,79.65,2.572,10758,0.112,0.000,3236,2138,2599,2640,2558,0,0,0,0,0,0,14.09,28.83,13.23
$GC,7709,0.92,93.3,3236,2138,2627,2545,976.0,6.7,689,7716,0.00,2.35,2.47,0.657,8708,0.000,0.078,3246,749,2569,2610,2529,0,0,0,0,0,0,28.83,14.52,13.70
$GC,7741,0.92,94.6,3246,749,2619,2539,973.6,7.2,696,7750,0.00,2.28,2.35,0.561,9222,0.000,0.057,3245,2135,2564,2604,2525,0,0,0,0,0,0,28.83,14.57,13.72
$GC,8063,0.93,103.7,3246,2135,2617,2539,951.8,6.6,710,8082,0.00,2.38,14.02,1.980,8452,0.000,0.077,3246,3544,2523,2563,2483,0,0,0,0,0,0,28.83,14.54,13.81
$GC,8132,0.93,103.7,3246,3544,2557,2479,946.2,8.2,724,8137,0.00,2.30,0.00,0.000,1030,0.000,0.053,3257,2145,2518,2557,2479,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8450,0.93,103.7,3256,2145,2557,2477,920.4,8.2,737,8456,0.00,2.35,0.00,0.000,516,0.000,0.078,3267,735,2517,2557,2477,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8469,0.93,103.7,3267,735,2557,2476,918.8,8.0,741,8473,0.00,2.28,0.00,0.000,1030,0.000,0.054,3267,2140,2517,2557,2477,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8774,0.93,103.7,3267,2140,2557,2476,893.5,8.3,752,8778,0.00,2.33,0.00,0.000,260,0.000,0.079,3267,3545,2516,2557,2476,0,0,0,0,0,0,28.83,14.75,28.83
$GC,8813,0.93,103.7,3267,3546,2555,2476,889.9,9.0,760,8818,0.00,2.33,0.00,0.000,1030,0.000,0.051,3277,2101,2515,2555,2476,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9131,0.93,103.7,3278,2101,2556,2476,863.4,8.4,773,9132,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,2101,2516,2556,2476,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9431,0.93,103.7,3277,2101,2556,2475,838.1,8.4,783,9437,0.00,2.40,0.00,0.000,260,0.000,0.079,3278,3545,2515,2555,2475,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9474,0.93,103.7,3278,3545,2554,2475,833.9,9.4,792,9478,0.00,2.30,0.00,0.000,1030,0.000,0.052,3287,2146,2515,2555,2476,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9791,0.93,103.7,3288,2146,2555,2475,807.3,8.6,805,9797,0.00,2.35,0.00,0.000,516,0.000,0.078,3299,722,2514,2554,2475,0,0,0,0,0,0,28.83,14.81,28.83
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$STATE,20715,end climb,NO_VERTICAL_VELOCITY
$STATE,20716,begin surface
$SM_CCo,20852,1.20,0.174,0,0,508,598.52
$SM_CCo,20855,-0.03,0.000,0,0,510,598.52
$SM_CCo,20858,0.32,0.375,0,0,508,598.52
$SM_GC,4.24,9.73,2.33,0.32,0.115,0.038,0.375,200,2219,508,-8.58,-1.24,598.52,0,0,0,0,0,0,14.71,14.76,14.69
$IRIDIUM_FIX,1747.37,8928.27,050708,040408
$TT8_MAMPS,0.017976,0.017976
$HUMID,41.33
$INTERNAL_PRESSURE,6.74831
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,13.2,24.290
$10V_AH,13.1,0.000
$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,24.075,213.600,520.975,1.525,0.000,29.629,17.011,308.151,0.000,0.000,73.062,4295.257,12029.940,689.076,4235.262,139.874,0.000,2409.552,0.000,3111.408,0.000,0.556,0.000
$DEVICE_MAMPS,383.265,173.655,2571.930,374.850,0.000,29.840,160.000,223.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1144.988,788.254,2005.760,1225.940,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322284
$DATA_FILE_SIZE,174151,2129
$CAP_FILE_SIZE,220740,0
$CFSIZE,2097086464,2088435712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,63.004, 41.8,1
$GPS,080915,202303,1755.342,8921.452,301,99.0,301,-0.9