version: 66.11
glider: 615
mission: 5
dive: 38
start: 9 9 115 14 35 46
data:
$ID,615
$MISSION,5
$DIVE,38
$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,-6769.0347
$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,46
$R_STBD_OVSHOOT,35
$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
$GPS1,090915,142533,1756.882,8920.104,127,0.9,127,-0.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-74.5
$GPS2,090915,143520,1756.863,8920.140,4,1.0,5,-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,24.8,18326,-18.1,-7.333,-23.71,2266
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.71,-116.8,168,2203,559,486,0.0,0.0,0,54,0.00,0.00,-36.53,0.000,16386,0.000,0.000,166,2203,1598,1609,1588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,56,-0.71,-116.8,167,2201,1609,1588,3.8,-7.2,6,109,10.82,2.33,-35.20,0.000,18948,0.356,0.077,2712,802,3429,3442,3416,0,0,0,0,0,0,14.38,14.61,14.81
$GC,150,-0.71,-116.8,1728,801,3430,3413,35.5,-42.1,22,158,0.00,2.28,0.00,0.000,1030,0.000,0.048,2703,2196,3429,3442,3416,0,0,0,0,0,0,28.83,14.62,28.83
$GC,341,-0.71,-116.8,2702,2198,3442,3415,88.5,-18.1,59,348,0.00,2.25,0.00,0.000,260,0.000,0.059,2692,3608,3428,3442,3415,0,0,0,0,0,0,28.83,14.69,28.83
$GC,370,-0.71,-116.8,2692,3607,3442,3415,92.7,-13.9,64,378,0.08,2.25,0.00,0.000,3078,0.256,0.037,2712,2183,3428,3442,3415,0,0,0,0,0,0,14.54,14.69,28.83
$GC,561,-0.71,-116.8,1728,2178,3430,3413,117.5,-12.1,101,567,0.00,2.17,0.00,0.000,516,0.000,0.055,2712,810,3428,3442,3415,0,0,0,0,0,0,28.83,14.73,28.83
$GC,761,-0.71,-116.8,2713,809,3442,3415,145.0,-13.4,140,768,0.00,2.22,0.00,0.000,1030,0.000,0.042,2704,2206,3428,3442,3415,0,0,0,0,0,0,28.83,14.73,28.83
$GC,951,-0.71,-116.8,1728,2205,3430,3413,171.7,-13.5,177,958,0.00,2.20,0.00,0.000,516,0.000,0.054,2704,818,3428,3442,3415,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1010,-0.71,-116.8,2704,819,3442,3414,179.9,-13.4,188,1018,0.05,2.22,0.00,0.000,3078,0.259,0.042,2709,2210,3428,3442,3415,0,0,0,0,0,0,14.60,14.75,28.83
$GC,1202,-0.71,-116.8,2709,2209,3442,3413,204.6,-12.8,222,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2209,3427,3442,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1501,-0.71,-116.8,2709,2209,3442,3409,243.4,-12.7,252,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2209,3425,3442,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1800,-0.71,-116.8,2709,2209,3442,3405,282.1,-12.6,282,1804,0.00,2.22,0.00,0.000,516,0.000,0.058,2709,812,3423,3442,3405,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1840,-0.71,-116.8,2709,812,3442,3404,287.4,-12.3,290,1849,0.03,2.22,0.00,0.000,3078,0.308,0.046,2709,2197,3422,3442,3403,0,0,0,0,0,0,14.62,14.76,28.83
$GC,2149,-0.71,-116.8,2709,2197,3442,3400,325.6,-12.5,321,2158,0.00,2.20,0.00,0.000,516,0.000,0.059,2709,816,3420,3442,3399,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2211,-0.71,-116.8,2709,817,3441,3399,333.4,-11.8,333,2221,0.00,2.17,0.00,0.000,1030,0.000,0.047,2701,2202,3419,3441,3398,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2531,-0.71,-116.8,2701,2203,3441,3392,373.5,-13.1,357,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2202,3416,3441,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2832,-0.71,-116.8,2701,2203,3438,3389,412.8,-13.2,372,2838,0.00,2.20,0.00,0.000,516,0.000,0.061,2700,814,3414,3438,3390,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2871,-0.71,-116.8,2701,814,3437,3390,418.2,-13.4,380,2878,0.10,2.20,0.00,0.000,3078,0.289,0.048,2713,2209,3413,3437,3390,0,0,0,0,0,0,14.74,14.88,28.83
$GC,3191,-0.71,-116.8,2713,2209,3436,3385,458.6,-12.5,399,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2209,3410,3436,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3491,-0.71,-116.8,2713,2209,3434,3383,495.7,-12.2,414,3497,0.00,2.22,0.00,0.000,516,0.000,0.063,2713,822,3408,3433,3383,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3524,-0.71,-116.8,2713,822,3433,3383,500.0,-12.1,421,3532,0.00,2.22,0.00,0.000,1030,0.000,0.051,2704,2189,3408,3433,3383,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3830,-0.71,-116.8,2705,2189,3432,3380,538.0,-12.3,432,3835,0.00,2.30,0.00,0.000,260,0.000,0.073,2694,3602,3404,3430,3379,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3859,-0.71,-116.8,2694,3602,3431,3380,541.7,-12.2,438,3864,0.05,2.22,0.00,0.000,3078,0.239,0.046,2710,2208,3405,3431,3380,0,0,0,0,0,0,14.73,14.90,28.83
$GC,4187,-0.71,-116.8,2710,2207,3429,3377,579.7,-11.7,453,4193,0.00,2.25,0.00,0.000,516,0.000,0.065,2710,805,3402,3427,3377,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4259,-0.71,-116.8,2710,805,3427,3377,588.4,-11.1,468,4264,0.00,2.22,0.00,0.000,1030,0.000,0.051,2701,2206,3402,3428,3377,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4577,-0.71,-116.8,2701,2206,3426,3374,626.3,-12.1,481,4583,0.00,2.28,0.00,0.000,260,0.000,0.074,2691,3607,3400,3426,3374,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4614,-0.71,-116.8,2691,3606,3426,3374,631.1,-12.1,489,4620,0.10,2.22,0.00,0.000,3078,0.268,0.046,2713,2189,3400,3426,3374,0,0,0,0,0,0,14.76,14.92,28.83
$GC,4937,-0.71,-116.8,2713,2187,3424,3372,667.2,-11.1,503,4943,0.00,2.22,0.00,0.000,516,0.000,0.065,2713,811,3398,3424,3372,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4980,-0.71,-116.8,2713,811,3424,3372,672.3,-11.1,512,4984,0.00,2.25,0.00,0.000,1030,0.000,0.053,2704,2199,3398,3424,3372,0,0,0,0,0,0,28.83,14.87,28.83
$GC,5297,-0.71,-116.8,2704,2199,3423,3371,708.1,-11.4,525,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2199,3397,3423,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5598,-0.71,-116.8,2704,2199,3421,3370,742.2,-11.4,535,5604,0.00,2.25,0.00,0.000,516,0.000,0.067,2704,806,3395,3421,3370,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5620,-0.71,-116.8,2704,806,3421,3370,745.1,-12.1,540,5628,0.05,2.28,0.00,0.000,3078,0.262,0.055,2709,2196,3395,3420,3370,0,0,0,0,0,0,14.67,14.82,28.83
$GC,5927,-0.71,-116.8,2709,2196,3419,3369,778.4,-10.7,551,5929,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2196,3393,3418,3369,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6227,-0.71,-116.8,2709,2196,3417,3368,810.3,-10.6,561,6233,0.00,2.30,0.00,0.000,260,0.000,0.078,2700,3605,3392,3417,3368,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6265,-0.71,-116.8,2701,3605,3417,3368,814.6,-10.6,569,6270,0.08,2.22,0.00,0.000,3078,0.288,0.048,2715,2196,3392,3417,3368,0,0,0,0,0,0,14.76,14.92,28.83
$GC,6587,-0.71,-116.8,2715,2193,3417,3365,846.7,-10.1,583,6593,0.00,2.25,0.00,0.000,516,0.000,0.068,2715,801,3391,3417,3365,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6655,-0.71,-116.8,2715,801,3416,3365,853.7,-9.4,597,6659,0.00,2.25,0.00,0.000,1030,0.000,0.056,2706,2209,3390,3416,3365,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6978,-0.71,-116.8,2707,2210,3415,3364,887.1,-10.6,611,6984,0.00,2.28,0.00,0.000,260,0.000,0.079,2696,3602,3389,3415,3364,0,0,0,0,0,0,28.83,14.86,28.83
$GC,7020,-0.71,-116.8,2696,3602,3414,3364,891.9,-10.7,620,7025,0.05,2.25,0.00,0.000,3078,0.230,0.049,2720,2206,3389,3415,3364,0,0,0,0,0,0,14.73,14.88,28.83
$GC,7338,-0.71,-116.8,2720,2204,3414,3362,923.0,-9.9,633,7344,0.00,2.28,0.00,0.000,516,0.000,0.070,2720,806,3388,3414,3362,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7390,-0.71,-116.8,2720,806,3413,3362,928.5,-9.9,644,7399,0.00,2.30,0.00,0.000,1030,0.000,0.057,2711,2204,3387,3413,3362,0,0,0,0,0,0,28.83,14.79,28.83
$GC,7698,-0.71,-116.8,2710,2204,3412,3361,959.6,-10.4,655,7704,0.00,2.33,0.00,0.000,260,0.000,0.082,2701,3612,3386,3412,3361,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7715,-0.71,-116.8,2701,3612,3412,3361,961.7,-10.7,659,7719,0.00,2.28,0.00,0.000,1030,0.000,0.048,2701,2204,3386,3412,3361,0,0,0,0,0,0,28.83,14.86,28.83
$STATE,7996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7996,begin apogee
$GC,8000,-0.16,0.0,2701,2134,3411,3359,992.3,-10.9,670,8107,0.62,0.00,102.65,2.596,10246,0.215,0.000,2885,2133,2949,2992,2907,0,0,0,0,0,0,14.69,28.83,13.12
$STATE,8108,end apogee,CONTROL_FINISHED_OK
$STATE,8108,begin climb
$GC,8109,0.71,116.8,2885,2133,2985,2899,996.5,0.0,692,8225,0.90,2.58,105.95,2.527,10500,0.139,0.078,3167,3541,2462,2510,2414,0,0,0,0,0,0,13.97,13.92,13.19
$GC,8251,0.74,136.9,3167,3541,2507,2408,992.6,6.4,721,8276,0.00,2.35,18.38,2.101,9222,0.000,0.049,3177,2150,2386,2440,2332,0,0,0,0,0,0,28.83,14.14,13.31
$GC,8593,0.74,136.9,3177,2150,2432,2318,961.6,9.5,739,8599,0.00,2.40,0.00,0.000,516,0.000,0.077,3188,730,2375,2432,2318,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8706,0.74,136.9,3188,731,2432,2318,950.8,9.1,762,8714,0.00,2.35,0.00,0.000,1030,0.000,0.056,3188,2131,2375,2432,2318,0,0,0,0,0,0,28.83,14.56,28.83
$GC,9014,0.74,136.9,3188,2131,2429,2317,921.4,9.8,773,9020,0.00,2.38,0.00,0.000,260,0.000,0.080,3188,3548,2373,2429,2317,0,0,0,0,0,0,28.83,14.68,28.83
$GC,9056,0.74,136.9,3188,3548,2429,2316,916.6,10.7,782,9061,0.00,2.30,0.00,0.000,1030,0.000,0.052,3198,2133,2372,2428,2316,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9374,0.74,136.9,3198,2132,2429,2316,885.3,9.8,795,9380,0.00,2.33,0.00,0.000,516,0.000,0.077,3208,734,2372,2429,2316,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9441,0.74,136.9,3208,734,2429,2316,878.4,10.0,809,9446,0.00,2.30,0.00,0.000,1030,0.000,0.054,3208,2152,2372,2429,2316,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9764,0.74,136.9,3208,2152,2427,2316,847.6,9.6,823,9765,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2152,2371,2427,2316,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,20377,end climb,NO_VERTICAL_VELOCITY
$STATE,20377,begin surface
$SM_CCo,20648,1.33,0.169,0,0,508,598.52
$SM_CCo,20652,0.00,0.000,0,0,509,598.52
$SM_CCo,20654,0.28,0.425,0,0,508,598.52
$SM_GC,4.19,9.48,0.10,0.28,0.106,0.148,0.425,199,2232,508,-8.58,-1.19,598.52,0,0,0,0,0,0,14.74,14.78,14.71
$IRIDIUM_FIX,1747.37,8919.21,050708,212118
$TT8_MAMPS,0.018725,0.018725
$HUMID,42.00
$INTERNAL_PRESSURE,6.73854
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,13.1,25.327
$10V_AH,13.0,0.000
$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,23.450,206.300,526.600,1.600,0.000,44.984,81.346,277.121,0.250,0.000,6.276,4095.230,12291.203,683.143,4001.689,150.504,0.000,2327.309,0.000,2920.858,0.000,0.555,0.000
$DEVICE_MAMPS,355.725,182.070,2596.410,424.575,0.000,29.840,160.000,223.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1111.444,753.931,1988.536,1215.102,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322280
$DATA_FILE_SIZE,163984,1991
$CAP_FILE_SIZE,213077,0
$CFSIZE,2097086464,2087944192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,83.287, 26.0,1
$GPS,090915,143520,1756.863,8920.140,301,99.0,301,-0.9