version: 66.11
glider: 615
mission: 5
dive: 42
start: 9 10 115 11 54 46
data:
$ID,615
$MISSION,5
$DIVE,42
$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,-7986.2563
$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,52
$R_STBD_OVSHOOT,68
$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,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,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
$GPS1,100915,065035,1759.653,8918.934,301,99.0,301,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-76.5
$GPS2,100915,065035,1759.653,8918.934,301,99.0,301,-0.9
$SPEED_LIMITS,0.159,0.189
$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,65.8,13800,-26.1,-9.167,-30.00,1414
$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,14,-0.92,-87.0,191,2225,560,493,0.0,0.0,0,41,0.00,0.00,-24.83,0.000,16386,0.000,0.000,191,2226,1241,1256,1227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.92,-87.0,191,2226,1258,1226,3.0,-3.9,4,108,9.95,2.22,-47.38,0.000,19204,0.342,0.080,2630,3583,3229,3252,3206,0,0,0,0,0,0,14.59,14.81,15.00
$GC,119,-0.92,-87.0,1680,3583,3231,3203,15.4,-22.4,16,127,0.03,2.20,0.00,0.000,3078,0.304,0.041,2638,2200,3229,3253,3206,0,0,0,0,0,0,14.62,14.77,28.83
$GC,312,-0.92,-87.0,2638,2197,3253,3205,68.1,-17.7,53,318,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2197,3229,3253,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,500,-0.92,-87.0,2638,2196,3253,3205,95.5,-11.1,90,508,0.00,2.25,0.00,0.000,516,0.000,0.052,2638,798,3229,3253,3205,0,0,0,0,0,0,28.83,14.79,28.83
$GC,524,-0.92,-87.0,2638,798,3253,3205,98.1,-11.2,94,532,0.05,2.17,0.00,0.000,3078,0.299,0.039,2642,2178,3229,3253,3205,0,0,0,0,0,0,14.63,14.78,28.83
$GC,714,-0.92,-87.0,1664,2176,3230,3202,117.4,-12.5,131,721,0.00,2.25,0.00,0.000,260,0.000,0.058,2632,3601,3229,3253,3205,0,0,0,0,0,0,28.83,14.82,28.83
$GC,950,-0.92,-87.0,2632,3601,3253,3204,148.2,-13.4,177,959,0.05,2.17,0.00,0.000,3078,0.342,0.037,2642,2175,3228,3253,3204,0,0,0,0,0,0,14.71,14.88,28.83
$GC,1141,-0.92,-87.0,2642,2175,3253,3203,172.3,-12.3,214,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2175,3228,3253,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1330,-0.92,-87.0,1672,2173,3231,3198,197.0,-12.6,251,1337,0.00,2.15,0.00,0.000,516,0.000,0.056,2642,810,3227,3253,3201,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1374,-0.92,-87.0,2642,810,3252,3201,203.0,-13.6,259,1385,0.00,2.15,0.00,0.000,1030,0.000,0.043,2633,2201,3226,3252,3201,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1685,-0.92,-87.0,2633,2202,3252,3196,244.2,-13.3,291,1694,0.00,2.20,0.00,0.000,516,0.000,0.057,2633,812,3224,3252,3196,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1738,-0.92,-87.0,2633,812,3252,3196,251.4,-13.7,301,1749,0.10,2.15,0.00,0.000,3078,0.302,0.044,2643,2201,3223,3252,3195,0,0,0,0,0,0,14.71,14.87,28.83
$GC,2047,-0.92,-87.0,2643,2201,3252,3191,290.8,-12.4,333,2057,0.00,2.22,0.00,0.000,260,0.000,0.065,2634,3597,3221,3252,3190,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2092,-0.92,-87.0,2634,3597,3252,3190,296.9,-13.1,342,2100,0.00,2.20,0.00,0.000,1030,0.000,0.039,2634,2204,3220,3252,3189,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2400,-0.92,-87.0,2634,2203,3250,3187,337.7,-13.6,373,2410,0.00,2.20,0.00,0.000,516,0.000,0.059,2634,814,3218,3249,3187,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2463,-0.92,-87.0,2634,814,3248,3187,346.6,-13.7,385,2475,0.10,2.17,0.00,0.000,3078,0.304,0.047,2645,2205,3217,3247,3187,0,0,0,0,0,0,14.72,14.88,28.83
$GC,2774,-0.92,-87.0,2644,2205,3246,3183,387.6,-13.2,403,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2205,3214,3246,3182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3073,-0.92,-87.0,2644,2205,3243,3179,426.5,-12.7,418,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2205,3211,3243,3180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3373,-0.92,-87.0,2644,2205,3240,3177,464.0,-12.4,433,3380,0.00,2.22,0.00,0.000,516,0.000,0.060,2643,810,3208,3240,3177,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3422,-0.92,-87.0,2644,810,3239,3177,470.5,-12.6,443,3426,0.00,2.22,0.00,0.000,1030,0.000,0.047,2635,2197,3207,3239,3176,0,0,0,0,0,0,28.83,14.86,28.83
$GC,3734,-0.92,-87.0,2635,2198,3238,3175,508.3,-12.0,459,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2198,3206,3238,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4034,-0.92,-87.0,2635,2198,3236,3173,544.9,-12.1,469,4040,0.00,2.22,0.00,0.000,516,0.000,0.063,2635,807,3204,3235,3173,0,0,0,0,0,0,28.83,14.89,28.83
$GC,4066,-0.92,-87.0,2635,807,3234,3173,549.1,-12.2,476,4072,0.05,2.25,0.00,0.000,3078,0.278,0.050,2641,2204,3203,3234,3172,0,0,0,0,0,0,14.71,14.89,28.83
$GC,4395,-0.92,-87.0,2640,2205,3232,3170,587.1,-11.7,491,4400,0.00,2.25,0.00,0.000,516,0.000,0.063,2640,807,3200,3231,3170,0,0,0,0,0,0,28.83,14.89,28.83
$GC,4462,-0.92,-87.0,2640,806,3231,3170,595.4,-11.8,505,4467,0.08,2.22,0.00,0.000,3078,0.328,0.050,2644,2213,3200,3231,3170,0,0,0,0,0,0,14.73,14.90,28.83
$GC,4785,-0.92,-87.0,2644,2214,3230,3167,632.7,-11.7,519,4791,0.00,2.25,0.00,0.000,260,0.000,0.073,2634,3604,3198,3230,3167,0,0,0,0,0,0,28.83,14.89,28.83
$GC,4822,-0.92,-87.0,2635,3604,3230,3166,637.5,-12.3,527,4826,0.00,2.20,0.00,0.000,1030,0.000,0.044,2634,2196,3198,3230,3167,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5145,-0.92,-87.0,2634,2194,3228,3165,676.3,-12.1,541,5150,0.00,2.22,0.00,0.000,516,0.000,0.064,2634,804,3196,3228,3165,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5192,-0.92,-87.0,2635,805,3228,3164,682.7,-12.7,551,5197,0.10,2.20,0.00,0.000,3078,0.311,0.050,2645,2201,3195,3227,3164,0,0,0,0,0,0,14.73,14.90,28.83
$GC,5505,-0.92,-87.0,2645,2201,3227,3163,718.7,-11.5,563,5509,0.00,2.25,0.00,0.000,516,0.000,0.064,2645,803,3194,3226,3163,0,0,0,0,0,0,28.83,14.86,28.83
$GC,5536,-0.92,-87.0,2645,803,3226,3163,722.5,-11.8,569,5542,0.00,2.22,0.00,0.000,1030,0.000,0.052,2635,2207,3194,3226,3163,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5866,-0.92,-87.0,2636,2207,3225,3161,760.7,-11.7,585,5870,0.00,2.28,0.00,0.000,516,0.000,0.066,2636,806,3192,3225,3160,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5899,-0.92,-87.0,2636,807,3225,3161,765.1,-12.4,592,5905,0.05,2.25,0.00,0.000,3078,0.275,0.053,2641,2191,3193,3225,3161,0,0,0,0,0,0,14.68,14.86,28.83
$GC,6228,-0.92,-87.0,2641,2191,3223,3158,803.5,-11.7,607,6234,0.00,2.30,0.00,0.000,260,0.000,0.076,2631,3603,3190,3223,3158,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6265,-0.92,-87.0,2631,3603,3222,3158,808.4,-12.3,615,6270,0.08,2.25,0.00,0.000,3078,0.294,0.046,2645,2200,3190,3222,3158,0,0,0,0,0,0,14.75,14.89,28.83
$GC,6588,-0.92,-87.0,2645,2199,3221,3156,845.6,-11.5,629,6594,0.00,2.25,0.00,0.000,516,0.000,0.065,2645,807,3189,3221,3157,0,0,0,0,0,0,28.83,14.87,28.83
$GC,6650,-0.92,-87.0,2645,807,3221,3157,852.7,-11.9,641,6656,0.00,2.22,0.00,0.000,1030,0.000,0.054,2636,2212,3188,3221,3156,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6978,-0.92,-87.0,2636,2212,3221,3156,891.7,-11.9,657,6984,0.00,2.28,0.00,0.000,516,0.000,0.067,2636,806,3188,3221,3156,0,0,0,0,0,0,28.83,14.86,28.83
$GC,7016,-0.92,-87.0,2636,805,3220,3156,896.6,-11.9,665,7021,0.10,2.25,0.00,0.000,3078,0.308,0.054,2646,2212,3188,3220,3156,0,0,0,0,0,0,14.69,14.88,28.83
$GC,7338,-0.92,-87.0,2646,2212,3220,3155,932.8,-11.2,679,7340,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2212,3187,3219,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7638,-0.92,-87.0,2647,2212,3218,3154,967.3,-11.6,689,7644,0.00,2.30,0.00,0.000,516,0.000,0.071,2647,803,3186,3218,3154,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7698,-0.92,-87.0,2647,803,3218,3154,974.2,-11.1,701,7703,0.00,2.25,0.00,0.000,1030,0.000,0.058,2637,2197,3186,3218,3154,0,0,0,0,0,0,28.83,14.87,28.83
$STATE,7849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7849,begin apogee
$GC,7853,-0.16,0.0,2637,2145,3218,3154,992.1,-11.9,711,7954,0.85,0.00,96.75,2.215,10246,0.235,0.000,2885,2144,2873,2916,2830,0,0,0,0,0,0,14.65,28.83,13.33
$STATE,7955,end apogee,CONTROL_FINISHED_OK
$STATE,7955,begin climb
$GC,7957,0.92,87.0,2885,2144,2911,2824,996.0,0.0,732,8048,1.12,2.53,82.22,2.757,10756,0.141,0.076,3246,750,2510,2552,2468,0,0,0,0,0,0,14.12,13.93,13.21
$GC,8087,0.95,111.6,3246,750,2549,2464,990.8,7.4,759,8116,0.00,2.38,22.27,2.232,9222,0.000,0.054,3246,2134,2414,2464,2364,0,0,0,0,0,0,28.83,14.22,13.33
$GC,8415,0.95,111.6,3246,2134,2456,2353,957.2,11.0,774,8416,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2134,2404,2455,2353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8714,0.95,111.6,3246,2133,2455,2352,924.2,11.1,784,8719,0.00,2.35,0.00,0.000,516,0.000,0.078,3255,743,2403,2455,2352,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8753,0.95,111.6,3255,744,2454,2352,919.7,10.9,792,8758,0.00,2.28,0.00,0.000,1030,0.000,0.056,3255,2141,2403,2454,2352,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9075,0.95,111.6,3255,2141,2454,2351,884.8,11.0,806,9076,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2141,2402,2454,2351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9375,0.95,111.6,3255,2141,2453,2351,852.5,10.8,816,9379,0.00,2.33,0.00,0.000,516,0.000,0.078,3263,744,2402,2453,2351,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9451,0.95,111.6,3263,744,2453,2351,844.1,10.9,831,9455,0.00,2.25,0.00,0.000,1030,0.000,0.056,3263,2139,2402,2453,2351,0,0,0,0,0,0,28.83,14.80,28.83
$GC,9756,0.95,111.6,3263,2139,2451,2350,811.0,10.6,842,9761,0.00,2.33,0.00,0.000,260,0.000,0.079,3263,3545,2400,2450,2350,0,0,0,0,0,0,28.83,14.80,28.83
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$GC,16830,1.07,210.0,3307,3562,2083,1973,111.5,8.6,1548,16839,0.00,2.33,2.25,0.392,9222,0.000,0.045,3317,2128,2015,2070,1960,0,0,0,0,0,0,28.83,14.64,13.93
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$STATE,18638,end climb,NO_VERTICAL_VELOCITY
$STATE,18638,begin surface
$SM_CCo,18903,1.25,0.174,0,0,507,579.63
$SM_GC,5.92,9.75,0.08,1.25,0.110,0.179,0.174,200,2223,507,-8.57,-1.24,579.63,0,0,0,0,0,0,14.75,14.78,14.71
$IRIDIUM_FIX,1751.90,8921.45,060708,202009
$TT8_MAMPS,0.018725,0.018725
$HUMID,43.69
$INTERNAL_PRESSURE,6.73854
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,13.2,26.696
$10V_AH,12.8,0.000
$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,23.325,181.625,509.625,1.250,0.000,158.507,31.693,0.000,0.250,0.000,301.691,3831.142,11271.457,634.983,3835.603,151.531,0.000,2175.929,0.000,2756.831,0.000,0.556,0.000
$DEVICE_MAMPS,341.955,340.425,2757.060,174.420,0.000,29.840,160.000,0.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1037.308,708.741,1793.145,1096.242,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322404
$DATA_FILE_SIZE,154315,1881
$CAP_FILE_SIZE,197195,0
$CFSIZE,2097086464,2087092224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.161, 65.3,1
$GPS,100915,065035,1759.653,8918.934,301,99.0,301,-0.9