version: 66.11
glider: 615
mission: 5
dive: 44
start: 9 10 115 22 48 31
data:
$ID,615
$MISSION,5
$DIVE,44
$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,-9196.9258
$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,65
$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,3.23
$_SM_ANGLEo,-74.8
$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,36.4,13800,-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,14,-0.82,-126.5,192,2228,560,490,0.0,0.0,0,24,0.00,0.00,-8.05,0.000,16386,0.000,0.000,191,2228,767,793,741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,26,-0.82,-126.5,192,2228,792,738,3.6,0.0,1,116,10.10,2.20,-68.88,0.000,18692,0.340,0.077,2664,3582,3390,3402,3378,0,0,0,0,0,0,14.56,14.71,14.97
$GC,215,-0.82,-126.5,2664,3582,3402,3378,48.7,-28.4,34,223,0.00,2.20,0.00,0.000,1030,0.000,0.037,2664,2183,3389,3402,3377,0,0,0,0,0,0,28.83,14.76,28.83
$GC,412,-0.82,-126.5,2664,2182,3402,3377,87.8,-14.8,71,419,0.08,2.17,0.00,0.000,2564,0.337,0.051,2676,810,3389,3402,3377,0,0,0,0,0,0,14.65,14.78,28.83
$GC,534,-0.82,-126.5,2676,809,3402,3377,106.4,-14.0,94,542,0.00,2.17,0.00,0.000,1030,0.000,0.041,2667,2181,3389,3402,3377,0,0,0,0,0,0,28.83,14.75,28.83
$GC,730,-0.82,-126.5,2667,2181,3402,3377,133.3,-14.6,131,737,0.00,2.15,0.00,0.000,516,0.000,0.054,2668,820,3389,3402,3377,0,0,0,0,0,0,28.83,14.79,28.83
$GC,779,-0.82,-126.5,2667,820,3402,3377,140.8,-14.8,140,787,0.05,2.20,0.00,0.000,3078,0.280,0.041,2671,2200,3389,3402,3377,0,0,0,0,0,0,14.62,14.76,28.83
$GC,975,-0.82,-126.5,2672,2202,3402,3377,168.3,-14.3,177,981,0.00,2.25,0.00,0.000,260,0.000,0.062,2662,3607,3389,3402,3377,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1034,-0.82,-126.5,2662,3607,3402,3376,177.0,-14.7,188,1042,0.03,2.22,0.00,0.000,3078,0.285,0.038,2669,2198,3389,3402,3376,0,0,0,0,0,0,14.65,14.79,28.83
$GC,1227,-0.82,-126.5,2669,2197,3402,3375,204.6,-14.2,222,1231,0.00,2.20,0.00,0.000,516,0.000,0.057,2669,810,3388,3402,3375,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1256,-0.82,-126.5,2669,810,3402,3375,209.2,-15.2,228,1265,0.05,2.22,0.00,0.000,3078,0.273,0.044,2675,2198,3388,3403,3374,0,0,0,0,0,0,14.58,14.73,28.83
$GC,1565,-0.82,-126.5,2674,2198,3402,3372,252.5,-14.3,259,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2198,3386,3402,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1865,-0.82,-126.5,2674,2198,3402,3368,295.3,-13.9,289,1874,0.00,2.20,0.00,0.000,516,0.000,0.057,2675,815,3385,3402,3368,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1909,-0.82,-126.5,2674,815,3402,3367,302.0,-14.3,298,1917,0.00,2.22,0.00,0.000,1030,0.000,0.046,2666,2198,3384,3402,3366,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2217,-0.82,-126.5,2666,2198,3402,3361,347.1,-14.7,329,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2198,3381,3402,3360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2527,-0.82,-126.5,2666,2198,3402,3354,391.5,-14.3,346,2533,0.00,2.22,0.00,0.000,516,0.000,0.060,2666,807,3378,3402,3354,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2575,-0.82,-126.5,2666,806,3401,3354,398.8,-14.5,356,2580,0.10,2.20,0.00,0.000,3078,0.290,0.048,2677,2200,3377,3401,3354,0,0,0,0,0,0,14.72,14.87,28.83
$GC,2888,-0.82,-126.5,2677,2201,3401,3351,440.4,-13.4,373,2894,0.00,2.22,0.00,0.000,516,0.000,0.060,2677,809,3375,3400,3351,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2915,-0.82,-126.5,2677,809,3400,3351,444.6,-14.0,379,2920,0.00,2.25,0.00,0.000,1030,0.000,0.047,2668,2233,3375,3399,3351,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3228,-0.82,-126.5,2669,2234,3397,3347,486.3,-13.4,396,3234,0.00,2.28,0.00,0.000,516,0.000,0.060,2669,812,3372,3397,3347,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3301,-0.82,-126.5,2668,811,3396,3347,496.6,-13.0,411,3309,0.05,2.25,0.00,0.000,3078,0.267,0.047,2673,2204,3371,3396,3347,0,0,0,0,0,0,14.64,14.81,28.83
$GC,3619,-0.82,-126.5,2673,2204,3394,3344,538.2,-13.2,423,3625,0.00,2.28,0.00,0.000,260,0.000,0.072,2664,3608,3368,3393,3344,0,0,0,0,0,0,28.83,14.86,28.83
$GC,3678,-0.82,-126.5,2664,3608,3393,3344,546.2,-13.1,435,3685,0.08,2.20,0.00,0.000,3078,0.294,0.043,2677,2195,3368,3393,3343,0,0,0,0,0,0,14.73,14.91,28.83
$GC,4008,-0.82,-126.5,2677,2194,3391,3341,587.3,-12.3,451,4014,0.00,2.22,0.00,0.000,516,0.000,0.063,2677,811,3366,3391,3341,0,0,0,0,0,0,28.83,14.87,28.83
$GC,4081,-0.82,-126.5,2677,810,3390,3341,596.6,-11.9,466,4085,0.00,2.20,0.00,0.000,1030,0.000,0.048,2669,2202,3365,3390,3341,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4398,-0.82,-126.5,2669,2203,3388,3338,635.6,-12.5,479,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2202,3363,3389,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4699,-0.82,-126.5,2669,2203,3387,3337,673.5,-12.5,489,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2203,3362,3387,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4998,-0.82,-126.5,2669,2203,3384,3336,711.1,-12.5,499,5004,0.00,2.25,0.00,0.000,516,0.000,0.065,2670,807,3360,3385,3336,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5028,-0.82,-126.5,2669,806,3384,3336,715.0,-12.7,505,5035,0.10,2.22,0.00,0.000,3078,0.306,0.054,2680,2206,3360,3384,3336,0,0,0,0,0,0,14.71,14.90,28.83
$GC,5358,-0.82,-126.5,2680,2207,3382,3334,752.8,-11.3,521,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2207,3358,3382,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5659,-0.82,-126.5,2679,2207,3381,3333,787.0,-11.4,531,5663,0.00,2.25,0.00,0.000,516,0.000,0.066,2679,813,3355,3379,3332,0,0,0,0,0,0,28.83,14.87,28.83
$GC,5683,-0.82,-126.5,2680,813,3380,3333,790.2,-11.7,536,5691,0.00,2.28,0.00,0.000,1030,0.000,0.054,2672,2199,3356,3380,3333,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5990,-0.82,-126.5,2672,2199,3379,3332,827.4,-12.6,547,5991,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2199,3355,3379,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6290,-0.82,-126.5,2672,2199,3378,3329,866.3,-13.1,557,6291,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2199,3353,3377,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6590,-0.82,-126.5,2671,2199,3378,3328,904.9,-12.7,567,6596,0.00,2.28,0.00,0.000,516,0.000,0.069,2672,809,3352,3377,3328,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6633,-0.82,-126.5,2672,809,3377,3328,910.8,-13.2,576,6638,0.08,2.25,0.00,0.000,3078,0.324,0.057,2674,2204,3352,3377,3328,0,0,0,0,0,0,14.71,14.88,28.83
$GC,6951,-0.82,-126.5,2674,2204,3377,3326,949.1,-12.1,589,6957,0.00,2.30,0.00,0.000,260,0.000,0.082,2666,3603,3352,3377,3327,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6973,-0.82,-126.5,2666,3604,3376,3327,952.2,-12.7,594,6982,0.00,2.28,0.00,0.000,1030,0.000,0.049,2666,2204,3351,3376,3327,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7281,-0.82,-126.5,2666,2203,3376,3326,989.8,-12.1,605,7285,0.00,2.10,0.00,0.000,515,0.000,0.070,2666,908,3351,3377,3326,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7286,begin apogee
$GC,7291,-0.16,0.0,2657,2137,3376,3326,990.5,-12.0,606,7423,0.80,0.00,126.40,2.366,10246,0.233,0.000,2889,2137,2870,2914,2827,0,0,0,0,0,0,14.64,28.83,13.13
$STATE,7424,end apogee,CONTROL_FINISHED_OK
$STATE,7424,begin climb
$GC,7426,0.82,126.5,2889,2137,2908,2820,995.3,0.0,634,7553,1.00,2.58,113.15,2.479,10500,0.135,0.078,3203,3549,2342,2397,2288,0,0,0,0,0,0,13.96,13.93,13.23
$GC,7605,0.82,126.5,3203,3549,2394,2284,983.9,11.1,669,7609,0.00,2.35,0.00,0.000,1030,0.000,0.050,3211,2150,2339,2394,2284,0,0,0,0,0,0,28.83,14.25,28.83
$GC,7910,0.82,126.5,3211,2150,2394,2282,949.3,11.4,680,7915,0.00,2.40,0.00,0.000,516,0.000,0.079,3222,730,2338,2394,2282,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7990,0.82,126.5,3222,730,2394,2281,940.0,11.3,696,7998,0.00,2.35,0.00,0.000,1030,0.000,0.055,3222,2134,2338,2394,2282,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8297,0.82,126.5,3222,2134,2393,2281,904.4,11.7,707,8303,0.00,2.38,0.00,0.000,260,0.000,0.079,3222,3555,2337,2393,2281,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8335,0.82,126.5,3222,3555,2391,2280,899.4,12.3,715,8340,0.00,2.30,0.00,0.000,1030,0.000,0.050,3231,2135,2336,2391,2281,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8658,0.82,126.5,3231,2134,2391,2280,861.7,11.7,729,8664,0.00,2.33,0.00,0.000,516,0.000,0.078,3242,736,2336,2392,2280,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8726,0.82,126.5,3242,737,2392,2280,853.5,11.7,743,8731,0.00,2.30,0.00,0.000,1030,0.000,0.054,3242,2155,2336,2392,2280,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9049,0.82,126.5,3242,2154,2391,2279,816.2,11.6,757,9050,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2155,2335,2391,2279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9349,0.82,126.5,3242,2155,2390,2278,781.3,11.7,767,9353,0.00,2.38,0.00,0.000,516,0.000,0.078,3252,733,2334,2390,2278,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9418,0.82,126.5,3251,733,2390,2278,772.6,12.2,781,9422,0.00,2.28,0.00,0.000,1030,0.000,0.055,3252,2141,2334,2390,2278,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9741,0.82,126.5,3251,2141,2389,2277,734.1,12.0,795,9747,0.00,2.33,0.00,0.000,260,0.000,0.079,3251,3545,2333,2389,2278,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9771,0.82,126.5,3251,3545,2388,2278,730.3,12.7,801,9778,0.10,2.25,0.00,0.000,5126,0.301,0.050,3241,2140,2333,2388,2279,0,0,0,0,0,0,14.67,14.84,28.83
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$STATE,17395,end climb,NO_VERTICAL_VELOCITY
$STATE,17395,begin surface
$SM_CCo,17692,1.92,0.153,0,0,508,579.63
$SM_GC,5.10,9.48,2.35,1.92,0.104,0.037,0.153,200,2219,508,-8.57,-1.41,579.63,0,0,0,0,0,0,14.76,14.79,14.69
$IRIDIUM_FIX,1751.90,8921.45,060708,202009
$TT8_MAMPS,0.018725,0.018725
$HUMID,43.14
$INTERNAL_PRESSURE,6.71901
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,13.1,27.366
$10V_AH,13.0,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_SECS,938.464,631.526,1670.784,1020.578,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322308
$DATA_FILE_SIZE,140916,1733
$CAP_FILE_SIZE,185365,0
$CFSIZE,2097086464,2085945344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.053, 35.0,1
$GPS,100915,065035,1759.653,8918.934,301,99.0,301,-0.9