version: 66.11
glider: 615
mission: 5
dive: 45
start: 9 11 115 4 3 22
data:
$ID,615
$MISSION,5
$DIVE,45
$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,-9802.2334
$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,40
$R_STBD_OVSHOOT,61
$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,2.85
$_SM_ANGLEo,-75.5
$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,16.6,13800,-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,-126.5,197,2220,564,494,0.0,0.0,0,36,0.00,0.00,-19.48,0.000,16386,0.000,0.000,197,2221,1100,1123,1078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,37,-0.82,-126.5,197,2221,1123,1078,3.1,-2.0,3,109,10.43,2.35,-54.58,0.000,19204,0.358,0.076,2676,793,3390,3404,3377,0,0,0,0,0,0,14.53,14.76,14.97
$GC,338,-0.82,-126.5,2676,792,3404,3376,81.3,-21.7,59,345,0.00,2.17,0.00,0.000,1030,0.000,0.047,2668,2179,3390,3404,3376,0,0,0,0,0,0,28.83,14.78,28.83
$GC,528,-0.82,-126.5,2668,2180,3404,3376,108.5,-13.5,96,535,0.00,2.25,0.00,0.000,516,0.000,0.054,2668,795,3390,3404,3376,0,0,0,0,0,0,28.83,14.75,28.83
$GC,763,-0.82,-126.5,2668,794,3405,3376,144.9,-15.3,142,771,0.10,2.25,0.00,0.000,3078,0.305,0.043,2677,2228,3390,3404,3376,0,0,0,0,0,0,14.65,14.81,28.83
$GC,954,-0.82,-126.5,2677,2228,3404,3376,173.1,-14.2,179,961,0.00,2.20,0.00,0.000,260,0.000,0.064,2668,3602,3390,3404,3376,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1008,-0.82,-126.5,2668,3602,3404,3375,180.6,-13.4,189,1016,0.00,2.20,0.00,0.000,1030,0.000,0.038,2668,2175,3389,3404,3375,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1199,-0.82,-126.5,2668,2174,3404,3374,205.6,-12.9,222,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2175,3389,3404,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1499,-0.82,-126.5,2669,2175,3404,3371,247.8,-14.6,252,1503,0.00,2.17,0.00,0.000,516,0.000,0.058,2668,805,3388,3405,3371,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1548,-0.82,-126.5,2668,805,3404,3371,255.5,-15.3,262,1557,0.05,2.22,0.00,0.000,3078,0.265,0.045,2672,2197,3387,3404,3371,0,0,0,0,0,0,14.59,14.76,28.83
$GC,1856,-0.82,-126.5,2672,2197,3404,3366,298.3,-13.4,293,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2197,3385,3404,3366,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2156,-0.82,-126.5,2672,2197,3404,3361,339.3,-13.7,323,2167,0.00,2.20,0.00,0.000,516,0.000,0.059,2673,815,3382,3404,3360,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2210,-0.82,-126.5,2673,814,3404,3360,346.4,-13.2,333,2219,0.00,2.17,0.00,0.000,1030,0.000,0.047,2664,2201,3381,3403,3359,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2519,-0.82,-126.5,2663,2201,3403,3353,389.0,-14.1,351,2526,0.08,2.22,0.00,0.000,2564,0.333,0.059,2676,812,3378,3402,3354,0,0,0,0,0,0,14.73,14.85,28.83
$GC,2541,-0.82,-126.5,2676,812,3402,3354,392.5,-14.0,356,2546,0.00,2.22,0.00,0.000,1030,0.000,0.046,2668,2197,3377,3401,3353,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2859,-0.82,-126.5,2668,2197,3401,3352,435.4,-13.6,374,2865,0.00,2.28,0.00,0.000,260,0.000,0.068,2657,3607,3375,3400,3351,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2892,-0.82,-126.5,2657,3607,3400,3351,440.3,-13.8,381,2901,0.05,2.25,0.00,0.000,3078,0.236,0.041,2671,2196,3375,3400,3351,0,0,0,0,0,0,14.64,14.83,28.83
$GC,3199,-0.82,-126.5,2672,2195,3397,3347,480.2,-13.2,397,3206,0.00,2.22,0.00,0.000,516,0.000,0.060,2671,805,3372,3397,3347,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3267,-0.82,-126.5,2672,805,3396,3347,489.6,-12.9,411,3272,0.08,2.22,0.00,0.000,3078,0.327,0.048,2677,2214,3371,3396,3347,0,0,0,0,0,0,14.70,14.87,28.83
$GC,3600,-0.82,-126.5,2677,2215,3394,3344,532.4,-13.0,425,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2215,3369,3394,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3900,-0.82,-126.5,2677,2215,3392,3343,570.0,-12.6,435,3906,0.00,2.28,0.00,0.000,516,0.000,0.062,2677,806,3367,3392,3343,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3930,-0.82,-126.5,2677,806,3391,3343,573.9,-13.0,441,3936,0.00,2.20,0.00,0.000,1030,0.000,0.049,2669,2201,3367,3391,3343,0,0,0,0,0,0,28.83,14.89,28.83
$GC,4260,-0.82,-126.5,2669,2201,3390,3340,615.6,-12.6,457,4266,0.00,2.28,0.00,0.000,260,0.000,0.072,2658,3605,3364,3389,3340,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4292,-0.82,-126.5,2658,3605,3389,3340,620.0,-12.6,464,4297,0.05,2.22,0.00,0.000,3078,0.236,0.044,2673,2205,3364,3389,3340,0,0,0,0,0,0,14.71,14.88,28.83
$GC,4620,-0.82,-126.5,2674,2204,3388,3337,659.5,-12.1,479,4626,0.00,2.25,0.00,0.000,516,0.000,0.063,2674,809,3362,3387,3337,0,0,0,0,0,0,28.83,14.87,28.83
$GC,4680,-0.82,-126.5,2674,809,3387,3337,666.8,-11.8,491,4686,0.00,2.20,0.00,0.000,1030,0.000,0.050,2665,2199,3362,3387,3337,0,0,0,0,0,0,28.83,14.89,28.83
$GC,5010,-0.82,-126.5,2665,2200,3384,3336,708.6,-12.7,507,5016,0.00,2.30,0.00,0.000,260,0.000,0.075,2654,3608,3360,3384,3336,0,0,0,0,0,0,28.83,14.87,28.83
$GC,5032,-0.82,-126.5,2655,3608,3384,3336,711.9,-13.8,512,5041,0.08,2.25,0.00,0.000,3078,0.225,0.044,2677,2206,3360,3384,3336,0,0,0,0,0,0,14.66,14.83,28.83
$GC,5340,-0.82,-126.5,2677,2206,3382,3334,749.2,-12.1,523,5346,0.00,2.28,0.00,0.000,516,0.000,0.065,2677,802,3358,3382,3334,0,0,0,0,0,0,28.83,14.86,28.83
$GC,5372,-0.82,-126.5,2677,801,3382,3334,753.5,-11.9,530,5377,0.00,2.28,0.00,0.000,1030,0.000,0.054,2669,2201,3357,3381,3334,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5700,-0.82,-126.5,2669,2201,3380,3333,793.5,-12.3,545,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2201,3356,3380,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6000,-0.82,-126.5,2669,2201,3378,3331,829.8,-12.2,555,6006,0.00,2.28,0.00,0.000,516,0.000,0.067,2669,805,3354,3378,3331,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6032,-0.82,-126.5,2669,805,3378,3331,834.2,-12.3,562,6038,0.05,2.28,0.00,0.000,3078,0.275,0.055,2673,2194,3354,3378,3331,0,0,0,0,0,0,14.66,14.84,28.83
$GC,6361,-0.82,-126.5,2673,2195,3378,3329,872.2,-11.6,577,6365,0.00,2.33,0.00,0.000,260,0.000,0.080,2664,3606,3353,3377,3329,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6384,-0.82,-126.5,2663,3606,3378,3329,875.3,-12.3,582,6394,0.03,2.28,0.00,0.000,3078,0.292,0.046,2671,2197,3353,3378,3329,0,0,0,0,0,0,14.64,14.82,28.83
$GC,6692,-0.82,-126.5,2671,2197,3377,3328,910.2,-11.5,593,6698,0.00,2.28,0.00,0.000,516,0.000,0.071,2672,809,3352,3377,3328,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6755,-0.82,-126.5,2671,808,3377,3328,918.0,-11.1,606,6760,0.05,2.30,0.00,0.000,3078,0.262,0.058,2677,2208,3352,3377,3328,0,0,0,0,0,0,14.64,14.83,28.83
$GC,7083,-0.82,-126.5,2677,2209,3377,3327,954.3,-11.1,621,7089,0.00,2.30,0.00,0.000,260,0.000,0.081,2668,3603,3351,3377,3326,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7115,-0.82,-126.5,2669,3603,3377,3326,958.3,-11.0,628,7120,0.00,2.28,0.00,0.000,1030,0.000,0.047,2669,2202,3351,3377,3326,0,0,0,0,0,0,28.83,14.85,28.83
$STATE,7412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7412,begin apogee
$GC,7415,-0.16,0.0,2669,2138,3375,3326,992.2,-11.6,642,7568,0.75,0.00,147.35,2.256,10246,0.228,0.000,2887,2138,2872,2917,2828,0,0,0,0,0,0,14.63,28.83,13.27
$STATE,7569,end apogee,CONTROL_FINISHED_OK
$STATE,7569,begin climb
$GC,7570,0.82,126.5,2887,2138,2911,2821,996.7,0.0,673,7693,1.02,2.50,114.12,2.226,10500,0.141,0.075,3206,3542,2352,2406,2298,0,0,0,0,0,0,13.99,13.95,13.35
$GC,7738,0.82,126.5,3206,3542,2401,2288,986.5,11.2,707,7742,0.00,2.35,0.00,0.000,1030,0.000,0.049,3214,2152,2345,2402,2289,0,0,0,0,0,0,28.83,14.22,28.83
$GC,8065,0.82,126.5,3214,2152,2401,2285,949.2,11.6,722,8071,0.00,2.40,0.00,0.000,516,0.000,0.079,3225,732,2343,2401,2285,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8163,0.82,126.5,3225,733,2401,2285,937.3,11.9,742,8167,0.00,2.30,0.00,0.000,1030,0.000,0.053,3225,2140,2343,2401,2285,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8485,0.82,126.5,3225,2141,2398,2284,899.9,11.6,756,8486,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2141,2341,2398,2284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8785,0.82,126.5,3225,2141,2397,2283,865.4,11.5,766,8791,0.00,2.35,0.00,0.000,516,0.000,0.079,3231,733,2340,2397,2284,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8868,0.82,126.5,3231,733,2397,2284,855.7,10.9,783,8875,0.00,2.30,0.00,0.000,1030,0.000,0.054,3231,2148,2340,2397,2284,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9175,0.82,126.5,3231,2148,2396,2283,820.9,11.5,794,9179,0.00,2.33,0.00,0.000,260,0.000,0.079,3231,3547,2339,2395,2283,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9209,0.82,126.5,3231,3547,2394,2283,816.7,12.2,801,9213,0.00,2.28,0.00,0.000,1030,0.000,0.050,3241,2135,2338,2394,2283,0,0,0,0,0,0,28.83,14.80,28.83
$GC,9531,0.82,126.5,3241,2135,2394,2283,780.7,11.3,815,9538,0.00,2.33,0.00,0.000,516,0.000,0.077,3251,733,2339,2395,2283,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9652,0.82,126.5,3252,733,2394,2283,766.7,11.6,839,9658,0.00,2.28,0.00,0.000,1030,0.000,0.054,3252,2143,2339,2395,2283,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9982,0.82,126.5,3252,2143,2393,2283,729.0,11.4,855,9983,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,2143,2338,2394,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10282,0.82,126.5,3251,2143,2394,2282,695.4,11.2,865,10288,0.00,2.35,0.00,0.000,516,0.000,0.077,3261,729,2338,2394,2282,0,0,0,0,0,0,28.83,14.80,28.83
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$STATE,18153,end climb,NO_VERTICAL_VELOCITY
$STATE,18153,begin surface
$SM_CCo,18417,1.65,0.158,0,0,509,579.63
$SM_GC,5.26,9.65,0.00,1.65,0.108,0.000,0.158,202,2180,509,-8.56,-0.57,579.63,0,0,0,0,0,0,14.76,28.83,14.71
$IRIDIUM_FIX,1751.90,8921.45,060708,202009
$TT8_MAMPS,0.018725,0.018725
$HUMID,42.83
$INTERNAL_PRESSURE,6.74831
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,13.3,27.709
$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,23.400,183.050,558.025,1.650,0.000,165.407,25.942,0.000,0.000,0.000,301.650,3683.027,11007.561,672.275,3735.509,150.839,0.000,2183.775,0.000,2657.865,0.000,0.554,0.000
$DEVICE_MAMPS,358.020,179.775,2255.985,157.590,0.000,29.840,160.000,0.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,999.942,684.924,1745.982,1067.042,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322332
$DATA_FILE_SIZE,147866,1814
$CAP_FILE_SIZE,189358,0
$CFSIZE,2097086464,2085355520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.041, 14.8,1
$GPS,100915,065035,1759.653,8918.934,301,99.0,301,-0.9