version: 66.11
glider: 615
mission: 5
dive: 47
start: 9 11 115 14 48 45
data:
$ID,615
$MISSION,5
$DIVE,47
$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,-11013.906
$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,45
$R_STBD_OVSHOOT,47
$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,4.44
$_SM_ANGLEo,-74.5
$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,20.8,13800,-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,15,-0.82,-126.5,195,2158,565,489,0.0,0.0,0,25,0.00,0.00,-8.75,0.000,16386,0.000,0.000,194,2157,793,821,765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,27,-0.82,-126.5,195,2159,820,763,3.8,0.0,1,111,10.18,2.25,-66.43,0.000,19204,0.345,0.079,2673,793,3390,3403,3377,0,0,0,0,0,0,14.54,14.76,14.97
$GC,189,-0.82,-126.5,2673,793,3403,3377,41.2,-35.3,29,197,0.08,2.17,0.00,0.000,3078,0.367,0.039,2674,2205,3389,3403,3376,0,0,0,0,0,0,14.59,14.79,28.83
$GC,380,-0.82,-126.5,2674,2205,3403,3376,85.8,-14.1,66,387,0.00,2.25,0.00,0.000,260,0.000,0.058,2665,3591,3389,3403,3376,0,0,0,0,0,0,28.83,14.73,28.83
$GC,409,-0.82,-126.5,1680,3590,3389,3374,89.6,-13.4,71,416,0.00,2.15,0.00,0.000,1030,0.000,0.035,2666,2185,3389,3403,3376,0,0,0,0,0,0,28.83,14.82,28.83
$GC,599,-0.82,-126.5,2665,2183,3403,3376,119.1,-14.1,108,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2183,3389,3403,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,788,-0.82,-126.5,2665,2183,3403,3376,148.8,-14.7,145,795,0.00,2.25,0.00,0.000,260,0.000,0.059,2655,3594,3389,3403,3376,0,0,0,0,0,0,28.83,14.79,28.83
$GC,823,-0.82,-126.5,2655,3593,3402,3376,154.5,-15.9,151,830,0.10,2.15,0.00,0.000,3078,0.285,0.035,2675,2188,3389,3403,3376,0,0,0,0,0,0,14.66,14.84,28.83
$GC,1012,-0.82,-126.5,1696,2185,3389,3373,182.4,-14.7,188,1020,0.00,2.22,0.00,0.000,516,0.000,0.054,2675,812,3388,3402,3375,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1082,-0.82,-126.5,2675,812,3403,3375,192.4,-13.9,201,1090,0.00,2.15,0.00,0.000,1030,0.000,0.041,2667,2199,3389,3403,3375,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1278,-0.82,-126.5,2667,2200,3403,3373,219.8,-14.3,225,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2200,3388,3403,3373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1578,-0.82,-126.5,2666,2200,3403,3371,262.9,-14.5,255,1588,0.00,2.20,0.00,0.000,516,0.000,0.057,2667,815,3386,3402,3370,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1642,-0.82,-126.5,2667,814,3402,3370,272.1,-14.0,267,1653,0.08,2.15,0.00,0.000,3078,0.320,0.044,2676,2199,3386,3403,3370,0,0,0,0,0,0,14.63,14.85,28.83
$GC,1951,-0.82,-126.5,2676,2199,3402,3365,315.1,-14.4,299,1960,0.00,2.20,0.00,0.000,516,0.000,0.057,2675,816,3383,3402,3364,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2026,-0.82,-126.5,2676,816,3402,3363,326.7,-14.5,314,2035,0.00,2.22,0.00,0.000,1030,0.000,0.047,2668,2199,3382,3402,3363,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2335,-0.82,-126.5,2667,2199,3402,3357,371.5,-14.7,338,2341,0.00,2.28,0.00,0.000,260,0.000,0.069,2657,3608,3379,3402,3356,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2362,-0.82,-126.5,2657,3608,3402,3356,376.0,-15.4,344,2367,0.10,2.22,0.00,0.000,3078,0.272,0.041,2678,2175,3378,3402,3355,0,0,0,0,0,0,14.72,14.88,28.83
$GC,2674,-0.82,-126.5,2678,2173,3401,3352,418.2,-13.4,361,2680,0.00,2.17,0.00,0.000,516,0.000,0.060,2678,812,3376,3401,3351,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2755,-0.82,-126.5,2678,812,3399,3352,428.8,-12.6,377,2761,0.00,2.20,0.00,0.000,1030,0.000,0.048,2670,2206,3375,3399,3352,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3075,-0.82,-126.5,2670,2207,3397,3349,470.9,-12.7,396,3081,0.00,2.28,0.00,0.000,260,0.000,0.071,2659,3609,3372,3396,3349,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3143,-0.82,-126.5,2659,3609,3396,3348,480.0,-12.7,410,3148,0.10,2.22,0.00,0.000,3078,0.269,0.041,2680,2187,3372,3397,3347,0,0,0,0,0,0,14.73,14.89,28.83
$GC,3466,-0.82,-126.5,2680,2186,3394,3345,518.5,-12.0,425,3472,0.00,2.20,0.00,0.000,516,0.000,0.061,2679,809,3369,3394,3345,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3539,-0.82,-126.5,2680,809,3393,3345,527.5,-11.3,440,3543,0.00,2.22,0.00,0.000,1030,0.000,0.051,2672,2212,3369,3393,3345,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3857,-0.82,-126.5,2672,2213,3391,3343,566.1,-12.4,453,3858,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2213,3367,3391,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4156,-0.82,-126.5,2672,2213,3389,3340,603.2,-12.3,463,4162,0.00,2.28,0.00,0.000,516,0.000,0.064,2672,808,3364,3389,3340,0,0,0,0,0,0,28.83,14.87,28.83
$GC,4199,-0.82,-126.5,2672,808,3389,3340,608.8,-12.1,472,4204,0.08,2.22,0.00,0.000,3078,0.324,0.052,2674,2207,3364,3389,3340,0,0,0,0,0,0,14.72,14.89,28.83
$GC,4516,-0.82,-126.5,2674,2208,3387,3337,646.9,-12.3,485,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2208,3362,3387,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4817,-0.82,-126.5,2674,2208,3385,3336,683.7,-12.3,495,4823,0.00,2.25,0.00,0.000,516,0.000,0.067,2674,814,3360,3385,3336,0,0,0,0,0,0,28.83,14.87,28.83
$GC,4848,-0.82,-126.5,2674,815,3384,3336,688.0,-12.7,502,4853,0.00,2.25,0.00,0.000,1030,0.000,0.054,2666,2192,3360,3384,3336,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5177,-0.82,-126.5,2666,2193,3383,3335,728.6,-12.4,517,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2193,3358,3382,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5476,-0.82,-126.5,2666,2193,3380,3333,765.4,-12.4,527,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2193,3356,3380,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5777,-0.82,-126.5,2666,2194,3378,3333,802.0,-12.1,537,5783,0.00,2.25,0.00,0.000,516,0.000,0.071,2666,816,3355,3378,3333,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5824,-0.82,-126.5,2666,816,3378,3332,808.4,-12.4,547,5829,0.10,2.22,0.00,0.000,3078,0.308,0.055,2675,2202,3355,3378,3332,0,0,0,0,0,0,14.69,14.88,28.83
$GC,6137,-0.82,-126.5,2675,2202,3378,3331,845.0,-12.0,559,6143,0.00,2.28,0.00,0.000,516,0.000,0.071,2675,805,3354,3378,3331,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6159,-0.82,-126.5,2676,806,3377,3331,848.1,-12.3,564,6167,0.00,2.28,0.00,0.000,1030,0.000,0.054,2667,2191,3354,3378,3331,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6467,-0.82,-126.5,2667,2191,3377,3329,885.5,-12.2,575,6468,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2191,3353,3377,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6766,-0.82,-126.5,2667,2191,3377,3328,922.2,-12.1,585,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2191,3352,3377,3328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7066,-0.82,-126.5,2667,2191,3376,3327,957.8,-11.7,595,7072,0.00,2.25,0.00,0.000,516,0.000,0.071,2668,812,3351,3376,3327,0,0,0,0,0,0,28.83,14.84,28.83
$GC,7089,-0.82,-126.5,2667,812,3376,3327,960.8,-12.0,600,7098,0.05,2.28,0.00,0.000,3078,0.278,0.056,2671,2189,3351,3375,3327,0,0,0,0,0,0,14.58,14.76,28.83
$STATE,7364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7365,begin apogee
$GC,7368,-0.16,0.0,2671,2191,3375,3325,992.3,-11.5,610,7521,0.77,0.00,147.40,2.218,10246,0.260,0.000,2889,2191,2872,2916,2828,0,0,0,0,0,0,14.60,28.83,13.27
$STATE,7522,end apogee,CONTROL_FINISHED_OK
$STATE,7522,begin climb
$GC,7523,0.82,126.5,2888,2192,2912,2822,996.6,0.0,641,7644,1.05,2.60,112.72,2.355,10756,0.166,0.078,3212,766,2347,2402,2292,0,0,0,0,0,0,13.99,13.92,13.24
$GC,7661,0.84,136.6,3213,766,2394,2290,990.1,8.7,654,7671,0.00,2.33,4.68,1.450,9222,0.000,0.052,3212,2138,2317,2372,2262,0,0,0,0,0,0,28.83,14.11,13.38
$GC,7989,0.84,136.6,3213,2138,2378,2269,953.1,11.4,669,7990,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2138,2323,2378,2269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8289,0.84,136.6,3213,2137,2378,2268,920.1,10.8,679,8295,0.00,2.33,0.00,0.000,516,0.000,0.079,3221,749,2323,2378,2269,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8356,0.84,136.6,3221,749,2377,2269,912.3,11.5,693,8361,0.00,2.28,0.00,0.000,1030,0.000,0.054,3221,2142,2323,2378,2268,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8679,0.84,136.6,3221,2143,2377,2267,877.4,10.8,707,8685,0.00,2.30,0.00,0.000,516,0.000,0.077,3231,759,2322,2377,2268,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8716,0.84,136.6,3231,759,2377,2267,872.9,11.6,715,8721,0.00,2.25,0.00,0.000,1030,0.000,0.054,3231,2145,2322,2377,2268,0,0,0,0,0,0,28.83,14.74,28.83
$GC,9039,0.84,136.6,3231,2146,2376,2267,837.4,11.0,729,9045,0.00,2.30,0.00,0.000,516,0.000,0.077,3240,759,2321,2376,2267,0,0,0,0,0,0,28.83,14.74,28.83
$GC,9071,0.84,136.6,3240,759,2376,2267,833.6,11.3,736,9076,0.00,2.28,0.00,0.000,1030,0.000,0.054,3240,2139,2322,2377,2267,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9399,0.84,136.6,3240,2138,2375,2266,796.2,11.4,751,9405,0.00,2.33,0.00,0.000,260,0.000,0.076,3240,3549,2320,2374,2266,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9421,0.84,136.6,3240,3549,2372,2265,793.1,12.2,756,9429,0.00,2.30,0.00,0.000,1030,0.000,0.050,3247,2157,2319,2373,2265,0,0,0,0,0,0,28.83,14.74,28.83
$GC,9729,0.84,136.6,3247,2157,2373,2265,757.3,11.7,767,9735,0.00,2.35,0.00,0.000,516,0.000,0.077,3258,733,2319,2373,2265,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9821,0.84,136.6,3258,733,2373,2265,746.0,11.8,786,9826,0.00,2.30,0.00,0.000,1030,0.000,0.054,3258,2136,2319,2373,2265,0,0,0,0,0,0,28.83,14.78,28.83
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$STATE,17653,end climb,NO_VERTICAL_VELOCITY
$STATE,17654,begin surface
$SM_CCo,17919,1.55,0.163,0,0,509,579.63
$SM_GC,5.91,9.68,0.08,1.55,0.105,0.176,0.163,197,2225,509,-8.57,-1.33,579.63,0,0,0,0,0,0,14.74,14.77,14.69
$IRIDIUM_FIX,1751.90,8921.45,060708,202009
$TT8_MAMPS,0.018725,0.018725
$HUMID,42.79
$INTERNAL_PRESSURE,6.73854
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,13.2,28.374
$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
$DEVICE_SECS,23.225,168.875,557.175,1.550,0.000,165.953,25.948,0.000,0.250,0.000,301.652,3545.159,10852.204,687.812,3520.511,154.188,0.000,2089.282,0.000,2465.721,0.000,0.554,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,967.721,657.439,1696.539,1036.838,0.000,0.000,0.000,0.000,0.000,0.000
$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,137800,1678
$CAP_FILE_SIZE,181544,0
$CFSIZE,2097086464,2084175872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.029, 20.2,1
$GPS,100915,065035,1759.653,8918.934,301,99.0,301,-0.9