version: 66.11
glider: 615
mission: 5
dive: 53
start: 9 12 115 22 30 30
data:
$ID,615
$MISSION,5
$DIVE,53
$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,-14648.948
$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,63
$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,3.73
$_SM_ANGLEo,-71.9
$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,20.6,13800,-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,15,-0.82,-126.5,190,2217,563,485,0.0,0.0,0,25,0.00,0.00,-8.43,0.000,16386,0.000,0.000,191,2217,771,798,744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,27,-0.82,-126.5,191,2217,798,740,3.3,0.0,1,118,9.98,2.28,-72.45,0.000,18948,0.333,0.069,2673,793,3384,3397,3372,0,0,0,0,0,0,14.57,14.78,14.97
$GC,195,-0.82,-126.5,2673,792,3397,3372,39.2,-31.4,30,202,0.00,2.22,0.00,0.000,1030,0.000,0.044,2665,2180,3384,3397,3372,0,0,0,0,0,0,28.83,14.73,28.83
$GC,386,-0.82,-126.5,2665,2181,3397,3372,83.8,-14.7,67,393,0.00,2.17,0.00,0.000,516,0.000,0.054,2664,802,3384,3397,3371,0,0,0,0,0,0,28.83,14.78,28.83
$GC,434,-0.82,-126.5,2665,801,3397,3372,92.2,-17.2,76,442,0.08,2.22,0.00,0.000,3078,0.267,0.041,2674,2202,3384,3397,3372,0,0,0,0,0,0,14.62,14.75,28.83
$GC,625,-0.82,-126.5,2675,2202,3397,3372,117.2,-14.4,113,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2202,3384,3397,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,814,-0.82,-126.5,2675,2202,3397,3372,146.6,-15.8,150,822,0.00,2.28,0.00,0.000,260,0.000,0.061,2666,3597,3384,3397,3371,0,0,0,0,0,0,28.83,14.77,28.83
$GC,844,-0.82,-126.5,2665,3597,3397,3371,151.2,-15.6,155,851,0.00,2.17,0.00,0.000,1030,0.000,0.037,2666,2180,3384,3397,3371,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1034,-0.82,-126.5,2665,2179,3397,3371,179.2,-13.8,192,1041,0.00,2.20,0.00,0.000,516,0.000,0.057,2665,820,3384,3397,3371,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1074,-0.82,-126.5,2665,820,3397,3371,184.6,-13.5,199,1081,0.10,2.15,0.00,0.000,3078,0.295,0.042,2676,2205,3383,3397,3370,0,0,0,0,0,0,14.66,14.83,28.83
$GC,1269,-0.82,-126.5,2676,2205,3397,3369,211.7,-13.9,229,1273,0.00,2.25,0.00,0.000,260,0.000,0.063,2667,3602,3383,3397,3369,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1310,-0.82,-126.5,2667,3602,3397,3369,217.5,-13.8,237,1314,0.00,2.15,0.00,0.000,1030,0.000,0.038,2667,2194,3383,3397,3369,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1622,-0.82,-126.5,2667,2194,3397,3364,261.4,-14.4,269,1631,0.00,2.17,0.00,0.000,516,0.000,0.057,2667,814,3380,3397,3364,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1727,-0.82,-126.5,2667,814,3397,3363,276.5,-14.3,289,1737,0.10,2.17,0.00,0.000,3078,0.292,0.045,2677,2206,3379,3397,3362,0,0,0,0,0,0,14.69,14.85,28.83
$GC,2036,-0.82,-126.5,2677,2206,3397,3356,318.5,-13.5,321,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2206,3376,3397,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2336,-0.82,-126.5,2677,2206,3396,3352,359.1,-13.7,348,2342,0.00,2.22,0.00,0.000,516,0.000,0.059,2677,815,3373,3396,3351,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2369,-0.82,-126.5,2677,815,3396,3351,364.0,-14.1,355,2378,0.00,2.22,0.00,0.000,1030,0.000,0.047,2669,2191,3373,3396,3351,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2677,-0.82,-126.5,2669,2191,3394,3346,407.1,-14.1,371,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2192,3370,3394,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2976,-0.82,-126.5,2669,2191,3391,3344,448.7,-14.0,386,2983,0.00,2.20,0.00,0.000,516,0.000,0.062,2669,817,3367,3391,3344,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2996,-0.82,-126.5,2669,817,3391,3344,451.5,-14.0,390,3003,0.10,2.20,0.00,0.000,3078,0.293,0.050,2680,2209,3367,3391,3344,0,0,0,0,0,0,14.71,14.88,28.83
$GC,3316,-0.82,-126.5,2680,2209,3389,3340,492.5,-12.8,409,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2209,3364,3387,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3616,-0.82,-126.5,2680,2209,3387,3338,529.7,-12.3,420,3620,0.00,2.25,0.00,0.000,516,0.000,0.064,2680,809,3362,3387,3337,0,0,0,0,0,0,28.83,14.86,28.83
$GC,3675,-0.82,-126.5,2680,809,3385,3338,537.4,-12.2,432,3680,0.00,2.25,0.00,0.000,1030,0.000,0.051,2671,2194,3361,3385,3337,0,0,0,0,0,0,28.83,14.87,28.83
$GC,4003,-0.82,-126.5,2672,2195,3383,3336,578.7,-12.8,447,4009,0.00,2.25,0.00,0.000,516,0.000,0.067,2671,807,3359,3383,3336,0,0,0,0,0,0,28.83,14.86,28.83
$GC,4033,-0.82,-126.5,2672,808,3380,3336,582.7,-13.4,453,4040,0.08,2.22,0.00,0.000,3078,0.329,0.051,2675,2209,3359,3382,3336,0,0,0,0,0,0,14.71,14.89,28.83
$GC,4363,-0.82,-126.5,2674,2211,3380,3334,623.1,-11.9,469,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2211,3357,3380,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4663,-0.82,-126.5,2674,2211,3378,3332,658.7,-11.9,479,4669,0.00,2.28,0.00,0.000,516,0.000,0.067,2674,810,3355,3378,3332,0,0,0,0,0,0,28.83,14.86,28.83
$GC,4715,-0.82,-126.5,2675,810,3378,3332,665.5,-12.1,490,4723,0.00,2.28,0.00,0.000,1030,0.000,0.053,2666,2199,3355,3378,3332,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5023,-0.82,-126.5,2666,2199,3377,3330,704.0,-12.8,501,5029,0.00,2.30,0.00,0.000,260,0.000,0.076,2656,3605,3353,3377,3329,0,0,0,0,0,0,28.83,14.86,28.83
$GC,5045,-0.82,-126.5,2656,3605,3377,3329,707.3,-13.2,506,5054,0.08,2.25,0.00,0.000,3078,0.234,0.044,2677,2209,3353,3377,3329,0,0,0,0,0,0,14.62,14.82,28.83
$GC,5355,-0.82,-126.5,2677,2208,3376,3327,744.6,-12.3,517,5361,0.00,2.25,0.00,0.000,516,0.000,0.067,2677,806,3351,3376,3327,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5421,-0.82,-126.5,2677,806,3376,3327,753.3,-12.2,531,5425,0.00,2.22,0.00,0.000,1030,0.000,0.052,2669,2202,3351,3376,3327,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5743,-0.82,-126.5,2669,2202,3374,3326,794.8,-13.1,545,5744,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2202,3350,3374,3326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6043,-0.82,-126.5,2669,2202,3373,3324,833.4,-12.7,555,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2202,3348,3373,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6343,-0.82,-126.5,2669,2202,3371,3322,870.0,-12.1,565,6349,0.00,2.28,0.00,0.000,516,0.000,0.069,2669,810,3346,3371,3322,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6396,-0.82,-126.5,2669,810,3371,3322,876.8,-12.3,576,6404,0.05,2.28,0.00,0.000,3078,0.273,0.055,2673,2194,3346,3370,3322,0,0,0,0,0,0,14.58,14.77,28.83
$GC,6704,-0.82,-126.5,2673,2194,3369,3321,911.3,-11.4,587,6708,0.00,2.33,0.00,0.000,260,0.000,0.079,2664,3604,3345,3369,3321,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6743,-0.82,-126.5,2664,3604,3369,3321,916.2,-11.6,595,6748,0.08,2.22,0.00,0.000,3078,0.320,0.047,2676,2195,3345,3369,3321,0,0,0,0,0,0,14.68,14.90,28.83
$GC,7065,-0.82,-126.5,2676,2194,3369,3319,952.7,-11.4,609,7071,0.00,2.28,0.00,0.000,516,0.000,0.070,2677,802,3343,3368,3319,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7138,-0.82,-126.5,2676,802,3367,3318,961.7,-12.1,624,7142,0.00,2.25,0.00,0.000,1030,0.000,0.054,2667,2202,3343,3367,3319,0,0,0,0,0,0,28.83,14.85,28.83
$STATE,7394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7394,begin apogee
$GC,7398,-0.16,0.0,2668,2139,3367,3318,993.1,-12.4,635,7550,0.80,0.00,143.88,2.135,10246,0.271,0.000,2886,2139,2869,2913,2826,0,0,0,0,0,0,14.55,28.83,13.29
$STATE,7551,end apogee,CONTROL_FINISHED_OK
$STATE,7551,begin climb
$GC,7552,0.82,126.5,2886,2139,2910,2821,999.1,0.0,666,7674,1.08,2.47,114.40,2.471,10756,0.181,0.081,3210,752,2348,2403,2293,0,0,0,0,0,0,14.01,13.93,13.24
$GC,7704,0.83,127.3,3210,752,2394,2289,992.7,9.1,682,7709,0.00,2.35,0.00,0.000,1030,0.000,0.053,3210,2140,2341,2394,2289,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8015,0.83,127.3,3210,2141,2393,2284,961.2,10.1,694,8017,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2141,2339,2393,2285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8315,0.83,127.3,3210,2141,2393,2283,931.4,9.9,704,8320,0.00,2.35,0.00,0.000,516,0.000,0.080,3218,746,2337,2392,2283,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8374,0.83,127.3,3219,746,2392,2283,925.3,10.0,716,8379,0.00,2.33,0.00,0.000,1030,0.000,0.054,3218,2143,2338,2392,2284,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8703,0.83,127.3,3219,2143,2391,2283,891.8,10.4,731,8707,0.00,2.35,0.00,0.000,260,0.000,0.077,3219,3551,2337,2391,2283,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8736,0.83,127.3,3218,3551,2390,2282,887.8,11.3,738,8742,0.00,2.30,0.00,0.000,1030,0.000,0.050,3228,2154,2335,2390,2281,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9065,0.83,127.3,3228,2154,2390,2281,852.2,10.9,753,9071,0.00,2.38,0.00,0.000,516,0.000,0.079,3239,728,2335,2390,2281,0,0,0,0,0,0,28.83,14.74,28.83
$GC,9155,0.83,127.3,3239,728,2390,2281,842.1,11.4,771,9161,0.00,2.30,0.00,0.000,1030,0.000,0.054,3239,2152,2335,2390,2281,0,0,0,0,0,0,28.83,14.79,28.83
$GC,9485,0.83,127.3,3238,2152,2389,2281,804.7,11.2,787,9489,0.00,2.38,0.00,0.000,516,0.000,0.078,3249,730,2334,2388,2281,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9518,0.83,127.3,3249,730,2388,2280,800.7,11.7,794,9523,0.00,2.33,0.00,0.000,1030,0.000,0.054,3249,2144,2335,2389,2281,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9846,0.83,127.3,3249,2144,2387,2280,764.3,11.1,809,9852,0.00,2.35,0.00,0.000,516,0.000,0.079,3258,733,2333,2387,2280,0,0,0,0,0,0,28.83,14.78,28.83
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$STATE,18179,end climb,NO_VERTICAL_VELOCITY
$STATE,18179,begin surface
$SM_CCo,18443,1.50,0.163,0,0,508,579.63
$SM_GC,6.27,9.65,0.00,1.50,0.105,0.000,0.163,197,2160,508,-8.56,-1.13,579.63,0,0,0,0,0,0,14.75,28.83,14.70
$IRIDIUM_FIX,1751.90,8921.45,060708,202009
$TT8_MAMPS,0.018725,0.018725
$HUMID,42.51
$INTERNAL_PRESSURE,6.75807
$TCM_TEMP,25.30
$XPDR_PINGS,2
$24V_AH,13.2,30.369
$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,23.125,182.950,557.550,1.500,0.000,166.657,25.942,0.000,0.500,0.000,301.672,3699.443,11061.144,691.606,3671.662,197.824,0.000,2166.015,0.000,2587.419,0.000,0.555,0.000
$DEVICE_MAMPS,338.895,171.360,2470.950,162.945,0.000,29.840,160.000,0.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1000.555,685.560,1773.849,1084.029,0.000,0.000,0.000,0.000,0.000,0.000
$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,144043,1761
$CAP_FILE_SIZE,190508,0
$CFSIZE,2097086464,2080702464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.014, 18.5,1
$GPS,100915,065035,1759.653,8918.934,301,99.0,301,-0.9