version: 66.11
glider: 615
mission: 5
dive: 55
start: 9 13 115 9 9 12
data:
$ID,615
$MISSION,5
$DIVE,55
$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,-15860.598
$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,51
$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,3.38
$_SM_ANGLEo,-75.4
$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,-126.5,200,2147,563,493,0.0,0.0,0,25,0.00,0.00,-8.35,0.000,16386,0.000,0.000,200,2147,769,795,744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,27,-0.82,-126.5,200,2149,795,740,3.1,0.0,1,117,10.48,0.00,-72.00,0.000,18694,0.361,0.000,2673,2147,3389,3400,3378,0,0,0,0,0,0,14.54,28.83,14.96
$GC,300,-0.82,-126.5,1680,2144,3386,3374,69.5,-20.1,51,306,0.00,2.12,0.00,0.000,516,0.000,0.053,2672,799,3388,3400,3377,0,0,0,0,0,0,28.83,14.77,28.83
$GC,404,-0.82,-126.5,2672,799,3400,3377,88.8,-17.7,71,411,0.08,2.17,0.00,0.000,3078,0.344,0.042,2676,2197,3388,3400,3377,0,0,0,0,0,0,14.62,14.80,28.83
$GC,594,-0.82,-126.5,2676,2198,3400,3377,117.7,-14.3,108,601,0.00,2.28,0.00,0.000,260,0.000,0.060,2667,3592,3388,3400,3377,0,0,0,0,0,0,28.83,14.76,28.83
$GC,664,-0.82,-126.5,2667,3592,3400,3377,128.1,-14.4,121,671,0.00,2.15,0.00,0.000,1030,0.000,0.037,2667,2187,3388,3400,3377,0,0,0,0,0,0,28.83,14.83,28.83
$GC,855,-0.82,-126.5,2667,2186,3400,3377,157.2,-14.3,158,863,0.00,2.22,0.00,0.000,516,0.000,0.054,2667,812,3388,3400,3377,0,0,0,0,0,0,28.83,14.74,28.83
$GC,905,-0.82,-126.5,2667,812,3400,3377,164.7,-14.4,167,913,0.10,2.15,0.00,0.000,3078,0.297,0.041,2677,2202,3388,3400,3377,0,0,0,0,0,0,14.65,14.82,28.83
$GC,1094,-0.82,-126.5,2677,2202,3400,3376,190.7,-13.7,204,1102,0.00,2.25,0.00,0.000,516,0.000,0.055,2677,816,3388,3400,3376,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1118,-0.82,-126.5,2677,816,3400,3376,193.9,-13.6,208,1126,0.00,2.20,0.00,0.000,1030,0.000,0.041,2668,2196,3387,3400,3375,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1314,-0.82,-126.5,2668,2196,3400,3374,220.9,-13.8,231,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2196,3387,3400,3375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1614,-0.82,-126.5,2668,2196,3400,3371,262.9,-14.0,261,1618,0.00,2.28,0.00,0.000,260,0.000,0.063,2657,3606,3385,3400,3371,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1647,-0.82,-126.5,2658,3606,3400,3370,268.3,-15.0,268,1656,0.05,2.22,0.00,0.000,3078,0.242,0.037,2672,2195,3384,3399,3370,0,0,0,0,0,0,14.65,14.78,28.83
$GC,1956,-0.82,-126.5,2672,2194,3400,3365,310.2,-13.4,299,1965,0.00,2.20,0.00,0.000,516,0.000,0.057,2672,807,3382,3400,3365,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2020,-0.82,-126.5,2672,807,3400,3364,319.5,-13.2,312,2030,0.00,2.22,0.00,0.000,1030,0.000,0.045,2664,2191,3382,3400,3364,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2329,-0.82,-126.5,2664,2191,3400,3357,362.2,-14.3,339,2335,0.08,2.30,0.00,0.000,2308,0.332,0.063,2667,3611,3377,3399,3356,0,0,0,0,0,0,14.72,14.85,28.83
$GC,2356,-0.82,-126.5,2667,3611,3399,3357,366.4,-14.2,345,2360,0.00,2.17,0.00,0.000,1030,0.000,0.040,2667,2201,3378,3400,3357,0,0,0,0,0,0,28.83,14.89,28.83
$GC,2668,-0.82,-126.5,2667,2200,3400,3352,409.2,-13.9,362,2674,0.00,2.20,0.00,0.000,516,0.000,0.058,2667,813,3375,3399,3352,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2741,-0.82,-126.5,2666,813,3397,3352,420.0,-13.9,377,2750,0.08,2.25,0.00,0.000,3078,0.233,0.046,2679,2206,3374,3397,3352,0,0,0,0,0,0,14.64,14.78,28.83
$GC,3049,-0.82,-126.5,2679,2206,3395,3347,460.0,-13.1,393,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2206,3371,3395,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3349,-0.82,-126.5,2679,2206,3393,3345,499.4,-13.2,408,3355,0.00,2.22,0.00,0.000,516,0.000,0.060,2679,814,3369,3393,3345,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3409,-0.82,-126.5,2679,814,3391,3345,507.3,-12.6,420,3415,0.00,2.20,0.00,0.000,1030,0.000,0.047,2671,2207,3368,3392,3345,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3738,-0.82,-126.5,2671,2208,3389,3342,551.9,-13.6,436,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2208,3365,3389,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4038,-0.82,-126.5,2671,2209,3388,3340,591.8,-13.2,446,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2209,3364,3388,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4338,-0.82,-126.5,2671,2209,3386,3338,630.6,-12.9,456,4342,0.00,2.25,0.00,0.000,516,0.000,0.067,2671,817,3361,3385,3337,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4397,-0.82,-126.5,2671,817,3384,3337,638.7,-12.9,468,4403,0.05,2.25,0.00,0.000,3078,0.251,0.053,2675,2198,3361,3385,3337,0,0,0,0,0,0,14.67,14.84,28.83
$GC,4726,-0.82,-126.5,2676,2199,3383,3336,679.5,-12.5,483,4732,0.00,2.30,0.00,0.000,260,0.000,0.076,2667,3606,3359,3382,3336,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4756,-0.82,-126.5,2667,3606,3382,3336,683.3,-13.2,489,4762,0.00,2.20,0.00,0.000,1030,0.000,0.044,2667,2204,3359,3382,3336,0,0,0,0,0,0,28.83,14.91,28.83
$GC,5086,-0.82,-126.5,2667,2204,3379,3334,725.4,-12.7,505,5092,0.00,2.28,0.00,0.000,516,0.000,0.067,2667,803,3357,3380,3334,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5146,-0.82,-126.5,2666,803,3378,3334,733.2,-12.9,517,5152,0.10,2.25,0.00,0.000,3078,0.297,0.054,2676,2211,3356,3378,3334,0,0,0,0,0,0,14.69,14.88,28.83
$GC,5476,-0.82,-126.5,2676,2212,3378,3332,773.1,-12.0,533,5482,0.00,2.28,0.00,0.000,260,0.000,0.076,2668,3601,3355,3378,3332,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5498,-0.82,-126.5,2668,3601,3378,3332,776.1,-12.7,538,5507,0.03,2.25,0.00,0.000,3078,0.281,0.045,2674,2205,3355,3378,3332,0,0,0,0,0,0,14.64,14.81,28.83
$GC,5808,-0.82,-126.5,2674,2204,3378,3331,812.9,-12.1,549,5814,0.00,2.25,0.00,0.000,516,0.000,0.067,2674,809,3353,3377,3330,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5898,-0.82,-126.5,2674,809,3375,3330,824.4,-11.9,568,5903,0.00,2.28,0.00,0.000,1030,0.000,0.053,2665,2202,3353,3377,3330,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6226,-0.82,-126.5,2666,2202,3377,3328,864.4,-12.3,583,6227,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2202,3352,3376,3328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6527,-0.82,-126.5,2666,2202,3375,3327,901.7,-12.5,593,6533,0.00,2.28,0.00,0.000,516,0.000,0.069,2666,805,3351,3375,3327,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6558,-0.82,-126.5,2666,805,3375,3327,906.1,-12.7,600,6564,0.08,2.28,0.00,0.000,3078,0.254,0.054,2676,2193,3351,3375,3327,0,0,0,0,0,0,14.61,14.81,28.83
$GC,6887,-0.82,-126.5,2677,2194,3374,3326,944.3,-11.9,615,6893,0.00,2.25,0.00,0.000,516,0.000,0.069,2677,810,3349,3373,3325,0,0,0,0,0,0,28.83,14.80,28.83
$GC,6916,-0.82,-126.5,2676,810,3373,3326,948.0,-12.4,621,6922,0.00,2.22,0.00,0.000,1030,0.000,0.054,2669,2198,3349,3373,3326,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7247,-0.82,-126.5,2669,2198,3372,3324,988.4,-12.3,637,7248,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2198,3348,3372,3324,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7274,begin apogee
$GC,7278,-0.16,0.0,2669,2131,3372,3324,992.2,-12.4,638,7429,0.80,0.00,144.88,2.179,10246,0.272,0.000,2884,2130,2875,2918,2832,0,0,0,0,0,0,14.55,28.83,13.31
$STATE,7430,end apogee,CONTROL_FINISHED_OK
$STATE,7430,begin climb
$GC,7432,0.82,126.5,2884,2130,2914,2827,997.8,0.0,669,7548,1.08,0.00,111.10,2.267,10502,0.182,0.000,3200,2130,2356,2412,2301,0,0,0,0,0,0,14.00,28.83,13.26
$GC,7846,0.82,126.5,3200,2131,2395,2284,963.7,10.5,702,7852,0.00,2.35,0.00,0.000,516,0.000,0.080,3208,748,2340,2395,2285,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7884,0.82,126.5,3208,749,2395,2284,959.5,10.7,710,7888,0.00,2.30,0.00,0.000,1030,0.000,0.054,3208,2143,2340,2395,2285,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8206,0.82,126.5,3209,2143,2394,2283,925.2,10.7,724,8212,0.00,2.35,0.00,0.000,516,0.000,0.078,3216,748,2338,2394,2283,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8249,0.82,126.5,3217,748,2394,2283,920.2,11.2,733,8253,0.00,2.28,0.00,0.000,1030,0.000,0.053,3216,2142,2338,2394,2283,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8566,0.82,126.5,3216,2142,2393,2283,885.3,11.2,746,8572,0.00,2.33,0.00,0.000,516,0.000,0.076,3226,750,2338,2393,2283,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8634,0.82,126.5,3226,750,2393,2282,877.4,11.4,760,8638,0.00,2.30,0.00,0.000,1030,0.000,0.054,3226,2142,2337,2393,2282,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8955,0.82,126.5,3226,2141,2392,2282,840.9,11.3,774,8957,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2142,2337,2392,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9255,0.82,126.5,3226,2142,2391,2281,807.9,10.8,784,9260,0.00,2.33,0.00,0.000,516,0.000,0.078,3233,746,2336,2392,2281,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9343,0.82,126.5,3233,746,2391,2281,798.4,11.1,801,9349,0.00,2.25,0.00,0.000,1030,0.000,0.053,3233,2141,2336,2391,2281,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9673,0.82,126.5,3233,2141,2391,2280,762.4,10.9,817,9677,0.00,2.33,0.00,0.000,516,0.000,0.077,3240,750,2335,2391,2280,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9747,0.82,126.5,3240,751,2391,2280,753.9,11.1,832,9751,0.00,2.25,0.00,0.000,1030,0.000,0.052,3240,2143,2335,2391,2280,0,0,0,0,0,0,28.83,14.82,28.83
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$GC,15969,0.96,239.3,3265,2143,2222,2109,134.9,5.9,1380,16031,0.00,2.38,54.15,1.234,8452,0.000,0.070,3265,3545,1882,1940,1824,0,0,0,0,0,0,28.83,14.42,13.88
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$STATE,18147,end climb,NO_VERTICAL_VELOCITY
$STATE,18147,begin surface
$SM_CCo,18412,1.60,0.161,0,0,509,579.63
$SM_GC,4.77,9.65,0.10,1.60,0.101,0.144,0.161,197,2228,509,-8.58,-1.22,579.63,0,0,0,0,0,0,14.76,14.80,14.71
$IRIDIUM_FIX,1751.90,8921.45,060708,202009
$TT8_MAMPS,0.018725,0.018725
$HUMID,42.51
$INTERNAL_PRESSURE,6.7776
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,13.3,31.038
$10V_AH,12.9,0.000
$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,23.600,173.125,546.900,1.600,0.000,165.838,25.957,0.000,0.000,0.000,301.680,3695.318,11053.048,660.804,3686.110,208.295,0.000,2141.966,0.000,2611.898,0.000,0.555,0.000
$DEVICE_MAMPS,361.080,169.830,2266.695,160.650,0.000,29.840,160.000,0.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1001.367,688.941,1741.727,1065.066,0.000,0.000,0.000,0.000,0.000,0.000
$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,144082,1784
$CAP_FILE_SIZE,186993,0
$CFSIZE,2097086464,2079555584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.012, 19.5,1
$GPS,100915,065035,1759.653,8918.934,301,99.0,301,-0.9