version: 66.11
glider: 615
mission: 5
dive: 56
start: 9 13 115 14 37 11
data:
$ID,615
$MISSION,5
$DIVE,56
$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,-16465.924
$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,55
$R_STBD_OVSHOOT,67
$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,3.37
$_SM_ANGLEo,-72.3
$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,-126.5,193,2228,562,491,0.0,0.0,0,25,0.00,0.00,-8.57,0.000,16386,0.000,0.000,193,2229,775,801,750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,27,-0.82,-126.5,193,2228,801,746,3.1,0.0,1,118,10.05,2.17,-73.40,0.000,18692,0.337,0.077,2664,3583,3389,3402,3376,0,0,0,0,0,0,14.56,14.77,14.97
$GC,195,-0.82,-126.5,2664,3583,3402,3376,39.8,-33.8,30,203,0.03,2.17,0.00,0.000,3078,0.320,0.037,2670,2197,3388,3402,3375,0,0,0,0,0,0,14.57,14.75,28.83
$GC,387,-0.82,-126.5,2670,2195,3402,3375,78.9,-16.5,67,393,0.00,2.17,0.00,0.000,516,0.000,0.053,2670,815,3388,3402,3375,0,0,0,0,0,0,28.83,14.78,28.83
$GC,414,-0.82,-126.5,2670,814,3402,3375,83.9,-17.8,72,422,0.05,2.17,0.00,0.000,3078,0.285,0.042,2675,2175,3388,3402,3375,0,0,0,0,0,0,14.57,14.73,28.83
$GC,606,-0.82,-126.5,2675,2175,3403,3375,113.3,-14.9,109,613,0.00,2.28,0.00,0.000,260,0.000,0.059,2665,3605,3388,3402,3375,0,0,0,0,0,0,28.83,14.80,28.83
$GC,671,-0.82,-126.5,2665,3605,3402,3375,123.0,-14.9,121,679,0.00,2.15,0.00,0.000,1030,0.000,0.036,2666,2198,3388,3402,3375,0,0,0,0,0,0,28.83,14.84,28.83
$GC,862,-0.82,-126.5,2666,2199,3402,3374,151.3,-15.0,158,869,0.00,2.22,0.00,0.000,516,0.000,0.054,2665,820,3388,3402,3374,0,0,0,0,0,0,28.83,14.74,28.83
$GC,915,-0.82,-126.5,2665,820,3402,3374,159.5,-15.3,168,923,0.05,2.20,0.00,0.000,3078,0.267,0.041,2670,2204,3388,3402,3374,0,0,0,0,0,0,14.62,14.76,28.83
$GC,1106,-0.82,-126.5,2670,2204,3402,3372,186.5,-13.8,205,1114,0.00,2.20,0.00,0.000,516,0.000,0.054,2670,812,3387,3402,3373,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1140,-0.82,-126.5,1696,811,3387,3370,191.2,-13.3,211,1148,0.08,2.15,0.00,0.000,3078,0.324,0.040,2674,2200,3387,3402,3372,0,0,0,0,0,0,14.65,14.83,28.83
$GC,1330,-0.82,-126.5,2674,2200,3401,3371,216.1,-13.3,236,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2200,3387,3402,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1632,-0.82,-126.5,2674,2200,3401,3368,256.8,-14.1,266,1641,0.00,2.20,0.00,0.000,260,0.000,0.064,2665,3590,3384,3401,3367,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1675,-0.82,-126.5,1792,3589,3389,3365,263.6,-14.8,275,1683,0.00,2.17,0.00,0.000,1030,0.000,0.038,2665,2210,3383,3401,3366,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1982,-0.82,-126.5,2665,2209,3401,3361,307.3,-14.2,306,1986,0.00,2.22,0.00,0.000,516,0.000,0.057,2665,806,3381,3402,3360,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2052,-0.82,-126.5,2665,806,3401,3360,317.2,-14.3,319,2056,0.08,2.15,0.00,0.000,3078,0.238,0.044,2677,2190,3380,3401,3360,0,0,0,0,0,0,14.69,14.85,28.83
$GC,2374,-0.82,-126.5,2677,2191,3401,3353,360.7,-13.4,348,2375,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2190,3377,3401,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2674,-0.82,-126.5,2677,2191,3398,3351,400.4,-13.1,363,2680,0.00,2.20,0.00,0.000,516,0.000,0.060,2677,810,3373,3397,3350,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2714,-0.82,-126.5,2677,810,3397,3350,405.7,-12.8,371,2720,0.00,2.20,0.00,0.000,1030,0.000,0.048,2669,2205,3373,3397,3350,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3034,-0.82,-126.5,2669,2205,3395,3346,448.5,-13.4,390,3035,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2205,3370,3395,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3334,-0.82,-126.5,2669,2205,3393,3343,488.0,-13.1,405,3340,0.00,2.25,0.00,0.000,516,0.000,0.062,2669,805,3367,3392,3343,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3366,-0.82,-126.5,2669,804,3392,3343,492.8,-13.5,412,3375,0.05,2.28,0.00,0.000,3078,0.262,0.050,2673,2197,3367,3391,3343,0,0,0,0,0,0,14.62,14.78,28.83
$GC,3673,-0.82,-126.5,2674,2197,3389,3340,531.7,-12.8,424,3677,0.00,2.30,0.00,0.000,260,0.000,0.072,2664,3612,3364,3389,3340,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3700,-0.82,-126.5,2664,3612,3389,3340,535.1,-12.7,429,3704,0.05,2.22,0.00,0.000,3078,0.335,0.044,2675,2194,3364,3389,3340,0,0,0,0,0,0,14.73,14.90,28.83
$GC,4032,-0.82,-126.5,2675,2193,3387,3337,576.4,-12.4,445,4038,0.00,2.25,0.00,0.000,516,0.000,0.066,2676,805,3362,3387,3337,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4110,-0.82,-126.5,2675,805,3385,3338,586.3,-12.4,461,4114,0.00,2.22,0.00,0.000,1030,0.000,0.052,2667,2201,3361,3385,3337,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4422,-0.82,-126.5,2667,2202,3384,3336,626.1,-13.1,473,4428,0.00,2.30,0.00,0.000,260,0.000,0.077,2657,3606,3359,3383,3336,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4460,-0.82,-126.5,2656,3606,3383,3336,631.5,-12.9,481,4465,0.10,2.20,0.00,0.000,3078,0.270,0.045,2677,2203,3360,3384,3336,0,0,0,0,0,0,14.71,14.90,28.83
$GC,4783,-0.82,-126.5,2677,2202,3381,3333,671.2,-12.4,495,4789,0.00,2.28,0.00,0.000,516,0.000,0.067,2677,802,3356,3380,3333,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4851,-0.82,-126.5,2677,802,3380,3333,680.0,-12.2,509,4855,0.00,2.25,0.00,0.000,1030,0.000,0.052,2669,2211,3357,3380,3334,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5174,-0.82,-126.5,2669,2211,3378,3332,721.7,-13.2,523,5180,0.00,2.30,0.00,0.000,516,0.000,0.067,2669,801,3355,3378,3332,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5226,-0.82,-126.5,2668,800,3378,3332,729.1,-13.0,534,5235,0.05,2.30,0.00,0.000,3078,0.249,0.053,2672,2200,3355,3378,3332,0,0,0,0,0,0,14.60,14.77,28.83
$GC,5534,-0.82,-126.5,2672,2201,3377,3330,768.0,-12.6,545,5535,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2201,3353,3378,3328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5834,-0.82,-126.5,2672,2201,3377,3328,805.2,-12.4,555,5840,0.00,2.28,0.00,0.000,516,0.000,0.069,2671,809,3352,3377,3328,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5886,-0.82,-126.5,2672,809,3377,3328,812.2,-12.2,566,5895,0.00,2.28,0.00,0.000,1030,0.000,0.054,2664,2193,3352,3377,3328,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6194,-0.82,-126.5,2664,2194,3376,3326,850.8,-12.8,577,6195,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2194,3351,3376,3327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6494,-0.82,-126.5,2664,2194,3374,3325,889.2,-12.8,587,6496,0.08,0.00,0.00,0.000,2054,0.348,0.000,2675,2194,3349,3375,3324,0,0,0,0,0,0,14.71,28.83,28.83
$GC,6794,-0.82,-126.5,2675,2194,3374,3323,925.0,-11.7,597,6800,0.00,2.28,0.00,0.000,516,0.000,0.070,2675,806,3348,3373,3323,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6836,-0.82,-126.5,2675,806,3373,3323,930.4,-11.7,606,6841,0.00,2.25,0.00,0.000,1030,0.000,0.055,2667,2204,3347,3371,3323,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7154,-0.82,-126.5,2667,2204,3371,3322,967.8,-11.8,619,7155,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2204,3346,3371,3322,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7362,begin apogee
$GC,7366,-0.16,0.0,2667,2137,3370,3321,992.2,-11.5,626,7484,0.80,0.00,111.20,2.383,10246,0.272,0.000,2885,2137,2867,2911,2823,0,0,0,0,0,0,14.53,28.83,13.21
$STATE,7486,end apogee,CONTROL_FINISHED_OK
$STATE,7486,begin climb
$GC,7487,0.82,126.5,2885,2137,2908,2820,995.8,0.0,650,7609,1.08,2.50,113.53,2.531,10500,0.188,0.073,3202,3547,2348,2403,2293,0,0,0,0,0,0,14.02,13.95,13.24
$GC,7669,0.82,126.5,3201,3547,2397,2284,983.6,11.4,687,7674,0.00,2.35,0.00,0.000,1030,0.000,0.050,3208,2154,2340,2397,2284,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7992,0.82,126.5,3208,2153,2397,2281,947.9,11.2,701,7998,0.00,2.40,0.00,0.000,516,0.000,0.080,3219,736,2339,2397,2281,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8145,0.82,126.5,3219,735,2396,2281,930.8,10.9,732,8150,0.00,2.33,0.00,0.000,1030,0.000,0.054,3219,2131,2338,2396,2281,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8473,0.82,126.5,3219,2131,2394,2280,895.7,10.7,747,8474,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2131,2337,2394,2280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8774,0.82,126.5,3219,2131,2394,2279,863.7,10.6,757,8778,0.00,2.35,0.00,0.000,516,0.000,0.080,3228,735,2336,2394,2279,0,0,0,0,0,0,28.83,14.72,28.83
$GC,8835,0.82,126.5,3228,735,2394,2279,856.9,11.1,769,8841,0.00,2.30,0.00,0.000,1030,0.000,0.054,3228,2152,2336,2394,2279,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9165,0.82,126.5,3228,2152,2393,2278,821.4,10.8,785,9169,0.00,2.38,0.00,0.000,516,0.000,0.079,3238,735,2335,2393,2278,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9229,0.82,126.5,3238,735,2393,2278,813.9,11.4,798,9234,0.00,2.33,0.00,0.000,1030,0.000,0.054,3238,2140,2336,2393,2279,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9557,0.82,126.5,3238,2140,2392,2278,778.0,11.1,813,9561,0.00,2.35,0.00,0.000,516,0.000,0.079,3247,736,2335,2392,2278,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9596,0.82,126.5,3247,736,2392,2278,773.3,11.5,821,9600,0.00,2.28,0.00,0.000,1030,0.000,0.053,3247,2142,2335,2392,2278,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9919,0.82,126.5,3247,2142,2391,2277,737.9,10.9,835,9925,0.00,2.35,0.00,0.000,516,0.000,0.079,3254,733,2335,2392,2278,0,0,0,0,0,0,28.83,14.78,28.83
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$STATE,18356,end climb,NO_VERTICAL_VELOCITY
$STATE,18356,begin surface
$SM_CCo,18624,1.60,0.160,0,0,510,579.63
$SM_GC,5.49,10.02,2.17,1.60,0.112,0.035,0.160,194,2186,510,-8.58,1.22,579.63,0,0,0,0,0,0,14.76,14.83,14.71
$IRIDIUM_FIX,1751.90,8921.45,060708,202009
$TT8_MAMPS,0.018725,0.018725
$HUMID,42.55
$INTERNAL_PRESSURE,6.7776
$TCM_TEMP,25.90
$XPDR_PINGS,3
$24V_AH,13.2,31.376
$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
$DEVICE_SECS,23.700,187.725,527.175,1.600,0.000,166.264,26.186,0.000,0.750,0.000,301.656,3834.864,11000.186,658.344,3802.719,226.957,0.000,2183.138,0.000,2704.114,0.000,0.556,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1036.073,716.598,1808.353,1105.930,0.000,0.000,0.000,0.000,0.000,0.000
$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,150732,1848
$CAP_FILE_SIZE,196763,0
$CFSIZE,2097086464,2078932992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.012, 19.7,1
$GPS,100915,065035,1759.653,8918.934,301,99.0,301,-0.9