version: 66.11
glider: 615
mission: 5
dive: 265
start: 10 26 115 22 11 53
data:
$ID,615
$MISSION,5
$DIVE,265
$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,700
$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,-19315.75
$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,42
$R_STBD_OVSHOOT,54
$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,49
$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
$GPS1,261015,220351,1804.262,8933.273,35,1.0,35,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.6
$GPS2,261015,221127,1804.296,8933.220,6,0.9,6,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,NE
$TGT_LATLONG,1806.660,8933.540
$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,21.6,4414,-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,-126.5,190,2220,544,488,0.0,0.0,0,64,0.00,0.00,-47.08,0.000,16386,0.000,0.000,190,2219,1836,1835,1837,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.82,-126.5,189,2219,1835,1836,3.3,-7.4,7,119,10.95,2.30,-32.22,0.000,18692,0.355,0.077,2665,3591,3388,3403,3374,0,0,0,0,0,0,14.14,14.50,14.77
$GC,162,-0.82,-126.5,2666,3592,3403,3373,34.2,-40.9,23,168,0.00,2.25,0.00,0.000,1030,0.000,0.039,2665,2187,3388,3403,3374,0,0,0,0,0,0,28.83,14.56,28.83
$GC,352,-0.82,-126.5,2665,2184,3404,3374,92.1,-23.3,60,360,0.00,2.30,0.00,0.000,516,0.000,0.054,2666,804,3388,3403,3374,0,0,0,0,0,0,28.83,14.46,28.83
$GC,537,-0.82,-126.5,2665,804,3404,3376,123.2,-13.8,96,545,0.08,2.28,0.00,0.000,3078,0.234,0.042,2685,2194,3390,3404,3376,0,0,0,0,0,0,14.34,14.52,28.83
$GC,728,-0.82,-126.5,2685,2194,3404,3377,150.4,-15.0,133,736,0.00,2.30,0.00,0.000,260,0.000,0.060,2676,3604,3390,3404,3377,0,0,0,0,0,0,28.83,14.61,28.83
$GC,794,-0.82,-126.5,2676,3604,3404,3377,160.0,-13.6,145,801,0.00,2.22,0.00,0.000,1030,0.000,0.036,2676,2184,3390,3404,3377,0,0,0,0,0,0,28.83,14.69,28.83
$GC,985,-0.82,-126.5,2676,2184,3404,3377,186.8,-13.6,182,992,0.00,2.28,0.00,0.000,516,0.000,0.055,2676,813,3390,3404,3377,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1075,-0.82,-126.5,1696,813,3391,3375,198.9,-13.0,199,1081,0.00,2.20,0.00,0.000,1030,0.000,0.042,2666,2200,3390,3404,3377,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1269,-0.82,-126.5,2666,2200,3404,3377,227.6,-15.7,219,1273,0.00,2.30,0.00,0.000,260,0.000,0.060,2656,3603,3390,3404,3377,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1311,-0.82,-126.5,2656,3603,3404,3377,234.4,-15.8,227,1321,0.10,2.20,0.00,0.000,3078,0.258,0.036,2677,2194,3389,3403,3376,0,0,0,0,0,0,14.46,14.72,28.83
$GC,1622,-0.82,-126.5,2677,2193,3404,3373,279.6,-14.5,259,1631,0.00,2.20,0.00,0.000,516,0.000,0.056,2677,815,3389,3405,3373,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1707,-0.82,-126.5,2676,815,3404,3373,292.2,-13.8,276,1715,0.00,2.28,0.00,0.000,1030,0.000,0.046,2669,2198,3388,3404,3372,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2015,-0.82,-126.5,2668,2198,3404,3370,335.5,-14.3,307,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2198,3387,3404,3370,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2315,-0.82,-126.5,2668,2199,3403,3365,379.3,-14.7,327,2321,0.00,2.25,0.00,0.000,516,0.000,0.063,2668,820,3384,3404,3365,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2348,-0.82,-126.5,2668,820,3403,3365,384.6,-14.7,334,2357,0.05,2.30,0.00,0.000,3078,0.229,0.050,2674,2200,3384,3404,3364,0,0,0,0,0,0,14.31,14.51,28.83
$GC,2656,-0.82,-126.5,2674,2200,3403,3360,428.3,-14.2,350,2662,0.00,2.33,0.00,0.000,260,0.000,0.073,2665,3607,3381,3403,3360,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2678,-0.82,-126.5,2665,3607,3403,3360,431.8,-14.9,355,2682,0.00,2.25,0.00,0.000,1030,0.000,0.041,2665,2220,3381,3403,3359,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2996,-0.82,-126.5,2665,2220,3403,3355,478.7,-15.0,373,3002,0.00,2.33,0.00,0.000,516,0.000,0.065,2665,804,3379,3403,3355,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3089,-0.82,-126.5,2665,804,3403,3354,492.7,-14.6,392,3098,0.08,2.35,0.00,0.000,3078,0.230,0.057,2676,2193,3378,3403,3353,0,0,0,0,0,0,14.25,14.48,28.83
$GC,3396,-0.82,-126.5,2676,2193,3403,3351,536.6,-14.4,404,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2193,3377,3403,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3696,-0.82,-126.5,2676,2194,3402,3348,579.0,-14.0,414,3702,0.00,2.30,0.00,0.000,516,0.000,0.069,2676,810,3374,3402,3347,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3734,-0.82,-126.5,2676,810,3401,3347,584.5,-13.7,422,3739,0.00,2.28,0.00,0.000,1030,0.000,0.054,2668,2211,3374,3402,3347,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4052,-0.82,-126.5,2668,2211,3401,3345,627.5,-13.5,435,4053,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2211,3373,3401,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4352,-0.82,-126.5,2668,2211,3399,3344,666.7,-13.0,445,4358,0.00,2.33,0.00,0.000,516,0.000,0.067,2668,808,3371,3399,3344,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4414,-0.82,-126.5,2668,807,3399,3344,675.1,-12.7,458,4419,0.03,2.30,0.00,0.000,3078,0.269,0.054,2666,2197,3371,3398,3344,0,0,0,0,0,0,14.42,14.58,28.83
$GC,4742,-0.82,-126.5,2666,2197,3397,3342,717.1,-12.8,473,4748,0.00,2.33,0.00,0.000,516,0.000,0.067,2666,799,3369,3397,3342,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4764,-0.82,-126.5,2666,799,3397,3342,720.5,-13.4,478,4772,0.05,2.35,0.00,0.000,3078,0.249,0.053,2672,2199,3369,3397,3342,0,0,0,0,0,0,14.25,14.48,28.83
$GC,5072,-0.82,-126.5,2672,2200,3396,3340,760.1,-13.3,489,5078,0.00,2.33,0.00,0.000,260,0.000,0.075,2664,3599,3368,3396,3340,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5139,-0.82,-126.5,2664,3600,3395,3340,769.4,-13.0,503,5144,0.08,2.25,0.00,0.000,3078,0.290,0.043,2677,2201,3367,3395,3339,0,0,0,0,0,0,14.49,14.73,28.83
$GC,5462,-0.82,-126.5,2677,2201,3394,3338,811.5,-13.3,517,5468,0.00,2.33,0.00,0.000,516,0.000,0.070,2676,800,3366,3394,3338,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5601,-0.82,-126.5,2677,800,3393,3338,829.9,-13.2,545,5605,0.00,2.30,0.00,0.000,1030,0.000,0.054,2669,2203,3365,3393,3338,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5913,-0.82,-126.5,2669,2203,3393,3337,871.1,-13.3,557,5917,0.00,2.35,0.00,0.000,516,0.000,0.069,2669,797,3365,3394,3337,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5927,-0.82,-126.5,2668,798,3393,3337,873.4,-13.2,560,5932,0.10,2.30,0.00,0.000,3078,0.286,0.055,2679,2207,3364,3393,3336,0,0,0,0,0,0,14.39,14.66,28.83
$GC,6239,-0.82,-126.5,2679,2207,3392,3336,912.5,-12.5,572,6245,0.00,2.35,0.00,0.000,260,0.000,0.076,2670,3604,3364,3392,3336,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6268,-0.82,-126.5,2670,3604,3391,3336,916.3,-13.1,578,6273,0.00,2.28,0.00,0.000,1030,0.000,0.044,2670,2196,3363,3391,3336,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6596,-0.82,-126.5,2670,2194,3390,3335,957.3,-12.4,593,6602,0.00,2.30,0.00,0.000,516,0.000,0.070,2670,803,3362,3389,3335,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6686,-0.82,-126.5,2670,803,3389,3334,968.7,-12.4,611,6692,0.08,2.30,0.00,0.000,3078,0.327,0.055,2674,2209,3362,3389,3335,0,0,0,0,0,0,14.40,14.64,28.83
$STATE,6863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6864,begin apogee
$GC,6868,-0.16,0.0,2674,2132,3389,3334,990.8,-12.4,622,6986,0.82,0.00,110.10,2.368,10246,0.285,0.000,2883,2130,2866,2914,2819,0,0,0,0,0,0,14.12,28.83,13.06
$STATE,6987,end apogee,CONTROL_FINISHED_OK
$STATE,6988,begin climb
$GC,6989,0.82,126.5,2884,2130,2913,2816,995.9,0.0,646,7106,1.12,0.00,112.82,2.372,10758,0.205,0.000,3201,2130,2355,2414,2297,0,0,0,0,0,0,13.96,28.83,12.97
$GC,7406,0.82,126.5,3201,2130,2403,2284,966.1,9.4,670,7412,0.00,2.40,0.00,0.000,516,0.000,0.084,3207,745,2343,2403,2284,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7453,0.82,126.5,3207,745,2403,2284,961.4,9.4,680,7457,0.00,2.30,0.00,0.000,1030,0.000,0.055,3203,2136,2343,2403,2284,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7765,0.83,131.3,3203,2136,2403,2283,933.1,8.9,692,7771,0.00,2.38,0.00,0.000,516,0.000,0.083,3211,746,2342,2402,2283,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7848,0.83,133.8,3211,746,2403,2284,925.3,9.0,709,7856,0.00,2.30,2.17,0.399,9222,0.000,0.054,3207,2140,2326,2386,2266,0,0,0,0,0,0,28.83,14.59,13.26
$GC,8156,0.83,133.8,3207,2140,2401,2280,896.7,9.5,720,8163,0.00,2.42,1.65,0.183,8708,0.000,0.083,3212,756,2329,2389,2269,0,0,0,0,0,0,28.83,14.47,14.44
$GC,8203,0.83,133.8,3212,755,2397,2280,891.8,9.9,730,8210,0.00,2.28,1.58,0.188,9222,0.000,0.054,3207,2141,2326,2386,2267,0,0,0,0,0,0,28.83,14.63,14.45
$GC,8511,0.83,133.8,3207,2141,2399,2279,862.2,9.6,741,8518,0.00,2.40,1.48,0.186,8452,0.000,0.073,3207,3540,2328,2388,2269,0,0,0,0,0,0,28.83,14.53,14.45
$GC,8594,0.83,133.8,3208,3541,2394,2280,853.2,10.5,758,8603,0.00,2.35,1.38,0.171,9222,0.000,0.050,3215,2151,2327,2387,2268,0,0,0,0,0,0,28.83,14.47,14.50
$GC,8902,0.83,133.8,3215,2152,2396,2277,822.6,10.1,769,8909,0.00,2.40,1.15,0.198,8708,0.000,0.082,3225,738,2330,2390,2270,0,0,0,0,0,0,28.83,14.47,14.42
$GC,9085,0.83,133.8,3226,739,2395,2277,804.5,9.8,806,9089,0.00,2.30,0.00,0.000,1030,0.000,0.052,3219,2142,2336,2395,2278,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9413,0.83,133.8,3219,2143,2394,2277,774.0,9.3,821,9414,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2143,2335,2394,2277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9713,0.85,144.6,3219,2143,2394,2277,747.2,8.6,831,9735,0.00,2.45,14.05,1.891,8708,0.000,0.081,3228,736,2274,2333,2216,0,0,0,0,0,0,28.83,14.64,13.74
$GC,9751,0.85,147.6,3228,736,2332,2215,743.6,9.0,839,9755,0.00,2.30,0.00,0.000,1030,0.000,0.052,3228,2141,2273,2332,2215,0,0,0,0,0,0,28.83,14.64,28.83
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$STATE,17325,end climb,SURFACE_DEPTH_REACHED
$STATE,17325,begin surface coast
$FINISH,0.3,1.010616
$STATE,17346,end surface coast,CONTROL_FINISHED_OK
$STATE,17346,begin surface
$SM_CCo,17363,15.88,0.134,0,0,508,579.63
$SM_CCo,17381,-0.10,0.000,0,0,511,579.63
$SM_CCo,17385,0.38,0.345,0,0,508,579.63
$SM_GC,2.88,8.95,0.10,0.38,0.054,0.148,0.345,178,2253,508,-8.59,-0.96,579.63,0,0,0,0,0,0,14.61,14.57,14.43
$IRIDIUM_FIX,1756.43,8932.79,220808,060603
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.00
$INTERNAL_PRESSURE,6.67018
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,13.0,98.022
$10V_AH,12.0,0.000
$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
$DEVICE_SECS,23.075,181.750,512.525,16.250,0.000,23.598,42.662,262.729,0.000,0.000,6.770,3434.318,10138.195,668.000,3380.810,208.591,0.000,2085.867,0.000,2511.258,0.000,0.553,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,920.456,614.393,1599.832,977.557,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322268
$DATA_FILE_SIZE,137454,1714
$CAP_FILE_SIZE,183085,0
$CFSIZE,2097086464,2050949120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.026,186.9,1
$GPS,271015,030251,1805.591,8933.709,34,1.1,34,-0.9