version: 66.11
glider: 615
mission: 5
dive: 283
start: 10 30 115 18 21 58
data:
$ID,615
$MISSION,5
$DIVE,283
$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,-19339.043
$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,37
$R_STBD_OVSHOOT,65
$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,10.5
$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
$GPS1,301015,180403,1800.778,8927.610,25,1.0,25,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-64.3
$GPS2,301015,182132,1800.787,8927.515,4,1.2,4,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,SE
$TGT_LATLONG,1755.320,8933.540
$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,158.4,14671,-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,-126.5,140,2238,557,485,0.0,0.0,0,68,0.00,0.00,-50.72,0.000,16386,0.000,0.000,139,2237,1899,1894,1904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.82,-126.5,139,2238,1895,1904,3.1,-6.3,8,123,10.75,2.38,-33.58,0.000,18948,0.337,0.073,2676,788,3390,3404,3376,0,0,0,0,0,0,14.16,14.53,14.80
$GC,182,-0.82,-126.5,2676,788,3405,3376,37.7,-41.4,27,189,0.00,2.25,0.00,0.000,1030,0.000,0.051,2667,2173,3390,3404,3376,0,0,0,0,0,0,28.83,14.55,28.83
$GC,372,-0.82,-126.5,1672,2172,3390,3373,90.5,-21.3,64,379,0.00,2.38,0.00,0.000,260,0.000,0.060,2657,3610,3389,3404,3375,0,0,0,0,0,0,28.83,14.56,28.83
$GC,472,-0.82,-126.5,1664,3609,3390,3374,107.9,-16.6,83,479,0.10,2.25,0.00,0.000,3078,0.270,0.037,2676,2191,3390,3405,3376,0,0,0,0,0,0,14.40,14.66,28.83
$GC,663,-0.82,-126.5,2677,2191,3404,3377,135.5,-12.7,120,671,0.00,2.30,0.00,0.000,516,0.000,0.056,2676,809,3390,3405,3376,0,0,0,0,0,0,28.83,14.52,28.83
$GC,758,-0.82,-126.5,2676,809,3405,3377,147.6,-12.3,138,765,0.00,2.30,0.00,0.000,1030,0.000,0.044,2668,2214,3390,3404,3376,0,0,0,0,0,0,28.83,14.56,28.83
$GC,950,-0.82,-126.5,2668,2214,3404,3377,173.7,-13.1,175,956,0.00,2.28,0.00,0.000,260,0.000,0.060,2657,3610,3390,3404,3376,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1038,-0.82,-126.5,2658,3610,3404,3376,185.2,-12.4,192,1046,0.05,2.30,0.00,0.000,3078,0.232,0.036,2683,2188,3390,3404,3376,0,0,0,0,0,0,14.40,14.61,28.83
$GC,1235,-0.82,-126.5,2683,2188,3404,3374,209.7,-13.3,223,1244,0.00,2.22,0.00,0.000,516,0.000,0.057,2683,809,3388,3403,3374,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1280,-0.82,-126.5,2683,809,3404,3374,216.5,-14.0,232,1288,0.00,2.28,0.00,0.000,1030,0.000,0.045,2675,2199,3389,3404,3374,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1589,-0.82,-126.5,2675,2199,3404,3371,259.4,-14.4,263,1598,0.00,2.22,0.00,0.000,516,0.000,0.057,2675,817,3387,3404,3371,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1634,-0.82,-126.5,2675,817,3404,3371,266.2,-13.8,272,1642,0.00,2.28,0.00,0.000,1030,0.000,0.046,2665,2197,3387,3404,3370,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1942,-0.82,-126.5,2665,2198,3404,3365,311.3,-14.8,303,1944,0.05,0.00,0.00,0.000,2054,0.373,0.000,2675,2197,3384,3404,3365,0,0,0,0,0,0,14.65,28.83,28.83
$GC,2242,-0.82,-126.5,2675,2197,3404,3360,353.4,-14.0,332,2248,0.00,2.25,0.00,0.000,516,0.000,0.061,2675,813,3381,3404,3359,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2274,-0.82,-126.5,2675,813,3403,3359,358.4,-14.1,339,2282,0.00,2.30,0.00,0.000,1030,0.000,0.048,2667,2197,3381,3404,3359,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2582,-0.82,-126.5,2667,2197,3403,3353,402.6,-14.5,355,2583,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2197,3378,3403,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2882,-0.82,-126.5,2667,2197,3403,3349,447.2,-15.1,370,2888,0.00,2.25,0.00,0.000,516,0.000,0.066,2667,820,3376,3403,3349,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2942,-0.82,-126.5,2667,820,3402,3349,456.3,-14.9,382,2949,0.10,2.25,0.00,0.000,3078,0.290,0.054,2677,2207,3375,3402,3349,0,0,0,0,0,0,14.44,14.69,28.83
$GC,3262,-0.82,-126.5,2677,2207,3400,3345,502.3,-14.3,401,3268,0.00,2.30,0.00,0.000,516,0.000,0.066,2677,816,3373,3401,3346,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3300,-0.82,-126.5,2676,816,3400,3346,508.3,-14.3,409,3304,0.00,2.25,0.00,0.000,1030,0.000,0.051,2669,2203,3372,3400,3345,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3622,-0.82,-126.5,2669,2203,3398,3343,555.1,-14.4,423,3628,0.00,2.30,0.00,0.000,516,0.000,0.067,2669,807,3370,3397,3343,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3660,-0.82,-126.5,2669,807,3398,3343,561.1,-15.1,431,3665,0.10,2.25,0.00,0.000,3078,0.285,0.052,2679,2200,3370,3397,3343,0,0,0,0,0,0,14.44,14.69,28.83
$GC,3977,-0.82,-126.5,2679,2200,3395,3341,602.9,-13.1,444,3983,0.00,2.28,0.00,0.000,516,0.000,0.067,2679,818,3368,3396,3341,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4001,-0.82,-126.5,2678,818,3395,3341,606.4,-14.1,449,4008,0.00,2.25,0.00,0.000,1030,0.000,0.053,2671,2203,3367,3395,3340,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4307,-0.82,-126.5,2671,2203,3394,3339,648.4,-13.8,460,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2203,3366,3394,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4608,-0.82,-126.5,2671,2203,3393,3337,690.7,-14.3,470,4614,0.00,2.30,0.00,0.000,516,0.000,0.067,2671,817,3365,3393,3337,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4660,-0.82,-126.5,2671,818,3393,3337,698.6,-14.2,481,4668,0.08,2.25,0.00,0.000,3078,0.317,0.054,2674,2199,3365,3393,3337,0,0,0,0,0,0,14.46,14.69,28.83
$GC,4968,-0.82,-126.5,2674,2199,3390,3336,738.1,-12.7,492,4974,0.00,2.30,0.00,0.000,516,0.000,0.067,2674,816,3363,3391,3336,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5000,-0.82,-126.5,2674,816,3390,3336,742.7,-13.2,499,5004,0.00,2.25,0.00,0.000,1030,0.000,0.054,2666,2199,3363,3390,3336,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5328,-0.82,-126.5,2667,2199,3389,3334,784.6,-12.7,514,5334,0.00,2.30,0.00,0.000,516,0.000,0.066,2667,814,3361,3389,3334,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5370,-0.82,-126.5,2667,814,3389,3334,790.4,-12.6,523,5375,0.10,2.25,0.00,0.000,3078,0.286,0.054,2677,2199,3361,3389,3334,0,0,0,0,0,0,14.41,14.67,28.83
$GC,5684,-0.82,-126.5,2676,2199,3388,3333,828.0,-12.2,535,5689,0.00,2.28,0.00,0.000,516,0.000,0.068,2677,813,3360,3388,3333,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5720,-0.82,-126.5,2677,813,3388,3333,832.9,-12.4,543,5724,0.00,2.28,0.00,0.000,1030,0.000,0.054,2670,2205,3360,3388,3333,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6044,-0.82,-126.5,2670,2205,3387,3332,874.2,-13.0,557,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2205,3359,3387,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6343,-0.82,-126.5,2670,2205,3386,3330,913.1,-12.8,567,6349,0.00,2.30,0.00,0.000,516,0.000,0.070,2670,819,3357,3385,3329,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6386,-0.82,-126.5,2670,818,3385,3329,918.8,-12.4,576,6390,0.00,2.28,0.00,0.000,1030,0.000,0.055,2665,2207,3357,3385,3329,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6697,-0.82,-126.5,2665,2208,3383,3328,957.3,-12.5,588,6703,0.00,2.33,0.00,0.000,516,0.000,0.070,2666,819,3355,3383,3328,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6766,-0.82,-126.5,2665,819,3383,3328,966.1,-12.2,602,6770,0.10,2.28,0.00,0.000,3078,0.300,0.055,2677,2202,3355,3383,3328,0,0,0,0,0,0,14.35,14.64,28.83
$STATE,6997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6997,begin apogee
$GC,7001,-0.16,0.0,2677,2202,3382,3327,992.6,-11.5,613,7113,0.82,0.05,105.65,2.381,10246,0.299,0.233,2885,2166,2871,2920,2823,0,0,0,0,0,0,14.03,13.96,13.07
$STATE,7114,end apogee,CONTROL_FINISHED_OK
$STATE,7114,begin climb
$GC,7116,0.82,126.5,2885,2166,2913,2816,996.4,0.0,636,7237,1.17,2.50,111.03,2.308,10500,0.240,0.071,3195,3540,2349,2412,2287,0,0,0,0,0,0,13.94,13.84,12.99
$GC,7294,0.82,126.5,3195,3540,2404,2285,986.3,10.3,672,7301,0.00,2.40,0.00,0.000,1030,0.000,0.049,3195,2142,2344,2403,2285,0,0,0,0,0,0,28.83,14.13,28.83
$GC,7625,0.82,126.5,3195,2142,2403,2283,952.7,10.2,688,7631,0.00,2.42,0.00,0.000,516,0.000,0.085,3201,735,2343,2403,2283,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7777,0.82,126.5,2336,734,2354,2277,936.9,10.3,719,7782,0.00,2.35,0.00,0.000,1030,0.000,0.054,3198,2132,2343,2403,2283,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8105,0.82,126.5,3198,2132,2402,2280,904.7,10.1,734,8111,0.00,2.38,0.00,0.000,516,0.000,0.078,3206,732,2341,2403,2280,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8228,0.82,126.5,3206,732,2402,2281,892.4,9.7,759,8232,0.00,2.33,0.00,0.000,1030,0.000,0.052,3206,2144,2342,2403,2281,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8555,0.82,126.5,3206,2145,2402,2279,860.0,9.7,774,8556,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2145,2340,2402,2278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8855,0.82,126.5,3206,2145,2401,2278,830.8,9.7,784,8861,0.00,2.40,0.00,0.000,516,0.000,0.080,3214,735,2339,2401,2278,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8914,0.82,126.5,3214,735,2401,2278,825.0,9.9,796,8919,0.00,2.30,0.00,0.000,1030,0.000,0.054,3214,2139,2339,2401,2278,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9242,0.82,126.5,3214,2140,2400,2277,792.4,10.1,811,9246,0.00,2.38,0.00,0.000,260,0.000,0.073,3214,3546,2338,2399,2277,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9322,0.82,126.5,3214,3546,2397,2278,783.9,9.6,827,9326,0.00,2.33,0.00,0.000,1030,0.000,0.050,3223,2131,2337,2397,2278,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9635,0.83,127.5,3223,2130,2397,2277,755.3,9.1,839,9639,0.00,2.38,0.00,0.000,516,0.000,0.082,3233,738,2337,2397,2277,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9805,0.83,127.5,3233,738,2397,2277,739.4,9.3,873,9810,0.00,2.30,0.00,0.000,1030,0.000,0.052,3231,2145,2337,2397,2277,0,0,0,0,0,0,28.83,14.65,28.83
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$GC,16396,1.01,275.3,3290,2130,2015,1886,100.6,6.4,1535,16435,0.00,2.38,31.05,0.481,8708,0.000,0.070,3300,740,1752,1816,1689,0,0,0,0,0,0,28.83,14.46,13.98
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$STATE,17580,end climb,SURFACE_DEPTH_REACHED
$STATE,17580,begin surface coast
$FINISH,0.3,1.020024
$STATE,17613,end surface coast,CONTROL_FINISHED_OK
$STATE,17613,begin surface
$SM_CCo,17632,32.95,0.132,0,0,508,579.63
$SM_GC,1.04,8.75,2.42,32.95,0.045,0.040,0.132,185,2223,508,-8.57,-0.82,579.63,0,0,0,0,0,0,14.62,14.57,14.40
$IRIDIUM_FIX,1751.90,8928.25,260808,070728
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.12
$INTERNAL_PRESSURE,6.65065
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,13.0,104.166
$10V_AH,11.6,0.000
$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
$DEVICE_SECS,22.700,185.700,476.850,32.950,0.000,125.858,211.536,308.805,0.000,0.000,6.049,3510.486,10555.529,625.826,3773.512,235.532,0.000,2071.196,0.000,2573.981,0.000,0.552,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,936.161,624.987,1565.403,956.958,0.000,0.000,0.000,0.000,0.000,0.000
$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,140455,1763
$CAP_FILE_SIZE,189014,0
$CFSIZE,2097086464,2047836160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.050, 12.2,1
$GPS,301015,231733,1759.720,8928.273,31,1.0,31,-0.9