version: 66.11
glider: 615
mission: 5
dive: 288
start: 10 31 115 19 20 6
data:
$ID,615
$MISSION,5
$DIVE,288
$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,-19346.129
$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,48
$R_STBD_OVSHOOT,61
$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,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
$GPS1,311015,190134,1755.399,8933.405,26,1.5,27,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.5
$GPS2,311015,191938,1755.331,8933.801,4,1.6,4,-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,352.3,20986,-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,-126.5,140,2228,543,493,0.0,0.0,0,68,0.00,0.00,-50.88,0.000,16386,0.000,0.000,140,2228,1937,1937,1937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.82,-126.5,140,2229,1937,1937,3.7,-8.4,8,118,10.75,2.33,-29.42,0.000,19204,0.337,0.069,2672,804,3389,3405,3373,0,0,0,0,0,0,14.15,14.52,14.76
$GC,205,-0.82,-126.5,2672,804,3405,3375,44.9,-35.0,32,212,0.00,2.28,0.00,0.000,1030,0.000,0.050,2664,2170,3389,3405,3374,0,0,0,0,0,0,28.83,14.47,28.83
$GC,397,-0.82,-126.5,2664,2171,3405,3374,90.6,-20.6,69,405,0.08,2.22,0.00,0.000,2564,0.332,0.054,2675,806,3389,3405,3374,0,0,0,0,0,0,14.48,14.57,28.83
$GC,423,-0.82,-126.5,2675,805,3405,3374,95.8,-20.0,73,431,0.00,2.25,0.00,0.000,1030,0.000,0.045,2667,2215,3389,3405,3374,0,0,0,0,0,0,28.83,14.62,28.83
$GC,615,-0.82,-126.5,2667,2215,3405,3375,125.5,-14.7,110,622,0.00,2.35,0.00,0.000,516,0.000,0.058,2667,808,3390,3405,3375,0,0,0,0,0,0,28.83,14.52,28.83
$GC,720,-0.82,-126.5,2667,809,3405,3375,141.9,-14.5,130,728,0.05,2.28,0.00,0.000,3078,0.251,0.044,2671,2196,3390,3405,3375,0,0,0,0,0,0,14.35,14.55,28.83
$GC,912,-0.82,-126.5,2672,2196,3405,3375,166.3,-12.6,167,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2196,3390,3405,3375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1100,-0.82,-126.5,2672,2197,3405,3374,190.8,-13.2,204,1107,0.00,2.38,0.00,0.000,260,0.000,0.067,2663,3613,3389,3405,3374,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1130,-0.82,-126.5,2663,3613,3405,3374,195.0,-14.1,209,1138,0.08,2.22,0.00,0.000,3078,0.281,0.036,2676,2194,3389,3405,3373,0,0,0,0,0,0,14.50,14.71,28.83
$GC,1322,-0.82,-126.5,2677,2194,3405,3372,222.0,-14.6,231,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2193,3388,3404,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1622,-0.82,-126.5,2676,2193,3405,3369,263.6,-14.0,261,1632,0.00,2.22,0.00,0.000,516,0.000,0.058,2676,809,3387,3405,3369,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1676,-0.82,-126.5,2676,809,3405,3369,271.2,-13.7,271,1686,0.00,2.22,0.00,0.000,1030,0.000,0.046,2668,2204,3387,3405,3369,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1986,-0.82,-126.5,2668,2204,3404,3363,315.5,-14.1,303,1996,0.00,2.28,0.00,0.000,516,0.000,0.059,2668,793,3383,3404,3362,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2011,-0.82,-126.5,2668,793,3404,3362,319.5,-14.4,308,2020,0.05,2.30,0.00,0.000,3078,0.240,0.047,2674,2191,3382,3403,3362,0,0,0,0,0,0,14.30,14.52,28.83
$GC,2319,-0.82,-126.5,2674,2191,3404,3356,362.5,-14.3,335,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2192,3379,3404,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2619,-0.82,-126.5,2674,2192,3404,3352,404.2,-13.7,350,2625,0.00,2.25,0.00,0.000,516,0.000,0.063,2674,814,3377,3404,3351,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2672,-0.82,-126.5,2674,814,3403,3351,412.1,-13.8,361,2680,0.00,2.30,0.00,0.000,1030,0.000,0.052,2665,2194,3377,3403,3351,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2980,-0.82,-126.5,2666,2194,3401,3347,455.1,-14.0,377,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2194,3374,3402,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3280,-0.82,-126.5,2666,2194,3399,3345,497.9,-14.2,392,3286,0.00,2.25,0.00,0.000,516,0.000,0.067,2666,815,3372,3400,3344,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3347,-0.82,-126.5,2666,815,3399,3345,508.0,-14.2,406,3352,0.10,2.28,0.00,0.000,3078,0.292,0.056,2675,2210,3371,3398,3344,0,0,0,0,0,0,14.43,14.69,28.83
$GC,3665,-0.82,-126.5,2675,2210,3397,3342,549.9,-13.1,419,3671,0.00,2.30,0.00,0.000,516,0.000,0.067,2675,816,3369,3397,3341,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3707,-0.82,-126.5,2676,816,3397,3341,556.0,-13.5,428,3711,0.00,2.25,0.00,0.000,1030,0.000,0.053,2667,2203,3369,3397,3341,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4025,-0.82,-126.5,2667,2203,3395,3339,598.0,-13.5,441,4031,0.00,2.30,0.00,0.000,516,0.000,0.067,2667,816,3366,3395,3338,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4057,-0.82,-126.5,2667,816,3395,3339,602.8,-13.3,448,4062,0.05,2.30,0.00,0.000,3078,0.245,0.053,2672,2203,3366,3395,3338,0,0,0,0,0,0,14.36,14.61,28.83
$GC,4385,-0.82,-126.5,2672,2203,3393,3337,645.9,-13.0,463,4389,0.00,2.33,0.00,0.000,516,0.000,0.067,2672,807,3365,3393,3337,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4439,-0.82,-126.5,2672,807,3393,3336,653.5,-13.8,474,4448,0.00,2.33,0.00,0.000,1030,0.000,0.053,2664,2196,3365,3393,3337,0,0,0,0,0,0,28.83,14.48,28.83
$GC,4747,-0.82,-126.5,2664,2196,3392,3336,694.8,-13.7,485,4749,0.08,0.00,0.00,0.000,2054,0.324,0.000,2677,2197,3363,3391,3335,0,0,0,0,0,0,14.62,28.83,28.83
$GC,5048,-0.82,-126.5,2677,2196,3390,3334,733.2,-12.6,495,5053,0.00,2.28,0.00,0.000,516,0.000,0.068,2676,820,3362,3390,3334,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5094,-0.82,-126.5,2677,820,3390,3334,739.6,-13.1,505,5098,0.00,2.25,0.00,0.000,1030,0.000,0.054,2669,2199,3361,3389,3334,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5408,-0.82,-126.5,2669,2199,3388,3333,779.9,-13.3,517,5409,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2199,3361,3389,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5707,-0.82,-126.5,2669,2199,3388,3332,817.4,-12.4,527,5713,0.00,2.30,0.00,0.000,516,0.000,0.069,2669,817,3359,3388,3330,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5750,-0.82,-126.5,2669,817,3388,3331,823.1,-12.2,536,5754,0.10,2.28,0.00,0.000,3078,0.289,0.055,2679,2206,3359,3388,3331,0,0,0,0,0,0,14.40,14.66,28.83
$GC,6061,-0.82,-126.5,2679,2207,3385,3328,859.7,-11.9,548,6067,0.00,2.33,0.00,0.000,516,0.000,0.070,2679,810,3357,3386,3329,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6105,-0.82,-126.5,2679,809,3386,3329,865.2,-12.2,557,6109,0.00,2.28,0.00,0.000,1030,0.000,0.054,2672,2199,3357,3385,3329,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6422,-0.82,-126.5,2672,2199,3384,3328,903.6,-12.5,570,6428,0.00,2.30,0.00,0.000,516,0.000,0.068,2672,812,3355,3384,3327,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6454,-0.82,-126.5,1792,811,3371,3325,908.0,-12.5,577,6459,0.00,2.33,0.00,0.000,1030,0.000,0.056,2665,2200,3356,3384,3328,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6781,-0.82,-126.5,2664,2200,3382,3328,949.6,-12.8,592,6787,0.00,2.30,0.00,0.000,516,0.000,0.070,2665,817,3354,3382,3327,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6820,-0.82,-126.5,2664,818,3382,3327,954.9,-12.9,600,6824,0.00,2.28,0.00,0.000,1030,0.000,0.057,2665,2200,3354,3382,3327,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,7111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7111,begin apogee
$GC,7115,-0.16,0.0,2665,2200,3381,3326,992.1,-13.2,613,7226,0.85,0.05,105.47,2.355,10246,0.283,0.227,2882,2162,2872,2922,2823,0,0,0,0,0,0,14.06,13.97,13.08
$STATE,7227,end apogee,CONTROL_FINISHED_OK
$STATE,7228,begin climb
$GC,7229,0.82,126.5,2882,2162,2914,2815,997.2,0.0,636,7353,1.15,2.55,112.47,2.394,10500,0.219,0.071,3199,3550,2349,2411,2288,0,0,0,0,0,0,13.97,13.85,12.97
$GC,7380,0.85,144.4,3198,3552,2404,2286,991.8,8.3,666,7403,0.00,2.42,16.30,2.073,9222,0.000,0.049,3206,2141,2282,2345,2219,0,0,0,0,0,0,28.83,14.04,13.05
$GC,7710,0.85,144.4,3206,2140,2336,2211,957.4,10.8,682,7716,0.00,2.42,0.00,0.000,516,0.000,0.086,3212,735,2273,2335,2211,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7898,0.85,144.4,3212,735,2333,2211,937.2,10.4,720,7902,0.00,2.33,0.00,0.000,1030,0.000,0.054,3207,2141,2272,2333,2211,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8220,0.85,144.4,3207,2142,2332,2209,903.5,10.4,734,8226,0.00,2.42,0.00,0.000,516,0.000,0.083,3214,725,2270,2332,2209,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8280,0.85,144.4,3214,726,2332,2209,896.9,11.2,746,8286,0.00,2.33,0.00,0.000,1030,0.000,0.054,3211,2143,2270,2332,2209,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8610,0.85,144.4,3211,2142,2332,2209,861.3,11.2,762,8616,0.00,2.40,0.00,0.000,516,0.000,0.081,3219,735,2270,2331,2209,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8672,0.85,144.4,2368,734,2284,2203,854.1,11.4,775,8677,0.00,2.35,0.00,0.000,1030,0.000,0.053,3217,2138,2270,2331,2209,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9000,0.85,144.4,3217,2138,2331,2208,818.0,11.2,790,9006,0.00,2.40,0.00,0.000,516,0.000,0.082,3224,732,2269,2331,2208,0,0,0,0,0,0,28.83,14.55,28.83
$GC,9083,0.85,144.4,3226,732,2331,2208,808.5,11.1,807,9090,0.00,2.33,0.00,0.000,1030,0.000,0.053,3223,2148,2269,2330,2208,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9390,0.85,144.4,3223,2149,2330,2208,775.1,10.7,818,9396,0.00,2.42,0.00,0.000,516,0.000,0.080,3231,728,2269,2330,2208,0,0,0,0,0,0,28.83,14.56,28.83
$GC,9428,0.85,144.4,3232,727,2330,2208,770.9,10.6,826,9432,0.00,2.33,0.00,0.000,1030,0.000,0.053,3230,2143,2269,2330,2208,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9746,0.85,144.4,3231,2143,2329,2207,737.8,10.7,839,9752,0.00,2.33,0.00,0.000,260,0.000,0.073,3231,3541,2268,2329,2207,0,0,0,0,0,0,28.83,14.55,28.83
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$STATE,17309,end climb,SURFACE_DEPTH_REACHED
$STATE,17310,begin surface coast
$FINISH,0.3,1.010692
$STATE,17331,end surface coast,CONTROL_FINISHED_OK
$STATE,17331,begin surface
$SM_CCo,17350,12.57,0.135,0,0,508,579.63
$SM_CCo,17366,0.00,0.000,0,0,510,579.63
$SM_CCo,17368,0.32,0.372,0,0,509,579.63
$SM_GC,3.49,8.93,2.40,0.32,0.050,0.040,0.372,185,2201,509,-8.58,-1.41,579.63,0,0,0,0,0,0,14.59,14.54,14.43
$IRIDIUM_FIX,1747.37,9013.60,270808,080834
$TT8_MAMPS,0.018725,0.018725
$HUMID,48.42
$INTERNAL_PRESSURE,6.66041
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,13.0,105.872
$10V_AH,11.5,0.000
$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,22.875,200.675,514.675,12.900,0.000,125.245,205.757,363.726,0.000,0.000,6.754,3395.086,10423.465,678.809,3710.622,233.967,0.000,2114.756,0.000,2494.298,0.000,0.553,0.000
$DEVICE_MAMPS,336.600,227.205,2393.685,371.790,0.000,29.840,160.000,223.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,911.702,604.902,1518.140,927.535,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322232
$DATA_FILE_SIZE,134185,1700
$CAP_FILE_SIZE,191794,0
$CFSIZE,2097086464,2047148032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.020,220.2,1
$GPS,011115,001051,1756.933,8933.445,38,1.2,39,-0.9