version: 66.11
glider: 615
mission: 5
dive: 316
start: 11 6 115 14 29 29
data:
$ID,615
$MISSION,5
$DIVE,316
$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,-19710.17
$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,36
$R_STBD_OVSHOOT,36
$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
$GPS1,061115,141313,1802.525,8922.228,58,34.2,78,-0.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.4
$GPS2,061115,142902,1802.535,8922.193,24,1.6,32,-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,337.6,7711,-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,-126.5,158,2196,546,499,0.0,0.0,0,62,0.00,0.00,-44.45,0.000,16386,0.000,0.000,157,2195,1766,1759,1773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.82,-126.5,157,2196,1759,1773,3.4,-8.0,7,117,10.82,2.33,-33.80,0.000,18692,0.342,0.074,2663,3611,3390,3401,3380,0,0,0,0,0,0,14.14,14.54,14.79
$GC,210,-0.82,-126.5,2662,3611,3401,3380,51.8,-29.6,33,219,0.08,2.28,0.00,0.000,3078,0.293,0.038,2675,2180,3389,3400,3379,0,0,0,0,0,0,14.38,14.62,28.83
$GC,403,-0.82,-126.5,2675,2179,3401,3379,95.0,-19.8,70,410,0.00,2.28,0.00,0.000,516,0.000,0.056,2675,813,3390,3401,3379,0,0,0,0,0,0,28.83,14.47,28.83
$GC,508,-0.82,-126.5,2675,813,3401,3379,113.0,-16.4,90,515,0.00,2.28,0.00,0.000,1030,0.000,0.041,2667,2210,3390,3401,3379,0,0,0,0,0,0,28.83,14.54,28.83
$GC,698,-0.82,-126.5,1672,2208,3386,3378,141.1,-14.9,127,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2210,3390,3401,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,887,-0.82,-126.5,2666,2210,3401,3380,169.8,-14.7,164,894,0.00,2.33,0.00,0.000,260,0.000,0.060,2656,3598,3390,3401,3380,0,0,0,0,0,0,28.83,14.54,28.83
$GC,961,-0.82,-126.5,2656,3598,3402,3380,180.1,-14.3,178,970,0.08,2.28,0.00,0.000,3078,0.217,0.036,2686,2187,3391,3402,3380,0,0,0,0,0,0,14.39,14.59,28.83
$GC,1158,-0.82,-126.5,2686,2186,3401,3380,207.4,-14.0,211,1167,0.00,2.22,0.00,0.000,516,0.000,0.061,2686,814,3390,3401,3379,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1203,-0.82,-126.5,2686,815,3401,3379,214.0,-13.9,220,1211,0.00,2.28,0.00,0.000,1030,0.000,0.047,2678,2196,3390,3401,3379,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1511,-0.82,-126.5,2679,2196,3401,3376,257.1,-14.7,251,1521,0.00,2.28,0.00,0.000,260,0.000,0.067,2668,3597,3388,3401,3376,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1534,-0.82,-126.5,2667,3597,3401,3376,260.5,-14.7,255,1544,0.00,2.20,0.00,0.000,1030,0.000,0.040,2668,2202,3388,3401,3376,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1844,-0.82,-126.5,2667,2202,3401,3372,304.8,-14.1,287,1854,0.00,2.28,0.00,0.000,516,0.000,0.060,2668,803,3386,3401,3372,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1899,-0.82,-126.5,2668,802,3401,3372,313.5,-15.2,298,1908,0.05,2.30,0.00,0.000,3078,0.230,0.050,2673,2192,3386,3401,3372,0,0,0,0,0,0,14.29,14.50,28.83
$GC,2217,-0.82,-126.5,2674,2191,3401,3367,358.9,-14.3,327,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2191,3384,3401,3367,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2517,-0.82,-126.5,2673,2192,3401,3361,403.5,-14.8,342,2523,0.00,2.28,0.00,0.000,516,0.000,0.063,2674,803,3381,3401,3361,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2560,-0.82,-126.5,2674,803,3401,3361,410.4,-15.1,351,2564,0.00,2.30,0.00,0.000,1030,0.000,0.051,2667,2198,3381,3401,3362,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2879,-0.82,-126.5,2667,2198,3400,3355,457.4,-14.8,369,2884,0.00,2.25,0.00,0.000,516,0.000,0.063,2667,816,3377,3400,3355,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2910,-0.82,-126.5,2667,816,3400,3355,462.8,-15.5,376,2919,0.05,2.30,0.00,0.000,3078,0.235,0.052,2673,2193,3377,3400,3355,0,0,0,0,0,0,14.28,14.50,28.83
$GC,3237,-0.82,-126.5,2673,2193,3400,3351,508.8,-14.1,392,3243,0.00,2.28,0.00,0.000,516,0.000,0.064,2673,808,3375,3400,3351,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3276,-0.82,-126.5,2673,807,3399,3351,514.7,-14.2,400,3280,0.00,2.28,0.00,0.000,1030,0.000,0.053,2667,2210,3375,3399,3351,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3593,-0.82,-126.5,2667,2210,3397,3347,560.2,-14.6,413,3599,0.00,2.28,0.00,0.000,516,0.000,0.064,2667,814,3372,3397,3347,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3615,-0.82,-126.5,2667,814,3398,3347,564.1,-15.8,418,3624,0.05,2.33,0.00,0.000,3078,0.239,0.054,2673,2201,3372,3397,3347,0,0,0,0,0,0,14.30,14.50,28.83
$GC,3923,-0.82,-126.5,2673,2201,3396,3345,606.3,-13.7,429,3929,0.00,2.30,0.00,0.000,516,0.000,0.067,2672,807,3370,3396,3344,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3945,-0.82,-126.5,2673,807,3395,3345,609.8,-14.3,434,3953,0.00,2.33,0.00,0.000,1030,0.000,0.054,2668,2191,3369,3395,3344,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4253,-0.82,-126.5,2666,2190,3394,3343,652.6,-14.3,445,4259,0.00,2.28,0.00,0.000,516,0.000,0.066,2668,811,3367,3393,3342,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4291,-0.82,-126.5,2668,812,3393,3342,658.3,-13.9,453,4296,0.10,2.28,0.00,0.000,3078,0.284,0.054,2679,2213,3368,3394,3343,0,0,0,0,0,0,14.42,14.68,28.83
$GC,4608,-0.82,-126.5,2679,2212,3391,3340,699.9,-13.2,466,4614,0.00,2.33,0.00,0.000,516,0.000,0.067,2679,806,3365,3391,3340,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4661,-0.82,-126.5,2679,806,3390,3340,707.3,-12.7,477,4668,0.00,2.28,0.00,0.000,1030,0.000,0.053,2678,2201,3365,3391,3340,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4968,-0.82,-126.5,2678,2201,3390,3338,746.4,-12.7,488,4969,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2202,3363,3390,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5268,-0.82,-126.5,2678,2202,3389,3336,784.3,-12.6,498,5272,0.00,2.33,0.00,0.000,516,0.000,0.070,2678,809,3362,3389,3336,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5318,-0.82,-126.5,2678,810,3389,3337,790.8,-12.5,508,5322,0.00,2.28,0.00,0.000,1030,0.000,0.054,2678,2203,3362,3389,3336,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5626,-0.82,-126.5,2678,2204,3388,3336,828.5,-12.6,519,5632,0.00,2.30,0.00,0.000,516,0.000,0.069,2677,820,3362,3388,3336,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5677,-0.82,-126.5,2678,820,3387,3335,835.7,-12.6,530,5685,0.00,2.33,0.00,0.000,1030,0.000,0.054,2678,2194,3361,3387,3336,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5985,-0.82,-126.5,2678,2195,3386,3334,875.0,-13.0,541,5987,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2195,3359,3385,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6285,-0.82,-126.5,2678,2195,3385,3333,913.8,-12.8,551,6291,0.00,2.30,0.00,0.000,516,0.000,0.070,2678,813,3358,3385,3332,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6337,-0.82,-126.5,2678,813,3384,3333,920.9,-13.0,562,6346,0.00,2.35,0.00,0.000,1030,0.000,0.055,2678,2197,3358,3384,3333,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6645,-0.82,-126.5,2678,2197,3383,3332,958.4,-12.2,573,6651,0.00,2.40,0.00,0.000,260,0.000,0.077,2678,3608,3357,3383,3331,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6667,-0.82,-126.5,2678,3608,3383,3332,961.4,-12.6,578,6675,0.00,2.35,0.00,0.000,1030,0.000,0.044,2678,2211,3357,3383,3331,0,0,0,0,0,0,28.83,14.45,28.83
$STATE,6913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6913,begin apogee
$GC,6918,-0.16,0.0,2678,2132,3383,3330,990.2,-11.6,587,7036,0.82,0.00,107.30,2.238,10246,0.295,0.000,2883,2130,2865,2914,2816,0,0,0,0,0,0,13.96,28.83,13.09
$STATE,7038,end apogee,CONTROL_FINISHED_OK
$STATE,7038,begin climb
$GC,7039,0.82,126.5,2883,2130,2914,2814,994.4,0.0,611,7160,1.05,2.58,110.12,2.277,10500,0.164,0.073,3203,3544,2348,2406,2291,0,0,0,0,0,0,14.07,13.88,12.97
$GC,7272,0.82,126.5,3204,3544,2403,2285,977.7,11.5,658,7279,0.00,2.40,0.00,0.000,1030,0.000,0.045,3215,2145,2344,2403,2285,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7579,0.82,126.5,3215,2144,2402,2283,945.1,10.5,669,7585,0.00,2.38,0.00,0.000,516,0.000,0.069,3226,733,2343,2402,2284,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7708,0.82,126.5,3226,733,2402,2284,931.7,9.8,695,7713,0.00,2.33,0.00,0.000,1030,0.000,0.049,3226,2154,2343,2402,2284,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8025,0.82,126.5,3226,2154,2398,2283,899.8,10.3,708,8031,0.00,2.38,0.00,0.000,516,0.000,0.068,3237,736,2340,2398,2283,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8078,0.82,126.5,3237,736,2399,2284,894.1,10.5,719,8085,0.00,2.30,0.00,0.000,1030,0.000,0.049,3237,2147,2340,2397,2283,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8385,0.82,126.5,3237,2147,2397,2283,862.7,10.3,730,8391,0.00,2.35,0.00,0.000,516,0.000,0.067,3247,736,2340,2398,2283,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8448,0.82,126.5,3247,736,2397,2283,855.5,10.8,743,8452,0.00,2.28,0.00,0.000,1030,0.000,0.049,3247,2140,2340,2397,2283,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8775,0.82,126.5,3247,2140,2396,2282,820.5,10.8,758,8781,0.00,2.35,0.00,0.000,516,0.000,0.068,3257,733,2339,2396,2282,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8828,0.82,126.5,3257,733,2396,2282,814.5,11.3,769,8835,0.08,2.30,0.00,0.000,5126,0.291,0.048,3244,2146,2339,2396,2282,0,0,0,0,0,0,14.45,14.66,28.83
$GC,9135,0.82,126.5,3243,2146,2395,2281,781.7,10.5,780,9141,0.00,2.35,0.00,0.000,516,0.000,0.067,3253,736,2337,2395,2280,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9183,0.82,126.5,3254,736,2395,2281,776.3,10.8,790,9187,0.00,2.28,0.00,0.000,1030,0.000,0.048,3254,2142,2338,2395,2281,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9495,0.82,126.5,3254,2142,2395,2281,742.0,11.4,802,9496,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2142,2337,2394,2281,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,15983,0.95,230.6,3285,3554,2014,1894,121.4,9.0,1428,15991,0.00,2.35,3.35,0.925,9222,0.000,0.040,3294,2146,1932,1995,1870,0,0,0,0,0,0,28.83,14.48,13.35
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$STATE,17431,end climb,SURFACE_DEPTH_REACHED
$STATE,17431,begin surface coast
$FINISH,0.3,1.008670
$STATE,17462,end surface coast,CONTROL_FINISHED_OK
$STATE,17462,begin surface
$SM_CCo,17479,9.90,0.137,0,0,508,579.63
$SM_CCo,17492,-0.08,0.000,0,0,512,579.63
$SM_CCo,17495,0.43,0.315,0,0,508,579.63
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$IRIDIUM_FIX,1756.43,8923.72,020908,030303
$TT8_MAMPS,0.018725,0.018725
$HUMID,48.03
$INTERNAL_PRESSURE,6.67018
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,13.0,115.660
$10V_AH,11.2,0.000
$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
$DEVICE_SECS,22.875,194.925,513.575,10.325,0.000,90.850,137.587,398.539,0.000,0.000,33.595,3415.238,10369.140,673.664,3728.353,245.906,0.000,2125.284,0.000,2515.517,0.000,0.554,0.000
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$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322212
$DATA_FILE_SIZE,137465,1704
$CAP_FILE_SIZE,192362,0
$CFSIZE,2097086464,2042658816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.050,116.2,1
$GPS,061115,192233,1803.912,8921.932,51,1.2,51,-0.9