version: 66.11
glider: 615
mission: 5
dive: 321
start: 11 7 115 16 6 50
data:
$ID,615
$MISSION,5
$DIVE,321
$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,-19716.439
$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,40
$R_STBD_OVSHOOT,78
$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
$GPS1,071115,155332,1801.113,8926.672,51,1.3,51,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-71.6
$GPS2,071115,160623,1801.139,8926.588,5,1.5,5,-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,139.6,16316,-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,-126.5,150,2236,549,493,0.0,0.0,0,62,0.00,0.00,-45.42,0.000,16386,0.000,0.000,150,2236,1818,1819,1818,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.82,-126.5,150,2235,1819,1818,3.7,-8.7,7,117,11.05,2.40,-30.12,0.000,18948,0.353,0.077,2673,804,3389,3400,3378,0,0,0,0,0,0,14.15,14.34,14.85
$GC,130,-0.82,-126.5,2672,804,3401,3378,24.9,-38.2,17,138,0.08,2.20,0.00,0.000,3078,0.336,0.050,2675,2164,3389,3401,3378,0,0,0,0,0,0,14.35,14.59,28.83
$GC,322,-0.82,-126.5,2675,2164,3401,3378,83.0,-20.2,54,329,0.00,2.28,0.00,0.000,516,0.000,0.057,2675,804,3390,3402,3378,0,0,0,0,0,0,28.83,14.47,28.83
$GC,478,-0.82,-126.5,2675,803,3401,3378,110.5,-16.7,84,485,0.00,2.30,0.00,0.000,1030,0.000,0.044,2666,2206,3389,3401,3378,0,0,0,0,0,0,28.83,14.54,28.83
$GC,671,-0.82,-126.5,2666,2206,3401,3379,141.4,-16.2,121,678,0.00,2.28,0.00,0.000,260,0.000,0.061,2656,3604,3390,3401,3379,0,0,0,0,0,0,28.83,14.62,28.83
$GC,808,-0.82,-126.5,2656,3604,3402,3380,163.6,-16.9,147,815,0.10,2.22,0.00,0.000,3078,0.262,0.037,2677,2188,3391,3402,3380,0,0,0,0,0,0,14.43,14.70,28.83
$GC,1000,-0.82,-126.5,2677,2187,3401,3380,192.6,-14.6,184,1007,0.00,2.30,0.00,0.000,516,0.000,0.057,2677,810,3390,3401,3380,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1128,-0.82,-126.5,2677,810,3401,3380,212.0,-13.8,209,1136,0.00,2.22,0.00,0.000,1030,0.000,0.045,2668,2206,3390,3401,3379,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1434,-0.82,-126.5,2668,2206,3401,3376,255.1,-14.6,240,1438,0.00,2.28,0.00,0.000,260,0.000,0.066,2657,3598,3389,3401,3377,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1465,-0.82,-126.5,2658,3599,3401,3377,259.5,-14.2,246,1475,0.10,2.20,0.00,0.000,3078,0.249,0.037,2679,2196,3389,3401,3377,0,0,0,0,0,0,14.49,14.73,28.83
$GC,1777,-0.82,-126.5,2679,2195,3401,3372,302.2,-13.8,278,1786,0.00,2.22,0.00,0.000,516,0.000,0.061,2678,820,3387,3401,3373,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1871,-0.82,-126.5,2679,820,3401,3371,315.8,-13.6,297,1878,0.00,2.22,0.00,0.000,1030,0.000,0.050,2672,2204,3386,3401,3372,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2180,-0.82,-126.5,2672,2204,3401,3368,359.2,-14.4,325,2186,0.00,2.25,0.00,0.000,516,0.000,0.063,2672,815,3384,3401,3368,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2231,-0.82,-126.5,2672,814,3401,3369,367.0,-13.8,336,2241,0.05,2.30,0.00,0.000,3078,0.232,0.051,2677,2195,3384,3401,3368,0,0,0,0,0,0,14.33,14.50,28.83
$GC,2539,-0.82,-126.5,2677,2195,3401,3362,408.3,-13.7,352,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2195,3381,3401,3362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2839,-0.82,-126.5,2677,2196,3401,3357,448.7,-13.3,367,2845,0.00,2.25,0.00,0.000,516,0.000,0.064,2677,814,3379,3401,3357,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2912,-0.82,-126.5,2677,813,3400,3357,459.0,-13.2,382,2920,0.00,2.33,0.00,0.000,1030,0.000,0.053,2669,2203,3378,3400,3357,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3220,-0.82,-126.5,2670,2203,3400,3352,501.2,-13.9,398,3224,0.00,2.35,0.00,0.000,260,0.000,0.073,2659,3604,3376,3401,3352,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3244,-0.82,-126.5,2659,3604,3400,3351,505.0,-13.9,403,3252,0.10,2.25,0.00,0.000,3078,0.245,0.042,2681,2201,3376,3400,3352,0,0,0,0,0,0,14.50,14.73,28.83
$GC,3552,-0.82,-126.5,2681,2200,3400,3349,545.9,-13.5,414,3558,0.00,2.30,0.00,0.000,516,0.000,0.067,2681,803,3374,3399,3349,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3654,-0.82,-126.5,2681,803,3397,3349,560.2,-13.2,435,3659,0.00,2.28,0.00,0.000,1030,0.000,0.052,2673,2208,3373,3397,3349,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3967,-0.82,-126.5,2673,2208,3396,3346,604.0,-14.2,447,3973,0.00,2.33,0.00,0.000,516,0.000,0.066,2673,804,3371,3397,3346,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3997,-0.82,-126.5,2673,804,3396,3346,608.4,-14.7,453,4001,0.00,2.25,0.00,0.000,1030,0.000,0.053,2664,2200,3371,3396,3346,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4329,-0.82,-126.5,2663,2200,3394,3345,657.0,-14.7,469,4336,0.08,2.33,0.00,0.000,2564,0.324,0.066,2676,805,3369,3394,3344,0,0,0,0,0,0,14.62,14.61,28.83
$GC,4361,-0.82,-126.5,2676,805,3394,3344,662.2,-14.7,476,4365,0.00,2.28,0.00,0.000,1030,0.000,0.053,2669,2204,3369,3394,3344,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4689,-0.82,-126.5,2669,2204,3393,3343,709.3,-14.6,491,4695,0.00,2.33,0.00,0.000,516,0.000,0.068,2669,806,3367,3393,3342,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4737,-0.82,-126.5,2669,806,3393,3342,716.5,-14.4,501,4742,0.08,2.28,0.00,0.000,3078,0.318,0.054,2675,2202,3367,3392,3342,0,0,0,0,0,0,14.43,14.66,28.83
$GC,5044,-0.82,-126.5,2675,2202,3391,3340,757.6,-13.4,512,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2202,3366,3392,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5344,-0.82,-126.5,2675,2202,3390,3338,796.2,-12.6,522,5348,0.00,2.35,0.00,0.000,516,0.000,0.070,2675,800,3364,3390,3338,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5398,-0.82,-126.5,2675,800,3389,3338,803.4,-12.3,533,5405,0.00,2.30,0.00,0.000,1030,0.000,0.055,2670,2206,3364,3390,3338,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5705,-0.82,-126.5,2669,2206,3389,3337,841.9,-12.6,544,5709,0.00,2.33,0.00,0.000,516,0.000,0.069,2669,807,3363,3389,3337,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5749,-0.82,-126.5,2670,807,3389,3337,847.9,-12.7,553,5754,0.08,2.28,0.00,0.000,3078,0.321,0.055,2674,2200,3362,3388,3337,0,0,0,0,0,0,14.42,14.64,28.83
$GC,6066,-0.82,-126.5,2674,2200,3388,3336,886.5,-12.2,566,6070,0.00,2.33,0.00,0.000,516,0.000,0.070,2674,808,3361,3387,3336,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6106,-0.82,-126.5,2674,808,3387,3336,891.8,-12.3,574,6110,0.00,2.28,0.00,0.000,1030,0.000,0.054,2669,2199,3361,3388,3335,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6423,-0.82,-126.5,2669,2200,3387,3334,932.5,-13.1,587,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2199,3360,3387,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6723,-0.82,-126.5,2669,2200,3385,3333,971.2,-12.8,597,6724,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2200,3359,3386,3333,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6871,begin apogee
$GC,6876,-0.16,0.0,2670,2134,3384,3333,990.2,-12.7,602,6987,0.85,0.00,106.12,2.319,10246,0.282,0.000,2882,2132,2872,2918,2826,0,0,0,0,0,0,13.98,28.83,13.09
$STATE,6989,end apogee,CONTROL_FINISHED_OK
$STATE,6989,begin climb
$GC,6990,0.82,126.5,2882,2132,2912,2819,994.7,0.0,625,7113,1.17,2.55,112.18,2.379,10500,0.239,0.073,3188,3534,2348,2411,2286,0,0,0,0,0,0,13.95,13.83,12.88
$GC,7159,0.82,126.5,3188,3534,2404,2285,986.0,9.5,659,7164,0.08,2.38,0.00,0.000,3078,0.265,0.047,3205,2149,2344,2404,2285,0,0,0,0,0,0,13.99,14.12,28.83
$GC,7472,0.82,126.5,3205,2149,2403,2283,953.3,10.8,671,7478,0.00,2.45,0.00,0.000,516,0.000,0.085,3208,733,2343,2403,2283,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7640,0.82,126.5,3207,733,2403,2283,935.0,10.4,705,7644,0.00,2.33,0.00,0.000,1030,0.000,0.054,3200,2146,2342,2403,2282,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7947,0.82,126.5,3200,2146,2403,2281,904.7,9.8,716,7953,0.00,2.40,0.00,0.000,516,0.000,0.079,3207,737,2341,2403,2280,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7990,0.82,126.5,3207,738,2403,2280,900.3,10.0,725,7994,0.00,2.30,0.00,0.000,1030,0.000,0.053,3204,2143,2341,2403,2280,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8303,0.82,126.5,3204,2143,2402,2279,870.8,9.3,737,8309,0.00,2.38,0.00,0.000,516,0.000,0.079,3208,737,2340,2402,2279,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8393,0.82,126.5,3208,737,2402,2279,862.5,9.4,755,8399,0.00,2.30,0.00,0.000,1030,0.000,0.051,3204,2146,2340,2402,2279,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8723,0.84,139.6,3204,2146,2402,2278,833.9,8.5,771,8736,0.00,0.00,11.10,2.007,8198,0.000,0.000,3204,2146,2302,2364,2240,0,0,0,0,0,0,28.83,28.83,13.54
$GC,9024,0.84,142.6,3204,2147,2355,2230,807.1,9.0,781,9029,0.00,2.35,0.00,0.000,516,0.000,0.072,3212,732,2293,2355,2231,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9162,0.84,142.6,3213,732,2354,2231,793.8,9.4,809,9167,0.00,2.30,0.00,0.000,1030,0.000,0.050,3213,2142,2292,2354,2230,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9468,0.84,142.6,3213,2143,2354,2229,763.9,9.8,820,9474,0.00,2.38,0.00,0.000,516,0.000,0.076,3221,739,2291,2354,2229,0,0,0,0,0,0,28.83,14.55,28.83
$GC,9546,0.84,142.6,3221,739,2354,2230,755.9,9.9,836,9551,0.00,2.30,0.00,0.000,1030,0.000,0.050,3219,2145,2292,2354,2230,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9854,0.84,142.6,3219,2146,2354,2229,724.8,10.5,847,9855,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2146,2291,2354,2229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10155,0.84,142.6,3219,2146,2354,2228,694.2,10.2,857,10160,0.00,2.38,0.00,0.000,516,0.000,0.077,3228,735,2290,2353,2228,0,0,0,0,0,0,28.83,14.49,28.83
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$STATE,17514,end climb,SURFACE_DEPTH_REACHED
$STATE,17514,begin surface coast
$FINISH,0.3,1.018509
$STATE,17581,end surface coast,CONTROL_FINISHED_OK
$STATE,17581,begin surface
$SM_CCo,17597,18.52,0.132,0,0,509,579.63
$SM_GC,4.71,8.93,0.00,18.52,0.059,0.000,0.132,166,2151,509,-8.58,-1.39,579.63,0,0,0,0,0,0,14.63,28.83,14.40
$IRIDIUM_FIX,1754.17,8925.99,030908,050537
$TT8_MAMPS,0.017976,0.017976
$HUMID,47.99
$INTERNAL_PRESSURE,6.67994
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,12.9,117.344
$10V_AH,11.1,0.000
$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
$DEVICE_SECS,23.175,191.225,536.600,18.525,0.000,146.842,137.612,95.071,0.500,0.000,6.484,3442.261,10557.151,665.707,3466.835,242.702,0.000,2108.891,0.000,2548.013,0.000,0.553,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,913.890,604.200,1516.042,926.565,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322300
$DATA_FILE_SIZE,141297,1746
$CAP_FILE_SIZE,191740,0
$CFSIZE,2097086464,2041479168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.054, 98.2,1
$GPS,071115,210208,1759.767,8928.346,64,1.4,64,-0.9