version: 66.11
glider: 615
mission: 5
dive: 326
start: 11 8 115 18 32 4
data:
$ID,615
$MISSION,5
$DIVE,326
$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,-19723.564
$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,43
$R_STBD_OVSHOOT,66
$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
$GPS1,081115,181403,1757.049,8933.569,97,1.0,102,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-69.9
$GPS2,081115,183137,1757.176,8934.010,15,0.8,15,-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,337.6,17585,-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,-126.5,143,2226,563,484,0.0,0.0,0,56,0.00,0.00,-38.42,0.000,16386,0.000,0.000,142,2225,1614,1614,1614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.82,-126.5,142,2226,1614,1614,3.6,-8.6,6,112,10.95,2.28,-35.75,0.000,18692,0.344,0.077,2668,3584,3390,3402,3378,0,0,0,0,0,0,14.14,14.58,14.83
$GC,165,-0.82,-126.5,2668,3584,3402,3379,36.7,-37.7,24,173,0.00,2.28,0.00,0.000,1030,0.000,0.037,2667,2189,3390,3402,3379,0,0,0,0,0,0,28.83,14.52,28.83
$GC,363,-0.82,-126.5,2668,2188,3402,3378,87.4,-17.1,61,369,0.00,2.22,0.00,0.000,516,0.000,0.054,2667,807,3390,3402,3378,0,0,0,0,0,0,28.83,14.59,28.83
$GC,492,-0.82,-126.5,2668,805,3402,3379,110.3,-17.0,85,499,0.10,2.17,0.00,0.000,3078,0.309,0.041,2675,2186,3391,3403,3379,0,0,0,0,0,0,14.36,14.66,28.83
$GC,687,-0.82,-126.5,2676,2185,3402,3379,140.4,-14.1,122,694,0.00,2.35,0.00,0.000,260,0.000,0.057,2666,3614,3390,3402,3379,0,0,0,0,0,0,28.83,14.60,28.83
$GC,728,-0.82,-126.5,2666,3614,3402,3379,146.0,-13.9,129,735,0.00,2.22,0.00,0.000,1030,0.000,0.034,2667,2191,3390,3402,3379,0,0,0,0,0,0,28.83,14.71,28.83
$GC,923,-0.82,-126.5,2666,2190,3402,3379,174.9,-15.6,166,930,0.00,2.28,0.00,0.000,516,0.000,0.055,2666,817,3390,3402,3379,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1016,-0.82,-126.5,2666,817,3402,3379,189.1,-15.3,183,1023,0.10,2.17,0.00,0.000,3078,0.282,0.042,2676,2201,3390,3402,3378,0,0,0,0,0,0,14.43,14.69,28.83
$GC,1213,-0.82,-126.5,2676,2201,3402,3377,217.6,-14.3,209,1223,0.00,2.25,0.00,0.000,260,0.000,0.060,2667,3594,3388,3402,3375,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1258,-0.82,-126.5,2667,3594,3402,3377,224.7,-14.6,218,1267,0.00,2.25,0.00,0.000,1030,0.000,0.035,2667,2198,3389,3402,3377,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1567,-0.82,-126.5,2667,2198,3402,3372,269.4,-14.5,249,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2198,3387,3402,3373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1868,-0.82,-126.5,2667,2197,3402,3370,312.6,-14.4,279,1877,0.00,2.22,0.00,0.000,516,0.000,0.057,2667,810,3386,3402,3370,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1933,-0.82,-126.5,2667,810,3402,3369,322.7,-14.6,292,1943,0.05,2.28,0.00,0.000,3078,0.242,0.044,2671,2194,3385,3402,3369,0,0,0,0,0,0,14.30,14.52,28.83
$GC,2251,-0.82,-126.5,2671,2195,3402,3363,367.1,-14.0,318,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2195,3381,3401,3362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2552,-0.82,-126.5,2672,2195,3402,3357,408.8,-13.9,333,2558,0.00,2.22,0.00,0.000,516,0.000,0.059,2672,817,3379,3402,3357,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2591,-0.82,-126.5,2672,817,3401,3357,414.3,-13.6,341,2598,0.08,2.22,0.00,0.000,3078,0.300,0.047,2683,2209,3378,3401,3356,0,0,0,0,0,0,14.45,14.71,28.83
$GC,2911,-0.82,-126.5,2683,2209,3401,3352,456.0,-13.3,360,2915,0.00,2.25,0.00,0.000,516,0.000,0.059,2683,817,3376,3401,3351,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2956,-0.82,-126.5,2683,817,3401,3352,462.2,-12.6,369,2960,0.00,2.28,0.00,0.000,1030,0.000,0.048,2675,2202,3376,3401,3352,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3284,-0.82,-126.5,2675,2202,3399,3347,505.8,-13.6,387,3290,0.00,2.25,0.00,0.000,516,0.000,0.060,2674,808,3373,3399,3347,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3328,-0.82,-126.5,2675,809,3398,3347,512.1,-13.8,396,3333,0.08,2.25,0.00,0.000,3078,0.304,0.049,2677,2208,3373,3398,3348,0,0,0,0,0,0,14.50,14.70,28.83
$GC,3640,-0.82,-126.5,2677,2208,3397,3344,552.9,-13.2,408,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2208,3370,3397,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3940,-0.82,-126.5,2677,2209,3395,3342,592.5,-13.1,418,3946,0.00,2.28,0.00,0.000,516,0.000,0.062,2677,813,3368,3395,3342,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3978,-0.82,-126.5,2678,813,3394,3342,597.7,-12.9,426,3982,0.00,2.22,0.00,0.000,1030,0.000,0.050,2669,2199,3367,3393,3342,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4300,-0.82,-126.5,2670,2200,3392,3340,639.5,-13.0,440,4301,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2200,3366,3392,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4600,-0.82,-126.5,2670,2200,3390,3338,678.9,-13.1,450,4604,0.00,2.30,0.00,0.000,516,0.000,0.063,2669,806,3363,3390,3337,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4679,-0.82,-126.5,2670,805,3389,3338,689.3,-12.3,466,4684,0.10,2.25,0.00,0.000,3078,0.275,0.050,2679,2200,3363,3389,3337,0,0,0,0,0,0,14.45,14.69,28.83
$GC,4988,-0.82,-126.5,2679,2200,3389,3336,727.7,-12.6,477,4989,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2200,3362,3389,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5287,-0.82,-126.5,2679,2200,3388,3334,765.2,-12.4,487,5291,0.00,2.30,0.00,0.000,516,0.000,0.064,2680,810,3360,3387,3334,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5319,-0.82,-126.5,2680,810,3387,3334,769.3,-12.3,493,5325,0.00,2.25,0.00,0.000,1030,0.000,0.051,2671,2199,3360,3387,3334,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5649,-0.82,-126.5,2671,2199,3385,3333,810.5,-12.8,509,5650,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2199,3359,3385,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5950,-0.82,-126.5,2671,2199,3384,3331,847.8,-12.3,519,5955,0.00,2.28,0.00,0.000,516,0.000,0.064,2671,816,3357,3383,3331,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5981,-0.82,-126.5,2671,816,3383,3331,852.1,-12.7,526,5986,0.08,2.25,0.00,0.000,3078,0.301,0.052,2675,2201,3357,3383,3331,0,0,0,0,0,0,14.42,14.61,28.83
$GC,6310,-0.82,-126.5,2675,2201,3382,3329,890.9,-11.9,541,6311,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2201,3355,3382,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6609,-0.82,-126.5,2675,2202,3380,3328,926.1,-11.7,551,6615,0.00,2.33,0.00,0.000,516,0.000,0.066,2675,806,3354,3381,3327,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6651,-0.82,-126.5,2675,806,3380,3328,931.4,-11.6,560,6656,0.00,2.28,0.00,0.000,1030,0.000,0.054,2667,2197,3353,3380,3327,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6963,-0.82,-126.5,2667,2198,3379,3326,967.6,-11.6,572,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2198,3352,3379,3326,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7172,begin apogee
$GC,7177,-0.16,0.0,2667,2199,3378,3326,991.4,-11.3,579,7287,0.77,0.00,106.03,2.394,10246,0.217,0.000,2888,2199,2871,2917,2826,0,0,0,0,0,0,14.19,28.83,13.03
$STATE,7289,end apogee,CONTROL_FINISHED_OK
$STATE,7289,begin climb
$GC,7291,0.82,126.5,2888,2198,2911,2819,994.9,0.0,602,7417,0.98,2.40,114.82,2.502,10500,0.123,0.070,3203,3544,2349,2410,2288,0,0,0,0,0,0,14.04,13.81,12.81
$GC,7428,0.86,151.4,3202,3544,2405,2285,989.3,7.9,630,7457,0.00,2.38,24.27,2.394,9222,0.000,0.044,3213,2152,2254,2317,2191,0,0,0,0,0,0,28.83,13.97,12.85
$GC,7769,0.86,151.4,3213,2152,2303,2179,948.6,12.2,648,7775,0.00,2.38,0.00,0.000,516,0.000,0.069,3224,742,2240,2302,2179,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7862,0.86,151.4,2368,741,2255,2173,937.2,12.1,667,7866,0.00,2.30,0.00,0.000,1030,0.000,0.050,3224,2142,2240,2302,2179,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8190,0.86,151.4,3224,2142,2301,2178,898.9,11.6,682,8191,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2142,2240,2301,2179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8490,0.86,151.4,3223,2142,2299,2178,863.8,11.7,692,8496,0.00,2.35,0.00,0.000,516,0.000,0.070,3234,738,2238,2299,2178,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8573,0.86,151.4,3234,738,2300,2178,853.8,11.5,709,8579,0.00,2.30,0.00,0.000,1030,0.000,0.050,3234,2147,2238,2299,2177,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8880,0.86,151.4,3235,2146,2299,2177,817.1,12.1,720,8886,0.00,2.35,0.00,0.000,260,0.000,0.070,3234,3553,2238,2299,2177,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8912,0.86,151.4,2368,3552,2249,2171,812.7,13.3,727,8916,0.00,2.30,0.00,0.000,1030,0.000,0.045,3245,2140,2237,2298,2177,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9240,0.86,151.4,3245,2140,2298,2177,772.3,12.5,742,9246,0.00,2.35,0.00,0.000,516,0.000,0.070,3256,733,2237,2298,2177,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9338,0.86,151.4,3256,733,2298,2177,759.9,12.2,762,9342,0.00,2.30,0.00,0.000,1030,0.000,0.050,3256,2143,2237,2298,2177,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9655,0.86,151.4,3256,2144,2297,2176,721.5,12.3,775,9661,0.00,2.35,0.00,0.000,516,0.000,0.069,3266,737,2238,2299,2177,0,0,0,0,0,0,28.83,14.58,28.83
$GC,9698,0.86,151.4,3266,737,2298,2176,716.0,12.3,784,9702,0.00,2.28,0.00,0.000,1030,0.000,0.049,3266,2142,2237,2298,2176,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10010,0.86,151.4,3266,2142,2297,2176,678.4,12.3,796,10016,0.08,2.35,0.00,0.000,4612,0.321,0.066,3262,735,2237,2298,2176,0,0,0,0,0,0,14.58,14.58,28.83
$GC,10078,0.86,151.4,3262,735,2297,2176,669.9,12.1,810,10082,0.00,2.28,0.00,0.000,1030,0.000,0.048,3262,2139,2236,2297,2176,0,0,0,0,0,0,28.83,14.66,28.83
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$STATE,16796,end climb,SURFACE_DEPTH_REACHED
$STATE,16796,begin surface coast
$FINISH,0.2,0.999542
$STATE,16833,end surface coast,CONTROL_FINISHED_OK
$STATE,16833,begin surface
$SM_CCo,16851,1.17,0.203,0,0,509,579.63
$SM_GC,2.15,9.18,0.08,1.17,0.071,0.174,0.203,193,2237,509,-8.56,-1.19,579.63,0,0,0,0,0,0,14.62,14.64,14.47
$IRIDIUM_FIX,1749.63,8935.07,040908,070704
$TT8_MAMPS,0.018725,0.018725
$HUMID,48.14
$INTERNAL_PRESSURE,6.69948
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,12.8,119.129
$10V_AH,10.9,0.000
$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,23.225,161.350,527.950,1.175,0.000,128.163,179.890,252.725,0.000,0.000,16.569,3325.307,10136.602,624.284,3578.669,227.473,0.000,1983.026,0.000,2384.751,0.000,0.554,0.000
$DEVICE_MAMPS,344.250,173.655,2502.315,203.490,0.000,29.840,160.000,223.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,903.870,608.964,1561.143,953.937,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322252
$DATA_FILE_SIZE,130962,1624
$CAP_FILE_SIZE,175833,0
$CFSIZE,2097086464,2040791040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.012,112.6,1
$GPS,081115,231452,1758.756,8933.522,80,1.3,80,-0.9