version: 66.11
glider: 615
mission: 5
dive: 331
start: 11 9 115 20 9 28
data:
$ID,615
$MISSION,5
$DIVE,331
$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,-19729.844
$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,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,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
$GPS1,091115,195151,1804.694,8933.330,63,1.6,63,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-71.1
$GPS2,091115,200902,1804.698,8933.354,25,1.0,25,-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,352.0,3648,-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,-126.5,148,2219,550,494,0.0,0.0,0,55,0.00,0.00,-37.20,0.000,16386,0.000,0.000,148,2221,1554,1556,1552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.82,-126.5,148,2221,1556,1552,3.0,-7.0,6,116,10.82,2.25,-39.35,0.000,18692,0.340,0.070,2663,3591,3390,3406,3374,0,0,0,0,0,0,14.14,14.58,14.85
$GC,153,-0.82,-126.5,1664,3590,3392,3372,31.0,-39.4,22,161,0.05,2.28,0.00,0.000,3078,0.251,0.037,2676,2198,3390,3407,3374,0,0,0,0,0,0,14.30,14.52,28.83
$GC,346,-0.82,-126.5,2676,2196,3406,3375,85.3,-20.4,59,354,0.00,2.28,0.00,0.000,516,0.000,0.059,2676,796,3390,3406,3374,0,0,0,0,0,0,28.83,14.58,28.83
$GC,426,-0.82,-126.5,2676,796,3406,3375,101.6,-17.9,74,433,0.00,2.28,0.00,0.000,1030,0.000,0.046,2668,2177,3390,3406,3374,0,0,0,0,0,0,28.83,14.53,28.83
$GC,618,-0.82,-126.5,2668,2176,3406,3376,131.0,-15.6,111,625,0.00,2.35,0.00,0.000,260,0.000,0.063,2657,3613,3390,3406,3375,0,0,0,0,0,0,28.83,14.62,28.83
$GC,657,-0.82,-126.5,1664,3612,3392,3373,137.3,-15.5,118,665,0.05,2.30,0.00,0.000,3078,0.254,0.035,2681,2185,3391,3406,3376,0,0,0,0,0,0,14.37,14.60,28.83
$GC,849,-0.82,-126.5,2681,2184,3406,3376,162.9,-13.8,155,857,0.00,2.33,0.00,0.000,260,0.000,0.061,2673,3605,3391,3406,3376,0,0,0,0,0,0,28.83,14.64,28.83
$GC,935,-0.82,-126.5,2673,3605,3406,3376,174.2,-13.7,171,942,0.00,2.20,0.00,0.000,1030,0.000,0.036,2673,2203,3391,3406,3376,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1127,-0.82,-126.5,2673,2202,3406,3376,201.7,-14.7,207,1138,0.00,2.25,0.00,0.000,516,0.000,0.058,2673,810,3391,3406,3376,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1234,-0.82,-126.5,2673,810,3406,3375,217.8,-14.2,228,1243,0.05,2.28,0.00,0.000,3078,0.238,0.045,2677,2200,3390,3406,3375,0,0,0,0,0,0,14.29,14.51,28.83
$GC,1543,-0.82,-126.5,2677,2200,3405,3372,261.5,-14.2,259,1552,0.00,2.30,0.00,0.000,260,0.000,0.066,2669,3599,3389,3406,3372,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1575,-0.82,-126.5,2669,3599,3406,3372,266.2,-14.8,265,1585,0.00,2.20,0.00,0.000,1030,0.000,0.037,2669,2201,3389,3406,3372,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1885,-0.82,-126.5,2669,2201,3406,3368,311.4,-14.6,297,1895,0.00,2.25,0.00,0.000,516,0.000,0.061,2669,806,3386,3405,3368,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1960,-0.82,-126.5,2669,806,3405,3367,322.4,-14.6,311,1970,0.08,2.22,0.00,0.000,3078,0.306,0.047,2675,2200,3386,3405,3367,0,0,0,0,0,0,14.48,14.70,28.83
$GC,2280,-0.82,-126.5,2675,2200,3405,3361,367.2,-14.0,338,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2200,3383,3405,3361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2580,-0.82,-126.5,2675,2200,3405,3356,408.5,-13.5,353,2584,0.00,2.30,0.00,0.000,516,0.000,0.064,2675,812,3380,3405,3356,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2624,-0.82,-126.5,2675,811,3404,3356,414.9,-13.6,362,2629,0.00,2.28,0.00,0.000,1030,0.000,0.049,2668,2224,3380,3405,3355,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2943,-0.82,-126.5,2668,2225,3404,3352,458.7,-14.1,380,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2224,3378,3405,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3243,-0.82,-126.5,2669,2225,3402,3348,501.3,-14.5,395,3249,0.00,2.30,0.00,0.000,516,0.000,0.065,2669,819,3375,3402,3348,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3326,-0.82,-126.5,2669,818,3402,3347,513.5,-13.6,412,3333,0.00,2.30,0.00,0.000,1030,0.000,0.051,2665,2193,3374,3402,3347,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3634,-0.82,-126.5,2666,2193,3400,3345,556.4,-13.9,423,3638,0.00,2.38,0.00,0.000,260,0.000,0.073,2660,3603,3372,3400,3345,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3648,-0.82,-126.5,2660,3603,3400,3345,558.9,-14.1,426,3653,0.10,2.22,0.00,0.000,3078,0.274,0.041,2680,2204,3373,3401,3345,0,0,0,0,0,0,14.47,14.74,28.83
$GC,3960,-0.82,-126.5,2680,2203,3398,3342,598.0,-12.3,438,3966,0.00,2.30,0.00,0.000,516,0.000,0.068,2681,809,3370,3398,3342,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4023,-0.82,-126.5,2680,809,3398,3342,606.1,-12.4,451,4027,0.00,2.25,0.00,0.000,1030,0.000,0.052,2679,2202,3370,3398,3342,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4351,-0.82,-126.5,2679,2202,3396,3340,646.1,-12.3,466,4357,0.00,2.33,0.00,0.000,516,0.000,0.068,2678,804,3368,3396,3340,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4410,-0.82,-126.5,2679,804,3396,3340,653.7,-12.1,478,4416,0.00,2.28,0.00,0.000,1030,0.000,0.053,2678,2206,3368,3396,3340,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4740,-0.82,-126.5,2679,2205,3395,3337,694.0,-12.4,494,4746,0.00,2.33,0.00,0.000,516,0.000,0.067,2679,807,3365,3394,3337,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4793,-0.82,-126.5,2678,807,3394,3337,700.9,-12.1,505,4800,0.00,2.28,0.00,0.000,1030,0.000,0.054,2679,2204,3365,3394,3337,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5100,-0.82,-126.5,2679,2204,3392,3336,737.4,-12.0,516,5106,0.00,2.33,0.00,0.000,516,0.000,0.068,2679,802,3364,3393,3336,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5130,-0.82,-126.5,2679,802,3392,3336,741.2,-12.9,522,5134,0.00,2.28,0.00,0.000,1030,0.000,0.054,2679,2198,3364,3392,3336,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5461,-0.82,-126.5,2678,2199,3391,3335,781.4,-12.2,538,5467,0.00,2.33,0.00,0.000,516,0.000,0.069,2679,806,3362,3391,3334,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5496,-0.82,-126.5,2679,806,3390,3335,785.8,-12.6,545,5500,0.00,2.28,0.00,0.000,1030,0.000,0.054,2678,2201,3362,3390,3335,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5818,-0.82,-126.5,2679,2202,3389,3334,825.7,-12.6,559,5824,0.00,2.33,0.00,0.000,516,0.000,0.070,2679,809,3361,3389,3334,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5855,-0.82,-126.5,2679,809,3389,3334,831.0,-12.8,567,5860,0.00,2.28,0.00,0.000,1030,0.000,0.054,2678,2202,3361,3389,3334,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6172,-0.82,-126.5,2679,2203,3389,3333,871.3,-12.9,580,6173,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2202,3360,3389,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6472,-0.82,-126.5,2679,2203,3387,3332,910.3,-13.0,590,6476,0.00,2.35,0.00,0.000,516,0.000,0.072,2679,803,3359,3387,3331,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6522,-0.82,-126.5,2679,802,3387,3331,917.1,-12.9,600,6526,0.00,2.30,0.00,0.000,1030,0.000,0.056,2678,2204,3359,3387,3331,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6829,-0.82,-126.5,2679,2204,3385,3329,954.9,-12.4,611,6835,0.00,2.35,0.00,0.000,516,0.000,0.073,2679,800,3357,3385,3329,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6877,-0.82,-126.5,2679,800,3384,3329,961.3,-12.6,621,6881,0.00,2.30,0.00,0.000,1030,0.000,0.057,2679,2199,3356,3384,3329,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,7122,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7122,begin apogee
$GC,7127,-0.16,0.0,2679,2138,3384,3328,991.0,-12.0,630,7287,0.85,0.00,151.82,2.069,10246,0.312,0.000,2883,2136,2868,2915,2822,0,0,0,0,0,0,13.90,28.83,13.14
$STATE,7288,end apogee,CONTROL_FINISHED_OK
$STATE,7288,begin climb
$GC,7289,0.82,126.5,2883,2136,2913,2820,996.9,0.0,663,7412,1.08,2.60,111.55,2.292,10500,0.164,0.072,3206,3550,2349,2407,2291,0,0,0,0,0,0,14.02,13.85,12.90
$GC,7477,0.82,126.5,3206,3550,2403,2283,986.3,10.5,701,7484,0.00,2.38,0.00,0.000,1030,0.000,0.044,3217,2138,2343,2403,2283,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7784,0.82,126.5,3217,2137,2403,2281,954.1,10.5,712,7788,0.00,2.38,0.00,0.000,516,0.000,0.071,3227,736,2342,2403,2281,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7876,0.82,126.5,3228,736,2403,2281,944.6,10.4,730,7882,0.00,2.30,0.00,0.000,1030,0.000,0.049,3228,2143,2341,2402,2281,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8206,0.82,126.5,3227,2143,2402,2280,909.5,10.7,746,8212,0.00,2.35,0.00,0.000,516,0.000,0.069,3237,739,2341,2402,2280,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8295,0.82,126.5,3238,739,2402,2280,899.9,10.6,764,8300,0.00,2.30,0.00,0.000,1030,0.000,0.049,3238,2144,2341,2402,2280,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8627,0.82,126.5,3238,2144,2401,2279,864.5,10.7,780,8633,0.00,2.35,0.00,0.000,516,0.000,0.069,3248,737,2340,2401,2279,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8661,0.82,126.5,2336,737,2349,2273,860.8,11.3,787,8665,0.00,2.28,0.00,0.000,1030,0.000,0.049,3248,2139,2339,2400,2279,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8983,0.82,126.5,3248,2139,2398,2278,825.6,10.9,801,8984,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,2139,2338,2399,2278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9283,0.82,126.5,3248,2139,2398,2277,792.5,11.0,811,9289,0.00,2.35,0.00,0.000,516,0.000,0.070,3258,734,2337,2398,2277,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9373,0.82,126.5,3258,734,2398,2277,782.5,11.4,829,9378,0.10,2.30,0.00,0.000,5126,0.269,0.050,3238,2143,2338,2398,2278,0,0,0,0,0,0,14.40,14.66,28.83
$GC,9706,0.82,126.5,3238,2143,2397,2277,748.0,10.2,845,9712,0.00,2.35,0.00,0.000,516,0.000,0.069,3247,733,2337,2397,2277,0,0,0,0,0,0,28.83,14.53,28.83
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$STATE,17699,end climb,SURFACE_DEPTH_REACHED
$STATE,17699,begin surface coast
$FINISH,0.7,1.018566
$STATE,17793,end surface coast,CONTROL_FINISHED_OK
$STATE,17793,begin surface
$SM_CCo,17813,43.92,0.138,0,0,508,579.63
$SM_GC,6.83,9.52,2.38,43.92,0.111,0.038,0.138,187,2207,508,-8.57,-1.39,579.63,0,0,0,0,0,0,14.64,14.62,14.40
$IRIDIUM_FIX,1756.43,8932.79,050908,090941
$TT8_MAMPS,0.018725,0.018725
$HUMID,46.85
$INTERNAL_PRESSURE,6.69948
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,12.9,120.971
$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
$DEVICE_SECS,23.275,199.475,535.825,43.925,0.000,131.896,199.083,210.587,0.000,0.000,26.237,3490.874,10699.113,701.919,3741.740,243.305,0.000,2160.202,0.000,2547.112,0.000,0.554,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,933.180,623.487,1567.543,958.150,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322224
$DATA_FILE_SIZE,140569,1744
$CAP_FILE_SIZE,191619,0
$CFSIZE,2097086464,2039906304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.066,105.3,1
$GPS,101115,010851,1806.262,8933.661,68,1.1,68,-0.9