version: 66.11
glider: 615
mission: 5
dive: 332
start: 11 10 115 1 25 33
data:
$ID,615
$MISSION,5
$DIVE,332
$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,-19731.098
$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,39
$R_STBD_OVSHOOT,49
$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
$GPS1,101115,010851,1806.262,8933.661,68,1.1,68,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-68.4
$GPS2,101115,012505,1806.269,8933.702,5,1.1,5,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,SW
$TGT_LATLONG,1755.320,8921.600
$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,244.9,29428,-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,-126.5,148,2207,544,497,0.0,0.0,0,56,0.00,0.00,-39.03,0.000,16386,0.000,0.000,148,2208,1617,1619,1616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.82,-126.5,148,2207,1618,1616,3.0,-6.0,6,118,10.93,2.35,-37.97,0.000,19204,0.344,0.080,2664,3599,3389,3401,3377,0,0,0,0,0,0,14.15,14.43,14.85
$GC,185,-0.82,-126.5,2664,3601,3401,3377,39.2,-31.6,28,193,0.05,2.30,0.00,0.000,3078,0.246,0.037,2687,2184,3389,3401,3377,0,0,0,0,0,0,14.30,14.54,28.83
$GC,377,-0.82,-126.5,2687,2181,3401,3377,92.6,-22.0,65,384,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2181,3389,3401,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,566,-0.82,-126.5,1696,2179,3386,3376,125.6,-16.9,102,574,0.00,2.28,0.00,0.000,516,0.000,0.059,2686,820,3389,3401,3378,0,0,0,0,0,0,28.83,14.50,28.83
$GC,638,-0.82,-126.5,2687,820,3401,3378,137.2,-15.5,115,644,0.00,2.17,0.00,0.000,1030,0.000,0.044,2679,2193,3389,3401,3378,0,0,0,0,0,0,28.83,14.66,28.83
$GC,827,-0.82,-126.5,2679,2194,3401,3379,163.8,-13.2,152,834,0.00,2.30,0.00,0.000,516,0.000,0.057,2679,815,3390,3401,3379,0,0,0,0,0,0,28.83,14.53,28.83
$GC,862,-0.82,-126.5,2680,814,3401,3379,168.4,-13.7,158,869,0.00,2.28,0.00,0.000,1030,0.000,0.044,2669,2201,3390,3401,3379,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1051,-0.82,-126.5,1680,2199,3387,3377,196.7,-14.8,195,1058,0.00,2.30,0.00,0.000,260,0.000,0.064,2659,3605,3390,3401,3379,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1097,-0.82,-126.5,2659,3605,3401,3379,203.2,-14.0,203,1108,0.05,2.20,0.00,0.000,3078,0.218,0.037,2674,2200,3389,3401,3378,0,0,0,0,0,0,14.38,14.71,28.83
$GC,1406,-0.82,-126.5,2674,2199,3401,3376,247.1,-14.2,235,1416,0.00,2.25,0.00,0.000,516,0.000,0.060,2674,809,3388,3401,3376,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1459,-0.82,-126.5,2673,808,3401,3376,254.8,-14.5,245,1470,0.00,2.22,0.00,0.000,1030,0.000,0.046,2666,2205,3388,3401,3376,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1769,-0.82,-126.5,2666,2205,3401,3372,300.1,-14.1,277,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2205,3386,3401,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2071,-0.82,-126.5,2666,2205,3401,3369,343.2,-14.8,307,2081,0.00,2.25,0.00,0.000,516,0.000,0.062,2666,819,3384,3400,3368,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2136,-0.82,-126.5,2666,819,3401,3368,352.7,-14.1,319,2143,0.05,2.22,0.00,0.000,3078,0.231,0.049,2671,2217,3385,3402,3368,0,0,0,0,0,0,14.43,14.68,28.83
$GC,2456,-0.82,-126.5,2671,2218,3401,3362,398.5,-14.2,338,2462,0.00,2.30,0.00,0.000,516,0.000,0.063,2671,812,3380,3400,3361,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2488,-0.82,-126.5,2671,813,3401,3361,403.7,-14.9,345,2497,0.00,2.33,0.00,0.000,1030,0.000,0.050,2665,2206,3381,3401,3361,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2796,-0.82,-126.5,2665,2206,3400,3356,449.6,-15.0,361,2802,0.00,2.28,0.00,0.000,516,0.000,0.063,2665,816,3378,3401,3356,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2824,-0.82,-126.5,2665,816,3400,3355,454.2,-15.7,367,2829,0.10,2.25,0.00,0.000,3078,0.282,0.050,2676,2207,3377,3400,3355,0,0,0,0,0,0,14.46,14.70,28.83
$GC,3132,-0.82,-126.5,2676,2207,3399,3352,495.4,-13.2,383,3138,0.00,2.30,0.00,0.000,516,0.000,0.066,2676,809,3375,3399,3352,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3180,-0.82,-126.5,2676,809,3399,3352,502.2,-13.2,393,3184,0.00,2.25,0.00,0.000,1030,0.000,0.050,2670,2202,3375,3399,3352,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3486,-0.82,-126.5,2670,2202,3397,3348,543.8,-13.8,404,3492,0.00,2.30,0.00,0.000,516,0.000,0.066,2670,811,3373,3398,3348,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3550,-0.82,-126.5,2670,812,3397,3348,553.1,-13.9,417,3554,0.00,2.25,0.00,0.000,1030,0.000,0.052,2668,2201,3372,3397,3348,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3873,-0.82,-126.5,2668,2202,3395,3345,598.2,-14.0,431,3879,0.00,2.25,0.00,0.000,516,0.000,0.067,2668,820,3370,3396,3345,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3916,-0.82,-126.5,2668,820,3395,3344,604.6,-14.1,440,3921,0.00,2.22,0.00,0.000,1030,0.000,0.053,2668,2199,3370,3395,3345,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4234,-0.82,-126.5,2668,2199,3393,3343,648.0,-13.7,453,4235,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2199,3368,3394,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4533,-0.82,-126.5,2668,2199,3392,3341,688.8,-13.4,463,4539,0.00,2.30,0.00,0.000,516,0.000,0.067,2668,809,3366,3392,3340,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4565,-0.82,-126.5,2668,809,3391,3341,693.5,-13.2,470,4570,0.00,2.28,0.00,0.000,1030,0.000,0.054,2668,2207,3366,3391,3342,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4893,-0.82,-126.5,2667,2208,3390,3338,736.8,-13.2,485,4899,0.00,2.30,0.00,0.000,516,0.000,0.068,2668,817,3364,3390,3338,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4936,-0.82,-126.5,2668,817,3389,3338,743.0,-13.4,494,4940,0.00,2.25,0.00,0.000,1030,0.000,0.054,2668,2200,3364,3390,3338,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5248,-0.82,-126.5,2668,2201,3389,3337,783.1,-12.9,506,5254,0.00,2.30,0.00,0.000,516,0.000,0.068,2668,813,3362,3388,3337,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5280,-0.82,-126.5,1792,812,3376,3334,787.7,-12.7,513,5285,0.00,2.28,0.00,0.000,1030,0.000,0.054,2668,2208,3363,3389,3337,0,0,0,0,0,0,28.83,14.63,28.83
$GC,5608,-0.82,-126.5,2668,2209,3387,3336,829.0,-12.6,528,5609,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2209,3361,3387,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5908,-0.82,-126.5,2668,2209,3385,3335,866.3,-12.3,538,5914,0.00,2.33,0.00,0.000,516,0.000,0.070,2668,812,3360,3385,3335,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5986,-0.82,-126.5,2668,812,3385,3335,876.3,-12.6,554,5990,0.00,2.28,0.00,0.000,1030,0.000,0.055,2668,2202,3360,3385,3335,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6294,-0.82,-126.5,2668,2203,3383,3334,913.8,-12.4,565,6300,0.00,2.28,0.00,0.000,516,0.000,0.070,2668,822,3358,3383,3333,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6336,-0.82,-126.5,2668,822,3383,3333,919.6,-13.0,574,6340,0.00,2.28,0.00,0.000,1030,0.000,0.057,2668,2205,3357,3382,3333,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6648,-0.82,-126.5,2668,2206,3382,3332,959.2,-12.8,586,6654,0.00,2.38,0.00,0.000,260,0.000,0.080,2668,3607,3357,3382,3332,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6671,-0.82,-126.5,2668,3607,3381,3332,962.5,-13.3,591,6678,0.00,2.28,0.00,0.000,1030,0.000,0.044,2668,2204,3356,3381,3332,0,0,0,0,0,0,28.83,14.67,28.83
$STATE,6916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6916,begin apogee
$GC,6921,-0.16,0.0,2668,2137,3381,3331,993.9,-13.0,600,7037,0.93,0.00,106.65,2.352,10246,0.317,0.000,2885,2135,2866,2911,2821,0,0,0,0,0,0,13.92,28.83,13.03
$STATE,7039,end apogee,CONTROL_FINISHED_OK
$STATE,7039,begin climb
$GC,7041,0.82,126.5,2885,2135,2909,2820,999.2,0.0,624,7167,1.08,2.60,114.82,2.546,10500,0.174,0.072,3205,3547,2349,2409,2290,0,0,0,0,0,0,14.06,13.82,12.82
$GC,7213,0.82,126.5,3206,3547,2405,2284,991.0,9.8,659,7220,0.00,2.38,0.00,0.000,1030,0.000,0.043,3216,2144,2345,2406,2284,0,0,0,0,0,0,28.83,14.13,28.83
$GC,7520,0.82,126.5,3217,2144,2404,2281,959.3,10.4,670,7526,0.00,2.38,0.00,0.000,516,0.000,0.070,3227,735,2343,2404,2282,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7683,0.82,126.5,3227,735,2403,2281,941.7,10.3,703,7687,0.00,2.30,0.00,0.000,1030,0.000,0.049,3227,2139,2342,2403,2281,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7995,0.82,126.5,3227,2140,2403,2280,909.5,10.4,715,7997,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2140,2341,2403,2280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8295,0.82,126.5,3228,2140,2403,2279,878.2,10.5,725,8301,0.00,2.35,0.00,0.000,516,0.000,0.069,3238,736,2340,2402,2279,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8388,0.82,126.5,3238,736,2403,2279,868.3,10.6,744,8392,0.00,2.30,0.00,0.000,1030,0.000,0.049,3238,2146,2341,2403,2279,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8716,0.82,126.5,3238,2148,2402,2278,834.2,10.5,759,8720,0.00,2.38,0.00,0.000,516,0.000,0.069,3248,735,2340,2402,2278,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8790,0.82,126.5,3249,735,2402,2279,826.0,11.0,774,8795,0.00,2.30,0.00,0.000,1030,0.000,0.050,3249,2149,2340,2402,2279,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9102,0.82,126.5,3249,2149,2401,2278,793.3,10.4,786,9108,0.00,2.35,0.00,0.000,260,0.000,0.070,3249,3556,2338,2400,2277,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9135,0.82,126.5,3248,3556,2400,2278,789.4,11.5,793,9140,0.10,2.30,0.00,0.000,5126,0.303,0.044,3240,2138,2338,2399,2278,0,0,0,0,0,0,14.38,14.69,28.83
$GC,9458,0.82,126.5,3240,2138,2399,2277,756.9,9.8,807,9464,0.00,2.33,0.00,0.000,516,0.000,0.070,3249,740,2338,2399,2278,0,0,0,0,0,0,28.83,14.58,28.83
$GC,9562,0.82,126.5,3249,740,2399,2278,746.2,10.1,828,9566,0.00,2.28,0.00,0.000,1030,0.000,0.049,3249,2143,2338,2399,2277,0,0,0,0,0,0,28.83,14.66,28.83
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$STATE,17494,end climb,SURFACE_DEPTH_REACHED
$STATE,17494,begin surface coast
$FINISH,0.6,1.018412
$STATE,17533,end surface coast,CONTROL_FINISHED_OK
$STATE,17533,begin surface
$SM_CCo,17551,18.40,0.135,0,0,509,579.63
$SM_GC,5.83,9.27,0.10,18.40,0.087,0.141,0.135,190,2243,509,-8.57,-0.82,579.63,0,0,0,0,0,0,14.60,14.61,14.38
$IRIDIUM_FIX,1758.70,8932.79,050908,141412
$TT8_MAMPS,0.018725,0.018725
$HUMID,48.18
$INTERNAL_PRESSURE,6.67994
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,12.8,121.309
$10V_AH,11.0,0.000
$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
$DEVICE_SECS,23.275,184.875,507.175,18.400,0.000,126.246,183.176,205.332,0.000,0.000,6.474,3406.029,10588.876,659.206,3625.722,251.789,0.000,2101.349,0.000,2519.793,0.000,0.553,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,905.182,597.611,1567.572,957.813,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322216
$DATA_FILE_SIZE,140638,1719
$CAP_FILE_SIZE,188994,0
$CFSIZE,2097086464,2039382016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.061,158.2,1
$GPS,101115,062127,1804.861,8932.312,147,1.4,147,-0.9