version: 66.11
glider: 615
mission: 5
dive: 338
start: 11 11 115 9 19 53
data:
$ID,615
$MISSION,5
$DIVE,338
$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,-19739.504
$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,41
$R_STBD_OVSHOOT,69
$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
$GPS1,111115,085657,1759.105,8925.832,74,1.1,74,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.8
$GPS2,111115,091925,1758.943,8925.801,7,0.8,7,-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,243.8,9992,-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,-126.5,156,2231,548,495,0.0,0.0,0,62,0.00,0.00,-45.17,0.000,16386,0.000,0.000,155,2232,1802,1803,1802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.82,-126.5,156,2233,1804,1802,3.6,-8.3,7,117,10.70,2.22,-33.00,0.000,19204,0.335,0.080,2664,3574,3389,3404,3374,0,0,0,0,0,0,14.16,14.54,14.80
$GC,227,-0.82,-126.5,2664,3575,3404,3374,54.9,-28.6,36,234,0.00,2.25,0.00,0.000,1030,0.000,0.037,2664,2190,3389,3404,3374,0,0,0,0,0,0,28.83,14.50,28.83
$GC,422,-0.82,-126.5,2664,2188,3404,3373,97.7,-21.2,73,429,0.08,2.22,0.00,0.000,2564,0.308,0.050,2677,806,3388,3404,3373,0,0,0,0,0,0,14.54,14.61,28.83
$GC,489,-0.82,-126.5,2677,805,3404,3373,109.6,-16.4,85,496,0.00,2.17,0.00,0.000,1030,0.000,0.041,2669,2184,3388,3404,3373,0,0,0,0,0,0,28.83,14.66,28.83
$GC,683,-0.82,-126.5,2669,2184,3404,3373,141.9,-16.1,122,691,0.00,2.35,0.00,0.000,260,0.000,0.057,2658,3598,3388,3404,3373,0,0,0,0,0,0,28.83,14.57,28.83
$GC,756,-0.82,-126.5,2658,3598,3404,3373,152.9,-16.8,135,763,0.10,2.20,0.00,0.000,3078,0.250,0.035,2679,2185,3388,3404,3373,0,0,0,0,0,0,14.48,14.73,28.83
$GC,952,-0.82,-126.5,2679,2185,3404,3373,179.9,-15.3,172,959,0.00,2.28,0.00,0.000,516,0.000,0.060,2680,820,3388,3404,3373,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1038,-0.82,-126.5,2679,819,3404,3373,192.6,-14.7,188,1045,0.00,2.25,0.00,0.000,1030,0.000,0.047,2671,2190,3388,3404,3373,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1235,-0.82,-126.5,2671,2190,3404,3372,220.2,-13.9,212,1243,0.00,2.30,0.00,0.000,260,0.000,0.066,2661,3601,3388,3404,3372,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1285,-0.82,-126.5,2661,3601,3404,3372,227.5,-13.8,222,1295,0.08,2.17,0.00,0.000,3078,0.279,0.037,2675,2205,3388,3404,3372,0,0,0,0,0,0,14.52,14.74,28.83
$GC,1595,-0.82,-126.5,2676,2204,3403,3369,271.2,-14.9,254,1604,0.00,2.25,0.00,0.000,516,0.000,0.061,2675,813,3386,3404,3369,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1689,-0.82,-126.5,2675,813,3404,3368,285.7,-14.7,273,1696,0.00,2.22,0.00,0.000,1030,0.000,0.047,2667,2201,3385,3403,3368,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1996,-0.82,-126.5,2668,2201,3403,3362,331.8,-14.9,304,2005,0.00,2.30,0.00,0.000,260,0.000,0.069,2657,3600,3382,3403,3362,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2017,-0.82,-126.5,2657,3600,3403,3362,335.0,-15.1,308,2027,0.10,2.20,0.00,0.000,3078,0.242,0.038,2678,2201,3382,3404,3361,0,0,0,0,0,0,14.53,14.76,28.83
$GC,2329,-0.82,-126.5,2678,2201,3403,3355,376.9,-13.2,330,2335,0.00,2.25,0.00,0.000,516,0.000,0.063,2678,813,3379,3403,3355,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2411,-0.82,-126.5,2679,813,3403,3354,388.3,-13.5,347,2416,0.00,2.28,0.00,0.000,1030,0.000,0.049,2671,2202,3378,3403,3354,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2730,-0.82,-126.5,2671,2203,3402,3349,432.4,-14.2,365,2736,0.00,2.25,0.00,0.000,516,0.000,0.063,2670,817,3376,3403,3349,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2781,-0.82,-126.5,2670,817,3402,3349,440.3,-14.1,376,2789,0.05,2.30,0.00,0.000,3078,0.239,0.050,2676,2197,3375,3402,3349,0,0,0,0,0,0,14.31,14.52,28.83
$GC,3089,-0.82,-126.5,2676,2198,3401,3345,481.8,-13.6,392,3095,0.00,2.28,0.00,0.000,516,0.000,0.065,2676,812,3373,3401,3345,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3132,-0.82,-126.5,2676,812,3400,3345,488.1,-13.2,401,3136,0.00,2.30,0.00,0.000,1030,0.000,0.050,2668,2206,3373,3401,3345,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3440,-0.82,-126.5,2668,2206,3398,3343,529.4,-13.6,415,3446,0.00,2.28,0.00,0.000,516,0.000,0.063,2668,809,3370,3398,3342,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3487,-0.82,-126.5,2668,809,3397,3342,536.3,-13.4,425,3492,0.10,2.25,0.00,0.000,3078,0.278,0.051,2680,2203,3369,3397,3342,0,0,0,0,0,0,14.47,14.71,28.83
$GC,3794,-0.82,-126.5,2679,2204,3396,3340,575.7,-13.0,436,3800,0.00,2.30,0.00,0.000,516,0.000,0.067,2679,809,3368,3396,3340,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3842,-0.82,-126.5,2679,809,3395,3340,582.3,-12.9,446,3846,0.00,2.25,0.00,0.000,1030,0.000,0.051,2672,2200,3367,3395,3340,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4154,-0.82,-126.5,2672,2201,3394,3337,623.8,-13.5,458,4160,0.00,2.28,0.00,0.000,516,0.000,0.065,2672,814,3365,3393,3337,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4187,-0.82,-126.5,1792,814,3381,3334,628.7,-14.1,465,4191,0.00,2.25,0.00,0.000,1030,0.000,0.053,2665,2199,3364,3393,3336,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4514,-0.82,-126.5,2665,2199,3392,3335,674.3,-14.2,480,4520,0.00,2.30,0.00,0.000,516,0.000,0.066,2665,811,3364,3392,3336,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4547,-0.82,-126.5,1792,810,3380,3333,679.3,-14.5,487,4551,0.00,2.28,0.00,0.000,1030,0.000,0.054,2665,2206,3363,3391,3335,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4874,-0.82,-126.5,2665,2207,3389,3333,724.4,-13.7,502,4875,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2207,3362,3390,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5174,-0.82,-126.5,2665,2207,3389,3333,764.0,-13.1,512,5178,0.00,2.30,0.00,0.000,516,0.000,0.069,2665,816,3361,3389,3333,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5229,-0.82,-126.5,2665,815,3388,3332,771.4,-12.6,523,5235,0.00,2.28,0.00,0.000,1030,0.000,0.055,2665,2203,3360,3388,3332,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5535,-0.82,-126.5,2666,2203,3386,3330,809.8,-12.4,534,5539,0.00,2.30,0.00,0.000,516,0.000,0.068,2665,815,3358,3387,3330,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5580,-0.82,-126.5,2665,815,3386,3330,815.6,-12.3,543,5584,0.00,2.28,0.00,0.000,1030,0.000,0.056,2665,2206,3358,3386,3330,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5897,-0.82,-126.5,2665,2205,3385,3328,854.5,-12.4,556,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2206,3356,3385,3328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6197,-0.82,-126.5,2665,2205,3383,3327,892.3,-12.8,566,6203,0.00,2.33,0.00,0.000,516,0.000,0.070,2666,810,3355,3383,3327,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6280,-0.82,-126.5,2666,810,3382,3327,903.3,-12.7,583,6286,0.00,2.30,0.00,0.000,1030,0.000,0.056,2665,2207,3354,3382,3327,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6587,-0.82,-126.5,2665,2208,3380,3326,942.8,-13.1,594,6588,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2208,3352,3380,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6887,-0.82,-126.5,2665,2209,3380,3324,981.3,-12.9,604,6893,0.00,2.33,0.00,0.000,516,0.000,0.070,2665,814,3351,3379,3324,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6925,-0.82,-126.5,2665,814,3379,3324,986.6,-12.7,612,6929,0.00,2.28,0.00,0.000,1030,0.000,0.057,2665,2199,3351,3379,3324,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,6970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6970,begin apogee
$GC,6974,-0.16,0.0,2665,2199,3379,3324,992.2,-12.5,616,7087,0.88,0.03,105.80,2.362,10246,0.288,0.320,2885,2159,2871,2918,2825,0,0,0,0,0,0,13.97,13.99,13.02
$STATE,7088,end apogee,CONTROL_FINISHED_OK
$STATE,7088,begin climb
$GC,7090,0.82,126.5,2885,2159,2912,2817,996.7,0.0,639,7214,1.08,2.55,114.60,2.525,10500,0.167,0.075,3211,3545,2351,2411,2291,0,0,0,0,0,0,14.03,13.81,12.77
$GC,7235,0.83,131.3,3211,3545,2405,2285,990.4,8.9,668,7242,0.00,2.42,0.00,0.000,1030,0.000,0.044,3222,2137,2344,2405,2284,0,0,0,0,0,0,28.83,14.02,28.83
$GC,7542,0.83,131.3,3221,2136,2404,2282,957.6,10.9,679,7548,0.00,2.35,0.00,0.000,516,0.000,0.071,3232,735,2342,2403,2282,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7640,0.83,131.3,3232,736,2403,2282,946.2,11.3,699,7644,0.00,2.30,0.00,0.000,1030,0.000,0.049,3232,2144,2342,2403,2282,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7957,0.83,131.3,3232,2144,2402,2280,913.0,10.4,712,7958,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2144,2341,2402,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8257,0.83,131.3,3233,2144,2402,2279,882.4,10.1,722,8263,0.00,2.35,0.00,0.000,516,0.000,0.070,3243,733,2341,2402,2280,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8305,0.83,131.3,3243,733,2402,2280,877.5,9.7,732,8309,0.00,2.30,0.00,0.000,1030,0.000,0.050,3243,2145,2341,2402,2280,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8613,0.83,131.3,3243,2146,2401,2279,847.3,9.9,743,8617,0.00,2.38,0.00,0.000,516,0.000,0.068,3253,730,2340,2402,2279,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8699,0.83,131.3,3253,730,2401,2279,838.4,10.6,760,8706,0.00,2.38,0.00,0.000,1030,0.000,0.050,3252,2159,2340,2401,2279,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9005,0.83,131.3,3253,2159,2400,2278,808.2,9.9,771,9009,0.00,2.38,0.00,0.000,516,0.000,0.070,3263,734,2339,2400,2278,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9030,0.83,131.3,3264,734,2399,2278,805.6,10.3,776,9039,0.05,2.38,0.00,0.000,5126,0.248,0.051,3249,2142,2338,2399,2278,0,0,0,0,0,0,14.29,14.47,28.83
$GC,9338,0.83,133.3,3249,2142,2399,2277,777.2,9.1,787,9344,0.00,2.33,1.42,0.182,8708,0.000,0.066,3258,732,2330,2391,2269,0,0,0,0,0,0,28.83,14.58,14.42
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$STATE,17469,end climb,SURFACE_DEPTH_REACHED
$STATE,17470,begin surface coast
$FINISH,0.2,1.009306
$STATE,17506,end surface coast,CONTROL_FINISHED_OK
$STATE,17506,begin surface
$SM_CCo,17523,1.25,0.197,0,0,507,579.63
$SM_GC,2.51,9.02,0.00,1.25,0.062,0.000,0.197,170,2150,507,-8.58,-1.41,579.63,0,0,0,0,0,0,14.65,28.83,14.45
$IRIDIUM_FIX,1754.17,8925.99,060908,222254
$TT8_MAMPS,0.018725,0.018725
$HUMID,48.58
$INTERNAL_PRESSURE,6.68971
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,12.8,123.501
$10V_AH,10.8,0.000
$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
$DEVICE_SECS,22.950,194.350,535.675,1.250,0.000,133.557,188.212,587.925,0.000,0.000,9.381,3388.752,10589.168,659.454,3918.002,305.302,0.000,2108.629,0.000,2513.658,0.000,0.554,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,897.480,593.416,1466.639,896.093,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322184
$DATA_FILE_SIZE,137412,1718
$CAP_FILE_SIZE,194456,0
$CFSIZE,2097086464,2038497280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.065,128.8,1
$GPS,111115,141429,1757.782,8924.642,113,1.7,114,-0.9