version: 66.11
glider: 615
mission: 5
dive: 342
start: 11 12 115 6 47 52
data:
$ID,615
$MISSION,5
$DIVE,342
$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,-19745.482
$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,40
$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
$GPS1,121115,062221,1756.533,8921.913,82,1.1,82,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-70.8
$GPS2,121115,064725,1756.364,8921.770,5,1.2,5,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,NW
$TGT_LATLONG,1806.660,8921.600
$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,348.9,19071,-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,-126.5,144,2173,562,490,0.0,0.0,0,56,0.00,0.00,-38.20,0.000,16386,0.000,0.000,144,2171,1584,1586,1582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.82,-126.5,144,2171,1586,1581,3.1,-7.3,6,117,11.00,2.40,-38.90,0.000,18692,0.347,0.075,2665,3614,3388,3403,3373,0,0,0,0,0,0,14.16,14.57,14.84
$GC,164,-0.82,-126.5,2665,3614,3403,3373,33.5,-33.3,24,171,0.00,2.33,0.00,0.000,1030,0.000,0.039,2665,2197,3388,3403,3373,0,0,0,0,0,0,28.83,14.54,28.83
$GC,355,-0.82,-126.5,2665,2195,3403,3372,86.4,-21.8,61,362,0.00,2.25,0.00,0.000,516,0.000,0.057,2665,800,3387,3403,3372,0,0,0,0,0,0,28.83,14.60,28.83
$GC,421,-0.82,-126.5,2665,800,3403,3372,99.2,-20.0,73,429,0.10,2.22,0.00,0.000,3078,0.298,0.042,2674,2208,3387,3403,3372,0,0,0,0,0,0,14.40,14.66,28.83
$GC,613,-0.82,-126.5,2674,2208,3403,3372,129.4,-13.1,110,620,0.00,2.33,0.00,0.000,516,0.000,0.055,2674,805,3387,3403,3372,0,0,0,0,0,0,28.83,14.55,28.83
$GC,675,-0.82,-126.5,2674,805,3403,3372,138.4,-14.5,121,682,0.00,2.20,0.00,0.000,1030,0.000,0.041,2666,2204,3388,3404,3372,0,0,0,0,0,0,28.83,14.69,28.83
$GC,865,-0.82,-126.5,2666,2204,3403,3372,165.6,-14.6,158,873,0.00,2.33,0.00,0.000,516,0.000,0.057,2666,806,3388,3403,3373,0,0,0,0,0,0,28.83,14.55,28.83
$GC,915,-0.82,-126.5,1680,806,3389,3370,173.0,-14.3,167,922,0.10,2.20,0.00,0.000,3078,0.284,0.041,2677,2200,3387,3403,3372,0,0,0,0,0,0,14.45,14.69,28.83
$GC,1105,-0.82,-126.5,2676,2200,3403,3372,199.0,-13.3,204,1113,0.00,2.33,0.00,0.000,260,0.000,0.063,2667,3589,3387,3403,3371,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1152,-0.82,-126.5,1744,3588,3390,3369,205.7,-13.8,213,1160,0.00,2.20,0.00,0.000,1030,0.000,0.035,2668,2185,3387,3403,3371,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1460,-0.82,-126.5,2667,2184,3403,3369,248.7,-14.3,244,1469,0.00,2.22,0.00,0.000,516,0.000,0.062,2667,810,3385,3403,3368,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1523,-0.82,-126.5,1764,810,3391,3366,258.2,-14.1,257,1531,0.10,2.22,0.00,0.000,3078,0.277,0.047,2678,2205,3385,3403,3368,0,0,0,0,0,0,14.48,14.71,28.83
$GC,1832,-0.82,-126.5,2678,2204,3403,3362,302.7,-14.8,288,1842,0.00,2.22,0.00,0.000,516,0.000,0.062,2679,823,3382,3403,3362,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1885,-0.82,-126.5,2679,823,3402,3362,310.5,-14.4,298,1893,0.00,2.20,0.00,0.000,1030,0.000,0.048,2670,2199,3381,3402,3361,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2195,-0.82,-126.5,2671,2199,3403,3355,356.1,-14.4,328,2201,0.00,2.33,0.00,0.000,260,0.000,0.070,2660,3608,3378,3402,3355,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2222,-0.82,-126.5,2660,3608,3402,3355,360.3,-14.2,334,2227,0.10,2.22,0.00,0.000,3078,0.246,0.040,2681,2204,3378,3402,3354,0,0,0,0,0,0,14.53,14.76,28.83
$GC,2530,-0.82,-126.5,2681,2204,3402,3350,402.0,-13.8,350,2536,0.00,2.28,0.00,0.000,516,0.000,0.064,2682,809,3376,3402,3350,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2631,-0.82,-126.5,2682,808,3401,3350,415.7,-13.3,370,2637,0.00,2.25,0.00,0.000,1030,0.000,0.050,2673,2220,3375,3401,3350,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2951,-0.82,-126.5,2674,2221,3401,3344,461.5,-14.4,389,2957,0.00,2.33,0.00,0.000,516,0.000,0.065,2673,804,3372,3401,3344,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3000,-0.82,-126.5,2674,804,3400,3344,468.9,-14.0,399,3004,0.00,2.25,0.00,0.000,1030,0.000,0.051,2664,2201,3372,3400,3344,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3316,-0.82,-126.5,2664,2202,3397,3341,513.9,-14.2,414,3321,0.08,2.33,0.00,0.000,2564,0.322,0.065,2676,806,3369,3398,3341,0,0,0,0,0,0,14.63,14.64,28.83
$GC,3356,-0.82,-126.5,2676,806,3397,3341,519.6,-13.2,422,3361,0.00,2.28,0.00,0.000,1030,0.000,0.051,2668,2208,3369,3397,3341,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3678,-0.82,-126.5,2668,2207,3395,3338,562.7,-13.5,436,3682,0.00,2.33,0.00,0.000,516,0.000,0.067,2668,803,3366,3396,3337,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3718,-0.82,-126.5,2668,803,3395,3338,568.4,-13.3,444,3722,0.10,2.28,0.00,0.000,3078,0.279,0.053,2680,2208,3366,3395,3338,0,0,0,0,0,0,14.47,14.71,28.83
$GC,4035,-0.82,-126.5,2681,2209,3393,3336,608.5,-12.9,457,4041,0.00,2.33,0.00,0.000,516,0.000,0.068,2680,802,3364,3392,3336,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4065,-0.82,-126.5,2681,801,3393,3336,612.4,-13.4,463,4071,0.00,2.28,0.00,0.000,1030,0.000,0.053,2674,2206,3364,3393,3336,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4395,-0.82,-126.5,2674,2206,3391,3334,655.8,-13.2,479,4402,0.00,2.33,0.00,0.000,516,0.000,0.068,2674,806,3362,3390,3334,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4433,-0.82,-126.5,2674,806,3390,3334,661.1,-13.0,487,4437,0.00,2.30,0.00,0.000,1030,0.000,0.054,2667,2209,3362,3390,3334,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4755,-0.82,-126.5,2667,2208,3389,3332,704.2,-13.6,501,4760,0.00,2.33,0.00,0.000,516,0.000,0.069,2667,809,3361,3389,3333,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4800,-0.82,-126.5,2667,809,3388,3332,710.7,-13.6,510,4804,0.00,2.28,0.00,0.000,1030,0.000,0.054,2666,2205,3360,3388,3332,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5113,-0.82,-126.5,2666,2206,3387,3330,752.6,-13.4,522,5119,0.00,2.33,0.00,0.000,260,0.000,0.077,2659,3597,3357,3386,3329,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5142,-0.82,-126.5,2659,3597,3386,3329,756.6,-14.0,528,5147,0.10,2.25,0.00,0.000,3078,0.259,0.045,2679,2205,3357,3386,3329,0,0,0,0,0,0,14.47,14.72,28.83
$GC,5474,-0.82,-126.5,2679,2204,3385,3327,798.7,-12.5,544,5480,0.00,2.33,0.00,0.000,516,0.000,0.070,2679,803,3356,3385,3327,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5582,-0.82,-126.5,2679,803,3383,3328,812.5,-12.3,566,5586,0.00,2.28,0.00,0.000,1030,0.000,0.055,2673,2201,3355,3383,3327,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5890,-0.82,-126.5,2673,2202,3382,3326,850.7,-12.6,577,5894,0.00,2.35,0.00,0.000,516,0.000,0.070,2673,797,3354,3382,3326,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5922,-0.82,-126.5,2673,797,3381,3326,854.9,-13.1,583,5928,0.00,2.28,0.00,0.000,1030,0.000,0.055,2667,2202,3353,3381,3326,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6252,-0.82,-126.5,2667,2202,3380,3325,897.4,-12.8,599,6253,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2202,3352,3381,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6552,-0.82,-126.5,2667,2202,3379,3323,935.8,-12.7,609,6558,0.00,2.35,0.00,0.000,516,0.000,0.071,2667,803,3350,3378,3323,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6644,-0.82,-126.5,2667,803,3378,3323,948.1,-11.9,628,6649,0.00,2.33,0.00,0.000,1030,0.000,0.057,2667,2191,3350,3378,3323,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6973,-0.82,-126.5,2667,2191,3379,3321,989.6,-12.9,643,6974,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2192,3349,3378,3321,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7000,begin apogee
$GC,7005,-0.16,0.0,2667,2139,3378,3321,993.5,-12.9,644,7122,0.85,0.00,106.62,2.444,10246,0.280,0.000,2884,2138,2864,2912,2817,0,0,0,0,0,0,13.99,28.83,12.95
$STATE,7124,end apogee,CONTROL_FINISHED_OK
$STATE,7124,begin climb
$GC,7126,0.82,126.5,2884,2138,2911,2816,998.6,0.0,668,7250,1.08,2.53,113.22,2.444,10500,0.182,0.075,3203,3546,2348,2408,2288,0,0,0,0,0,0,14.06,13.86,12.90
$GC,7286,0.83,130.3,3204,3546,2403,2283,991.8,9.0,701,7291,0.00,2.38,0.00,0.000,1030,0.000,0.047,3214,2145,2343,2404,2283,0,0,0,0,0,0,28.83,14.13,28.83
$GC,7599,0.83,130.3,3214,2145,2403,2280,961.0,10.2,713,7605,0.00,2.38,0.00,0.000,516,0.000,0.072,3225,733,2341,2402,2280,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7681,0.83,130.3,3225,733,2403,2280,952.2,10.3,730,7689,0.00,2.38,0.00,0.000,1030,0.000,0.052,3225,2140,2341,2403,2280,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7989,0.83,130.3,3225,2141,2402,2279,921.0,10.1,741,7990,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2140,2340,2402,2279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8289,0.83,130.3,3225,2141,2401,2278,891.3,10.1,751,8293,0.00,2.38,0.00,0.000,516,0.000,0.070,3235,733,2339,2401,2278,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8404,0.83,130.3,3235,732,2401,2278,879.1,10.6,774,8412,0.00,2.38,0.00,0.000,1030,0.000,0.051,3235,2144,2339,2401,2278,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8712,0.83,130.3,3235,2143,2399,2277,847.4,10.6,785,8718,0.00,2.35,0.00,0.000,260,0.000,0.073,3235,3550,2338,2398,2278,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8743,0.83,130.3,3235,3550,2397,2278,843.5,11.9,792,8748,0.00,2.30,0.00,0.000,1030,0.000,0.046,3245,2135,2337,2397,2277,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9072,0.83,130.3,3245,2134,2398,2277,807.8,10.9,807,9078,0.00,2.35,0.00,0.000,516,0.000,0.070,3256,730,2337,2397,2277,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9133,0.83,130.3,3256,730,2397,2277,800.9,10.5,820,9138,0.00,2.30,0.00,0.000,1030,0.000,0.051,3257,2142,2337,2397,2277,0,0,0,0,0,0,28.83,14.64,28.83
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$STATE,17821,end climb,SURFACE_DEPTH_REACHED
$STATE,17821,begin surface coast
$FINISH,0.3,1.017591
$STATE,17888,end surface coast,CONTROL_FINISHED_OK
$STATE,17888,begin surface
$SM_CCo,17905,22.12,0.133,0,0,509,579.63
$SM_GC,4.72,8.95,0.08,22.12,0.060,0.181,0.133,189,2233,509,-8.56,-1.05,579.63,0,0,0,0,0,0,14.65,14.64,14.42
$IRIDIUM_FIX,1749.63,8921.48,070908,202019
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.04
$INTERNAL_PRESSURE,6.70924
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,12.9,124.980
$10V_AH,10.8,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322436
$DATA_FILE_SIZE,147417,1814
$CAP_FILE_SIZE,204068,0
$CFSIZE,2097086464,2038300672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.047,133.9,1
$GPS,121115,114827,1757.708,8921.676,70,1.2,70,-0.9