version: 66.11
glider: 615
mission: 5
dive: 343
start: 11 12 115 12 4 43
data:
$ID,615
$MISSION,5
$DIVE,343
$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,-19746.738
$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,37
$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
$GPS1,121115,114827,1757.708,8921.676,70,1.2,70,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-70.3
$GPS2,121115,120416,1757.734,8921.541,6,0.7,7,-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,350.9,16531,-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,14,begin dive
$GC,16,-0.82,-126.5,145,2235,553,493,0.0,0.0,0,55,0.00,0.00,-37.60,0.000,16386,0.000,0.000,144,2233,1579,1580,1579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.82,-126.5,144,2233,1582,1578,3.1,-7.6,6,117,11.05,2.30,-38.65,0.000,18692,0.348,0.083,2667,3584,3390,3402,3378,0,0,0,0,0,0,14.14,14.47,14.84
$GC,172,-0.82,-126.5,2667,3585,3403,3378,36.3,-33.7,25,180,0.00,2.22,0.00,0.000,1030,0.000,0.041,2667,2191,3390,3403,3378,0,0,0,0,0,0,28.83,14.62,28.83
$GC,364,-0.82,-126.5,2667,2189,3403,3378,92.8,-21.6,62,371,0.00,2.33,0.00,0.000,516,0.000,0.058,2667,800,3390,3403,3377,0,0,0,0,0,0,28.83,14.50,28.83
$GC,554,-0.82,-126.5,1680,800,3389,3376,125.4,-14.4,99,561,0.10,2.17,0.00,0.000,3078,0.293,0.042,2677,2178,3390,3403,3378,0,0,0,0,0,0,14.40,14.66,28.83
$GC,745,-0.82,-126.5,2677,2178,3403,3379,152.1,-13.4,136,753,0.00,2.38,0.00,0.000,260,0.000,0.061,2668,3596,3390,3403,3378,0,0,0,0,0,0,28.83,14.54,28.83
$GC,776,-0.82,-126.5,2668,3595,3403,3378,156.5,-14.3,141,783,0.00,2.20,0.00,0.000,1030,0.000,0.036,2668,2187,3391,3403,3379,0,0,0,0,0,0,28.83,14.71,28.83
$GC,966,-0.82,-126.5,2668,2187,3403,3378,186.0,-15.1,178,974,0.00,2.28,0.00,0.000,516,0.000,0.057,2668,819,3390,3403,3378,0,0,0,0,0,0,28.83,14.53,28.83
$GC,996,-0.82,-126.5,1680,818,3390,3376,190.6,-15.6,183,1003,0.10,2.20,0.00,0.000,3078,0.281,0.044,2678,2205,3390,3403,3378,0,0,0,0,0,0,14.43,14.68,28.83
$GC,1186,-0.82,-126.5,2678,2206,3403,3377,217.1,-13.7,208,1195,0.00,2.25,0.00,0.000,516,0.000,0.058,2678,816,3390,3403,3377,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1240,-0.82,-126.5,2678,816,3402,3377,225.0,-13.6,219,1248,0.00,2.20,0.00,0.000,1030,0.000,0.045,2670,2199,3390,3403,3377,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1547,-0.82,-126.5,2670,2199,3403,3373,267.4,-14.3,250,1556,0.00,2.30,0.00,0.000,260,0.000,0.069,2660,3597,3387,3402,3373,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1592,-0.82,-126.5,2659,3597,3403,3372,273.9,-13.9,259,1599,0.10,2.20,0.00,0.000,3078,0.246,0.039,2681,2204,3387,3403,3372,0,0,0,0,0,0,14.52,14.74,28.83
$GC,1898,-0.82,-126.5,2682,2204,3402,3369,315.6,-13.9,290,1907,0.00,2.28,0.00,0.000,516,0.000,0.065,2682,810,3385,3402,3369,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2012,-0.82,-126.5,2681,810,3402,3368,331.7,-13.3,313,2019,0.00,2.22,0.00,0.000,1030,0.000,0.050,2674,2194,3385,3402,3368,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2330,-0.82,-126.5,2674,2195,3402,3362,376.3,-14.0,336,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2195,3382,3402,3362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2630,-0.82,-126.5,2674,2195,3402,3356,417.4,-13.8,351,2636,0.00,2.28,0.00,0.000,516,0.000,0.065,2674,808,3379,3402,3356,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2683,-0.82,-126.5,2674,808,3402,3356,425.3,-13.8,362,2690,0.00,2.33,0.00,0.000,1030,0.000,0.052,2665,2198,3379,3402,3356,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2991,-0.82,-126.5,2665,2199,3402,3352,468.2,-13.9,378,2995,0.00,2.30,0.00,0.000,516,0.000,0.066,2664,812,3377,3402,3352,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3020,-0.82,-126.5,2665,812,3401,3352,472.8,-14.4,384,3026,0.10,2.25,0.00,0.000,3078,0.269,0.054,2678,2202,3376,3401,3351,0,0,0,0,0,0,14.48,14.69,28.83
$GC,3348,-0.82,-126.5,2677,2202,3400,3348,517.8,-13.8,399,3349,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2202,3374,3400,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3648,-0.82,-126.5,2677,2202,3398,3345,560.0,-14.1,409,3654,0.00,2.30,0.00,0.000,516,0.000,0.069,2677,810,3371,3397,3345,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3695,-0.82,-126.5,2677,810,3397,3345,567.2,-14.4,419,3700,0.00,2.28,0.00,0.000,1030,0.000,0.054,2670,2209,3371,3397,3345,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4003,-0.82,-126.5,2670,2210,3396,3343,611.0,-14.4,430,4009,0.00,2.30,0.00,0.000,516,0.000,0.067,2669,813,3369,3396,3343,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4035,-0.82,-126.5,2670,814,3395,3343,616.2,-14.7,437,4040,0.08,2.25,0.00,0.000,3078,0.312,0.055,2676,2200,3369,3395,3343,0,0,0,0,0,0,14.47,14.69,28.83
$GC,4359,-0.82,-126.5,2676,2200,3394,3341,660.0,-13.7,451,4365,0.00,2.28,0.00,0.000,516,0.000,0.069,2676,815,3367,3394,3341,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4396,-0.82,-126.5,2676,815,3394,3341,665.6,-13.8,459,4400,0.00,2.28,0.00,0.000,1030,0.000,0.054,2669,2209,3367,3393,3341,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4713,-0.82,-126.5,2669,2209,3392,3338,708.9,-13.7,472,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2210,3365,3392,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5012,-0.82,-126.5,2669,2209,3391,3337,750.9,-14.0,482,5018,0.00,2.33,0.00,0.000,516,0.000,0.070,2669,810,3363,3391,3336,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5075,-0.82,-126.5,2668,810,3390,3336,760.0,-13.6,495,5080,0.00,2.28,0.00,0.000,1030,0.000,0.056,2665,2201,3362,3389,3336,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5403,-0.82,-126.5,2665,2201,3389,3335,805.2,-13.9,510,5409,0.00,2.30,0.00,0.000,516,0.000,0.071,2665,815,3362,3389,3335,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5441,-0.82,-126.5,2666,815,3389,3334,810.9,-14.2,518,5445,0.00,2.28,0.00,0.000,1030,0.000,0.057,2665,2203,3362,3389,3336,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5758,-0.82,-126.5,2664,2203,3388,3334,854.1,-13.7,531,5760,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2203,3361,3388,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6059,-0.82,-126.5,2665,2204,3386,3333,893.2,-12.8,541,6063,0.00,2.35,0.00,0.000,516,0.000,0.073,2665,808,3359,3386,3333,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6098,-0.82,-126.5,2665,809,3385,3333,898.6,-12.9,549,6102,0.00,2.30,0.00,0.000,1030,0.000,0.057,2665,2208,3359,3385,3333,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6415,-0.82,-126.5,2665,2208,3385,3332,937.5,-12.2,562,6421,0.00,2.33,0.00,0.000,516,0.000,0.072,2665,816,3358,3385,3332,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6445,-0.82,-126.5,2666,816,3384,3332,941.2,-12.6,568,6449,0.00,2.30,0.00,0.000,1030,0.000,0.057,2665,2209,3358,3384,3332,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6776,-0.82,-126.5,2665,2209,3382,3330,981.6,-12.4,584,6782,0.00,2.33,0.00,0.000,516,0.000,0.071,2665,816,3356,3383,3330,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6806,-0.82,-126.5,2665,816,3382,3331,985.5,-13.1,590,6810,0.00,2.28,0.00,0.000,1030,0.000,0.057,2665,2199,3356,3382,3331,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,6866,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6867,begin apogee
$GC,6871,-0.16,0.0,2665,2199,3382,3331,992.9,-12.2,597,7031,0.88,0.05,150.80,2.070,10246,0.285,0.222,2886,2158,2869,2914,2824,0,0,0,0,0,0,13.95,13.97,13.14
$STATE,7032,end apogee,CONTROL_FINISHED_OK
$STATE,7032,begin climb
$GC,7033,0.82,126.5,2886,2158,2912,2821,998.5,0.0,630,7156,1.10,2.55,111.20,2.264,10500,0.197,0.074,3203,3543,2348,2409,2288,0,0,0,0,0,0,14.01,13.86,12.92
$GC,7181,0.83,127.7,3203,3543,2404,2283,992.4,9.1,660,7186,0.00,2.40,0.00,0.000,1030,0.000,0.047,3214,2134,2343,2404,2282,0,0,0,0,0,0,28.83,14.08,28.83
$GC,7493,0.83,127.7,3214,2133,2403,2279,961.4,10.0,672,7499,0.00,2.38,0.00,0.000,516,0.000,0.073,3224,730,2341,2403,2279,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7583,0.83,127.7,3224,730,2403,2279,951.9,10.4,690,7590,0.00,2.33,0.00,0.000,1030,0.000,0.051,3223,2145,2341,2403,2279,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7913,0.83,127.7,3225,2145,2402,2278,917.9,10.2,706,7914,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2145,2340,2402,2278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8213,0.83,127.7,3225,2145,2402,2277,887.6,9.8,716,8219,0.00,2.38,0.00,0.000,516,0.000,0.071,3235,732,2339,2402,2277,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8321,0.83,127.7,3235,732,2401,2277,876.6,9.8,738,8325,0.00,2.30,0.00,0.000,1030,0.000,0.052,3235,2143,2339,2401,2277,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8629,0.83,127.7,3235,2144,2400,2276,845.5,10.1,749,8633,0.00,2.38,0.00,0.000,516,0.000,0.072,3245,736,2338,2400,2276,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8653,0.83,127.7,3245,736,2399,2275,842.6,10.3,754,8660,0.00,2.35,0.00,0.000,1030,0.000,0.051,3246,2134,2337,2399,2276,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8961,0.83,127.7,3245,2134,2398,2275,811.1,10.5,765,8962,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2134,2337,2399,2275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9260,0.83,127.7,3245,2134,2398,2275,780.7,10.2,775,9265,0.00,2.38,0.00,0.000,516,0.000,0.072,3255,733,2336,2398,2275,0,0,0,0,0,0,28.83,14.58,28.83
$GC,9347,0.83,127.7,3256,733,2397,2275,771.4,11.0,792,9354,0.00,2.38,0.00,0.000,1030,0.000,0.051,3255,2155,2336,2397,2275,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9654,0.83,127.7,3255,2155,2396,2274,739.7,10.3,803,9655,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2155,2335,2397,2274,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,15446,0.91,195.1,3271,734,2125,1998,172.1,9.6,1331,15453,0.00,2.30,0.00,0.000,1030,0.000,0.047,3271,2142,2061,2125,1998,0,0,0,0,0,0,28.83,14.52,28.83
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$STATE,17515,end climb,SURFACE_DEPTH_REACHED
$STATE,17515,begin surface coast
$FINISH,0.3,1.014299
$STATE,17559,end surface coast,CONTROL_FINISHED_OK
$STATE,17559,begin surface
$SM_CCo,17576,1.38,0.168,0,0,508,579.63
$SM_GC,2.19,8.90,0.08,1.38,0.058,0.179,0.168,188,2236,508,-8.57,-1.16,579.63,0,0,0,0,0,0,14.62,14.61,14.45
$IRIDIUM_FIX,1751.90,8923.72,080908,010126
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.79
$INTERNAL_PRESSURE,6.69948
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,12.9,125.328
$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
$DEVICE_SECS,22.975,185.725,568.475,1.375,0.000,132.303,244.602,162.774,0.000,0.000,7.518,3422.171,10567.700,659.737,3613.192,249.824,0.000,2109.811,0.000,2523.314,0.000,0.555,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,919.728,610.171,1569.721,958.822,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322248
$DATA_FILE_SIZE,137620,1717
$CAP_FILE_SIZE,186389,0
$CFSIZE,2097086464,2037907456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.053,130.7,1
$GPS,121115,165943,1759.111,8921.638,83,1.6,83,-0.9