version: 66.11
glider: 615
mission: 5
dive: 344
start: 11 12 115 17 22 22
data:
$ID,615
$MISSION,5
$DIVE,344
$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,-19747.996
$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,42
$R_STBD_OVSHOOT,71
$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
$GPS1,121115,165943,1759.111,8921.638,83,1.6,83,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-72.2
$GPS2,121115,172154,1759.133,8921.556,25,0.8,25,-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,348.9,13941,-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,-126.5,156,2237,562,488,0.0,0.0,0,55,0.00,0.00,-37.92,0.000,16386,0.000,0.000,156,2236,1582,1584,1581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.82,-126.5,155,2236,1584,1580,3.1,-7.3,6,116,10.95,2.20,-38.95,0.000,18692,0.347,0.070,2667,3580,3388,3403,3374,0,0,0,0,0,0,14.14,14.58,14.85
$GC,175,-0.82,-126.5,2667,3580,3403,3375,37.3,-34.0,26,182,0.00,2.25,0.00,0.000,1030,0.000,0.038,2667,2200,3389,3403,3375,0,0,0,0,0,0,28.83,14.50,28.83
$GC,366,-0.82,-126.5,2667,2198,3403,3374,88.9,-23.2,63,372,0.00,2.25,0.00,0.000,516,0.000,0.054,2666,799,3388,3403,3374,0,0,0,0,0,0,28.83,14.60,28.83
$GC,441,-0.82,-126.5,2667,799,3403,3374,103.3,-18.2,77,449,0.10,2.17,0.00,0.000,3078,0.295,0.040,2676,2178,3388,3403,3374,0,0,0,0,0,0,14.39,14.66,28.83
$GC,634,-0.82,-126.5,2676,2178,3404,3375,135.2,-15.9,114,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2178,3389,3404,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,825,-0.82,-126.5,2676,2178,3403,3375,163.0,-14.7,151,832,0.00,2.33,0.00,0.000,260,0.000,0.060,2667,3602,3389,3404,3375,0,0,0,0,0,0,28.83,14.64,28.83
$GC,894,-0.82,-126.5,2667,3603,3403,3374,173.8,-15.7,164,901,0.00,2.28,0.00,0.000,1030,0.000,0.037,2667,2198,3388,3403,3374,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1085,-0.82,-126.5,2667,2197,3403,3373,201.8,-13.4,200,1094,0.00,2.25,0.00,0.000,516,0.000,0.056,2667,799,3388,3403,3373,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1159,-0.82,-126.5,2667,799,3403,3373,212.2,-14.0,215,1166,0.10,2.22,0.00,0.000,3078,0.278,0.044,2677,2199,3388,3404,3373,0,0,0,0,0,0,14.47,14.70,28.83
$GC,1467,-0.82,-126.5,2678,2199,3403,3371,252.8,-13.5,246,1475,0.00,2.30,0.00,0.000,260,0.000,0.067,2668,3600,3387,3403,3371,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1508,-0.82,-126.5,2668,3600,3403,3371,258.6,-14.4,254,1517,0.00,2.20,0.00,0.000,1030,0.000,0.039,2668,2200,3387,3403,3371,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1818,-0.82,-126.5,2668,2200,3403,3366,302.5,-14.3,286,1827,0.00,2.28,0.00,0.000,516,0.000,0.063,2668,803,3384,3403,3366,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1899,-0.82,-126.5,2668,803,3403,3365,314.3,-14.5,302,1909,0.10,2.22,0.00,0.000,3078,0.285,0.050,2679,2195,3384,3403,3365,0,0,0,0,0,0,14.47,14.71,28.83
$GC,2220,-0.82,-126.5,2679,2195,3403,3358,358.6,-13.9,332,2226,0.00,2.30,0.00,0.000,260,0.000,0.070,2670,3593,3380,3403,3358,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2262,-0.82,-126.5,2670,3593,3403,3357,364.7,-13.4,341,2266,0.00,2.22,0.00,0.000,1030,0.000,0.041,2670,2198,3380,3403,3357,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2580,-0.82,-126.5,2670,2195,3403,3352,407.4,-13.8,359,2584,0.00,2.28,0.00,0.000,516,0.000,0.064,2670,805,3377,3403,3352,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2615,-0.82,-126.5,2670,805,3402,3351,412.6,-13.9,366,2624,0.05,2.33,0.00,0.000,3078,0.243,0.051,2674,2196,3377,3402,3352,0,0,0,0,0,0,14.37,14.54,28.83
$GC,2922,-0.82,-126.5,2674,2196,3402,3347,452.6,-13.2,382,2928,0.00,2.28,0.00,0.000,516,0.000,0.067,2675,802,3374,3402,3347,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2970,-0.82,-126.5,2674,802,3402,3347,459.5,-13.5,392,2974,0.00,2.28,0.00,0.000,1030,0.000,0.052,2666,2210,3374,3401,3347,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3278,-0.82,-126.5,2666,2210,3400,3344,502.3,-14.1,408,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2210,3372,3400,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3577,-0.82,-126.5,2666,2210,3397,3342,544.1,-13.9,418,3581,0.00,2.33,0.00,0.000,516,0.000,0.067,2666,806,3370,3398,3342,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3616,-0.82,-126.5,2666,805,3397,3341,550.0,-14.0,426,3621,0.10,2.28,0.00,0.000,3078,0.279,0.054,2677,2207,3369,3397,3341,0,0,0,0,0,0,14.47,14.70,28.83
$GC,3934,-0.82,-126.5,2677,2208,3395,3339,592.0,-13.2,439,3940,0.00,2.35,0.00,0.000,516,0.000,0.070,2677,797,3367,3395,3340,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3972,-0.82,-126.5,2677,797,3395,3340,597.3,-13.1,447,3976,0.00,2.30,0.00,0.000,1030,0.000,0.054,2669,2210,3367,3395,3339,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4288,-0.82,-126.5,2669,2210,3393,3337,639.9,-13.6,460,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2210,3365,3393,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4589,-0.82,-126.5,2669,2210,3392,3335,680.4,-13.4,470,4595,0.00,2.33,0.00,0.000,516,0.000,0.069,2669,806,3363,3392,3335,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4637,-0.82,-126.5,2668,806,3391,3335,687.1,-13.2,480,4641,0.10,2.28,0.00,0.000,3078,0.284,0.054,2680,2203,3363,3391,3335,0,0,0,0,0,0,14.44,14.69,28.83
$GC,4944,-0.82,-126.5,2679,2203,3389,3334,725.1,-12.3,491,4948,0.00,2.35,0.00,0.000,516,0.000,0.071,2679,805,3361,3389,3333,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4985,-0.82,-126.5,2679,804,3389,3333,730.6,-12.4,499,4989,0.00,2.28,0.00,0.000,1030,0.000,0.055,2672,2201,3361,3389,3334,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5303,-0.82,-126.5,2672,2201,3388,3332,770.8,-12.6,512,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2201,3360,3388,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5601,-0.82,-126.5,2672,2201,3387,3330,808.4,-12.5,522,5607,0.00,2.33,0.00,0.000,516,0.000,0.070,2672,807,3358,3387,3329,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5665,-0.82,-126.5,2672,807,3386,3329,816.5,-12.4,535,5669,0.08,2.30,0.00,0.000,3078,0.319,0.056,2676,2204,3357,3385,3329,0,0,0,0,0,0,14.43,14.66,28.83
$GC,5992,-0.82,-126.5,2675,2204,3384,3327,856.0,-12.0,550,5998,0.00,2.38,0.00,0.000,260,0.000,0.076,2667,3607,3355,3384,3327,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6015,-0.82,-126.5,2667,3607,3384,3328,859.0,-12.4,555,6022,0.00,2.30,0.00,0.000,1030,0.000,0.047,2667,2193,3356,3384,3328,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6322,-0.82,-126.5,2667,2193,3382,3327,897.0,-12.6,566,6328,0.00,2.33,0.00,0.000,516,0.000,0.072,2667,798,3354,3382,3327,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6382,-0.82,-126.5,2667,798,3381,3326,904.7,-12.6,578,6389,0.10,2.30,0.00,0.000,3078,0.294,0.057,2678,2201,3353,3381,3326,0,0,0,0,0,0,14.38,14.64,28.83
$GC,6712,-0.82,-126.5,2679,2201,3380,3325,944.9,-12.2,594,6718,0.00,2.35,0.00,0.000,516,0.000,0.073,2678,805,3353,3381,3325,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6760,-0.82,-126.5,2678,805,3380,3325,951.2,-12.6,604,6764,0.00,2.30,0.00,0.000,1030,0.000,0.056,2671,2202,3352,3380,3325,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7067,-0.82,-126.5,2671,2202,3380,3323,989.2,-12.5,615,7072,0.00,2.35,0.00,0.000,516,0.000,0.072,2671,801,3351,3380,3323,0,0,0,0,0,0,28.83,14.54,28.83
$STATE,7075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7075,begin apogee
$GC,7082,-0.16,0.0,2666,2138,3379,3323,990.7,-12.3,617,7196,0.88,0.00,107.22,2.440,10246,0.285,0.000,2887,2139,2867,2913,2821,0,0,0,0,0,0,13.97,28.83,12.97
$STATE,7198,end apogee,CONTROL_FINISHED_OK
$STATE,7198,begin climb
$GC,7200,0.82,126.5,2887,2139,2911,2817,995.5,0.0,641,7323,1.15,2.55,112.55,2.346,10500,0.221,0.072,3198,3546,2348,2411,2286,0,0,0,0,0,0,13.95,13.85,12.91
$GC,7364,0.84,136.6,3198,3546,2403,2284,988.6,8.7,674,7375,0.00,2.45,4.35,1.429,9222,0.000,0.050,3198,2147,2319,2381,2257,0,0,0,0,0,0,28.83,14.08,12.96
$GC,7703,0.84,137.3,3198,2147,2392,2267,958.2,9.1,691,7711,0.00,2.45,2.22,0.450,8708,0.000,0.086,3198,732,2315,2378,2253,0,0,0,0,0,0,28.83,14.49,13.07
$GC,7916,0.85,144.4,3196,731,2387,2267,939.0,8.8,734,7939,0.10,2.33,12.75,1.979,11270,0.261,0.053,3210,2146,2276,2338,2214,0,0,0,0,0,0,14.40,14.59,13.45
$GC,8238,0.85,144.4,3210,2146,2334,2209,906.2,10.4,748,8245,0.00,2.42,0.00,0.000,516,0.000,0.086,3210,736,2272,2334,2210,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8328,0.85,144.4,3210,736,2333,2209,896.9,10.5,766,8334,0.00,2.30,0.00,0.000,1030,0.000,0.054,3202,2141,2272,2334,2210,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8658,0.85,144.4,3202,2141,2333,2209,864.3,9.7,782,8664,0.00,2.40,0.00,0.000,516,0.000,0.082,3207,736,2271,2333,2209,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8731,0.85,144.4,3207,736,2333,2209,856.8,9.9,797,8735,0.00,2.30,0.00,0.000,1030,0.000,0.054,3200,2142,2271,2333,2209,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9044,0.85,144.4,3200,2142,2332,2208,827.8,9.2,809,9050,0.00,2.38,0.00,0.000,260,0.000,0.073,3200,3554,2270,2332,2208,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9066,0.85,144.4,3200,3554,2331,2208,825.4,9.7,814,9075,0.00,2.40,0.00,0.000,1030,0.000,0.050,3205,2138,2269,2331,2207,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9374,0.85,144.4,3206,2138,2331,2207,795.9,9.7,825,9378,0.00,2.38,0.00,0.000,516,0.000,0.074,3216,733,2268,2330,2207,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9510,0.85,144.4,3216,733,2330,2207,782.1,10.0,852,9514,0.00,2.30,0.00,0.000,1030,0.000,0.051,3215,2141,2268,2329,2208,0,0,0,0,0,0,28.83,14.65,28.83
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$STATE,17838,end climb,SURFACE_DEPTH_REACHED
$STATE,17838,begin surface coast
$FINISH,0.3,1.009568
$STATE,17885,end surface coast,CONTROL_FINISHED_OK
$STATE,17885,begin surface
$SM_CCo,17902,1.08,0.182,0,0,508,579.63
$SM_GC,2.11,9.12,0.00,1.08,0.063,0.000,0.182,181,2153,508,-8.58,-1.33,579.63,0,0,0,0,0,0,14.64,28.83,14.46
$IRIDIUM_FIX,1751.90,8921.45,080908,060601
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.32
$INTERNAL_PRESSURE,6.70924
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,12.9,125.690
$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,23.525,200.475,530.800,1.075,0.000,119.535,204.371,489.796,0.000,0.000,26.242,3568.561,10593.867,662.270,4120.343,278.033,0.000,2170.669,0.000,2646.903,0.000,0.553,0.000
$DEVICE_MAMPS,346.545,86.445,2440.350,182.070,0.000,29.840,160.000,223.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,956.396,643.114,1621.228,990.483,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322140
$DATA_FILE_SIZE,147538,1805
$CAP_FILE_SIZE,198635,0
$CFSIZE,2097086464,2037678080
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.040,133.5,1
$GPS,121115,222233,1800.551,8921.523,70,1.3,70,-0.9