version: 66.11
glider: 615
mission: 5
dive: 350
start: 11 14 115 0 20 19
data:
$ID,615
$MISSION,5
$DIVE,350
$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,-19756.576
$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,39
$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
$GPS1,141115,000410,1803.872,8923.324,52,0.8,58,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-72.2
$GPS2,141115,001951,1803.915,8923.290,38,0.9,38,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,SE
$TGT_LATLONG,1755.320,8933.540
$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,129.5,24075,-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,-126.5,158,2185,558,485,0.0,0.0,0,56,0.00,0.00,-39.42,0.000,16386,0.000,0.000,158,2184,1623,1620,1626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.82,-126.5,158,2184,1620,1626,3.1,-6.9,6,118,10.88,2.35,-37.05,0.000,18948,0.343,0.081,2672,797,3390,3407,3374,0,0,0,0,0,0,14.13,14.32,14.83
$GC,196,-0.82,-126.5,2672,798,3406,3375,49.8,-34.2,30,204,0.03,2.33,0.00,0.000,3078,0.224,0.048,2680,2196,3390,3406,3374,0,0,0,0,0,0,14.28,14.48,28.83
$GC,388,-0.82,-126.5,2680,2197,3406,3374,96.6,-20.9,67,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2197,3390,3406,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,576,-0.82,-126.5,1712,2196,3393,3373,130.3,-14.6,104,583,0.00,2.33,0.00,0.000,516,0.000,0.056,2680,803,3390,3406,3374,0,0,0,0,0,0,28.83,14.50,28.83
$GC,616,-0.82,-126.5,1696,803,3392,3373,136.3,-15.0,111,622,0.00,2.22,0.00,0.000,1030,0.000,0.043,2671,2211,3390,3406,3375,0,0,0,0,0,0,28.83,14.66,28.83
$GC,806,-0.82,-126.5,1680,2209,3392,3373,163.8,-14.3,148,813,0.00,2.35,0.00,0.000,516,0.000,0.056,2672,785,3390,3406,3375,0,0,0,0,0,0,28.83,14.56,28.83
$GC,890,-0.82,-126.5,2672,785,3406,3376,176.7,-15.7,164,898,0.03,2.30,0.00,0.000,3078,0.303,0.044,2669,2188,3391,3406,3376,0,0,0,0,0,0,14.37,14.55,28.83
$GC,1087,-0.82,-126.5,2668,2189,3406,3376,206.7,-15.5,198,1096,0.00,2.33,0.00,0.000,260,0.000,0.065,2659,3609,3390,3406,3375,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1141,-0.82,-126.5,2660,3609,3406,3375,215.7,-15.2,209,1149,0.10,2.25,0.00,0.000,3078,0.247,0.037,2681,2184,3390,3406,3375,0,0,0,0,0,0,14.48,14.72,28.83
$GC,1449,-0.82,-126.5,2682,2184,3406,3372,257.9,-14.3,240,1457,0.00,2.22,0.00,0.000,516,0.000,0.063,2681,815,3389,3406,3372,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1520,-0.82,-126.5,2682,815,3406,3372,267.8,-13.4,254,1529,0.00,2.22,0.00,0.000,1030,0.000,0.048,2674,2206,3389,3406,3372,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1830,-0.82,-126.5,2674,2206,3406,3369,310.1,-14.0,286,1838,0.00,2.30,0.00,0.000,260,0.000,0.070,2663,3599,3387,3406,3369,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1872,-0.82,-126.5,2663,3599,3406,3369,316.0,-14.1,294,1881,0.03,2.20,0.00,0.000,3078,0.242,0.039,2673,2204,3387,3406,3368,0,0,0,0,0,0,14.50,14.73,28.83
$GC,2181,-0.82,-126.5,2673,2204,3406,3364,360.0,-14.3,323,2187,0.00,2.28,0.00,0.000,516,0.000,0.063,2672,810,3385,3406,3364,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2306,-0.82,-126.5,2672,810,3405,3362,378.2,-14.4,348,2311,0.00,2.25,0.00,0.000,1030,0.000,0.050,2664,2206,3384,3406,3362,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2619,-0.82,-126.5,2664,2206,3405,3356,423.9,-14.4,365,2626,0.08,2.28,0.00,0.000,2564,0.323,0.063,2677,817,3380,3405,3356,0,0,0,0,0,0,14.61,14.58,28.83
$GC,2646,-0.82,-126.5,2677,817,3405,3356,428.2,-14.5,371,2650,0.00,2.25,0.00,0.000,1030,0.000,0.051,2669,2208,3380,3405,3356,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2954,-0.82,-126.5,2669,2209,3405,3352,470.0,-13.8,387,2960,0.00,2.28,0.00,0.000,516,0.000,0.066,2670,811,3379,3406,3352,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2986,-0.82,-126.5,2670,812,3404,3352,474.9,-14.1,394,2994,0.05,2.33,0.00,0.000,3078,0.243,0.052,2676,2200,3378,3404,3352,0,0,0,0,0,0,14.28,14.49,28.83
$GC,3314,-0.82,-126.5,2676,2200,3402,3348,518.0,-13.2,409,3318,0.00,2.30,0.00,0.000,516,0.000,0.067,2677,811,3375,3402,3348,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3359,-0.82,-126.5,2676,811,3402,3348,524.4,-13.1,418,3363,0.00,2.25,0.00,0.000,1030,0.000,0.052,2670,2199,3375,3402,3348,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3671,-0.82,-126.5,2669,2200,3401,3345,565.9,-13.4,430,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2200,3372,3400,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3971,-0.82,-126.5,2669,2199,3399,3343,606.1,-13.3,440,3977,0.00,2.30,0.00,0.000,516,0.000,0.068,2669,806,3371,3399,3343,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4024,-0.82,-126.5,2670,806,3398,3343,613.7,-13.3,451,4032,0.08,2.28,0.00,0.000,3078,0.315,0.054,2674,2205,3371,3399,3343,0,0,0,0,0,0,14.45,14.68,28.83
$GC,4331,-0.82,-126.5,2674,2205,3397,3341,653.2,-12.9,462,4337,0.00,2.33,0.00,0.000,516,0.000,0.070,2675,804,3369,3397,3341,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4369,-0.82,-126.5,2675,804,3397,3341,658.5,-12.9,470,4373,0.00,2.28,0.00,0.000,1030,0.000,0.054,2669,2201,3368,3396,3341,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4687,-0.82,-126.5,2669,2201,3395,3338,699.9,-13.0,483,4693,0.00,2.33,0.00,0.000,516,0.000,0.069,2668,806,3366,3395,3338,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4709,-0.82,-126.5,2669,806,3394,3338,703.3,-13.2,488,4716,0.00,2.35,0.00,0.000,1030,0.000,0.055,2666,2196,3366,3394,3338,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5017,-0.82,-126.5,2666,2196,3394,3337,742.4,-12.5,499,5018,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2196,3365,3394,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5317,-0.82,-126.5,2665,2196,3392,3337,780.3,-12.7,509,5322,0.00,2.30,0.00,0.000,516,0.000,0.070,2665,812,3364,3392,3336,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5369,-0.82,-126.5,2666,812,3392,3336,787.6,-13.0,520,5377,0.00,2.38,0.00,0.000,1030,0.000,0.056,2665,2212,3364,3392,3336,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5677,-0.82,-126.5,2666,2212,3390,3334,826.7,-12.9,531,5681,0.00,2.35,0.00,0.000,516,0.000,0.070,2666,807,3363,3392,3334,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5722,-0.82,-126.5,2665,807,3390,3334,833.0,-12.6,540,5727,0.00,2.30,0.00,0.000,1030,0.000,0.056,2666,2212,3362,3390,3334,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6034,-0.82,-126.5,2665,2213,3389,3333,873.8,-13.3,552,6035,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2213,3361,3390,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6334,-0.82,-126.5,2665,2213,3389,3332,912.8,-13.0,562,6340,0.00,2.35,0.00,0.000,516,0.000,0.071,2665,812,3360,3389,3332,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6412,-0.82,-126.5,2665,812,3388,3332,923.4,-12.7,578,6416,0.00,2.28,0.00,0.000,1030,0.000,0.057,2665,2201,3360,3389,3332,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6720,-0.82,-126.5,2665,2201,3388,3331,962.1,-12.7,589,6721,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2200,3359,3388,3331,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6958,begin apogee
$GC,6963,-0.16,0.0,2665,2147,3387,3329,991.9,-12.3,597,7122,0.90,0.00,150.35,1.987,10246,0.304,0.000,2884,2146,2870,2919,2821,0,0,0,0,0,0,13.90,28.83,13.08
$STATE,7123,end apogee,CONTROL_FINISHED_OK
$STATE,7123,begin climb
$GC,7125,0.82,126.5,2884,2146,2916,2816,997.2,0.0,630,7250,1.20,2.50,115.82,2.463,10500,0.248,0.070,3194,3544,2351,2412,2290,0,0,0,0,0,0,13.91,13.81,12.81
$GC,7310,0.82,126.5,3194,3544,2403,2284,987.6,9.5,667,7317,0.00,2.38,0.00,0.000,1030,0.000,0.048,3195,2151,2343,2404,2283,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7617,0.82,126.5,3195,2150,2403,2281,958.4,9.6,678,7621,0.00,2.45,0.00,0.000,516,0.000,0.086,3195,738,2342,2403,2281,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7772,0.82,126.5,2272,737,2351,2275,944.2,9.2,709,7777,0.03,2.28,0.00,0.000,3078,0.262,0.053,3197,2139,2342,2403,2281,0,0,0,0,0,0,14.38,14.55,28.83
$GC,8099,0.84,139.1,3197,2139,2402,2279,915.6,8.5,724,8117,0.00,2.45,10.68,1.949,8708,0.000,0.086,3200,742,2299,2362,2237,0,0,0,0,0,0,28.83,14.54,13.48
$GC,8153,0.85,143.4,3200,742,2358,2236,910.9,8.9,735,8160,0.08,2.30,0.00,0.000,3078,0.296,0.054,3210,2139,2296,2357,2236,0,0,0,0,0,0,14.42,14.59,28.83
$GC,8459,0.85,143.4,3211,2140,2357,2233,882.4,9.4,746,8465,0.00,2.42,0.00,0.000,516,0.000,0.088,3211,730,2295,2357,2233,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8567,0.85,143.4,3211,730,2356,2233,872.0,9.3,768,8572,0.00,2.33,0.00,0.000,1030,0.000,0.054,3203,2148,2294,2356,2233,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8875,0.85,143.4,3203,2149,2356,2232,843.8,9.4,779,8877,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2149,2294,2356,2232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9175,0.85,143.4,3203,2149,2355,2231,814.2,9.9,789,9181,0.00,2.42,0.00,0.000,516,0.000,0.084,3210,730,2293,2355,2231,0,0,0,0,0,0,28.83,14.55,28.83
$GC,9288,0.85,143.4,3210,730,2354,2231,802.1,10.1,812,9295,0.00,2.40,0.00,0.000,1030,0.000,0.054,3202,2146,2292,2354,2231,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9596,0.85,143.4,3202,2146,2354,2230,771.3,10.1,823,9602,0.00,2.38,0.00,0.000,516,0.000,0.081,3207,739,2292,2354,2230,0,0,0,0,0,0,28.83,14.49,28.83
$GC,9643,0.85,143.4,3208,739,2354,2230,766.0,10.5,833,9647,0.00,2.30,0.00,0.000,1030,0.000,0.053,3202,2145,2292,2354,2230,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9950,0.85,143.4,3202,2147,2353,2229,735.7,9.6,844,9956,0.00,2.40,0.00,0.000,516,0.000,0.081,3208,732,2291,2354,2229,0,0,0,0,0,0,28.83,14.54,28.83
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$STATE,17697,end climb,SURFACE_DEPTH_REACHED
$STATE,17697,begin surface coast
$FINISH,0.4,1.010171
$STATE,17729,end surface coast,CONTROL_FINISHED_OK
$STATE,17730,begin surface
$SM_CCo,17747,11.25,0.132,0,0,509,579.63
$SM_GC,3.87,9.02,0.05,11.25,0.063,0.234,0.132,179,2205,509,-8.57,-1.33,579.63,0,0,0,0,0,0,14.64,14.65,14.40
$IRIDIUM_FIX,1756.43,8925.99,090908,131323
$TT8_MAMPS,0.018725,0.018725
$HUMID,48.70
$INTERNAL_PRESSURE,6.68971
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,12.8,127.914
$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
$DEVICE_SECS,22.675,191.800,577.200,11.250,0.000,133.578,238.828,144.825,0.000,0.000,39.240,3430.077,10668.137,702.020,3645.418,245.211,0.000,2171.755,0.000,2554.405,0.000,0.553,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,915.872,604.083,1574.049,961.332,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322176
$DATA_FILE_SIZE,140995,1739
$CAP_FILE_SIZE,188889,0
$CFSIZE,2097086464,2036858880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.078,125.2,1
$GPS,141115,051803,1802.351,8925.397,68,1.1,68,-0.9