version: 66.11
glider: 615
mission: 5
dive: 356
start: 11 15 115 7 57 39
data:
$ID,615
$MISSION,5
$DIVE,356
$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,-19764.1
$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,38
$R_STBD_OVSHOOT,49
$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
$GPS1,151115,073907,1757.040,8933.376,67,1.3,67,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-71.9
$GPS2,151115,075713,1756.918,8933.389,6,1.0,6,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,NE
$TGT_LATLONG,1806.660,8933.540
$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,340.8,18044,-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,-126.5,160,2211,562,484,0.0,0.0,0,62,0.00,0.00,-44.47,0.000,16386,0.000,0.000,159,2211,1758,1762,1754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.82,-126.5,160,2212,1761,1754,3.4,-7.9,7,118,10.88,2.35,-34.65,0.000,18692,0.343,0.081,2663,3600,3390,3402,3378,0,0,0,0,0,0,14.13,14.57,14.82
$GC,172,-0.82,-126.5,2663,3600,3402,3379,37.2,-32.4,25,181,0.08,2.25,0.00,0.000,3078,0.288,0.040,2676,2188,3390,3402,3379,0,0,0,0,0,0,14.40,14.62,28.83
$GC,366,-0.82,-126.5,2675,2187,3402,3378,87.5,-19.0,62,373,0.00,2.30,0.00,0.000,516,0.000,0.058,2675,809,3390,3402,3378,0,0,0,0,0,0,28.83,14.48,28.83
$GC,431,-0.82,-126.5,2675,809,3402,3378,99.3,-17.6,74,438,0.00,2.28,0.00,0.000,1030,0.000,0.044,2667,2195,3390,3402,3378,0,0,0,0,0,0,28.83,14.52,28.83
$GC,622,-0.82,-126.5,1680,2193,3388,3377,130.3,-15.0,111,628,0.00,2.33,0.00,0.000,260,0.000,0.067,2656,3609,3390,3402,3379,0,0,0,0,0,0,28.83,14.62,28.83
$GC,646,-0.82,-126.5,1664,3608,3388,3376,134.3,-16.4,115,653,0.10,2.22,0.00,0.000,3078,0.262,0.036,2676,2193,3390,3402,3379,0,0,0,0,0,0,14.44,14.70,28.83
$GC,835,-0.82,-126.5,1688,2191,3388,3377,162.0,-14.3,152,843,0.00,2.33,0.00,0.000,516,0.000,0.063,2676,806,3391,3402,3380,0,0,0,0,0,0,28.83,14.52,28.83
$GC,895,-0.82,-126.5,1680,806,3388,3377,171.3,-15.4,163,901,0.00,2.22,0.00,0.000,1030,0.000,0.047,2668,2201,3390,3402,3379,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1085,-0.82,-126.5,2668,2200,3402,3379,199.0,-14.5,200,1092,0.00,2.35,0.00,0.000,260,0.000,0.067,2658,3603,3390,3402,3379,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1122,-0.82,-126.5,2658,3603,3402,3379,204.8,-14.9,207,1130,0.10,2.22,0.00,0.000,3078,0.248,0.038,2678,2201,3390,3402,3379,0,0,0,0,0,0,14.47,14.71,28.83
$GC,1429,-0.82,-126.5,2678,2200,3402,3377,246.1,-13.5,238,1433,0.00,2.30,0.00,0.000,516,0.000,0.063,2678,801,3389,3402,3377,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1514,-0.82,-126.5,2678,800,3402,3376,258.5,-14.0,255,1521,0.00,2.28,0.00,0.000,1030,0.000,0.047,2671,2207,3389,3402,3376,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1821,-0.82,-126.5,2670,2207,3403,3372,301.9,-14.4,286,1830,0.00,2.30,0.00,0.000,516,0.000,0.063,2670,800,3387,3402,3372,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1905,-0.82,-126.5,1768,800,3389,3369,314.7,-14.9,303,1912,0.08,2.25,0.00,0.000,3078,0.308,0.049,2675,2203,3386,3402,3371,0,0,0,0,0,0,14.48,14.69,28.83
$GC,2223,-0.82,-126.5,2675,2204,3401,3366,359.1,-14.0,332,2229,0.00,2.28,0.00,0.000,516,0.000,0.065,2675,809,3384,3402,3366,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2263,-0.82,-126.5,2675,808,3401,3366,364.9,-14.3,340,2269,0.00,2.25,0.00,0.000,1030,0.000,0.050,2667,2208,3383,3401,3365,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2583,-0.82,-126.5,2668,2209,3401,3360,412.6,-15.1,359,2589,0.00,2.30,0.00,0.000,516,0.000,0.064,2667,805,3380,3401,3360,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2623,-0.82,-126.5,2668,806,3402,3360,418.8,-15.6,367,2630,0.10,2.25,0.00,0.000,3078,0.288,0.051,2679,2201,3380,3401,3359,0,0,0,0,0,0,14.45,14.69,28.83
$GC,2944,-0.82,-126.5,2679,2201,3401,3353,463.1,-13.6,386,2945,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2201,3377,3401,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3244,-0.82,-126.5,2679,2201,3401,3351,502.4,-12.5,401,3250,0.00,2.30,0.00,0.000,516,0.000,0.068,2679,808,3376,3401,3351,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3296,-0.82,-126.5,2679,807,3399,3351,509.5,-12.6,412,3304,0.00,2.33,0.00,0.000,1030,0.000,0.053,2673,2191,3375,3400,3351,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3604,-0.82,-126.5,2673,2191,3399,3347,548.5,-12.7,423,3605,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2191,3373,3399,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3904,-0.82,-126.5,2673,2191,3397,3346,586.1,-12.6,433,3910,0.00,2.30,0.00,0.000,516,0.000,0.068,2672,796,3371,3397,3345,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3946,-0.82,-126.5,2673,796,3396,3345,592.0,-12.8,442,3950,0.00,2.30,0.00,0.000,1030,0.000,0.054,2669,2206,3370,3396,3345,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4258,-0.82,-126.5,2669,2207,3395,3343,632.1,-13.2,454,4264,0.00,2.33,0.00,0.000,516,0.000,0.068,2669,809,3369,3395,3343,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4318,-0.82,-126.5,2670,809,3394,3342,640.1,-12.8,466,4325,0.00,2.28,0.00,0.000,1030,0.000,0.054,2669,2206,3368,3394,3343,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4648,-0.82,-126.5,2670,2208,3393,3340,684.0,-13.4,482,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2208,3367,3393,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4948,-0.82,-126.5,2670,2208,3391,3339,725.1,-13.5,492,4954,0.00,2.33,0.00,0.000,516,0.000,0.071,2669,809,3365,3392,3339,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4991,-0.82,-126.5,2670,809,3391,3339,731.4,-13.7,501,4995,0.00,2.28,0.00,0.000,1030,0.000,0.056,2669,2200,3365,3391,3339,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5304,-0.82,-126.5,2670,2201,3390,3337,772.9,-13.3,513,5310,0.00,2.33,0.00,0.000,516,0.000,0.072,2669,806,3363,3390,3337,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5341,-0.82,-126.5,2669,806,3389,3337,778.4,-13.7,521,5345,0.00,2.28,0.00,0.000,1030,0.000,0.056,2669,2200,3362,3389,3336,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5658,-0.82,-126.5,2670,2201,3389,3336,819.5,-12.9,534,5662,0.00,2.30,0.00,0.000,516,0.000,0.072,2669,815,3362,3389,3336,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5712,-0.82,-126.5,2670,814,3388,3336,826.9,-13.2,545,5719,0.00,2.28,0.00,0.000,1030,0.000,0.057,2669,2199,3362,3389,3336,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6019,-0.82,-126.5,2670,2200,3388,3334,865.3,-12.4,556,6025,0.00,2.33,0.00,0.000,516,0.000,0.072,2669,806,3361,3388,3334,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6049,-0.82,-126.5,2670,806,3388,3334,869.0,-12.8,562,6055,0.00,2.30,0.00,0.000,1030,0.000,0.057,2669,2209,3360,3387,3334,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6379,-0.82,-126.5,2670,2209,3387,3333,908.4,-11.8,578,6383,0.00,2.30,0.00,0.000,516,0.000,0.072,2670,819,3360,3387,3333,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6429,-0.82,-126.5,2670,819,3387,3333,914.7,-12.1,588,6433,0.00,2.28,0.00,0.000,1030,0.000,0.058,2669,2202,3359,3386,3333,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6737,-0.82,-126.5,2669,2201,3384,3333,949.6,-11.3,599,6738,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2201,3358,3384,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7036,-0.82,-126.5,2669,2201,3384,3331,983.5,-11.5,609,7040,0.00,2.35,0.00,0.000,516,0.000,0.073,2669,810,3357,3383,3331,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7070,-0.82,-126.5,2669,810,3383,3330,987.9,-11.6,616,7075,0.00,2.33,0.00,0.000,1030,0.000,0.059,2669,2194,3357,3383,3331,0,0,0,0,0,0,28.83,14.54,28.83
$STATE,7089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7089,begin apogee
$GC,7093,-0.16,0.0,2669,2194,3383,3331,990.3,-11.8,620,7205,0.93,0.00,106.18,2.272,10246,0.329,0.000,2877,2196,2870,2914,2826,0,0,0,0,0,0,13.64,28.83,13.01
$STATE,7207,end apogee,CONTROL_FINISHED_OK
$STATE,7207,begin climb
$GC,7209,0.82,126.5,2877,2196,2910,2821,994.0,0.0,643,7331,1.10,2.47,113.53,2.407,10500,0.163,0.076,3207,3547,2351,2412,2291,0,0,0,0,0,0,14.04,13.82,12.81
$GC,7362,0.82,126.5,3206,3547,2405,2284,986.2,9.9,669,7369,0.00,2.38,0.00,0.000,1030,0.000,0.045,3218,2149,2344,2405,2284,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7669,0.82,126.5,3218,2149,2404,2282,954.2,10.6,680,7675,0.00,2.40,0.00,0.000,516,0.000,0.073,3229,732,2343,2404,2282,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7767,0.82,126.5,3229,731,2403,2282,943.6,10.3,700,7771,0.00,2.33,0.00,0.000,1030,0.000,0.050,3229,2147,2342,2403,2282,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8085,0.82,126.5,3229,2147,2403,2280,911.5,10.0,713,8086,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2147,2341,2403,2280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8385,0.82,126.5,3229,2147,2402,2280,883.0,9.5,723,8389,0.00,2.38,0.00,0.000,516,0.000,0.071,3239,739,2341,2402,2280,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8430,0.82,126.5,3239,739,2402,2279,878.4,9.5,732,8434,0.00,2.30,0.00,0.000,1030,0.000,0.050,3239,2146,2341,2402,2280,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8743,0.82,126.5,3239,2147,2402,2279,848.7,9.4,744,8749,0.00,2.35,0.00,0.000,516,0.000,0.070,3250,736,2340,2402,2279,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8840,0.82,126.5,3250,736,2402,2279,838.9,9.6,764,8844,0.00,2.30,0.00,0.000,1030,0.000,0.050,3249,2147,2340,2402,2279,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9158,0.82,126.5,3249,2147,2401,2278,808.4,9.8,777,9164,0.00,2.38,0.00,0.000,516,0.000,0.071,3260,733,2339,2401,2278,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9248,0.82,126.5,3260,733,2401,2278,798.9,10.8,795,9254,0.05,2.28,0.00,0.000,5126,0.239,0.050,3245,2142,2339,2400,2278,0,0,0,0,0,0,14.38,14.62,28.83
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$STATE,17735,end climb,SURFACE_DEPTH_REACHED
$STATE,17736,begin surface coast
$FINISH,0.2,1.015545
$STATE,17767,end surface coast,CONTROL_FINISHED_OK
$STATE,17768,begin surface
$SM_CCo,17785,17.88,0.133,0,0,508,579.63
$SM_GC,4.22,9.20,0.10,17.88,0.078,0.139,0.133,187,2238,508,-8.59,-0.93,579.63,0,0,0,0,0,0,14.57,14.62,14.39
$IRIDIUM_FIX,1749.63,8932.81,100908,212153
$TT8_MAMPS,0.018725,0.018725
$HUMID,48.22
$INTERNAL_PRESSURE,6.67994
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,12.8,130.118
$10V_AH,12.5,0.000
$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,23.250,185.875,514.600,17.875,0.000,132.582,255.883,281.072,0.000,0.000,7.479,3453.510,10789.720,651.650,3718.204,263.412,0.000,2075.943,0.000,2512.308,0.000,0.553,0.000
$DEVICE_MAMPS,343.485,139.230,2407.455,133.110,0.000,29.840,160.000,223.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,924.456,610.454,1490.356,910.699,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322240
$DATA_FILE_SIZE,137532,1720
$CAP_FILE_SIZE,187862,0
$CFSIZE,2097086464,2036039680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.077,139.8,1
$GPS,151115,125603,1758.035,8933.322,62,0.9,62,-0.9