version: 66.11
glider: 615
mission: 5
dive: 363
start: 11 16 115 19 54 50
data:
$ID,615
$MISSION,5
$DIVE,363
$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,-19773.791
$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,43
$R_STBD_OVSHOOT,46
$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
$GPS1,161115,194151,1805.854,8933.463,43,0.9,43,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.0
$GPS2,161115,195423,1805.815,8933.465,5,0.9,5,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,SW
$TGT_LATLONG,1755.320,8921.600
$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,248.6,28548,-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,16,-0.82,-126.5,186,2214,541,493,0.0,0.0,0,63,0.00,0.00,-44.72,0.000,16386,0.000,0.000,185,2216,1769,1770,1769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.82,-126.5,186,2214,1770,1768,3.2,-7.0,7,118,10.80,2.38,-35.33,0.000,18948,0.345,0.076,2676,800,3390,3406,3375,0,0,0,0,0,0,14.14,14.55,14.84
$GC,197,-0.82,-126.5,2677,799,3406,3375,43.9,-32.2,30,204,0.00,2.30,0.00,0.000,1030,0.000,0.047,2668,2189,3390,3406,3375,0,0,0,0,0,0,28.83,14.49,28.83
$GC,388,-0.82,-126.5,1680,2188,3392,3373,91.6,-18.1,67,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2189,3390,3406,3375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,576,-0.82,-126.5,1696,2187,3393,3375,125.1,-15.6,104,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2189,3392,3407,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,766,-0.82,-126.5,2668,2189,3407,3378,154.8,-14.7,141,774,0.00,2.33,0.00,0.000,260,0.000,0.067,2657,3601,3392,3406,3378,0,0,0,0,0,0,28.83,14.61,28.83
$GC,812,-0.82,-126.5,2657,3602,3406,3378,161.9,-15.9,149,820,0.10,2.22,0.00,0.000,3078,0.259,0.039,2678,2196,3392,3406,3378,0,0,0,0,0,0,14.44,14.69,28.83
$GC,1004,-0.82,-126.5,2678,2196,3406,3378,188.7,-13.7,186,1012,0.00,2.35,0.00,0.000,516,0.000,0.065,2678,785,3392,3406,3378,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1065,-0.82,-126.5,2678,785,3406,3378,197.0,-12.9,197,1072,0.00,2.28,0.00,0.000,1030,0.000,0.046,2670,2208,3392,3406,3378,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1262,-0.82,-126.5,2670,2209,3406,3378,223.3,-13.3,218,1270,0.00,2.28,0.00,0.000,260,0.000,0.067,2659,3599,3392,3406,3378,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1282,-0.82,-126.5,2659,3599,3406,3377,226.5,-14.3,222,1292,0.10,2.22,0.00,0.000,3078,0.249,0.039,2682,2187,3391,3406,3377,0,0,0,0,0,0,14.47,14.71,28.83
$GC,1592,-0.82,-126.5,2681,2186,3406,3375,270.2,-14.2,254,1601,0.00,2.25,0.00,0.000,516,0.000,0.063,2682,805,3389,3405,3374,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1646,-0.82,-126.5,2681,805,3406,3375,278.2,-14.7,265,1653,0.00,2.25,0.00,0.000,1030,0.000,0.048,2674,2201,3390,3406,3374,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1953,-0.82,-126.5,2674,2201,3406,3372,323.0,-14.7,296,1962,0.00,2.28,0.00,0.000,516,0.000,0.063,2675,807,3388,3406,3371,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2014,-0.82,-126.5,2675,807,3406,3371,331.7,-13.9,308,2018,0.00,2.25,0.00,0.000,1030,0.000,0.049,2665,2204,3388,3406,3371,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2326,-0.82,-126.5,2665,2204,3406,3367,377.3,-14.8,331,2332,0.00,2.33,0.00,0.000,260,0.000,0.072,2656,3603,3386,3406,3366,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2353,-0.82,-126.5,2656,3602,3406,3366,381.8,-15.1,337,2358,0.10,2.22,0.00,0.000,3078,0.242,0.041,2678,2202,3385,3406,3365,0,0,0,0,0,0,14.50,14.73,28.83
$GC,2661,-0.82,-126.5,2678,2201,3406,3361,423.7,-13.7,353,2667,0.00,2.28,0.00,0.000,516,0.000,0.064,2678,808,3383,3406,3360,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2722,-0.82,-126.5,2678,809,3406,3360,432.0,-13.4,365,2726,0.00,2.22,0.00,0.000,1030,0.000,0.050,2672,2196,3383,3406,3360,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3045,-0.82,-126.5,2671,2196,3406,3355,477.5,-14.1,384,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2196,3380,3406,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3356,-0.82,-126.5,2671,2196,3406,3352,520.8,-13.7,397,3361,0.00,2.28,0.00,0.000,516,0.000,0.066,2672,810,3379,3406,3352,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3417,-0.82,-126.5,2671,810,3404,3352,529.6,-12.9,410,3422,0.08,2.25,0.00,0.000,3078,0.312,0.053,2677,2203,3378,3404,3352,0,0,0,0,0,0,14.45,14.66,28.83
$GC,3745,-0.82,-126.5,2677,2204,3402,3348,571.9,-12.8,425,3749,0.00,2.33,0.00,0.000,516,0.000,0.068,2677,808,3375,3403,3348,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3790,-0.82,-126.5,2677,808,3402,3348,578.0,-12.8,434,3794,0.00,2.25,0.00,0.000,1030,0.000,0.054,2671,2197,3375,3402,3348,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4101,-0.82,-126.5,2671,2197,3401,3346,619.4,-13.5,446,4105,0.00,2.33,0.00,0.000,516,0.000,0.067,2671,804,3373,3401,3346,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4126,-0.82,-126.5,2671,804,3401,3346,623.1,-13.8,451,4133,0.08,2.28,0.00,0.000,3078,0.311,0.054,2675,2202,3373,3401,3346,0,0,0,0,0,0,14.45,14.67,28.83
$GC,4433,-0.82,-126.5,2676,2203,3400,3344,663.4,-13.3,462,4434,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2203,3372,3400,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4733,-0.82,-126.5,2676,2203,3398,3343,704.2,-13.6,472,4737,0.00,2.33,0.00,0.000,516,0.000,0.069,2676,806,3370,3398,3343,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4796,-0.82,-126.5,1792,806,3385,3340,713.2,-13.4,485,4801,0.00,2.28,0.00,0.000,1030,0.000,0.054,2670,2201,3370,3397,3343,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5124,-0.82,-126.5,2670,2202,3396,3341,758.8,-14.0,500,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2202,3368,3396,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5424,-0.82,-126.5,2671,2202,3395,3340,799.3,-13.2,510,5428,0.00,2.35,0.00,0.000,516,0.000,0.070,2670,803,3367,3395,3340,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5493,-0.82,-126.5,2670,803,3395,3341,808.6,-12.1,524,5497,0.00,2.30,0.00,0.000,1030,0.000,0.057,2669,2203,3367,3394,3340,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5811,-0.82,-126.5,2670,2203,3394,3337,847.2,-12.1,537,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2203,3366,3394,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6111,-0.82,-126.5,2669,2203,3393,3337,883.2,-12.0,547,6115,0.00,2.35,0.00,0.000,516,0.000,0.072,2670,803,3365,3393,3337,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6175,-0.82,-126.5,2669,803,3391,3336,891.3,-11.7,560,6179,0.00,2.30,0.00,0.000,1030,0.000,0.057,2670,2197,3364,3392,3336,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6503,-0.82,-126.5,2669,2199,3391,3336,930.1,-12.0,575,6504,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2199,3363,3391,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6804,-0.82,-126.5,2670,2198,3390,3335,967.6,-12.7,585,6809,0.00,2.30,0.00,0.000,516,0.000,0.073,2669,813,3362,3390,3334,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6850,-0.82,-126.5,2670,812,3390,3334,974.2,-13.0,595,6855,0.00,2.30,0.00,0.000,1030,0.000,0.059,2669,2206,3362,3390,3335,0,0,0,0,0,0,28.83,14.60,28.83
$STATE,6975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6976,begin apogee
$GC,6981,-0.16,0.0,2670,2146,3389,3334,990.3,-13.0,600,7097,0.90,0.00,107.12,2.297,10246,0.303,0.000,2886,2144,2865,2915,2816,0,0,0,0,0,0,14.17,28.83,13.00
$STATE,7099,end apogee,CONTROL_FINISHED_OK
$STATE,7099,begin climb
$GC,7101,0.82,126.5,2887,2144,2914,2815,995.2,0.0,624,7221,1.02,0.00,115.50,2.472,10502,0.123,0.000,3211,2144,2356,2416,2297,0,0,0,0,0,0,14.09,28.83,12.76
$GC,7517,0.82,126.5,3212,2144,2404,2284,966.2,9.5,648,7523,0.00,2.38,0.00,0.000,516,0.000,0.073,3222,745,2344,2404,2284,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7565,0.82,126.5,3222,745,2403,2284,961.5,9.6,658,7570,0.00,2.30,0.00,0.000,1030,0.000,0.051,3222,2141,2343,2403,2284,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7873,0.83,130.1,3222,2141,2403,2282,933.7,9.0,669,7875,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2141,2343,2403,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8174,0.83,130.1,3222,2141,2402,2282,906.1,9.3,679,8178,0.00,2.38,0.00,0.000,516,0.000,0.070,3233,739,2342,2402,2282,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8248,0.83,130.1,3233,739,2402,2282,898.9,9.2,694,8252,0.00,2.30,0.00,0.000,1030,0.000,0.050,3232,2148,2342,2402,2282,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8560,0.83,130.1,3233,2148,2402,2281,870.1,9.3,706,8566,0.00,2.35,0.00,0.000,516,0.000,0.070,3242,745,2341,2401,2282,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8603,0.83,130.1,3243,744,2402,2282,865.6,10.1,715,8607,0.00,2.28,0.00,0.000,1030,0.000,0.050,3243,2144,2342,2402,2282,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8916,0.83,130.1,3243,2144,2401,2281,834.1,10.3,727,8917,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2144,2341,2401,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9216,0.83,130.1,3243,2144,2399,2280,803.7,10.3,737,9220,0.00,2.35,0.00,0.000,516,0.000,0.070,3253,743,2339,2399,2280,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9250,0.83,130.1,3253,743,2399,2280,799.8,10.7,744,9255,0.00,2.33,0.00,0.000,1030,0.000,0.051,3253,2140,2339,2399,2280,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9578,0.83,130.1,3253,2140,2398,2279,765.7,10.4,759,9584,0.00,2.33,0.00,0.000,516,0.000,0.070,3262,743,2338,2398,2279,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9621,0.83,130.1,3263,743,2398,2279,760.8,11.1,768,9626,0.10,2.28,0.00,0.000,5126,0.278,0.050,3243,2143,2338,2397,2279,0,0,0,0,0,0,14.39,14.65,28.83
$GC,9933,0.83,130.1,3243,2143,2398,2278,729.1,10.2,780,9939,0.00,2.35,0.00,0.000,516,0.000,0.069,3252,739,2338,2398,2278,0,0,0,0,0,0,28.83,14.57,28.83
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$GC,13325,0.85,144.9,3272,733,2330,2209,386.4,10.6,1025,13333,0.05,2.38,0.00,0.000,5126,0.259,0.049,3249,2141,2269,2330,2209,0,0,0,0,0,0,14.21,14.46,28.83
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$STATE,17528,end climb,SURFACE_DEPTH_REACHED
$STATE,17529,begin surface coast
$FINISH,0.3,1.019246
$STATE,17590,end surface coast,CONTROL_FINISHED_OK
$STATE,17590,begin surface
$SM_CCo,17610,44.97,0.137,0,0,508,579.63
$SM_GC,4.00,9.10,2.42,44.97,0.074,0.045,0.137,183,2211,508,-8.57,-1.13,579.63,0,0,0,0,0,0,14.64,14.59,14.39
$IRIDIUM_FIX,1758.70,8928.23,120908,090903
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.51
$INTERNAL_PRESSURE,6.67018
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,12.8,132.533
$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,22.925,185.550,487.875,44.975,0.000,138.712,131.060,30.093,0.000,0.000,6.515,3429.196,10730.604,670.296,3299.746,270.426,0.000,2044.967,0.000,2420.721,0.000,0.553,0.000
$DEVICE_MAMPS,345.015,171.360,2471.715,136.935,0.000,29.840,160.000,223.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,918.688,608.025,1556.841,951.347,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322148
$DATA_FILE_SIZE,134126,1654
$CAP_FILE_SIZE,182683,0
$CFSIZE,2097086464,2033483776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.054,156.0,1
$GPS,171115,005053,1804.604,8931.869,69,1.3,69,-0.9