version: 66.11
glider: 615
mission: 5
dive: 496
start: 12 20 115 5 43 0
data:
$ID,615
$MISSION,5
$DIVE,496
$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,-26403.695
$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,48
$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,315
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$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
$GPS1,201215,041503,1730.092,8900.007,51,1.5,51,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-70.8
$GPS2,201215,054228,1730.696,8858.544,8,0.9,9,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,ES
$TGT_LATLONG,1730.000,8900.000
$TGT_RADIUS,500.000
$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,117.9,2877,-26.1,-9.167,-30.00,1414
$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,17,-0.92,-87.0,116,2229,559,496,0.0,0.0,0,64,0.00,0.00,-45.10,0.000,16386,0.000,0.000,115,2229,1772,1764,1781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.94,-102.4,116,2229,1764,1781,3.3,-8.1,7,120,11.12,2.28,-31.67,0.000,19204,0.349,0.079,2626,3574,3291,3305,3278,0,0,0,0,0,0,14.08,14.46,14.96
$GC,135,-0.94,-102.4,2626,3575,3305,3278,19.8,-29.3,17,143,0.05,2.15,0.00,0.000,3078,0.376,0.035,2635,2191,3291,3305,3278,0,0,0,0,0,0,14.47,14.72,28.83
$GC,329,-0.94,-102.4,2635,2189,3305,3277,86.0,-25.4,54,336,0.00,2.33,0.00,0.000,260,0.000,0.060,2626,3577,3291,3305,3277,0,0,0,0,0,0,28.83,14.54,28.83
$GC,445,-0.94,-102.4,2626,3577,3305,3277,110.5,-17.8,76,452,0.00,2.20,0.00,0.000,1030,0.000,0.035,2626,2211,3291,3305,3277,0,0,0,0,0,0,28.83,14.56,28.83
$GC,639,-0.94,-102.4,2626,2210,3305,3277,140.3,-13.0,113,647,0.05,2.28,0.00,0.000,2564,0.353,0.055,2637,799,3291,3306,3277,0,0,0,0,0,0,14.68,14.66,28.83
$GC,657,-0.94,-102.4,2636,799,3306,3277,142.6,-13.0,115,664,0.00,2.15,0.00,0.000,1030,0.000,0.041,2628,2174,3291,3306,3277,0,0,0,0,0,0,28.83,14.72,28.83
$GC,849,-0.94,-102.4,2628,2174,3305,3277,167.0,-12.8,152,856,0.00,2.35,0.00,0.000,260,0.000,0.060,2617,3601,3291,3305,3277,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1023,-0.94,-102.4,2617,3600,3305,3277,190.5,-13.4,185,1031,0.10,2.20,0.00,0.000,3078,0.269,0.035,2638,2188,3291,3305,3277,0,0,0,0,0,0,14.49,14.76,28.83
$GC,1215,-0.94,-102.4,2637,2187,3305,3275,214.7,-11.8,210,1219,0.00,2.22,0.00,0.000,516,0.000,0.058,2638,810,3291,3306,3276,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1258,-0.94,-102.4,2638,810,3305,3276,220.1,-12.8,218,1262,0.00,2.20,0.00,0.000,1030,0.000,0.043,2629,2203,3290,3306,3275,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1571,-0.94,-102.4,2629,2203,3305,3271,261.6,-13.6,250,1580,0.00,2.25,0.00,0.000,260,0.000,0.063,2618,3594,3288,3305,3272,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1664,-0.94,-102.4,2619,3594,3305,3271,275.0,-13.7,268,1674,0.05,2.17,0.00,0.000,3078,0.239,0.036,2633,2199,3287,3305,3270,0,0,0,0,0,0,14.44,14.78,28.83
$GC,1974,-0.94,-102.4,2634,2199,3305,3265,316.7,-13.1,300,1983,0.00,2.22,0.00,0.000,516,0.000,0.060,2634,811,3285,3305,3265,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2080,-0.94,-102.4,2633,811,3305,3264,331.2,-13.1,321,2087,0.08,2.20,0.00,0.000,3078,0.318,0.046,2638,2198,3284,3305,3263,0,0,0,0,0,0,14.49,14.71,28.83
$GC,2390,-0.94,-102.4,2638,2198,3305,3257,371.9,-13.5,344,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2198,3280,3304,3257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2688,-0.94,-102.4,2638,2198,3304,3252,412.8,-13.8,359,2692,0.00,2.28,0.00,0.000,516,0.000,0.064,2638,808,3278,3304,3252,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2724,-0.94,-102.4,2638,809,3304,3252,418.3,-13.8,366,2731,0.00,2.30,0.00,0.000,1030,0.000,0.049,2631,2193,3278,3304,3253,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3032,-0.94,-102.4,2632,2193,3302,3248,460.1,-13.4,382,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2193,3275,3302,3248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3331,-0.94,-102.4,2632,2193,3300,3245,499.6,-13.2,397,3337,0.00,2.25,0.00,0.000,516,0.000,0.063,2631,816,3272,3300,3245,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3410,-0.94,-102.4,2632,816,3299,3245,510.6,-13.9,413,3414,0.00,2.25,0.00,0.000,1030,0.000,0.050,2629,2211,3272,3299,3245,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3717,-0.94,-102.4,2629,2211,3298,3242,551.6,-13.6,424,3723,0.00,2.28,0.00,0.000,516,0.000,0.065,2629,819,3269,3297,3241,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3760,-0.94,-102.4,2629,819,3297,3242,557.9,-14.2,433,3764,0.00,2.22,0.00,0.000,1030,0.000,0.051,2629,2200,3269,3297,3242,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4074,-0.94,-102.4,2629,2201,3295,3239,601.3,-14.0,445,4080,0.00,2.25,0.00,0.000,516,0.000,0.065,2629,823,3267,3295,3239,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4147,-0.94,-102.4,2629,823,3294,3239,612.2,-14.7,460,4151,0.00,2.22,0.00,0.000,1030,0.000,0.053,2629,2199,3266,3294,3239,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4459,-0.94,-102.4,2629,2199,3292,3236,656.1,-14.1,472,4465,0.00,2.28,0.00,0.000,516,0.000,0.067,2629,810,3264,3292,3236,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4519,-0.94,-102.4,2630,810,3291,3236,664.7,-14.1,484,4525,0.00,2.22,0.00,0.000,1030,0.000,0.052,2629,2196,3263,3291,3236,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4849,-0.94,-102.4,2629,2196,3290,3234,711.2,-14.2,500,4855,0.00,2.28,0.00,0.000,516,0.000,0.067,2629,821,3261,3290,3233,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4892,-0.94,-102.4,2629,822,3290,3233,717.7,-14.3,509,4897,0.00,2.25,0.00,0.000,1030,0.000,0.053,2630,2204,3261,3290,3233,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5206,-0.94,-102.4,2629,2204,3289,3230,760.5,-13.6,521,5212,0.00,2.28,0.00,0.000,516,0.000,0.067,2629,820,3259,3289,3230,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5229,-0.94,-102.4,2629,820,3288,3231,764.2,-14.3,526,5236,0.00,2.33,0.00,0.000,1030,0.000,0.054,2629,2193,3259,3288,3230,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5537,-0.94,-102.4,2629,2193,3287,3229,805.1,-13.4,537,5542,0.00,2.28,0.00,0.000,516,0.000,0.067,2629,813,3258,3287,3229,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5559,-0.94,-102.4,2628,813,3287,3229,808.6,-14.5,542,5567,0.00,2.35,0.00,0.000,1030,0.000,0.054,2629,2198,3258,3287,3229,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5867,-0.94,-102.4,2629,2198,3285,3227,849.4,-13.2,553,5873,0.00,2.28,0.00,0.000,516,0.000,0.069,2629,821,3256,3285,3227,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5935,-0.94,-102.4,2629,822,3284,3228,858.9,-12.2,567,5941,0.00,2.28,0.00,0.000,1030,0.000,0.055,2629,2209,3256,3285,3227,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6257,-0.94,-102.4,2629,2209,3283,3225,900.9,-13.2,581,6263,0.00,2.30,0.00,0.000,516,0.000,0.070,2629,823,3255,3285,3225,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6330,-0.94,-102.4,2629,823,3283,3224,911.1,-13.7,596,6335,0.00,2.28,0.00,0.000,1030,0.000,0.056,2629,2206,3254,3283,3225,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6643,-0.94,-102.4,2629,2206,3282,3224,951.4,-12.7,608,6649,0.00,2.33,0.00,0.000,516,0.000,0.070,2630,819,3253,3282,3224,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6681,-0.94,-102.4,2629,819,3282,3224,956.7,-13.3,616,6685,0.00,2.28,0.00,0.000,1030,0.000,0.057,2629,2199,3253,3282,3224,0,0,0,0,0,0,28.83,14.55,28.83
$STATE,6966,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6966,begin apogee
$GC,6973,-0.16,0.0,2629,2200,3281,3222,993.5,-12.7,628,7065,1.02,0.00,86.38,2.404,10246,0.289,0.000,2886,2201,2869,2916,2823,0,0,0,0,0,0,14.02,28.83,12.84
$STATE,7066,end apogee,CONTROL_FINISHED_OK
$STATE,7066,begin climb
$GC,7069,0.94,102.4,2886,2201,2910,2816,997.4,0.0,648,7171,1.10,2.35,93.97,2.472,10500,0.109,0.070,3251,3545,2447,2499,2396,0,0,0,0,0,0,14.19,14.16,12.98
$GC,7225,0.96,113.4,3252,3546,2494,2385,990.9,8.4,679,7235,0.00,2.33,4.57,1.543,9222,0.000,0.043,3262,2148,2411,2467,2355,0,0,0,0,0,0,28.83,14.45,13.03
$GC,7538,0.96,113.4,3261,2147,2481,2368,961.8,9.4,691,7544,0.00,2.38,1.85,0.164,8708,0.000,0.067,3273,735,2410,2466,2354,0,0,0,0,0,0,28.83,14.54,14.45
$GC,7649,0.96,116.8,3273,735,2477,2368,951.5,8.9,713,7659,0.00,2.30,4.20,1.418,9222,0.000,0.048,3273,2148,2396,2453,2339,0,0,0,0,0,0,28.83,14.62,13.25
$GC,7987,0.96,116.8,3273,2148,2466,2355,918.8,9.5,730,7994,0.00,2.35,2.12,0.338,8452,0.000,0.071,3273,3545,2397,2454,2340,0,0,0,0,0,0,28.83,14.60,13.04
$GC,8020,0.96,116.8,2368,3544,2409,2346,915.3,10.5,737,8029,0.00,2.28,1.62,0.179,9222,0.000,0.043,3283,2137,2396,2453,2339,0,0,0,0,0,0,28.83,14.69,14.46
$GC,8348,0.96,116.8,3283,2138,2466,2353,884.0,9.6,752,8355,0.00,2.33,1.80,0.166,8708,0.000,0.066,3293,744,2397,2454,2340,0,0,0,0,0,0,28.83,14.55,14.42
$GC,8464,0.96,116.8,3294,744,2464,2353,872.8,10.1,775,8472,0.00,2.28,1.85,0.169,9222,0.000,0.047,3294,2145,2393,2450,2337,0,0,0,0,0,0,28.83,14.64,14.42
$GC,8768,0.96,116.8,3294,2145,2464,2352,843.1,9.6,786,8775,0.00,2.38,1.65,0.171,8708,0.000,0.066,3304,734,2396,2453,2340,0,0,0,0,0,0,28.83,14.53,14.40
$GC,8847,0.96,116.8,3304,734,2463,2353,835.2,9.9,802,8858,0.10,2.28,1.55,0.172,13318,0.269,0.048,3285,2141,2398,2454,2342,0,0,0,0,0,0,14.36,14.63,14.23
$GC,9159,0.96,118.8,3285,2141,2464,2351,806.7,9.0,814,9164,0.00,0.00,2.80,0.866,8198,0.000,0.000,3285,2141,2385,2443,2328,0,0,0,0,0,0,28.83,28.83,13.23
$GC,9459,0.97,126.7,3285,2141,2459,2346,780.5,8.6,824,9475,0.00,0.00,13.93,1.887,8198,0.000,0.000,3285,2141,2354,2412,2297,0,0,0,0,0,0,28.83,28.83,13.37
$GC,9759,0.97,126.7,3285,2141,2403,2283,751.5,9.8,834,9765,0.00,2.33,0.00,0.000,260,0.000,0.070,3284,3538,2343,2403,2283,0,0,0,0,0,0,28.83,14.50,28.83
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$STATE,17829,end climb,SURFACE_DEPTH_REACHED
$STATE,17829,begin surface coast
$FINISH,0.6,1.018980
$STATE,17866,end surface coast,CONTROL_FINISHED_OK
$STATE,17866,begin surface
$SM_CCo,17889,46.92,0.134,0,0,509,579.63
$SM_GC,4.57,9.18,2.22,46.92,0.073,0.040,0.134,182,2201,509,-8.57,1.13,579.63,0,0,0,0,0,0,14.62,14.58,14.34
$IRIDIUM_FIX,1720.22,8858.98,151008,191904
$TT8_MAMPS,0.018725,0.018725
$HUMID,51.14
$INTERNAL_PRESSURE,6.70924
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,12.8,181.593
$10V_AH,10.4,0.000
$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
$DEVICE_SECS,23.650,202.100,523.975,46.925,0.000,144.224,147.321,0.000,0.000,0.000,9.899,3986.306,10532.025,697.018,3429.838,4521.056,0.000,2191.217,0.000,2607.838,0.000,0.556,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,929.409,617.427,1543.929,943.429,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322944
$DATA_FILE_SIZE,143854,1782
$CAP_FILE_SIZE,193997,0
$CFSIZE,2097086464,1957855232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.059, 97.6,1
$GPS,201215,104403,1729.917,8900.614,82,1.2,82,-0.9