version: 66.11
glider: 615
mission: 5
dive: 535
start: 1 7 116 4 35 57
data:
$ID,615
$MISSION,5
$DIVE,535
$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,7
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-29125.311
$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,39
$R_STBD_OVSHOOT,45
$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
$MINV_10V,9.8000002
$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
$GPS1,070116,022303,1748.633,8933.920,29,1.1,29,-0.9
$_CALLS,7
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-64.0
$GPS2,070116,043528,1748.927,8934.082,20,0.9,21,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,ES
$TGT_LATLONG,1740.000,8930.000
$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,208.3,18035,-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,17,-0.82,-126.5,115,2167,552,502,0.0,0.0,0,81,0.00,0.00,-61.80,0.000,16386,0.000,0.000,115,2167,2176,2179,2174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.82,-126.5,115,2168,2179,2175,3.4,-7.9,10,131,10.93,2.30,-25.62,0.000,18948,0.331,0.077,2673,800,3391,3403,3379,0,0,0,0,0,0,14.11,14.38,14.91
$GC,214,-0.82,-126.5,1600,800,3387,3376,36.9,-29.2,32,221,0.00,2.28,0.00,0.000,1030,0.000,0.046,2665,2182,3390,3403,3378,0,0,0,0,0,0,28.83,14.45,28.83
$GC,410,-0.82,-126.5,2665,2182,3404,3378,95.1,-23.3,69,417,0.00,2.33,0.00,0.000,260,0.000,0.060,2654,3609,3390,3403,3377,0,0,0,0,0,0,28.83,14.59,28.83
$GC,442,-0.82,-126.5,2654,3609,3403,3377,101.8,-19.9,74,450,0.05,2.30,0.00,0.000,3078,0.214,0.034,2680,2190,3390,3403,3377,0,0,0,0,0,0,14.34,14.54,28.83
$GC,637,-0.82,-126.5,2680,2189,3403,3377,133.1,-13.3,111,643,0.00,2.22,0.00,0.000,516,0.000,0.056,2680,805,3390,3403,3377,0,0,0,0,0,0,28.83,14.59,28.83
$GC,707,-0.82,-126.5,1664,804,3388,3375,142.5,-13.3,124,714,0.00,2.28,0.00,0.000,1030,0.000,0.042,2672,2201,3390,3403,3377,0,0,0,0,0,0,28.83,14.48,28.83
$GC,902,-0.82,-126.5,2672,2202,3403,3378,168.6,-12.8,161,909,0.00,2.30,0.00,0.000,260,0.000,0.060,2661,3613,3390,3403,3377,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1010,-0.82,-126.5,2661,3613,3403,3377,182.2,-11.9,181,1018,0.08,2.22,0.00,0.000,3078,0.267,0.033,2675,2180,3390,3403,3377,0,0,0,0,0,0,14.48,14.71,28.83
$GC,1213,-0.82,-126.5,2676,2180,3403,3377,205.2,-12.4,215,1222,0.00,2.17,0.00,0.000,516,0.000,0.054,2676,822,3390,3403,3377,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1300,-0.82,-126.5,2676,822,3403,3378,215.9,-11.8,231,1309,0.00,2.17,0.00,0.000,1030,0.000,0.041,2668,2210,3390,3403,3377,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1611,-0.82,-126.5,2668,2210,3402,3373,254.8,-13.2,263,1621,0.00,2.25,0.00,0.000,260,0.000,0.062,2657,3595,3388,3403,3373,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1719,-0.82,-126.5,2657,3595,3402,3372,268.4,-12.6,283,1729,0.05,2.17,0.00,0.000,3078,0.194,0.034,2674,2199,3387,3402,3372,0,0,0,0,0,0,14.28,14.71,28.83
$GC,2030,-0.82,-126.5,2674,2199,3402,3369,308.9,-13.4,315,2040,0.00,2.22,0.00,0.000,516,0.000,0.058,2674,821,3385,3402,3368,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2098,-0.82,-126.5,2674,821,3402,3368,318.8,-13.7,328,2106,0.00,2.28,0.00,0.000,1030,0.000,0.045,2666,2193,3385,3402,3368,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2420,-0.82,-126.5,2666,2194,3402,3361,362.2,-13.7,356,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2194,3381,3402,3361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2716,-0.82,-126.5,2666,2194,3401,3356,402.2,-13.3,371,2722,0.00,2.22,0.00,0.000,516,0.000,0.062,2666,825,3378,3401,3356,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2777,-0.82,-126.5,2666,825,3401,3356,410.4,-13.9,383,2784,0.08,2.22,0.00,0.000,3078,0.216,0.050,2678,2214,3378,3400,3356,0,0,0,0,0,0,14.27,14.57,28.83
$GC,3098,-0.82,-126.5,2678,2214,3398,3352,450.6,-12.6,402,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2214,3375,3398,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3399,-0.82,-126.5,2678,2215,3396,3350,488.0,-12.3,417,3405,0.00,2.28,0.00,0.000,516,0.000,0.063,2678,831,3373,3396,3351,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3467,-0.82,-126.5,2678,831,3395,3351,496.8,-12.2,431,3478,0.00,2.22,0.00,0.000,1030,0.000,0.049,2670,2204,3372,3395,3350,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3799,-0.82,-126.5,2671,2204,3394,3346,537.5,-12.2,444,3805,0.00,2.25,0.00,0.000,516,0.000,0.063,2670,833,3369,3394,3345,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3842,-0.82,-126.5,2671,833,3393,3345,543.1,-12.1,453,3849,0.08,2.22,0.00,0.000,3078,0.286,0.050,2675,2203,3369,3393,3345,0,0,0,0,0,0,14.36,14.56,28.83
$GC,4159,-0.82,-126.5,2675,2204,3391,3343,580.5,-12.0,466,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2203,3367,3391,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4459,-0.82,-126.5,2675,2203,3390,3341,615.3,-11.5,476,4465,0.00,2.28,0.00,0.000,516,0.000,0.066,2675,823,3365,3390,3341,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4537,-0.82,-126.5,2675,823,3389,3341,624.3,-11.1,492,4547,0.00,2.25,0.00,0.000,1030,0.000,0.052,2668,2199,3365,3389,3341,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4849,-0.82,-126.5,2668,2199,3388,3337,659.8,-11.5,504,4850,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2199,3362,3388,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5149,-0.82,-126.5,2668,2199,3386,3336,694.1,-11.5,514,5155,0.00,2.28,0.00,0.000,516,0.000,0.064,2668,828,3361,3386,3336,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5182,-0.82,-126.5,2668,828,3385,3336,698.3,-11.6,521,5189,0.10,2.25,0.00,0.000,3078,0.262,0.053,2680,2201,3360,3384,3336,0,0,0,0,0,0,14.25,14.50,28.83
$GC,5510,-0.82,-126.5,2680,2201,3384,3335,732.9,-10.5,536,5516,0.00,2.28,0.00,0.000,516,0.000,0.067,2680,830,3359,3384,3335,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5533,-0.82,-126.5,2680,830,3384,3335,735.7,-11.5,541,5539,0.00,2.25,0.00,0.000,1030,0.000,0.053,2673,2199,3359,3384,3335,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5840,-0.82,-126.5,2674,2199,3381,3333,769.3,-11.2,552,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2199,3357,3381,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6140,-0.82,-126.5,2673,2200,3380,3333,803.5,-11.5,562,6145,0.00,2.28,0.00,0.000,516,0.000,0.066,2673,830,3356,3380,3332,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6208,-0.82,-126.5,2674,830,3379,3333,811.5,-10.9,576,6214,0.00,2.28,0.00,0.000,1030,0.000,0.054,2668,2208,3356,3379,3333,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6530,-0.82,-126.5,2669,2208,3379,3330,848.2,-11.5,590,6531,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2208,3354,3378,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6830,-0.82,-126.5,2668,2208,3378,3329,882.6,-11.4,600,6836,0.00,2.30,0.00,0.000,516,0.000,0.067,2668,833,3353,3378,3329,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6903,-0.82,-126.5,2668,833,3378,3329,891.5,-11.5,615,6909,0.00,2.28,0.00,0.000,1030,0.000,0.054,2666,2205,3353,3378,3329,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7220,-0.82,-126.5,2666,2206,3377,3328,927.6,-11.4,628,7226,0.00,2.40,0.00,0.000,260,0.000,0.079,2666,3605,3352,3377,3328,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7263,-0.82,-126.5,2666,3605,3377,3327,932.6,-11.0,637,7269,0.00,2.28,0.00,0.000,1030,0.000,0.043,2666,2220,3352,3377,3327,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7580,-0.82,-126.5,2666,2219,3377,3326,967.8,-11.2,650,7586,0.00,2.38,0.00,0.000,516,0.000,0.068,2666,806,3351,3377,3326,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7658,-0.82,-126.5,2666,806,3377,3326,976.8,-11.0,666,7662,0.00,2.35,0.00,0.000,1030,0.000,0.054,2665,2209,3351,3377,3326,0,0,0,0,0,0,28.83,14.38,28.83
$STATE,7788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7788,begin apogee
$GC,7797,-0.16,0.0,2665,2125,3377,3326,991.1,-10.9,672,7950,0.85,0.00,143.85,2.160,10246,0.250,0.000,2885,2124,2871,2920,2823,0,0,0,0,0,0,13.59,28.83,13.02
$STATE,7951,end apogee,CONTROL_FINISHED_OK
$STATE,7951,begin climb
$GC,7954,0.82,126.5,2885,2124,2914,2817,995.9,0.0,704,8074,1.08,0.00,115.93,2.413,10246,0.184,0.000,3202,2124,2356,2418,2294,0,0,0,0,0,0,14.07,28.83,12.97
$GC,8362,0.82,126.5,3201,2124,2403,2280,966.5,9.4,721,8368,0.00,2.33,0.00,0.000,516,0.000,0.081,3204,757,2341,2403,2280,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8411,0.83,128.7,3204,757,2403,2280,961.7,9.1,731,8415,0.00,2.30,0.00,0.000,1030,0.000,0.054,3204,2147,2341,2402,2280,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8725,0.83,128.7,3204,2147,2401,2279,932.8,9.3,743,8728,0.00,2.40,0.00,0.000,516,0.000,0.084,3204,757,2340,2401,2279,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8813,0.84,135.8,3204,757,2400,2279,924.7,8.8,760,8822,0.00,2.35,3.60,1.250,9222,0.000,0.053,3204,2140,2319,2380,2258,0,0,0,0,0,0,28.83,14.45,13.24
$GC,9120,0.85,144.4,3204,2140,2391,2269,897.4,8.7,771,9139,0.00,2.38,13.85,2.020,8452,0.000,0.075,3204,3545,2277,2338,2216,0,0,0,0,0,0,28.83,14.59,13.33
$GC,9166,0.85,144.4,3204,3545,2330,2215,892.8,9.9,781,9170,0.00,2.28,0.00,0.000,1030,0.000,0.047,3208,2159,2272,2330,2214,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9473,0.85,144.4,3207,2158,2329,2213,864.1,9.3,792,9479,0.00,2.42,0.00,0.000,516,0.000,0.086,3208,743,2270,2329,2212,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9626,0.86,153.7,2272,743,2273,2206,850.3,8.7,823,9635,0.00,2.30,4.05,1.364,9222,0.000,0.052,3205,2142,2245,2305,2186,0,0,0,0,0,0,28.83,14.55,13.31
$GC,9950,0.86,156.0,3205,2142,2319,2200,821.6,9.1,837,9960,0.00,2.40,3.50,1.181,8708,0.000,0.081,3208,737,2240,2300,2181,0,0,0,0,0,0,28.83,14.51,13.27
$GC,10034,0.87,161.9,3208,737,2310,2193,813.8,8.9,854,10052,0.08,2.38,12.25,1.906,11270,0.241,0.052,3223,2158,2213,2273,2153,0,0,0,0,0,0,14.45,14.55,13.35
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$STATE,18040,end climb,SURFACE_DEPTH_REACHED
$STATE,18040,begin surface coast
$FINISH,1.6,1.020581
$STATE,18059,end surface coast,CONTROL_FINISHED_OK
$STATE,18059,begin surface
$SM_CCo,18084,65.22,0.125,0,0,510,579.63
$SM_GC,1.73,8.90,2.40,65.22,0.051,0.040,0.125,181,2210,510,-8.59,-1.27,579.63,0,0,0,0,0,0,14.57,14.52,14.31
$IRIDIUM_FIX,1740.58,8910.18,021108,171700
$TT8_MAMPS,0.018725,0.018725
$HUMID,51.57
$INTERNAL_PRESSURE,6.67018
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,13.0,203.976
$10V_AH,10.0,0.000
$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
$DEVICE_SECS,22.700,195.725,541.425,65.225,0.000,166.614,322.955,328.642,0.000,0.000,24.507,4153.167,10856.772,752.874,3980.735,6330.309,0.000,2228.322,0.000,2569.098,0.000,0.555,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,913.191,592.897,1604.038,980.191,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322708
$DATA_FILE_SIZE,144053,1751
$CAP_FILE_SIZE,192514,0
$CFSIZE,2097086464,1938587648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047, 20.9,1
$GPS,070116,093951,1747.812,8933.331,39,1.3,39,-0.9