version: 66.11
glider: 615
mission: 5
dive: 3
start: 9 3 115 3 20 34
data:
$ID,615
$MISSION,5
$DIVE,3
$N_DIVES,3
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,75
$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,150
$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,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$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,709.94379
$N_FILEKB,8
$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,-5799.2764
$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,3040
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$PITCH_GAIN,27
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.059999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,192
$ROLL_MAX,3824
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,78
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,510
$VBD_MAX,3960
$C_VBD,3445
$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,4
$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,11.5
$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,49
$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
$GPS1,030915,031625,1732.165,8946.210,2,1.0,3,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-69.0
$GPS2,030915,032010,1732.210,8946.188,4,1.0,4,-0.9
$SPEED_LIMITS,0.173,0.260
$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,314.8,48255,-18.2,-10.000,-21.02,2236
$D_GRID,180
$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,-0.86,-146.0,170,2540,542,475,0.0,0.0,0,63,0.00,0.00,-45.67,0.000,16386,0.000,0.000,169,2540,1779,1787,1771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.86,-146.0,170,2540,1787,1770,3.3,-8.1,7,123,10.80,2.35,-41.38,0.000,18948,0.359,0.073,2743,1083,3963,4014,3913,0,0,0,0,0,0,14.63,14.88,15.09
$GC,182,-0.49,-146.0,2743,1081,4014,3913,39.7,-27.5,27,189,0.47,2.15,0.00,0.000,3078,0.251,0.047,2864,2467,3963,4014,3913,0,0,0,0,0,0,14.69,14.89,28.83
$GC,371,-0.49,-146.0,2864,2467,4013,3912,79.7,-14.7,64,378,0.00,2.20,0.00,0.000,516,0.000,0.052,2864,1093,3963,4014,3912,0,0,0,0,0,0,28.83,14.84,28.83
$GC,431,-0.49,-146.0,2864,1093,4014,3912,88.6,-14.4,75,437,0.00,2.20,0.00,0.000,1030,0.000,0.050,2856,2504,3963,4014,3912,0,0,0,0,0,0,28.83,14.90,28.83
$GC,619,-0.49,-146.0,2856,2504,4014,3913,113.3,-12.5,112,626,0.00,2.25,0.00,0.000,516,0.000,0.051,2856,1078,3963,4014,3912,0,0,0,0,0,0,28.83,14.89,28.83
$GC,679,-0.69,-146.0,2856,1077,4014,3912,120.2,-10.9,123,686,0.00,2.22,0.00,0.000,1030,0.000,0.050,2847,2505,3963,4014,3912,0,0,0,0,0,0,28.83,14.91,28.83
$GC,868,-0.89,-146.0,1824,2505,4013,3911,141.2,-10.6,160,876,0.22,2.25,0.00,0.000,4612,0.091,0.048,2725,1080,3962,4014,3911,0,0,0,0,0,0,14.83,14.92,28.83
$GC,959,-0.63,-146.0,2725,1080,4014,3911,156.1,-18.2,177,967,0.38,2.22,0.00,0.000,3078,0.216,0.050,2822,2507,3962,4014,3911,0,0,0,0,0,0,14.73,14.92,28.83
$GC,1151,-0.88,-146.0,2822,2507,4014,3909,178.3,-10.5,214,1159,0.15,2.25,0.00,0.000,4612,0.117,0.050,2730,1088,3961,4014,3909,0,0,0,0,0,0,14.90,14.91,28.83
$STATE,1164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1164,begin apogee
$GC,1170,-0.19,0.0,2719,2509,4014,3909,180.1,-11.0,216,1265,0.77,0.00,90.20,1.067,10246,0.196,0.000,2958,2510,3442,3499,3386,0,0,0,0,0,0,14.68,28.83,14.09
$STATE,1266,end apogee,CONTROL_FINISHED_OK
$STATE,1266,begin climb
$GC,1267,0.86,146.0,2958,2511,3497,3385,184.8,0.0,231,1379,0.98,2.38,104.40,1.024,11012,0.092,0.053,3321,1090,2843,2893,2794,0,0,0,0,0,0,14.56,14.47,13.99
$GC,1608,0.27,339.7,3320,1090,2892,2791,186.7,1.1,294,1753,0.62,2.28,136.95,1.014,13318,0.262,0.048,3140,2516,2055,2110,2001,0,0,0,0,0,0,14.59,14.76,14.00
$GC,1937,0.27,339.7,3140,2516,2103,1989,158.5,10.5,353,1944,0.00,2.08,0.00,0.000,260,0.000,0.066,3140,3804,2045,2102,1989,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2032,0.27,339.7,3140,3804,2102,1989,148.1,10.8,371,2039,0.00,2.05,0.00,0.000,1030,0.000,0.045,3149,2469,2045,2102,1989,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2222,0.29,357.9,2152,2467,2045,1981,130.5,9.2,408,2242,0.00,2.17,13.45,0.943,8708,0.000,0.057,3159,1111,1977,2033,1921,0,0,0,0,0,0,28.83,14.80,14.27
$GC,2360,0.35,408.4,3159,1111,2031,1919,118.9,7.7,434,2405,0.00,2.20,36.58,0.987,9222,0.000,0.050,3159,2484,1772,1826,1719,0,0,0,0,0,0,28.83,14.80,14.20
$GC,2588,0.41,458.7,3160,2484,1822,1712,99.1,7.7,477,2627,0.00,2.25,33.97,0.490,8708,0.000,0.058,3168,1118,1577,1628,1526,0,0,0,0,0,0,28.83,14.74,14.45
$GC,2734,0.43,471.9,3169,1118,1632,1536,86.0,9.4,504,2754,0.00,2.22,10.10,0.409,9222,0.000,0.051,3168,2500,1525,1573,1478,0,0,0,0,0,0,28.83,14.76,14.52
$GC,2938,0.53,556.9,3168,2500,1580,1484,71.0,6.1,543,3001,0.10,2.22,54.65,0.381,10756,0.174,0.057,3220,1112,1181,1229,1133,0,0,0,0,0,0,14.85,14.76,14.46
$GC,3048,0.53,556.9,3220,1112,1230,1135,61.6,10.2,562,3055,0.00,2.22,0.00,0.000,1030,0.000,0.050,3220,2497,1183,1231,1135,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3238,0.60,609.8,3220,2497,1230,1132,44.8,7.6,599,3277,0.00,2.28,32.25,0.280,8708,0.000,0.058,3229,1114,961,1012,910,0,0,0,0,0,0,28.83,14.81,14.62
$GC,3389,0.67,668.6,3229,1113,1017,912,32.8,7.3,627,3434,0.00,2.17,34.92,0.236,9222,0.000,0.049,3229,2505,722,779,665,0,0,0,0,0,0,28.83,14.85,14.62
$GC,3618,0.86,716.1,3229,2504,781,665,17.5,7.8,670,3652,0.20,2.28,28.55,0.183,10756,0.118,0.057,3322,1117,526,586,466,0,0,0,0,0,0,14.73,14.83,14.71
$GC,3707,0.69,782.6,3322,1117,593,471,9.6,6.9,685,3716,0.17,2.15,3.10,0.184,13318,0.245,0.048,3278,2504,508,571,446,0,0,0,0,0,0,14.70,14.86,14.73
$STATE,3814,end climb,SURFACE_DEPTH_REACHED
$STATE,3814,begin surface coast
$FINISH,0.1,1.013142
$STATE,3860,end surface coast,CONTROL_FINISHED_OK
$STATE,3861,begin surface
$SM_CCo,3934,0.00,0.000,0,0,515,718.96
$SM_GC,2.17,8.27,0.00,0.00,0.050,0.000,0.000,196,2506,515,-8.83,0.17,718.96,0,0,0,0,0,0,14.85,28.83,28.83
$IRIDIUM_FIX,1727.00,8948.69,290608,161637
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.71
$INTERNAL_PRESSURE,6.8948
$TCM_TEMP,24.90
$XPDR_PINGS,4
$24V_AH,14.0,12.899
$10V_AH,13.3,0.000
$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,23.150,53.325,579.125,0.000,0.000,0.000,0.000,0.000,1.000,0.000,5.481,1564.691,517.057,559.422,1299.091,53.288,0.000,1220.679,0.000,1102.020,0.000,0.557,0.000
$DEVICE_MAMPS,358.785,73.440,1067.175,0.000,0.000,0.000,0.000,0.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,488.426,396.142,766.633,467.296,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322316
$DATA_FILE_SIZE,60622,714
$CAP_FILE_SIZE,81904,0
$CFSIZE,2097086464,2093481984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.192,336.3,1
$GPS,030915,042653,1732.732,8945.747,12,1.7,13,-0.9