version: 66.11
glider: 615
mission: 5
dive: 4
start: 9 3 115 4 40 55
data:
$ID,615
$MISSION,5
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,120
$T_MISSION,150
$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,-5814.9336
$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,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,88
$R_STBD_OVSHOOT,50
$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
$GPS1,030915,043643,1732.822,8945.739,2,1.7,2,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.3
$GPS2,030915,044030,1732.856,8945.738,4,1.2,4,-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,330.8,46828,-18.2,-10.000,-21.02,2236
$D_GRID,360
$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,-146.0,182,2178,552,482,0.0,0.0,0,56,0.00,0.00,-38.83,0.000,16386,0.000,0.000,180,2177,1600,1610,1590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.86,-146.0,180,2177,1610,1590,3.0,-6.4,6,129,10.75,2.20,-49.25,0.000,18948,0.360,0.084,2745,842,3962,4013,3912,0,0,0,0,0,0,14.60,14.83,15.05
$GC,167,-0.40,-146.0,2745,841,4013,3912,33.7,-32.4,24,175,0.50,2.15,0.00,0.000,3078,0.229,0.048,2892,2178,3962,4013,3912,0,0,0,0,0,0,14.68,14.78,28.83
$GC,357,-0.40,-146.0,1872,2177,4012,3911,74.0,-17.9,61,364,0.00,2.28,0.00,0.000,260,0.000,0.064,2882,3607,3962,4013,3911,0,0,0,0,0,0,28.83,14.85,28.83
$GC,412,-0.70,-146.0,2882,3606,4013,3911,82.1,-11.9,71,420,0.17,2.10,0.00,0.000,5126,0.102,0.040,2790,2223,3962,4013,3911,0,0,0,0,0,0,14.92,14.91,28.83
$GC,603,-0.48,-146.0,2790,2221,4013,3910,115.3,-17.2,108,611,0.25,2.25,0.00,0.000,2564,0.229,0.054,2864,811,3962,4013,3911,0,0,0,0,0,0,14.64,14.87,28.83
$GC,637,-0.60,-146.0,2865,811,4013,3910,120.4,-13.1,114,644,0.00,2.22,0.00,0.000,1030,0.000,0.046,2860,2205,3961,4013,3909,0,0,0,0,0,0,28.83,14.82,28.83
$GC,827,-0.79,-146.0,2860,2206,4013,3911,142.2,-10.8,151,835,0.15,2.25,0.00,0.000,4356,0.116,0.061,2762,3616,3961,4013,3910,0,0,0,0,0,0,14.90,14.88,28.83
$GC,897,-0.79,-146.0,2763,3616,4013,3911,151.8,-14.2,164,905,0.00,2.20,0.00,0.000,1030,0.000,0.040,2762,2211,3962,4013,3911,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1088,-0.79,-146.0,2762,2210,4013,3910,180.5,-14.8,201,1095,0.00,2.22,0.00,0.000,516,0.000,0.058,2762,802,3961,4013,3910,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1147,-0.79,-146.0,2761,802,4013,3910,188.7,-12.8,212,1155,0.03,2.22,0.00,0.000,3078,0.298,0.047,2762,2196,3961,4013,3910,0,0,0,0,0,0,14.69,14.83,28.83
$GC,1342,-0.79,-146.0,2762,2197,4013,3908,216.3,-14.2,239,1353,0.00,2.25,0.00,0.000,260,0.000,0.064,2753,3612,3960,4013,3908,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1397,-0.98,-146.0,2753,3612,4013,3908,223.5,-12.5,249,1406,0.00,2.17,0.00,0.000,1030,0.000,0.041,2752,2191,3960,4013,3907,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1706,-0.98,-146.0,2753,2190,4012,3905,267.3,-13.9,281,1716,0.00,2.17,0.00,0.000,516,0.000,0.060,2752,810,3958,4011,3905,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1739,-1.10,-146.0,2753,810,4011,3905,271.7,-13.7,287,1749,0.15,2.17,0.00,0.000,5126,0.124,0.050,2671,2201,3958,4011,3905,0,0,0,0,0,0,14.92,14.91,28.83
$GC,2049,-0.87,-146.0,2671,2201,4009,3902,328.6,-18.9,319,2051,0.28,0.00,0.00,0.000,2054,0.230,0.000,2746,2201,3955,4008,3902,0,0,0,0,0,0,14.74,28.83,28.83
$STATE,2287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2287,begin apogee
$GC,2290,-0.19,0.0,2746,2201,4006,3898,362.2,-13.7,339,2390,0.68,0.00,93.30,1.318,10246,0.188,0.000,2959,2201,3440,3496,3384,0,0,0,0,0,0,14.75,28.83,13.90
$STATE,2391,end apogee,CONTROL_FINISHED_OK
$STATE,2391,begin climb
$GC,2392,0.86,146.0,2960,2200,3495,3383,367.2,0.0,359,2511,0.95,2.35,107.57,1.307,10756,0.081,0.063,3316,810,2840,2889,2791,0,0,0,0,0,0,14.47,14.31,13.75
$GC,2521,0.73,517.1,3316,810,2889,2789,378.1,-7.1,385,2825,0.12,2.25,288.33,1.268,13318,0.288,0.047,3290,2201,1335,1379,1291,0,0,0,0,1,0,14.31,14.43,13.76
$GC,3124,0.12,517.1,3290,2201,1386,1297,258.3,26.6,475,3135,0.68,2.25,0.00,0.000,4356,0.242,0.064,3097,3601,1342,1386,1298,0,0,0,0,0,0,14.59,14.66,28.83
$GC,3170,0.33,517.1,3097,3600,1386,1296,249.5,13.4,484,3180,0.05,2.25,0.00,0.000,3078,0.140,0.048,3137,2215,1341,1386,1296,0,0,0,0,0,0,14.66,14.73,28.83
$GC,3478,0.33,517.1,3137,2214,1386,1293,202.0,15.5,515,3488,0.00,2.28,0.00,0.000,516,0.000,0.070,3148,801,1339,1386,1293,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3597,0.33,517.1,3148,801,1386,1292,184.1,14.6,538,3606,0.00,2.25,0.00,0.000,1030,0.000,0.050,3148,2194,1339,1386,1292,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3793,0.33,517.1,3148,2195,1386,1291,155.5,13.4,575,3800,0.00,2.25,0.00,0.000,516,0.000,0.070,3159,801,1338,1385,1291,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3831,0.33,517.1,3158,801,1385,1291,150.4,12.6,582,3839,0.00,2.25,0.00,0.000,1030,0.000,0.050,3158,2195,1338,1385,1291,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4029,0.33,517.1,3159,2195,1385,1290,124.2,12.9,619,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2195,1337,1385,1290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4221,0.33,517.1,3158,2195,1385,1289,100.0,11.5,656,4228,0.00,2.30,0.00,0.000,260,0.000,0.068,3158,3612,1336,1385,1288,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4244,0.33,517.1,3159,3612,1384,1288,97.1,13.2,660,4252,0.00,2.28,0.00,0.000,1030,0.000,0.048,3167,2203,1337,1385,1289,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4441,0.34,530.9,3167,2202,1384,1288,77.0,9.4,697,4456,0.00,2.35,8.88,0.319,8708,0.000,0.069,3178,792,1287,1336,1238,0,0,0,0,0,0,28.83,14.83,14.58
$GC,4530,0.43,603.3,3178,793,1349,1254,70.3,6.7,713,4586,0.00,2.22,48.30,0.373,9222,0.000,0.048,3178,2211,987,1038,936,0,0,0,0,0,0,28.83,14.85,14.54
$GC,4775,0.60,616.8,3178,2211,1051,950,49.1,9.4,758,4797,0.12,2.33,10.40,0.265,10500,0.155,0.065,3230,3613,936,986,887,0,0,0,0,0,0,14.76,14.74,14.59
$GC,5031,0.79,769.0,3230,3613,994,899,28.7,3.0,806,5101,0.12,2.25,61.20,0.221,11270,0.155,0.044,3286,2177,514,576,452,0,0,0,0,0,0,14.82,14.85,14.62
$GC,5290,0.89,852.5,3286,2175,586,462,6.6,6.2,853,5298,0.10,2.38,1.85,0.151,10500,0.181,0.063,3326,3606,511,573,450,0,0,0,0,0,0,14.81,14.81,14.73
$STATE,5335,end climb,SURFACE_DEPTH_REACHED
$STATE,5335,begin surface coast
$FINISH,0.1,1.015652
$STATE,5369,end surface coast,CONTROL_FINISHED_OK
$STATE,5369,begin surface
$SM_CCo,5446,0.00,0.000,0,0,523,716.75
$SM_GC,1.61,8.43,2.25,0.00,0.049,0.045,0.000,197,2190,523,-8.82,1.58,716.75,0,0,0,0,0,0,14.82,14.83,28.83
$IRIDIUM_FIX,1722.48,8948.70,290608,181815
$TT8_MAMPS,0.017976,0.017976
$HUMID,49.21
$INTERNAL_PRESSURE,6.8069
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,13.7,13.166
$10V_AH,13.0,0.000
$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,23.525,67.350,619.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,5.457,1820.586,1441.149,618.209,1571.833,54.919,0.000,1425.984,0.000,1315.561,0.000,0.555,0.000
$DEVICE_MAMPS,359.550,84.150,1318.095,0.000,0.000,0.000,0.000,0.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,534.166,448.948,882.565,538.237,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322356
$DATA_FILE_SIZE,74156,867
$CAP_FILE_SIZE,95125,0
$CFSIZE,2097086464,2093350912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.087,279.2,1
$GPS,030915,061216,1733.441,8945.073,3,1.2,3,-0.9