version: 66.11
glider: 615
mission: 5
dive: 5
start: 9 3 115 6 17 30
data:
$ID,615
$MISSION,5
$DIVE,5
$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,-5816.1826
$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,62
$R_STBD_OVSHOOT,40
$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
$GPS1,030915,061216,1733.441,8945.073,3,1.2,3,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-70.6
$GPS2,030915,061706,1733.460,8945.080,7,1.2,7,-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,350.0,45305,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.86,-146.0,190,2185,564,485,0.0,0.0,0,53,0.00,0.00,-36.70,0.000,16386,0.000,0.000,190,2185,1572,1583,1562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,55,-0.86,-146.0,190,2185,1584,1561,3.4,-8.4,6,120,10.93,2.20,-45.85,0.000,18948,0.366,0.077,2744,809,3961,4011,3911,0,0,0,0,0,0,14.51,14.75,14.97
$GC,183,-0.48,-146.0,2744,809,4011,3911,42.6,-26.7,28,191,0.43,2.25,0.00,0.000,3078,0.239,0.050,2869,2192,3961,4011,3911,0,0,0,0,0,0,14.61,14.72,28.83
$GC,374,-0.48,-146.0,2868,2193,4011,3911,84.8,-18.6,65,381,0.00,2.28,0.00,0.000,260,0.000,0.064,2859,3609,3961,4011,3911,0,0,0,0,0,0,28.83,14.80,28.83
$GC,439,-0.68,-146.0,1840,3608,4010,3910,94.6,-13.5,77,446,0.08,2.17,0.00,0.000,5126,0.194,0.041,2805,2194,3960,4011,3909,0,0,0,0,0,0,14.78,14.86,28.83
$GC,628,-0.68,-146.0,1808,2190,4010,3910,124.7,-14.3,114,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2192,3961,4012,3911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,818,-0.68,-146.0,2805,2192,4012,3911,152.2,-13.4,151,825,0.00,2.28,0.00,0.000,260,0.000,0.066,2794,3609,3962,4013,3911,0,0,0,0,0,0,28.83,14.83,28.83
$GC,842,-0.68,-146.0,2794,3609,4013,3911,155.6,-14.2,155,850,0.00,2.17,0.00,0.000,1030,0.000,0.041,2795,2194,3961,4012,3911,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1033,-0.68,-146.0,2795,2192,4013,3911,180.1,-12.9,192,1040,0.00,2.25,0.00,0.000,516,0.000,0.058,2795,810,3961,4012,3911,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1073,-0.85,-146.0,2795,809,4013,3911,185.1,-11.7,199,1081,0.00,2.20,0.00,0.000,1030,0.000,0.049,2787,2214,3961,4012,3911,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1264,-0.85,-146.0,2786,2216,4013,3911,209.2,-12.9,229,1274,0.00,2.22,0.00,0.000,260,0.000,0.067,2776,3607,3962,4013,3911,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1319,-1.10,-146.0,2776,3607,4013,3910,216.7,-12.5,240,1328,0.17,2.22,0.00,0.000,5126,0.060,0.042,2680,2197,3961,4012,3910,0,0,0,0,0,0,14.82,14.81,28.83
$GC,1627,-0.84,-146.0,2680,2196,4012,3908,275.7,-19.2,271,1638,0.25,2.20,0.00,0.000,2564,0.235,0.057,2752,810,3960,4012,3908,0,0,0,0,0,0,14.71,14.86,28.83
$GC,1664,-0.98,-146.0,2752,810,4012,3908,281.9,-14.1,278,1672,0.00,2.22,0.00,0.000,1030,0.000,0.050,2746,2194,3960,4012,3908,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1972,-0.98,-146.0,2746,2195,4012,3905,325.7,-14.5,309,1982,0.00,2.28,0.00,0.000,260,0.000,0.069,2735,3612,3958,4012,3904,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2026,-1.20,-146.0,2735,3612,4011,3904,333.0,-12.9,319,2036,0.17,2.17,0.00,0.000,5126,0.109,0.044,2639,2199,3957,4011,3904,0,0,0,0,0,0,14.79,14.92,28.83
$STATE,2175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2175,begin apogee
$GC,2178,-0.19,0.0,2640,2198,4010,3904,362.9,-21.3,332,2277,1.08,0.00,93.53,1.364,10246,0.214,0.000,2962,2196,3440,3498,3383,0,0,0,0,0,0,14.69,28.83,13.85
$STATE,2278,end apogee,CONTROL_FINISHED_OK
$STATE,2278,begin climb
$GC,2279,0.86,146.0,2961,2196,3492,3377,368.5,0.0,352,2397,0.95,2.40,108.90,1.301,10500,0.075,0.063,3312,3611,2837,2884,2790,0,0,0,0,0,0,14.42,14.26,13.70
$GC,2523,0.36,480.9,3313,3611,2881,2781,385.9,-5.4,400,2783,0.55,2.22,250.40,1.297,13318,0.261,0.046,3173,2194,1480,1529,1432,0,0,0,0,0,0,14.45,14.62,13.70
$GC,3082,0.20,480.9,3173,2194,1506,1407,315.8,16.7,477,3093,0.17,2.33,0.00,0.000,4356,0.248,0.067,3122,3610,1456,1505,1407,0,0,0,0,0,0,14.59,14.69,28.83
$GC,3147,0.20,480.9,3122,3610,1505,1407,306.2,13.8,489,3157,0.00,2.22,0.00,0.000,1030,0.000,0.049,3131,2205,1455,1505,1406,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3457,0.20,480.9,3131,2205,1505,1403,261.9,14.2,521,3467,0.00,2.28,0.00,0.000,516,0.000,0.070,3142,806,1453,1503,1403,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3585,0.20,480.9,3142,806,1502,1402,244.0,13.3,546,3594,0.05,2.25,0.00,0.000,5126,0.230,0.050,3125,2200,1452,1502,1402,0,0,0,0,0,0,14.64,14.73,28.83
$GC,3893,0.20,480.9,3125,2200,1502,1400,202.4,13.3,577,3903,0.00,2.28,0.00,0.000,516,0.000,0.070,3134,801,1450,1501,1400,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3919,0.20,480.9,3134,801,1501,1400,198.7,13.2,582,3927,0.00,2.28,0.00,0.000,1030,0.000,0.050,3135,2205,1450,1500,1400,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4111,0.20,480.9,3134,2205,1501,1400,174.2,13.0,619,4118,0.00,2.28,0.00,0.000,516,0.000,0.070,3145,807,1450,1501,1399,0,0,0,0,0,0,28.83,14.82,28.83
$GC,4160,0.20,480.9,3144,807,1500,1400,167.7,13.0,628,4168,0.08,2.25,0.00,0.000,5126,0.220,0.050,3120,2197,1450,1500,1400,0,0,0,0,0,0,14.69,14.79,28.83
$GC,4350,0.20,480.9,2144,2195,1469,1396,145.5,10.2,665,4357,0.00,2.28,0.00,0.000,516,0.000,0.070,3130,800,1449,1500,1398,0,0,0,0,0,0,28.83,14.82,28.83
$GC,4415,0.34,491.2,3129,799,1500,1399,139.2,9.5,677,4422,0.00,2.22,0.00,0.000,1030,0.000,0.050,3130,2207,1449,1500,1399,0,0,0,0,0,0,28.83,14.84,28.83
$GC,4605,0.47,491.2,3130,2208,1500,1398,119.7,11.4,714,4612,0.12,0.00,0.00,0.000,2054,0.164,0.000,3181,2208,1449,1500,1398,0,0,0,0,0,0,14.79,28.83,28.83
$GC,4796,0.47,492.2,3181,2209,1499,1397,98.0,10.0,751,4804,0.00,2.30,2.40,0.152,8452,0.000,0.070,3181,3614,1438,1488,1389,0,0,0,0,0,0,28.83,14.83,14.78
$GC,4842,0.47,495.5,3181,3614,1493,1399,93.2,9.8,759,4851,0.00,2.22,3.60,0.151,9222,0.000,0.047,3192,2199,1422,1473,1372,0,0,0,0,0,0,28.83,14.87,14.75
$GC,5034,0.55,555.6,3192,2198,1494,1397,77.2,7.2,796,5085,0.00,2.33,41.15,0.386,8708,0.000,0.067,3202,806,1188,1236,1141,0,0,0,0,0,0,28.83,14.72,14.52
$GC,5102,0.61,610.9,3202,805,1250,1154,72.4,7.5,807,5148,0.08,2.22,37.90,0.372,11270,0.230,0.048,3230,2212,954,1005,904,0,0,0,0,0,0,14.70,14.78,14.47
$GC,5331,0.62,615.5,3229,2213,1030,929,50.1,9.8,850,5345,0.00,2.30,6.53,0.211,8708,0.000,0.063,3240,800,941,993,890,0,0,0,0,0,0,28.83,14.73,14.51
$GC,5424,0.63,623.0,3240,800,1017,911,41.0,9.7,867,5439,0.00,2.20,8.40,0.216,9222,0.000,0.047,3240,2201,907,962,853,0,0,0,0,0,0,28.83,14.78,14.58
$GC,5623,0.84,792.7,3240,2201,989,879,31.6,2.2,905,5693,0.15,2.33,59.85,0.228,10500,0.138,0.063,3302,3600,515,576,455,0,0,0,0,0,0,14.73,14.70,14.58
$GC,5776,0.65,792.7,3303,3600,593,478,17.0,13.8,932,5785,0.10,2.25,3.55,0.157,13318,0.234,0.045,3267,2200,509,572,446,0,0,0,0,0,0,14.62,14.71,14.65
$GC,5969,0.96,880.1,3268,2199,598,471,4.1,6.0,969,5983,0.20,2.33,3.30,0.140,10500,0.122,0.062,3346,3602,513,573,453,0,0,0,0,0,0,14.72,14.69,14.71
$STATE,5989,end climb,SURFACE_DEPTH_REACHED
$STATE,5989,begin surface coast
$FINISH,0.3,1.012187
$STATE,6026,end surface coast,CONTROL_FINISHED_OK
$STATE,6026,begin surface
$SM_CCo,6104,0.00,0.000,0,0,527,716.02
$SM_GC,1.60,8.57,2.25,0.00,0.056,0.044,0.000,188,2198,527,-8.83,1.53,716.02,0,0,0,0,0,0,14.83,14.83,28.83
$IRIDIUM_FIX,1724.74,8735.15,290608,181802
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.04
$INTERNAL_PRESSURE,6.79714
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,13.7,13.422
$10V_AH,13.1,0.000
$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,24.125,81.125,619.500,0.000,0.000,23.221,46.529,133.814,0.000,0.000,8.425,2034.780,1659.041,636.275,2001.283,69.453,0.000,1527.307,0.000,1475.144,0.000,0.554,0.000
$DEVICE_MAMPS,366.435,77.265,1363.995,0.000,0.000,29.840,160.000,223.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,589.595,496.046,996.413,607.916,0.000,0.000,0.000,0.000,0.000,0.000
$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,83997,979
$CAP_FILE_SIZE,96693,0
$CFSIZE,2097086464,2093252608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.092,254.6,1
$GPS,030915,080057,1734.025,8944.628,70,1.1,70,-0.9