version: 66.11
glider: 615
mission: 5
dive: 6
start: 9 3 115 8 5 46
data:
$ID,615
$MISSION,5
$DIVE,6
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,260
$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,-5817.4336
$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
$PITCH_ADJ_DBAND,0
$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,52
$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,0.00050000002
$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
$GPS1,030915,080057,1734.025,8944.628,70,1.1,70,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-72.5
$GPS2,030915,080522,1734.019,8944.639,5,1.0,5,-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,354.9,44032,-18.2,-10.000,-21.02,2236
$D_GRID,660
$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,-0.75,-146.0,177,2194,571,495,0.0,0.0,0,54,0.00,0.00,-37.38,0.000,16386,0.000,0.000,176,2195,1581,1592,1570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,57,-0.75,-146.0,176,2194,1592,1571,3.2,-7.7,6,121,11.12,2.30,-46.05,0.000,18948,0.365,0.079,2779,802,3963,4013,3914,0,0,0,0,0,0,14.47,14.72,14.92
$GC,184,-0.75,-146.0,2778,802,4014,3914,40.0,-28.6,28,192,0.00,2.25,0.00,0.000,1030,0.000,0.049,2770,2188,3964,4014,3914,0,0,0,0,0,0,28.83,14.69,28.83
$GC,380,-0.75,-146.0,2770,2190,4014,3914,95.9,-23.7,65,387,0.00,2.28,0.00,0.000,260,0.000,0.063,2759,3607,3964,4014,3914,0,0,0,0,0,0,28.83,14.78,28.83
$GC,399,-0.75,-146.0,1744,3607,4013,3912,100.4,-24.2,68,408,0.08,2.22,0.00,0.000,3078,0.247,0.041,2780,2195,3964,4014,3914,0,0,0,0,0,0,14.59,14.76,28.83
$GC,596,-0.75,-146.0,2780,2193,4015,3914,134.8,-14.7,105,602,0.00,2.28,0.00,0.000,260,0.000,0.065,2771,3608,3964,4014,3914,0,0,0,0,0,0,28.83,14.80,28.83
$GC,666,-0.75,-146.0,2772,3608,4014,3914,146.5,-15.4,118,673,0.00,2.22,0.00,0.000,1030,0.000,0.041,2771,2201,3964,4014,3914,0,0,0,0,0,0,28.83,14.79,28.83
$GC,863,-0.75,-146.0,2771,2199,4015,3914,176.5,-15.5,155,869,0.00,2.20,0.00,0.000,516,0.000,0.057,2771,812,3964,4015,3914,0,0,0,0,0,0,28.83,14.82,28.83
$GC,901,-0.75,-146.0,2771,812,4015,3914,182.3,-14.0,162,909,0.05,2.22,0.00,0.000,3078,0.256,0.047,2777,2198,3965,4016,3914,0,0,0,0,0,0,14.64,14.78,28.83
$GC,1096,-0.75,-146.0,2777,2198,4015,3914,208.6,-13.6,193,1106,0.00,2.25,0.00,0.000,260,0.000,0.065,2768,3607,3964,4015,3914,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1120,-0.75,-146.0,2768,3607,4014,3914,212.3,-13.0,198,1129,0.05,2.22,0.00,0.000,3078,0.230,0.041,2784,2192,3964,4015,3913,0,0,0,0,0,0,14.57,14.77,28.83
$GC,1428,-0.75,-146.0,2783,2191,4015,3912,250.1,-12.0,229,1438,0.00,2.17,0.00,0.000,516,0.000,0.058,2783,812,3963,4015,3912,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1463,-0.75,-146.0,2783,812,4015,3912,253.8,-11.6,235,1472,0.00,2.17,0.00,0.000,1030,0.000,0.050,2777,2199,3963,4014,3912,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1770,-0.75,-146.0,2777,2199,4014,3908,292.5,-12.8,267,1781,0.00,2.25,0.00,0.000,260,0.000,0.068,2766,3604,3960,4014,3907,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1814,-0.75,-146.0,2766,3604,4014,3907,297.7,-11.4,275,1825,0.08,2.17,0.00,0.000,3078,0.280,0.044,2781,2196,3960,4014,3907,0,0,0,0,0,0,14.73,14.91,28.83
$GC,2124,-0.75,-146.0,2781,2194,4012,3904,333.5,-11.8,307,2133,0.00,2.20,0.00,0.000,516,0.000,0.061,2781,810,3958,4012,3904,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2148,-0.75,-146.0,2780,810,4012,3905,336.7,-12.2,312,2157,0.00,2.22,0.00,0.000,1030,0.000,0.052,2776,2191,3958,4012,3905,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2466,-0.75,-146.0,2776,2191,4010,3901,373.9,-11.8,334,2470,0.00,2.30,0.00,0.000,260,0.000,0.072,2765,3606,3955,4010,3901,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2515,-0.75,-146.0,2765,3606,4010,3899,379.7,-10.3,344,2521,0.05,2.22,0.00,0.000,3078,0.214,0.045,2797,2203,3955,4010,3900,0,0,0,0,0,0,14.73,14.88,28.83
$GC,2829,-0.75,-146.0,2796,2202,4006,3898,409.7,-9.6,361,2835,0.00,2.20,0.00,0.000,516,0.000,0.063,2796,809,3952,4006,3898,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2856,-0.75,-146.0,2797,809,4006,3898,412.6,-9.9,367,2860,0.00,2.20,0.00,0.000,1030,0.000,0.053,2791,2199,3952,4006,3898,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3168,-0.75,-146.0,2791,2201,4004,3895,444.2,-10.6,384,3174,0.00,2.30,0.00,0.000,260,0.000,0.074,2782,3612,3949,4004,3895,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3221,-0.75,-146.0,2782,3612,4004,3894,449.7,-9.3,395,3230,0.00,2.25,0.00,0.000,1030,0.000,0.048,2782,2207,3949,4004,3894,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3528,-0.75,-146.0,2782,2206,4001,3891,482.2,-10.8,411,3534,0.00,2.25,0.00,0.000,516,0.000,0.065,2781,802,3946,4001,3891,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3562,-0.75,-146.0,2782,802,4001,3891,486.0,-9.7,418,3569,0.00,2.28,0.00,0.000,1030,0.000,0.055,2778,2194,3946,4001,3891,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3888,-0.75,-146.0,2777,2193,3998,3890,522.7,-11.5,432,3892,0.00,2.30,0.00,0.000,260,0.000,0.076,2768,3608,3944,3998,3890,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3948,-0.75,-146.0,2768,3608,3998,3889,529.1,-9.6,444,3953,0.08,2.25,0.00,0.000,3078,0.286,0.049,2782,2203,3943,3998,3889,0,0,0,0,0,0,14.73,14.88,28.83
$GC,4275,-0.75,-146.0,2783,2200,3996,3887,565.3,-11.7,459,4281,0.00,2.25,0.00,0.000,516,0.000,0.067,2783,801,3941,3996,3886,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4306,-0.75,-146.0,2783,800,3996,3887,568.9,-11.8,465,4312,0.00,2.22,0.00,0.000,1030,0.000,0.056,2778,2202,3941,3996,3886,0,0,0,0,0,0,28.83,14.87,28.83
$GC,4635,-0.75,-146.0,2778,2202,3994,3885,607.6,-11.6,481,4641,0.00,2.30,0.00,0.000,260,0.000,0.078,2768,3607,3939,3994,3885,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4703,-0.75,-146.0,2767,3607,3993,3884,615.2,-10.3,495,4708,0.08,2.25,0.00,0.000,3078,0.285,0.050,2782,2202,3938,3993,3884,0,0,0,0,0,0,14.73,14.86,28.83
$GC,5027,-0.75,-146.0,2781,2200,3991,3883,650.5,-11.0,509,5032,0.00,2.25,0.00,0.000,516,0.000,0.069,2782,805,3937,3991,3883,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5056,-0.75,-146.0,2782,805,3991,3883,653.7,-10.5,515,5062,0.00,2.22,0.00,0.000,1030,0.000,0.058,2777,2199,3937,3991,3883,0,0,0,0,0,0,28.83,14.87,28.83
$STATE,5145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5146,begin apogee
$GC,5148,-0.19,0.0,2776,2200,3991,3882,663.2,-10.8,523,5254,0.60,0.00,96.57,2.500,10246,0.201,0.000,2958,2201,3445,3502,3389,0,0,0,0,1,0,14.72,28.83,13.13
$STATE,5256,end apogee,CONTROL_FINISHED_OK
$STATE,5256,begin climb
$GC,5257,0.75,146.0,2958,2201,3512,3398,668.5,0.0,545,5394,0.93,2.50,122.82,2.407,11012,0.099,0.074,3275,3601,2853,2904,2802,0,0,0,0,1,0,14.11,13.98,13.17
$GC,5424,0.92,497.5,3275,3601,2917,2814,681.1,-6.2,579,5725,0.12,2.33,289.52,1.720,11270,0.177,0.049,3323,2194,1410,1453,1367,0,0,0,0,0,0,14.22,14.28,13.43
$GC,6041,0.92,497.5,3323,2194,1433,1341,552.1,29.0,652,6046,0.00,2.38,0.00,0.000,260,0.000,0.076,3323,3612,1387,1433,1341,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6171,0.92,497.5,3323,3612,1432,1339,514.5,28.5,678,6176,0.00,2.28,0.00,0.000,1030,0.000,0.054,3334,2203,1385,1432,1339,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6489,0.92,497.5,3334,2201,1430,1337,420.5,29.9,695,6495,0.00,2.33,0.00,0.000,516,0.000,0.073,3345,797,1384,1431,1337,0,0,0,0,0,0,28.83,14.74,28.83
$GC,6571,0.92,497.5,3345,797,1429,1338,395.9,28.7,712,6577,0.00,2.30,0.00,0.000,1030,0.000,0.058,3345,2193,1383,1430,1337,0,0,0,0,0,0,28.83,14.74,28.83
$GC,6880,0.92,497.5,3345,2193,1429,1337,304.4,29.8,737,6890,0.00,2.30,0.00,0.000,516,0.000,0.073,3356,793,1382,1428,1337,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6902,0.92,497.5,3356,793,1428,1337,297.5,30.0,741,6906,0.00,2.28,0.00,0.000,1030,0.000,0.056,3356,2211,1383,1429,1337,0,0,0,0,0,0,28.83,14.80,28.83
$GC,7214,0.92,497.5,3356,2212,1429,1336,204.5,28.9,773,7224,0.00,2.33,0.00,0.000,516,0.000,0.071,3366,798,1382,1428,1337,0,0,0,0,0,0,28.83,14.80,28.83
$GC,7236,0.92,497.5,3366,798,1428,1337,197.9,29.6,777,7243,0.00,2.25,0.00,0.000,1030,0.000,0.054,3366,2202,1382,1428,1337,0,0,0,0,0,0,28.83,14.82,28.83
$GC,7430,0.92,497.5,3366,2202,1428,1337,141.8,28.3,814,7439,0.00,2.35,0.00,0.000,260,0.000,0.073,3366,3603,1382,1428,1337,0,0,0,0,0,0,28.83,14.77,28.83
$GC,7461,0.92,497.5,3366,3604,1428,1337,133.5,27.9,819,7469,0.10,2.25,0.00,0.000,5126,0.336,0.052,3356,2193,1382,1427,1337,0,0,0,0,0,0,14.64,14.83,28.83
$GC,7657,0.92,497.5,3356,2192,1428,1336,90.8,19.0,856,7664,0.00,2.38,0.00,0.000,260,0.000,0.071,3355,3625,1382,1428,1336,0,0,0,0,0,0,28.83,14.79,28.83
$GC,7697,0.92,497.5,3356,3625,1428,1337,84.1,15.7,863,7704,0.00,2.28,0.00,0.000,1030,0.000,0.050,3365,2188,1382,1428,1336,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7890,0.98,617.6,3365,2187,1428,1336,65.3,4.5,900,7972,0.00,2.30,71.38,0.347,8964,0.000,0.067,3376,815,938,983,893,0,0,0,0,0,0,28.83,14.59,14.46
$GC,8205,1.03,717.8,3376,816,1000,904,28.6,5.4,958,8275,0.00,2.25,60.38,0.219,9222,0.000,0.047,3376,2231,522,583,461,0,0,0,0,0,0,28.83,14.73,14.50
$GC,8463,1.05,742.4,3376,2231,601,480,6.0,8.9,1005,8470,0.00,0.00,4.15,0.150,8454,0.000,0.000,3375,2231,508,572,445,0,0,0,0,0,0,28.83,28.83,14.64
$STATE,8501,end climb,SURFACE_DEPTH_REACHED
$STATE,8501,begin surface coast
$FINISH,0.3,1.017905
$STATE,8540,end surface coast,CONTROL_FINISHED_OK
$STATE,8540,begin surface
$SM_CCo,8614,0.00,0.000,0,0,529,715.28
$SM_GC,2.84,8.80,0.00,0.00,0.066,0.000,0.000,203,2232,529,-8.81,0.90,715.28,0,0,0,0,0,0,14.72,28.83,28.83
$IRIDIUM_FIX,1722.48,8946.44,290608,191948
$TT8_MAMPS,0.018725,0.018725
$HUMID,49.37
$INTERNAL_PRESSURE,6.69948
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,13.1,13.800
$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,22.125,108.750,644.825,0.000,0.000,22.806,18.733,141.972,0.000,0.000,6.432,1969.189,4144.073,678.367,2017.757,73.858,0.000,1617.116,0.000,1512.598,0.000,0.553,0.000
$DEVICE_MAMPS,364.905,78.795,2500.020,0.000,0.000,29.840,160.000,223.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,541.352,413.598,966.334,590.303,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322340
$DATA_FILE_SIZE,84032,1019
$CAP_FILE_SIZE,105870,0
$CFSIZE,2097086464,2093121536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.176,253.4,1
$GPS,030915,103121,1734.894,8943.901,88,1.1,88,-0.9