version: 66.11
glider: 615
mission: 5
dive: 7
start: 9 3 115 10 36 24
data:
$ID,615
$MISSION,5
$DIVE,7
$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,-5818.6846
$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,50
$R_STBD_OVSHOOT,48
$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
$GPS1,030915,103121,1734.894,8943.901,88,1.1,88,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-72.9
$GPS2,030915,103559,1734.883,8943.878,4,1.1,4,-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,17.0,42004,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.75,-146.0,199,2231,570,496,0.0,0.0,0,53,0.00,0.00,-37.20,0.000,16386,0.000,0.000,199,2232,1608,1617,1599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,55,-0.75,-146.0,199,2232,1617,1599,3.6,-8.4,6,119,11.00,2.35,-43.67,0.000,18948,0.363,0.079,2778,806,3962,4011,3914,0,0,0,0,0,0,14.42,14.64,14.88
$GC,182,-0.75,-146.0,2778,806,4012,3914,44.7,-25.4,28,190,0.00,2.25,0.00,0.000,1030,0.000,0.050,2770,2185,3962,4011,3913,0,0,0,0,0,0,28.83,14.66,28.83
$GC,378,-0.75,-146.0,2770,2186,4012,3913,97.9,-20.0,65,384,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2186,3962,4012,3913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,572,-0.75,-146.0,2770,2186,4013,3913,134.2,-18.2,102,579,0.00,2.35,0.00,0.000,260,0.000,0.067,2759,3606,3963,4013,3913,0,0,0,0,0,0,28.83,14.73,28.83
$GC,678,-0.75,-146.0,2759,3606,4013,3913,151.0,-14.6,122,686,0.08,2.25,0.00,0.000,3078,0.223,0.042,2781,2187,3963,4014,3913,0,0,0,0,0,0,14.62,14.76,28.83
$GC,873,-0.75,-146.0,2781,2185,4014,3914,179.1,-15.0,159,880,0.00,2.20,0.00,0.000,516,0.000,0.059,2781,809,3964,4014,3914,0,0,0,0,0,0,28.83,14.78,28.83
$GC,901,-0.75,-146.0,2782,809,4014,3913,183.3,-14.9,164,909,0.00,2.25,0.00,0.000,1030,0.000,0.048,2773,2204,3963,4014,3913,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1098,-0.75,-146.0,2773,2204,4014,3913,211.9,-13.9,194,1102,0.00,2.25,0.00,0.000,260,0.000,0.067,2763,3606,3963,4014,3913,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1139,-0.75,-146.0,2763,3606,4013,3913,217.2,-12.3,202,1143,0.10,2.17,0.00,0.000,3078,0.256,0.043,2785,2200,3963,4014,3913,0,0,0,0,0,0,14.69,14.85,28.83
$GC,1445,-0.75,-146.0,2786,2197,4014,3912,256.3,-12.9,233,1455,0.00,2.20,0.00,0.000,516,0.000,0.060,2786,813,3963,4014,3912,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1479,-0.75,-146.0,2786,813,4015,3912,261.1,-12.2,240,1488,0.00,2.25,0.00,0.000,1030,0.000,0.050,2778,2202,3963,4014,3912,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1788,-0.75,-146.0,2778,2203,4014,3908,299.6,-12.4,271,1798,0.00,2.28,0.00,0.000,260,0.000,0.071,2768,3611,3961,4014,3908,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1854,-0.75,-146.0,2768,3611,4014,3908,307.4,-10.5,284,1863,0.00,2.25,0.00,0.000,1030,0.000,0.045,2768,2199,3961,4014,3908,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2163,-0.75,-146.0,2768,2200,4012,3905,346.2,-12.4,315,2173,0.08,2.22,0.00,0.000,2564,0.317,0.060,2781,812,3958,4011,3905,0,0,0,0,0,0,14.74,14.83,28.83
$GC,2177,-0.75,-146.0,2781,812,4011,3906,348.4,-13.2,318,2187,0.00,2.25,0.00,0.000,1030,0.000,0.051,2776,2202,3958,4011,3906,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2496,-0.75,-146.0,2776,2202,4011,3903,385.0,-11.2,335,2500,0.00,2.30,0.00,0.000,260,0.000,0.073,2766,3609,3957,4011,3903,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2537,-0.75,-146.0,2766,3609,4010,3903,389.4,-9.9,343,2544,0.08,2.20,0.00,0.000,3078,0.275,0.047,2781,2199,3956,4011,3902,0,0,0,0,0,0,14.74,14.90,28.83
$GC,2857,-0.75,-146.0,2781,2197,4008,3899,423.2,-10.7,362,2863,0.00,2.22,0.00,0.000,516,0.000,0.064,2780,808,3953,4008,3899,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2879,-0.75,-146.0,2781,807,4007,3899,425.9,-11.1,367,2884,0.00,2.25,0.00,0.000,1030,0.000,0.054,2777,2197,3953,4007,3899,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3197,-0.75,-146.0,2778,2197,4005,3897,460.2,-11.2,385,3203,0.00,2.30,0.00,0.000,260,0.000,0.076,2768,3612,3951,4005,3897,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3260,-0.75,-146.0,2768,3612,4005,3896,467.0,-9.7,398,3265,0.08,2.25,0.00,0.000,3078,0.284,0.048,2782,2203,3951,4005,3897,0,0,0,0,0,0,14.74,14.87,28.83
$GC,3587,-0.75,-146.0,2782,2202,4004,3895,504.0,-11.7,416,3591,0.00,2.25,0.00,0.000,516,0.000,0.067,2782,802,3948,4003,3894,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3613,-0.75,-146.0,2782,802,4003,3894,507.0,-11.9,421,3619,0.00,2.22,0.00,0.000,1030,0.000,0.056,2777,2204,3948,4003,3894,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3943,-0.75,-146.0,2777,2204,4001,3892,545.6,-11.6,437,3949,0.00,2.28,0.00,0.000,260,0.000,0.077,2766,3604,3946,4001,3892,0,0,0,0,0,0,28.83,14.86,28.83
$GC,4017,-0.75,-146.0,2766,3604,4001,3891,553.6,-9.8,452,4022,0.08,2.20,0.00,0.000,3078,0.282,0.050,2780,2202,3946,4001,3891,0,0,0,0,0,0,14.74,14.91,28.83
$GC,4334,-0.75,-146.0,2781,2199,3998,3890,587.8,-10.8,465,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2199,3944,3998,3890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4634,-0.75,-146.0,2780,2199,3997,3889,620.1,-10.7,475,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2199,3943,3997,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4934,-0.75,-146.0,2781,2199,3996,3887,652.4,-10.7,485,4940,0.00,2.30,0.00,0.000,260,0.000,0.080,2772,3604,3940,3995,3886,0,0,0,0,0,0,28.83,14.87,28.83
$GC,4965,-0.75,-146.0,2772,3604,3995,3886,655.5,-10.1,491,4971,0.00,2.22,0.00,0.000,1030,0.000,0.052,2772,2194,3940,3995,3886,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,5022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5022,begin apogee
$GC,5025,-0.19,0.0,2772,2192,3995,3886,661.7,-10.6,498,5137,0.60,0.00,101.18,2.414,10246,0.197,0.000,2959,2192,3448,3505,3391,0,0,0,0,1,0,14.74,28.83,13.12
$STATE,5138,end apogee,CONTROL_FINISHED_OK
$STATE,5138,begin climb
$GC,5139,0.75,146.0,2959,2192,3512,3397,666.9,0.0,521,5279,0.93,2.50,126.68,2.554,10500,0.103,0.074,3272,3605,2853,2906,2800,0,0,0,0,1,0,14.06,13.93,13.00
$GC,5292,0.92,481.8,3272,3605,2921,2813,678.0,-5.4,551,5580,0.12,2.35,279.35,1.724,11270,0.170,0.050,3322,2200,1480,1524,1436,0,0,0,0,0,0,14.07,14.12,13.37
$GC,5892,0.92,481.8,3322,2200,1496,1406,553.5,29.0,621,5898,0.00,2.33,0.00,0.000,516,0.000,0.074,3333,808,1450,1495,1406,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5925,0.92,481.8,3333,809,1494,1406,543.6,28.0,628,5930,0.00,2.33,0.00,0.000,1030,0.000,0.059,3333,2198,1449,1494,1405,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6243,0.92,481.8,3333,2199,1494,1403,452.5,28.5,645,6249,0.00,2.30,0.00,0.000,516,0.000,0.073,3343,807,1448,1493,1403,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6275,0.92,481.8,3342,807,1493,1403,442.6,27.9,652,6283,0.00,2.33,0.00,0.000,1030,0.000,0.058,3343,2207,1448,1493,1403,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6583,0.92,481.8,3343,2208,1493,1401,354.1,28.8,668,6589,0.00,2.30,0.00,0.000,516,0.000,0.073,3353,807,1447,1492,1402,0,0,0,0,0,0,28.83,14.74,28.83
$GC,6622,0.92,481.8,3353,807,1492,1402,342.4,29.2,676,6626,0.00,2.25,0.00,0.000,1030,0.000,0.057,3353,2204,1447,1492,1402,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6928,0.92,481.8,3353,2205,1492,1401,253.7,28.7,707,6939,0.00,2.30,0.00,0.000,516,0.000,0.070,3364,804,1446,1492,1401,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6951,0.92,481.8,3364,804,1491,1401,247.3,28.2,711,6961,0.00,2.25,0.00,0.000,1030,0.000,0.054,3364,2210,1446,1491,1401,0,0,0,0,0,0,28.83,14.79,28.83
$GC,7266,0.92,481.8,3364,2210,1491,1401,156.8,27.0,757,7273,0.00,2.30,0.00,0.000,260,0.000,0.073,3364,3611,1446,1491,1401,0,0,0,0,0,0,28.83,14.78,28.83
$GC,7284,0.92,481.8,3364,3610,1490,1401,151.6,28.1,760,7292,0.05,2.30,0.00,0.000,5126,0.295,0.053,3350,2205,1445,1490,1401,0,0,0,0,0,0,14.64,14.78,28.83
$GC,7481,0.92,481.8,3350,2204,1491,1401,106.0,20.1,797,7487,0.00,0.00,0.00,0.000,6,0.000,0.000,3350,2203,1446,1491,1401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7674,0.92,481.8,3350,2203,1490,1400,73.8,13.9,834,7682,0.00,2.35,0.00,0.000,516,0.000,0.070,3360,801,1445,1491,1400,0,0,0,0,0,0,28.83,14.74,28.83
$GC,7777,0.95,552.3,3360,801,1491,1401,63.6,6.8,853,7822,0.00,2.22,39.30,0.329,9222,0.000,0.050,3361,2207,1192,1235,1150,0,0,0,0,0,0,28.83,14.80,14.50
$GC,8011,0.96,562.5,3360,2207,1263,1176,44.6,9.5,896,8032,0.00,2.38,9.65,0.235,8708,0.000,0.067,3371,794,1158,1202,1114,0,0,0,0,0,0,28.83,14.64,14.55
$GC,8265,1.10,843.6,3371,794,1223,1133,29.9,-2.9,944,8365,0.00,2.25,92.12,0.227,9222,0.000,0.046,3370,2218,509,573,446,0,0,0,0,0,0,28.83,14.76,14.52
$GC,8553,1.14,934.4,3371,2218,594,471,6.8,5.8,996,8562,0.08,2.40,3.03,0.139,10756,0.223,0.064,3411,791,510,573,447,0,0,0,0,0,0,14.69,14.69,14.63
$STATE,8605,end climb,SURFACE_DEPTH_REACHED
$STATE,8605,begin surface coast
$FINISH,0.4,1.017867
$STATE,8642,end surface coast,CONTROL_FINISHED_OK
$STATE,8642,begin surface
$SM_CCo,8719,0.00,0.000,0,0,528,715.53
$SM_GC,2.85,8.93,2.28,0.00,0.067,0.044,0.000,201,2202,528,-8.81,-1.36,715.53,0,0,0,0,0,0,14.72,14.73,28.83
$IRIDIUM_FIX,1727.00,8944.17,290608,212132
$TT8_MAMPS,0.018725,0.018725
$HUMID,46.92
$INTERNAL_PRESSURE,6.70924
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,13.0,14.182
$10V_AH,13.2,0.000
$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,22.175,100.225,651.300,0.000,0.000,25.505,29.253,141.464,0.000,0.000,5.440,2023.330,4211.000,663.654,2031.727,72.425,0.000,1591.907,0.000,1504.318,0.000,0.554,0.000
$DEVICE_MAMPS,362.610,79.560,2553.570,0.000,0.000,29.840,160.000,223.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,565.347,435.074,992.133,605.831,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322308
$DATA_FILE_SIZE,83851,1012
$CAP_FILE_SIZE,103367,0
$CFSIZE,2097086464,2093023232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.171,280.0,1
$GPS,030915,130303,1736.244,8943.596,47,1.1,47,-0.9