version: 66.11
glider: 615
mission: 5
dive: 8
start: 9 3 115 13 8 17
data:
$ID,615
$MISSION,5
$DIVE,8
$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,-5819.9385
$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,40
$R_STBD_OVSHOOT,46
$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
$GPS1,030915,130303,1736.244,8943.596,47,1.1,47,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-72.7
$GPS2,030915,130752,1736.281,8943.607,20,1.1,20,-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,6.0,39472,-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,-146.0,195,2206,574,493,0.0,0.0,0,50,0.00,0.00,-33.50,0.000,16386,0.000,0.000,195,2203,1493,1507,1480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,52,-0.75,-146.0,196,2203,1507,1480,3.0,-6.4,5,123,11.00,2.33,-47.90,0.000,18948,0.361,0.077,2776,798,3962,4011,3914,0,0,0,0,0,0,14.42,14.66,14.86
$GC,171,-0.75,-146.0,2776,796,4012,3914,41.1,-35.7,25,178,0.08,2.22,0.00,0.000,3078,0.343,0.050,2779,2194,3962,4011,3913,0,0,0,0,0,0,14.52,14.69,28.83
$GC,360,-0.75,-146.0,2779,2194,4012,3913,92.6,-21.7,62,367,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2194,3962,4012,3912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,549,-0.75,-146.0,2779,2194,4013,3913,126.7,-17.8,99,557,0.00,2.30,0.00,0.000,260,0.000,0.067,2770,3613,3963,4013,3913,0,0,0,0,0,0,28.83,14.74,28.83
$GC,623,-0.75,-146.0,1792,3612,4012,3912,138.2,-13.2,113,630,0.00,2.22,0.00,0.000,1030,0.000,0.041,2770,2182,3963,4013,3913,0,0,0,0,0,0,28.83,14.79,28.83
$GC,812,-0.75,-146.0,2770,2181,4014,3913,167.5,-15.2,150,819,0.00,2.25,0.00,0.000,516,0.000,0.060,2770,808,3963,4013,3913,0,0,0,0,0,0,28.83,14.71,28.83
$GC,862,-0.75,-146.0,2770,807,4014,3913,174.7,-14.5,159,870,0.10,2.20,0.00,0.000,3078,0.294,0.047,2781,2204,3963,4013,3913,0,0,0,0,0,0,14.64,14.78,28.83
$GC,1057,-0.75,-146.0,2781,2205,4014,3913,201.8,-14.3,196,1061,0.00,2.28,0.00,0.000,260,0.000,0.067,2772,3614,3963,4014,3913,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1118,-0.75,-146.0,2772,3613,4013,3913,210.0,-12.3,208,1122,0.00,2.20,0.00,0.000,1030,0.000,0.042,2772,2196,3963,4013,3913,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1424,-0.75,-146.0,2772,2194,4013,3911,251.4,-13.2,239,1434,0.00,2.20,0.00,0.000,516,0.000,0.060,2772,810,3962,4013,3911,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1458,-0.75,-146.0,2772,810,4013,3911,255.7,-13.2,245,1469,0.05,2.20,0.00,0.000,3078,0.245,0.050,2778,2203,3962,4013,3911,0,0,0,0,0,0,14.62,14.83,28.83
$GC,1767,-0.75,-146.0,2778,2205,4013,3908,295.2,-13.0,277,1777,0.00,2.28,0.00,0.000,260,0.000,0.071,2769,3611,3960,4013,3908,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1810,-0.75,-146.0,2769,3611,4013,3907,300.7,-11.8,285,1820,0.00,2.20,0.00,0.000,1030,0.000,0.045,2770,2200,3960,4013,3907,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2120,-0.75,-146.0,2770,2199,4011,3904,342.4,-13.5,317,2130,0.00,2.22,0.00,0.000,516,0.000,0.063,2770,807,3957,4011,3904,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2154,-0.75,-146.0,2770,807,4011,3904,346.6,-12.7,323,2164,0.10,2.22,0.00,0.000,3078,0.278,0.053,2784,2210,3957,4011,3904,0,0,0,0,0,0,14.72,14.84,28.83
$GC,2473,-0.75,-146.0,2784,2210,4010,3901,383.6,-11.2,342,2479,0.00,2.28,0.00,0.000,260,0.000,0.074,2775,3607,3955,4009,3901,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2516,-0.75,-146.0,2775,3606,4009,3901,388.4,-10.1,351,2521,0.00,2.25,0.00,0.000,1030,0.000,0.047,2775,2200,3954,4009,3900,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2834,-0.75,-146.0,2775,2198,4007,3898,423.9,-11.4,369,2838,0.00,2.25,0.00,0.000,516,0.000,0.065,2775,805,3952,4006,3898,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2868,-0.75,-146.0,2775,805,4006,3898,428.0,-10.5,376,2877,0.05,2.28,0.00,0.000,3078,0.250,0.054,2781,2199,3951,4005,3898,0,0,0,0,0,0,14.66,14.80,28.83
$GC,3176,-0.75,-146.0,2782,2200,4004,3896,461.7,-11.1,392,3180,0.00,2.30,0.00,0.000,260,0.000,0.075,2773,3605,3950,4004,3896,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3219,-0.75,-146.0,2773,3605,4004,3895,466.5,-9.6,401,3224,0.00,2.25,0.00,0.000,1030,0.000,0.048,2772,2200,3949,4004,3895,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3547,-0.75,-146.0,2772,2199,4002,3893,503.4,-11.1,419,3553,0.00,2.25,0.00,0.000,516,0.000,0.067,2773,799,3946,4001,3892,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3579,-0.75,-146.0,2773,799,4001,3893,507.1,-10.2,426,3585,0.00,2.28,0.00,0.000,1030,0.000,0.055,2764,2198,3946,4001,3892,0,0,0,0,0,0,28.83,14.84,28.83
$GC,3908,-0.75,-146.0,2764,2198,3999,3890,544.2,-11.5,441,3914,0.08,2.30,0.00,0.000,2308,0.335,0.074,2769,3608,3944,3998,3890,0,0,0,0,0,0,14.75,14.87,28.83
$GC,3956,-0.75,-146.0,2769,3608,3998,3890,549.2,-8.8,451,3960,0.00,2.22,0.00,0.000,1030,0.000,0.049,2769,2190,3944,3999,3890,0,0,0,0,0,0,28.83,14.91,28.83
$GC,4268,-0.75,-146.0,2768,2189,3997,3888,582.9,-11.1,463,4274,0.00,2.22,0.00,0.000,516,0.000,0.067,2769,809,3943,3998,3888,0,0,0,0,0,0,28.83,14.87,28.83
$GC,4299,-0.75,-146.0,2769,809,3996,3888,586.2,-10.8,469,4306,0.10,2.22,0.00,0.000,3078,0.291,0.057,2783,2207,3942,3996,3888,0,0,0,0,0,0,14.74,14.88,28.83
$GC,4628,-0.75,-146.0,2784,2207,3995,3885,619.7,-10.4,485,4634,0.00,2.28,0.00,0.000,260,0.000,0.079,2774,3604,3940,3995,3886,0,0,0,0,0,0,28.83,14.87,28.83
$GC,4677,-0.75,-146.0,2775,3604,3995,3885,624.6,-9.0,495,4681,0.00,2.20,0.00,0.000,1030,0.000,0.050,2775,2202,3940,3995,3885,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4989,-0.75,-146.0,2775,2200,3994,3884,658.4,-11.1,507,4995,0.00,2.25,0.00,0.000,516,0.000,0.070,2775,805,3938,3993,3884,0,0,0,0,0,0,28.83,14.87,28.83
$STATE,5001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5001,begin apogee
$GC,5007,-0.19,0.0,2765,2199,3993,3885,660.1,-11.2,510,5117,0.62,0.00,100.00,2.363,10246,0.198,0.000,2958,2201,3448,3506,3391,0,0,0,0,1,0,14.76,28.83,13.12
$STATE,5118,end apogee,CONTROL_FINISHED_OK
$STATE,5118,begin climb
$GC,5119,0.75,146.0,2958,2201,3514,3399,665.8,0.0,533,5262,0.93,2.47,128.00,2.622,10756,0.106,0.069,3280,804,2854,2905,2804,0,0,0,0,1,0,14.07,13.90,12.96
$GC,5362,0.93,511.6,3280,804,2923,2819,683.4,-6.8,571,5677,0.15,2.33,302.98,1.724,11270,0.183,0.057,3326,2203,1351,1394,1308,0,0,0,0,0,0,14.33,14.37,13.36
$GC,5985,0.93,511.6,3326,2203,1374,1282,550.0,29.9,645,5991,0.00,2.35,0.00,0.000,260,0.000,0.078,3326,3603,1327,1373,1282,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6046,0.93,511.6,3326,3603,1373,1281,530.8,29.9,658,6051,0.00,2.33,0.00,0.000,1030,0.000,0.054,3337,2204,1327,1373,1281,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6365,0.93,511.6,3337,2203,1374,1279,435.6,30.4,676,6371,0.00,2.33,0.00,0.000,516,0.000,0.075,3348,799,1326,1373,1279,0,0,0,0,0,0,28.83,14.68,28.83
$GC,6424,0.93,511.6,3347,799,1372,1279,417.6,29.3,688,6430,0.00,2.28,0.00,0.000,1030,0.000,0.057,3347,2205,1325,1371,1279,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6736,0.93,511.6,3348,2206,1371,1278,320.2,30.8,711,6737,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,2206,1324,1371,1278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7035,0.93,511.6,3348,2206,1371,1277,227.4,30.3,741,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,2206,1324,1371,1278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7335,0.93,511.6,3348,2206,1371,1277,141.6,27.3,791,7341,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,2206,1324,1371,1277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7524,0.93,511.6,3348,2206,1371,1277,95.4,21.2,828,7532,0.00,2.38,0.00,0.000,516,0.000,0.071,3358,794,1323,1370,1277,0,0,0,0,0,0,28.83,14.74,28.83
$GC,7538,0.93,511.6,3358,794,1370,1277,92.4,21.6,830,7545,0.00,2.30,0.00,0.000,1030,0.000,0.054,3358,2200,1323,1370,1277,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7728,0.95,557.4,3358,2200,1370,1277,63.0,7.9,867,7759,0.00,0.00,24.42,0.306,8710,0.000,0.000,3358,2200,1179,1224,1134,0,0,0,0,0,0,28.83,28.83,14.50
$GC,7942,0.98,602.5,3358,2200,1245,1155,43.5,7.9,908,7981,0.00,2.33,29.95,0.265,8452,0.000,0.069,3358,3609,991,1036,946,0,0,0,0,0,0,28.83,14.70,14.54
$GC,8059,1.03,700.7,3358,3609,1051,967,32.8,5.5,929,8123,0.00,2.25,58.88,0.240,9222,0.000,0.047,3369,2183,587,649,525,0,0,0,0,0,0,28.83,14.75,14.51
$GC,8306,1.03,700.7,3369,2184,668,551,12.5,11.0,975,8315,0.00,2.33,3.00,0.151,8708,0.000,0.067,3380,806,590,651,530,0,0,0,0,0,0,28.83,14.69,14.63
$STATE,8537,end climb,SURFACE_DEPTH_REACHED
$STATE,8537,begin surface coast
$FINISH,0.3,1.017762
$STATE,8598,end surface coast,CONTROL_FINISHED_OK
$STATE,8598,begin surface
$SM_CCo,8616,8.50,0.137,0,0,549,710.13
$SM_GC,3.68,8.73,2.28,8.50,0.055,0.045,0.137,188,2217,549,-8.84,-0.93,710.13,0,0,0,0,0,0,14.76,14.76,14.67
$IRIDIUM_FIX,1729.26,8946.43,290608,232310
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.55
$INTERNAL_PRESSURE,6.70924
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,13.0,14.576
$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,21.975,95.350,647.225,8.500,0.000,23.854,16.679,146.726,0.000,0.000,20.978,2052.509,4043.152,668.362,2081.526,73.904,0.000,1600.623,0.000,1533.885,0.000,0.553,0.000
$DEVICE_MAMPS,361.080,78.795,2622.420,136.935,0.000,29.840,160.000,223.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,565.427,437.864,1013.632,618.902,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322344
$DATA_FILE_SIZE,84019,1032
$CAP_FILE_SIZE,102465,0
$CFSIZE,2097086464,2092924928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.128,294.0,1
$GPS,030915,153310,1737.800,8943.122,34,1.1,34,-0.9