version: 66.11
glider: 615
mission: 5
dive: 9
start: 9 3 115 15 40 11
data:
$ID,615
$MISSION,5
$DIVE,9
$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,-5821.1914
$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,47
$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
$GPS1,030915,153310,1737.800,8943.122,34,1.1,34,-0.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-72.3
$GPS2,030915,153946,1737.821,8943.179,19,1.1,19,-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,351.2,36589,-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,13,begin dive
$GC,14,-0.75,-146.0,180,2220,600,538,0.0,0.0,0,49,0.00,0.00,-32.70,0.000,16386,0.000,0.000,179,2218,1510,1524,1497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,51,-0.75,-146.0,179,2218,1524,1497,3.0,-5.5,5,116,11.00,2.33,-47.67,0.000,18948,0.358,0.076,2779,806,3962,4011,3913,0,0,0,0,0,0,14.44,14.66,14.85
$GC,142,-0.75,-146.0,2779,806,4011,3913,29.6,-39.7,20,149,0.00,2.25,0.00,0.000,1030,0.000,0.055,2770,2194,3962,4012,3913,0,0,0,0,0,0,28.83,14.66,28.83
$GC,332,-0.75,-146.0,2771,2196,4011,3913,89.4,-21.0,57,339,0.00,2.30,0.00,0.000,260,0.000,0.065,2760,3612,3962,4012,3913,0,0,0,0,0,0,28.83,14.71,28.83
$GC,396,-0.75,-146.0,2760,3612,4012,3912,102.6,-19.3,69,404,0.10,2.20,0.00,0.000,3078,0.277,0.041,2780,2196,3962,4012,3913,0,0,0,0,0,0,14.60,14.76,28.83
$GC,586,-0.75,-146.0,1792,2192,4011,3912,134.4,-15.2,106,594,0.00,2.28,0.00,0.000,516,0.000,0.058,2780,805,3963,4013,3913,0,0,0,0,0,0,28.83,14.71,28.83
$GC,646,-0.75,-146.0,1792,804,4012,3912,143.0,-13.5,117,653,0.00,2.22,0.00,0.000,1030,0.000,0.047,2772,2218,3963,4013,3913,0,0,0,0,0,0,28.83,14.77,28.83
$GC,835,-0.75,-146.0,2772,2218,4013,3913,171.3,-16.0,154,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2218,3963,4013,3913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1024,-0.75,-146.0,2772,2218,4013,3913,200.1,-15.3,191,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2218,3963,4013,3913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1325,-0.75,-146.0,2772,2219,4013,3912,243.4,-13.9,221,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2218,3961,4013,3910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1625,-0.75,-146.0,2772,2218,4013,3908,282.7,-12.7,251,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2219,3960,4013,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1925,-0.75,-146.0,2772,2218,4012,3905,321.3,-13.0,281,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2218,3958,4012,3905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2235,-0.75,-146.0,2772,2218,4010,3903,361.0,-12.8,308,2241,0.00,2.25,0.00,0.000,516,0.000,0.063,2772,812,3956,4010,3903,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2256,-0.75,-146.0,2772,812,4010,3902,364.3,-13.3,313,2262,0.05,2.22,0.00,0.000,3078,0.244,0.052,2780,2188,3956,4010,3902,0,0,0,0,0,0,14.72,14.83,28.83
$GC,2575,-0.75,-146.0,2780,2188,4008,3899,401.7,-11.9,331,2581,0.00,2.30,0.00,0.000,260,0.000,0.075,2771,3607,3953,4007,3899,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2637,-0.75,-146.0,2771,3607,4007,3898,408.9,-10.0,344,2643,0.00,2.22,0.00,0.000,1030,0.000,0.047,2771,2213,3952,4007,3898,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2956,-0.75,-146.0,2771,2211,4005,3896,446.7,-12.0,362,2962,0.00,2.25,0.00,0.000,516,0.000,0.066,2770,806,3950,4005,3896,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2983,-0.75,-146.0,2771,806,4004,3895,450.4,-11.7,368,2988,0.10,2.28,0.00,0.000,3078,0.271,0.056,2786,2205,3950,4004,3896,0,0,0,0,0,0,14.76,14.85,28.83
$GC,3296,-0.75,-146.0,2786,2206,4003,3893,484.9,-11.5,385,3302,0.00,2.28,0.00,0.000,260,0.000,0.077,2776,3604,3947,4002,3893,0,0,0,0,0,0,28.83,14.86,28.83
$GC,3344,-0.75,-146.0,2777,3604,4002,3893,490.5,-10.5,395,3348,0.00,2.25,0.00,0.000,1030,0.000,0.049,2777,2201,3947,4002,3892,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3677,-0.75,-146.0,2777,2199,4000,3890,529.9,-12.0,409,3681,0.00,2.25,0.00,0.000,516,0.000,0.067,2777,801,3945,4000,3890,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3701,-0.75,-146.0,2777,801,4000,3890,533.1,-12.2,414,3710,0.03,2.28,0.00,0.000,3078,0.291,0.057,2776,2198,3945,3999,3891,0,0,0,0,0,0,14.69,14.82,28.83
$GC,4008,-0.75,-146.0,2776,2198,3997,3889,567.5,-11.2,425,4014,0.00,2.33,0.00,0.000,260,0.000,0.079,2768,3616,3943,3997,3889,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4062,-0.75,-146.0,2768,3616,3997,3888,573.3,-9.6,436,4071,0.05,2.28,0.00,0.000,3078,0.216,0.050,2785,2204,3942,3997,3888,0,0,0,0,0,0,14.71,14.85,28.83
$GC,4369,-0.75,-146.0,2784,2203,3995,3886,604.5,-10.2,447,4375,0.00,2.25,0.00,0.000,516,0.000,0.068,2784,808,3940,3995,3886,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4392,-0.75,-146.0,2785,809,3995,3886,607.0,-10.2,452,4401,0.00,2.28,0.00,0.000,1030,0.000,0.057,2778,2201,3941,3996,3886,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4699,-0.75,-146.0,2778,2202,3993,3884,638.3,-10.4,463,4705,0.00,2.33,0.00,0.000,260,0.000,0.080,2768,3616,3938,3993,3884,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4752,-0.75,-146.0,2769,3617,3993,3884,643.6,-8.8,474,4761,0.03,2.28,0.00,0.000,3078,0.253,0.051,2777,2202,3938,3993,3884,0,0,0,0,0,0,14.71,14.85,28.83
$STATE,4938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4938,begin apogee
$GC,4941,-0.19,0.0,2777,2202,3992,3883,662.8,-10.7,481,5048,0.57,0.00,97.82,2.529,10246,0.195,0.000,2958,2200,3445,3503,3388,0,0,0,0,1,0,14.77,28.83,13.12
$STATE,5050,end apogee,CONTROL_FINISHED_OK
$STATE,5050,begin climb
$GC,5051,0.75,146.0,2958,2200,3513,3398,668.2,0.0,503,5193,0.93,2.50,126.62,2.606,11012,0.100,0.071,3282,806,2855,2908,2803,0,0,0,0,1,0,14.06,13.90,12.99
$GC,5264,0.93,503.3,3282,806,2923,2819,683.5,-6.4,546,5570,0.12,2.33,295.85,1.701,11270,0.189,0.057,3320,2205,1390,1435,1345,0,0,0,0,0,0,14.27,14.30,13.36
$GC,5893,0.93,503.3,3320,2205,1409,1315,549.4,29.9,621,5900,0.00,2.35,0.00,0.000,260,0.000,0.077,3320,3603,1361,1408,1315,0,0,0,0,0,0,28.83,14.55,28.83
$GC,5916,0.93,503.3,3321,3604,1408,1315,541.9,30.5,626,5924,0.00,2.33,0.00,0.000,1030,0.000,0.054,3331,2207,1361,1408,1315,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6234,0.93,503.3,3331,2206,1408,1313,448.4,29.2,640,6240,0.00,2.35,0.00,0.000,516,0.000,0.075,3343,790,1360,1407,1313,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6316,0.93,503.3,3343,790,1406,1313,423.8,28.4,657,6321,0.00,2.33,0.00,0.000,1030,0.000,0.057,3342,2199,1359,1406,1313,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6624,0.93,503.3,3342,2200,1405,1312,333.2,30.3,677,6633,0.00,2.33,0.00,0.000,516,0.000,0.073,3353,792,1358,1405,1311,0,0,0,0,0,0,28.83,14.74,28.83
$GC,6646,0.93,503.3,3353,792,1405,1312,326.6,29.6,681,6656,0.00,2.28,0.00,0.000,1030,0.000,0.055,3353,2206,1358,1405,1312,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6956,0.93,503.3,3353,2206,1404,1311,233.3,29.5,713,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2206,1357,1404,1311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7258,0.93,503.3,3353,2206,1405,1310,146.8,28.7,761,7264,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2206,1357,1405,1310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7447,0.93,503.3,3353,2206,1404,1310,100.3,19.0,798,7455,0.00,2.38,0.00,0.000,516,0.000,0.070,3364,774,1357,1404,1310,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7480,0.93,503.3,2464,773,1379,1307,94.0,17.9,804,7488,0.00,2.33,0.00,0.000,1030,0.000,0.054,3364,2196,1356,1403,1310,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7671,0.97,587.8,3364,2196,1403,1310,67.8,6.1,841,7721,0.00,0.00,48.00,0.353,8710,0.000,0.000,3364,2196,1047,1093,1002,0,0,0,0,0,0,28.83,28.83,14.48
$GC,7904,0.97,587.8,3364,2196,1119,1027,41.9,11.2,885,7913,0.00,2.40,3.28,0.157,8452,0.000,0.069,3364,3615,1049,1094,1004,0,0,0,0,0,0,28.83,14.71,14.64
$GC,8112,1.11,863.9,3364,3615,1115,1029,34.3,-2.7,925,8200,0.00,2.28,78.78,0.243,9222,0.000,0.047,3375,2174,513,576,450,0,0,0,0,0,0,28.83,14.77,14.48
$GC,8383,1.13,913.4,2464,2172,593,473,7.4,7.7,975,8396,0.00,2.28,3.35,0.150,8708,0.000,0.066,3385,817,514,577,451,0,0,0,0,0,0,28.83,14.59,14.62
$STATE,8451,end climb,SURFACE_DEPTH_REACHED
$STATE,8451,begin surface coast
$FINISH,0.4,1.017776
$STATE,8492,end surface coast,CONTROL_FINISHED_OK
$STATE,8492,begin surface
$SM_CCo,8570,0.00,0.000,0,0,530,715.04
$SM_GC,3.89,8.77,2.28,0.00,0.058,0.050,0.000,198,2212,530,-8.82,-0.99,715.04,0,0,0,0,0,0,14.72,14.73,28.83
$IRIDIUM_FIX,1729.26,8946.43,300608,020239
$TT8_MAMPS,0.018725,0.018725
$HUMID,46.73
$INTERNAL_PRESSURE,6.68971
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,13.0,14.966
$10V_AH,13.3,0.000
$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,21.750,82.575,653.700,0.000,0.000,57.546,30.569,150.119,0.000,0.000,20.068,1994.797,4210.748,649.185,2048.947,66.924,0.000,1543.880,0.000,1469.776,0.000,0.551,0.000
$DEVICE_MAMPS,358.020,79.560,2606.355,0.000,0.000,29.840,160.000,223.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,555.393,430.283,951.282,581.274,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322300
$DATA_FILE_SIZE,80789,996
$CAP_FILE_SIZE,98606,0
$CFSIZE,2097086464,2092826624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.083,267.4,1
$GPS,030915,180503,1739.149,8942.616,89,0.9,90,-0.9