version: 66.11
glider: 615
mission: 5
dive: 11
start: 9 3 115 22 55 55
data:
$ID,615
$MISSION,5
$DIVE,11
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,970
$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,330
$T_MISSION,360
$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,0.0035031899
$HD_B,0.0146577
$HD_C,4.3681601e-05
$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,-5824.104
$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,3015
$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,48
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,510
$VBD_MAX,3960
$C_VBD,3200
$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,3
$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
$GPS1,030915,224920,1740.608,8941.246,133,1.2,134,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-70.9
$GPS2,030915,225528,1740.565,8941.210,4,1.1,4,-0.9
$SPEED_LIMITS,0.170,0.206
$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,17.5,30486,-21.0,-9.798,-25.40,2182
$D_GRID,970
$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,14,-0.85,-146.0,191,2196,570,495,0.0,0.0,0,50,0.00,0.00,-33.85,0.000,16386,0.000,0.000,190,2193,1510,1522,1499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,52,-0.85,-146.0,190,2195,1522,1499,3.3,-7.2,5,112,10.93,2.30,-42.67,0.000,19204,0.365,0.073,2720,800,3799,3841,3757,0,0,0,0,0,0,14.36,14.59,14.78
$GC,190,-0.85,-146.0,2721,800,3841,3756,52.9,-33.2,29,198,0.00,2.25,0.00,0.000,1030,0.000,0.051,2712,2204,3798,3841,3756,0,0,0,0,0,0,28.83,14.62,28.83
$GC,381,-0.85,-146.0,2712,2204,3843,3753,104.7,-22.8,66,388,0.00,2.33,0.00,0.000,260,0.000,0.063,2701,3610,3798,3845,3752,0,0,0,0,0,0,28.83,14.65,28.83
$GC,474,-0.85,-146.0,1704,3609,3843,3749,124.6,-18.5,84,482,0.08,2.25,0.00,0.000,3078,0.261,0.041,2722,2194,3798,3846,3751,0,0,0,0,0,0,14.54,14.73,28.83
$GC,666,-0.85,-146.0,2721,2191,3847,3751,158.8,-17.3,121,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2192,3799,3847,3751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,854,-0.85,-146.0,2721,2192,3847,3751,190.8,-18.1,158,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2192,3798,3846,3751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1043,-0.85,-146.0,2722,2192,3847,3750,223.1,-16.3,182,1047,0.00,2.20,0.00,0.000,516,0.000,0.058,2722,809,3798,3846,3750,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1079,-0.85,-146.0,2722,809,3846,3750,229.2,-16.3,189,1083,0.00,2.22,0.00,0.000,1030,0.000,0.047,2713,2212,3798,3846,3750,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1390,-0.85,-146.0,2713,2212,3846,3746,282.7,-17.1,221,1400,0.00,2.25,0.00,0.000,260,0.000,0.069,2702,3608,3795,3846,3745,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1424,-0.85,-146.0,2702,3608,3846,3745,288.8,-16.0,228,1434,0.05,2.22,0.00,0.000,3078,0.239,0.043,2718,2203,3795,3846,3745,0,0,0,0,0,0,14.62,14.76,28.83
$GC,1733,-0.85,-146.0,2718,2202,3846,3744,336.4,-15.7,259,1743,0.00,2.22,0.00,0.000,516,0.000,0.061,2719,807,3794,3846,3743,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1778,-0.85,-146.0,2719,806,3845,3743,343.7,-14.4,268,1786,0.00,2.25,0.00,0.000,1030,0.000,0.050,2710,2196,3794,3845,3743,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2086,-0.85,-146.0,2710,2196,3844,3739,392.6,-15.9,286,2093,0.05,2.30,0.00,0.000,2308,0.381,0.070,2710,3610,3791,3844,3739,0,0,0,0,0,0,14.75,14.83,28.83
$GC,2127,-0.85,-146.0,2710,3610,3843,3738,398.8,-14.1,294,2134,0.05,2.20,0.00,0.000,3078,0.330,0.045,2722,2201,3791,3843,3739,0,0,0,0,0,0,14.73,14.86,28.83
$GC,2447,-0.85,-146.0,2721,2199,3841,3737,445.8,-14.4,313,2453,0.00,2.22,0.00,0.000,516,0.000,0.064,2722,809,3788,3840,3737,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2494,-0.85,-146.0,2722,809,3840,3737,452.8,-13.4,323,2499,0.00,2.25,0.00,0.000,1030,0.000,0.053,2713,2201,3788,3839,3737,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2807,-0.85,-146.0,2713,2202,3838,3733,497.2,-14.4,340,2813,0.00,2.28,0.00,0.000,260,0.000,0.074,2702,3605,3785,3837,3733,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2839,-0.85,-146.0,1832,3604,3835,3731,502.2,-13.7,347,2845,0.05,2.25,0.00,0.000,3078,0.234,0.047,2719,2197,3785,3837,3733,0,0,0,0,0,0,14.71,14.86,28.83
$GC,3166,-0.85,-146.0,2719,2196,3836,3729,547.4,-13.8,362,3171,0.00,2.22,0.00,0.000,516,0.000,0.066,2719,810,3782,3835,3730,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3216,-0.85,-146.0,2719,810,3835,3729,554.4,-12.5,372,3224,0.00,2.25,0.00,0.000,1030,0.000,0.054,2711,2197,3781,3834,3729,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3524,-0.85,-146.0,2711,2197,3833,3727,597.3,-14.1,383,3529,0.00,2.30,0.00,0.000,260,0.000,0.076,2701,3612,3780,3833,3727,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3571,-0.85,-146.0,2701,3612,3832,3727,604.3,-13.3,393,3577,0.05,2.25,0.00,0.000,3078,0.235,0.049,2731,2210,3779,3832,3727,0,0,0,0,0,0,14.77,14.88,28.83
$GC,3884,-0.85,-146.0,2732,2207,3830,3724,644.2,-12.9,405,3888,0.00,2.25,0.00,0.000,516,0.000,0.068,2732,803,3777,3831,3724,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3934,-0.85,-146.0,2732,803,3830,3724,650.6,-11.3,415,3938,0.00,2.28,0.00,0.000,1030,0.000,0.056,2724,2200,3777,3830,3724,0,0,0,0,0,0,28.83,14.86,28.83
$GC,4246,-0.85,-146.0,2724,2201,3829,3722,691.4,-13.3,427,4252,0.00,2.30,0.00,0.000,260,0.000,0.078,2713,3607,3776,3829,3723,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4284,-0.85,-146.0,2713,3606,3828,3722,696.8,-13.2,435,4289,0.00,2.28,0.00,0.000,1030,0.000,0.050,2713,2195,3775,3828,3722,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4607,-0.85,-146.0,2713,2193,3827,3720,741.0,-13.9,449,4611,0.00,2.28,0.00,0.000,516,0.000,0.069,2713,800,3773,3827,3720,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4639,-0.85,-146.0,2713,800,3826,3720,745.3,-13.3,455,4646,0.10,2.22,0.00,0.000,3078,0.289,0.058,2726,2199,3773,3826,3720,0,0,0,0,0,0,14.76,14.90,28.83
$GC,4968,-0.85,-146.0,2724,2200,3825,3718,788.1,-13.1,471,4974,0.00,2.30,0.00,0.000,260,0.000,0.080,2716,3605,3771,3824,3718,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4991,-0.85,-146.0,2716,3605,3824,3718,791.3,-12.7,476,5000,0.00,2.28,0.00,0.000,1030,0.000,0.050,2716,2200,3771,3824,3719,0,0,0,0,0,0,28.83,14.86,28.83
$GC,5298,-0.85,-146.0,2716,2199,3823,3716,833.3,-14.0,487,5305,0.00,2.28,0.00,0.000,516,0.000,0.070,2716,800,3769,3823,3715,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5330,-0.85,-146.0,2716,800,3823,3715,838.1,-13.6,494,5336,0.05,2.28,0.00,0.000,3078,0.262,0.059,2722,2191,3768,3822,3715,0,0,0,0,0,0,14.73,14.86,28.83
$GC,5658,-0.85,-146.0,2722,2192,3821,3714,881.8,-13.5,509,5665,0.00,2.33,0.00,0.000,260,0.000,0.082,2712,3611,3767,3821,3714,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5696,-0.85,-146.0,2712,3611,3821,3714,887.2,-13.4,517,5701,0.00,2.28,0.00,0.000,1030,0.000,0.052,2712,2206,3767,3820,3714,0,0,0,0,0,0,28.83,14.89,28.83
$GC,6018,-0.85,-146.0,2712,2204,3820,3713,931.4,-13.8,531,6025,0.00,2.30,0.00,0.000,516,0.000,0.073,2712,795,3766,3820,3713,0,0,0,0,0,0,28.83,14.87,28.83
$GC,6056,-0.85,-146.0,2712,795,3819,3713,936.9,-13.4,539,6061,0.05,2.30,0.00,0.000,3078,0.264,0.060,2718,2201,3766,3819,3713,0,0,0,0,0,0,14.72,14.86,28.83
$STATE,6318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6318,begin apogee
$GC,6321,-0.19,0.0,2719,2201,3818,3711,971.9,-13.7,551,6500,0.73,0.00,172.68,1.803,10246,0.228,0.000,2930,2202,3196,3248,3145,0,0,0,0,0,0,14.73,28.83,13.38
$STATE,6501,end apogee,CONTROL_FINISHED_OK
$STATE,6501,begin climb
$GC,6502,0.85,146.0,2930,2202,3244,3139,982.0,0.0,587,6637,1.08,2.50,126.47,2.116,11012,0.127,0.080,3274,3606,2595,2637,2554,0,0,0,0,0,0,14.01,13.90,13.19
$GC,6778,0.88,204.9,3274,3607,2627,2542,984.0,7.0,643,6834,0.00,2.33,50.62,2.074,9222,0.000,0.053,3284,2200,2363,2412,2315,0,0,0,0,0,0,28.83,14.38,13.30
$GC,7152,0.88,204.9,3285,2200,2391,2292,937.8,13.6,667,7156,0.00,2.33,0.00,0.000,516,0.000,0.077,3295,810,2342,2392,2292,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7166,0.88,204.9,3295,810,2392,2292,935.5,13.6,670,7170,0.00,2.35,0.00,0.000,1030,0.000,0.061,3295,2205,2342,2392,2292,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7483,0.88,204.9,3295,2206,2390,2291,891.5,13.8,683,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,2206,2340,2390,2291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7783,0.88,204.9,3295,2206,2390,2291,849.6,14.2,693,7789,0.00,2.35,0.00,0.000,260,0.000,0.083,3295,3611,2339,2389,2290,0,0,0,0,0,0,28.83,14.72,28.83
$GC,7826,0.88,204.9,3295,3611,2389,2291,842.9,14.8,702,7830,0.00,2.33,0.00,0.000,1030,0.000,0.055,3305,2204,2339,2389,2290,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8143,0.88,204.9,3305,2203,2389,2290,799.7,13.4,715,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,2203,2339,2389,2290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8443,0.88,204.9,3305,2203,2388,2290,760.3,13.0,725,8449,0.00,2.33,0.00,0.000,516,0.000,0.079,3316,797,2338,2388,2288,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8516,0.88,204.9,3316,797,2388,2290,750.4,13.2,740,8521,0.00,2.33,0.00,0.000,1030,0.000,0.063,3316,2230,2339,2388,2290,0,0,0,0,0,0,28.83,14.80,28.83
$GC,8834,0.88,204.9,3316,2232,2387,2290,710.1,12.8,753,8840,0.00,2.38,0.00,0.000,516,0.000,0.077,3326,796,2338,2386,2290,0,0,0,0,0,0,28.83,14.80,28.83
$GC,8881,0.88,204.9,3326,795,2386,2289,703.5,13.3,763,8886,0.00,2.33,0.00,0.000,1030,0.000,0.061,3326,2232,2338,2386,2290,0,0,0,0,0,0,28.83,14.82,28.83
$GC,9194,0.88,204.9,3326,2232,2385,2289,663.1,13.2,775,9200,0.00,2.28,0.00,0.000,260,0.000,0.083,3326,3606,2337,2385,2289,0,0,0,0,0,0,28.83,14.82,28.83
$GC,9216,0.88,204.9,3327,3606,2384,2290,659.7,14.6,780,9225,0.08,2.30,0.00,0.000,5126,0.325,0.054,3318,2204,2337,2385,2289,0,0,0,0,0,0,14.61,14.80,28.83
$GC,9524,0.88,204.9,3318,2204,2385,2288,621.2,12.6,791,9525,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2204,2336,2385,2288,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,15646,end climb,SURFACE_DEPTH_REACHED
$STATE,15646,begin surface coast
$FINISH,0.3,1.005209
$STATE,15688,end surface coast,CONTROL_FINISHED_OK
$STATE,15688,begin surface
$SM_CCo,15702,1.95,0.153,0,0,509,659.85
$SM_CCo,15707,0.00,0.000,0,0,511,659.85
$SM_CCo,15709,0.30,0.406,0,0,507,659.85
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$IRIDIUM_FIX,1731.53,8944.16,300608,070738
$TT8_MAMPS,0.018725,0.018725
$HUMID,43.97
$INTERNAL_PRESSURE,6.70924
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,13.2,15.687
$10V_AH,13.1,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.475,169.250,656.750,2.250,0.000,22.833,39.448,204.784,0.250,0.000,5.536,3187.818,8922.846,714.830,3132.067,114.308,0.000,2093.096,0.000,2352.185,0.000,0.554,0.000
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$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322256
$DATA_FILE_SIZE,130670,1594
$CAP_FILE_SIZE,168964,0
$CFSIZE,2097086464,2092466176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.145,283.1,1
$GPS,040915,031931,1742.480,8940.513,70,1.7,70,-0.9