version: 66.11
glider: 615
mission: 5
dive: 28
start: 9 7 115 7 28 12
data:
$ID,615
$MISSION,5
$DIVE,28
$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,360
$T_MISSION,400
$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,-5845.4272
$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,2960
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$PITCH_GAIN,32
$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,2140
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,67
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,510
$VBD_MAX,3960
$C_VBD,3000
$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
$GPS1,070915,072134,1804.024,8934.313,62,0.9,62,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-70.2
$GPS2,070915,072747,1803.965,8934.312,4,0.8,5,-0.9
$SPEED_LIMITS,0.156,0.199
$TGT_NAME,NE
$TGT_LATLONG,1806.660,8933.540
$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,350.8,5173,-19.4,-8.981,-24.24,2355
$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,15,-0.68,-146.0,185,2233,568,481,0.0,0.0,0,57,0.00,0.00,-39.85,0.000,16386,0.000,0.000,185,2233,1675,1688,1662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.68,-146.0,184,2233,1688,1662,3.5,-8.3,6,118,10.82,2.20,-40.45,0.000,19204,0.357,0.082,2714,3579,3597,3586,3609,0,0,0,0,0,0,14.38,14.59,14.78
$GC,144,-0.68,-146.0,2713,3580,3586,3608,28.1,-41.7,20,151,0.00,2.25,0.00,0.000,1030,0.000,0.042,2714,2173,3597,3586,3608,0,0,0,0,0,0,28.83,14.62,28.83
$GC,334,-0.68,-146.0,2714,2170,3586,3607,86.2,-19.0,57,341,0.00,2.20,0.00,0.000,516,0.000,0.058,2713,798,3596,3586,3607,0,0,0,0,0,0,28.83,14.66,28.83
$GC,570,-0.68,-146.0,2714,797,3586,3610,129.4,-17.2,103,578,0.10,2.17,0.00,0.000,3078,0.300,0.044,2723,2184,3597,3586,3609,0,0,0,0,0,0,14.59,14.72,28.83
$GC,761,-0.68,-146.0,2723,2185,3586,3610,161.6,-17.8,140,768,0.00,2.25,0.00,0.000,516,0.000,0.056,2723,803,3598,3587,3610,0,0,0,0,0,0,28.83,14.67,28.83
$GC,810,-0.68,-146.0,2723,803,3586,3610,169.9,-16.7,149,818,0.00,2.20,0.00,0.000,1030,0.000,0.044,2714,2209,3597,3586,3609,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1001,-0.68,-146.0,2714,2210,3586,3611,198.8,-15.1,186,1008,0.00,2.30,0.00,0.000,516,0.000,0.057,2714,800,3598,3586,3610,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1048,-0.68,-146.0,2714,799,3586,3611,205.8,-13.5,195,1056,0.05,2.22,0.00,0.000,3078,0.252,0.044,2727,2192,3598,3586,3610,0,0,0,0,0,0,14.65,14.74,28.83
$GC,1357,-0.68,-146.0,2727,2193,3586,3608,250.2,-14.6,226,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2193,3597,3586,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1655,-0.68,-146.0,2727,2193,3586,3605,292.4,-13.6,256,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2193,3595,3586,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1955,-0.68,-146.0,2727,2193,3586,3602,334.0,-13.9,286,1964,0.00,2.22,0.00,0.000,516,0.000,0.060,2728,799,3594,3586,3602,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1979,-0.68,-146.0,2728,799,3586,3602,337.7,-14.5,291,1986,0.00,2.25,0.00,0.000,1030,0.000,0.048,2719,2196,3594,3586,3602,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2297,-0.68,-146.0,2719,2196,3586,3598,382.3,-14.1,312,2303,0.00,2.22,0.00,0.000,516,0.000,0.060,2719,802,3592,3586,3598,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2324,-0.68,-146.0,2719,802,3586,3597,386.5,-13.5,318,2330,0.03,2.25,0.00,0.000,3078,0.297,0.048,2718,2198,3591,3586,3597,0,0,0,0,0,0,14.70,14.83,28.83
$GC,2638,-0.68,-146.0,2718,2199,3585,3593,428.0,-13.4,335,2644,0.00,2.30,0.00,0.000,260,0.000,0.070,2708,3609,3589,3586,3593,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2664,-0.68,-146.0,2709,3609,3585,3593,432.2,-13.6,341,2670,0.08,2.25,0.00,0.000,3078,0.281,0.043,2724,2194,3589,3585,3593,0,0,0,0,0,0,14.76,14.87,28.83
$GC,2977,-0.68,-146.0,2724,2191,3585,3588,472.8,-13.0,358,2983,0.00,2.20,0.00,0.000,516,0.000,0.062,2724,809,3587,3586,3589,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3025,-0.68,-146.0,2724,809,3585,3588,479.2,-12.0,368,3029,0.00,2.22,0.00,0.000,1030,0.000,0.050,2716,2216,3586,3585,3588,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3348,-0.68,-146.0,2716,2217,3585,3583,520.8,-13.1,383,3353,0.00,2.25,0.00,0.000,516,0.000,0.062,2716,810,3583,3585,3582,0,0,0,0,0,0,28.83,14.86,28.83
$GC,3370,-0.68,-146.0,2716,810,3585,3582,524.2,-13.6,388,3379,0.05,2.25,0.00,0.000,3078,0.243,0.050,2722,2197,3584,3586,3582,0,0,0,0,0,0,14.70,14.83,28.83
$GC,3678,-0.68,-146.0,2722,2197,3585,3580,562.7,-12.7,399,3684,0.00,2.33,0.00,0.000,260,0.000,0.073,2713,3611,3582,3585,3579,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3707,-0.68,-146.0,2713,3611,3584,3579,566.4,-12.8,405,3713,0.00,2.20,0.00,0.000,1030,0.000,0.044,2713,2198,3582,3585,3580,0,0,0,0,0,0,28.83,14.91,28.83
$GC,4038,-0.68,-146.0,2713,2196,3584,3576,610.6,-13.6,421,4044,0.00,2.22,0.00,0.000,516,0.000,0.063,2713,804,3579,3581,3577,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4075,-0.68,-146.0,2713,803,3581,3578,616.0,-13.0,429,4080,0.05,2.28,0.00,0.000,3078,0.244,0.052,2720,2207,3579,3581,3578,0,0,0,0,0,0,14.76,14.88,28.83
$GC,4398,-0.68,-146.0,2720,2206,3580,3575,656.9,-12.9,443,4405,0.00,2.30,0.00,0.000,260,0.000,0.074,2711,3611,3577,3580,3575,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4450,-0.68,-146.0,2711,3611,3580,3575,663.8,-12.2,454,4458,0.00,2.25,0.00,0.000,1030,0.000,0.044,2710,2206,3577,3580,3575,0,0,0,0,0,0,28.83,14.86,28.83
$GC,4758,-0.68,-146.0,2711,2205,3580,3571,703.0,-13.0,465,4764,0.00,2.25,0.00,0.000,516,0.000,0.065,2711,802,3575,3578,3572,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4810,-0.68,-146.0,2711,802,3577,3572,709.9,-11.7,476,4819,0.08,2.28,0.00,0.000,3078,0.226,0.053,2724,2201,3574,3577,3572,0,0,0,0,0,0,14.73,14.84,28.83
$GC,5118,-0.68,-146.0,2725,2202,3577,3570,747.4,-12.4,487,5124,0.00,2.30,0.00,0.000,260,0.000,0.076,2715,3602,3573,3577,3570,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5148,-0.68,-146.0,2715,3602,3577,3570,751.1,-12.3,493,5154,0.00,2.20,0.00,0.000,1030,0.000,0.045,2715,2195,3573,3577,3570,0,0,0,0,0,0,28.83,14.93,28.83
$GC,5478,-0.68,-146.0,2715,2194,3576,3568,793.2,-12.7,509,5484,0.00,2.25,0.00,0.000,516,0.000,0.065,2715,802,3572,3575,3569,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5515,-0.68,-146.0,2715,802,3574,3569,798.1,-11.9,517,5520,0.10,2.28,0.00,0.000,3078,0.278,0.054,2728,2206,3571,3574,3569,0,0,0,0,0,0,14.78,14.87,28.83
$GC,5838,-0.68,-146.0,2728,2206,3574,3566,834.6,-11.3,531,5842,0.00,2.30,0.00,0.000,260,0.000,0.076,2718,3604,3570,3574,3566,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5882,-0.68,-146.0,2718,3604,3573,3566,839.8,-10.6,540,5887,0.00,2.25,0.00,0.000,1030,0.000,0.046,2718,2202,3569,3573,3566,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6200,-0.68,-146.0,2718,2199,3573,3564,876.7,-11.8,553,6206,0.00,2.25,0.00,0.000,516,0.000,0.066,2718,802,3568,3572,3564,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6260,-0.68,-146.0,2718,802,3572,3564,883.7,-11.1,565,6267,0.08,2.22,0.00,0.000,3078,0.310,0.054,2723,2202,3568,3572,3564,0,0,0,0,0,0,14.76,14.89,28.83
$GC,6590,-0.68,-146.0,2723,2202,3571,3562,922.0,-11.8,581,6596,0.00,2.33,0.00,0.000,260,0.000,0.078,2714,3607,3567,3571,3563,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6637,-0.68,-146.0,2714,3606,3571,3563,927.8,-11.2,591,6642,0.00,2.25,0.00,0.000,1030,0.000,0.047,2714,2203,3566,3571,3562,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6950,-0.68,-146.0,2714,2201,3572,3560,965.7,-12.3,603,6956,0.00,2.25,0.00,0.000,516,0.000,0.067,2714,806,3565,3570,3560,0,0,0,0,0,0,28.83,14.87,28.83
$STATE,6981,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6981,begin apogee
$GC,6986,-0.16,0.0,2705,2136,3569,3560,970.1,-12.8,610,7168,0.60,0.00,174.48,2.073,10246,0.197,0.000,2890,2137,2996,3037,2956,0,0,0,0,0,0,14.75,28.83,13.39
$STATE,7169,end apogee,CONTROL_FINISHED_OK
$STATE,7169,begin climb
$GC,7170,0.68,146.0,2890,2136,3033,2952,978.0,0.0,647,7304,0.82,2.47,127.15,2.160,10756,0.111,0.076,3171,750,2397,2450,2344,0,0,0,0,0,0,14.01,13.88,13.21
$GC,7344,0.71,197.2,3171,749,2442,2337,976.0,6.7,672,7397,0.00,2.35,44.92,2.106,9222,0.000,0.055,3171,2138,2188,2242,2135,0,0,0,0,0,0,28.83,14.15,13.24
$GC,7696,0.71,197.2,3172,2138,2231,2122,938.9,11.2,692,7698,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2138,2176,2231,2122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7996,0.71,197.2,3171,2138,2230,2121,905.3,11.2,702,8000,0.00,2.35,0.00,0.000,516,0.000,0.080,3181,742,2175,2230,2121,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8030,0.71,197.2,3181,742,2230,2122,901.1,11.5,709,8035,0.00,2.30,0.00,0.000,1030,0.000,0.057,3181,2146,2175,2230,2121,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8353,0.71,197.2,3181,2146,2230,2120,862.9,12.1,723,8359,0.00,2.35,0.00,0.000,516,0.000,0.079,3191,741,2175,2229,2121,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8384,0.71,197.2,3191,741,2229,2121,859.2,12.4,729,8390,0.00,2.28,0.00,0.000,1030,0.000,0.056,3191,2144,2175,2229,2121,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8713,0.71,197.2,3191,2144,2227,2120,817.3,12.7,745,8717,0.00,2.30,0.00,0.000,260,0.000,0.080,3191,3541,2173,2227,2120,0,0,0,0,0,0,28.83,14.74,28.83
$GC,8732,0.71,197.2,3191,3541,2225,2119,814.5,13.6,749,8736,0.00,2.28,0.00,0.000,1030,0.000,0.051,3202,2129,2171,2225,2118,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9045,0.71,197.2,3201,2128,2226,2118,775.0,12.7,761,9050,0.00,2.30,0.00,0.000,516,0.000,0.079,3212,739,2172,2226,2118,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9105,0.71,197.2,3212,739,2226,2118,767.5,12.7,773,9109,0.00,2.28,0.00,0.000,1030,0.000,0.056,3212,2143,2172,2226,2118,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9436,0.71,197.2,3212,2144,2225,2118,727.3,11.9,789,9437,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2144,2171,2225,2118,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,16475,end climb,SURFACE_DEPTH_REACHED
$STATE,16476,begin surface coast
$FINISH,0.2,0.998399
$STATE,16655,end surface coast,CONTROL_FINISHED_OK
$STATE,16655,begin surface
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$SM_CCo,16674,0.00,0.000,0,0,510,610.79
$SM_CCo,16676,0.22,0.499,0,0,509,610.79
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$TT8_MAMPS,0.018725,0.018725
$HUMID,42.87
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$TCM_TEMP,24.80
$XPDR_PINGS,1
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$10V_AH,13.2,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,322312
$DATA_FILE_SIZE,137287,1680
$CAP_FILE_SIZE,178443,0
$CFSIZE,2097086464,2089648128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.024,197.8,1
$GPS,070915,120803,1805.659,8933.753,78,0.8,78,-0.9