version: 66.11
glider: 615
mission: 5
dive: 37
start: 9 9 115 8 35 55
data:
$ID,615
$MISSION,5
$DIVE,37
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,450
$T_MISSION,470
$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,120
$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,650
$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,-6767.7788
$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,51
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,510
$VBD_MAX,3960
$C_VBD,2950
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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
$GPS1,090915,022557,1756.098,8921.686,301,99.0,301,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-74.4
$GPS2,090915,083527,1756.528,8919.537,76,1.5,76,-0.9
$SPEED_LIMITS,0.127,0.167
$TGT_NAME,NW
$TGT_LATLONG,1806.660,8921.600
$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,56.9,19113,-25.6,-7.333,-30.00,1273
$D_GRID,990
$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,-0.88,-63.0,189,2176,555,490,0.0,0.0,0,48,0.00,0.00,-31.75,0.000,16386,0.000,0.000,189,2178,1454,1466,1442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,51,-0.91,-89.9,189,2178,1466,1442,3.3,-5.2,5,109,10.50,2.38,-41.00,0.000,19204,0.360,0.080,2637,3608,3317,3335,3300,0,0,0,0,0,0,14.40,14.64,14.83
$GC,179,-0.91,-89.9,2637,3608,3335,3300,42.6,-37.9,27,186,0.00,2.20,0.00,0.000,1030,0.000,0.036,2637,2186,3317,3335,3300,0,0,0,0,0,0,28.83,14.70,28.83
$GC,374,-0.91,-89.9,2637,2183,3335,3300,90.3,-15.2,64,380,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2183,3317,3335,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,568,-0.91,-89.9,2637,2183,3335,3300,113.9,-10.7,101,575,0.00,2.17,0.00,0.000,516,0.000,0.054,2637,806,3318,3336,3300,0,0,0,0,0,0,28.83,14.75,28.83
$GC,811,-0.91,-89.9,2637,806,3335,3300,148.2,-15.5,147,818,0.10,2.17,0.00,0.000,3078,0.311,0.040,2647,2213,3318,3336,3300,0,0,0,0,0,0,14.63,14.80,28.83
$GC,1007,-0.91,-89.9,2647,2213,3335,3300,178.7,-14.0,184,1014,0.00,2.25,0.00,0.000,516,0.000,0.052,2647,820,3317,3335,3299,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1113,-0.91,-89.9,2647,820,3335,3299,194.6,-13.5,204,1120,0.00,2.20,0.00,0.000,1030,0.000,0.042,2638,2202,3317,3335,3299,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1303,-0.91,-89.9,2638,2202,3335,3298,222.4,-14.7,226,1307,0.00,2.22,0.00,0.000,260,0.000,0.061,2627,3599,3316,3335,3298,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1360,-0.91,-89.9,2627,3599,3335,3297,231.1,-15.4,237,1371,0.10,2.15,0.00,0.000,3078,0.276,0.038,2648,2196,3316,3335,3297,0,0,0,0,0,0,14.69,14.85,28.83
$GC,1670,-0.91,-89.9,2648,2194,3335,3292,275.2,-14.5,269,1680,0.00,2.17,0.00,0.000,516,0.000,0.056,2648,819,3313,3335,3292,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1724,-0.91,-89.9,2648,819,3335,3292,283.8,-14.9,280,1733,0.00,2.20,0.00,0.000,1030,0.000,0.044,2639,2197,3313,3335,3291,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2033,-0.91,-89.9,2640,2197,3335,3286,331.0,-15.6,311,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2197,3310,3335,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2343,-0.91,-89.9,2640,2197,3335,3282,378.0,-14.9,333,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2196,3308,3335,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2643,-0.91,-89.9,2640,2196,3332,3277,422.7,-15.0,348,2649,0.00,2.20,0.00,0.000,516,0.000,0.060,2640,815,3304,3332,3277,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2683,-0.91,-89.9,2640,814,3331,3277,428.8,-15.3,356,2690,0.10,2.17,0.00,0.000,3078,0.304,0.048,2650,2202,3304,3331,3277,0,0,0,0,0,0,14.73,14.88,28.83
$GC,3003,-0.91,-89.9,2650,2202,3329,3274,474.3,-13.9,375,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2202,3301,3328,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3323,-0.91,-89.9,2650,2202,3326,3272,518.8,-13.8,389,3329,0.00,2.22,0.00,0.000,516,0.000,0.062,2650,816,3298,3326,3271,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3353,-0.91,-89.9,2650,816,3326,3271,523.0,-14.3,395,3359,0.00,2.17,0.00,0.000,1030,0.000,0.050,2641,2197,3298,3326,3271,0,0,0,0,0,0,28.83,14.89,28.83
$GC,3683,-0.91,-89.9,2641,2198,3324,3269,568.3,-13.6,411,3685,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2198,3296,3324,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3983,-0.91,-89.9,2641,2198,3322,3266,608.1,-13.5,421,3989,0.00,2.22,0.00,0.000,516,0.000,0.063,2641,814,3294,3322,3266,0,0,0,0,0,0,28.83,14.89,28.83
$GC,4073,-0.91,-89.9,2641,814,3321,3266,620.1,-13.2,439,4080,0.10,2.20,0.00,0.000,3078,0.301,0.051,2652,2206,3293,3321,3266,0,0,0,0,0,0,14.74,14.90,28.83
$GC,4404,-0.91,-89.9,2652,2207,3319,3264,663.5,-13.3,455,4410,0.00,2.25,0.00,0.000,260,0.000,0.073,2642,3601,3291,3319,3263,0,0,0,0,0,0,28.83,14.89,28.83
$GC,4441,-0.91,-89.9,2642,3601,3319,3263,668.9,-13.9,463,4446,0.00,2.22,0.00,0.000,1030,0.000,0.044,2642,2204,3291,3319,3263,0,0,0,0,0,0,28.83,14.89,28.83
$GC,4764,-0.91,-89.9,2643,2203,3316,3262,713.1,-13.6,477,4768,0.00,2.25,0.00,0.000,516,0.000,0.064,2643,809,3288,3316,3261,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4857,-0.91,-89.9,2642,809,3314,3262,726.1,-13.4,496,4863,0.05,2.25,0.00,0.000,3078,0.272,0.052,2647,2200,3287,3314,3261,0,0,0,0,0,0,14.71,14.87,28.83
$GC,5186,-0.91,-89.9,2646,2201,3314,3258,768.4,-13.0,511,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2201,3286,3313,3259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5486,-0.91,-89.9,2647,2201,3312,3257,806.1,-12.4,521,5492,0.00,2.25,0.00,0.000,516,0.000,0.066,2647,809,3284,3311,3257,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5529,-0.91,-89.9,2647,809,3311,3257,811.7,-12.5,530,5533,0.00,2.22,0.00,0.000,1030,0.000,0.054,2638,2206,3284,3311,3257,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5840,-0.91,-89.9,2638,2207,3310,3255,850.8,-12.8,542,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2207,3283,3310,3256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6140,-0.91,-89.9,2638,2207,3310,3254,888.6,-12.5,552,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2207,3282,3309,3255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6440,-0.91,-89.9,2639,2207,3308,3253,925.6,-12.4,562,6447,0.00,2.28,0.00,0.000,516,0.000,0.067,2638,806,3280,3308,3253,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6470,-0.91,-89.9,2638,806,3307,3253,929.4,-13.1,568,6474,0.05,2.20,0.00,0.000,3078,0.274,0.054,2642,2198,3280,3307,3253,0,0,0,0,0,0,14.70,14.88,28.83
$GC,6801,-0.91,-89.9,2643,2198,3306,3252,968.3,-11.7,584,6807,0.00,2.25,0.00,0.000,516,0.000,0.069,2643,809,3279,3306,3252,0,0,0,0,0,0,28.83,14.87,28.83
$GC,6844,-0.91,-89.9,2643,809,3306,3252,973.7,-11.7,593,6849,0.08,2.25,0.00,0.000,3078,0.325,0.057,2647,2211,3278,3305,3252,0,0,0,0,0,0,14.71,14.88,28.83
$STATE,7010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7011,begin apogee
$GC,7014,-0.16,0.0,2648,2139,3305,3251,992.1,-11.2,601,7121,0.82,0.00,102.25,2.307,10246,0.230,0.000,2890,2138,2949,2992,2907,0,0,0,0,0,0,14.69,28.83,13.30
$STATE,7122,end apogee,CONTROL_FINISHED_OK
$STATE,7122,begin climb
$GC,7124,0.91,89.9,2891,2138,2986,2903,995.0,0.0,623,7211,1.08,0.00,83.97,2.632,10246,0.135,0.000,3231,2138,2581,2624,2539,0,0,0,0,0,0,14.05,28.83,13.19
$GC,7488,0.91,89.9,3231,2138,2611,2530,973.9,7.5,636,7492,0.00,2.35,0.00,0.000,516,0.000,0.078,3241,751,2570,2612,2529,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7567,0.91,89.9,3241,750,2611,2530,967.9,7.4,652,7576,0.00,2.33,0.00,0.000,1030,0.000,0.057,3240,2137,2569,2610,2529,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7876,0.92,95.2,3241,2137,2610,2528,946.7,6.9,663,7882,0.00,2.35,0.00,0.000,260,0.000,0.080,3241,3557,2569,2609,2529,0,0,0,0,0,0,28.83,14.67,28.83
$GC,7943,0.92,99.2,3241,3557,2608,2529,941.6,7.0,677,7953,0.00,2.28,4.03,1.357,9222,0.000,0.051,3251,2157,2546,2586,2506,0,0,0,0,0,0,28.83,14.72,13.85
$GC,8266,0.93,107.9,3252,2158,2595,2517,919.8,6.6,691,8284,0.00,2.38,13.68,1.984,8708,0.000,0.075,3261,736,2502,2544,2461,0,0,0,0,0,0,28.83,14.60,13.87
$GC,8424,0.93,107.9,3262,736,2539,2456,906.9,8.4,723,8429,0.00,2.33,0.00,0.000,1030,0.000,0.055,3262,2135,2497,2539,2456,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8741,0.93,107.9,3262,2136,2539,2454,878.5,9.1,736,8745,0.00,2.35,0.00,0.000,260,0.000,0.080,3262,3546,2495,2538,2453,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8841,0.93,107.9,3262,3546,2537,2454,868.9,9.7,756,8845,0.00,2.33,0.00,0.000,1030,0.000,0.053,3272,2143,2495,2537,2454,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9158,0.93,107.9,3272,2143,2537,2453,840.7,9.0,769,9165,0.00,2.35,0.00,0.000,516,0.000,0.077,3283,726,2496,2538,2454,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9206,0.93,107.9,3283,726,2538,2452,836.2,8.8,779,9211,0.00,2.33,0.00,0.000,1030,0.000,0.056,3282,2162,2495,2538,2453,0,0,0,0,0,0,28.83,14.79,28.83
$GC,9519,0.93,107.9,3283,2162,2537,2452,808.7,8.9,791,9525,0.00,2.30,0.00,0.000,260,0.000,0.079,3283,3550,2494,2536,2452,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9541,0.93,107.9,3282,3550,2536,2452,806.4,9.4,796,9550,0.00,2.35,0.00,0.000,1030,0.000,0.051,3293,2128,2493,2536,2451,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9849,0.93,107.9,3293,2128,2536,2452,779.0,9.0,807,9856,0.10,2.30,0.00,0.000,4612,0.331,0.073,3284,732,2494,2536,2452,0,0,0,0,0,0,14.67,14.81,28.83
$GC,9896,0.93,107.9,3284,732,2537,2452,774.7,8.7,817,9901,0.00,2.30,0.00,0.000,1030,0.000,0.056,3284,2135,2494,2536,2452,0,0,0,0,0,0,28.83,14.81,28.83
$GC,10209,0.93,107.9,3284,2135,2536,2450,748.6,8.4,829,10215,0.00,2.33,0.00,0.000,516,0.000,0.077,3294,732,2493,2536,2451,0,0,0,0,0,0,28.83,14.81,28.83
$GC,10277,0.93,107.9,3294,732,2536,2451,742.7,8.0,843,10282,0.10,2.33,0.00,0.000,5126,0.310,0.057,3276,2177,2493,2536,2451,0,0,0,0,0,0,14.68,14.83,28.83
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$STATE,20633,end climb,SURFACE_DEPTH_REACHED
$STATE,20633,begin surface coast
$FINISH,0.3,1.016763
$STATE,20791,end surface coast,CONTROL_FINISHED_OK
$STATE,20791,begin surface
$SM_CCo,20809,1.30,0.173,0,0,508,598.52
$SM_CCo,20813,0.00,0.000,0,0,511,598.52
$SM_CCo,20815,0.25,0.455,0,0,507,598.52
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$IRIDIUM_FIX,1749.63,8935.07,050708,151557
$TT8_MAMPS,0.017976,0.017976
$HUMID,41.33
$INTERNAL_PRESSURE,6.75807
$TCM_TEMP,25.80
$XPDR_PINGS,2
$24V_AH,13.2,24.972
$10V_AH,13.0,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322272
$DATA_FILE_SIZE,177580,2165
$CAP_FILE_SIZE,219690,0
$CFSIZE,2097086464,2088108032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.072,227.6,1
$GPS,090915,142533,1756.882,8920.104,127,0.9,127,-0.9