version: 66.11
glider: 615
mission: 5
dive: 49
start: 9 12 115 1 26 42
data:
$ID,615
$MISSION,5
$DIVE,49
$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,360
$T_MISSION,390
$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,130
$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,579.63446
$N_FILEKB,4
$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,-12226.566
$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,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,510
$VBD_MAX,3960
$C_VBD,2873
$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,48
$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
$GPS1,100915,065035,1759.653,8918.934,301,99.0,301,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.63
$_SM_ANGLEo,-76.5
$GPS2,100915,065035,1759.653,8918.934,301,99.0,301,-0.9
$SPEED_LIMITS,0.159,0.189
$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,20.6,13800,-21.4,-9.167,-25.88,2022
$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,-0.82,-126.5,192,2171,558,494,0.0,0.0,0,25,0.00,0.00,-8.73,0.000,16386,0.000,0.000,191,2173,797,820,774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,27,-0.82,-126.5,192,2171,819,771,4.2,0.0,1,117,10.25,2.33,-67.18,0.000,18692,0.347,0.078,2664,3601,3390,3404,3377,0,0,0,0,0,0,14.55,14.66,14.97
$GC,140,-0.82,-126.5,2664,3601,3404,3377,22.1,-34.9,19,148,0.08,2.17,0.00,0.000,3078,0.338,0.037,2674,2184,3390,3404,3377,0,0,0,0,0,0,14.59,14.80,28.83
$GC,336,-0.82,-126.5,2674,2181,3404,3377,71.7,-20.2,56,343,0.00,2.30,0.00,0.000,260,0.000,0.057,2666,3597,3390,3404,3376,0,0,0,0,0,0,28.83,14.74,28.83
$GC,440,-0.82,-126.5,2666,3597,3404,3376,91.5,-19.2,75,446,0.00,2.15,0.00,0.000,1030,0.000,0.037,2666,2194,3390,3404,3377,0,0,0,0,0,0,28.83,14.82,28.83
$GC,633,-0.82,-126.5,2665,2193,3404,3376,124.1,-15.1,112,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2193,3390,3404,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,828,-0.82,-126.5,2666,2193,3404,3377,151.3,-13.5,149,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2192,3390,3404,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1020,-0.82,-126.5,2666,2192,3404,3376,177.6,-13.1,186,1028,0.00,2.22,0.00,0.000,516,0.000,0.055,2666,818,3390,3404,3376,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1072,-0.82,-126.5,2665,819,3404,3376,184.6,-13.4,195,1080,0.10,2.15,0.00,0.000,3078,0.301,0.041,2675,2207,3390,3404,3376,0,0,0,0,0,0,14.65,14.82,28.83
$GC,1271,-0.82,-126.5,2675,2207,3404,3374,211.4,-14.2,225,1280,0.00,2.22,0.00,0.000,260,0.000,0.061,2666,3601,3389,3404,3374,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1305,-0.82,-126.5,2666,3601,3404,3374,216.8,-14.4,232,1313,0.00,2.20,0.00,0.000,1030,0.000,0.037,2665,2201,3388,3404,3373,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1613,-0.82,-126.5,2666,2200,3404,3371,260.3,-14.1,263,1617,0.00,2.25,0.00,0.000,260,0.000,0.062,2656,3598,3387,3404,3371,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1637,-0.82,-126.5,2656,3598,3404,3371,264.2,-15.1,268,1646,0.05,2.20,0.00,0.000,3078,0.243,0.038,2671,2198,3387,3404,3370,0,0,0,0,0,0,14.61,14.77,28.83
$GC,1945,-0.82,-126.5,2671,2197,3404,3365,305.2,-13.2,299,1955,0.00,2.20,0.00,0.000,516,0.000,0.058,2671,812,3384,3404,3365,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2000,-0.82,-126.5,2671,812,3404,3365,313.2,-13.8,310,2009,0.03,2.20,0.00,0.000,3078,0.301,0.042,2670,2189,3384,3404,3365,0,0,0,0,0,0,14.59,14.75,28.83
$GC,2318,-0.82,-126.5,2670,2189,3403,3358,356.5,-13.9,340,2324,0.00,2.20,0.00,0.000,516,0.000,0.057,2670,807,3380,3403,3358,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2350,-0.82,-126.5,2670,808,3403,3358,361.5,-14.3,347,2359,0.05,2.22,0.00,0.000,3078,0.260,0.044,2675,2198,3380,3403,3358,0,0,0,0,0,0,14.63,14.78,28.83
$GC,2658,-0.82,-126.5,2675,2199,3403,3352,402.7,-13.2,363,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2199,3377,3403,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2958,-0.82,-126.5,2673,2199,3400,3351,442.1,-12.8,378,2964,0.00,2.20,0.00,0.000,516,0.000,0.060,2675,820,3375,3400,3351,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3047,-0.82,-126.5,2676,820,3398,3351,454.0,-12.7,396,3051,0.00,2.17,0.00,0.000,1030,0.000,0.049,2667,2198,3374,3398,3351,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3360,-0.82,-126.5,2667,2198,3396,3347,494.7,-13.2,413,3366,0.00,2.28,0.00,0.000,260,0.000,0.071,2657,3601,3371,3396,3347,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3381,-0.82,-126.5,2657,3601,3396,3347,498.0,-13.9,418,3387,0.05,2.22,0.00,0.000,3078,0.239,0.043,2671,2203,3371,3396,3347,0,0,0,0,0,0,14.69,14.85,28.83
$GC,3700,-0.82,-126.5,2671,2202,3394,3344,538.1,-12.7,431,3706,0.00,2.22,0.00,0.000,516,0.000,0.063,2671,810,3369,3394,3344,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3747,-0.82,-126.5,2671,810,3393,3344,544.5,-12.8,441,3752,0.08,2.20,0.00,0.000,3078,0.321,0.050,2676,2202,3369,3394,3344,0,0,0,0,0,0,14.71,14.88,28.83
$GC,4060,-0.82,-126.5,2676,2203,3391,3342,583.4,-12.5,453,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2204,3367,3392,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4360,-0.82,-126.5,2676,2204,3389,3340,620.6,-12.3,463,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2204,3364,3389,3339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4660,-0.82,-126.5,2676,2204,3387,3338,656.8,-12.1,473,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2204,3362,3388,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4960,-0.82,-126.5,2676,2203,3385,3337,692.7,-11.9,483,4964,0.00,2.28,0.00,0.000,516,0.000,0.069,2676,813,3361,3385,3337,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4993,-0.82,-126.5,2676,813,3385,3337,697.2,-12.1,490,4998,0.00,2.25,0.00,0.000,1030,0.000,0.054,2668,2191,3360,3385,3336,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5321,-0.82,-126.5,2668,2192,3383,3335,737.2,-12.3,505,5322,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2192,3359,3383,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5622,-0.82,-126.5,2668,2192,3382,3334,774.8,-12.6,515,5628,0.00,2.25,0.00,0.000,516,0.000,0.070,2668,809,3357,3381,3334,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5659,-0.82,-126.5,2668,809,3381,3334,779.9,-12.7,523,5664,0.10,2.22,0.00,0.000,3078,0.300,0.055,2677,2202,3357,3380,3334,0,0,0,0,0,0,14.70,14.88,28.83
$GC,5982,-0.82,-126.5,2677,2203,3379,3333,818.6,-12.2,537,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2203,3356,3379,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6281,-0.82,-126.5,2677,2203,3378,3332,854.3,-11.7,547,6287,0.00,2.28,0.00,0.000,516,0.000,0.072,2678,808,3355,3378,3332,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6304,-0.82,-126.5,2678,808,3378,3332,857.3,-12.6,552,6312,0.00,2.28,0.00,0.000,1030,0.000,0.055,2670,2196,3355,3378,3332,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6613,-0.82,-126.5,2670,2196,3378,3330,893.7,-12.0,563,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2196,3353,3377,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6911,-0.82,-126.5,2670,2196,3377,3328,929.0,-11.8,573,6917,0.00,2.28,0.00,0.000,516,0.000,0.070,2670,807,3352,3377,3328,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6949,-0.82,-126.5,2670,807,3377,3328,934.1,-12.2,581,6954,0.10,2.25,0.00,0.000,3078,0.316,0.055,2679,2208,3352,3376,3328,0,0,0,0,0,0,14.65,14.86,28.83
$GC,7272,-0.82,-126.5,2679,2208,3377,3327,970.3,-11.3,595,7278,0.00,2.28,0.00,0.000,516,0.000,0.070,2679,813,3352,3377,3327,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7302,-0.82,-126.5,2679,813,3377,3327,973.8,-11.8,601,7308,0.00,2.22,0.00,0.000,1030,0.000,0.055,2671,2202,3352,3377,3327,0,0,0,0,0,0,28.83,14.86,28.83
$STATE,7451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7451,begin apogee
$GC,7455,-0.16,0.0,2671,2144,3375,3326,991.1,-11.6,611,7609,0.77,0.00,147.23,2.204,10246,0.259,0.000,2886,2144,2869,2913,2826,0,0,0,0,0,0,14.58,28.83,13.27
$STATE,7610,end apogee,CONTROL_FINISHED_OK
$STATE,7610,begin climb
$GC,7611,0.82,126.5,2886,2144,2910,2822,995.7,0.0,643,7728,1.08,0.00,112.57,2.336,10246,0.169,0.000,3206,2143,2356,2411,2301,0,0,0,0,0,0,14.00,28.83,13.26
$GC,8022,0.82,126.5,3206,2143,2394,2283,958.0,11.5,660,8028,0.00,2.38,0.00,0.000,516,0.000,0.079,3214,748,2338,2394,2283,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8089,0.82,126.5,3214,748,2394,2283,949.8,11.6,674,8094,0.00,2.33,0.00,0.000,1030,0.000,0.053,3214,2135,2338,2394,2283,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8411,0.82,126.5,3214,2134,2393,2281,912.6,11.4,688,8412,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2135,2337,2393,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8711,0.82,126.5,3214,2135,2392,2280,878.2,11.4,698,8715,0.00,2.33,0.00,0.000,516,0.000,0.079,3222,746,2336,2393,2280,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8761,0.82,126.5,3222,746,2392,2280,872.4,11.6,708,8769,0.00,2.30,0.00,0.000,1030,0.000,0.054,3222,2136,2336,2392,2280,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9068,0.82,126.5,3222,2136,2391,2279,838.3,11.1,719,9074,0.00,2.33,0.00,0.000,516,0.000,0.077,3232,741,2335,2392,2279,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9101,0.82,126.5,3233,741,2391,2280,834.4,11.4,726,9106,0.00,2.30,0.00,0.000,1030,0.000,0.053,3232,2137,2335,2391,2279,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9429,0.82,126.5,3232,2137,2390,2278,798.4,11.1,741,9430,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2137,2334,2390,2279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9729,0.82,126.5,3232,2137,2390,2278,766.6,10.3,751,9735,0.00,2.30,0.00,0.000,516,0.000,0.078,3238,750,2333,2390,2277,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9761,0.82,126.5,3238,750,2390,2278,763.1,10.7,758,9765,0.00,2.28,0.00,0.000,1030,0.000,0.054,3238,2135,2333,2389,2278,0,0,0,0,0,0,28.83,14.79,28.83
$GC,10089,0.82,126.5,3238,2136,2389,2277,730.3,9.9,773,10090,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2135,2333,2389,2277,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17868,end climb,NO_VERTICAL_VELOCITY
$STATE,17868,begin surface
$SM_CCo,17870,9.98,0.152,0,0,509,579.63
$SM_CCo,18173,1.73,0.158,0,0,508,579.63
$SM_GC,4.56,9.48,0.08,1.73,0.102,0.185,0.158,196,2231,508,-8.58,-1.19,579.63,0,0,0,0,0,0,14.74,14.75,14.68
$IRIDIUM_FIX,1751.90,8921.45,060708,202009
$TT8_MAMPS,0.018725,0.018725
$HUMID,44.48
$INTERNAL_PRESSURE,6.71901
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,13.3,29.042
$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,322332
$DATA_FILE_SIZE,137500,1666
$CAP_FILE_SIZE,181096,0
$CFSIZE,2097086464,2082996224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.022, 20.1,1
$GPS,100915,065035,1759.653,8918.934,301,99.0,301,-0.9