version: 66.11
glider: 615
mission: 5
dive: 51
start: 9 12 115 11 37 49
data:
$ID,615
$MISSION,5
$DIVE,51
$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,-13438.269
$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,56
$R_STBD_OVSHOOT,37
$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,2.73
$_SM_ANGLEo,-69.5
$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,-126.5,187,2179,561,494,0.0,0.0,0,44,0.00,0.00,-27.45,0.000,16386,0.000,0.000,187,2177,1339,1353,1326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-0.82,-126.5,187,2176,1353,1326,3.3,-3.5,4,124,10.23,2.35,-58.20,0.000,18692,0.345,0.077,2668,3614,3389,3401,3378,0,0,0,0,0,0,14.54,14.73,14.96
$GC,338,-0.82,-126.5,2668,3613,3401,3377,75.8,-22.3,58,346,0.03,2.22,0.00,0.000,3078,0.317,0.036,2673,2195,3389,3401,3377,0,0,0,0,0,0,14.61,14.76,28.83
$GC,530,-0.82,-126.5,1680,2192,3386,3375,105.9,-14.4,95,536,0.00,2.17,0.00,0.000,516,0.000,0.054,2673,815,3389,3401,3377,0,0,0,0,0,0,28.83,14.78,28.83
$GC,655,-0.82,-126.5,2673,815,3401,3377,124.6,-16.5,119,661,0.00,2.17,0.00,0.000,1030,0.000,0.041,2665,2218,3389,3401,3377,0,0,0,0,0,0,28.83,14.81,28.83
$GC,844,-0.82,-126.5,1680,2217,3387,3374,152.3,-16.9,156,851,0.00,2.25,0.00,0.000,260,0.000,0.060,2655,3596,3389,3401,3377,0,0,0,0,0,0,28.83,14.74,28.83
$GC,883,-0.82,-126.5,2654,3597,3401,3377,158.6,-15.8,163,891,0.10,2.15,0.00,0.000,3078,0.280,0.036,2675,2192,3389,3401,3377,0,0,0,0,0,0,14.66,14.84,28.83
$GC,1073,-0.82,-126.5,1696,2188,3387,3374,185.9,-13.7,200,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2191,3388,3401,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1262,-0.82,-126.5,2675,2190,3401,3375,211.0,-13.0,229,1273,0.00,2.25,0.00,0.000,260,0.000,0.063,2666,3596,3387,3401,3374,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1307,-0.82,-126.5,2666,3597,3401,3374,217.9,-14.7,238,1317,0.00,2.20,0.00,0.000,1030,0.000,0.037,2666,2206,3387,3401,3374,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1615,-0.82,-126.5,2666,2206,3401,3372,261.3,-13.9,269,1625,0.00,2.22,0.00,0.000,516,0.000,0.058,2666,803,3386,3401,3371,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1690,-0.82,-126.5,2665,803,3401,3371,271.8,-14.1,283,1700,0.08,2.17,0.00,0.000,3078,0.240,0.045,2677,2197,3385,3401,3370,0,0,0,0,0,0,14.61,14.84,28.83
$GC,2000,-0.82,-126.5,2677,2197,3400,3365,312.6,-13.1,315,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2197,3383,3401,3365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2299,-0.82,-126.5,2677,2197,3401,3359,352.7,-13.6,344,2306,0.00,2.22,0.00,0.000,516,0.000,0.058,2678,807,3380,3401,3359,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2352,-0.82,-126.5,2677,807,3400,3359,360.3,-13.7,355,2361,0.00,2.25,0.00,0.000,1030,0.000,0.047,2669,2200,3379,3400,3358,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2659,-0.82,-126.5,2669,2201,3400,3353,403.7,-14.7,371,2665,0.00,2.22,0.00,0.000,516,0.000,0.063,2669,813,3376,3400,3353,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2713,-0.82,-126.5,2669,812,3399,3353,411.8,-14.3,382,2721,0.05,2.25,0.00,0.000,3078,0.260,0.049,2673,2204,3376,3399,3353,0,0,0,0,0,0,14.64,14.79,28.83
$GC,3020,-0.82,-126.5,2674,2204,3397,3349,453.8,-13.8,398,3027,0.00,2.25,0.00,0.000,516,0.000,0.064,2674,805,3373,3397,3349,0,0,0,0,0,0,28.83,14.84,28.83
$GC,3083,-0.82,-126.5,2674,805,3396,3349,463.1,-13.5,411,3088,0.00,2.25,0.00,0.000,1030,0.000,0.049,2665,2198,3372,3396,3349,0,0,0,0,0,0,28.83,14.84,28.83
$GC,3391,-0.82,-126.5,2665,2199,3394,3346,505.3,-13.7,428,3392,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2199,3370,3394,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3691,-0.82,-126.5,2665,2199,3392,3344,546.7,-13.8,438,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2199,3367,3392,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3991,-0.82,-126.5,2665,2198,3390,3342,586.2,-13.1,448,3995,0.00,2.25,0.00,0.000,516,0.000,0.066,2665,809,3365,3389,3341,0,0,0,0,0,0,28.83,14.86,28.83
$GC,4018,-0.82,-126.5,2665,809,3389,3342,589.6,-13.0,453,4024,0.10,2.20,0.00,0.000,3078,0.294,0.052,2676,2200,3365,3389,3342,0,0,0,0,0,0,14.72,14.88,28.83
$GC,4347,-0.82,-126.5,2676,2199,3388,3338,630.0,-12.1,469,4353,0.00,2.25,0.00,0.000,516,0.000,0.068,2676,809,3363,3388,3338,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4379,-0.82,-126.5,2676,808,3388,3338,634.3,-12.2,476,4384,0.00,2.25,0.00,0.000,1030,0.000,0.054,2668,2192,3362,3387,3338,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4708,-0.82,-126.5,2668,2193,3385,3337,675.2,-12.6,491,4714,0.00,2.30,0.00,0.000,260,0.000,0.076,2657,3603,3361,3385,3337,0,0,0,0,0,0,28.83,14.86,28.83
$GC,4730,-0.82,-126.5,2657,3603,3385,3337,678.4,-12.6,496,4739,0.08,2.25,0.00,0.000,3078,0.230,0.045,2679,2201,3361,3385,3337,0,0,0,0,0,0,14.65,14.83,28.83
$GC,5038,-0.82,-126.5,2679,2200,3383,3336,715.1,-12.0,507,5043,0.00,2.25,0.00,0.000,516,0.000,0.068,2679,806,3359,3383,3336,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5128,-0.82,-126.5,2679,806,3382,3336,726.1,-11.4,525,5134,0.00,2.22,0.00,0.000,1030,0.000,0.053,2671,2207,3359,3382,3336,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5459,-0.82,-126.5,2670,2208,3380,3334,767.3,-12.7,541,5460,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2208,3357,3380,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5758,-0.82,-126.5,2670,2208,3379,3333,804.9,-12.6,551,5764,0.00,2.28,0.00,0.000,516,0.000,0.069,2670,810,3355,3378,3333,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5819,-0.82,-126.5,2670,810,3378,3333,812.7,-12.6,563,5826,0.05,2.22,0.00,0.000,3078,0.265,0.054,2674,2207,3355,3378,3333,0,0,0,0,0,0,14.67,14.88,28.83
$GC,6148,-0.82,-126.5,2674,2206,3377,3331,854.2,-12.8,579,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2206,3354,3378,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6448,-0.82,-126.5,2674,2206,3378,3329,891.5,-12.3,589,6452,0.00,2.28,0.00,0.000,516,0.000,0.070,2674,810,3353,3377,3329,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6482,-0.82,-126.5,2674,810,3376,3329,896.1,-12.7,596,6487,0.00,2.28,0.00,0.000,1030,0.000,0.055,2666,2200,3353,3377,3329,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6810,-0.82,-126.5,2666,2201,3377,3328,937.6,-12.9,611,6811,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2201,3352,3377,3328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7110,-0.82,-126.5,2667,2201,3376,3327,975.9,-12.7,621,7116,0.00,2.28,0.00,0.000,516,0.000,0.071,2665,812,3351,3376,3327,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7163,-0.82,-126.5,2666,812,3375,3327,983.0,-12.8,632,7171,0.08,2.30,0.00,0.000,3078,0.259,0.056,2676,2205,3350,3374,3327,0,0,0,0,0,0,14.57,14.76,28.83
$STATE,7231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7231,begin apogee
$GC,7235,-0.16,0.0,2676,2146,3374,3327,990.6,-11.8,635,7388,0.75,0.00,147.00,2.163,10246,0.255,0.000,2888,2146,2869,2913,2826,0,0,0,0,0,0,14.59,28.83,13.35
$STATE,7389,end apogee,CONTROL_FINISHED_OK
$STATE,7390,begin climb
$GC,7391,0.82,126.5,2888,2146,2909,2821,996.1,0.0,667,7508,1.05,2.50,110.72,2.222,10756,0.167,0.079,3211,745,2348,2403,2293,0,0,0,0,0,0,14.00,13.93,13.25
$GC,7533,0.82,126.5,2352,744,2345,2283,989.3,9.8,681,7538,0.00,2.40,0.00,0.000,1030,0.000,0.051,3211,2134,2341,2394,2289,0,0,0,0,0,0,28.83,14.13,28.83
$GC,7861,0.82,126.5,3211,2134,2394,2284,952.5,11.3,696,7867,0.00,2.35,0.00,0.000,516,0.000,0.079,3219,745,2339,2394,2284,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7883,0.82,126.5,3219,745,2394,2283,949.7,11.5,701,7891,0.00,2.30,0.00,0.000,1030,0.000,0.053,3218,2145,2338,2393,2284,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8190,0.82,126.5,3219,2145,2392,2283,914.5,11.6,712,8191,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2145,2338,2393,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8490,0.82,126.5,3219,2145,2392,2282,879.9,11.4,722,8494,0.00,2.35,0.00,0.000,516,0.000,0.078,3229,740,2337,2392,2282,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8610,0.82,126.5,3229,739,2391,2283,865.8,11.1,746,8614,0.00,2.33,0.00,0.000,1030,0.000,0.054,3228,2144,2336,2391,2282,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8938,0.82,126.5,3229,2145,2391,2282,828.3,11.5,761,8939,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2145,2336,2391,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9238,0.82,126.5,3229,2145,2390,2281,794.6,11.2,771,9244,0.00,2.33,0.00,0.000,516,0.000,0.078,3237,744,2335,2390,2281,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9275,0.82,126.5,3238,745,2390,2281,790.0,11.5,779,9279,0.00,2.25,0.00,0.000,1030,0.000,0.053,3238,2141,2335,2390,2281,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9598,0.82,126.5,3237,2141,2388,2280,753.9,11.2,793,9604,0.00,2.33,0.00,0.000,516,0.000,0.078,3242,744,2334,2388,2280,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9660,0.82,126.5,3242,743,2388,2280,746.7,11.2,806,9665,0.00,2.30,0.00,0.000,1030,0.000,0.053,3242,2141,2334,2388,2280,0,0,0,0,0,0,28.83,14.79,28.83
$GC,9988,0.82,126.5,3242,2141,2387,2280,711.0,11.0,821,9995,0.00,2.33,0.00,0.000,260,0.000,0.077,3241,3549,2333,2387,2280,0,0,0,0,0,0,28.83,14.81,28.83
$GC,10026,0.82,126.5,3241,3549,2386,2279,706.3,11.7,829,10031,0.00,2.25,0.00,0.000,1030,0.000,0.050,3250,2147,2333,2386,2280,0,0,0,0,0,0,28.83,14.83,28.83
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$STATE,17954,end climb,NO_VERTICAL_VELOCITY
$STATE,17954,begin surface
$SM_CCo,18221,1.38,0.168,0,0,508,579.63
$SM_GC,5.52,9.75,2.33,1.38,0.104,0.037,0.168,195,2225,508,-8.58,-1.27,579.63,0,0,0,0,0,0,14.77,14.80,14.71
$IRIDIUM_FIX,1751.90,8921.45,060708,202009
$TT8_MAMPS,0.018725,0.018725
$HUMID,42.16
$INTERNAL_PRESSURE,6.75807
$TCM_TEMP,25.60
$XPDR_PINGS,1
$24V_AH,13.2,29.706
$10V_AH,13.0,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_SECS,1006.015,695.237,1750.338,1069.693,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322308
$DATA_FILE_SIZE,147450,1817
$CAP_FILE_SIZE,188320,0
$CFSIZE,2097086464,2081882112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.017, 21.1,1
$GPS,100915,065035,1759.653,8918.934,301,99.0,301,-0.9