version: 66.11
glider: 615
mission: 5
dive: 69
start: 9 16 115 11 47 2
data:
$ID,615
$MISSION,5
$DIVE,69
$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,700
$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,-18902.479
$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,47
$R_STBD_OVSHOOT,63
$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,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
$GPS1,160915,113903,1809.260,8929.135,86,0.8,86,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-72.7
$GPS2,160915,114636,1809.287,8929.209,6,0.8,6,-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,258.0,14250,-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,-126.5,162,2232,560,485,0.0,0.0,0,56,0.00,0.00,-39.03,0.000,16386,0.000,0.000,161,2232,1613,1617,1609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.82,-126.5,161,2234,1618,1609,3.1,-7.3,6,117,10.73,2.38,-38.40,0.000,18948,0.355,0.074,2673,800,3390,3403,3378,0,0,0,0,0,0,14.32,14.51,14.79
$GC,123,-0.82,-126.5,2673,800,3403,3378,19.5,-30.6,16,131,0.00,2.25,0.00,0.000,1030,0.000,0.048,2665,2166,3390,3402,3378,0,0,0,0,0,0,28.83,14.54,28.83
$GC,314,-0.82,-126.5,2665,2168,3403,3376,79.8,-23.6,53,322,0.00,2.33,0.00,0.000,260,0.000,0.057,2654,3609,3390,3403,3377,0,0,0,0,0,0,28.83,14.65,28.83
$GC,461,-0.82,-126.5,2654,3609,3403,3378,106.5,-17.7,81,469,0.10,2.22,0.00,0.000,3078,0.295,0.037,2673,2184,3390,3403,3378,0,0,0,0,0,0,14.52,14.72,28.83
$GC,652,-0.82,-126.5,2674,2185,3403,3379,135.1,-15.2,118,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2184,3391,3404,3379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,840,-0.82,-126.5,1664,2182,3389,3377,162.5,-14.8,155,847,0.00,2.20,0.00,0.000,516,0.000,0.056,2674,806,3391,3403,3380,0,0,0,0,0,0,28.83,14.71,28.83
$GC,949,-0.82,-126.5,1696,806,3389,3377,178.1,-13.8,176,956,0.00,2.25,0.00,0.000,1030,0.000,0.043,2665,2203,3391,3403,3379,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1139,-0.82,-126.5,2665,2204,3402,3379,206.3,-14.8,209,1149,0.00,2.25,0.00,0.000,260,0.000,0.063,2654,3598,3391,3403,3379,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1174,-0.82,-126.5,2654,3600,3403,3379,212.2,-16.2,216,1183,0.08,2.22,0.00,0.000,3078,0.239,0.036,2675,2194,3391,3403,3379,0,0,0,0,0,0,14.50,14.69,28.83
$GC,1482,-0.82,-126.5,2676,2194,3403,3376,255.2,-13.9,247,1492,0.00,2.20,0.00,0.000,516,0.000,0.057,2675,812,3389,3403,3376,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1558,-0.82,-126.5,2676,812,3403,3376,266.3,-13.5,262,1566,0.00,2.25,0.00,0.000,1030,0.000,0.044,2667,2204,3389,3403,3376,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1865,-0.82,-126.5,2667,2204,3403,3372,310.6,-14.3,293,1876,0.00,2.22,0.00,0.000,516,0.000,0.058,2667,816,3387,3403,3372,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1889,-0.82,-126.5,2667,816,3403,3372,314.0,-14.8,297,1899,0.10,2.17,0.00,0.000,3078,0.299,0.046,2677,2200,3387,3402,3372,0,0,0,0,0,0,14.62,14.80,28.83
$GC,2199,-0.82,-126.5,2677,2200,3403,3368,356.4,-13.3,327,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2200,3385,3403,3368,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2499,-0.82,-126.5,2677,2201,3403,3363,396.2,-12.8,342,2505,0.00,2.22,0.00,0.000,516,0.000,0.063,2677,818,3383,3403,3363,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2541,-0.82,-126.5,2677,818,3402,3363,402.1,-12.8,351,2546,0.00,2.22,0.00,0.000,1030,0.000,0.050,2669,2187,3382,3402,3362,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2859,-0.82,-126.5,2669,2188,3402,3357,444.3,-13.3,369,2865,0.00,2.33,0.00,0.000,260,0.000,0.071,2658,3612,3379,3402,3357,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2887,-0.82,-126.5,2658,3612,3402,3357,448.5,-13.6,375,2892,0.10,2.20,0.00,0.000,3078,0.280,0.039,2679,2207,3379,3402,3356,0,0,0,0,0,0,14.66,14.86,28.83
$GC,3200,-0.82,-126.5,2679,2206,3402,3352,488.8,-12.9,392,3206,0.00,2.25,0.00,0.000,516,0.000,0.061,2679,806,3377,3402,3352,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3262,-0.82,-126.5,2679,806,3401,3352,497.2,-12.6,405,3267,0.00,2.28,0.00,0.000,1030,0.000,0.050,2671,2202,3377,3402,3352,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3569,-0.82,-126.5,2671,2202,3401,3350,538.1,-13.6,418,3574,0.00,2.25,0.00,0.000,516,0.000,0.063,2671,810,3375,3401,3350,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3613,-0.82,-126.5,2671,810,3400,3350,544.4,-13.7,427,3619,0.08,2.25,0.00,0.000,3078,0.327,0.050,2675,2217,3374,3399,3350,0,0,0,0,0,0,14.65,14.84,28.83
$GC,3926,-0.82,-126.5,2675,2218,3398,3347,584.3,-12.7,439,3927,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2217,3372,3398,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4227,-0.82,-126.5,2674,2217,3396,3345,622.1,-12.8,449,4231,0.00,2.30,0.00,0.000,516,0.000,0.065,2674,809,3370,3396,3345,0,0,0,0,0,0,28.83,14.82,28.83
$GC,4290,-0.82,-126.5,2675,810,3395,3345,630.7,-12.1,462,4295,0.00,2.28,0.00,0.000,1030,0.000,0.051,2667,2202,3370,3395,3345,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4618,-0.82,-126.5,2667,2204,3394,3343,674.2,-13.6,477,4619,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2203,3368,3394,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4918,-0.82,-126.5,2667,2204,3393,3342,714.8,-13.4,487,4924,0.00,2.28,0.00,0.000,516,0.000,0.066,2667,809,3367,3393,3342,0,0,0,0,0,0,28.83,14.82,28.83
$GC,4980,-0.82,-126.5,2667,809,3392,3342,723.1,-13.4,499,4987,0.08,2.22,0.00,0.000,3078,0.256,0.052,2677,2209,3367,3392,3342,0,0,0,0,0,0,14.62,14.84,28.83
$GC,5310,-0.82,-126.5,2677,2209,3390,3340,764.3,-12.3,515,5311,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2209,3365,3391,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5609,-0.82,-126.5,2677,2210,3389,3338,801.0,-12.1,525,5614,0.00,2.30,0.00,0.000,516,0.000,0.067,2677,808,3363,3389,3338,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5689,-0.82,-126.5,2677,807,3389,3338,810.8,-11.3,541,5694,0.00,2.28,0.00,0.000,1030,0.000,0.052,2670,2197,3363,3389,3338,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6002,-0.82,-126.5,2669,2197,3388,3337,848.1,-12.1,553,6003,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2197,3362,3388,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6302,-0.82,-126.5,2669,2197,3387,3336,884.3,-12.2,563,6308,0.00,2.25,0.00,0.000,516,0.000,0.067,2670,812,3362,3387,3337,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6340,-0.82,-126.5,2670,812,3387,3336,889.3,-12.4,571,6344,0.10,2.22,0.00,0.000,3078,0.323,0.052,2678,2200,3361,3386,3336,0,0,0,0,0,0,14.59,14.83,28.83
$GC,6662,-0.82,-126.5,2678,2201,3384,3336,926.7,-11.7,585,6668,0.00,2.28,0.00,0.000,516,0.000,0.068,2679,813,3360,3385,3336,0,0,0,0,0,0,28.83,14.79,28.83
$GC,6692,-0.82,-126.5,2679,812,3385,3336,930.2,-12.4,591,6698,0.00,2.22,0.00,0.000,1030,0.000,0.053,2671,2200,3360,3385,3336,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7022,-0.82,-126.5,2671,2199,3384,3334,969.3,-11.9,607,7026,0.00,2.35,0.00,0.000,260,0.000,0.079,2660,3609,3359,3384,3334,0,0,0,0,0,0,28.83,14.80,28.83
$GC,7056,-0.82,-126.5,2660,3610,3383,3334,973.7,-12.2,614,7061,0.05,2.28,0.00,0.000,3078,0.265,0.044,2673,2199,3358,3383,3334,0,0,0,0,0,0,14.57,14.81,28.83
$STATE,7203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7203,begin apogee
$GC,7207,-0.16,0.0,2673,2149,3383,3333,990.4,-11.5,623,7325,0.77,0.00,110.68,2.307,10246,0.262,0.000,2887,2149,2866,2912,2820,0,0,0,0,0,0,14.51,28.83,13.24
$STATE,7326,end apogee,CONTROL_FINISHED_OK
$STATE,7326,begin climb
$GC,7328,0.82,126.5,2887,2149,2910,2818,994.2,0.0,647,7449,1.05,2.53,112.22,2.431,10500,0.174,0.073,3201,3540,2348,2403,2293,0,0,0,0,0,0,14.03,13.92,13.22
$GC,7501,0.82,126.5,3201,3540,2397,2286,983.2,11.0,682,7509,0.00,2.38,0.00,0.000,1030,0.000,0.047,3210,2143,2341,2397,2285,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7808,0.82,126.5,3209,2143,2397,2283,948.8,11.3,693,7811,0.00,2.40,0.00,0.000,516,0.000,0.078,3221,736,2340,2397,2283,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7962,0.82,126.5,3221,736,2396,2283,931.0,11.2,724,7967,0.00,2.33,0.00,0.000,1030,0.000,0.050,3221,2130,2339,2396,2283,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8291,0.82,126.5,3220,2130,2395,2282,894.7,11.1,739,8295,0.00,2.35,0.00,0.000,516,0.000,0.077,3230,739,2338,2395,2282,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8325,0.82,126.5,3230,738,2395,2282,890.6,11.6,746,8330,0.00,2.33,0.00,0.000,1030,0.000,0.050,3229,2139,2338,2395,2282,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8653,0.82,126.5,3229,2138,2394,2281,853.2,11.4,761,8654,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,2139,2337,2394,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8953,0.82,126.5,3230,2139,2394,2280,818.7,11.4,771,8959,0.00,2.35,0.00,0.000,516,0.000,0.077,3239,735,2336,2393,2279,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9013,0.82,126.5,3239,733,2393,2280,811.7,11.7,783,9017,0.00,2.25,0.00,0.000,1030,0.000,0.051,3239,2140,2337,2394,2281,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9344,0.82,126.5,3239,2140,2393,2280,774.6,11.1,799,9350,0.00,2.35,0.00,0.000,516,0.000,0.076,3249,732,2336,2393,2280,0,0,0,0,0,0,28.83,14.74,28.83
$GC,9442,0.82,126.5,3249,732,2392,2280,763.3,11.4,819,9447,0.00,2.33,0.00,0.000,1030,0.000,0.051,3249,2143,2336,2393,2280,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9766,0.82,126.5,3249,2144,2392,2280,727.6,11.1,833,9770,0.00,2.38,0.00,0.000,516,0.000,0.076,3259,729,2336,2392,2280,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9835,0.82,126.5,3259,729,2391,2280,719.4,11.3,847,9840,0.10,2.28,0.00,0.000,5126,0.294,0.051,3239,2142,2336,2392,2280,0,0,0,0,0,0,14.59,14.79,28.83
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$STATE,17503,end climb,SURFACE_DEPTH_REACHED
$STATE,17503,begin surface coast
$FINISH,0.2,1.012817
$STATE,17550,end surface coast,CONTROL_FINISHED_OK
$STATE,17550,begin surface
$SM_CCo,17565,0.98,0.195,0,0,508,579.63
$SM_CCo,17569,-0.10,0.000,0,0,511,579.63
$SM_CCo,17572,0.43,0.313,0,0,508,579.63
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$IRIDIUM_FIX,1800.97,8932.77,120708,202027
$TT8_MAMPS,0.018725,0.018725
$HUMID,44.56
$INTERNAL_PRESSURE,6.67018
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,13.2,36.058
$10V_AH,12.8,0.000
$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,322444
$DATA_FILE_SIZE,144144,1766
$CAP_FILE_SIZE,190004,0
$CFSIZE,2097086464,2082930688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.017,278.0,1
$GPS,160915,164157,1808.914,8927.249,86,0.9,86,-0.9