version: 66.11
glider: 615
mission: 5
dive: 86
start: 9 20 115 0 31 7
data:
$ID,615
$MISSION,5
$DIVE,86
$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,-18927.473
$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,37
$R_STBD_OVSHOOT,42
$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
$GPS1,200915,002327,1803.125,8933.537,90,1.1,90,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-65.5
$GPS2,200915,003041,1803.148,8933.657,5,0.9,5,-0.9
$SPEED_LIMITS,0.159,0.189
$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,3.8,6507,-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,-126.5,152,2152,567,478,0.0,0.0,0,63,0.00,0.00,-45.72,0.000,16386,0.000,0.000,151,2152,1821,1832,1811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.82,-126.5,151,2155,1832,1812,3.4,-6.8,7,118,10.68,2.25,-32.67,0.000,19204,0.349,0.073,2672,794,3390,3404,3376,0,0,0,0,0,0,14.31,14.49,14.78
$GC,175,-0.82,-126.5,2672,793,3404,3376,35.2,-34.6,26,183,0.00,2.30,0.00,0.000,1030,0.000,0.049,2664,2190,3390,3404,3376,0,0,0,0,0,0,28.83,14.57,28.83
$GC,367,-0.82,-126.5,1680,2189,3390,3374,88.7,-17.1,63,374,0.08,2.25,0.00,0.000,2564,0.343,0.049,2675,793,3390,3404,3376,0,0,0,0,0,0,14.50,14.64,28.83
$GC,446,-0.82,-126.5,2675,794,3404,3376,102.5,-16.3,78,454,0.00,2.28,0.00,0.000,1030,0.000,0.041,2666,2202,3390,3404,3377,0,0,0,0,0,0,28.83,14.63,28.83
$GC,638,-0.82,-126.5,2666,2202,3404,3378,134.8,-15.0,115,644,0.00,2.25,0.00,0.000,516,0.000,0.054,2666,795,3391,3404,3378,0,0,0,0,0,0,28.83,14.68,28.83
$GC,712,-0.82,-126.5,2666,793,3404,3379,146.4,-16.1,129,720,0.10,2.22,0.00,0.000,3078,0.305,0.040,2676,2211,3391,3404,3379,0,0,0,0,0,0,14.52,14.72,28.83
$GC,904,-0.82,-126.5,2675,2211,3404,3380,172.9,-12.9,166,911,0.00,2.28,0.00,0.000,260,0.000,0.061,2667,3591,3391,3404,3379,0,0,0,0,0,0,28.83,14.67,28.83
$GC,943,-0.82,-126.5,2666,3591,3404,3380,178.3,-14.0,173,951,0.00,2.20,0.00,0.000,1030,0.000,0.037,2666,2178,3392,3404,3380,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1134,-0.82,-126.5,2667,2177,3404,3380,206.2,-14.8,206,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2177,3391,3404,3379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1434,-0.82,-126.5,2666,2177,3404,3378,251.4,-14.4,236,1442,0.00,2.20,0.00,0.000,516,0.000,0.056,2667,806,3390,3404,3377,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1474,-0.82,-126.5,2666,806,3404,3377,257.3,-13.9,244,1479,0.10,2.20,0.00,0.000,3078,0.284,0.044,2677,2202,3390,3404,3377,0,0,0,0,0,0,14.60,14.78,28.83
$GC,1780,-0.82,-126.5,2677,2202,3403,3374,300.5,-14.2,275,1782,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2202,3389,3404,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2081,-0.82,-126.5,2677,2202,3404,3371,342.7,-13.9,305,2090,0.00,2.22,0.00,0.000,516,0.000,0.063,2677,813,3387,3403,3371,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2114,-0.82,-126.5,2677,813,3404,3371,347.5,-14.5,311,2123,0.00,2.20,0.00,0.000,1030,0.000,0.048,2669,2196,3387,3404,3371,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2434,-0.82,-126.5,2669,2197,3403,3367,393.3,-14.3,329,2440,0.00,2.30,0.00,0.000,260,0.000,0.074,2658,3601,3384,3403,3366,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2455,-0.82,-126.5,2658,3601,3403,3366,396.8,-14.3,334,2461,0.05,2.25,0.00,0.000,3078,0.233,0.041,2673,2200,3384,3403,3366,0,0,0,0,0,0,14.60,14.80,28.83
$GC,2774,-0.82,-126.5,2673,2199,3403,3362,439.1,-13.6,352,2780,0.00,2.25,0.00,0.000,516,0.000,0.064,2673,807,3382,3403,3362,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2867,-0.82,-126.5,2673,806,3403,3361,452.2,-13.2,371,2875,0.00,2.28,0.00,0.000,1030,0.000,0.049,2665,2198,3382,3403,3361,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3174,-0.82,-126.5,2665,2198,3403,3356,494.7,-14.2,387,3180,0.00,2.25,0.00,0.000,516,0.000,0.063,2665,809,3379,3403,3355,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3202,-0.82,-126.5,2665,809,3402,3356,499.1,-14.1,393,3207,0.10,2.22,0.00,0.000,3078,0.281,0.049,2675,2204,3378,3401,3356,0,0,0,0,0,0,14.63,14.81,28.83
$GC,3515,-0.82,-126.5,2675,2205,3401,3353,540.3,-13.2,405,3521,0.00,2.28,0.00,0.000,516,0.000,0.064,2675,810,3376,3401,3352,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3568,-0.82,-126.5,2675,810,3401,3353,547.7,-13.4,416,3576,0.00,2.28,0.00,0.000,1030,0.000,0.050,2668,2201,3377,3401,3353,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3875,-0.82,-126.5,2668,2201,3401,3351,589.6,-13.7,427,3881,0.00,2.28,0.00,0.000,516,0.000,0.065,2668,807,3375,3400,3351,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3908,-0.82,-126.5,2668,807,3400,3351,594.5,-13.8,434,3913,0.05,2.28,0.00,0.000,3078,0.253,0.050,2672,2204,3375,3400,3351,0,0,0,0,0,0,14.59,14.79,28.83
$GC,4236,-0.82,-126.5,2672,2204,3398,3348,636.6,-12.9,449,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2204,3373,3398,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4536,-0.82,-126.5,2672,2204,3397,3346,674.8,-12.8,459,4542,0.00,2.28,0.00,0.000,516,0.000,0.067,2672,812,3371,3397,3345,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4578,-0.82,-126.5,2672,812,3397,3345,680.6,-12.9,468,4583,0.00,2.22,0.00,0.000,1030,0.000,0.051,2665,2201,3371,3397,3346,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4896,-0.82,-126.5,2665,2201,3395,3344,722.0,-13.2,481,4902,0.00,2.28,0.00,0.000,516,0.000,0.067,2665,810,3370,3396,3344,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4933,-0.82,-126.5,2665,810,3395,3344,727.5,-13.7,489,4938,0.10,2.25,0.00,0.000,3078,0.297,0.051,2675,2211,3369,3395,3344,0,0,0,0,0,0,14.62,14.83,28.83
$GC,5256,-0.82,-126.5,2675,2212,3394,3343,768.4,-12.8,503,5257,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2212,3368,3394,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5556,-0.82,-126.5,2675,2212,3393,3341,807.2,-13.0,513,5562,0.00,2.30,0.00,0.000,516,0.000,0.067,2675,810,3367,3393,3341,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5594,-0.82,-126.5,2674,810,3392,3341,812.7,-13.6,521,5598,0.00,2.22,0.00,0.000,1030,0.000,0.052,2667,2200,3367,3393,3341,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5916,-0.82,-126.5,2667,2201,3392,3340,855.2,-13.5,535,5918,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2201,3365,3391,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6216,-0.82,-126.5,2667,2201,3390,3338,894.9,-13.3,545,6221,0.00,2.30,0.00,0.000,516,0.000,0.068,2667,812,3364,3390,3338,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6250,-0.82,-126.5,2667,812,3390,3338,899.8,-13.5,552,6256,0.05,2.28,0.00,0.000,3078,0.274,0.054,2671,2194,3364,3390,3338,0,0,0,0,0,0,14.54,14.76,28.83
$GC,6578,-0.82,-126.5,2671,2195,3389,3337,940.7,-12.4,567,6584,0.00,2.28,0.00,0.000,516,0.000,0.068,2671,812,3363,3389,3337,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6608,-0.82,-126.5,2672,812,3389,3337,944.5,-12.6,573,6614,0.00,2.25,0.00,0.000,1030,0.000,0.053,2666,2209,3363,3389,3337,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6938,-0.82,-126.5,2666,2209,3388,3336,985.7,-12.5,589,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2209,3362,3388,3336,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6997,begin apogee
$GC,7001,-0.16,0.0,2666,2140,3388,3336,993.1,-12.5,591,7122,0.85,0.00,116.20,2.342,10246,0.297,0.000,2886,2139,2870,2915,2826,0,0,0,0,0,0,14.43,28.83,13.28
$STATE,7124,end apogee,CONTROL_FINISHED_OK
$STATE,7124,begin climb
$GC,7125,0.82,126.5,2886,2139,2912,2820,997.6,0.0,616,7243,1.15,2.55,109.15,2.233,10500,0.229,0.076,3200,3542,2349,2407,2292,0,0,0,0,0,0,13.96,13.93,13.22
$GC,7272,0.82,126.5,3201,3542,2402,2289,989.8,10.4,645,7278,0.00,2.35,0.00,0.000,1030,0.000,0.051,3208,2160,2344,2402,2287,0,0,0,0,0,0,28.83,14.13,28.83
$GC,7601,0.82,126.5,3208,2160,2402,2284,952.4,11.4,661,7605,0.00,2.45,0.00,0.000,516,0.000,0.084,3214,737,2343,2402,2284,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7706,0.82,126.5,3214,736,2402,2284,940.1,11.4,682,7710,0.00,2.30,0.00,0.000,1030,0.000,0.054,3214,2134,2342,2401,2284,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8023,0.82,126.5,3214,2135,2400,2283,904.4,11.4,695,8029,0.00,2.38,0.00,0.000,516,0.000,0.084,3214,735,2341,2399,2283,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8116,0.82,126.5,3214,735,2399,2283,893.6,11.7,714,8121,0.00,2.35,0.00,0.000,1030,0.000,0.054,3214,2143,2341,2399,2283,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8444,0.82,126.5,3214,2143,2397,2282,858.0,11.0,729,8449,0.00,2.40,0.00,0.000,516,0.000,0.081,3221,731,2340,2397,2283,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8519,0.82,126.5,3222,731,2397,2283,849.1,11.4,744,8523,0.00,2.30,0.00,0.000,1030,0.000,0.053,3219,2143,2339,2397,2282,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8837,0.82,126.5,3219,2143,2396,2281,814.6,11.1,757,8843,0.00,2.38,0.00,0.000,516,0.000,0.080,3228,724,2338,2396,2281,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8909,0.82,126.5,3228,724,2396,2281,806.2,11.3,772,8913,0.00,2.30,0.00,0.000,1030,0.000,0.053,3228,2143,2338,2396,2281,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9227,0.82,126.5,3228,2142,2395,2281,772.2,10.5,785,9228,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,2143,2337,2395,2280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9527,0.82,126.5,3228,2143,2394,2279,740.9,10.5,795,9531,0.00,2.38,0.00,0.000,516,0.000,0.080,3237,731,2337,2394,2280,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9576,0.82,126.5,3237,731,2394,2280,735.2,10.6,805,9580,0.00,2.28,0.00,0.000,1030,0.000,0.052,3237,2139,2337,2394,2280,0,0,0,0,0,0,28.83,14.78,28.83
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$STATE,17488,end climb,SURFACE_DEPTH_REACHED
$STATE,17488,begin surface coast
$FINISH,0.3,1.019268
$STATE,17504,end surface coast,CONTROL_FINISHED_OK
$STATE,17505,begin surface
$SM_CCo,17520,1.08,0.216,0,0,509,579.63
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$TT8_MAMPS,0.018725,0.018725
$HUMID,43.93
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$TCM_TEMP,24.70
$XPDR_PINGS,1
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$10V_AH,12.7,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,322316
$DATA_FILE_SIZE,137331,1688
$CAP_FILE_SIZE,182499,0
$CFSIZE,2097086464,2080145408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.021,149.9,1
$GPS,200915,052430,1804.712,8933.918,39,1.0,39,-0.9