version: 66.11
glider: 615
mission: 5
dive: 87
start: 9 20 115 5 31 53
data:
$ID,615
$MISSION,5
$DIVE,87
$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,-18929.287
$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,65
$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
$GPS1,200915,052430,1804.712,8933.918,39,1.0,39,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-68.2
$GPS2,200915,053126,1804.731,8934.012,5,1.1,5,-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,346.1,3668,-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,-126.5,148,2233,562,480,0.0,0.0,0,68,0.00,0.00,-51.17,0.000,16386,0.000,0.000,147,2233,1958,1968,1948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.82,-126.5,147,2232,1969,1948,3.9,-9.6,8,117,10.77,2.35,-27.98,0.000,18948,0.353,0.073,2675,796,3388,3401,3376,0,0,0,0,0,0,14.31,14.55,14.76
$GC,165,-0.82,-126.5,2676,795,3402,3376,34.3,-26.0,24,172,0.00,2.28,0.00,0.000,1030,0.000,0.049,2668,2169,3389,3402,3376,0,0,0,0,0,0,28.83,14.54,28.83
$GC,361,-0.82,-126.5,2667,2170,3401,3375,91.2,-18.4,61,367,0.00,2.33,0.00,0.000,260,0.000,0.061,2657,3610,3388,3400,3376,0,0,0,0,0,0,28.83,14.64,28.83
$GC,409,-0.82,-126.5,2656,3610,3401,3376,101.1,-19.6,70,418,0.05,2.30,0.00,0.000,3078,0.256,0.037,2680,2179,3389,3402,3376,0,0,0,0,0,0,14.48,14.64,28.83
$GC,608,-0.82,-126.5,2680,2178,3402,3378,133.3,-17.2,107,614,0.00,2.20,0.00,0.000,516,0.000,0.056,2680,806,3389,3401,3377,0,0,0,0,0,0,28.83,14.67,28.83
$GC,705,-0.82,-126.5,2680,806,3401,3378,148.5,-14.3,125,711,0.00,2.22,0.00,0.000,1030,0.000,0.043,2671,2217,3389,3401,3378,0,0,0,0,0,0,28.83,14.72,28.83
$GC,899,-0.82,-126.5,2672,2217,3401,3379,176.5,-13.7,162,907,0.00,2.33,0.00,0.000,516,0.000,0.056,2672,807,3390,3402,3379,0,0,0,0,0,0,28.83,14.66,28.83
$GC,913,-0.82,-126.5,2671,806,3402,3379,178.6,-14.1,164,921,0.05,2.25,0.00,0.000,3078,0.265,0.043,2675,2196,3390,3402,3379,0,0,0,0,0,0,14.51,14.67,28.83
$GC,1111,-0.82,-126.5,2675,2197,3402,3379,206.0,-13.6,198,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2197,3389,3401,3378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1411,-0.82,-126.5,2676,2197,3401,3378,247.7,-14.5,228,1420,0.00,2.22,0.00,0.000,516,0.000,0.059,2676,812,3389,3401,3377,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1444,-0.82,-126.5,1800,812,3390,3375,253.1,-15.2,235,1452,0.00,2.25,0.00,0.000,1030,0.000,0.044,2667,2203,3389,3401,3377,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1752,-0.82,-126.5,2667,2203,3401,3374,298.6,-15.0,266,1756,0.00,2.25,0.00,0.000,516,0.000,0.060,2667,806,3387,3401,3374,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1799,-0.82,-126.5,2667,806,3401,3374,305.7,-15.3,275,1811,0.10,2.22,0.00,0.000,3078,0.288,0.047,2678,2209,3387,3401,3373,0,0,0,0,0,0,14.62,14.78,28.83
$GC,2109,-0.82,-126.5,2678,2209,3401,3370,347.9,-13.6,307,2119,0.00,2.28,0.00,0.000,260,0.000,0.071,2669,3602,3386,3401,3371,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2144,-0.82,-126.5,2670,3602,3401,3370,353.1,-13.7,314,2152,0.00,2.25,0.00,0.000,1030,0.000,0.041,2670,2207,3385,3401,3370,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2452,-0.82,-126.5,2669,2207,3401,3365,395.6,-14.0,330,2458,0.00,2.28,0.00,0.000,516,0.000,0.063,2669,799,3383,3401,3366,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2534,-0.82,-126.5,2670,799,3401,3365,407.8,-13.7,347,2540,0.05,2.28,0.00,0.000,3078,0.251,0.049,2688,2196,3383,3402,3364,0,0,0,0,0,0,14.62,14.76,28.83
$GC,2853,-0.82,-126.5,2689,2197,3401,3360,449.5,-13.2,365,2854,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2196,3380,3401,3360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3152,-0.82,-126.5,2689,2196,3401,3356,488.7,-13.1,380,3159,0.00,2.25,0.00,0.000,516,0.000,0.064,2689,807,3378,3401,3355,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3206,-0.82,-126.5,2689,807,3401,3356,496.1,-12.5,391,3214,0.00,2.28,0.00,0.000,1030,0.000,0.050,2681,2196,3378,3401,3356,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3524,-0.82,-126.5,2681,2196,3401,3352,539.0,-13.8,403,3525,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2196,3376,3400,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3823,-0.82,-126.5,2681,2196,3399,3351,579.2,-13.3,413,3829,0.00,2.28,0.00,0.000,516,0.000,0.065,2681,803,3374,3399,3350,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3906,-0.82,-126.5,2681,803,3397,3350,590.4,-12.8,430,3914,0.00,2.30,0.00,0.000,1030,0.000,0.051,2671,2198,3373,3397,3350,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4214,-0.82,-126.5,2671,2198,3397,3347,631.4,-13.6,441,4216,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2198,3372,3397,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4514,-0.82,-126.5,2671,2198,3395,3345,671.7,-13.6,451,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2198,3370,3395,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4814,-0.82,-126.5,2671,2198,3394,3344,712.8,-13.6,461,4820,0.00,2.28,0.00,0.000,516,0.000,0.067,2671,803,3369,3394,3344,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4866,-0.82,-126.5,2671,803,3395,3344,720.4,-13.7,472,4875,0.05,2.30,0.00,0.000,3078,0.258,0.054,2675,2196,3368,3393,3344,0,0,0,0,0,0,14.52,14.72,28.83
$GC,5174,-0.82,-126.5,2675,2197,3392,3343,760.5,-13.2,483,5176,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2196,3367,3392,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5474,-0.82,-126.5,2675,2196,3391,3341,798.6,-12.6,493,5478,0.00,2.30,0.00,0.000,516,0.000,0.067,2675,805,3365,3391,3340,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5514,-0.82,-126.5,2675,804,3391,3341,804.0,-12.9,501,5518,0.00,2.25,0.00,0.000,1030,0.000,0.053,2668,2203,3366,3391,3341,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5830,-0.82,-126.5,2668,2204,3390,3339,844.7,-13.0,514,5836,0.00,2.33,0.00,0.000,260,0.000,0.078,2657,3602,3363,3389,3338,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5873,-0.82,-126.5,2657,3602,3390,3338,850.5,-12.7,523,5878,0.10,2.22,0.00,0.000,3078,0.276,0.045,2677,2201,3363,3389,3338,0,0,0,0,0,0,14.63,14.85,28.83
$GC,6190,-0.82,-126.5,2678,2201,3389,3337,888.6,-12.1,536,6194,0.00,2.28,0.00,0.000,516,0.000,0.069,2677,809,3362,3389,3336,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6270,-0.82,-126.5,2677,810,3389,3337,898.9,-12.3,552,6278,0.00,2.30,0.00,0.000,1030,0.000,0.053,2670,2199,3363,3389,3337,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6578,-0.82,-126.5,2670,2199,3387,3336,937.2,-12.5,563,6582,0.00,2.35,0.00,0.000,260,0.000,0.078,2659,3610,3362,3388,3336,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6597,-0.82,-126.5,2659,3610,3387,3336,939.9,-13.2,567,6601,0.10,2.25,0.00,0.000,3078,0.278,0.043,2679,2194,3361,3387,3336,0,0,0,0,0,0,14.61,14.85,28.83
$GC,6909,-0.82,-126.5,2679,2193,3386,3336,977.4,-12.0,579,6915,0.00,2.28,0.00,0.000,516,0.000,0.069,2679,809,3360,3386,3335,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7002,-0.82,-126.5,2679,809,3385,3336,989.1,-11.8,598,7007,0.00,2.30,0.00,0.000,1030,0.000,0.053,2672,2204,3360,3385,3335,0,0,0,0,0,0,28.83,14.75,28.83
$STATE,7011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7011,begin apogee
$GC,7015,-0.16,0.0,2672,2136,3385,3336,990.3,-11.7,600,7127,0.80,0.00,106.10,2.489,10246,0.278,0.000,2884,2136,2869,2914,2824,0,0,0,0,0,0,14.45,28.83,13.21
$STATE,7129,end apogee,CONTROL_FINISHED_OK
$STATE,7129,begin climb
$GC,7130,0.82,126.5,2885,2135,2912,2820,994.9,0.0,623,7245,1.10,0.00,110.85,2.293,10246,0.197,0.000,3200,2136,2356,2413,2300,0,0,0,0,0,0,13.99,28.83,13.22
$GC,7539,0.82,126.5,3200,2135,2402,2285,961.9,10.2,640,7544,0.00,2.38,0.00,0.000,516,0.000,0.080,3209,747,2343,2402,2285,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7659,0.82,126.5,3210,748,2401,2285,949.1,10.7,664,7664,0.00,2.30,0.00,0.000,1030,0.000,0.051,3210,2145,2343,2401,2285,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7987,0.82,126.5,3209,2145,2398,2283,914.5,10.7,679,7993,0.00,2.35,0.00,0.000,516,0.000,0.079,3217,754,2341,2399,2284,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8029,0.82,126.5,3217,754,2398,2284,909.7,10.7,688,8033,0.00,2.28,0.00,0.000,1030,0.000,0.051,3217,2145,2341,2399,2284,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8347,0.82,126.5,3217,2145,2397,2283,875.3,11.1,701,8353,0.00,2.35,0.00,0.000,516,0.000,0.079,3227,749,2340,2397,2283,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8364,0.82,126.5,3227,749,2397,2283,873.2,10.8,705,8368,0.00,2.28,0.00,0.000,1030,0.000,0.051,3227,2149,2340,2397,2283,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8677,0.82,126.5,3227,2149,2396,2282,838.2,11.2,717,8683,0.00,2.35,0.00,0.000,516,0.000,0.078,3237,749,2339,2396,2283,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8754,0.82,126.5,3237,749,2396,2282,829.1,10.9,733,8758,0.00,2.28,0.00,0.000,1030,0.000,0.051,3237,2148,2339,2396,2282,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9067,0.82,126.5,3237,2149,2395,2282,795.1,11.0,745,9068,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2149,2338,2395,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9367,0.82,126.5,3237,2149,2394,2281,763.3,10.7,755,9373,0.00,2.35,0.00,0.000,516,0.000,0.078,3247,745,2338,2395,2282,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9487,0.82,126.5,3247,744,2394,2281,749.9,10.8,779,9493,0.00,2.25,0.00,0.000,1030,0.000,0.050,3247,2141,2337,2394,2281,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9817,0.82,126.5,3247,2141,2393,2281,716.0,10.1,795,9821,0.00,2.33,0.00,0.000,516,0.000,0.076,3256,750,2337,2394,2281,0,0,0,0,0,0,28.83,14.73,28.83
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$STATE,17396,end climb,SURFACE_DEPTH_REACHED
$STATE,17397,begin surface coast
$FINISH,0.2,1.018557
$STATE,17456,end surface coast,CONTROL_FINISHED_OK
$STATE,17456,begin surface
$SM_CCo,17474,24.10,0.138,0,0,509,579.63
$SM_CCo,17500,0.00,0.000,0,0,511,579.63
$SM_CCo,17502,0.28,0.425,0,0,508,579.63
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$IRIDIUM_FIX,1754.17,8932.79,160708,131335
$TT8_MAMPS,0.018725,0.018725
$HUMID,44.29
$INTERNAL_PRESSURE,6.66041
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,13.2,41.874
$10V_AH,13.2,0.000
$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,322248
$DATA_FILE_SIZE,134173,1663
$CAP_FILE_SIZE,178764,0
$CFSIZE,2097086464,2079981568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.035,225.0,1
$GPS,200915,102533,1806.179,8933.375,81,0.8,81,-0.9