version: 66.11
glider: 615
mission: 5
dive: 89
start: 9 20 115 15 37 1
data:
$ID,615
$MISSION,5
$DIVE,89
$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,-18931.799
$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,48
$R_STBD_OVSHOOT,72
$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
$GPS1,200915,152833,1804.809,8931.589,49,0.9,49,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-64.8
$GPS2,200915,153634,1804.773,8931.684,53,0.8,53,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,SW
$TGT_LATLONG,1755.320,8921.600
$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,218.9,24945,-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,-126.5,155,2238,567,476,0.0,0.0,0,63,0.00,0.00,-45.85,0.000,16386,0.000,0.000,152,2239,1820,1821,1819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.82,-126.5,152,2238,1821,1819,3.6,-8.4,7,111,10.95,0.00,-30.70,0.000,18438,0.363,0.000,2672,2237,3390,3403,3378,0,0,0,0,0,0,14.31,28.83,14.78
$GC,294,-0.82,-126.5,2672,2238,3402,3377,76.7,-21.8,50,301,0.00,2.22,0.00,0.000,260,0.000,0.060,2664,3575,3389,3401,3377,0,0,0,0,0,0,28.83,14.58,28.83
$GC,348,-0.82,-126.5,1680,3574,3388,3375,88.9,-22.5,60,355,0.00,2.22,0.00,0.000,1030,0.000,0.040,2663,2200,3389,3402,3377,0,0,0,0,0,0,28.83,14.61,28.83
$GC,538,-0.82,-126.5,2663,2200,3402,3379,120.1,-14.6,97,546,0.08,2.25,0.00,0.000,2564,0.315,0.053,2676,803,3390,3402,3379,0,0,0,0,0,0,14.57,14.66,28.83
$GC,568,-0.82,-126.5,2676,802,3402,3379,125.1,-16.8,102,576,0.00,2.20,0.00,0.000,1030,0.000,0.040,2667,2165,3390,3402,3379,0,0,0,0,0,0,28.83,14.63,28.83
$GC,759,-0.82,-126.5,1696,2163,3388,3378,154.2,-15.8,139,766,0.00,2.17,0.00,0.000,516,0.000,0.055,2668,805,3391,3402,3380,0,0,0,0,0,0,28.83,14.69,28.83
$GC,814,-0.82,-126.5,2667,805,3402,3380,162.2,-14.9,149,822,0.10,2.20,0.00,0.000,3078,0.295,0.041,2677,2208,3391,3402,3380,0,0,0,0,0,0,14.54,14.73,28.83
$GC,1005,-0.82,-126.5,2677,2208,3402,3380,189.2,-13.8,186,1012,0.00,2.30,0.00,0.000,516,0.000,0.057,2678,810,3391,3402,3380,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1039,-0.82,-126.5,1696,810,3388,3377,194.2,-14.1,192,1046,0.00,2.22,0.00,0.000,1030,0.000,0.041,2669,2188,3391,3402,3380,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1234,-0.82,-126.5,2669,2189,3402,3380,222.1,-14.3,215,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2189,3391,3402,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1534,-0.82,-126.5,2669,2189,3401,3378,267.4,-15.4,245,1545,0.00,2.22,0.00,0.000,516,0.000,0.059,2669,806,3389,3402,3377,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1610,-0.82,-126.5,2669,806,3402,3377,279.6,-15.0,260,1619,0.05,2.25,0.00,0.000,3078,0.257,0.044,2674,2191,3389,3402,3376,0,0,0,0,0,0,14.48,14.66,28.83
$GC,1918,-0.82,-126.5,2674,2191,3402,3373,323.8,-13.7,291,1927,0.00,2.22,0.00,0.000,516,0.000,0.061,2674,807,3386,3401,3372,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1942,-0.82,-126.5,2674,807,3401,3372,327.7,-14.5,296,1951,0.00,2.25,0.00,0.000,1030,0.000,0.045,2665,2192,3386,3401,3372,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2260,-0.82,-126.5,2666,2192,3401,3370,374.1,-14.8,320,2266,0.00,2.30,0.00,0.000,260,0.000,0.069,2654,3606,3385,3402,3369,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2282,-0.82,-126.5,2654,3606,3401,3369,378.0,-15.7,325,2288,0.08,2.25,0.00,0.000,3078,0.212,0.040,2678,2199,3385,3402,3369,0,0,0,0,0,0,14.61,14.79,28.83
$GC,2601,-0.82,-126.5,2677,2198,3401,3364,422.3,-13.7,343,2607,0.00,2.25,0.00,0.000,516,0.000,0.061,2677,800,3382,3401,3364,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2689,-0.82,-126.5,2677,800,3401,3363,434.8,-13.4,361,2693,0.00,2.22,0.00,0.000,1030,0.000,0.047,2669,2199,3381,3401,3362,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2996,-0.82,-126.5,2669,2200,3401,3357,477.0,-14.0,377,2998,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2200,3379,3401,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3296,-0.82,-126.5,2669,2201,3401,3353,518.4,-13.8,390,3302,0.00,2.25,0.00,0.000,516,0.000,0.063,2669,807,3377,3401,3353,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3329,-0.82,-126.5,2669,807,3400,3353,523.2,-13.7,397,3334,0.10,2.22,0.00,0.000,3078,0.284,0.049,2680,2202,3377,3401,3353,0,0,0,0,0,0,14.64,14.82,28.83
$GC,3656,-0.82,-126.5,2680,2202,3400,3351,565.5,-12.7,412,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2202,3375,3400,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3956,-0.82,-126.5,2680,2202,3398,3348,604.4,-13.0,422,3960,0.00,2.28,0.00,0.000,516,0.000,0.067,2680,803,3373,3398,3348,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3990,-0.82,-126.5,2680,803,3398,3348,609.3,-13.6,429,3994,0.00,2.25,0.00,0.000,1030,0.000,0.051,2672,2205,3372,3397,3348,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4312,-0.82,-126.5,2672,2205,3396,3346,653.0,-13.8,443,4318,0.00,2.28,0.00,0.000,516,0.000,0.065,2672,804,3371,3396,3346,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4344,-0.82,-126.5,2672,804,3396,3346,657.8,-14.1,450,4349,0.05,2.28,0.00,0.000,3078,0.239,0.052,2677,2198,3371,3396,3346,0,0,0,0,0,0,14.60,14.78,28.83
$GC,4672,-0.82,-126.5,2677,2199,3394,3344,700.5,-13.2,465,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2199,3369,3395,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4973,-0.82,-126.5,2677,2199,3394,3343,738.9,-12.7,475,4977,0.00,2.30,0.00,0.000,516,0.000,0.067,2676,805,3368,3394,3342,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5036,-0.82,-126.5,2677,805,3394,3342,747.6,-12.8,488,5041,0.00,2.28,0.00,0.000,1030,0.000,0.055,2669,2192,3367,3392,3342,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5364,-0.82,-126.5,2669,2192,3391,3340,790.6,-13.2,503,5370,0.00,2.28,0.00,0.000,516,0.000,0.067,2669,806,3365,3391,3340,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5394,-0.82,-126.5,2670,805,3391,3340,794.6,-13.4,509,5401,0.10,2.25,0.00,0.000,3078,0.289,0.051,2679,2211,3365,3391,3339,0,0,0,0,0,0,14.62,14.83,28.83
$GC,5724,-0.82,-126.5,2679,2211,3390,3338,836.3,-12.7,525,5730,0.00,2.30,0.00,0.000,516,0.000,0.068,2679,805,3364,3390,3338,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5756,-0.82,-126.5,2679,804,3390,3338,840.7,-13.0,532,5761,0.00,2.30,0.00,0.000,1030,0.000,0.051,2671,2204,3364,3390,3338,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6084,-0.82,-126.5,2671,2205,3389,3337,882.7,-12.8,547,6086,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2205,3363,3389,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6385,-0.82,-126.5,2671,2205,3388,3336,920.4,-12.4,557,6390,0.00,2.28,0.00,0.000,516,0.000,0.067,2671,810,3362,3388,3337,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6427,-0.82,-126.5,2671,810,3388,3336,926.1,-12.8,566,6432,0.08,2.25,0.00,0.000,3078,0.317,0.054,2674,2205,3361,3387,3336,0,0,0,0,0,0,14.62,14.81,28.83
$GC,6745,-0.82,-126.5,2674,2205,3386,3336,963.1,-11.8,579,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2205,3361,3387,3336,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6984,begin apogee
$GC,6988,-0.16,0.0,2674,2146,3385,3335,991.4,-11.8,587,7099,0.75,0.00,106.43,2.521,10246,0.243,0.000,2888,2146,2871,2917,2826,0,0,0,0,0,0,14.51,28.83,13.21
$STATE,7100,end apogee,CONTROL_FINISHED_OK
$STATE,7100,begin climb
$GC,7102,0.82,126.5,2888,2146,2912,2819,995.5,0.0,610,7221,1.05,2.47,109.45,2.284,10500,0.160,0.072,3206,3538,2349,2407,2292,0,0,0,0,0,0,14.00,13.93,13.21
$GC,7246,0.82,126.5,3206,3538,2403,2290,987.8,10.5,639,7254,0.00,2.35,0.00,0.000,1030,0.000,0.048,3212,2148,2346,2403,2290,0,0,0,0,0,0,28.83,14.13,28.83
$GC,7553,0.82,126.5,3212,2148,2402,2286,954.7,10.9,650,7558,0.00,2.40,0.00,0.000,516,0.000,0.077,3223,735,2344,2403,2286,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7648,0.82,126.5,3223,735,2403,2286,944.1,11.2,669,7653,0.00,2.30,0.00,0.000,1030,0.000,0.050,3223,2139,2344,2402,2286,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7971,0.82,126.5,3223,2139,2402,2285,908.9,11.0,683,7977,0.00,2.35,0.00,0.000,260,0.000,0.075,3223,3545,2343,2401,2285,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8001,0.82,126.5,3223,3545,2401,2286,905.5,11.9,689,8008,0.00,2.30,0.00,0.000,1030,0.000,0.050,3232,2131,2342,2400,2285,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8331,0.82,126.5,3232,2131,2400,2285,869.6,10.8,705,8335,0.00,2.33,0.00,0.000,516,0.000,0.076,3242,734,2342,2400,2284,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8435,0.82,126.5,3242,733,2399,2285,857.6,11.1,726,8440,0.00,2.28,0.00,0.000,1030,0.000,0.050,3242,2143,2342,2399,2285,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8753,0.82,126.5,3242,2143,2398,2284,822.3,11.2,739,8759,0.00,2.35,0.00,0.000,516,0.000,0.076,3252,736,2341,2398,2284,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8795,0.82,126.5,3252,737,2398,2284,817.2,10.8,748,8800,0.00,2.28,0.00,0.000,1030,0.000,0.050,3251,2141,2341,2398,2284,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9113,0.82,126.5,3252,2142,2397,2284,780.4,11.8,761,9119,0.00,2.33,0.00,0.000,260,0.000,0.076,3252,3544,2340,2397,2284,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9131,0.82,126.5,3251,3544,2396,2284,778.0,12.0,765,9136,0.10,2.28,0.00,0.000,5126,0.309,0.048,3241,2136,2340,2396,2284,0,0,0,0,0,0,14.54,14.78,28.83
$GC,9437,0.82,126.5,3240,2133,2396,2283,744.7,10.9,776,9442,0.00,2.33,0.00,0.000,516,0.000,0.074,3250,735,2339,2396,2283,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9525,0.82,126.5,3250,735,2396,2283,735.5,10.7,793,9529,0.00,2.28,0.00,0.000,1030,0.000,0.050,3249,2140,2339,2396,2283,0,0,0,0,0,0,28.83,14.77,28.83
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$STATE,17091,end climb,SURFACE_DEPTH_REACHED
$STATE,17091,begin surface coast
$FINISH,1.0,1.019013
$STATE,17139,end surface coast,CONTROL_FINISHED_OK
$STATE,17139,begin surface
$SM_CCo,17157,42.88,0.143,0,0,509,579.63
$SM_CCo,17203,0.00,0.000,0,0,511,579.63
$SM_CCo,17205,0.40,0.333,0,0,508,579.63
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$IRIDIUM_FIX,1758.70,8932.79,160708,232312
$TT8_MAMPS,0.018725,0.018725
$HUMID,43.14
$INTERNAL_PRESSURE,6.67994
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,13.2,42.527
$10V_AH,12.7,0.000
$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,322272
$DATA_FILE_SIZE,130940,1628
$CAP_FILE_SIZE,176874,0
$CFSIZE,2097086464,2079686656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.029,220.3,1
$GPS,200915,202533,1803.223,8930.343,70,0.8,70,-0.9