version: 66.11
glider: 615
mission: 5
dive: 91
start: 9 21 115 1 36 7
data:
$ID,615
$MISSION,5
$DIVE,91
$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,-18934.307
$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,42
$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
$GPS1,210915,012827,1802.069,8928.660,58,0.8,58,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-68.7
$GPS2,210915,013541,1802.034,8928.705,5,0.8,5,-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,218.9,17647,-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,-126.5,167,2234,560,484,0.0,0.0,0,62,0.00,0.00,-44.88,0.000,16386,0.000,0.000,165,2237,1779,1786,1772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.82,-126.5,165,2234,1785,1773,3.1,-6.6,7,117,10.75,2.35,-34.03,0.000,18948,0.356,0.070,2672,797,3390,3402,3378,0,0,0,0,0,0,14.31,14.56,14.77
$GC,123,-0.82,-126.5,2672,797,3402,3379,20.5,-34.8,16,131,0.00,2.28,0.00,0.000,1030,0.000,0.058,2664,2150,3390,3402,3379,0,0,0,0,0,0,28.83,14.51,28.83
$GC,315,-0.82,-126.5,2664,2151,3402,3379,78.5,-20.2,53,323,0.08,2.40,0.00,0.000,2308,0.350,0.057,2665,3626,3390,3402,3378,0,0,0,0,0,0,14.47,14.62,28.83
$GC,472,-0.82,-126.5,2665,3626,3402,3380,108.1,-17.2,83,478,0.00,2.25,0.00,0.000,1030,0.000,0.037,2665,2183,3390,3401,3379,0,0,0,0,0,0,28.83,14.69,28.83
$GC,661,-0.82,-126.5,1680,2180,3388,3379,135.8,-15.2,120,668,0.00,2.25,0.00,0.000,516,0.000,0.054,2665,807,3391,3402,3381,0,0,0,0,0,0,28.83,14.62,28.83
$GC,771,-0.82,-126.5,2665,806,3402,3382,152.1,-14.3,141,780,0.10,2.22,0.00,0.000,3078,0.298,0.041,2675,2229,3392,3402,3382,0,0,0,0,0,0,14.52,14.72,28.83
$GC,962,-0.82,-126.5,2675,2230,3402,3383,178.9,-13.9,178,969,0.00,2.33,0.00,0.000,516,0.000,0.053,2675,809,3392,3402,3383,0,0,0,0,0,0,28.83,14.66,28.83
$GC,992,-0.82,-126.5,2675,809,3402,3383,183.1,-14.3,183,999,0.00,2.17,0.00,0.000,1030,0.000,0.041,2667,2201,3392,3402,3383,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1182,-0.82,-126.5,2667,2201,3402,3382,210.6,-14.3,213,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2201,3391,3401,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1483,-0.82,-126.5,2667,2201,3402,3380,255.5,-15.2,243,1487,0.00,2.25,0.00,0.000,516,0.000,0.057,2666,810,3391,3402,3380,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1545,-0.82,-126.5,2666,811,3401,3380,264.8,-14.4,255,1557,0.10,2.17,0.00,0.000,3078,0.283,0.044,2677,2198,3390,3401,3379,0,0,0,0,0,0,14.59,14.77,28.83
$GC,1855,-0.82,-126.5,2677,2198,3401,3376,308.6,-13.8,287,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2198,3389,3402,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2156,-0.82,-126.5,2677,2198,3402,3372,350.2,-14.0,317,2162,0.00,2.22,0.00,0.000,516,0.000,0.060,2677,817,3387,3402,3372,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2188,-0.82,-126.5,2677,817,3402,3372,355.2,-14.2,324,2196,0.00,2.25,0.00,0.000,1030,0.000,0.047,2669,2198,3386,3401,3372,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2496,-0.82,-126.5,2669,2198,3401,3368,399.5,-14.9,340,2501,0.00,2.22,0.00,0.000,516,0.000,0.060,2669,817,3385,3402,3368,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2523,-0.82,-126.5,2669,816,3401,3368,404.0,-15.0,346,2528,0.10,2.20,0.00,0.000,3078,0.285,0.047,2680,2207,3384,3401,3368,0,0,0,0,0,0,14.62,14.81,28.83
$GC,2836,-0.82,-126.5,2681,2208,3402,3363,446.0,-13.3,363,2842,0.00,2.28,0.00,0.000,260,0.000,0.070,2672,3603,3382,3401,3363,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2877,-0.82,-126.5,2672,3603,3401,3362,451.4,-12.9,371,2883,0.00,2.17,0.00,0.000,1030,0.000,0.039,2672,2206,3381,3401,3362,0,0,0,0,0,0,28.83,14.84,28.83
$GC,3197,-0.82,-126.5,2672,2205,3401,3357,493.7,-13.4,390,3203,0.00,2.22,0.00,0.000,516,0.000,0.062,2672,811,3379,3401,3357,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3299,-0.82,-126.5,2672,810,3401,3357,507.6,-12.5,411,3304,0.08,2.22,0.00,0.000,3078,0.308,0.048,2675,2208,3379,3401,3357,0,0,0,0,0,0,14.63,14.81,28.83
$GC,3616,-0.82,-126.5,2675,2208,3401,3353,547.6,-12.7,424,3617,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2208,3377,3401,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3916,-0.82,-126.5,2675,2208,3400,3352,585.7,-12.8,434,3920,0.00,2.28,0.00,0.000,516,0.000,0.065,2676,808,3376,3400,3352,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3940,-0.82,-126.5,2676,807,3399,3351,589.2,-13.9,439,3947,0.00,2.22,0.00,0.000,1030,0.000,0.050,2667,2201,3375,3399,3352,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4248,-0.82,-126.5,2667,2201,3397,3350,630.4,-13.6,450,4254,0.00,2.30,0.00,0.000,260,0.000,0.078,2657,3598,3373,3397,3349,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4280,-0.82,-126.5,1768,3597,3384,3347,635.2,-13.4,457,4285,0.05,2.25,0.00,0.000,3078,0.229,0.044,2672,2203,3371,3395,3348,0,0,0,0,0,0,14.62,14.81,28.83
$GC,4608,-0.82,-126.5,2672,2202,3397,3346,677.1,-12.9,472,4614,0.00,2.28,0.00,0.000,516,0.000,0.067,2672,802,3371,3396,3346,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4715,-0.82,-126.5,2672,802,3396,3346,691.3,-12.9,494,4720,0.08,2.25,0.00,0.000,3078,0.321,0.051,2676,2208,3370,3395,3346,0,0,0,0,0,0,14.62,14.83,28.83
$GC,5027,-0.82,-126.5,2677,2208,3395,3344,730.2,-12.5,506,5031,0.00,2.30,0.00,0.000,516,0.000,0.067,2677,805,3369,3395,3344,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5066,-0.82,-126.5,2677,804,3394,3344,735.4,-12.8,514,5071,0.00,2.25,0.00,0.000,1030,0.000,0.051,2669,2207,3369,3394,3344,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5384,-0.82,-126.5,2669,2208,3393,3343,775.0,-12.5,527,5390,0.00,2.28,0.00,0.000,516,0.000,0.065,2669,806,3368,3393,3343,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5426,-0.82,-126.5,2669,806,3393,3343,780.8,-12.1,536,5431,0.10,2.22,0.00,0.000,3078,0.289,0.050,2678,2202,3368,3393,3343,0,0,0,0,0,0,14.61,14.81,28.83
$GC,5744,-0.82,-126.5,2679,2203,3392,3341,818.0,-11.8,549,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2203,3366,3392,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6045,-0.82,-126.5,2679,2204,3391,3340,854.1,-12.0,559,6051,0.00,2.28,0.00,0.000,516,0.000,0.069,2679,806,3365,3391,3339,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6096,-0.82,-126.5,2679,806,3390,3340,861.0,-12.0,570,6104,0.00,2.30,0.00,0.000,1030,0.000,0.052,2672,2198,3365,3390,3340,0,0,0,0,0,0,28.83,14.70,28.83
$GC,6405,-0.82,-126.5,2672,2198,3389,3338,899.6,-12.8,581,6406,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2198,3363,3389,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6704,-0.82,-126.5,2672,2198,3389,3337,937.9,-12.7,591,6708,0.00,2.28,0.00,0.000,516,0.000,0.067,2672,806,3363,3389,3337,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6758,-0.82,-126.5,2672,806,3389,3337,945.3,-12.9,602,6768,0.05,2.30,0.00,0.000,3078,0.269,0.053,2675,2200,3362,3388,3337,0,0,0,0,0,0,14.47,14.69,28.83
$GC,7066,-0.82,-126.5,2675,2201,3388,3337,982.0,-11.9,613,7067,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2200,3362,3388,3337,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7156,begin apogee
$GC,7160,-0.16,0.0,2675,2137,3387,3336,992.6,-11.8,616,7284,0.75,0.00,119.32,2.385,10246,0.255,0.000,2885,2137,2871,2916,2826,0,0,0,0,0,0,14.47,28.83,13.26
$STATE,7285,end apogee,CONTROL_FINISHED_OK
$STATE,7286,begin climb
$GC,7287,0.82,126.5,2885,2136,2911,2817,996.9,0.0,642,7404,1.08,2.50,108.55,2.208,10500,0.179,0.073,3202,3542,2348,2405,2292,0,0,0,0,0,0,13.98,13.92,13.24
$GC,7434,0.82,126.5,3202,3541,2401,2287,988.3,10.9,672,7439,0.00,2.38,0.00,0.000,1030,0.000,0.049,3210,2144,2344,2401,2287,0,0,0,0,0,0,28.83,14.13,28.83
$GC,7752,0.82,126.5,3209,2144,2397,2284,952.2,11.6,685,7758,0.00,2.40,0.00,0.000,516,0.000,0.079,3220,734,2341,2398,2284,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7934,0.82,126.5,3221,734,2398,2283,930.7,11.6,721,7940,0.00,2.28,0.00,0.000,1030,0.000,0.050,3220,2137,2340,2397,2284,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8263,0.82,126.5,3221,2137,2397,2283,893.5,11.2,737,8269,0.00,2.38,0.00,0.000,516,0.000,0.078,3229,729,2340,2397,2283,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8336,0.82,126.5,3229,729,2396,2283,884.8,10.8,752,8341,0.00,2.30,0.00,0.000,1030,0.000,0.051,3229,2144,2340,2397,2283,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8654,0.82,126.5,3229,2144,2395,2282,849.0,11.1,765,8655,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2145,2338,2395,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8954,0.82,126.5,3230,2144,2394,2281,815.9,11.0,775,8958,0.00,2.38,0.00,0.000,516,0.000,0.078,3239,731,2337,2394,2280,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9033,0.82,126.5,3239,731,2394,2281,806.9,11.2,791,9038,0.00,2.33,0.00,0.000,1030,0.000,0.051,3239,2139,2337,2394,2281,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9346,0.82,126.5,3239,2139,2394,2280,772.8,10.9,803,9350,0.00,2.35,0.00,0.000,516,0.000,0.077,3249,736,2337,2394,2280,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9385,0.82,126.5,3249,737,2394,2280,768.2,11.2,811,9389,0.00,2.28,0.00,0.000,1030,0.000,0.051,3249,2142,2337,2394,2281,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9707,0.82,126.5,3249,2143,2393,2280,732.3,11.1,825,9713,0.00,2.35,0.00,0.000,516,0.000,0.076,3259,735,2336,2393,2280,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9786,0.82,126.5,3258,735,2393,2280,722.8,11.3,841,9791,0.10,2.28,0.00,0.000,5126,0.297,0.050,3240,2145,2336,2393,2280,0,0,0,0,0,0,14.56,14.77,28.83
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$STATE,17368,end climb,SURFACE_DEPTH_REACHED
$STATE,17368,begin surface coast
$FINISH,0.3,1.019068
$STATE,17396,end surface coast,CONTROL_FINISHED_OK
$STATE,17396,begin surface
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$HUMID,43.85
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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,322240
$DATA_FILE_SIZE,144082,1741
$CAP_FILE_SIZE,185098,0
$CFSIZE,2097086464,2079326208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.016,179.3,1
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