version: 66.11
glider: 615
mission: 5
dive: 94
start: 9 21 115 16 28 57
data:
$ID,615
$MISSION,5
$DIVE,94
$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,-18938.586
$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,36
$R_STBD_OVSHOOT,68
$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
$GPS1,210915,162151,1758.022,8924.091,55,0.8,55,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-68.6
$GPS2,210915,162830,1758.072,8924.083,5,0.9,5,-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,215.4,6718,-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,-126.5,176,2236,561,480,0.0,0.0,0,57,0.00,0.00,-40.03,0.000,16386,0.000,0.000,175,2235,1654,1654,1654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.82,-126.5,175,2234,1654,1654,3.0,-6.4,6,111,10.77,0.00,-38.17,0.000,18694,0.355,0.000,2676,2235,3390,3401,3379,0,0,0,0,0,0,14.29,28.83,14.77
$GC,295,-0.82,-126.5,2677,2235,3401,3379,77.7,-23.2,50,302,0.00,2.35,0.00,0.000,516,0.000,0.055,2676,795,3390,3401,3379,0,0,0,0,0,0,28.83,14.59,28.83
$GC,360,-0.82,-126.5,2677,795,3401,3379,91.4,-19.1,62,367,0.00,2.25,0.00,0.000,1030,0.000,0.044,2669,2173,3389,3400,3379,0,0,0,0,0,0,28.83,14.59,28.83
$GC,551,-0.82,-126.5,2668,2172,3401,3381,125.1,-18.5,99,558,0.00,2.33,0.00,0.000,260,0.000,0.061,2658,3607,3391,3401,3381,0,0,0,0,0,0,28.83,14.66,28.83
$GC,605,-0.82,-126.5,2658,3607,3401,3382,134.2,-14.5,109,614,0.10,2.22,0.00,0.000,3078,0.278,0.035,2677,2179,3391,3401,3381,0,0,0,0,0,0,14.50,14.71,28.83
$GC,796,-0.82,-126.5,2677,2178,3401,3383,162.6,-14.1,146,804,0.00,2.25,0.00,0.000,516,0.000,0.057,2677,812,3392,3401,3383,0,0,0,0,0,0,28.83,14.63,28.83
$GC,918,-0.82,-126.5,2677,812,3401,3383,181.1,-15.5,169,925,0.00,2.20,0.00,0.000,1030,0.000,0.042,2669,2208,3392,3401,3383,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1109,-0.82,-126.5,2669,2208,3401,3383,207.2,-13.3,201,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2208,3392,3401,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1409,-0.82,-126.5,2669,2208,3401,3382,248.8,-14.7,231,1413,0.00,2.25,0.00,0.000,516,0.000,0.057,2668,816,3391,3401,3382,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1494,-0.82,-126.5,2669,816,3401,3381,261.4,-15.8,247,1504,0.05,2.20,0.00,0.000,3078,0.256,0.045,2673,2207,3391,3401,3381,0,0,0,0,0,0,14.47,14.76,28.83
$GC,1803,-0.82,-126.5,2673,2207,3401,3378,306.3,-14.2,279,1807,0.00,2.22,0.00,0.000,516,0.000,0.060,2674,815,3389,3401,3377,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1826,-0.82,-126.5,2673,813,3401,3377,310.1,-14.8,284,1835,0.00,2.25,0.00,0.000,1030,0.000,0.047,2665,2195,3389,3401,3377,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2135,-0.82,-126.5,2665,2195,3401,3373,353.7,-14.0,314,2140,0.00,2.22,0.00,0.000,516,0.000,0.062,2665,817,3387,3401,3373,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2162,-0.82,-126.5,2665,818,3401,3373,358.0,-14.5,320,2167,0.10,2.22,0.00,0.000,3078,0.280,0.047,2677,2212,3386,3400,3372,0,0,0,0,0,0,14.61,14.78,28.83
$GC,2474,-0.82,-126.5,2677,2212,3401,3370,400.4,-14.0,337,2480,0.00,2.28,0.00,0.000,516,0.000,0.063,2677,807,3385,3401,3370,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2507,-0.82,-126.5,2677,808,3401,3370,405.5,-14.0,344,2515,0.00,2.28,0.00,0.000,1030,0.000,0.048,2669,2198,3385,3401,3370,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2815,-0.82,-126.5,2669,2198,3401,3365,448.2,-14.1,360,2820,0.00,2.25,0.00,0.000,516,0.000,0.063,2669,809,3382,3400,3365,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2857,-0.82,-126.5,2669,808,3401,3365,454.9,-14.3,369,2863,0.05,2.28,0.00,0.000,3078,0.249,0.049,2674,2204,3382,3400,3364,0,0,0,0,0,0,14.57,14.76,28.83
$GC,3176,-0.82,-126.5,2674,2203,3401,3360,498.6,-14.0,387,3182,0.00,2.25,0.00,0.000,516,0.000,0.063,2674,816,3380,3401,3360,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3206,-0.82,-126.5,2674,816,3401,3360,503.0,-14.5,393,3210,0.00,2.22,0.00,0.000,1030,0.000,0.050,2665,2207,3380,3401,3360,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3537,-0.82,-126.5,2666,2206,3400,3356,550.4,-14.1,409,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2206,3378,3400,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3837,-0.82,-126.5,2666,2206,3400,3353,592.0,-13.7,419,3843,0.00,2.25,0.00,0.000,516,0.000,0.066,2666,819,3376,3401,3352,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3875,-0.82,-126.5,2666,819,3400,3352,597.6,-13.4,427,3880,0.10,2.22,0.00,0.000,3078,0.285,0.050,2676,2206,3376,3400,3352,0,0,0,0,0,0,14.62,14.81,28.83
$GC,4198,-0.82,-126.5,2677,2206,3397,3351,638.1,-12.6,441,4204,0.00,2.28,0.00,0.000,516,0.000,0.066,2677,817,3375,3399,3351,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4230,-0.82,-126.5,2676,816,3398,3351,642.7,-13.2,448,4235,0.00,2.25,0.00,0.000,1030,0.000,0.050,2669,2192,3374,3398,3351,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4558,-0.82,-126.5,2669,2193,3397,3348,685.0,-13.1,463,4562,0.00,2.25,0.00,0.000,516,0.000,0.067,2669,815,3372,3397,3347,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4608,-0.82,-126.5,2669,814,3397,3348,692.2,-13.3,473,4613,0.10,2.22,0.00,0.000,3078,0.299,0.051,2680,2204,3372,3397,3347,0,0,0,0,0,0,14.60,14.82,28.83
$GC,4921,-0.82,-126.5,2680,2205,3396,3345,731.5,-12.8,485,4926,0.00,2.28,0.00,0.000,516,0.000,0.068,2680,819,3370,3396,3345,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4974,-0.82,-126.5,2680,819,3395,3345,738.8,-12.3,496,4982,0.00,2.28,0.00,0.000,1030,0.000,0.052,2673,2198,3370,3396,3345,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5282,-0.82,-126.5,2673,2199,3395,3344,778.2,-12.9,507,5283,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2199,3369,3394,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5582,-0.82,-126.5,2673,2199,3394,3343,816.3,-12.6,517,5586,0.00,2.28,0.00,0.000,516,0.000,0.068,2673,818,3368,3394,3342,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5651,-0.82,-126.5,2673,818,3393,3343,825.3,-12.3,531,5655,0.00,2.22,0.00,0.000,1030,0.000,0.053,2665,2201,3367,3393,3342,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5973,-0.82,-126.5,2665,2201,3391,3341,866.5,-13.0,545,5974,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2201,3366,3392,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6274,-0.82,-126.5,2665,2201,3391,3340,905.4,-13.0,555,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2201,3365,3391,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6573,-0.82,-126.5,2665,2201,3390,3338,944.8,-13.2,565,6577,0.00,2.30,0.00,0.000,516,0.000,0.070,2665,812,3364,3390,3338,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6622,-0.82,-126.5,2665,812,3389,3338,951.8,-13.3,575,6628,0.10,2.25,0.00,0.000,3078,0.301,0.054,2675,2207,3363,3390,3337,0,0,0,0,0,0,14.57,14.81,28.83
$STATE,6934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6934,begin apogee
$GC,6938,-0.16,0.0,2675,2152,3389,3337,990.9,-12.6,587,7059,0.80,0.00,114.72,2.392,10246,0.285,0.000,2887,2150,2868,2914,2822,0,0,0,0,0,0,14.42,28.83,13.27
$STATE,7060,end apogee,CONTROL_FINISHED_OK
$STATE,7060,begin climb
$GC,7062,0.82,126.5,2887,2150,2910,2817,996.1,0.0,612,7180,1.12,2.50,108.35,2.200,10500,0.215,0.074,3201,3532,2347,2404,2291,0,0,0,0,0,0,13.97,13.91,13.23
$GC,7200,0.82,126.5,3201,3532,2402,2287,989.6,9.4,640,7208,0.00,2.40,0.00,0.000,1030,0.000,0.050,3209,2155,2344,2402,2286,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7508,0.82,126.5,3209,2156,2402,2283,957.2,10.9,651,7514,0.00,2.42,0.00,0.000,516,0.000,0.081,3218,736,2342,2401,2283,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7660,0.82,126.5,3218,736,2401,2284,940.4,11.2,681,7666,0.00,2.28,0.00,0.000,1030,0.000,0.053,3218,2138,2341,2400,2283,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7989,0.82,126.5,3218,2138,2397,2282,904.1,11.0,697,7995,0.00,2.38,0.00,0.000,516,0.000,0.081,3228,735,2340,2398,2282,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8019,0.82,126.5,3228,735,2398,2282,900.8,10.8,703,8023,0.00,2.28,0.00,0.000,1030,0.000,0.052,3227,2140,2339,2397,2282,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8350,0.82,126.5,3228,2140,2396,2281,864.5,10.9,719,8351,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2140,2338,2396,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8650,0.82,126.5,3228,2140,2395,2280,833.0,10.5,729,8656,0.00,2.38,0.00,0.000,516,0.000,0.081,3238,732,2338,2396,2280,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8760,0.82,126.5,3237,732,2396,2281,821.3,10.4,751,8764,0.00,2.30,0.00,0.000,1030,0.000,0.053,3237,2148,2338,2396,2280,0,0,0,0,0,0,28.83,14.74,28.83
$GC,9066,0.82,126.5,3237,2148,2394,2279,789.0,10.8,762,9072,0.00,2.38,0.00,0.000,516,0.000,0.080,3246,735,2337,2394,2280,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9148,0.82,126.5,3246,735,2394,2280,779.4,11.1,779,9155,0.00,2.28,0.00,0.000,1030,0.000,0.051,3246,2143,2337,2394,2280,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9455,0.82,126.5,3246,2143,2394,2280,744.9,11.4,790,9459,0.00,2.38,0.00,0.000,516,0.000,0.079,3255,728,2336,2394,2279,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9524,0.82,126.5,3256,728,2393,2280,736.8,11.4,804,9529,0.05,2.33,0.00,0.000,5126,0.262,0.052,3242,2138,2336,2394,2279,0,0,0,0,0,0,14.53,14.74,28.83
$GC,9842,0.82,126.5,3242,2139,2393,2279,702.0,11.0,817,9846,0.00,2.35,0.00,0.000,516,0.000,0.074,3251,733,2336,2393,2279,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9928,0.82,126.5,3251,733,2393,2279,692.4,11.1,834,9935,0.00,2.33,0.00,0.000,1030,0.000,0.050,3251,2137,2336,2393,2279,0,0,0,0,0,0,28.83,14.72,28.83
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$GC,17058,1.50,677.0,3333,2146,1103,993,21.9,-2.4,1622,17141,0.25,2.40,75.70,0.205,10756,0.098,0.065,3450,739,513,577,450,0,0,0,0,0,0,14.51,14.54,14.42
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$STATE,17251,end climb,SURFACE_DEPTH_REACHED
$STATE,17251,begin surface coast
$FINISH,0.2,1.010332
$STATE,17268,end surface coast,CONTROL_FINISHED_OK
$STATE,17268,begin surface
$SM_CCo,17284,1.05,0.223,0,0,509,579.63
$SM_CCo,17287,-0.03,0.000,0,0,511,579.63
$SM_CCo,17290,0.32,0.375,0,0,508,579.63
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$IRIDIUM_FIX,1749.63,8928.27,180708,000036
$TT8_MAMPS,0.018725,0.018725
$HUMID,45.11
$INTERNAL_PRESSURE,6.67018
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,13.2,44.179
$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,322260
$DATA_FILE_SIZE,133966,1659
$CAP_FILE_SIZE,179260,0
$CFSIZE,2097086464,2078834688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.019,213.8,1
$GPS,210915,211822,1756.500,8922.803,37,1.1,37,-0.9