version: 66.11
glider: 615
mission: 5
dive: 105
start: 9 23 115 23 16 0
data:
$ID,615
$MISSION,5
$DIVE,105
$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,-18953.373
$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,41
$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
$GPS1,230915,230834,1801.732,8926.168,49,0.8,49,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.5
$GPS2,230915,231534,1801.778,8926.210,5,0.8,5,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,SE
$TGT_LATLONG,1755.320,8933.540
$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,134.8,17603,-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,-126.5,171,2217,552,486,0.0,0.0,0,63,0.00,0.00,-46.38,0.000,16386,0.000,0.000,170,2214,1834,1835,1834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.82,-126.5,170,2214,1835,1834,3.4,-7.3,7,118,10.65,2.35,-32.30,0.000,18692,0.350,0.084,2666,3600,3390,3403,3378,0,0,0,0,0,0,14.30,14.47,14.77
$GC,195,-0.82,-126.5,2666,3601,3403,3378,47.6,-34.2,30,203,0.00,2.30,0.00,0.000,1030,0.000,0.041,2665,2194,3390,3403,3378,0,0,0,0,0,0,28.83,14.57,28.83
$GC,387,-0.82,-126.5,2666,2191,3403,3379,97.0,-21.4,67,393,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2191,3391,3403,3379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,574,-0.82,-126.5,2665,2191,3402,3380,127.7,-14.9,104,581,0.00,2.28,0.00,0.000,516,0.000,0.054,2666,803,3392,3404,3380,0,0,0,0,0,0,28.83,14.62,28.83
$GC,654,-0.82,-126.5,2666,803,3402,3381,139.9,-14.2,119,662,0.10,2.20,0.00,0.000,3078,0.296,0.041,2675,2207,3392,3404,3381,0,0,0,0,0,0,14.50,14.70,28.83
$GC,846,-0.82,-126.5,1664,2204,3389,3381,166.8,-13.6,156,854,0.00,2.30,0.00,0.000,260,0.000,0.062,2666,3593,3393,3403,3383,0,0,0,0,0,0,28.83,14.66,28.83
$GC,906,-0.82,-126.5,2666,3593,3404,3383,175.2,-14.1,167,913,0.00,2.20,0.00,0.000,1030,0.000,0.037,2666,2185,3393,3404,3383,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1098,-0.82,-126.5,2666,2185,3403,3383,202.0,-14.7,203,1107,0.00,2.28,0.00,0.000,260,0.000,0.063,2656,3593,3393,3403,3383,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1120,-0.82,-126.5,2656,3592,3404,3383,205.4,-14.1,207,1131,0.10,2.17,0.00,0.000,3078,0.262,0.037,2677,2199,3393,3403,3383,0,0,0,0,0,0,14.57,14.76,28.83
$GC,1430,-0.82,-126.5,2677,2199,3404,3381,248.7,-14.4,239,1439,0.00,2.22,0.00,0.000,516,0.000,0.057,2677,810,3391,3402,3381,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1505,-0.82,-126.5,2677,810,3404,3380,259.8,-13.6,254,1514,0.00,2.25,0.00,0.000,1030,0.000,0.045,2669,2197,3391,3403,3380,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1814,-0.82,-126.5,2669,2197,3403,3377,302.0,-14.1,285,1823,0.00,2.22,0.00,0.000,516,0.000,0.058,2669,810,3389,3403,3376,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1868,-0.82,-126.5,2668,810,3403,3377,310.4,-13.8,296,1878,0.05,2.25,0.00,0.000,3078,0.247,0.047,2674,2194,3389,3403,3376,0,0,0,0,0,0,14.47,14.64,28.83
$GC,2177,-0.82,-126.5,2674,2194,3403,3372,353.1,-14.0,326,2183,0.00,2.22,0.00,0.000,516,0.000,0.059,2675,810,3388,3403,3373,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2206,-0.82,-126.5,2674,810,3403,3372,357.6,-14.7,332,2210,0.00,2.22,0.00,0.000,1030,0.000,0.047,2665,2209,3387,3403,3372,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2512,-0.82,-126.5,2665,2210,3402,3370,401.6,-14.6,348,2519,0.00,2.25,0.00,0.000,516,0.000,0.060,2665,811,3386,3403,3369,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2535,-0.82,-126.5,2665,812,3403,3369,405.3,-14.3,353,2540,0.08,2.25,0.00,0.000,3078,0.234,0.047,2678,2195,3386,3403,3369,0,0,0,0,0,0,14.58,14.76,28.83
$GC,2853,-0.82,-126.5,2678,2196,3403,3364,448.3,-13.6,371,2859,0.00,2.30,0.00,0.000,260,0.000,0.071,2669,3610,3383,3403,3364,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2880,-0.82,-126.5,2669,3610,3403,3364,452.4,-13.7,377,2884,0.00,2.22,0.00,0.000,1030,0.000,0.041,2669,2203,3383,3403,3364,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3193,-0.82,-126.5,2669,2201,3403,3360,495.4,-14.2,394,3199,0.00,2.28,0.00,0.000,516,0.000,0.063,2669,799,3380,3402,3359,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3313,-0.82,-126.5,2669,799,3402,3359,512.3,-13.5,418,3317,0.10,2.25,0.00,0.000,3078,0.278,0.050,2680,2209,3380,3402,3358,0,0,0,0,0,0,14.62,14.81,28.83
$GC,3640,-0.82,-126.5,2680,2209,3402,3354,554.6,-12.9,433,3646,0.00,2.30,0.00,0.000,516,0.000,0.064,2680,802,3378,3402,3354,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3670,-0.82,-126.5,2680,802,3402,3354,558.7,-13.5,439,3676,0.00,2.22,0.00,0.000,1030,0.000,0.050,2672,2199,3378,3402,3354,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4000,-0.82,-126.5,2672,2199,3401,3352,602.7,-13.2,455,4004,0.00,2.28,0.00,0.000,516,0.000,0.064,2672,807,3376,3401,3352,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4040,-0.82,-126.5,2672,807,3401,3352,608.4,-13.2,463,4045,0.08,2.22,0.00,0.000,3078,0.302,0.050,2676,2199,3376,3401,3352,0,0,0,0,0,0,14.64,14.82,28.83
$GC,4357,-0.82,-126.5,2676,2200,3400,3351,649.0,-12.7,476,4361,0.00,2.28,0.00,0.000,516,0.000,0.065,2676,801,3375,3400,3351,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4386,-0.82,-126.5,2676,802,3399,3351,653.0,-13.2,482,4390,0.00,2.30,0.00,0.000,1030,0.000,0.051,2667,2203,3375,3400,3351,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4714,-0.82,-126.5,2668,2204,3398,3348,695.8,-13.2,497,4715,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2204,3373,3398,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5014,-0.82,-126.5,2668,2204,3397,3346,734.8,-12.7,507,5020,0.00,2.30,0.00,0.000,516,0.000,0.067,2668,803,3371,3397,3346,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5036,-0.82,-126.5,2668,803,3397,3346,738.0,-13.6,512,5045,0.05,2.33,0.00,0.000,3078,0.252,0.054,2673,2206,3371,3397,3346,0,0,0,0,0,0,14.51,14.70,28.83
$GC,5344,-0.82,-126.5,2673,2206,3396,3345,775.3,-12.1,523,5345,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2206,3370,3396,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5644,-0.82,-126.5,2673,2207,3394,3344,811.4,-12.0,533,5650,0.00,2.30,0.00,0.000,516,0.000,0.068,2673,807,3369,3395,3343,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5666,-0.82,-126.5,2673,807,3395,3344,814.6,-13.3,538,5674,0.00,2.30,0.00,0.000,1030,0.000,0.053,2665,2197,3368,3394,3343,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5974,-0.82,-126.5,2665,2198,3393,3343,853.3,-12.9,549,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2198,3368,3393,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6274,-0.82,-126.5,2666,2198,3393,3341,891.8,-12.9,559,6280,0.00,2.30,0.00,0.000,516,0.000,0.069,2665,802,3367,3393,3341,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6303,-0.82,-126.5,2665,802,3392,3341,895.8,-13.8,565,6310,0.10,2.28,0.00,0.000,3078,0.309,0.054,2675,2214,3366,3392,3341,0,0,0,0,0,0,14.58,14.81,28.83
$GC,6634,-0.82,-126.5,2675,2214,3391,3339,936.6,-12.2,581,6635,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2213,3365,3391,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6934,-0.82,-126.5,2675,2214,3390,3338,972.9,-12.1,591,6940,0.00,2.30,0.00,0.000,516,0.000,0.069,2675,809,3364,3390,3338,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6976,-0.82,-126.5,2675,809,3390,3338,978.5,-12.0,600,6981,0.00,2.25,0.00,0.000,1030,0.000,0.054,2667,2204,3363,3389,3338,0,0,0,0,0,0,28.83,14.80,28.83
$STATE,7083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7083,begin apogee
$GC,7087,-0.16,0.0,2667,2138,3389,3339,991.3,-12.2,606,7204,0.82,0.00,107.18,2.525,10246,0.275,0.000,2888,2137,2865,2911,2819,0,0,0,0,0,0,14.43,28.83,13.24
$STATE,7205,end apogee,CONTROL_FINISHED_OK
$STATE,7205,begin climb
$GC,7207,0.82,126.5,2888,2137,2910,2818,995.7,0.0,630,7326,1.12,0.00,108.85,2.225,10502,0.195,0.000,3207,2137,2347,2404,2291,0,0,0,0,0,0,14.02,28.83,13.19
$GC,7624,0.82,126.5,3207,2137,2402,2285,958.7,10.9,659,7630,0.00,2.38,0.00,0.000,516,0.000,0.083,3215,752,2343,2402,2285,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7717,0.82,126.5,3215,752,2402,2285,948.0,11.3,678,7722,0.00,2.33,0.00,0.000,1030,0.000,0.053,3215,2132,2343,2401,2285,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8046,0.82,126.5,3215,2132,2399,2285,912.8,10.6,693,8050,0.00,2.38,0.00,0.000,516,0.000,0.082,3225,743,2341,2399,2284,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8107,0.82,126.5,3225,743,2398,2284,906.0,11.2,705,8113,0.00,2.30,0.00,0.000,1030,0.000,0.052,3225,2152,2340,2398,2283,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8437,0.82,126.5,3224,2152,2397,2283,870.4,10.7,721,8441,0.00,2.38,0.00,0.000,516,0.000,0.080,3233,750,2340,2397,2283,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8552,0.82,126.5,3233,750,2397,2283,857.4,11.3,744,8560,0.00,2.33,0.00,0.000,1030,0.000,0.052,3232,2141,2340,2397,2283,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8859,0.82,126.5,3232,2141,2396,2282,825.4,10.3,755,8866,0.00,2.35,0.00,0.000,516,0.000,0.079,3241,742,2339,2396,2282,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8912,0.82,126.5,3241,742,2396,2283,819.3,10.8,766,8921,0.00,2.33,0.00,0.000,1030,0.000,0.052,3241,2139,2338,2395,2282,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9220,0.82,126.5,3241,2138,2395,2282,786.1,10.9,777,9221,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2139,2338,2395,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9520,0.82,126.5,3241,2139,2395,2281,752.8,11.1,787,9521,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2139,2338,2395,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9820,0.82,126.5,3241,2140,2394,2280,719.3,11.3,797,9826,0.00,2.33,0.00,0.000,516,0.000,0.080,3251,750,2337,2394,2281,0,0,0,0,0,0,28.83,14.71,28.83
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$STATE,17340,end climb,SURFACE_DEPTH_REACHED
$STATE,17340,begin surface coast
$FINISH,0.9,1.019246
$STATE,17358,end surface coast,CONTROL_FINISHED_OK
$STATE,17358,begin surface
$SM_CCo,17375,6.30,0.140,0,0,509,579.63
$SM_CCo,17384,0.00,0.000,0,0,510,579.63
$SM_CCo,17386,0.30,0.402,0,0,508,579.63
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$IRIDIUM_FIX,1756.43,8923.72,200708,070705
$TT8_MAMPS,0.018725,0.018725
$HUMID,45.03
$INTERNAL_PRESSURE,6.66041
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,13.2,47.749
$10V_AH,12.6,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.675,174.200,502.550,6.600,0.000,22.939,39.356,248.090,0.000,0.000,6.547,3397.628,10294.501,656.213,3287.067,160.699,0.000,2048.282,0.000,2441.290,0.000,0.552,0.000
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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,137289,1657
$CAP_FILE_SIZE,178904,0
$CFSIZE,2097086464,2077032448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.023,236.6,1
$GPS,240915,040703,1800.357,8927.313,39,0.9,40,-0.9