version: 66.11
glider: 615
mission: 5
dive: 110
start: 9 25 115 0 11 22
data:
$ID,615
$MISSION,5
$DIVE,110
$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,-18961.016
$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,46
$R_STBD_OVSHOOT,71
$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
$GPS1,250915,000403,1755.918,8933.400,39,0.9,39,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-70.2
$GPS2,250915,001056,1755.910,8933.418,6,0.8,6,-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,356.4,19910,-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,-126.5,155,2237,543,486,0.0,0.0,0,63,0.00,0.00,-45.53,0.000,16386,0.000,0.000,155,2235,1788,1788,1789,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.82,-126.5,155,2235,1788,1790,3.4,-8.0,7,117,10.65,2.38,-32.72,0.000,18948,0.345,0.072,2677,795,3388,3401,3376,0,0,0,0,0,0,14.30,14.55,14.78
$GC,174,-0.82,-126.5,2677,794,3401,3377,42.8,-41.8,26,182,0.00,2.28,0.00,0.000,1030,0.000,0.049,2668,2168,3389,3401,3377,0,0,0,0,0,0,28.83,14.54,28.83
$GC,367,-0.82,-126.5,2668,2169,3401,3377,93.3,-18.5,63,373,0.00,2.35,0.00,0.000,260,0.000,0.061,2657,3615,3389,3401,3377,0,0,0,0,0,0,28.83,14.64,28.83
$GC,421,-0.82,-126.5,2657,3615,3401,3377,103.3,-17.9,73,429,0.10,2.22,0.00,0.000,3078,0.273,0.037,2677,2188,3389,3401,3377,0,0,0,0,0,0,14.50,14.69,28.83
$GC,613,-0.82,-126.5,2677,2187,3401,3379,133.3,-15.0,110,620,0.00,2.25,0.00,0.000,516,0.000,0.055,2677,817,3390,3401,3379,0,0,0,0,0,0,28.83,14.62,28.83
$GC,744,-0.82,-126.5,2677,816,3401,3380,153.7,-14.6,135,750,0.00,2.20,0.00,0.000,1030,0.000,0.043,2669,2211,3390,3401,3380,0,0,0,0,0,0,28.83,14.71,28.83
$GC,933,-0.82,-126.5,1684,2209,3387,3378,180.9,-13.6,172,940,0.00,2.30,0.00,0.000,516,0.000,0.056,2669,816,3390,3401,3380,0,0,0,0,0,0,28.83,14.66,28.83
$GC,956,-0.82,-126.5,2669,815,3401,3380,184.1,-13.3,176,964,0.05,2.25,0.00,0.000,3078,0.259,0.044,2673,2202,3390,3401,3380,0,0,0,0,0,0,14.50,14.66,28.83
$GC,1147,-0.82,-126.5,2674,2202,3401,3380,211.0,-15.2,206,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2202,3390,3401,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1447,-0.82,-126.5,2672,2203,3401,3378,254.8,-14.2,236,1456,0.00,2.22,0.00,0.000,516,0.000,0.057,2673,816,3389,3401,3378,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1497,-0.82,-126.5,2673,816,3401,3377,262.0,-13.6,246,1501,0.00,2.20,0.00,0.000,1030,0.000,0.046,2665,2206,3389,3401,3378,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1804,-0.82,-126.5,2666,2205,3401,3374,306.2,-14.8,277,1813,0.00,2.25,0.00,0.000,516,0.000,0.059,2665,807,3387,3400,3374,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1828,-0.82,-126.5,2665,807,3400,3373,310.3,-15.4,282,1838,0.08,2.25,0.00,0.000,3078,0.229,0.046,2678,2194,3386,3400,3372,0,0,0,0,0,0,14.48,14.65,28.83
$GC,2146,-0.82,-126.5,2678,2194,3401,3370,354.1,-13.9,313,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2194,3385,3401,3370,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2446,-0.82,-126.5,2678,2194,3400,3366,395.1,-13.6,328,2452,0.00,2.22,0.00,0.000,516,0.000,0.063,2678,819,3383,3401,3366,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2508,-0.82,-126.5,2678,818,3400,3365,403.3,-13.3,340,2514,0.00,2.20,0.00,0.000,1030,0.000,0.048,2670,2200,3382,3400,3365,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2827,-0.82,-126.5,2670,2200,3400,3360,447.2,-14.0,359,2828,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2200,3380,3400,3360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3126,-0.82,-126.5,2670,2201,3400,3356,488.7,-13.9,374,3132,0.00,2.25,0.00,0.000,516,0.000,0.065,2670,816,3378,3400,3356,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3175,-0.82,-126.5,2670,816,3400,3356,495.9,-14.3,384,3180,0.08,2.22,0.00,0.000,3078,0.314,0.050,2674,2207,3378,3400,3356,0,0,0,0,0,0,14.62,14.81,28.83
$GC,3497,-0.82,-126.5,2675,2208,3399,3352,538.6,-13.5,397,3503,0.00,2.25,0.00,0.000,516,0.000,0.063,2675,819,3375,3399,3352,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3520,-0.82,-126.5,2675,819,3399,3352,542.1,-13.9,402,3527,0.00,2.28,0.00,0.000,1030,0.000,0.050,2667,2204,3375,3399,3352,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3828,-0.82,-126.5,2667,2204,3397,3351,584.2,-13.7,413,3834,0.00,2.28,0.00,0.000,516,0.000,0.064,2667,809,3373,3397,3350,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3857,-0.82,-126.5,2667,809,3397,3350,588.4,-14.4,419,3864,0.10,2.22,0.00,0.000,3078,0.284,0.050,2678,2201,3373,3397,3350,0,0,0,0,0,0,14.63,14.82,28.83
$GC,4188,-0.82,-126.5,2678,2201,3395,3347,630.5,-12.6,435,4194,0.00,2.28,0.00,0.000,516,0.000,0.067,2678,813,3371,3395,3347,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4225,-0.82,-126.5,2678,812,3395,3347,635.4,-12.5,443,4229,0.00,2.22,0.00,0.000,1030,0.000,0.050,2671,2200,3371,3395,3347,0,0,0,0,0,0,28.83,14.82,28.83
$GC,4548,-0.82,-126.5,2670,2201,3394,3345,675.7,-12.6,457,4549,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2201,3369,3394,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4847,-0.82,-126.5,2670,2201,3393,3344,714.1,-12.9,467,4853,0.00,2.25,0.00,0.000,516,0.000,0.067,2670,820,3368,3393,3343,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4895,-0.82,-126.5,2670,820,3392,3344,720.8,-13.0,477,4900,0.08,2.22,0.00,0.000,3078,0.324,0.052,2674,2203,3368,3393,3343,0,0,0,0,0,0,14.62,14.82,28.83
$GC,5207,-0.82,-126.5,2674,2202,3390,3343,759.8,-12.7,489,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2202,3367,3391,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5508,-0.82,-126.5,2675,2202,3390,3341,797.9,-12.8,499,5512,0.00,2.30,0.00,0.000,516,0.000,0.069,2675,813,3364,3389,3340,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5562,-0.82,-126.5,2675,812,3389,3340,805.4,-13.2,510,5570,0.00,2.30,0.00,0.000,1030,0.000,0.053,2668,2202,3364,3389,3340,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5870,-0.82,-126.5,2668,2202,3389,3338,844.8,-12.9,521,5876,0.00,2.28,0.00,0.000,516,0.000,0.067,2667,818,3363,3389,3337,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5907,-0.82,-126.5,2667,818,3388,3338,850.1,-13.0,529,5912,0.10,2.22,0.00,0.000,3078,0.299,0.053,2678,2203,3363,3389,3338,0,0,0,0,0,0,14.59,14.81,28.83
$GC,6230,-0.82,-126.5,2678,2202,3387,3337,889.8,-12.3,543,6231,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2202,3362,3387,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6530,-0.82,-126.5,2678,2203,3386,3337,925.3,-11.5,553,6535,0.00,2.28,0.00,0.000,516,0.000,0.068,2678,822,3361,3385,3337,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6592,-0.82,-126.5,2678,822,3385,3336,932.9,-11.3,566,6597,0.00,2.28,0.00,0.000,1030,0.000,0.054,2671,2195,3360,3385,3336,0,0,0,0,0,0,28.83,14.74,28.83
$GC,6920,-0.82,-126.5,2671,2196,3384,3336,970.9,-11.7,581,6921,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2196,3360,3384,3336,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7099,begin apogee
$GC,7102,-0.16,0.0,2671,2197,3383,3336,991.5,-11.4,587,7213,0.82,0.00,105.78,2.493,10246,0.280,0.000,2886,2198,2871,2917,2826,0,0,0,0,0,0,14.42,28.83,13.31
$STATE,7214,end apogee,CONTROL_FINISHED_OK
$STATE,7215,begin climb
$GC,7216,0.82,126.5,2886,2198,2911,2818,995.1,0.0,610,7337,1.10,2.42,107.60,2.183,10500,0.208,0.074,3198,3537,2346,2403,2290,0,0,0,0,0,0,13.98,13.92,13.24
$GC,7400,0.82,126.5,3198,3537,2401,2286,982.9,11.1,646,7404,0.00,2.33,0.00,0.000,1030,0.000,0.052,3207,2162,2344,2402,2286,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7726,0.82,126.5,3207,2162,2401,2284,947.6,10.8,661,7733,0.00,2.45,0.00,0.000,516,0.000,0.083,3214,729,2342,2400,2285,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7908,0.82,126.5,3214,729,2399,2284,928.3,10.5,697,7914,0.00,2.33,0.00,0.000,1030,0.000,0.052,3214,2145,2341,2399,2284,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8238,0.82,126.5,3214,2145,2398,2283,893.4,10.8,713,8242,0.00,2.40,0.00,0.000,516,0.000,0.081,3222,736,2340,2398,2283,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8342,0.82,126.5,3222,736,2397,2283,881.6,11.2,734,8346,0.00,2.30,0.00,0.000,1030,0.000,0.052,3221,2143,2340,2398,2283,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8660,0.82,126.5,3222,2144,2397,2282,846.9,10.9,747,8666,0.00,2.38,0.00,0.000,516,0.000,0.080,3230,738,2338,2396,2281,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8707,0.82,126.5,3231,738,2397,2282,841.3,11.1,757,8712,0.00,2.28,0.00,0.000,1030,0.000,0.051,3230,2140,2339,2396,2282,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9020,0.82,126.5,3230,2140,2395,2281,806.8,11.2,769,9026,0.00,2.38,0.00,0.000,516,0.000,0.080,3240,723,2338,2395,2281,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9143,0.82,126.5,3240,723,2395,2281,793.0,10.8,794,9147,0.00,2.30,0.00,0.000,1030,0.000,0.051,3240,2141,2338,2395,2281,0,0,0,0,0,0,28.83,14.74,28.83
$GC,9471,0.82,126.5,3240,2141,2394,2280,757.4,11.0,809,9475,0.00,2.38,0.00,0.000,516,0.000,0.078,3250,735,2337,2394,2280,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9570,0.82,126.5,3250,734,2394,2280,746.0,11.2,829,9575,0.00,2.30,0.00,0.000,1030,0.000,0.051,3250,2150,2337,2394,2280,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9893,0.82,126.5,3250,2150,2393,2280,710.9,11.0,843,9899,0.00,2.38,0.00,0.000,516,0.000,0.078,3258,736,2337,2394,2280,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9940,0.82,126.5,3258,736,2394,2280,705.3,11.3,853,9945,0.10,2.28,0.00,0.000,5126,0.290,0.051,3239,2142,2337,2394,2280,0,0,0,0,0,0,14.55,14.76,28.83
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$GC,17102,1.35,551.7,3322,2146,1282,1177,26.5,1.7,1660,17193,0.15,2.35,82.62,0.213,10756,0.128,0.064,3400,734,627,691,563,0,0,0,0,0,0,14.55,14.52,14.38
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$STATE,17322,end climb,SURFACE_DEPTH_REACHED
$STATE,17322,begin surface coast
$FINISH,0.3,1.019291
$STATE,17344,end surface coast,CONTROL_FINISHED_OK
$STATE,17344,begin surface
$SM_CCo,17359,17.10,0.138,0,0,508,579.63
$SM_CCo,17379,-0.03,0.000,0,0,510,579.63
$SM_CCo,17382,0.20,0.540,0,0,508,579.63
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$IRIDIUM_FIX,1747.37,8932.81,210708,080840
$TT8_MAMPS,0.018725,0.018725
$HUMID,45.15
$INTERNAL_PRESSURE,6.66041
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,13.2,49.321
$10V_AH,12.5,0.000
$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,322292
$DATA_FILE_SIZE,137569,1702
$CAP_FILE_SIZE,182923,0
$CFSIZE,2097086464,2076213248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.036,190.0,1
$GPS,250915,050222,1757.308,8933.257,41,1.0,41,-0.9