version: 66.11
glider: 615
mission: 5
dive: 113
start: 9 25 115 15 5 22
data:
$ID,615
$MISSION,5
$DIVE,113
$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,-18965.684
$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,33
$R_STBD_OVSHOOT,55
$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
$GPS1,250915,145751,1800.677,8933.580,38,0.8,38,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.4
$GPS2,250915,150455,1800.652,8933.624,5,0.9,5,-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,355.0,11128,-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,-126.5,176,2218,554,485,0.0,0.0,0,64,0.00,0.00,-47.00,0.000,16386,0.000,0.000,174,2219,1835,1840,1831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.82,-126.5,174,2220,1841,1831,3.3,-7.5,7,118,10.62,2.35,-33.05,0.000,18948,0.347,0.070,2677,788,3389,3401,3377,0,0,0,0,0,0,14.29,14.54,14.77
$GC,160,-0.82,-126.5,1696,787,3388,3375,34.5,-40.2,23,167,0.00,2.25,0.00,0.000,1030,0.000,0.049,2669,2181,3389,3401,3377,0,0,0,0,0,0,28.83,14.57,28.83
$GC,349,-0.82,-126.5,1680,2180,3387,3375,91.0,-24.3,60,356,0.00,2.30,0.00,0.000,516,0.000,0.054,2669,795,3389,3401,3377,0,0,0,0,0,0,28.83,14.57,28.83
$GC,439,-0.82,-126.5,2668,795,3401,3378,109.3,-20.8,77,447,0.10,2.25,0.00,0.000,3078,0.302,0.044,2677,2209,3389,3401,3378,0,0,0,0,0,0,14.45,14.66,28.83
$GC,631,-0.82,-126.5,2678,2210,3401,3380,140.0,-14.8,114,638,0.00,2.30,0.00,0.000,260,0.000,0.063,2669,3593,3390,3401,3380,0,0,0,0,0,0,28.83,14.62,28.83
$GC,700,-0.82,-126.5,1696,3592,3387,3379,150.1,-15.0,127,707,0.00,2.22,0.00,0.000,1030,0.000,0.037,2669,2174,3391,3402,3381,0,0,0,0,0,0,28.83,14.72,28.83
$GC,889,-0.82,-126.5,2669,2173,3401,3383,176.2,-14.8,164,896,0.00,2.35,0.00,0.000,260,0.000,0.063,2658,3602,3392,3401,3383,0,0,0,0,0,0,28.83,14.67,28.83
$GC,932,-0.82,-126.5,2658,3602,3401,3383,182.9,-15.6,172,940,0.05,2.25,0.00,0.000,3078,0.239,0.037,2673,2196,3392,3401,3383,0,0,0,0,0,0,14.50,14.67,28.83
$GC,1128,-0.82,-126.5,2673,2196,3401,3382,210.4,-14.6,203,1138,0.00,2.22,0.00,0.000,516,0.000,0.058,2673,810,3391,3401,3382,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1171,-0.82,-126.5,2673,810,3401,3383,216.8,-15.3,211,1181,0.00,2.20,0.00,0.000,1030,0.000,0.046,2665,2198,3392,3401,3383,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1482,-0.82,-126.5,2665,2199,3401,3380,263.3,-15.2,243,1491,0.00,2.28,0.00,0.000,260,0.000,0.068,2654,3601,3390,3401,3380,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1514,-0.82,-126.5,2654,3601,3401,3380,268.2,-15.2,249,1525,0.10,2.17,0.00,0.000,3078,0.260,0.037,2675,2200,3390,3401,3380,0,0,0,0,0,0,14.59,14.78,28.83
$GC,1824,-0.82,-126.5,2675,2200,3401,3377,313.1,-14.8,281,1833,0.00,2.22,0.00,0.000,516,0.000,0.059,2675,813,3388,3401,3376,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1929,-0.82,-126.5,2675,813,3401,3376,328.3,-14.1,301,1939,0.00,2.20,0.00,0.000,1030,0.000,0.047,2667,2207,3388,3401,3375,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2238,-0.82,-126.5,2667,2208,3401,3372,374.8,-15.0,325,2244,0.00,2.25,0.00,0.000,516,0.000,0.060,2667,813,3386,3401,3372,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2278,-0.82,-126.5,2667,813,3401,3372,380.9,-15.1,333,2285,0.10,2.22,0.00,0.000,3078,0.274,0.047,2678,2209,3386,3401,3371,0,0,0,0,0,0,14.59,14.78,28.83
$GC,2598,-0.82,-126.5,2678,2209,3401,3368,426.0,-14.0,352,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2209,3384,3401,3368,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2898,-0.82,-126.5,2678,2210,3401,3363,467.0,-13.6,367,2905,0.00,2.28,0.00,0.000,516,0.000,0.064,2678,807,3382,3401,3363,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2958,-0.82,-126.5,2678,807,3401,3363,475.3,-13.7,379,2964,0.00,2.22,0.00,0.000,1030,0.000,0.051,2670,2196,3382,3401,3363,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3279,-0.82,-126.5,2670,2197,3400,3357,518.6,-13.4,396,3285,0.00,2.25,0.00,0.000,516,0.000,0.064,2671,812,3378,3400,3357,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3321,-0.82,-126.5,2670,812,3401,3357,524.8,-13.7,405,3326,0.10,2.22,0.00,0.000,3078,0.286,0.050,2681,2203,3378,3400,3356,0,0,0,0,0,0,14.60,14.80,28.83
$GC,3633,-0.82,-126.5,2681,2203,3400,3353,563.8,-12.5,417,3638,0.00,2.30,0.00,0.000,516,0.000,0.064,2681,806,3376,3400,3353,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3665,-0.82,-126.5,2681,806,3400,3353,567.8,-12.9,423,3671,0.00,2.22,0.00,0.000,1030,0.000,0.050,2674,2199,3376,3400,3353,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3995,-0.82,-126.5,2674,2199,3399,3351,610.4,-13.0,439,4001,0.00,2.25,0.00,0.000,516,0.000,0.064,2673,814,3375,3399,3351,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4026,-0.82,-126.5,2674,814,3398,3352,614.5,-14.2,445,4033,0.03,2.22,0.00,0.000,3078,0.308,0.051,2671,2207,3374,3398,3351,0,0,0,0,0,0,14.60,14.78,28.83
$GC,4356,-0.82,-126.5,2670,2207,3397,3349,659.3,-13.8,461,4362,0.00,2.28,0.00,0.000,516,0.000,0.065,2671,816,3373,3397,3349,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4416,-0.82,-126.5,2670,816,3397,3349,667.5,-13.3,473,4423,0.08,2.22,0.00,0.000,3078,0.318,0.051,2677,2202,3372,3396,3349,0,0,0,0,0,0,14.61,14.81,28.83
$GC,4746,-0.82,-126.5,2677,2203,3396,3346,710.3,-12.8,489,4752,0.00,2.28,0.00,0.000,516,0.000,0.065,2677,815,3370,3395,3346,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4783,-0.82,-126.5,2677,814,3395,3346,715.5,-12.7,497,4787,0.00,2.22,0.00,0.000,1030,0.000,0.051,2669,2199,3370,3395,3346,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5106,-0.82,-126.5,2669,2199,3394,3345,757.0,-13.0,511,5107,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2199,3369,3394,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5406,-0.82,-126.5,2670,2199,3393,3344,794.3,-12.3,521,5412,0.00,2.28,0.00,0.000,516,0.000,0.067,2669,806,3368,3393,3343,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5478,-0.82,-126.5,2669,806,3393,3343,803.6,-11.8,536,5483,0.08,2.25,0.00,0.000,3078,0.324,0.052,2675,2204,3368,3393,3343,0,0,0,0,0,0,14.59,14.80,28.83
$GC,5796,-0.82,-126.5,2675,2203,3391,3342,840.4,-11.8,549,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2204,3366,3391,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6096,-0.82,-126.5,2674,2204,3391,3341,876.5,-12.2,559,6100,0.00,2.30,0.00,0.000,516,0.000,0.069,2675,816,3365,3390,3340,0,0,0,0,0,0,28.83,14.75,28.83
$GC,6166,-0.82,-126.5,2675,816,3390,3340,885.4,-11.8,573,6170,0.00,2.25,0.00,0.000,1030,0.000,0.054,2666,2205,3365,3390,3340,0,0,0,0,0,0,28.83,14.79,28.83
$GC,6489,-0.82,-126.5,2667,2206,3389,3339,925.0,-12.4,587,6495,0.00,2.30,0.00,0.000,516,0.000,0.067,2667,809,3363,3389,3338,0,0,0,0,0,0,28.83,14.75,28.83
$GC,6520,-0.82,-126.5,2668,809,3390,3338,929.5,-12.4,594,6525,0.05,2.30,0.00,0.000,3078,0.267,0.053,2671,2205,3363,3389,3338,0,0,0,0,0,0,14.52,14.74,28.83
$GC,6849,-0.82,-126.5,2671,2206,3389,3338,968.6,-11.9,609,6855,0.00,2.30,0.00,0.000,516,0.000,0.067,2671,810,3362,3388,3337,0,0,0,0,0,0,28.83,14.74,28.83
$GC,6878,-0.82,-126.5,2672,810,3389,3337,972.3,-12.7,615,6884,0.00,2.25,0.00,0.000,1030,0.000,0.053,2666,2204,3363,3389,3337,0,0,0,0,0,0,28.83,14.79,28.83
$STATE,7027,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7027,begin apogee
$GC,7031,-0.16,0.0,2666,2144,3388,3336,990.8,-12.4,625,7186,0.80,0.00,148.15,2.008,10246,0.265,0.000,2884,2144,2869,2915,2823,0,0,0,0,0,0,14.43,28.83,13.44
$STATE,7187,end apogee,CONTROL_FINISHED_OK
$STATE,7187,begin climb
$GC,7188,0.82,126.5,2884,2144,2913,2819,995.9,0.0,657,7306,1.10,2.45,108.07,2.153,10500,0.187,0.070,3204,3538,2347,2404,2290,0,0,0,0,0,0,14.00,13.91,13.21
$GC,7332,0.82,126.5,3203,3540,2402,2286,988.5,10.3,686,7337,0.00,2.40,0.00,0.000,1030,0.000,0.047,3212,2155,2344,2402,2286,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7660,0.82,126.5,3212,2154,2401,2283,952.2,11.2,701,7667,0.00,2.42,0.00,0.000,516,0.000,0.079,3223,732,2341,2400,2283,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7768,0.82,126.5,3223,732,2400,2284,939.8,10.7,723,7773,0.00,2.33,0.00,0.000,1030,0.000,0.051,3223,2141,2341,2400,2283,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8081,0.82,126.5,3223,2141,2397,2282,905.8,10.8,735,8087,0.00,2.38,0.00,0.000,516,0.000,0.079,3233,738,2339,2397,2282,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8173,0.82,126.5,3233,738,2397,2282,895.3,11.0,754,8178,0.00,2.33,0.00,0.000,1030,0.000,0.051,3233,2137,2339,2397,2282,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8502,0.82,126.5,3233,2137,2396,2281,859.8,10.8,769,8506,0.00,2.38,0.00,0.000,516,0.000,0.080,3243,736,2338,2396,2281,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8556,0.82,126.5,3243,736,2396,2282,853.5,11.5,780,8564,0.00,2.35,0.00,0.000,1030,0.000,0.051,3243,2140,2339,2396,2282,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8864,0.82,126.5,3243,2141,2395,2280,819.1,11.3,791,8870,0.00,2.38,0.00,0.000,516,0.000,0.079,3253,729,2338,2395,2281,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8997,0.82,126.5,3253,729,2394,2280,803.1,11.8,818,9002,0.00,2.30,0.00,0.000,1030,0.000,0.052,3253,2142,2337,2395,2280,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9309,0.82,126.5,3253,2143,2394,2280,766.5,12.0,830,9313,0.00,2.38,0.00,0.000,516,0.000,0.078,3263,728,2337,2394,2280,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9415,0.82,126.5,3263,728,2394,2280,753.5,12.0,851,9420,0.10,2.30,0.00,0.000,5126,0.288,0.052,3244,2145,2336,2393,2280,0,0,0,0,0,0,14.54,14.75,28.83
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$STATE,17293,end climb,SURFACE_DEPTH_REACHED
$STATE,17293,begin surface coast
$FINISH,0.2,1.019787
$STATE,17314,end surface coast,CONTROL_FINISHED_OK
$STATE,17314,begin surface
$SM_CCo,17332,31.25,0.135,0,0,509,579.63
$SM_CCo,17366,0.00,0.000,0,0,510,579.63
$SM_CCo,17368,0.00,0.000,0,0,511,579.63
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$IRIDIUM_FIX,1751.90,8935.07,210708,232321
$TT8_MAMPS,0.018725,0.018725
$HUMID,43.69
$INTERNAL_PRESSURE,6.67018
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,13.2,50.283
$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,140592,1742
$CAP_FILE_SIZE,187724,0
$CFSIZE,2097086464,2075721728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.038,202.0,1
$GPS,250915,195604,1801.951,8933.431,37,0.9,37,-0.9