version: 66.11
glider: 615
mission: 5
dive: 117
start: 9 26 115 11 4 50
data:
$ID,615
$MISSION,5
$DIVE,117
$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,-18970.705
$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,43
$R_STBD_OVSHOOT,46
$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
$GPS1,260915,105703,1806.263,8933.709,33,0.7,33,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.8
$GPS2,260915,110423,1806.276,8933.770,5,0.8,6,-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,233.8,29523,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.82,-126.5,177,2152,542,486,0.0,0.0,0,67,0.00,0.00,-50.08,0.000,16386,0.000,0.000,177,2150,1923,1927,1919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.82,-126.5,176,2151,1927,1919,3.6,-8.5,8,117,10.70,2.45,-30.88,0.000,18692,0.351,0.080,2664,3604,3390,3402,3378,0,0,0,0,0,0,14.27,14.54,14.76
$GC,159,-0.82,-126.5,2664,3604,3402,3378,33.6,-39.0,23,167,0.08,2.25,0.00,0.000,3078,0.302,0.041,2675,2194,3390,3402,3378,0,0,0,0,0,0,14.40,14.59,28.83
$GC,350,-0.82,-126.5,1696,2188,3389,3377,89.3,-24.6,60,357,0.00,2.30,0.00,0.000,516,0.000,0.057,2675,802,3390,3403,3378,0,0,0,0,0,0,28.83,14.56,28.83
$GC,471,-0.82,-126.5,2675,802,3403,3379,112.4,-16.7,83,477,0.00,2.22,0.00,0.000,1030,0.000,0.042,2667,2208,3390,3402,3379,0,0,0,0,0,0,28.83,14.66,28.83
$GC,659,-0.82,-126.5,2667,2208,3403,3381,141.7,-16.4,120,666,0.00,2.33,0.00,0.000,516,0.000,0.055,2667,801,3392,3403,3381,0,0,0,0,0,0,28.83,14.62,28.83
$GC,699,-0.82,-126.5,2667,800,3403,3381,147.8,-15.5,127,706,0.10,2.20,0.00,0.000,3078,0.294,0.042,2677,2199,3391,3403,3380,0,0,0,0,0,0,14.50,14.69,28.83
$GC,889,-0.82,-126.5,1696,2198,3389,3380,173.9,-14.8,164,896,0.00,2.33,0.00,0.000,260,0.000,0.064,2668,3595,3393,3403,3383,0,0,0,0,0,0,28.83,14.63,28.83
$GC,933,-0.82,-126.5,1696,3594,3389,3381,180.6,-15.4,172,940,0.00,2.25,0.00,0.000,1030,0.000,0.037,2668,2196,3393,3403,3383,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1122,-0.82,-126.5,2668,2195,3403,3383,208.2,-15.3,204,1126,0.00,2.22,0.00,0.000,516,0.000,0.056,2668,806,3393,3403,3383,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1212,-0.82,-126.5,2668,806,3403,3383,222.4,-15.0,222,1221,0.05,2.25,0.00,0.000,3078,0.254,0.043,2673,2194,3393,3403,3383,0,0,0,0,0,0,14.40,14.59,28.83
$GC,1520,-0.82,-126.5,2673,2195,3403,3380,267.6,-14.7,253,1530,0.00,2.30,0.00,0.000,260,0.000,0.066,2664,3609,3390,3402,3379,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1573,-0.82,-126.5,2664,3609,3403,3379,275.5,-14.6,263,1583,0.08,2.20,0.00,0.000,3078,0.281,0.038,2678,2196,3391,3403,3379,0,0,0,0,0,0,14.59,14.79,28.83
$GC,1883,-0.82,-126.5,2679,2195,3402,3376,320.3,-14.2,295,1893,0.00,2.22,0.00,0.000,516,0.000,0.057,2679,809,3389,3402,3376,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1968,-0.82,-126.5,2679,809,3403,3376,332.9,-13.8,312,1977,0.00,2.28,0.00,0.000,1030,0.000,0.047,2670,2206,3389,3403,3375,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2277,-0.82,-126.5,2670,2205,3402,3372,378.1,-15.0,334,2283,0.00,2.25,0.00,0.000,516,0.000,0.061,2670,813,3386,3402,3371,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2339,-0.82,-126.5,2670,813,3402,3371,387.2,-14.3,346,2345,0.05,2.22,0.00,0.000,3078,0.249,0.047,2676,2220,3386,3402,3371,0,0,0,0,0,0,14.56,14.76,28.83
$GC,2658,-0.82,-126.5,2675,2219,3402,3366,433.1,-14.1,365,2664,0.00,2.28,0.00,0.000,516,0.000,0.061,2675,815,3384,3402,3366,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2685,-0.82,-126.5,2675,814,3401,3365,437.6,-15.1,371,2689,0.00,2.22,0.00,0.000,1030,0.000,0.049,2667,2204,3384,3402,3366,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2998,-0.82,-126.5,2667,2204,3401,3361,481.3,-14.0,388,3004,0.00,2.28,0.00,0.000,516,0.000,0.065,2667,806,3381,3402,3361,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3040,-0.82,-126.5,2667,806,3402,3361,487.6,-13.9,397,3046,0.05,2.28,0.00,0.000,3078,0.252,0.049,2672,2199,3381,3402,3361,0,0,0,0,0,0,14.54,14.73,28.83
$GC,3348,-0.82,-126.5,2673,2200,3401,3356,528.1,-13.2,411,3354,0.00,2.25,0.00,0.000,516,0.000,0.063,2672,813,3379,3402,3356,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3378,-0.82,-126.5,2672,813,3401,3356,532.0,-13.2,417,3385,0.08,2.22,0.00,0.000,3078,0.310,0.051,2678,2202,3378,3401,3356,0,0,0,0,0,0,14.61,14.79,28.83
$GC,3708,-0.82,-126.5,2678,2202,3401,3352,574.3,-12.8,433,3714,0.00,2.25,0.00,0.000,516,0.000,0.063,2678,814,3376,3401,3352,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3731,-0.82,-126.5,2678,815,3401,3352,577.6,-13.3,438,3739,0.00,2.28,0.00,0.000,1030,0.000,0.052,2670,2192,3376,3401,3352,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4039,-0.82,-126.5,2670,2192,3400,3351,619.2,-13.7,449,4043,0.00,2.25,0.00,0.000,516,0.000,0.064,2670,814,3375,3400,3351,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4070,-0.82,-126.5,2670,814,3399,3351,623.7,-13.8,455,4077,0.08,2.22,0.00,0.000,3078,0.310,0.052,2675,2201,3375,3399,3351,0,0,0,0,0,0,14.62,14.80,28.83
$GC,4401,-0.82,-126.5,2675,2201,3397,3348,667.5,-13.2,471,4407,0.00,2.33,0.00,0.000,260,0.000,0.074,2666,3604,3373,3398,3348,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4430,-0.82,-126.5,2666,3604,3396,3348,671.4,-13.6,477,4436,0.00,2.22,0.00,0.000,1030,0.000,0.044,2666,2197,3372,3397,3348,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4761,-0.82,-126.5,2666,2197,3396,3346,716.1,-13.5,493,4767,0.00,2.25,0.00,0.000,516,0.000,0.064,2666,808,3370,3396,3345,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4858,-0.82,-126.5,2666,807,3395,3346,729.5,-12.8,513,4863,0.10,2.25,0.00,0.000,3078,0.272,0.051,2678,2205,3370,3395,3346,0,0,0,0,0,0,14.61,14.80,28.83
$GC,5180,-0.82,-126.5,2678,2205,3394,3344,770.3,-12.8,527,5182,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2205,3369,3394,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5481,-0.82,-126.5,2678,2205,3393,3343,807.4,-12.4,537,5487,0.00,2.30,0.00,0.000,516,0.000,0.069,2678,804,3368,3393,3343,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5533,-0.82,-126.5,2678,804,3392,3343,814.2,-11.7,548,5541,0.00,2.33,0.00,0.000,1030,0.000,0.057,2670,2195,3368,3393,3343,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5841,-0.82,-126.5,2669,2196,3392,3341,851.8,-12.3,559,5847,0.00,2.30,0.00,0.000,516,0.000,0.068,2669,802,3366,3392,3341,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5901,-0.82,-126.5,2670,802,3391,3341,859.4,-12.4,571,5905,0.05,2.25,0.00,0.000,3078,0.269,0.053,2672,2205,3366,3391,3341,0,0,0,0,0,0,14.52,14.76,28.83
$GC,6233,-0.82,-126.5,2673,2205,3389,3339,899.4,-12.0,587,6239,0.00,2.30,0.00,0.000,516,0.000,0.069,2673,806,3364,3390,3339,0,0,0,0,0,0,28.83,14.74,28.83
$GC,6293,-0.82,-126.5,2673,805,3389,3339,906.7,-11.9,599,6299,0.00,2.25,0.00,0.000,1030,0.000,0.053,2665,2201,3364,3389,3340,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6623,-0.82,-126.5,2665,2201,3389,3338,946.7,-12.1,615,6624,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2201,3363,3389,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6923,-0.82,-126.5,2666,2202,3388,3337,982.0,-11.8,625,6927,0.00,2.30,0.00,0.000,516,0.000,0.070,2665,805,3362,3388,3337,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6985,-0.82,-126.5,2666,805,3388,3337,989.3,-11.5,637,6992,0.10,2.28,0.00,0.000,3078,0.286,0.055,2675,2211,3362,3388,3337,0,0,0,0,0,0,14.57,14.78,28.83
$STATE,6997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6998,begin apogee
$GC,7002,-0.16,0.0,2675,2131,3387,3337,991.1,-11.0,640,7112,0.73,0.00,106.30,2.471,10246,0.231,0.000,2885,2130,2871,2916,2827,0,0,0,0,0,0,14.50,28.83,13.26
$STATE,7114,end apogee,CONTROL_FINISHED_OK
$STATE,7114,begin climb
$GC,7116,0.82,126.5,2885,2130,2911,2819,994.0,0.0,663,7233,1.02,2.53,108.53,2.231,10756,0.148,0.078,3212,746,2349,2406,2292,0,0,0,0,0,0,14.01,13.90,13.20
$GC,7268,0.82,126.5,3212,746,2402,2291,984.5,10.9,694,7273,0.00,2.38,0.00,0.000,1030,0.000,0.050,3212,2144,2346,2402,2290,0,0,0,0,0,0,28.83,14.14,28.83
$GC,7580,0.82,126.5,3212,2143,2401,2287,949.4,11.1,706,7584,0.00,2.38,0.00,0.000,516,0.000,0.077,3223,750,2344,2402,2286,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7624,0.82,126.5,3223,750,2401,2286,944.1,11.5,715,7629,0.00,2.30,0.00,0.000,1030,0.000,0.050,3222,2146,2343,2400,2287,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7937,0.82,126.5,3222,2146,2398,2285,909.9,10.6,727,7943,0.00,2.38,0.00,0.000,516,0.000,0.077,3233,742,2341,2397,2285,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7974,0.82,126.5,3233,742,2398,2285,905.5,10.6,735,7979,0.00,2.30,0.00,0.000,1030,0.000,0.051,3233,2145,2342,2398,2286,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8297,0.82,126.5,3233,2145,2397,2285,870.5,10.9,749,8301,0.00,2.35,0.00,0.000,516,0.000,0.077,3243,750,2340,2397,2284,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8330,0.82,126.5,3243,750,2397,2285,866.4,11.2,756,8336,0.00,2.30,0.00,0.000,1030,0.000,0.051,3243,2135,2341,2397,2285,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8659,0.82,126.5,3243,2135,2396,2284,828.8,11.7,771,8665,0.00,2.33,0.00,0.000,516,0.000,0.077,3253,750,2340,2396,2284,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8812,0.82,126.5,3253,750,2395,2284,810.3,11.6,802,8816,0.00,2.30,0.00,0.000,1030,0.000,0.052,3253,2134,2339,2395,2284,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9140,0.82,126.5,3253,2134,2394,2283,771.6,12.0,817,9146,0.00,2.33,0.00,0.000,516,0.000,0.078,3262,749,2339,2395,2283,0,0,0,0,0,0,28.83,14.67,28.83
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$STATE,17253,end climb,SURFACE_DEPTH_REACHED
$STATE,17253,begin surface coast
$FINISH,0.2,1.009065
$STATE,17268,end surface coast,CONTROL_FINISHED_OK
$STATE,17268,begin surface
$SM_CCo,17286,0.80,0.211,0,0,508,579.63
$SM_CCo,17289,-0.03,0.000,0,0,511,579.63
$SM_CCo,17292,0.35,0.355,0,0,507,579.63
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$IRIDIUM_FIX,1758.70,8935.06,220708,191941
$TT8_MAMPS,0.018725,0.018725
$HUMID,45.90
$INTERNAL_PRESSURE,6.65065
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,13.2,51.569
$10V_AH,12.8,0.000
$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,322248
$DATA_FILE_SIZE,137424,1708
$CAP_FILE_SIZE,185656,0
$CFSIZE,2097086464,2075066368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.027,176.4,1
$GPS,260915,155404,1804.962,8932.346,24,0.9,24,-0.9