version: 66.11
glider: 615
mission: 5
dive: 135
start: 9 30 115 4 0 35
data:
$ID,615
$MISSION,5
$DIVE,135
$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,-18998.633
$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,50
$R_STBD_OVSHOOT,66
$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
$GPS1,300915,035303,1801.199,8926.831,25,0.9,25,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.5
$GPS2,300915,040008,1801.263,8926.788,6,0.8,6,-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,139.5,16209,-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,-126.5,158,2235,560,480,0.0,0.0,0,62,0.00,0.00,-45.72,0.000,16386,0.000,0.000,158,2234,1814,1817,1812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.82,-126.5,158,2235,1817,1812,3.3,-7.7,7,117,10.77,2.35,-32.88,0.000,18948,0.350,0.069,2674,806,3388,3400,3377,0,0,0,0,0,0,14.26,14.53,14.77
$GC,123,-0.82,-126.5,2674,806,3400,3377,20.8,-36.2,16,130,0.00,2.25,0.00,0.000,1030,0.000,0.046,2666,2165,3388,3400,3377,0,0,0,0,0,0,28.83,14.50,28.83
$GC,313,-0.82,-126.5,2665,2166,3399,3377,82.8,-21.9,53,321,0.00,2.35,0.00,0.000,260,0.000,0.060,2654,3611,3388,3400,3377,0,0,0,0,0,0,28.83,14.60,28.83
$GC,358,-0.82,-126.5,2654,3611,3400,3377,91.3,-18.7,61,366,0.10,2.22,0.00,0.000,3078,0.279,0.035,2674,2190,3388,3399,3377,0,0,0,0,0,0,14.44,14.65,28.83
$GC,550,-0.82,-126.5,2674,2188,3399,3379,124.6,-14.6,98,557,0.00,2.28,0.00,0.000,516,0.000,0.054,2674,809,3389,3400,3379,0,0,0,0,0,0,28.83,14.59,28.83
$GC,590,-0.82,-126.5,2674,810,3400,3379,130.9,-15.8,105,597,0.00,2.22,0.00,0.000,1030,0.000,0.042,2665,2215,3389,3400,3378,0,0,0,0,0,0,28.83,14.68,28.83
$GC,780,-0.82,-126.5,2665,2216,3400,3380,159.7,-16.4,142,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2216,3390,3400,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,970,-0.82,-126.5,2665,2216,3400,3381,189.5,-15.5,179,977,0.00,2.25,0.00,0.000,516,0.000,0.055,2665,817,3390,3400,3381,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1018,-0.82,-126.5,2665,817,3400,3381,196.9,-15.1,188,1026,0.08,2.25,0.00,0.000,3078,0.238,0.043,2677,2198,3390,3400,3381,0,0,0,0,0,0,14.50,14.64,28.83
$GC,1215,-0.82,-126.5,2677,2198,3400,3381,225.6,-14.6,209,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2198,3390,3400,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1514,-0.82,-126.5,2677,2199,3400,3379,266.8,-13.3,239,1524,0.00,2.22,0.00,0.000,516,0.000,0.058,2677,817,3389,3400,3379,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1549,-0.82,-126.5,2678,818,3400,3378,271.9,-13.4,246,1558,0.00,2.25,0.00,0.000,1030,0.000,0.046,2669,2198,3389,3400,3378,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1857,-0.82,-126.5,2669,2198,3400,3375,315.1,-14.2,277,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2198,3388,3400,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2168,-0.82,-126.5,2669,2199,3400,3372,359.3,-14.2,305,2174,0.00,2.22,0.00,0.000,516,0.000,0.059,2669,819,3386,3400,3372,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2195,-0.82,-126.5,2669,819,3400,3372,363.7,-14.5,311,2200,0.10,2.20,0.00,0.000,3078,0.275,0.048,2681,2202,3386,3400,3372,0,0,0,0,0,0,14.59,14.77,28.83
$GC,2508,-0.82,-126.5,2681,2202,3400,3368,405.2,-13.8,328,2514,0.00,2.25,0.00,0.000,516,0.000,0.060,2681,812,3384,3400,3368,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2548,-0.82,-126.5,2681,812,3399,3368,410.9,-14.1,336,2554,0.00,2.22,0.00,0.000,1030,0.000,0.048,2672,2208,3383,3400,3367,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2868,-0.82,-126.5,2673,2207,3400,3363,457.6,-14.8,355,2874,0.00,2.28,0.00,0.000,516,0.000,0.060,2673,809,3381,3400,3362,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2909,-0.82,-126.5,2673,809,3400,3362,463.6,-14.7,363,2915,0.05,2.22,0.00,0.000,3078,0.244,0.050,2678,2200,3380,3399,3362,0,0,0,0,0,0,14.57,14.78,28.83
$GC,3219,-0.82,-126.5,2677,2201,3399,3357,506.4,-13.6,381,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2200,3378,3399,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3518,-0.82,-126.5,2678,2202,3399,3354,547.0,-13.5,391,3524,0.00,2.25,0.00,0.000,516,0.000,0.065,2678,821,3376,3399,3353,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3560,-0.82,-126.5,2678,821,3399,3354,553.3,-13.6,400,3565,0.00,2.22,0.00,0.000,1030,0.000,0.050,2670,2205,3376,3399,3353,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3878,-0.82,-126.5,2670,2205,3399,3351,597.0,-13.7,413,3884,0.00,2.30,0.00,0.000,260,0.000,0.075,2659,3600,3374,3398,3351,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3900,-0.82,-126.5,2659,3599,3398,3350,600.5,-14.0,418,3909,0.05,2.25,0.00,0.000,3078,0.220,0.041,2674,2211,3374,3398,3351,0,0,0,0,0,0,14.52,14.75,28.83
$GC,4208,-0.82,-126.5,2674,2210,3397,3349,640.0,-12.8,429,4214,0.00,2.30,0.00,0.000,516,0.000,0.065,2674,805,3372,3397,3348,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4285,-0.82,-126.5,2674,805,3396,3348,650.3,-12.6,445,4290,0.00,2.25,0.00,0.000,1030,0.000,0.050,2666,2207,3372,3397,3348,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4598,-0.82,-126.5,2666,2208,3396,3346,691.2,-13.3,457,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2208,3371,3396,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4898,-0.82,-126.5,2666,2208,3394,3344,732.1,-13.7,467,4904,0.00,2.30,0.00,0.000,516,0.000,0.065,2666,800,3369,3394,3345,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4915,-0.82,-126.5,2666,800,3394,3344,735.0,-14.3,471,4920,0.10,2.25,0.00,0.000,3078,0.282,0.051,2676,2201,3369,3394,3344,0,0,0,0,0,0,14.59,14.80,28.83
$GC,5228,-0.82,-126.5,2676,2202,3393,3342,775.8,-13.2,483,5234,0.00,2.30,0.00,0.000,516,0.000,0.067,2676,799,3368,3394,3343,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5260,-0.82,-126.5,2676,799,3393,3343,780.4,-12.9,490,5265,0.00,2.30,0.00,0.000,1030,0.000,0.052,2668,2196,3368,3393,3343,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5588,-0.82,-126.5,2668,2197,3392,3341,823.9,-13.2,505,5589,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2197,3366,3392,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5889,-0.82,-126.5,2668,2197,3391,3340,862.7,-12.8,515,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2196,3365,3391,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6188,-0.82,-126.5,2668,2197,3389,3339,899.9,-12.4,525,6194,0.00,2.30,0.00,0.000,516,0.000,0.067,2668,803,3363,3389,3338,0,0,0,0,0,0,28.83,14.74,28.83
$GC,6218,-0.82,-126.5,2668,803,3389,3338,903.7,-13.1,531,6225,0.10,2.28,0.00,0.000,3078,0.293,0.054,2678,2211,3363,3389,3338,0,0,0,0,0,0,14.56,14.79,28.83
$GC,6548,-0.82,-126.5,2679,2212,3389,3337,941.6,-11.4,547,6549,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2212,3363,3390,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6848,-0.82,-126.5,2679,2212,3388,3336,975.9,-11.5,557,6854,0.00,2.30,0.00,0.000,516,0.000,0.066,2679,809,3362,3388,3336,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6910,-0.82,-126.5,2680,809,3387,3336,983.3,-11.3,570,6915,0.00,2.30,0.00,0.000,1030,0.000,0.053,2672,2197,3362,3388,3336,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,6997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6997,begin apogee
$GC,7001,-0.16,0.0,2672,2138,3387,3337,993.3,-11.6,577,7111,0.80,0.00,105.25,2.405,10246,0.265,0.000,2889,2138,2871,2917,2826,0,0,0,0,0,0,14.42,28.83,13.19
$STATE,7113,end apogee,CONTROL_FINISHED_OK
$STATE,7113,begin climb
$GC,7114,0.82,126.5,2889,2138,2912,2818,997.0,0.0,600,7234,1.10,0.00,112.53,2.430,10246,0.187,0.000,3206,2138,2348,2406,2291,0,0,0,0,0,0,14.00,28.83,13.15
$GC,7533,0.82,126.5,3206,2138,2402,2284,959.0,11.2,614,7537,0.00,2.38,0.00,0.000,516,0.000,0.080,3214,755,2343,2403,2284,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7663,0.82,126.5,3214,755,2402,2284,944.1,11.1,640,7668,0.00,2.30,0.00,0.000,1030,0.000,0.052,3214,2149,2343,2402,2284,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7974,0.82,126.5,3213,2150,2401,2283,909.8,11.0,652,7979,0.00,2.38,0.00,0.000,516,0.000,0.079,3224,752,2342,2401,2283,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8069,0.82,126.5,3223,752,2401,2283,899.0,11.1,671,8074,0.00,2.28,0.00,0.000,1030,0.000,0.051,3223,2144,2342,2401,2283,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8392,0.82,126.5,3223,2144,2398,2282,864.3,10.8,685,8398,0.00,2.35,0.00,0.000,516,0.000,0.079,3234,753,2340,2398,2282,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8452,0.82,126.5,3234,753,2398,2282,857.7,11.0,697,8457,0.00,2.25,0.00,0.000,1030,0.000,0.051,3234,2143,2340,2398,2282,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8784,0.82,126.5,3233,2143,2396,2282,822.3,10.8,713,8791,0.00,2.35,0.00,0.000,516,0.000,0.078,3243,749,2339,2396,2282,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8861,0.82,126.5,3243,749,2397,2282,813.4,11.4,729,8866,0.00,2.28,0.00,0.000,1030,0.000,0.051,3243,2148,2339,2396,2282,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9174,0.82,126.5,3243,2148,2395,2281,778.6,11.2,741,9180,0.00,2.35,0.00,0.000,516,0.000,0.076,3252,750,2338,2396,2281,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9257,0.82,126.5,3252,750,2395,2281,768.6,12.0,758,9265,0.00,2.33,0.00,0.000,1030,0.000,0.050,3252,2140,2338,2395,2281,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9564,0.82,126.5,3253,2141,2395,2281,733.5,11.5,769,9570,0.00,2.33,0.00,0.000,516,0.000,0.075,3262,752,2337,2395,2280,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9672,0.82,126.5,3262,752,2394,2281,720.4,11.4,791,9678,0.10,2.25,0.00,0.000,5126,0.272,0.051,3242,2143,2337,2395,2280,0,0,0,0,0,0,14.53,14.73,28.83
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$STATE,17277,end climb,SURFACE_DEPTH_REACHED
$STATE,17277,begin surface coast
$FINISH,0.3,1.019498
$STATE,17300,end surface coast,CONTROL_FINISHED_OK
$STATE,17300,begin surface
$SM_CCo,17315,42.42,0.133,0,0,508,579.63
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$SM_CCo,17363,0.30,0.398,0,0,508,579.63
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$IRIDIUM_FIX,1756.43,8925.99,260708,121254
$TT8_MAMPS,0.018725,0.018725
$HUMID,44.21
$INTERNAL_PRESSURE,6.66041
$TCM_TEMP,24.10
$XPDR_PINGS,0
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$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,134221,1655
$CAP_FILE_SIZE,179572,0
$CFSIZE,2097086464,2072117248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.050,197.4,1
$GPS,300915,085103,1759.359,8927.846,27,0.8,28,-0.9