version: 66.11
glider: 615
mission: 5
dive: 138
start: 9 30 115 18 54 25
data:
$ID,615
$MISSION,5
$DIVE,138
$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,-19003.408
$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,45
$R_STBD_OVSHOOT,52
$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
$GPS1,300915,184722,1757.228,8930.754,37,0.8,37,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.2
$GPS2,300915,185358,1757.259,8930.732,5,1.0,5,-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,123.0,6114,-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,13,begin dive
$GC,14,-0.82,-126.5,155,2203,541,488,0.0,0.0,0,64,0.00,0.00,-47.33,0.000,16386,0.000,0.000,154,2203,1855,1860,1851,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.82,-126.5,155,2203,1860,1851,3.5,-8.0,7,112,10.80,0.00,-31.55,0.000,18694,0.350,0.000,2674,2204,3389,3402,3377,0,0,0,0,0,0,14.26,28.83,14.77
$GC,295,-0.82,-126.5,2674,2204,3402,3378,78.1,-24.5,50,303,0.00,2.35,0.00,0.000,516,0.000,0.060,2674,784,3390,3402,3378,0,0,0,0,0,0,28.83,14.57,28.83
$GC,416,-0.82,-126.5,2675,783,3402,3378,105.6,-23.2,73,424,0.00,2.25,0.00,0.000,1030,0.000,0.043,2665,2197,3390,3402,3379,0,0,0,0,0,0,28.83,14.64,28.83
$GC,608,-0.82,-126.5,2665,2198,3402,3380,138.2,-16.5,110,616,0.08,2.33,0.00,0.000,2308,0.333,0.058,2667,3605,3391,3402,3380,0,0,0,0,0,0,14.52,14.64,28.83
$GC,698,-0.82,-126.5,2668,3605,3402,3381,152.0,-14.5,127,705,0.00,2.22,0.00,0.000,1030,0.000,0.035,2668,2179,3391,3402,3381,0,0,0,0,0,0,28.83,14.72,28.83
$GC,886,-0.82,-126.5,2668,2178,3402,3383,177.6,-15.0,164,894,0.00,2.25,0.00,0.000,516,0.000,0.055,2668,814,3392,3402,3383,0,0,0,0,0,0,28.83,14.61,28.83
$GC,930,-0.82,-126.5,2668,814,3402,3383,184.5,-16.0,172,938,0.05,2.25,0.00,0.000,3078,0.262,0.044,2672,2196,3392,3401,3383,0,0,0,0,0,0,14.45,14.63,28.83
$GC,1125,-0.82,-126.5,2672,2197,3402,3383,213.1,-14.2,201,1136,0.00,2.22,0.00,0.000,516,0.000,0.057,2672,815,3392,3402,3383,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1189,-0.82,-126.5,2672,815,3402,3383,222.7,-14.9,213,1200,0.08,2.20,0.00,0.000,3078,0.306,0.044,2677,2204,3392,3402,3382,0,0,0,0,0,0,14.54,14.72,28.83
$GC,1500,-0.82,-126.5,2677,2204,3402,3380,267.9,-14.6,245,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2204,3391,3402,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1800,-0.82,-126.5,2677,2204,3402,3377,311.4,-14.8,275,1809,0.00,2.25,0.00,0.000,516,0.000,0.059,2677,812,3389,3402,3377,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1844,-0.82,-126.5,2677,812,3402,3377,317.9,-14.7,283,1853,0.00,2.22,0.00,0.000,1030,0.000,0.047,2669,2214,3389,3402,3376,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2163,-0.82,-126.5,2669,2214,3402,3372,365.6,-15.2,311,2169,0.00,2.28,0.00,0.000,516,0.000,0.060,2669,801,3387,3402,3372,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2210,-0.82,-126.5,2669,800,3402,3372,373.4,-15.2,321,2215,0.10,2.25,0.00,0.000,3078,0.274,0.048,2680,2208,3387,3402,3372,0,0,0,0,0,0,14.58,14.76,28.83
$GC,2523,-0.82,-126.5,2681,2208,3402,3369,417.7,-14.2,338,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2208,3385,3402,3369,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2823,-0.82,-126.5,2680,2209,3402,3364,458.7,-13.4,353,2829,0.00,2.25,0.00,0.000,516,0.000,0.060,2681,819,3382,3402,3363,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2876,-0.82,-126.5,2681,819,3402,3363,466.3,-13.7,364,2885,0.00,2.28,0.00,0.000,1030,0.000,0.050,2673,2197,3382,3402,3363,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3204,-0.82,-126.5,2673,2197,3401,3358,509.9,-13.4,380,3210,0.00,2.25,0.00,0.000,516,0.000,0.060,2673,815,3380,3402,3358,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3233,-0.82,-126.5,2673,814,3401,3358,514.1,-13.8,386,3238,0.08,2.22,0.00,0.000,3078,0.304,0.050,2677,2202,3379,3401,3358,0,0,0,0,0,0,14.59,14.78,28.83
$GC,3561,-0.82,-126.5,2677,2203,3401,3353,556.8,-13.1,401,3567,0.00,2.25,0.00,0.000,516,0.000,0.063,2677,818,3377,3401,3353,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3592,-0.82,-126.5,2677,818,3401,3353,561.5,-13.9,408,3597,0.00,2.25,0.00,0.000,1030,0.000,0.051,2669,2192,3377,3401,3353,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3921,-0.82,-126.5,2669,2192,3400,3352,607.1,-14.3,423,3927,0.00,2.25,0.00,0.000,516,0.000,0.065,2669,813,3375,3400,3351,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3973,-0.82,-126.5,2669,813,3400,3352,614.8,-13.5,434,3981,0.05,2.30,0.00,0.000,3078,0.235,0.051,2674,2201,3376,3400,3352,0,0,0,0,0,0,14.47,14.66,28.83
$GC,4281,-0.82,-126.5,2673,2202,3399,3349,654.7,-12.9,445,4282,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2202,3374,3399,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4580,-0.82,-126.5,2674,2202,3397,3347,692.3,-12.4,455,4586,0.00,2.28,0.00,0.000,516,0.000,0.066,2674,810,3372,3397,3347,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4649,-0.82,-126.5,2674,810,3397,3347,701.3,-12.3,469,4653,0.00,2.25,0.00,0.000,1030,0.000,0.052,2666,2204,3371,3396,3347,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4971,-0.82,-126.5,2666,2204,3396,3345,743.0,-13.4,483,4977,0.00,2.28,0.00,0.000,516,0.000,0.065,2666,810,3370,3396,3345,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5004,-0.82,-126.5,2666,810,3396,3345,747.6,-13.2,490,5010,0.08,2.28,0.00,0.000,3078,0.220,0.052,2678,2195,3370,3396,3345,0,0,0,0,0,0,14.53,14.73,28.83
$GC,5332,-0.82,-126.5,2679,2196,3394,3344,789.0,-12.8,505,5338,0.00,2.35,0.00,0.000,260,0.000,0.080,2670,3606,3369,3395,3343,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5365,-0.82,-126.5,2670,3606,3393,3343,793.5,-12.8,512,5369,0.00,2.28,0.00,0.000,1030,0.000,0.044,2670,2210,3368,3394,3343,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5693,-0.82,-126.5,2670,2209,3393,3342,835.6,-12.9,527,5699,0.00,2.30,0.00,0.000,516,0.000,0.069,2670,805,3367,3393,3342,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5801,-0.82,-126.5,2670,804,3392,3342,849.6,-12.4,549,5806,0.10,2.28,0.00,0.000,3078,0.286,0.051,2679,2212,3367,3392,3342,0,0,0,0,0,0,14.54,14.78,28.83
$GC,6113,-0.82,-126.5,2679,2212,3391,3340,886.5,-11.9,561,6119,0.00,2.33,0.00,0.000,516,0.000,0.067,2679,798,3366,3392,3340,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6161,-0.82,-126.5,2679,797,3391,3340,892.6,-11.9,571,6165,0.00,2.28,0.00,0.000,1030,0.000,0.052,2672,2204,3365,3391,3340,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6473,-0.82,-126.5,2671,2204,3390,3339,930.5,-12.2,583,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2204,3364,3390,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6774,-0.82,-126.5,2671,2204,3389,3338,967.7,-12.5,593,6779,0.00,2.30,0.00,0.000,516,0.000,0.067,2671,804,3363,3389,3338,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6806,-0.82,-126.5,2671,805,3389,3337,972.3,-13.1,600,6811,0.05,2.30,0.00,0.000,3078,0.248,0.054,2676,2195,3363,3389,3338,0,0,0,0,0,0,14.50,14.71,28.83
$STATE,6953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6953,begin apogee
$GC,6957,-0.16,0.0,2676,2130,3389,3337,990.2,-12.4,609,7066,0.75,0.00,102.60,2.198,10246,0.249,0.000,2886,2130,2867,2914,2821,0,0,0,0,0,0,14.46,28.83,13.33
$STATE,7068,end apogee,CONTROL_FINISHED_OK
$STATE,7068,begin climb
$GC,7069,0.82,126.5,2886,2130,2910,2818,995.1,0.0,632,7184,1.05,2.50,107.43,2.137,10500,0.166,0.070,3202,3541,2350,2409,2292,0,0,0,0,0,0,14.02,13.95,13.22
$GC,7195,0.87,166.6,3202,3541,2404,2287,990.4,7.1,647,7235,0.00,2.38,35.33,2.052,9222,0.000,0.047,3211,2146,2192,2253,2131,0,0,0,0,0,0,28.83,14.07,13.24
$GC,7548,0.87,166.6,3211,2146,2238,2117,946.7,13.0,667,7554,0.00,2.40,0.00,0.000,516,0.000,0.079,3222,734,2177,2238,2116,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7721,0.87,166.6,3221,735,2237,2116,923.6,12.9,702,7729,0.00,2.35,0.00,0.000,1030,0.000,0.051,3221,2129,2176,2237,2116,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8029,0.87,166.6,3221,2129,2236,2115,883.7,12.9,713,8035,0.00,2.35,0.00,0.000,516,0.000,0.078,3231,739,2175,2236,2114,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8096,0.87,166.6,3231,739,2236,2115,874.4,13.5,727,8101,0.00,2.30,0.00,0.000,1030,0.000,0.050,3231,2143,2175,2236,2115,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8419,0.87,166.6,3231,2143,2235,2114,831.2,13.5,741,8425,0.00,2.38,0.00,0.000,516,0.000,0.077,3241,735,2174,2235,2114,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8512,0.87,166.6,3241,735,2235,2114,817.9,14.2,760,8517,0.00,2.35,0.00,0.000,1030,0.000,0.051,3241,2143,2174,2235,2114,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8841,0.87,166.6,3242,2144,2233,2113,772.8,13.9,775,8845,0.00,2.38,0.00,0.000,516,0.000,0.076,3251,738,2173,2233,2113,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8885,0.87,166.6,3252,738,2233,2113,766.3,14.2,784,8889,0.00,2.30,0.00,0.000,1030,0.000,0.050,3251,2149,2173,2233,2113,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9203,0.87,166.6,3251,2149,2232,2113,721.5,14.2,797,9209,0.00,2.35,0.00,0.000,516,0.000,0.074,3262,739,2173,2233,2113,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9255,0.87,166.6,3261,739,2233,2113,713.6,14.6,808,9263,0.00,2.35,0.00,0.000,1030,0.000,0.050,3261,2145,2172,2232,2113,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9563,0.87,166.6,3262,2145,2232,2112,668.8,14.6,819,9569,0.00,2.35,0.00,0.000,516,0.000,0.074,3272,732,2172,2232,2112,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9636,0.87,166.6,3271,732,2232,2113,657.5,14.6,834,9641,0.08,2.30,0.00,0.000,5126,0.298,0.050,3259,2146,2172,2231,2113,0,0,0,0,0,0,14.55,14.74,28.83
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$STATE,15544,end climb,SURFACE_DEPTH_REACHED
$STATE,15544,begin surface coast
$FINISH,0.3,1.019495
$STATE,15559,end surface coast,CONTROL_FINISHED_OK
$STATE,15559,begin surface
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$SM_CCo,15579,0.00,0.000,0,0,510,579.63
$SM_CCo,15581,0.10,0.948,0,0,508,579.63
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$IRIDIUM_FIX,1751.90,8932.81,270708,030321
$TT8_MAMPS,0.018725,0.018725
$HUMID,46.81
$INTERNAL_PRESSURE,6.65065
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,13.2,58.268
$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,322240
$DATA_FILE_SIZE,127376,1544
$CAP_FILE_SIZE,165471,0
$CFSIZE,2097086464,2071658496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.056,178.0,1
$GPS,300915,231521,1755.765,8932.314,38,0.8,38,-0.9