version: 66.11
glider: 615
mission: 5
dive: 267
start: 10 27 115 8 26 55
data:
$ID,615
$MISSION,5
$DIVE,267
$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,-19318.26
$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,44
$R_STBD_OVSHOOT,75
$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
$GPS1,271015,080703,1804.014,8931.747,35,1.2,35,-0.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-69.3
$GPS2,271015,082628,1803.910,8931.661,5,0.8,6,-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,233.7,23821,-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,-126.5,173,2247,549,494,0.0,0.0,0,68,0.00,0.00,-50.95,0.000,16386,0.000,0.000,173,2248,1923,1922,1925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.82,-126.5,173,2248,1923,1926,3.3,-7.3,8,123,10.82,2.38,-32.72,0.000,19204,0.347,0.076,2673,803,3391,3406,3377,0,0,0,0,0,0,14.16,14.50,14.77
$GC,216,-0.82,-126.5,2673,802,3405,3377,49.4,-29.1,34,224,0.03,2.25,0.00,0.000,3078,0.318,0.050,2671,2150,3391,3405,3377,0,0,0,0,0,0,14.27,14.46,28.83
$GC,407,-0.82,-126.5,1680,2148,3392,3375,97.6,-22.5,71,413,0.00,2.40,0.00,0.000,260,0.000,0.062,2662,3618,3391,3406,3377,0,0,0,0,0,0,28.83,14.59,28.83
$GC,563,-0.82,-126.5,2661,3618,3406,3378,125.0,-15.9,101,571,0.08,2.25,0.00,0.000,3078,0.292,0.037,2674,2186,3391,3405,3377,0,0,0,0,0,0,14.45,14.66,28.83
$GC,754,-0.82,-126.5,2675,2185,3406,3378,150.4,-12.2,138,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2185,3391,3405,3378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,944,-0.82,-126.5,1672,2183,3392,3376,175.9,-13.2,175,950,0.00,2.22,0.00,0.000,516,0.000,0.060,2674,812,3392,3406,3378,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1018,-0.82,-126.5,2674,812,3405,3378,186.4,-13.9,189,1026,0.00,2.22,0.00,0.000,1030,0.000,0.044,2666,2217,3391,3405,3377,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1210,-0.82,-126.5,2666,2217,3405,3377,212.4,-13.8,217,1221,0.00,2.25,0.00,0.000,516,0.000,0.059,2666,816,3390,3405,3376,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1255,-0.82,-126.5,2666,816,3405,3376,218.8,-14.5,225,1266,0.08,2.20,0.00,0.000,3078,0.224,0.045,2678,2201,3390,3405,3376,0,0,0,0,0,0,14.28,14.69,28.83
$GC,1564,-0.82,-126.5,2677,2201,3405,3372,261.1,-13.5,257,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2201,3388,3405,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1865,-0.82,-126.5,2678,2201,3405,3368,302.7,-13.7,287,1869,0.00,2.28,0.00,0.000,516,0.000,0.062,2677,813,3386,3405,3368,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1899,-0.82,-126.5,2678,813,3405,3368,307.9,-13.9,294,1908,0.00,2.28,0.00,0.000,1030,0.000,0.049,2669,2192,3386,3405,3368,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2217,-0.82,-126.5,2669,2192,3405,3361,354.0,-15.1,325,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2192,3383,3405,3361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2517,-0.82,-126.5,2669,2192,3404,3354,399.2,-15.1,340,2523,0.00,2.25,0.00,0.000,516,0.000,0.062,2669,811,3379,3404,3354,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2579,-0.82,-126.5,2670,812,3403,3355,409.3,-14.7,353,2585,0.05,2.28,0.00,0.000,3078,0.240,0.050,2675,2194,3379,3403,3355,0,0,0,0,0,0,14.41,14.63,28.83
$GC,2898,-0.82,-126.5,2675,2194,3402,3351,456.2,-14.8,371,2904,0.00,2.25,0.00,0.000,516,0.000,0.063,2675,813,3376,3402,3351,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2939,-0.82,-126.5,2675,813,3401,3351,462.7,-14.2,380,2944,0.00,2.28,0.00,0.000,1030,0.000,0.051,2667,2197,3376,3401,3351,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3248,-0.82,-126.5,2667,2197,3400,3347,506.0,-14.2,397,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2197,3373,3400,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3548,-0.82,-126.5,2667,2198,3398,3344,548.5,-14.1,407,3554,0.00,2.28,0.00,0.000,516,0.000,0.064,2667,816,3371,3398,3344,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3586,-0.82,-126.5,2667,816,3398,3344,554.4,-14.8,415,3590,0.10,2.25,0.00,0.000,3078,0.274,0.054,2677,2204,3370,3397,3344,0,0,0,0,0,0,14.48,14.70,28.83
$GC,3908,-0.82,-126.5,2678,2205,3396,3341,598.7,-13.9,429,3914,0.00,2.30,0.00,0.000,516,0.000,0.069,2678,812,3368,3396,3341,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3961,-0.82,-126.5,2678,812,3395,3341,606.2,-12.9,440,3969,0.00,2.33,0.00,0.000,1030,0.000,0.054,2670,2197,3368,3395,3341,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4269,-0.82,-126.5,2670,2197,3394,3338,648.8,-14.0,451,4273,0.00,2.30,0.00,0.000,516,0.000,0.069,2670,813,3366,3394,3338,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4301,-0.82,-126.5,2670,813,3394,3338,653.3,-14.0,457,4308,0.05,2.22,0.00,0.000,3078,0.236,0.054,2675,2195,3366,3394,3338,0,0,0,0,0,0,14.42,14.67,28.83
$GC,4631,-0.82,-126.5,2675,2195,3392,3337,697.1,-13.2,473,4632,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2195,3364,3392,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4931,-0.82,-126.5,2675,2196,3390,3336,736.7,-13.2,483,4937,0.00,2.38,0.00,0.000,260,0.000,0.080,2667,3607,3362,3390,3335,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4961,-0.82,-126.5,2667,3607,3389,3335,740.5,-12.6,489,4967,0.00,2.25,0.00,0.000,1030,0.000,0.047,2667,2217,3362,3390,3335,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5291,-0.82,-126.5,2667,2217,3389,3334,783.1,-13.2,505,5297,0.00,2.35,0.00,0.000,516,0.000,0.069,2667,796,3361,3389,3334,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5358,-0.82,-126.5,2667,796,3388,3334,792.4,-12.7,519,5363,0.10,2.30,0.00,0.000,3078,0.270,0.055,2677,2203,3361,3389,3334,0,0,0,0,0,0,14.45,14.68,28.83
$GC,5675,-0.82,-126.5,2677,2205,3387,3332,831.6,-12.7,532,5681,0.00,2.38,0.00,0.000,260,0.000,0.077,2669,3610,3359,3387,3332,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5736,-0.82,-126.5,2668,3609,3386,3332,839.4,-12.8,544,5742,0.00,2.28,0.00,0.000,1030,0.000,0.046,2669,2198,3359,3387,3331,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6065,-0.82,-126.5,2669,2199,3385,3330,882.9,-13.1,560,6071,0.00,2.33,0.00,0.000,516,0.000,0.070,2669,803,3358,3386,3330,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6173,-0.82,-126.5,2669,803,3385,3329,897.5,-13.2,582,6178,0.10,2.30,0.00,0.000,3078,0.282,0.056,2679,2210,3357,3385,3330,0,0,0,0,0,0,14.41,14.66,28.83
$GC,6481,-0.82,-126.5,2679,2210,3383,3328,935.4,-12.4,593,6483,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2210,3355,3383,3328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6781,-0.82,-126.5,2679,2210,3381,3327,971.9,-12.0,603,6787,0.00,2.35,0.00,0.000,516,0.000,0.072,2679,803,3354,3382,3327,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6854,-0.82,-126.5,2679,803,3381,3327,981.2,-11.8,618,6859,0.00,2.30,0.00,0.000,1030,0.000,0.056,2671,2204,3354,3381,3327,0,0,0,0,0,0,28.83,14.65,28.83
$STATE,6956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6956,begin apogee
$GC,6961,-0.16,0.0,2671,2123,3381,3327,993.4,-12.3,623,7071,0.80,0.00,105.28,2.381,10246,0.254,0.000,2883,2123,2871,2921,2822,0,0,0,0,0,0,14.16,28.83,13.09
$STATE,7072,end apogee,CONTROL_FINISHED_OK
$STATE,7073,begin climb
$GC,7074,0.82,126.5,2883,2123,2914,2815,998.0,0.0,646,7193,1.10,0.00,113.28,2.399,10502,0.180,0.000,3202,2124,2352,2412,2293,0,0,0,0,0,0,14.00,28.83,13.01
$GC,7492,0.82,126.5,3202,2123,2403,2285,965.1,9.9,665,7498,0.00,2.35,0.00,0.000,516,0.000,0.083,3212,755,2344,2403,2285,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7582,0.82,126.5,3212,755,2403,2285,955.8,10.5,683,7588,0.00,2.28,0.00,0.000,1030,0.000,0.054,3212,2139,2344,2403,2285,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7912,0.82,126.5,3211,2139,2402,2283,920.9,10.8,699,7916,0.00,2.38,0.00,0.000,260,0.000,0.073,3211,3544,2342,2402,2283,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7952,0.82,126.5,3212,3544,2401,2283,916.1,11.4,707,7956,0.00,2.28,0.00,0.000,1030,0.000,0.047,3221,2152,2342,2401,2283,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8270,0.82,126.5,3221,2152,2401,2282,881.9,10.7,720,8276,0.00,2.38,0.00,0.000,516,0.000,0.081,3232,743,2341,2400,2282,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8421,0.82,126.5,2368,743,2353,2277,865.3,10.6,751,8426,0.00,2.33,0.00,0.000,1030,0.000,0.050,3231,2139,2340,2399,2282,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8748,0.82,126.5,3231,2140,2398,2281,832.0,10.1,766,8750,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,2140,2339,2398,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9049,0.82,126.5,3231,2140,2398,2280,802.6,9.5,776,9055,0.00,2.38,0.00,0.000,260,0.000,0.073,3231,3554,2339,2398,2280,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9122,0.82,126.5,3231,3554,2396,2280,794.9,10.0,791,9126,0.00,2.33,0.00,0.000,1030,0.000,0.046,3240,2127,2338,2397,2280,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9438,0.82,126.5,3240,2126,2396,2279,765.0,9.6,804,9444,0.00,2.35,0.00,0.000,516,0.000,0.080,3250,740,2338,2396,2280,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9498,0.82,126.5,3250,740,2396,2280,759.3,9.8,816,9505,0.00,2.30,0.00,0.000,1030,0.000,0.051,3250,2150,2337,2396,2279,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9828,0.82,126.5,3251,2150,2396,2279,728.4,9.3,832,9835,0.00,2.40,0.00,0.000,516,0.000,0.078,3260,737,2337,2395,2279,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9877,0.82,126.5,3260,737,2395,2279,723.6,9.7,842,9881,0.10,2.30,0.00,0.000,5126,0.266,0.051,3240,2147,2337,2395,2279,0,0,0,0,0,0,14.41,14.66,28.83
$GC,10184,0.82,126.5,3240,2147,2395,2279,694.8,9.7,853,10190,0.00,2.35,0.00,0.000,260,0.000,0.072,3240,3547,2337,2395,2279,0,0,0,0,0,0,28.83,14.59,28.83
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$STATE,17412,end climb,SURFACE_DEPTH_REACHED
$STATE,17412,begin surface coast
$FINISH,0.3,1.007871
$STATE,17454,end surface coast,CONTROL_FINISHED_OK
$STATE,17455,begin surface
$SM_CCo,17472,52.22,0.134,0,0,509,579.63
$SM_CCo,17527,0.00,0.000,0,0,511,579.63
$SM_CCo,17529,0.15,0.670,0,0,507,579.63
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$IRIDIUM_FIX,1754.17,8932.79,220808,212122
$TT8_MAMPS,0.018725,0.018725
$HUMID,45.19
$INTERNAL_PRESSURE,6.67994
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,13.0,98.719
$10V_AH,11.6,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.850,190.725,471.400,52.375,0.000,49.257,80.199,780.106,0.000,0.000,6.727,3466.672,10280.812,684.303,3977.726,274.596,0.000,2116.282,0.000,2529.348,0.000,0.554,0.000
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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,322276
$DATA_FILE_SIZE,140763,1727
$CAP_FILE_SIZE,194527,0
$CFSIZE,2097086464,2050588672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.036,313.8,1
$GPS,271015,132021,1803.114,8929.979,38,0.9,38,-0.9