version: 66.11
glider: 615
mission: 5
dive: 271
start: 10 28 115 4 40 16
data:
$ID,615
$MISSION,5
$DIVE,271
$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,-19323.994
$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,40
$R_STBD_OVSHOOT,56
$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,10.5
$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
$GPS1,281015,043051,1759.651,8925.746,39,0.8,40,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-71.3
$GPS2,281015,043948,1759.708,8925.637,6,0.8,6,-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,202.9,10800,-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,-126.5,179,2214,541,493,0.0,0.0,0,63,0.00,0.00,-45.42,0.000,16386,0.000,0.000,178,2215,1787,1787,1788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.82,-126.5,179,2214,1787,1789,3.0,-6.6,7,123,10.95,2.38,-36.95,0.000,18948,0.353,0.074,2673,799,3390,3405,3375,0,0,0,0,0,0,14.13,14.43,14.74
$GC,171,-0.82,-126.5,2673,799,3405,3375,33.4,-38.8,25,179,0.08,2.25,0.00,0.000,3078,0.319,0.053,2676,2177,3390,3405,3375,0,0,0,0,0,0,14.29,14.50,28.83
$GC,364,-0.82,-126.5,2676,2178,3405,3376,85.5,-21.8,62,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2179,3390,3405,3375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,554,-0.82,-126.5,1696,2177,3392,3374,118.6,-13.0,99,560,0.00,2.35,0.00,0.000,260,0.000,0.059,2667,3617,3391,3406,3377,0,0,0,0,0,0,28.83,14.58,28.83
$GC,608,-0.82,-126.5,2667,3617,3405,3377,126.4,-15.0,109,616,0.00,2.25,0.00,0.000,1030,0.000,0.036,2667,2188,3391,3406,3377,0,0,0,0,0,0,28.83,14.65,28.83
$GC,799,-0.82,-126.5,2667,2187,3406,3379,156.3,-15.3,146,806,0.00,2.30,0.00,0.000,516,0.000,0.056,2667,808,3392,3406,3379,0,0,0,0,0,0,28.83,14.50,28.83
$GC,970,-0.82,-126.5,2667,807,3406,3379,180.5,-13.8,179,977,0.10,2.22,0.00,0.000,3078,0.278,0.043,2677,2213,3392,3406,3379,0,0,0,0,0,0,14.40,14.64,28.83
$GC,1166,-0.82,-126.5,2677,2213,3406,3379,207.5,-14.0,212,1171,0.00,2.28,0.00,0.000,260,0.000,0.060,2667,3608,3392,3406,3379,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1246,-0.82,-126.5,2668,3609,3406,3378,219.7,-14.1,228,1255,0.00,2.28,0.00,0.000,1030,0.000,0.036,2668,2203,3392,3406,3378,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1556,-0.82,-126.5,2668,2202,3406,3376,264.5,-15.4,259,1565,0.00,2.25,0.00,0.000,516,0.000,0.055,2667,803,3391,3406,3376,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1590,-0.82,-126.5,2668,803,3406,3376,270.5,-15.4,266,1600,0.05,2.30,0.00,0.000,3078,0.244,0.045,2673,2199,3391,3406,3376,0,0,0,0,0,0,14.26,14.46,28.83
$GC,1898,-0.82,-126.5,2673,2199,3405,3373,315.9,-14.4,297,1908,0.00,2.33,0.00,0.000,260,0.000,0.067,2663,3608,3388,3405,3372,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1933,-0.82,-126.5,2664,3608,3405,3372,321.5,-14.7,304,1942,0.03,2.30,0.00,0.000,3078,0.256,0.038,2672,2201,3388,3405,3372,0,0,0,0,0,0,14.33,14.49,28.83
$GC,2241,-0.82,-126.5,2673,2200,3405,3370,364.3,-14.0,330,2248,0.00,2.28,0.00,0.000,516,0.000,0.061,2672,806,3387,3405,3369,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2322,-0.82,-126.5,2673,805,3405,3369,375.7,-13.9,346,2329,0.08,2.25,0.00,0.000,3078,0.298,0.050,2678,2203,3386,3405,3368,0,0,0,0,0,0,14.47,14.67,28.83
$GC,2642,-0.82,-126.5,2677,2203,3405,3363,420.8,-14.3,365,2648,0.00,2.30,0.00,0.000,516,0.000,0.064,2678,804,3384,3405,3363,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2683,-0.82,-126.5,2677,804,3405,3363,426.7,-13.9,373,2689,0.00,2.25,0.00,0.000,1030,0.000,0.051,2670,2197,3383,3405,3362,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3003,-0.82,-126.5,2669,2197,3405,3357,473.1,-14.2,392,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2197,3380,3404,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3322,-0.82,-126.5,2670,2197,3405,3353,518.4,-14.2,406,3326,0.00,2.33,0.00,0.000,516,0.000,0.063,2669,799,3379,3405,3353,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3361,-0.82,-126.5,2670,798,3404,3353,524.3,-14.3,414,3366,0.10,2.28,0.00,0.000,3078,0.275,0.053,2681,2202,3378,3404,3353,0,0,0,0,0,0,14.45,14.67,28.83
$GC,3683,-0.82,-126.5,2681,2201,3404,3351,566.6,-13.1,428,3689,0.00,2.33,0.00,0.000,516,0.000,0.066,2681,799,3377,3404,3351,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3713,-0.82,-126.5,2681,799,3404,3351,570.7,-13.8,434,3720,0.00,2.28,0.00,0.000,1030,0.000,0.054,2673,2200,3377,3404,3350,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4043,-0.82,-126.5,2673,2200,3402,3347,614.6,-13.4,450,4044,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2199,3374,3402,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4343,-0.82,-126.5,2673,2200,3401,3345,655.0,-13.4,460,4347,0.00,2.30,0.00,0.000,516,0.000,0.069,2673,809,3373,3402,3345,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4419,-0.82,-126.5,2673,809,3401,3345,665.4,-13.2,475,4424,0.08,2.28,0.00,0.000,3078,0.302,0.055,2676,2202,3373,3401,3345,0,0,0,0,0,0,14.46,14.66,28.83
$GC,4724,-0.82,-126.5,2676,2202,3400,3342,705.1,-13.1,486,4731,0.00,2.35,0.00,0.000,516,0.000,0.073,2676,803,3372,3401,3343,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4767,-0.82,-126.5,2676,802,3400,3343,711.0,-13.0,495,4772,0.00,2.33,0.00,0.000,1030,0.000,0.058,2668,2206,3371,3399,3343,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5084,-0.82,-126.5,2668,2206,3398,3342,753.5,-13.9,508,5088,0.00,2.40,0.00,0.000,260,0.000,0.080,2657,3613,3370,3399,3342,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5103,-0.82,-126.5,2657,3614,3398,3342,756.5,-13.7,512,5108,0.10,2.28,0.00,0.000,3078,0.256,0.046,2679,2200,3370,3398,3342,0,0,0,0,0,0,14.47,14.69,28.83
$GC,5416,-0.82,-126.5,2679,2200,3397,3340,795.2,-12.4,524,5422,0.00,2.30,0.00,0.000,516,0.000,0.070,2679,810,3368,3397,3340,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5483,-0.82,-126.5,2679,811,3397,3340,803.6,-11.4,538,5488,0.00,2.30,0.00,0.000,1030,0.000,0.054,2671,2212,3368,3396,3340,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5805,-0.82,-126.5,2671,2213,3396,3338,843.3,-12.5,552,5806,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2213,3367,3396,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6105,-0.82,-126.5,2671,2213,3395,3337,880.4,-12.4,562,6111,0.00,2.35,0.00,0.000,516,0.000,0.069,2671,801,3366,3395,3337,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6153,-0.82,-126.5,2671,801,3395,3337,886.7,-12.3,572,6158,0.10,2.30,0.00,0.000,3078,0.279,0.055,2681,2207,3365,3394,3337,0,0,0,0,0,0,14.39,14.65,28.83
$GC,6465,-0.82,-126.5,2681,2207,3393,3336,923.5,-12.1,584,6471,0.00,2.35,0.00,0.000,260,0.000,0.078,2672,3601,3364,3392,3336,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6503,-0.82,-126.5,2672,3601,3392,3336,928.6,-12.7,592,6507,0.00,2.28,0.00,0.000,1030,0.000,0.045,2672,2200,3364,3393,3336,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6825,-0.82,-126.5,2672,2199,3392,3334,969.0,-12.7,606,6831,0.00,2.35,0.00,0.000,516,0.000,0.070,2672,797,3364,3393,3335,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6949,-0.82,-126.5,2672,797,3392,3335,984.5,-12.0,631,6954,0.08,2.30,0.00,0.000,3078,0.317,0.056,2674,2200,3363,3391,3335,0,0,0,0,0,0,14.40,14.62,28.83
$STATE,7001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7001,begin apogee
$GC,7006,-0.16,0.0,2674,2139,3391,3335,990.5,-11.6,636,7122,0.77,0.00,107.55,2.414,10246,0.250,0.000,2885,2138,2866,2915,2817,0,0,0,0,0,0,14.19,28.83,13.03
$STATE,7123,end apogee,CONTROL_FINISHED_OK
$STATE,7124,begin climb
$GC,7125,0.82,126.5,2886,2138,2914,2815,995.0,0.0,660,7242,1.10,0.00,111.60,2.300,10502,0.174,0.000,3207,2138,2352,2411,2293,0,0,0,0,0,0,13.99,28.83,12.99
$GC,7542,0.82,126.5,3207,2136,2403,2283,960.7,10.6,684,7548,0.00,2.42,0.00,0.000,516,0.000,0.083,3214,738,2343,2403,2283,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7601,0.82,126.5,3214,737,2403,2284,954.3,10.8,696,7605,0.00,2.33,0.00,0.000,1030,0.000,0.054,3213,2140,2342,2402,2283,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7929,0.82,126.5,3214,2140,2402,2282,920.6,10.3,711,7932,0.00,2.40,0.00,0.000,516,0.000,0.081,3222,745,2342,2402,2283,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7983,0.82,126.5,3222,745,2402,2283,914.8,10.5,722,7990,0.00,2.35,0.00,0.000,1030,0.000,0.052,3221,2136,2342,2402,2282,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8291,0.82,126.5,3222,2136,2401,2282,884.5,9.7,733,8297,0.00,2.35,0.00,0.000,260,0.000,0.074,3222,3543,2340,2400,2281,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8350,0.82,126.5,3222,3542,2398,2282,878.3,10.7,745,8354,0.00,2.30,0.00,0.000,1030,0.000,0.049,3228,2144,2339,2397,2282,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8682,0.82,126.5,3229,2143,2398,2281,846.2,9.6,761,8688,0.00,2.40,0.00,0.000,516,0.000,0.082,3239,733,2339,2397,2281,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8906,0.82,126.5,3239,733,2397,2281,823.3,9.5,806,8910,0.00,2.33,0.00,0.000,1030,0.000,0.053,3239,2150,2339,2398,2281,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9224,0.82,126.5,3239,2150,2397,2280,791.3,10.2,819,9230,0.00,2.35,0.00,0.000,260,0.000,0.074,3239,3546,2337,2396,2279,0,0,0,0,0,0,28.83,14.58,28.83
$GC,9302,0.82,126.5,3239,3546,2396,2280,782.0,11.0,835,9306,0.00,2.33,0.00,0.000,1030,0.000,0.049,3248,2128,2337,2395,2280,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9615,0.82,126.5,3248,2126,2395,2279,748.1,10.4,847,9621,0.00,2.33,0.00,0.000,516,0.000,0.078,3259,746,2337,2395,2279,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9758,0.82,126.5,3259,746,2395,2280,732.5,10.9,876,9766,0.05,2.35,0.00,0.000,5126,0.233,0.052,3244,2135,2337,2395,2279,0,0,0,0,0,0,14.22,14.44,28.83
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$STATE,16995,end climb,SURFACE_DEPTH_REACHED
$STATE,16995,begin surface coast
$FINISH,0.2,1.020067
$STATE,17012,end surface coast,CONTROL_FINISHED_OK
$STATE,17012,begin surface
$SM_CCo,17029,14.88,0.137,0,0,508,579.63
$SM_CCo,17047,-0.03,0.000,0,0,511,579.63
$SM_CCo,17050,0.30,0.395,0,0,509,579.63
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$IRIDIUM_FIX,1751.90,8928.27,230808,121246
$TT8_MAMPS,0.018725,0.018725
$HUMID,48.14
$INTERNAL_PRESSURE,6.64088
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,13.0,100.037
$10V_AH,12.0,0.000
$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,322296
$DATA_FILE_SIZE,137531,1717
$CAP_FILE_SIZE,183431,0
$CFSIZE,2097086464,2049933312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.057,305.3,1
$GPS,281015,092535,1758.401,8924.554,30,1.2,30,-0.9