version: 66.11
glider: 615
mission: 5
dive: 290
start: 11 1 115 5 13 25
data:
$ID,615
$MISSION,5
$DIVE,290
$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,579.63446
$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,-19348.641
$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,35
$R_STBD_OVSHOOT,40
$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,48
$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
$GPS1,011115,045534,1758.288,8934.155,38,0.8,38,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-70.4
$GPS2,011115,051258,1758.130,8934.191,5,1.0,5,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,NE
$TGT_LATLONG,1806.660,8933.540
$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,341.6,15838,-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,-126.5,135,2197,559,488,0.0,0.0,0,68,0.00,0.00,-50.58,0.000,16386,0.000,0.000,134,2199,1927,1927,1928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.82,-126.5,134,2199,1928,1928,3.5,-7.6,8,118,10.77,2.35,-30.50,0.000,18948,0.337,0.073,2673,789,3391,3406,3376,0,0,0,0,0,0,14.17,14.55,14.82
$GC,162,-0.82,-126.5,2673,789,3406,3376,30.8,-31.0,23,169,0.08,2.28,0.00,0.000,3078,0.329,0.046,2676,2205,3390,3406,3375,0,0,0,0,0,0,14.34,14.57,28.83
$GC,358,-0.82,-126.5,2675,2205,3406,3376,86.2,-22.7,60,365,0.00,2.35,0.00,0.000,260,0.000,0.065,2667,3613,3391,3406,3376,0,0,0,0,0,0,28.83,14.54,28.83
$GC,424,-0.82,-126.5,2667,3613,3406,3376,100.6,-21.8,72,431,0.00,2.33,0.00,0.000,1030,0.000,0.037,2667,2188,3391,3406,3376,0,0,0,0,0,0,28.83,14.57,28.83
$GC,619,-0.82,-126.5,2667,2187,3406,3377,131.5,-14.2,109,626,0.00,2.33,0.00,0.000,260,0.000,0.061,2656,3608,3392,3407,3377,0,0,0,0,0,0,28.83,14.62,28.83
$GC,665,-0.82,-126.5,2656,3609,3406,3377,138.8,-16.4,117,672,0.10,2.22,0.00,0.000,3078,0.271,0.036,2676,2191,3391,3406,3377,0,0,0,0,0,0,14.42,14.69,28.83
$GC,861,-0.82,-126.5,2676,2192,3406,3377,166.5,-13.7,154,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2192,3391,3406,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1056,-0.82,-126.5,2676,2192,3406,3377,192.1,-13.3,191,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2192,3392,3407,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1246,-0.82,-126.5,2676,2191,3406,3376,218.1,-14.0,215,1256,0.00,2.22,0.00,0.000,516,0.000,0.059,2676,809,3390,3406,3375,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1299,-0.82,-126.5,2676,809,3406,3375,225.8,-14.4,225,1309,0.00,2.22,0.00,0.000,1030,0.000,0.045,2668,2208,3390,3406,3375,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1610,-0.82,-126.5,2668,2208,3406,3372,270.9,-14.3,257,1619,0.00,2.25,0.00,0.000,260,0.000,0.065,2657,3594,3388,3406,3371,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1634,-0.82,-126.5,2657,3594,3406,3370,274.9,-14.6,262,1643,0.05,2.28,0.00,0.000,3078,0.223,0.037,2673,2194,3388,3406,3371,0,0,0,0,0,0,14.33,14.54,28.83
$GC,1942,-0.82,-126.5,2673,2193,3406,3368,318.1,-14.2,293,1952,0.00,2.25,0.00,0.000,516,0.000,0.059,2673,804,3386,3406,3367,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2028,-0.82,-126.5,2673,804,3406,3366,330.5,-13.9,310,2036,0.00,2.30,0.00,0.000,1030,0.000,0.047,2664,2202,3385,3406,3365,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2336,-0.82,-126.5,2664,2203,3406,3359,375.4,-15.0,333,2338,0.08,0.00,0.00,0.000,2054,0.322,0.000,2678,2202,3382,3406,3359,0,0,0,0,0,0,14.59,28.83,28.83
$GC,2636,-0.82,-126.5,2678,2203,3405,3354,417.6,-13.8,348,2642,0.00,2.28,0.00,0.000,516,0.000,0.060,2678,806,3379,3405,3353,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2697,-0.82,-126.5,2678,806,3405,3353,426.0,-14.0,360,2703,0.00,2.25,0.00,0.000,1030,0.000,0.048,2669,2207,3379,3405,3353,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3017,-0.82,-126.5,2670,2208,3403,3350,470.6,-14.1,379,3023,0.00,2.30,0.00,0.000,516,0.000,0.063,2669,805,3376,3403,3350,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3058,-0.82,-126.5,2670,805,3402,3350,476.3,-14.2,387,3064,0.05,2.22,0.00,0.000,3078,0.242,0.050,2675,2194,3376,3402,3350,0,0,0,0,0,0,14.40,14.66,28.83
$GC,3386,-0.82,-126.5,2675,2195,3401,3346,520.4,-13.2,404,3392,0.00,2.35,0.00,0.000,260,0.000,0.073,2666,3605,3373,3401,3346,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3406,-0.82,-126.5,2666,3606,3400,3346,523.0,-13.2,408,3410,0.00,2.25,0.00,0.000,1030,0.000,0.042,2666,2198,3373,3400,3346,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3713,-0.82,-126.5,2666,2198,3399,3344,563.8,-13.5,419,3719,0.00,2.28,0.00,0.000,516,0.000,0.065,2666,809,3371,3399,3343,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3795,-0.82,-126.5,2666,809,3398,3344,575.1,-13.2,436,3803,0.08,2.33,0.00,0.000,3078,0.234,0.056,2676,2190,3371,3398,3344,0,0,0,0,0,0,14.24,14.48,28.83
$GC,4102,-0.82,-126.5,2677,2190,3396,3342,614.4,-13.1,447,4108,0.00,2.30,0.00,0.000,516,0.000,0.068,2677,801,3368,3396,3341,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4140,-0.82,-126.5,2677,800,3396,3341,619.8,-13.1,455,4144,0.00,2.28,0.00,0.000,1030,0.000,0.053,2669,2203,3368,3396,3341,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4462,-0.82,-126.5,2669,2203,3394,3340,662.4,-13.3,469,4468,0.00,2.33,0.00,0.000,516,0.000,0.067,2669,805,3366,3394,3339,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4494,-0.82,-126.5,2668,805,3394,3339,667.1,-13.1,476,4499,0.05,2.33,0.00,0.000,3078,0.243,0.054,2673,2204,3366,3394,3339,0,0,0,0,0,0,14.35,14.59,28.83
$GC,4822,-0.82,-126.5,2673,2203,3393,3337,709.5,-13.0,491,4823,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2203,3365,3393,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5122,-0.82,-126.5,2673,2204,3391,3336,748.1,-13.1,501,5123,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2204,3364,3392,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5422,-0.82,-126.5,2673,2204,3390,3334,786.7,-12.6,511,5426,0.00,2.35,0.00,0.000,516,0.000,0.070,2673,807,3363,3391,3335,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5508,-0.82,-126.5,2673,807,3390,3335,797.9,-12.8,528,5516,0.00,2.35,0.00,0.000,1030,0.000,0.054,2666,2197,3362,3389,3335,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5814,-0.82,-126.5,2666,2197,3389,3333,836.4,-12.7,539,5818,0.00,2.33,0.00,0.000,516,0.000,0.069,2665,809,3361,3389,3333,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5855,-0.82,-126.5,2665,809,3389,3333,841.8,-12.8,547,5860,0.10,2.28,0.00,0.000,3078,0.279,0.056,2676,2200,3361,3389,3333,0,0,0,0,0,0,14.40,14.64,28.83
$GC,6172,-0.82,-126.5,2676,2201,3390,3332,879.9,-12.3,560,6178,0.00,2.38,0.00,0.000,260,0.000,0.077,2667,3602,3359,3388,3331,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6210,-0.82,-126.5,2667,3601,3388,3332,884.9,-12.3,568,6214,0.00,2.25,0.00,0.000,1030,0.000,0.044,2667,2206,3360,3388,3332,0,0,0,0,0,0,28.83,14.70,28.83
$GC,6532,-0.82,-126.5,2668,2204,3387,3329,925.9,-12.6,582,6538,0.00,2.35,0.00,0.000,516,0.000,0.071,2668,795,3358,3387,3329,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6625,-0.82,-126.5,2667,795,3386,3328,937.7,-11.9,601,6630,0.10,2.30,0.00,0.000,3078,0.291,0.056,2677,2201,3358,3387,3329,0,0,0,0,0,0,14.35,14.63,28.83
$GC,6949,-0.82,-126.5,2677,2201,3385,3328,976.1,-12.0,615,6950,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2201,3356,3385,3328,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7067,begin apogee
$GC,7072,-0.16,0.0,2677,2143,3385,3328,990.2,-11.7,619,7181,0.80,0.00,105.18,2.282,10246,0.271,0.000,2884,2143,2872,2921,2823,0,0,0,0,0,0,14.07,28.83,13.10
$STATE,7183,end apogee,CONTROL_FINISHED_OK
$STATE,7183,begin climb
$GC,7185,0.82,126.5,2884,2143,2914,2815,994.6,0.0,642,7303,1.15,0.00,114.22,2.424,10246,0.209,0.000,3203,2143,2356,2415,2297,0,0,0,0,0,0,13.99,28.83,12.87
$GC,7603,0.82,126.5,3204,2143,2404,2284,961.8,10.0,656,7609,0.00,2.38,0.00,0.000,516,0.000,0.085,3212,740,2344,2404,2284,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7662,0.82,126.5,3212,740,2403,2284,955.6,10.4,668,7669,0.00,2.33,0.00,0.000,1030,0.000,0.054,3211,2143,2343,2403,2284,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7992,0.82,126.5,3211,2144,2403,2283,923.6,9.9,684,7998,0.00,2.40,0.00,0.000,516,0.000,0.083,3219,743,2343,2403,2283,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8096,0.82,126.5,3219,743,2403,2283,913.5,9.4,705,8100,0.00,2.30,0.00,0.000,1030,0.000,0.054,3217,2143,2343,2404,2283,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8413,0.83,132.5,3217,2144,2402,2282,885.5,8.9,718,8416,0.00,0.00,1.30,0.190,8198,0.000,0.000,3217,2144,2331,2392,2271,0,0,0,0,0,0,28.83,28.83,14.48
$GC,8713,0.83,132.5,3217,2143,2402,2280,858.1,9.3,728,8720,0.00,2.38,1.02,0.205,8708,0.000,0.078,3226,746,2334,2394,2275,0,0,0,0,0,0,28.83,14.50,14.43
$GC,8791,0.83,132.5,3226,746,2399,2281,850.1,9.8,744,8795,0.00,2.30,0.00,0.000,1030,0.000,0.054,3224,2149,2340,2399,2281,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9102,0.83,132.5,3224,2149,2399,2281,820.0,9.8,756,9109,0.00,2.38,0.00,0.000,516,0.000,0.078,3232,742,2340,2399,2281,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9165,0.83,132.5,2384,741,2353,2275,813.3,10.3,769,9171,0.00,2.33,1.05,0.180,9222,0.000,0.052,3231,2135,2330,2390,2271,0,0,0,0,0,0,28.83,14.58,14.50
$GC,9489,0.83,132.5,3231,2135,2398,2279,781.0,9.7,783,9495,0.00,2.38,0.00,0.000,516,0.000,0.079,3240,740,2338,2398,2279,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9562,0.83,132.5,3240,739,2398,2279,773.5,9.9,798,9566,0.00,2.30,0.00,0.000,1030,0.000,0.054,3239,2146,2338,2397,2279,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9874,0.83,132.5,3240,2146,2397,2278,742.9,9.5,810,9875,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2146,2337,2397,2278,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17448,end climb,SURFACE_DEPTH_REACHED
$STATE,17448,begin surface coast
$FINISH,0.3,1.019653
$STATE,17465,end surface coast,CONTROL_FINISHED_OK
$STATE,17465,begin surface
$SM_CCo,17481,33.00,0.138,0,0,508,579.63
$SM_GC,3.35,8.88,0.10,33.00,0.054,0.136,0.138,180,2238,508,-8.58,-1.16,579.63,0,0,0,0,0,0,14.61,14.60,14.39
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$TT8_MAMPS,0.018725,0.018725
$HUMID,48.18
$INTERNAL_PRESSURE,6.65065
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,12.9,106.553
$10V_AH,11.6,0.000
$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,322200
$DATA_FILE_SIZE,133998,1686
$CAP_FILE_SIZE,186708,0
$CFSIZE,2097086464,2046394368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.052, 78.0,1
$GPS,011115,100633,1759.847,8934.132,36,0.9,36,-0.9