version: 66.11
glider: 615
mission: 5
dive: 313
start: 11 5 115 23 13 30
data:
$ID,615
$MISSION,5
$DIVE,313
$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,-19706.4
$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,42
$R_STBD_OVSHOOT,51
$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
$GPS1,051115,225133,1757.487,8923.065,127,1.0,127,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-70.9
$GPS2,051115,231302,1757.359,8923.399,4,1.5,4,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,NW
$TGT_LATLONG,1806.660,8921.600
$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,330.6,17515,-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,-126.5,195,2213,551,494,0.0,0.0,0,63,0.00,0.00,-45.30,0.000,16386,0.000,0.000,195,2213,1787,1786,1788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.82,-126.5,195,2213,1786,1788,3.2,-7.2,7,123,10.75,2.38,-36.70,0.000,18948,0.347,0.079,2673,797,3391,3405,3378,0,0,0,0,0,0,14.16,14.46,14.81
$GC,171,-0.82,-126.5,2673,797,3405,3379,32.2,-34.4,25,179,0.00,2.22,0.00,0.000,1030,0.000,0.046,2664,2190,3392,3405,3379,0,0,0,0,0,0,28.83,14.58,28.83
$GC,363,-0.82,-126.5,2664,2190,3405,3378,84.5,-19.0,62,371,0.08,2.35,0.00,0.000,2308,0.330,0.054,2667,3610,3391,3404,3378,0,0,0,0,0,0,14.50,14.59,28.83
$GC,397,-0.82,-126.5,1672,3609,3391,3376,90.2,-16.6,68,404,0.00,2.30,0.00,0.000,1030,0.000,0.036,2667,2188,3391,3404,3379,0,0,0,0,0,0,28.83,14.57,28.83
$GC,588,-0.82,-126.5,2667,2188,3405,3379,122.8,-17.2,105,595,0.00,2.20,0.00,0.000,516,0.000,0.052,2667,809,3392,3405,3379,0,0,0,0,0,0,28.83,14.62,28.83
$GC,617,-0.82,-126.5,2667,809,3405,3378,128.1,-17.6,110,625,0.05,2.28,0.00,0.000,3078,0.262,0.042,2672,2204,3392,3405,3379,0,0,0,0,0,0,14.33,14.56,28.83
$GC,808,-0.82,-126.5,1680,2202,3391,3377,157.7,-14.2,147,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2204,3392,3405,3379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,997,-0.82,-126.5,2672,2206,3405,3378,183.1,-14.3,184,1005,0.00,2.33,0.00,0.000,516,0.000,0.061,2671,816,3392,3405,3379,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1068,-0.82,-126.5,2671,816,3405,3379,193.6,-14.5,197,1076,0.08,2.22,0.00,0.000,3078,0.304,0.048,2677,2205,3392,3405,3379,0,0,0,0,0,0,14.47,14.68,28.83
$GC,1259,-0.82,-126.5,2677,2206,3404,3377,220.6,-14.8,220,1268,0.00,2.30,0.00,0.000,260,0.000,0.066,2668,3608,3391,3405,3377,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1283,-0.82,-126.5,1760,3608,3393,3375,224.5,-15.3,225,1290,0.00,2.22,0.00,0.000,1030,0.000,0.038,2667,2202,3391,3405,3377,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1590,-0.82,-126.5,2668,2202,3404,3374,270.2,-14.8,256,1600,0.00,2.25,0.00,0.000,516,0.000,0.060,2668,809,3389,3405,3373,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1624,-0.82,-126.5,1760,808,3392,3371,275.7,-15.2,263,1632,0.05,2.28,0.00,0.000,3078,0.234,0.049,2681,2198,3388,3404,3373,0,0,0,0,0,0,14.45,14.63,28.83
$GC,1932,-0.82,-126.5,2681,2198,3403,3369,317.5,-13.5,294,1936,0.00,2.28,0.00,0.000,516,0.000,0.063,2681,809,3386,3404,3369,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1973,-0.82,-126.5,2681,809,3404,3369,323.1,-13.6,302,1977,0.00,2.25,0.00,0.000,1030,0.000,0.049,2673,2206,3386,3404,3369,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2296,-0.82,-126.5,2673,2206,3404,3363,368.2,-14.3,329,2297,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2205,3383,3404,3363,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2595,-0.82,-126.5,2674,2206,3403,3357,412.1,-14.8,344,2600,0.00,2.30,0.00,0.000,516,0.000,0.064,2673,809,3380,3404,3357,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2643,-0.82,-126.5,2674,809,3403,3357,419.7,-13.9,354,2647,0.00,2.25,0.00,0.000,1030,0.000,0.052,2665,2200,3380,3403,3357,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2950,-0.82,-126.5,2665,2201,3401,3353,464.9,-14.8,370,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2201,3377,3401,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3270,-0.82,-126.5,2665,2201,3399,3351,510.9,-14.2,385,3276,0.00,2.30,0.00,0.000,516,0.000,0.066,2665,803,3375,3400,3351,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3338,-0.82,-126.5,2665,802,3399,3351,520.9,-13.6,399,3343,0.10,2.28,0.00,0.000,3078,0.272,0.054,2677,2206,3375,3399,3351,0,0,0,0,0,0,14.47,14.70,28.83
$GC,3655,-0.82,-126.5,2677,2206,3397,3346,562.6,-13.4,412,3661,0.00,2.30,0.00,0.000,516,0.000,0.067,2677,810,3372,3397,3347,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3686,-0.82,-126.5,2677,809,3396,3346,566.8,-14.3,418,3690,0.00,2.25,0.00,0.000,1030,0.000,0.054,2670,2199,3371,3397,3346,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4017,-0.82,-126.5,2670,2199,3394,3345,614.2,-14.4,434,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2199,3369,3394,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4317,-0.82,-126.5,2670,2200,3394,3342,657.9,-14.7,444,4323,0.00,2.30,0.00,0.000,516,0.000,0.067,2670,810,3368,3394,3343,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4400,-0.82,-126.5,2670,810,3392,3343,670.2,-14.1,461,4408,0.00,2.28,0.00,0.000,1030,0.000,0.054,2665,2203,3367,3392,3343,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4707,-0.82,-126.5,2665,2203,3391,3341,713.3,-13.7,472,4713,0.00,2.33,0.00,0.000,516,0.000,0.068,2665,806,3365,3391,3340,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4730,-0.82,-126.5,2665,806,3390,3340,716.7,-13.6,477,4737,0.00,2.28,0.00,0.000,1030,0.000,0.054,2665,2200,3365,3390,3340,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5037,-0.82,-126.5,2665,2200,3389,3338,756.6,-13.3,488,5038,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2200,3363,3389,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5337,-0.82,-126.5,2665,2200,3388,3337,795.3,-12.9,498,5341,0.00,2.33,0.00,0.000,516,0.000,0.070,2665,807,3362,3388,3337,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5376,-0.82,-126.5,2665,807,3387,3337,800.8,-13.2,506,5380,0.00,2.28,0.00,0.000,1030,0.000,0.055,2665,2200,3362,3388,3337,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5694,-0.82,-126.5,2665,2201,3386,3336,842.3,-13.3,519,5696,0.03,0.00,0.00,0.000,2054,0.481,0.000,2674,2201,3361,3387,3335,0,0,0,0,0,0,14.66,28.83,28.83
$GC,5994,-0.82,-126.5,2674,2202,3385,3334,880.6,-12.7,529,6000,0.00,2.33,0.00,0.000,516,0.000,0.072,2674,807,3359,3385,3334,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6072,-0.82,-126.5,2674,807,3384,3333,891.0,-12.6,545,6076,0.00,2.30,0.00,0.000,1030,0.000,0.057,2673,2207,3359,3384,3334,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6378,-0.82,-126.5,2673,2207,3383,3333,930.1,-13.0,556,6380,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2207,3358,3383,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6678,-0.82,-126.5,2673,2207,3382,3332,969.1,-13.0,566,6684,0.00,2.33,0.00,0.000,516,0.000,0.072,2673,812,3357,3382,3332,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6722,-0.82,-126.5,2673,812,3382,3332,975.1,-13.0,575,6726,0.00,2.30,0.00,0.000,1030,0.000,0.057,2673,2207,3357,3382,3332,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,6852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6853,begin apogee
$GC,6857,-0.16,0.0,2673,2147,3380,3332,991.2,-12.4,581,6967,0.88,0.00,104.90,2.260,10246,0.307,0.000,2886,2146,2872,2921,2823,0,0,0,0,0,0,13.95,28.83,13.14
$STATE,6969,end apogee,CONTROL_FINISHED_OK
$STATE,6969,begin climb
$GC,6971,0.82,126.5,2886,2146,2914,2816,995.8,0.0,604,7091,1.02,2.50,109.47,2.277,10500,0.149,0.071,3205,3551,2347,2405,2290,0,0,0,0,0,0,14.07,13.90,13.00
$GC,7113,0.83,133.7,3205,3552,2403,2286,989.2,8.8,632,7125,0.00,2.38,2.58,0.730,9222,0.000,0.043,3216,2146,2332,2391,2273,0,0,0,0,0,0,28.83,14.09,12.90
$GC,7424,0.83,133.7,3215,2145,2399,2280,954.5,11.4,644,7432,0.00,2.35,1.33,0.188,8708,0.000,0.067,3226,743,2331,2390,2272,0,0,0,0,0,0,28.83,14.43,14.36
$GC,7547,0.83,133.7,3226,743,2398,2279,941.1,11.0,668,7553,0.00,2.28,1.38,0.166,9222,0.000,0.050,3226,2142,2327,2386,2268,0,0,0,0,0,0,28.83,14.54,14.44
$GC,7875,0.83,133.7,3226,2142,2396,2279,903.8,11.3,684,7883,0.00,2.35,1.42,0.183,8708,0.000,0.067,3237,740,2328,2388,2269,0,0,0,0,0,0,28.83,14.50,14.42
$GC,7905,0.83,133.7,3237,740,2395,2277,900.4,11.0,690,7911,0.00,2.28,0.00,0.000,1030,0.000,0.050,3237,2140,2336,2395,2277,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8235,0.83,133.7,3237,2140,2394,2277,865.0,10.5,706,8241,0.00,2.35,0.00,0.000,516,0.000,0.070,3247,729,2336,2395,2277,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8296,0.83,133.7,3247,729,2394,2277,858.5,10.8,718,8300,0.00,2.30,0.00,0.000,1030,0.000,0.051,3247,2141,2335,2394,2277,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8627,0.83,133.7,3247,2140,2393,2277,824.1,10.2,734,8633,0.00,2.35,0.00,0.000,516,0.000,0.070,3257,729,2335,2393,2277,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8662,0.83,133.7,3257,729,2393,2278,820.4,10.8,741,8666,0.00,2.30,0.00,0.000,1030,0.000,0.050,3257,2141,2335,2393,2277,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8984,0.83,133.7,3257,2142,2391,2277,785.8,10.9,755,8990,0.00,2.35,0.00,0.000,516,0.000,0.069,3267,729,2334,2392,2277,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9046,0.83,133.7,3267,729,2392,2277,778.6,11.0,768,9051,0.10,2.30,0.00,0.000,5126,0.286,0.050,3247,2143,2334,2392,2277,0,0,0,0,0,0,14.38,14.66,28.83
$GC,9375,0.83,133.7,3246,2143,2391,2277,744.1,10.5,783,9381,0.00,2.33,0.00,0.000,516,0.000,0.068,3257,735,2334,2391,2277,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9417,0.83,133.7,3257,735,2391,2277,739.4,10.7,792,9421,0.00,2.28,0.00,0.000,1030,0.000,0.050,3257,2138,2334,2391,2277,0,0,0,0,0,0,28.83,14.66,28.83
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$STATE,17393,end climb,SURFACE_DEPTH_REACHED
$STATE,17393,begin surface coast
$FINISH,0.2,1.018831
$STATE,17440,end surface coast,CONTROL_FINISHED_OK
$STATE,17440,begin surface
$SM_CCo,17457,30.52,0.134,0,0,509,579.63
$SM_CCo,17490,-0.12,0.000,0,0,513,579.39
$SM_CCo,17493,0.68,0.290,0,0,510,579.63
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$IRIDIUM_FIX,1749.63,8926.01,010908,121212
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.59
$INTERNAL_PRESSURE,6.68971
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,12.9,114.654
$10V_AH,11.0,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.575,176.625,487.725,31.200,0.000,139.938,138.969,469.670,0.000,0.000,5.594,3453.023,10545.560,646.366,3891.252,237.811,0.000,2046.985,0.000,2459.820,0.000,0.554,0.000
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$SENSOR_SECS,929.172,628.139,1561.155,954.023,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322248
$DATA_FILE_SIZE,137300,1678
$CAP_FILE_SIZE,187338,0
$CFSIZE,2097086464,2043150336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.038, 63.4,1
$GPS,061115,040633,1758.997,8922.710,51,1.1,51,-0.9