version: 66.11
glider: 615
mission: 5
dive: 361
start: 11 16 115 10 10 36
data:
$ID,615
$MISSION,5
$DIVE,361
$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,-19771.281
$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,48
$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
$GPS1,161115,095732,1803.425,8933.732,41,1.1,44,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.8
$GPS2,161115,101009,1803.353,8933.804,5,1.3,5,-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,340.4,6143,-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,-126.5,149,2214,544,492,0.0,0.0,0,62,0.00,0.00,-45.08,0.000,16386,0.000,0.000,148,2213,1787,1787,1788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.82,-126.5,148,2214,1787,1788,3.4,-7.8,7,117,11.00,2.35,-32.05,0.000,18692,0.346,0.083,2667,3591,3390,3407,3374,0,0,0,0,0,0,14.11,14.49,14.87
$GC,144,-0.82,-126.5,2667,3592,3407,3374,28.1,-38.6,20,151,0.00,2.30,0.00,0.000,1030,0.000,0.041,2666,2200,3390,3406,3374,0,0,0,0,0,0,28.83,14.52,28.83
$GC,336,-0.82,-126.5,2666,2196,3407,3373,81.4,-23.8,57,343,0.00,2.30,0.00,0.000,260,0.000,0.060,2656,3604,3390,3407,3373,0,0,0,0,0,0,28.83,14.60,28.83
$GC,411,-0.82,-126.5,1664,3603,3392,3370,97.6,-18.7,71,418,0.10,2.22,0.00,0.000,3078,0.262,0.036,2676,2188,3390,3408,3373,0,0,0,0,0,0,14.42,14.69,28.83
$GC,602,-0.82,-126.5,2676,2188,3408,3374,129.4,-16.1,108,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2189,3390,3407,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,792,-0.82,-126.5,2676,2188,3408,3375,157.8,-15.1,145,800,0.00,2.25,0.00,0.000,516,0.000,0.062,2676,804,3391,3408,3375,0,0,0,0,0,0,28.83,14.61,28.83
$GC,862,-0.82,-126.5,2676,804,3408,3376,167.9,-14.5,158,869,0.00,2.28,0.00,0.000,1030,0.000,0.047,2668,2187,3391,3408,3375,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1053,-0.82,-126.5,2668,2188,3408,3375,195.5,-15.4,195,1059,0.00,2.33,0.00,0.000,260,0.000,0.067,2657,3601,3391,3408,3375,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1139,-0.82,-126.5,2657,3601,3408,3375,209.2,-16.6,211,1149,0.05,2.20,0.00,0.000,3078,0.213,0.037,2673,2198,3391,3408,3375,0,0,0,0,0,0,14.32,14.71,28.83
$GC,1448,-0.82,-126.5,2673,2198,3407,3373,255.4,-14.6,243,1459,0.00,2.25,0.00,0.000,516,0.000,0.061,2673,811,3389,3407,3372,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1482,-0.82,-126.5,2673,810,3407,3372,260.4,-14.9,249,1492,0.00,2.22,0.00,0.000,1030,0.000,0.048,2666,2203,3389,3407,3372,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1792,-0.82,-126.5,2666,2203,3407,3370,305.8,-14.7,281,1801,0.00,2.28,0.00,0.000,516,0.000,0.062,2665,807,3388,3407,3370,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1857,-0.82,-126.5,2665,807,3407,3369,315.7,-14.3,294,1867,0.08,2.30,0.00,0.000,3078,0.213,0.049,2677,2201,3388,3407,3369,0,0,0,0,0,0,14.28,14.50,28.83
$GC,2176,-0.82,-126.5,2677,2201,3407,3364,359.5,-13.9,323,2181,0.00,2.25,0.00,0.000,516,0.000,0.064,2677,817,3385,3407,3364,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2223,-0.82,-126.5,2677,817,3407,3363,366.5,-13.6,333,2227,0.00,2.22,0.00,0.000,1030,0.000,0.050,2670,2199,3385,3407,3363,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2530,-0.82,-126.5,2671,2199,3407,3357,410.2,-14.3,349,2536,0.00,2.28,0.00,0.000,516,0.000,0.063,2670,809,3382,3407,3357,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2572,-0.82,-126.5,2670,809,3407,3357,416.6,-14.4,358,2578,0.05,2.28,0.00,0.000,3078,0.239,0.051,2676,2192,3381,3407,3356,0,0,0,0,0,0,14.41,14.64,28.83
$GC,2891,-0.82,-126.5,2676,2193,3407,3352,459.2,-13.5,376,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2192,3379,3407,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3191,-0.82,-126.5,2676,2192,3406,3349,499.5,-13.6,391,3197,0.00,2.28,0.00,0.000,516,0.000,0.067,2676,810,3377,3406,3349,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3234,-0.82,-126.5,2676,810,3405,3349,505.7,-13.7,400,3238,0.00,2.28,0.00,0.000,1030,0.000,0.053,2670,2206,3377,3405,3349,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3551,-0.82,-126.5,2670,2206,3403,3346,549.3,-14.0,413,3555,0.00,2.30,0.00,0.000,516,0.000,0.067,2670,814,3374,3403,3346,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3584,-0.82,-126.5,2670,815,3401,3346,553.9,-14.8,419,3590,0.00,2.22,0.00,0.000,1030,0.000,0.054,2666,2196,3374,3402,3346,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3914,-0.82,-126.5,2666,2197,3401,3344,600.9,-14.2,435,3920,0.00,2.25,0.00,0.000,516,0.000,0.067,2666,817,3372,3401,3344,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3946,-0.82,-126.5,2666,817,3401,3344,606.1,-14.1,442,3951,0.10,2.25,0.00,0.000,3078,0.282,0.054,2677,2203,3372,3400,3344,0,0,0,0,0,0,14.44,14.68,28.83
$GC,4274,-0.82,-126.5,2677,2202,3399,3342,648.9,-13.0,457,4280,0.00,2.30,0.00,0.000,516,0.000,0.069,2677,813,3370,3399,3341,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4312,-0.82,-126.5,2677,813,3398,3342,654.3,-13.1,465,4317,0.00,2.25,0.00,0.000,1030,0.000,0.054,2672,2198,3370,3398,3342,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4629,-0.82,-126.5,2672,2198,3397,3339,695.2,-12.9,478,4635,0.00,2.30,0.00,0.000,516,0.000,0.068,2671,814,3368,3397,3339,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4667,-0.82,-126.5,2672,815,3396,3340,700.5,-13.2,486,4672,0.00,2.28,0.00,0.000,1030,0.000,0.055,2670,2204,3367,3396,3339,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4985,-0.82,-126.5,2669,2205,3395,3337,741.6,-13.1,499,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2205,3366,3395,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5285,-0.82,-126.5,2670,2205,3394,3336,780.0,-12.7,509,5291,0.00,2.33,0.00,0.000,516,0.000,0.070,2669,806,3365,3394,3336,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5322,-0.82,-126.5,2670,806,3392,3336,785.3,-13.0,517,5326,0.00,2.30,0.00,0.000,1030,0.000,0.056,2668,2208,3364,3393,3336,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5639,-0.82,-126.5,2668,2208,3392,3336,825.1,-12.5,530,5645,0.00,2.33,0.00,0.000,516,0.000,0.070,2668,816,3364,3392,3336,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5682,-0.82,-126.5,2668,816,3391,3336,831.0,-13.0,539,5686,0.00,2.28,0.00,0.000,1030,0.000,0.057,2666,2201,3364,3392,3336,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5995,-0.82,-126.5,2667,2202,3391,3334,869.7,-12.4,551,6001,0.00,2.35,0.00,0.000,260,0.000,0.078,2666,3603,3362,3391,3334,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6013,-0.82,-126.5,2666,3603,3390,3334,872.2,-12.5,555,6017,0.00,2.25,0.00,0.000,1030,0.000,0.046,2667,2213,3362,3390,3334,0,0,0,0,0,0,28.83,14.68,28.83
$GC,6319,-0.82,-126.5,2666,2212,3389,3333,910.2,-12.5,566,6325,0.00,2.35,0.00,0.000,516,0.000,0.073,2666,804,3361,3389,3333,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6417,-0.82,-126.5,2666,804,3389,3333,922.8,-12.3,586,6421,0.00,2.30,0.00,0.000,1030,0.000,0.058,2666,2200,3361,3389,3333,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6735,-0.82,-126.5,2666,2200,3388,3332,961.9,-12.7,599,6741,0.00,2.35,0.00,0.000,516,0.000,0.073,2666,797,3360,3388,3332,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6767,-0.82,-126.5,2666,797,3388,3332,966.4,-12.9,606,6771,0.00,2.33,0.00,0.000,1030,0.000,0.058,2666,2204,3360,3388,3332,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,6973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6973,begin apogee
$GC,6978,-0.16,0.0,2666,2127,3387,3331,991.8,-12.3,617,7096,0.90,0.00,106.93,2.352,10246,0.300,0.000,2889,2124,2865,2913,2817,0,0,0,0,0,0,14.16,28.83,12.93
$STATE,7098,end apogee,CONTROL_FINISHED_OK
$STATE,7098,begin climb
$GC,7100,0.82,126.5,2889,2124,2912,2816,995.5,0.0,641,7220,1.02,0.00,116.78,2.512,10246,0.122,0.000,3213,2124,2356,2414,2298,0,0,0,0,0,0,14.09,28.83,12.81
$GC,7515,0.82,126.5,3213,2124,2403,2283,960.7,10.9,655,7519,0.00,2.30,0.00,0.000,516,0.000,0.072,3224,753,2342,2402,2283,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7615,0.82,126.5,3224,753,2402,2284,949.7,10.4,675,7620,0.00,2.28,0.00,0.000,1030,0.000,0.051,3224,2139,2343,2403,2283,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7938,0.82,126.5,3224,2139,2402,2282,915.5,10.6,689,7940,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2139,2342,2402,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8238,0.82,126.5,3224,2140,2402,2281,885.3,9.9,699,8244,0.00,2.35,0.00,0.000,516,0.000,0.070,3235,739,2341,2402,2281,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8311,0.82,126.5,3235,739,2402,2281,877.7,10.0,714,8316,0.00,2.28,0.00,0.000,1030,0.000,0.050,3235,2141,2342,2402,2282,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8623,0.82,126.5,3235,2141,2400,2280,846.3,10.0,726,8624,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2141,2340,2400,2280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8923,0.82,126.5,3235,2141,2398,2279,817.3,9.7,736,8929,0.00,2.35,0.00,0.000,516,0.000,0.070,3245,738,2339,2399,2280,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8983,0.82,126.5,3245,738,2398,2279,811.3,10.2,748,8989,0.00,2.28,0.00,0.000,1030,0.000,0.050,3245,2141,2339,2398,2280,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9313,0.82,126.5,3245,2141,2398,2278,778.3,9.9,764,9317,0.00,2.35,0.00,0.000,516,0.000,0.070,3255,747,2337,2397,2278,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9363,0.82,126.5,3255,746,2397,2278,773.0,10.5,774,9367,0.00,2.28,0.00,0.000,1030,0.000,0.050,3255,2144,2337,2397,2278,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9670,0.82,126.5,3255,2144,2397,2277,741.1,10.5,785,9676,0.00,2.35,0.00,0.000,260,0.000,0.072,3255,3546,2336,2396,2277,0,0,0,0,0,0,28.83,14.60,28.83
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$STATE,17442,end climb,SURFACE_DEPTH_REACHED
$STATE,17442,begin surface coast
$FINISH,0.2,1.019176
$STATE,17474,end surface coast,CONTROL_FINISHED_OK
$STATE,17474,begin surface
$SM_CCo,17493,27.88,0.133,0,0,508,579.63
$SM_GC,4.37,8.90,2.22,27.88,0.056,0.041,0.133,184,2208,508,-8.59,1.41,579.63,0,0,0,0,0,0,14.60,14.59,14.39
$IRIDIUM_FIX,1756.43,8935.06,110908,232349
$TT8_MAMPS,0.018725,0.018725
$HUMID,48.34
$INTERNAL_PRESSURE,6.67018
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,12.8,131.877
$10V_AH,10.8,0.000
$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,322196
$DATA_FILE_SIZE,137624,1690
$CAP_FILE_SIZE,185873,0
$CFSIZE,2097086464,2034499584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.086,127.1,1
$GPS,161115,150403,1804.557,8933.874,48,1.2,48,-0.9