version: 66.11
glider: 615
mission: 5
dive: 141
start: 10 1 115 8 56 56
data:
$ID,615
$MISSION,5
$DIVE,141
$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,-19007.662
$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,41
$R_STBD_OVSHOOT,52
$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
$GPS1,011015,084933,1759.304,8932.686,25,0.8,26,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.9
$GPS2,011015,085630,1759.327,8932.687,3,0.8,3,-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,8.6,13664,-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,-126.5,172,2212,543,489,0.0,0.0,0,64,0.00,0.00,-46.42,0.000,16386,0.000,0.000,172,2212,1826,1828,1825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.82,-126.5,172,2212,1829,1824,3.3,-7.5,7,119,10.73,2.30,-33.47,0.000,18692,0.350,0.076,2666,3602,3389,3402,3377,0,0,0,0,0,0,14.25,14.54,14.78
$GC,176,-0.82,-126.5,2666,3602,3402,3377,38.5,-30.6,26,184,0.03,2.30,0.00,0.000,3078,0.280,0.037,2672,2185,3389,3402,3377,0,0,0,0,0,0,14.37,14.54,28.83
$GC,369,-0.82,-126.5,2673,2180,3402,3377,94.2,-21.2,63,375,0.00,2.20,0.00,0.000,516,0.000,0.054,2672,811,3389,3402,3377,0,0,0,0,0,0,28.83,14.60,28.83
$GC,494,-0.82,-126.5,2672,811,3402,3378,117.8,-16.6,87,501,0.08,2.20,0.00,0.000,3078,0.325,0.042,2676,2202,3390,3402,3378,0,0,0,0,0,0,14.45,14.66,28.83
$GC,684,-0.82,-126.5,1696,2200,3388,3377,146.3,-13.7,124,691,0.00,2.33,0.00,0.000,260,0.000,0.063,2668,3593,3391,3402,3380,0,0,0,0,0,0,28.83,14.61,28.83
$GC,764,-0.82,-126.5,2668,3594,3402,3380,157.9,-14.6,139,771,0.00,2.17,0.00,0.000,1030,0.000,0.035,2667,2199,3391,3402,3380,0,0,0,0,0,0,28.83,14.73,28.83
$GC,954,-0.82,-126.5,2667,2198,3402,3381,185.0,-14.9,176,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2198,3391,3402,3381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1143,-0.82,-126.5,2668,2198,3402,3381,214.2,-15.4,204,1147,0.00,2.22,0.00,0.000,516,0.000,0.056,2668,812,3391,3402,3381,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1212,-0.82,-126.5,2667,812,3402,3381,224.2,-14.1,217,1223,0.05,2.20,0.00,0.000,3078,0.252,0.042,2673,2203,3391,3402,3380,0,0,0,0,0,0,14.40,14.73,28.83
$GC,1520,-0.82,-126.5,2673,2204,3402,3379,267.5,-14.8,249,1531,0.00,2.25,0.00,0.000,516,0.000,0.058,2673,809,3390,3402,3378,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1555,-0.82,-126.5,2673,809,3402,3378,273.0,-14.4,256,1563,0.00,2.25,0.00,0.000,1030,0.000,0.045,2664,2192,3390,3402,3378,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1863,-0.82,-126.5,2663,2192,3402,3374,318.7,-15.1,287,1873,0.00,2.22,0.00,0.000,516,0.000,0.060,2664,813,3388,3402,3374,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1898,-0.82,-126.5,2664,813,3402,3374,324.6,-15.5,294,1907,0.08,2.28,0.00,0.000,3078,0.228,0.047,2677,2200,3388,3402,3374,0,0,0,0,0,0,14.43,14.59,28.83
$GC,2207,-0.82,-126.5,2677,2199,3401,3371,367.2,-13.6,319,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2199,3386,3402,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2507,-0.82,-126.5,2677,2200,3402,3366,408.6,-13.7,334,2513,0.00,2.22,0.00,0.000,516,0.000,0.061,2677,815,3384,3402,3366,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2574,-0.82,-126.5,2677,814,3402,3365,418.4,-13.4,348,2578,0.00,2.22,0.00,0.000,1030,0.000,0.050,2669,2201,3383,3402,3365,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2882,-0.82,-126.5,2669,2203,3401,3361,463.4,-15.2,364,2888,0.00,2.28,0.00,0.000,516,0.000,0.062,2669,809,3381,3402,3360,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2914,-0.82,-126.5,2669,808,3401,3360,468.9,-14.7,371,2924,0.05,2.30,0.00,0.000,3078,0.244,0.050,2674,2198,3381,3402,3360,0,0,0,0,0,0,14.47,14.65,28.83
$GC,3231,-0.82,-126.5,2674,2199,3401,3356,514.6,-14.5,386,3235,0.00,2.28,0.00,0.000,516,0.000,0.063,2675,808,3378,3401,3355,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3250,-0.82,-126.5,2675,807,3401,3355,517.7,-15.6,390,3258,0.00,2.30,0.00,0.000,1030,0.000,0.050,2666,2199,3378,3400,3356,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3558,-0.82,-126.5,2666,2199,3401,3352,562.3,-14.5,401,3563,0.00,2.25,0.00,0.000,516,0.000,0.063,2666,814,3376,3401,3352,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3600,-0.82,-126.5,2666,813,3401,3352,568.9,-14.5,410,3605,0.10,2.25,0.00,0.000,3078,0.271,0.050,2677,2209,3376,3401,3352,0,0,0,0,0,0,14.59,14.78,28.83
$GC,3918,-0.82,-126.5,2677,2210,3400,3349,611.2,-13.1,423,3923,0.00,2.28,0.00,0.000,516,0.000,0.063,2678,811,3374,3400,3349,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3965,-0.82,-126.5,2678,811,3399,3349,617.8,-13.2,433,3969,0.00,2.25,0.00,0.000,1030,0.000,0.050,2669,2207,3374,3400,3349,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4277,-0.82,-126.5,2669,2208,3398,3346,657.7,-12.6,445,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2208,3371,3397,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4578,-0.82,-126.5,2669,2208,3396,3345,695.2,-12.4,455,4584,0.00,2.28,0.00,0.000,516,0.000,0.063,2669,815,3370,3396,3344,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4650,-0.82,-126.5,2670,815,3396,3344,704.5,-12.0,470,4655,0.10,2.25,0.00,0.000,3078,0.281,0.052,2681,2210,3370,3396,3344,0,0,0,0,0,0,14.59,14.78,28.83
$GC,4969,-0.82,-126.5,2681,2210,3394,3343,740.4,-11.4,483,4975,0.00,2.30,0.00,0.000,516,0.000,0.067,2681,813,3368,3395,3342,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5006,-0.82,-126.5,2682,813,3394,3342,745.1,-11.6,491,5010,0.00,2.25,0.00,0.000,1030,0.000,0.054,2674,2197,3368,3394,3343,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5329,-0.82,-126.5,2673,2198,3393,3340,783.2,-12.1,505,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2198,3366,3392,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5628,-0.82,-126.5,2674,2198,3391,3339,819.6,-12.2,515,5632,0.00,2.30,0.00,0.000,516,0.000,0.067,2674,811,3365,3392,3339,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5703,-0.82,-126.5,2673,810,3391,3340,829.2,-12.1,530,5708,0.08,2.25,0.00,0.000,3078,0.324,0.052,2676,2204,3365,3391,3339,0,0,0,0,0,0,14.57,14.78,28.83
$GC,6021,-0.82,-126.5,2675,2205,3390,3337,866.8,-12.0,543,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2205,3363,3390,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6321,-0.82,-126.5,2676,2205,3389,3337,903.2,-12.2,553,6327,0.00,2.30,0.00,0.000,516,0.000,0.067,2676,813,3363,3389,3337,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6373,-0.82,-126.5,2676,813,3389,3337,910.1,-12.1,564,6381,0.00,2.30,0.00,0.000,1030,0.000,0.053,2668,2192,3363,3389,3337,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6681,-0.82,-126.5,2668,2193,3388,3336,948.4,-12.5,575,6687,0.00,2.28,0.00,0.000,516,0.000,0.067,2668,816,3362,3388,3336,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6718,-0.82,-126.5,2668,816,3388,3336,953.6,-13.1,583,6723,0.10,2.25,0.00,0.000,3078,0.280,0.054,2678,2202,3362,3388,3336,0,0,0,0,0,0,14.55,14.77,28.83
$STATE,7040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7040,begin apogee
$GC,7044,-0.16,0.0,2678,2150,3387,3335,990.9,-11.6,597,7152,0.73,0.00,102.00,2.183,10246,0.231,0.000,2887,2150,2867,2913,2821,0,0,0,0,0,0,14.47,28.83,13.33
$STATE,7154,end apogee,CONTROL_FINISHED_OK
$STATE,7154,begin climb
$GC,7155,0.82,126.5,2887,2150,2911,2818,994.9,0.0,620,7270,1.02,2.50,106.90,2.137,10756,0.149,0.075,3212,746,2352,2411,2293,0,0,0,0,0,0,14.03,13.93,13.23
$GC,7461,0.82,126.5,3212,746,2402,2290,974.4,11.2,681,7465,0.00,2.33,0.00,0.000,1030,0.000,0.051,3212,2138,2346,2402,2291,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7783,0.82,126.5,3212,2139,2401,2287,936.4,12.1,695,7789,0.00,2.38,0.00,0.000,516,0.000,0.076,3222,739,2344,2402,2287,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7934,0.82,126.5,3222,739,2401,2287,917.7,12.2,725,7940,0.00,2.30,0.00,0.000,1030,0.000,0.050,3222,2145,2344,2401,2287,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8264,0.82,126.5,3222,2145,2399,2285,878.0,11.9,741,8270,0.00,2.35,0.00,0.000,516,0.000,0.076,3232,747,2342,2399,2285,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8378,0.82,126.5,3232,747,2398,2286,864.0,12.3,764,8386,0.00,2.33,0.00,0.000,1030,0.000,0.050,3232,2138,2341,2398,2285,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8688,0.82,126.5,3232,2138,2397,2285,828.1,11.7,775,8693,0.00,2.33,0.00,0.000,516,0.000,0.075,3242,746,2341,2398,2285,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8778,0.82,126.5,3242,746,2397,2285,817.0,12.1,794,8782,0.00,2.30,0.00,0.000,1030,0.000,0.050,3242,2135,2341,2397,2285,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9106,0.82,126.5,3242,2135,2396,2285,778.6,11.8,809,9112,0.00,2.33,0.00,0.000,516,0.000,0.075,3251,746,2340,2396,2285,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9234,0.82,126.5,3251,746,2396,2285,763.1,11.9,835,9239,0.00,2.28,0.00,0.000,1030,0.000,0.050,3251,2145,2339,2395,2284,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9551,0.82,126.5,3252,2146,2395,2284,726.8,11.5,848,9555,0.00,2.35,0.00,0.000,516,0.000,0.074,3262,742,2339,2395,2284,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9638,0.82,126.5,3262,742,2395,2284,716.8,11.8,865,9645,0.10,2.28,0.00,0.000,5126,0.272,0.050,3241,2145,2339,2395,2284,0,0,0,0,0,0,14.52,14.73,28.83
$GC,9968,0.82,126.5,3241,2145,2395,2283,682.5,10.3,881,9974,0.00,2.33,0.00,0.000,516,0.000,0.072,3250,745,2339,2395,2283,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10077,0.82,126.5,3250,745,2394,2283,670.9,10.6,903,10081,0.00,2.28,0.00,0.000,1030,0.000,0.054,3250,2143,2338,2394,2283,0,0,0,0,0,0,28.83,14.73,28.83
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$STATE,17257,end climb,SURFACE_DEPTH_REACHED
$STATE,17257,begin surface coast
$FINISH,0.4,1.019557
$STATE,17279,end surface coast,CONTROL_FINISHED_OK
$STATE,17279,begin surface
$SM_CCo,17295,19.65,0.135,0,0,509,579.63
$SM_CCo,17317,-0.03,0.000,0,0,510,579.63
$SM_CCo,17320,0.00,0.000,0,0,511,579.63
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$IRIDIUM_FIX,1747.37,8935.07,270708,171754
$TT8_MAMPS,0.017976,0.017976
$HUMID,44.36
$INTERNAL_PRESSURE,6.67994
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,13.2,59.174
$10V_AH,12.7,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.550,179.775,492.925,19.650,0.000,25.770,17.129,265.641,0.000,0.000,5.619,3469.750,9958.625,638.175,3493.281,169.177,0.000,2117.895,0.000,2629.534,0.000,0.553,0.000
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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,322260
$DATA_FILE_SIZE,144033,1789
$CAP_FILE_SIZE,186954,0
$CFSIZE,2097086464,2071134208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.024,186.6,1
$GPS,011015,134651,1800.833,8933.065,38,0.8,38,-0.9