version: 66.11
glider: 615
mission: 5
dive: 151
start: 10 3 115 10 46 4
data:
$ID,615
$MISSION,5
$DIVE,151
$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,-19021.18
$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,38
$R_STBD_OVSHOOT,71
$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
$GPS1,031015,103857,1757.436,8923.803,68,0.9,68,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-72.3
$GPS2,031015,104537,1757.386,8923.800,4,0.9,4,-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,226.6,5447,-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,-126.5,189,2235,561,478,0.0,0.0,0,56,0.00,0.00,-39.38,0.000,16386,0.000,0.000,189,2235,1632,1633,1631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.82,-126.5,189,2235,1633,1632,3.0,-7.1,6,117,10.68,2.42,-38.92,0.000,18948,0.351,0.075,2674,769,3390,3402,3378,0,0,0,0,0,0,14.25,14.52,14.77
$GC,134,-0.82,-126.5,2674,769,3402,3378,24.4,-42.2,18,142,0.00,2.33,0.00,0.000,1030,0.000,0.051,2665,2158,3390,3402,3379,0,0,0,0,0,0,28.83,14.50,28.83
$GC,324,-0.82,-126.5,2665,2159,3402,3378,85.7,-21.9,55,331,0.00,2.38,0.00,0.000,260,0.000,0.056,2654,3626,3390,3402,3378,0,0,0,0,0,0,28.83,14.59,28.83
$GC,369,-0.82,-126.5,2654,3626,3402,3378,94.9,-19.7,63,376,0.10,2.28,0.00,0.000,3078,0.273,0.036,2675,2170,3390,3402,3378,0,0,0,0,0,0,14.42,14.66,28.83
$GC,559,-0.82,-126.5,2675,2169,3402,3380,125.9,-15.7,100,566,0.00,2.38,0.00,0.000,260,0.000,0.055,2666,3618,3391,3402,3380,0,0,0,0,0,0,28.83,14.62,28.83
$GC,629,-0.82,-126.5,2665,3617,3401,3382,136.7,-16.1,113,637,0.00,2.20,0.00,0.000,1030,0.000,0.034,2665,2205,3391,3402,3381,0,0,0,0,0,0,28.83,14.71,28.83
$GC,819,-0.82,-126.5,2665,2203,3402,3383,167.3,-16.4,150,826,0.00,2.28,0.00,0.000,516,0.000,0.052,2665,819,3392,3402,3383,0,0,0,0,0,0,28.83,14.60,28.83
$GC,849,-0.82,-126.5,2665,819,3402,3383,171.9,-15.3,155,856,0.10,2.20,0.00,0.000,3078,0.286,0.038,2675,2223,3392,3402,3383,0,0,0,0,0,0,14.47,14.70,28.83
$GC,1039,-0.82,-126.5,1696,2221,3388,3381,197.8,-12.7,192,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2223,3392,3402,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1229,-0.82,-126.5,2675,2224,3402,3383,224.2,-14.8,212,1237,0.00,2.22,0.00,0.000,516,0.000,0.054,2675,821,3392,3402,3383,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1262,-0.82,-126.5,2676,821,3402,3383,229.6,-14.6,219,1269,0.00,2.17,0.00,0.000,1030,0.000,0.041,2667,2198,3392,3402,3383,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1570,-0.82,-126.5,2667,2198,3402,3381,274.9,-14.5,250,1578,0.00,2.22,0.00,0.000,516,0.000,0.054,2667,810,3391,3402,3381,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1611,-0.82,-126.5,2667,810,3402,3380,280.9,-14.6,258,1620,0.10,2.20,0.00,0.000,3078,0.281,0.041,2679,2206,3390,3402,3379,0,0,0,0,0,0,14.54,14.74,28.83
$GC,1921,-0.82,-126.5,2678,2206,3402,3376,324.4,-14.1,290,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2206,3389,3402,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2231,-0.82,-126.5,2679,2206,3402,3373,367.1,-13.4,315,2238,0.00,2.22,0.00,0.000,516,0.000,0.057,2679,811,3387,3402,3372,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2279,-0.82,-126.5,2679,812,3402,3373,373.9,-13.4,325,2283,0.00,2.20,0.00,0.000,1030,0.000,0.043,2670,2200,3387,3402,3372,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2591,-0.82,-126.5,2670,2200,3402,3369,417.0,-13.8,342,2597,0.00,2.22,0.00,0.000,516,0.000,0.057,2670,818,3385,3402,3369,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2619,-0.82,-126.5,2670,818,3402,3369,421.3,-14.8,348,2624,0.08,2.20,0.00,0.000,3078,0.302,0.044,2676,2204,3385,3402,3368,0,0,0,0,0,0,14.57,14.76,28.83
$GC,2931,-0.82,-126.5,2676,2205,3402,3364,462.5,-13.3,365,2937,0.00,2.25,0.00,0.000,516,0.000,0.060,2676,815,3382,3402,3363,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2964,-0.82,-126.5,2676,814,3402,3363,467.3,-13.1,372,2972,0.00,2.28,0.00,0.000,1030,0.000,0.048,2668,2194,3382,3401,3363,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3272,-0.82,-126.5,2668,2194,3402,3359,508.4,-13.4,387,3278,0.00,2.25,0.00,0.000,516,0.000,0.062,2668,810,3379,3401,3358,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3310,-0.82,-126.5,2668,810,3401,3358,513.9,-13.4,395,3315,0.05,2.28,0.00,0.000,3078,0.239,0.050,2674,2201,3379,3401,3358,0,0,0,0,0,0,14.53,14.73,28.83
$GC,3632,-0.82,-126.5,2674,2201,3401,3354,554.0,-12.5,409,3636,0.00,2.25,0.00,0.000,516,0.000,0.062,2674,817,3377,3401,3354,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3673,-0.82,-126.5,2674,816,3401,3354,559.4,-12.6,417,3678,0.00,2.22,0.00,0.000,1030,0.000,0.050,2665,2202,3377,3401,3354,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3989,-0.82,-126.5,2665,2203,3401,3352,600.3,-13.2,430,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2203,3376,3401,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4289,-0.82,-126.5,2665,2203,3400,3349,640.7,-13.3,440,4293,0.00,2.28,0.00,0.000,516,0.000,0.064,2666,817,3374,3400,3349,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4353,-0.82,-126.5,2665,818,3399,3349,649.7,-13.0,453,4358,0.10,2.22,0.00,0.000,3078,0.272,0.050,2677,2201,3373,3399,3348,0,0,0,0,0,0,14.58,14.77,28.83
$GC,4676,-0.82,-126.5,2677,2201,3398,3346,691.0,-12.9,467,4682,0.00,2.28,0.00,0.000,516,0.000,0.067,2677,819,3372,3398,3346,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4713,-0.82,-126.5,2677,819,3397,3346,696.3,-13.2,475,4718,0.00,2.25,0.00,0.000,1030,0.000,0.052,2669,2209,3371,3397,3346,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5036,-0.82,-126.5,2669,2209,3396,3344,739.1,-13.5,489,5042,0.00,2.30,0.00,0.000,516,0.000,0.067,2669,815,3370,3396,3344,0,0,0,0,0,0,28.83,14.72,28.83
$GC,5098,-0.82,-126.5,2669,814,3396,3344,747.7,-13.0,502,5104,0.05,2.28,0.00,0.000,3078,0.230,0.054,2674,2193,3370,3396,3344,0,0,0,0,0,0,14.50,14.71,28.83
$GC,5427,-0.82,-126.5,2674,2192,3395,3343,788.0,-12.3,517,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2193,3369,3395,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5727,-0.82,-126.5,2674,2193,3394,3341,824.1,-11.8,527,5731,0.00,2.28,0.00,0.000,516,0.000,0.067,2675,813,3367,3393,3341,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5781,-0.82,-126.5,2675,813,3393,3341,831.0,-11.9,538,5788,0.00,2.30,0.00,0.000,1030,0.000,0.052,2666,2198,3367,3394,3341,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6088,-0.82,-126.5,2667,2198,3393,3340,867.8,-11.9,549,6094,0.00,2.28,0.00,0.000,516,0.000,0.067,2666,813,3366,3393,3340,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6118,-0.82,-126.5,2667,813,3392,3340,871.5,-12.3,555,6125,0.10,2.25,0.00,0.000,3078,0.282,0.053,2677,2205,3366,3392,3340,0,0,0,0,0,0,14.55,14.76,28.83
$GC,6448,-0.82,-126.5,2677,2205,3391,3338,907.5,-10.6,571,6454,0.00,2.30,0.00,0.000,516,0.000,0.067,2677,813,3365,3392,3338,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6480,-0.82,-126.5,2677,813,3391,3338,911.3,-11.1,578,6485,0.00,2.30,0.00,0.000,1030,0.000,0.053,2669,2202,3364,3391,3338,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6809,-0.82,-126.5,2669,2203,3390,3337,947.3,-11.1,593,6815,0.00,2.28,0.00,0.000,516,0.000,0.067,2670,820,3363,3390,3336,0,0,0,0,0,0,28.83,14.70,28.83
$GC,6881,-0.82,-126.5,2669,820,3390,3337,955.9,-11.0,608,6886,0.10,2.25,0.00,0.000,3078,0.278,0.054,2680,2208,3363,3390,3336,0,0,0,0,0,0,14.53,14.75,28.83
$GC,7199,-0.82,-126.5,2679,2209,3389,3336,989.8,-11.1,621,7203,0.00,2.10,0.00,0.000,515,0.000,0.066,2680,928,3362,3389,3336,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7204,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7204,begin apogee
$GC,7210,-0.16,0.0,2674,2146,3389,3336,990.4,-11.1,622,7320,0.75,0.00,102.35,2.164,10246,0.232,0.000,2887,2147,2865,2914,2816,0,0,0,0,0,0,14.47,28.83,13.32
$STATE,7321,end apogee,CONTROL_FINISHED_OK
$STATE,7321,begin climb
$GC,7323,0.82,126.5,2887,2147,2913,2814,994.3,0.0,645,7440,1.02,2.50,106.88,2.128,10500,0.146,0.072,3208,3547,2347,2403,2291,0,0,0,0,0,0,14.07,13.94,13.19
$GC,7481,0.82,126.5,3208,3547,2402,2286,985.1,10.9,677,7485,0.00,2.33,0.00,0.000,1030,0.000,0.045,3218,2163,2344,2402,2286,0,0,0,0,0,0,28.83,14.17,28.83
$GC,7804,0.82,126.5,3218,2163,2401,2284,950.1,10.9,691,7810,0.00,2.42,0.00,0.000,516,0.000,0.078,3229,740,2342,2401,2284,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7954,0.82,126.5,3229,740,2400,2284,934.0,10.4,721,7960,0.00,2.30,0.00,0.000,1030,0.000,0.051,3229,2145,2341,2399,2284,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8284,0.82,126.5,3229,2145,2398,2284,899.7,10.2,737,8288,0.00,2.40,0.00,0.000,516,0.000,0.076,3239,733,2340,2397,2283,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8346,0.82,126.5,3239,734,2396,2282,893.2,10.6,749,8352,0.00,2.30,0.00,0.000,1030,0.000,0.050,3239,2143,2340,2397,2283,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8676,0.82,126.5,3240,2143,2396,2283,858.1,10.7,765,8677,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2143,2339,2396,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8976,0.82,126.5,3239,2143,2395,2282,825.4,10.9,775,8982,0.00,2.38,0.00,0.000,516,0.000,0.076,3249,733,2339,2395,2283,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9049,0.82,126.5,3250,733,2395,2283,816.8,11.7,790,9053,0.00,2.30,0.00,0.000,1030,0.000,0.050,3249,2142,2338,2395,2282,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9366,0.82,126.5,3250,2142,2394,2282,781.2,11.3,803,9372,0.00,2.35,0.00,0.000,260,0.000,0.075,3249,3548,2338,2394,2282,0,0,0,0,0,0,28.83,14.66,28.83
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$GC,15982,0.93,213.8,3258,2136,2120,1998,137.0,8.3,1428,16002,0.00,2.40,14.25,1.069,8708,0.000,0.065,3267,736,1992,2055,1930,0,0,0,0,0,0,28.83,14.53,14.02
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$STATE,17674,end climb,SURFACE_DEPTH_REACHED
$STATE,17674,begin surface coast
$FINISH,0.3,1.018894
$STATE,17691,end surface coast,CONTROL_FINISHED_OK
$STATE,17691,begin surface
$SM_CCo,17706,1.05,0.218,0,0,509,579.63
$SM_CCo,17710,0.00,0.000,0,0,511,579.63
$SM_CCo,17712,0.35,0.356,0,0,508,579.88
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$IRIDIUM_FIX,1751.90,8925.99,290708,191947
$TT8_MAMPS,0.017976,0.017976
$HUMID,46.06
$INTERNAL_PRESSURE,6.67018
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,13.2,62.234
$10V_AH,12.9,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.950,183.875,502.100,1.400,0.000,26.009,17.037,243.922,0.000,0.000,5.599,3518.610,10375.153,623.084,3418.893,168.127,0.000,2088.604,0.000,2574.681,0.000,0.553,0.000
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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,322264
$DATA_FILE_SIZE,140806,1751
$CAP_FILE_SIZE,187785,0
$CFSIZE,2097086464,2069495808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.026,233.2,1
$GPS,031015,154302,1756.005,8922.141,64,1.5,69,-0.9