version: 66.11
glider: 615
mission: 5
dive: 158
start: 10 4 115 21 42 58
data:
$ID,615
$MISSION,5
$DIVE,158
$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,-19031.996
$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,53
$R_STBD_OVSHOOT,62
$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
$GPS1,041015,213533,1805.456,8921.882,34,0.8,34,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-72.0
$GPS2,041015,214231,1805.500,8921.817,4,0.8,4,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,SE
$TGT_LATLONG,1755.320,8933.540
$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,127.1,27967,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.82,-126.5,190,2216,544,491,0.0,0.0,0,61,0.00,0.00,-44.10,0.000,16386,0.000,0.000,190,2216,1775,1777,1774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.82,-126.5,190,2216,1777,1774,3.5,-8.7,7,116,10.82,2.33,-33.33,0.000,18948,0.356,0.068,2676,799,3390,3402,3378,0,0,0,0,0,0,14.24,14.53,14.76
$GC,142,-0.82,-126.5,2676,798,3402,3378,30.1,-46.3,20,151,0.00,2.28,0.00,0.000,1030,0.000,0.047,2668,2175,3390,3402,3378,0,0,0,0,0,0,28.83,14.49,28.83
$GC,340,-0.82,-126.5,2667,2176,3403,3378,89.2,-24.4,57,347,0.00,2.33,0.00,0.000,260,0.000,0.060,2657,3606,3390,3402,3378,0,0,0,0,0,0,28.83,14.59,28.83
$GC,448,-0.82,-126.5,2657,3607,3402,3379,110.6,-17.1,77,455,0.10,2.20,0.00,0.000,3078,0.269,0.034,2677,2189,3390,3402,3379,0,0,0,0,0,0,14.44,14.68,28.83
$GC,644,-0.82,-126.5,2677,2187,3402,3380,142.6,-15.0,114,651,0.00,2.25,0.00,0.000,516,0.000,0.051,2677,819,3391,3402,3380,0,0,0,0,0,0,28.83,14.57,28.83
$GC,709,-0.82,-126.5,2677,819,3402,3381,153.3,-16.2,126,717,0.00,2.25,0.00,0.000,1030,0.000,0.040,2668,2213,3391,3402,3381,0,0,0,0,0,0,28.83,14.59,28.83
$GC,907,-0.82,-126.5,2668,2212,3402,3383,182.5,-14.2,163,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2213,3392,3402,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1098,-0.82,-126.5,2668,2213,3402,3383,208.5,-13.2,194,1106,0.00,2.22,0.00,0.000,516,0.000,0.051,2668,820,3392,3402,3383,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1128,-0.82,-126.5,2668,820,3402,3383,212.6,-13.6,200,1138,0.10,2.17,0.00,0.000,3078,0.279,0.040,2678,2207,3392,3402,3383,0,0,0,0,0,0,14.50,14.71,28.83
$GC,1440,-0.82,-126.5,2679,2208,3402,3381,256.7,-14.4,232,1449,0.00,2.20,0.00,0.000,516,0.000,0.052,2679,819,3391,3402,3381,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1453,-0.82,-126.5,2679,819,3402,3380,259.2,-14.5,235,1461,0.00,2.22,0.00,0.000,1030,0.000,0.041,2671,2200,3391,3402,3380,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1761,-0.82,-126.5,2671,2200,3402,3377,301.9,-13.4,266,1770,0.00,2.28,0.00,0.000,260,0.000,0.063,2660,3604,3389,3401,3377,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1802,-0.82,-126.5,2660,3604,3402,3377,307.5,-13.3,274,1807,0.08,2.17,0.00,0.000,3078,0.269,0.036,2676,2203,3389,3402,3377,0,0,0,0,0,0,14.59,14.79,28.83
$GC,2108,-0.82,-126.5,2676,2201,3402,3373,348.7,-13.8,305,2117,0.00,2.22,0.00,0.000,516,0.000,0.056,2676,816,3387,3402,3372,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2212,-0.82,-126.5,2676,816,3402,3372,363.7,-12.9,326,2217,0.00,2.25,0.00,0.000,1030,0.000,0.045,2667,2205,3387,3402,3372,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2531,-0.82,-126.5,2667,2206,3401,3368,409.8,-14.9,344,2537,0.00,2.25,0.00,0.000,516,0.000,0.060,2667,817,3385,3402,3368,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2564,-0.82,-126.5,2667,816,3402,3368,415.2,-14.6,351,2572,0.05,2.28,0.00,0.000,3078,0.243,0.047,2673,2199,3385,3402,3368,0,0,0,0,0,0,14.42,14.62,28.83
$GC,2872,-0.82,-126.5,2673,2200,3402,3363,457.5,-13.7,367,2878,0.00,2.25,0.00,0.000,516,0.000,0.060,2673,813,3382,3402,3363,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2911,-0.82,-126.5,2673,813,3402,3363,463.2,-13.6,375,2917,0.00,2.22,0.00,0.000,1030,0.000,0.047,2665,2205,3381,3401,3362,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3221,-0.82,-126.5,2665,2206,3401,3357,506.4,-13.9,393,3227,0.00,2.28,0.00,0.000,516,0.000,0.062,2665,816,3380,3402,3358,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3251,-0.82,-126.5,2665,816,3401,3358,510.6,-14.1,399,3258,0.10,2.22,0.00,0.000,3078,0.271,0.048,2676,2208,3379,3401,3357,0,0,0,0,0,0,14.57,14.76,28.83
$GC,3581,-0.82,-126.5,2676,2208,3401,3353,553.3,-12.8,415,3583,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2207,3377,3401,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3881,-0.82,-126.5,2676,2208,3401,3352,592.0,-12.8,425,3887,0.00,2.28,0.00,0.000,516,0.000,0.063,2677,812,3376,3401,3352,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3934,-0.82,-126.5,2677,812,3400,3351,599.2,-12.8,436,3942,0.00,2.30,0.00,0.000,1030,0.000,0.051,2668,2198,3375,3400,3351,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4242,-0.82,-126.5,2668,2198,3399,3348,638.5,-13.0,447,4246,0.00,2.22,0.00,0.000,516,0.000,0.063,2668,827,3373,3399,3348,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4286,-0.82,-126.5,2668,827,3399,3348,644.6,-13.0,456,4291,0.10,2.22,0.00,0.000,3078,0.273,0.051,2680,2209,3373,3399,3348,0,0,0,0,0,0,14.57,14.77,28.83
$GC,4604,-0.82,-126.5,2680,2210,3397,3346,682.0,-12.0,469,4610,0.00,2.28,0.00,0.000,516,0.000,0.063,2680,815,3371,3397,3346,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4652,-0.82,-126.5,2680,814,3396,3346,688.3,-12.1,479,4656,0.00,2.25,0.00,0.000,1030,0.000,0.052,2672,2207,3370,3396,3345,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4964,-0.82,-126.5,2672,2208,3396,3344,728.8,-13.3,491,4970,0.00,2.28,0.00,0.000,516,0.000,0.064,2672,822,3369,3396,3343,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4987,-0.82,-126.5,2672,822,3395,3343,732.3,-13.8,496,4996,0.05,2.28,0.00,0.000,3078,0.243,0.052,2677,2194,3369,3395,3344,0,0,0,0,0,0,14.44,14.63,28.83
$GC,5295,-0.82,-126.5,2677,2195,3394,3342,771.7,-13.0,507,5300,0.00,2.25,0.00,0.000,516,0.000,0.063,2677,822,3368,3394,3342,0,0,0,0,0,0,28.83,14.72,28.83
$GC,5332,-0.82,-126.5,2678,822,3394,3342,777.0,-13.0,515,5336,0.00,2.25,0.00,0.000,1030,0.000,0.053,2669,2212,3368,3394,3342,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5655,-0.82,-126.5,2669,2213,3392,3341,819.1,-13.1,529,5661,0.00,2.28,0.00,0.000,516,0.000,0.066,2669,823,3366,3392,3340,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5697,-0.82,-126.5,2669,822,3392,3340,825.1,-13.2,538,5702,0.10,2.25,0.00,0.000,3078,0.272,0.054,2681,2211,3366,3392,3340,0,0,0,0,0,0,14.55,14.76,28.83
$GC,6015,-0.82,-126.5,2681,2211,3391,3338,863.9,-12.4,551,6021,0.00,2.28,0.00,0.000,516,0.000,0.067,2681,823,3364,3391,3338,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6037,-0.82,-126.5,2681,822,3391,3338,867.1,-12.8,556,6045,0.00,2.30,0.00,0.000,1030,0.000,0.054,2673,2201,3364,3391,3338,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6345,-0.82,-126.5,2673,2201,3390,3337,907.0,-13.2,567,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2201,3363,3390,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6645,-0.82,-126.5,2673,2201,3389,3336,946.6,-13.1,577,6651,0.00,2.28,0.00,0.000,516,0.000,0.067,2673,820,3362,3389,3336,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6723,-0.82,-126.5,2673,820,3389,3336,956.8,-12.4,593,6728,0.08,2.25,0.00,0.000,3078,0.313,0.054,2676,2205,3362,3389,3336,0,0,0,0,0,0,14.54,14.75,28.83
$STATE,7003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7003,begin apogee
$GC,7007,-0.16,0.0,2677,2205,3389,3336,990.6,-12.0,604,7156,0.73,0.00,141.65,1.765,10246,0.220,0.000,2885,2206,2866,2914,2818,0,0,0,0,0,0,14.46,28.83,13.33
$STATE,7157,end apogee,CONTROL_FINISHED_OK
$STATE,7157,begin climb
$GC,7159,0.82,126.5,2885,2206,2912,2815,995.3,0.0,634,7277,1.02,2.38,106.68,2.117,10500,0.143,0.075,3206,3542,2347,2405,2290,0,0,0,0,0,0,14.07,13.93,13.20
$GC,7343,0.82,126.5,3206,3542,2403,2285,983.4,11.3,671,7347,0.00,2.33,0.00,0.000,1030,0.000,0.044,3213,2158,2343,2402,2285,0,0,0,0,0,0,28.83,14.22,28.83
$GC,7670,0.82,126.5,3213,2157,2402,2284,946.5,11.4,686,7674,0.00,2.40,0.00,0.000,516,0.000,0.075,3225,742,2343,2402,2284,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7817,0.82,126.5,3224,742,2402,2283,930.0,11.2,715,7823,0.00,2.28,0.00,0.000,1030,0.000,0.049,3224,2137,2343,2402,2284,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8147,0.82,126.5,3224,2137,2400,2283,893.0,11.3,731,8148,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2137,2342,2401,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8447,0.82,126.5,3224,2137,2399,2282,860.1,10.9,741,8453,0.00,2.35,0.00,0.000,516,0.000,0.076,3234,742,2340,2398,2282,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8530,0.82,126.5,3234,742,2398,2282,850.8,10.9,758,8538,0.00,2.35,0.00,0.000,1030,0.000,0.050,3234,2141,2340,2398,2282,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8839,0.82,126.5,3235,2141,2396,2280,818.7,10.5,769,8840,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2141,2339,2397,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9138,0.82,126.5,3234,2141,2396,2280,788.5,10.0,779,9142,0.00,2.38,0.00,0.000,516,0.000,0.074,3244,736,2338,2396,2280,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9208,0.82,126.5,3245,736,2396,2280,781.3,9.9,793,9212,0.00,2.28,0.00,0.000,1030,0.000,0.051,3244,2139,2338,2396,2281,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9530,0.82,126.5,3244,2140,2395,2280,748.5,10.4,807,9531,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2140,2337,2395,2280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9830,0.82,126.5,3244,2140,2395,2280,718.4,9.9,817,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2140,2337,2395,2280,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,16154,0.96,239.1,3277,2149,2017,1895,106.5,8.2,1456,16169,0.00,2.40,8.75,0.441,8708,0.000,0.060,3287,746,1903,1964,1843,0,0,0,0,0,0,28.83,14.52,14.14
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$STATE,17437,end climb,SURFACE_DEPTH_REACHED
$STATE,17437,begin surface coast
$FINISH,0.2,1.007195
$STATE,17454,end surface coast,CONTROL_FINISHED_OK
$STATE,17454,begin surface
$SM_CCo,17470,0.88,0.204,0,0,509,579.63
$SM_CCo,17473,-0.03,0.000,0,0,511,579.63
$SM_CCo,17476,0.40,0.324,0,0,508,579.63
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$IRIDIUM_FIX,1754.17,8921.45,310708,060658
$TT8_MAMPS,0.018725,0.018725
$HUMID,45.51
$INTERNAL_PRESSURE,6.66041
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,13.2,64.341
$10V_AH,12.9,0.000
$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,322288
$DATA_FILE_SIZE,137456,1691
$CAP_FILE_SIZE,184235,0
$CFSIZE,2097086464,2068348928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.046,241.4,1
$GPS,051015,023551,1804.267,8922.926,59,1.0,59,-0.9