version: 66.11
glider: 615
mission: 5
dive: 159
start: 10 5 115 2 42 59
data:
$ID,615
$MISSION,5
$DIVE,159
$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,-19033.754
$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,72
$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
$GPS1,051015,023551,1804.267,8922.926,59,1.0,59,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.6
$GPS2,051015,024232,1804.281,8922.894,4,0.8,5,-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,119.2,25047,-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,-126.5,183,2236,562,477,0.0,0.0,0,62,0.00,0.00,-45.30,0.000,16386,0.000,0.000,183,2237,1826,1833,1820,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.82,-126.5,183,2237,1833,1820,3.7,-8.7,7,117,10.82,2.38,-30.62,0.000,18948,0.355,0.067,2675,796,3391,3403,3379,0,0,0,0,0,0,14.23,14.38,14.76
$GC,159,-0.82,-126.5,2676,796,3403,3379,38.4,-38.1,23,166,0.00,2.20,0.00,0.000,1030,0.000,0.042,2667,2170,3391,3403,3379,0,0,0,0,0,0,28.83,14.57,28.83
$GC,349,-0.82,-126.5,2667,2171,3403,3380,94.2,-23.1,60,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2170,3391,3402,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,538,-0.82,-126.5,1664,2168,3389,3379,127.4,-15.4,97,545,0.00,2.20,0.00,0.000,516,0.000,0.053,2667,802,3392,3403,3382,0,0,0,0,0,0,28.83,14.62,28.83
$GC,663,-0.82,-126.5,2666,802,3403,3383,144.7,-13.1,121,671,0.10,2.22,0.00,0.000,3078,0.291,0.039,2677,2218,3393,3403,3383,0,0,0,0,0,0,14.45,14.68,28.83
$GC,854,-0.82,-126.5,2677,2218,3403,3384,168.6,-13.7,158,861,0.00,2.30,0.00,0.000,260,0.000,0.059,2668,3601,3393,3403,3384,0,0,0,0,0,0,28.83,14.61,28.83
$GC,935,-0.82,-126.5,2668,3601,3403,3384,181.4,-15.4,173,942,0.00,2.20,0.00,0.000,1030,0.000,0.034,2668,2187,3393,3403,3384,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1129,-0.82,-126.5,2668,2186,3403,3384,210.9,-15.1,204,1133,0.00,2.20,0.00,0.000,516,0.000,0.053,2668,810,3393,3403,3384,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1157,-0.82,-126.5,2668,809,3404,3384,214.6,-14.6,209,1167,0.10,2.17,0.00,0.000,3078,0.282,0.040,2679,2199,3393,3403,3384,0,0,0,0,0,0,14.50,14.71,28.83
$GC,1466,-0.82,-126.5,2679,2199,3403,3383,256.8,-14.3,241,1476,0.00,2.22,0.00,0.000,516,0.000,0.054,2679,813,3393,3403,3383,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1529,-0.82,-126.5,2679,812,3403,3383,265.9,-14.1,253,1539,0.00,2.17,0.00,0.000,1030,0.000,0.041,2671,2196,3392,3403,3382,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1840,-0.82,-126.5,2671,2197,3403,3378,311.5,-14.9,285,1841,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2197,3390,3403,3378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2150,-0.82,-126.5,2671,2197,3403,3374,356.3,-14.0,314,2156,0.00,2.20,0.00,0.000,516,0.000,0.056,2671,819,3388,3403,3374,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2202,-0.82,-126.5,2671,819,3403,3373,364.2,-14.2,325,2212,0.05,2.25,0.00,0.000,3078,0.240,0.044,2674,2199,3388,3403,3373,0,0,0,0,0,0,14.42,14.63,28.83
$GC,2510,-0.82,-126.5,2676,2199,3403,3370,406.3,-13.7,341,2514,0.00,2.25,0.00,0.000,516,0.000,0.056,2675,812,3386,3403,3370,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2559,-0.82,-126.5,2676,810,3402,3370,413.7,-13.9,351,2563,0.00,2.20,0.00,0.000,1030,0.000,0.044,2668,2201,3386,3403,3369,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2872,-0.82,-126.5,2668,2201,3402,3365,457.9,-14.4,368,2878,0.00,2.25,0.00,0.000,516,0.000,0.057,2668,809,3383,3402,3365,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2914,-0.82,-126.5,2668,809,3402,3364,464.6,-14.8,377,2919,0.05,2.25,0.00,0.000,3078,0.243,0.045,2673,2191,3383,3402,3364,0,0,0,0,0,0,14.49,14.70,28.83
$GC,3231,-0.82,-126.5,2673,2192,3402,3360,509.8,-14.6,394,3235,0.00,2.22,0.00,0.000,516,0.000,0.061,2674,819,3380,3402,3359,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3275,-0.82,-126.5,2674,819,3402,3360,516.7,-14.8,403,3279,0.00,2.22,0.00,0.000,1030,0.000,0.050,2665,2208,3380,3402,3359,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3588,-0.82,-126.5,2665,2208,3402,3355,562.9,-14.8,415,3594,0.00,2.28,0.00,0.000,516,0.000,0.063,2665,812,3378,3401,3355,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3630,-0.82,-126.5,2665,812,3402,3355,569.5,-14.4,424,3635,0.10,2.22,0.00,0.000,3078,0.274,0.050,2677,2199,3378,3402,3355,0,0,0,0,0,0,14.57,14.76,28.83
$GC,3948,-0.82,-126.5,2677,2200,3401,3352,611.6,-13.1,437,3954,0.00,2.25,0.00,0.000,516,0.000,0.063,2677,819,3376,3401,3352,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3985,-0.82,-126.5,2677,819,3400,3351,617.0,-13.3,445,3990,0.00,2.22,0.00,0.000,1030,0.000,0.050,2669,2204,3376,3401,3352,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4308,-0.82,-126.5,2669,2205,3400,3350,660.4,-13.6,459,4314,0.00,2.25,0.00,0.000,516,0.000,0.063,2669,819,3374,3400,3349,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4340,-0.82,-126.5,2669,819,3400,3350,665.1,-13.2,466,4345,0.05,2.25,0.00,0.000,3078,0.246,0.050,2674,2192,3375,3400,3350,0,0,0,0,0,0,14.50,14.71,28.83
$GC,4668,-0.82,-126.5,2675,2193,3398,3347,706.3,-12.5,481,4672,0.00,2.25,0.00,0.000,516,0.000,0.063,2673,820,3372,3398,3347,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4717,-0.82,-126.5,2675,819,3398,3347,713.0,-12.8,491,4721,0.00,2.22,0.00,0.000,1030,0.000,0.052,2667,2200,3372,3397,3347,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5030,-0.82,-126.5,2666,2201,3397,3345,752.0,-12.5,503,5031,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2201,3371,3397,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5330,-0.82,-126.5,2666,2201,3396,3344,789.3,-12.3,513,5336,0.00,2.28,0.00,0.000,516,0.000,0.067,2666,813,3369,3396,3343,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5390,-0.82,-126.5,2666,813,3395,3343,796.9,-12.4,525,5396,0.10,2.25,0.00,0.000,3078,0.272,0.054,2677,2207,3369,3395,3343,0,0,0,0,0,0,14.55,14.76,28.83
$GC,5720,-0.82,-126.5,2677,2208,3394,3342,835.7,-11.8,541,5726,0.00,2.30,0.00,0.000,516,0.000,0.067,2678,816,3368,3394,3342,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5750,-0.82,-126.5,2677,816,3394,3342,839.4,-12.8,547,5756,0.00,2.25,0.00,0.000,1030,0.000,0.054,2670,2205,3368,3394,3342,0,0,0,0,0,0,28.83,14.75,28.83
$GC,6080,-0.82,-126.5,2670,2205,3391,3341,879.5,-12.4,563,6086,0.00,2.30,0.00,0.000,516,0.000,0.067,2670,815,3366,3391,3341,0,0,0,0,0,0,28.83,14.70,28.83
$GC,6112,-0.82,-126.5,2670,814,3390,3341,883.9,-12.7,570,6117,0.05,2.30,0.00,0.000,3078,0.243,0.053,2675,2206,3366,3391,3341,0,0,0,0,0,0,14.47,14.69,28.83
$GC,6440,-0.82,-126.5,2675,2205,3391,3339,922.5,-11.9,585,6446,0.00,2.28,0.00,0.000,516,0.000,0.067,2675,820,3365,3391,3339,0,0,0,0,0,0,28.83,14.70,28.83
$GC,6488,-0.82,-126.5,2675,820,3391,3339,928.6,-12.2,595,6492,0.00,2.25,0.00,0.000,1030,0.000,0.054,2667,2211,3364,3390,3339,0,0,0,0,0,0,28.83,14.75,28.83
$GC,6795,-0.82,-126.5,2667,2211,3390,3337,965.5,-12.1,606,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2211,3363,3390,3337,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7004,begin apogee
$GC,7008,-0.16,0.0,2667,2142,3389,3337,990.7,-12.1,613,7133,0.77,0.00,120.30,1.951,10246,0.222,0.000,2891,2142,2872,2920,2825,0,0,0,0,0,0,14.47,28.83,13.32
$STATE,7135,end apogee,CONTROL_FINISHED_OK
$STATE,7135,begin climb
$GC,7136,0.82,126.5,2891,2143,2913,2817,994.9,0.0,639,7253,1.00,2.55,107.12,2.129,10500,0.134,0.073,3207,3543,2348,2406,2291,0,0,0,0,0,0,14.05,13.93,13.19
$GC,7330,0.82,126.5,3207,3542,2402,2286,982.2,11.2,678,7335,0.00,2.33,0.00,0.000,1030,0.000,0.044,3216,2152,2344,2402,2286,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7657,0.82,126.5,3216,2151,2402,2284,947.1,10.8,693,7663,0.00,2.40,0.00,0.000,516,0.000,0.074,3227,737,2343,2402,2284,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7808,0.82,126.5,3228,738,2401,2284,931.3,10.4,723,7815,0.00,2.30,0.00,0.000,1030,0.000,0.050,3228,2142,2342,2401,2284,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8138,0.82,126.5,3228,2143,2399,2283,897.4,10.2,739,8144,0.00,2.38,0.00,0.000,516,0.000,0.073,3238,735,2340,2398,2283,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8181,0.82,126.5,3238,735,2398,2283,892.7,10.6,748,8185,0.00,2.30,0.00,0.000,1030,0.000,0.050,3238,2143,2340,2398,2283,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8498,0.82,126.5,3238,2144,2397,2283,859.3,10.7,761,8499,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2144,2340,2397,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8798,0.82,126.5,3238,2144,2397,2282,826.2,10.9,771,8804,0.00,2.38,0.00,0.000,516,0.000,0.075,3248,732,2339,2397,2282,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8829,0.82,126.5,3248,732,2396,2282,822.9,11.6,777,8835,0.00,2.30,0.00,0.000,1030,0.000,0.051,3248,2146,2339,2396,2282,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9158,0.82,126.5,3247,2145,2396,2282,785.6,11.3,793,9164,0.00,2.38,0.00,0.000,516,0.000,0.075,3259,733,2338,2395,2282,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9196,0.82,126.5,3258,733,2395,2282,780.9,11.7,801,9201,0.08,2.30,0.00,0.000,5126,0.284,0.051,3243,2145,2338,2395,2282,0,0,0,0,0,0,14.51,14.70,28.83
$GC,9519,0.82,126.5,3243,2145,2395,2281,744.1,11.4,815,9525,0.00,2.35,0.00,0.000,516,0.000,0.073,3252,741,2338,2395,2282,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9557,0.82,126.5,3252,740,2395,2281,739.4,11.7,823,9561,0.00,2.30,0.00,0.000,1030,0.000,0.054,3252,2147,2337,2394,2281,0,0,0,0,0,0,28.83,14.71,28.83
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$STATE,17421,end climb,SURFACE_DEPTH_REACHED
$STATE,17421,begin surface coast
$FINISH,0.2,1.006439
$STATE,17444,end surface coast,CONTROL_FINISHED_OK
$STATE,17444,begin surface
$SM_CCo,17460,1.08,0.216,0,0,509,579.63
$SM_CCo,17463,-0.10,0.000,0,0,512,579.63
$SM_CCo,17466,0.52,0.338,0,0,509,579.63
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$IRIDIUM_FIX,1758.70,8921.43,310708,111139
$TT8_MAMPS,0.018725,0.018725
$HUMID,45.82
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$TCM_TEMP,24.50
$XPDR_PINGS,0
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$10V_AH,12.8,0.000
$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,322244
$DATA_FILE_SIZE,144174,1751
$CAP_FILE_SIZE,190124,0
$CFSIZE,2097086464,2068185088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.023,181.4,1
$GPS,051015,073533,1803.298,8924.536,50,1.0,50,-0.9