version: 66.11
glider: 615
mission: 5
dive: 161
start: 10 5 115 12 47 56
data:
$ID,615
$MISSION,5
$DIVE,161
$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,-19036.262
$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,50
$R_STBD_OVSHOOT,70
$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
$GPS1,051015,124027,1801.978,8925.720,64,0.8,64,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-73.1
$GPS2,051015,124730,1801.994,8925.734,4,0.8,4,-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,121.1,18492,-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,-126.5,177,2237,562,479,0.0,0.0,0,56,0.00,0.00,-39.25,0.000,16386,0.000,0.000,177,2238,1643,1643,1643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.82,-126.5,177,2238,1644,1643,3.2,-7.6,6,112,10.82,2.28,-36.38,0.000,19204,0.354,0.082,2665,3581,3391,3402,3380,0,0,0,0,0,0,14.23,14.53,14.76
$GC,140,-0.82,-126.5,2665,3581,3402,3380,30.4,-50.0,19,146,0.00,2.20,0.00,0.000,1030,0.000,0.037,2665,2196,3390,3402,3379,0,0,0,0,0,0,28.83,14.58,28.83
$GC,330,-0.82,-126.5,2665,2192,3401,3380,87.8,-21.9,56,337,0.00,2.30,0.00,0.000,516,0.000,0.054,2665,806,3391,3402,3380,0,0,0,0,0,0,28.83,14.52,28.83
$GC,450,-0.82,-126.5,2665,806,3402,3381,107.7,-14.7,79,457,0.10,2.17,0.00,0.000,3078,0.294,0.039,2675,2186,3390,3401,3380,0,0,0,0,0,0,14.41,14.64,28.83
$GC,640,-0.82,-126.5,2674,2186,3402,3383,136.1,-15.5,116,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2186,3392,3402,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,829,-0.82,-126.5,2674,2186,3402,3384,164.1,-15.1,153,836,0.00,2.22,0.00,0.000,516,0.000,0.051,2675,799,3393,3402,3384,0,0,0,0,0,0,28.83,14.65,28.83
$GC,864,-0.82,-126.5,2675,798,3402,3385,169.6,-15.7,159,871,0.00,2.20,0.00,0.000,1030,0.000,0.040,2666,2202,3393,3402,3384,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1054,-0.82,-126.5,1680,2201,3388,3381,199.1,-15.3,196,1061,0.00,2.30,0.00,0.000,516,0.000,0.054,2666,809,3393,3402,3384,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1121,-0.82,-126.5,2666,809,3402,3384,209.3,-14.4,209,1129,0.10,2.20,0.00,0.000,3078,0.283,0.040,2677,2208,3393,3402,3384,0,0,0,0,0,0,14.49,14.71,28.83
$GC,1428,-0.82,-126.5,2677,2208,3402,3383,250.5,-13.5,240,1433,0.00,2.28,0.00,0.000,260,0.000,0.061,2668,3604,3392,3402,3383,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1489,-0.82,-126.5,2668,3604,3402,3382,258.9,-13.5,252,1494,0.00,2.20,0.00,0.000,1030,0.000,0.037,2668,2195,3391,3401,3382,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1796,-0.82,-126.5,2668,2194,3402,3378,301.1,-14.0,283,1805,0.00,2.22,0.00,0.000,516,0.000,0.055,2668,805,3389,3401,3377,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1871,-0.82,-126.5,2668,805,3401,3377,312.4,-14.0,298,1881,0.05,2.25,0.00,0.000,3078,0.247,0.043,2673,2187,3389,3402,3377,0,0,0,0,0,0,14.38,14.55,28.83
$GC,2189,-0.82,-126.5,2673,2187,3402,3372,356.9,-14.3,328,2195,0.00,2.33,0.00,0.000,260,0.000,0.068,2664,3605,3387,3402,3372,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2231,-0.82,-126.5,2664,3605,3402,3372,363.4,-14.2,337,2236,0.03,2.25,0.00,0.000,3078,0.256,0.038,2672,2204,3387,3402,3372,0,0,0,0,0,0,14.55,14.73,28.83
$GC,2549,-0.82,-126.5,2672,2203,3401,3369,408.3,-14.5,355,2555,0.00,2.28,0.00,0.000,516,0.000,0.060,2672,799,3385,3401,3369,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2650,-0.82,-126.5,2672,799,3401,3368,422.6,-13.1,375,2656,0.00,2.25,0.00,0.000,1030,0.000,0.050,2664,2204,3385,3401,3369,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2970,-0.82,-126.5,2664,2204,3401,3363,468.5,-14.2,394,2977,0.08,2.28,0.00,0.000,2564,0.310,0.055,2677,806,3381,3401,3362,0,0,0,0,0,0,14.64,14.72,28.83
$GC,2997,-0.82,-126.5,2677,806,3401,3361,472.8,-13.7,400,3001,0.00,2.22,0.00,0.000,1030,0.000,0.047,2669,2199,3381,3401,3362,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3330,-0.82,-126.5,2669,2199,3401,3357,517.5,-13.5,416,3334,0.00,2.28,0.00,0.000,516,0.000,0.061,2669,809,3378,3401,3356,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3363,-0.82,-126.5,1792,808,3389,3354,522.4,-13.7,423,3368,0.05,2.28,0.00,0.000,3078,0.246,0.050,2674,2193,3378,3401,3356,0,0,0,0,0,0,14.49,14.70,28.83
$GC,3691,-0.82,-126.5,2674,2194,3401,3352,564.2,-12.8,438,3697,0.00,2.28,0.00,0.000,516,0.000,0.064,2674,803,3376,3401,3352,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3723,-0.82,-126.5,1792,803,3389,3350,568.7,-13.2,445,3727,0.00,2.30,0.00,0.000,1030,0.000,0.051,2666,2200,3377,3401,3353,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4051,-0.82,-126.5,2666,2200,3400,3350,612.6,-13.7,460,4057,0.00,2.28,0.00,0.000,516,0.000,0.064,2666,808,3375,3401,3350,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4083,-0.82,-126.5,1792,807,3389,3348,617.5,-14.2,467,4088,0.05,2.30,0.00,0.000,3078,0.249,0.051,2671,2205,3375,3400,3350,0,0,0,0,0,0,14.49,14.71,28.83
$GC,4411,-0.82,-126.5,2671,2205,3399,3347,659.1,-12.7,482,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2205,3373,3399,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4710,-0.82,-126.5,2672,2205,3398,3345,697.2,-12.6,492,4714,0.00,2.25,0.00,0.000,516,0.000,0.064,2671,816,3371,3398,3344,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4789,-0.82,-126.5,2671,816,3397,3345,707.3,-11.9,508,4794,0.08,2.25,0.00,0.000,3078,0.303,0.053,2678,2211,3370,3397,3344,0,0,0,0,0,0,14.57,14.76,28.83
$GC,5101,-0.82,-126.5,2678,2211,3395,3343,743.1,-11.4,520,5105,0.00,2.30,0.00,0.000,516,0.000,0.067,2678,810,3369,3395,3343,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5136,-0.82,-126.5,2678,809,3395,3343,747.5,-12.5,527,5140,0.00,2.25,0.00,0.000,1030,0.000,0.054,2670,2198,3369,3395,3343,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5458,-0.82,-126.5,2669,2199,3394,3342,786.7,-12.2,541,5464,0.00,2.30,0.00,0.000,516,0.000,0.070,2670,804,3368,3395,3342,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5496,-0.82,-126.5,2669,804,3394,3342,791.9,-12.5,549,5501,0.10,2.28,0.00,0.000,3078,0.274,0.056,2681,2202,3367,3394,3341,0,0,0,0,0,0,14.55,14.75,28.83
$GC,5819,-0.82,-126.5,2681,2203,3393,3339,829.3,-11.6,563,5825,0.00,2.33,0.00,0.000,516,0.000,0.071,2681,803,3366,3393,3340,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5857,-0.82,-126.5,2681,803,3393,3340,834.1,-11.9,571,5862,0.00,2.33,0.00,0.000,1030,0.000,0.057,2673,2197,3366,3393,3340,0,0,0,0,0,0,28.83,14.70,28.83
$GC,6180,-0.82,-126.5,2673,2197,3392,3338,871.8,-11.7,585,6184,0.00,2.33,0.00,0.000,516,0.000,0.069,2673,809,3365,3392,3338,0,0,0,0,0,0,28.83,14.70,28.83
$GC,6219,-0.82,-126.5,2673,809,3391,3338,876.9,-12.0,593,6224,0.08,2.28,0.00,0.000,3078,0.310,0.053,2677,2216,3364,3391,3338,0,0,0,0,0,0,14.55,14.76,28.83
$GC,6536,-0.82,-126.5,2676,2216,3391,3337,912.2,-11.3,606,6540,0.00,2.33,0.00,0.000,516,0.000,0.068,2677,805,3364,3391,3337,0,0,0,0,0,0,28.83,14.70,28.83
$GC,6571,-0.82,-126.5,2677,805,3391,3337,916.5,-11.7,613,6575,0.00,2.28,0.00,0.000,1030,0.000,0.053,2669,2208,3363,3390,3337,0,0,0,0,0,0,28.83,14.75,28.83
$GC,6894,-0.82,-126.5,2669,2208,3389,3336,953.9,-11.7,627,6899,0.00,2.30,0.00,0.000,516,0.000,0.067,2669,810,3362,3389,3336,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6941,-0.82,-126.5,2669,810,3389,3336,960.0,-11.8,637,6946,0.10,2.28,0.00,0.000,3078,0.284,0.054,2679,2209,3362,3389,3336,0,0,0,0,0,0,14.52,14.74,28.83
$STATE,7222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7222,begin apogee
$GC,7226,-0.16,0.0,2679,2145,3389,3335,991.8,-11.5,648,7367,0.73,0.00,135.38,1.809,10246,0.223,0.000,2891,2144,2872,2920,2825,0,0,0,0,0,0,14.46,28.83,13.32
$STATE,7368,end apogee,CONTROL_FINISHED_OK
$STATE,7368,begin climb
$GC,7370,0.82,126.5,2891,2144,2913,2817,996.3,0.0,677,7487,1.00,2.55,107.07,2.120,10500,0.142,0.073,3203,3539,2348,2405,2291,0,0,0,0,0,0,14.04,13.93,13.19
$GC,7532,0.82,126.5,3203,3540,2403,2286,987.5,10.4,710,7537,0.00,2.35,0.00,0.000,1030,0.000,0.045,3212,2150,2344,2402,2286,0,0,0,0,0,0,28.83,14.17,28.83
$GC,7854,0.82,126.5,3211,2149,2402,2284,953.4,10.8,724,7858,0.00,2.40,0.00,0.000,516,0.000,0.076,3220,739,2343,2402,2284,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7995,0.82,126.5,3221,739,2402,2284,938.4,10.8,752,8004,0.00,2.35,0.00,0.000,1030,0.000,0.050,3221,2130,2343,2402,2284,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8302,0.82,126.5,3221,2130,2401,2283,906.5,10.4,763,8306,0.00,2.38,0.00,0.000,516,0.000,0.076,3231,735,2341,2400,2283,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8366,0.82,126.5,3231,735,2400,2283,899.4,10.7,776,8370,0.00,2.33,0.00,0.000,1030,0.000,0.050,3231,2133,2341,2400,2283,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8694,0.82,126.5,3231,2133,2399,2283,864.3,10.7,791,8698,0.00,2.40,0.00,0.000,260,0.000,0.076,3231,3549,2340,2398,2282,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8718,0.82,126.5,3231,3550,2397,2283,861.2,12.3,796,8727,0.00,2.38,0.00,0.000,1030,0.000,0.048,3241,2135,2340,2397,2283,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9026,0.82,126.5,3241,2135,2397,2282,826.1,11.6,807,9032,0.00,2.35,0.00,0.000,516,0.000,0.076,3251,736,2339,2396,2282,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9124,0.82,126.5,3251,736,2397,2282,814.1,11.5,827,9128,0.00,2.33,0.00,0.000,1030,0.000,0.051,3251,2137,2339,2396,2282,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9447,0.82,126.5,3251,2136,2396,2281,775.2,12.1,841,9452,0.00,2.38,0.00,0.000,516,0.000,0.075,3261,738,2338,2396,2281,0,0,0,0,0,0,28.83,14.62,28.83
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$STATE,17774,end climb,SURFACE_DEPTH_REACHED
$STATE,17774,begin surface coast
$FINISH,0.6,1.018928
$STATE,17792,end surface coast,CONTROL_FINISHED_OK
$STATE,17792,begin surface
$SM_CCo,17807,0.95,0.230,0,0,509,579.63
$SM_CCo,17811,0.00,0.000,0,0,512,579.63
$SM_CCo,17813,0.43,0.310,0,0,508,579.63
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$IRIDIUM_FIX,1756.43,8923.72,310708,212144
$TT8_MAMPS,0.018725,0.018725
$HUMID,45.43
$INTERNAL_PRESSURE,6.67994
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,13.2,65.260
$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,322292
$DATA_FILE_SIZE,144138,1773
$CAP_FILE_SIZE,189277,0
$CFSIZE,2097086464,2067857408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.016,238.8,1
$GPS,051015,174633,1801.048,8927.147,67,0.9,67,-0.9